+ python -m lidar_slam --no-model /working/df1a0adc-bc53-4f2e-884b-e6e3b08752bf Lidar SLAM 0.0.15 ===================================================== The recording path: /working/df1a0adc-bc53-4f2e-884b-e6e3b08752bf 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 0.017628 Adjusted end_distance from 9.223372036854776e+18 to 343.987628 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.017628 meters Centerline goodness : 0.269759 Centerline is valid? [0, False] SLAMing on 0.047628000000000004 meters Centerline goodness : 0.240411 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.00 [[ 0.99999671 0.00158144 -0.00202192 0.02210042] [-0.00158801 0.99999345 -0.00325088 -0.00155505] [ 0.00201676 0.00325408 0.99999267 -0.00186262] [ 0. 0. 0. 1. ]] SLAMing on 0.077628 meters Centerline goodness : 0.231615 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.00 [[ 9.99996119e-01 2.07609230e-03 -1.85804032e-03 2.52092585e-02] [-2.08073419e-03 9.99994711e-01 -2.49983427e-03 1.68898386e-04] [ 1.85284060e-03 2.50369066e-03 9.99995149e-01 -4.87125077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.10762800000000002 meters Centerline goodness : 0.167572 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.01 [[ 9.99989609e-01 4.22410427e-03 -1.71402030e-03 2.73151549e-02] [-4.22451382e-03 9.99991049e-01 -2.35389401e-04 1.84581790e-03] [ 1.71301065e-03 2.42627858e-04 9.99998503e-01 -6.92313178e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.137628 meters Centerline goodness : 0.163809 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.01 [[ 0.99999324 0.00319329 -0.00182059 0.02965023] [-0.00319629 0.99999353 -0.00164839 0.00420718] [ 0.00181532 0.00165419 0.99999698 -0.00925156] [ 0. 0. 0. 1. ]] SLAMing on 0.16762800000000003 meters Centerline goodness : 0.160545 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.01 [[ 0.99999661 0.0016564 -0.00201095 0.03267349] [-0.00166258 0.99999388 -0.00307724 0.00501268] [ 0.00200584 0.00308057 0.99999324 -0.0118235 ] [ 0. 0. 0. 1. ]] SLAMing on 0.19762800000000003 meters Centerline goodness : 0.160743 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.02 [[ 9.99995907e-01 -2.68207134e-03 -9.96616355e-04 3.54196706e-02] [ 2.67554650e-03 9.99975350e-01 -6.49164592e-03 4.80198115e-03] [ 1.01400285e-03 6.48895285e-03 9.99978432e-01 -1.54206367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.22762800000000002 meters Centerline goodness : 0.160348 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.02 [[ 9.99992213e-01 -3.83185051e-03 -9.43909137e-04 3.70016506e-02] [ 3.82546145e-03 9.99970371e-01 -6.68000515e-03 3.19740062e-03] [ 9.69477951e-04 6.67634225e-03 9.99977243e-01 -1.61590835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.257628 meters Centerline goodness : 0.142647 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.02 [[ 9.99989424e-01 -4.54416204e-03 -7.09038157e-04 3.79939790e-02] [ 4.53956583e-03 9.99969505e-01 -6.35459369e-03 9.64941702e-04] [ 7.37892838e-04 6.35130776e-03 9.99979558e-01 -1.65669259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.287628 meters Centerline goodness : 0.142446 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.00, Z:-0.02 [[ 9.99986553e-01 -5.16930973e-03 -4.14136948e-04 3.88327210e-02] [ 5.16664826e-03 9.99967503e-01 -6.18866003e-03 -1.35974907e-05] [ 4.46114590e-04 6.18643711e-03 9.99980764e-01 -1.70206449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.317628 meters Centerline goodness : 0.124409 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.02 [[ 9.99968516e-01 -7.89514694e-03 -7.96509513e-04 4.95312386e-02] [ 7.89314158e-03 9.99965748e-01 -2.49016794e-03 7.19476939e-04] [ 8.16142472e-04 2.48380258e-03 9.99996582e-01 -1.68788826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.347628 meters Centerline goodness : 0.162006 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.02 [[ 9.99965364e-01 -8.27795021e-03 -8.63945012e-04 5.12185655e-02] [ 8.27544779e-03 9.99961665e-01 -2.86095996e-03 1.55489222e-03] [ 8.87594777e-04 2.85371134e-03 9.99995534e-01 -1.78266222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.377628 meters Centerline goodness : 0.160485 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.02 [[ 9.99985853e-01 -5.22973025e-03 -9.71265928e-04 5.31552816e-02] [ 5.23041286e-03 9.99986075e-01 7.01597276e-04 9.70005889e-04] [ 9.67583239e-04 -7.06667473e-04 9.99999282e-01 -1.84435674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.407628 meters Centerline goodness : 0.123493 Centerline is valid? [False, False] Translation: X:0.06, Y:0.00, Z:-0.02 [[ 0.99999064 -0.00409432 -0.0013974 0.05727192] [ 0.00409692 0.99998987 0.00186409 0.00121854] [ 0.00138976 -0.00186979 0.99999729 -0.02103545] [ 0. 0. 0. 1. ]] SLAMing on 0.437628 meters Centerline goodness : 0.123161 Centerline is valid? [False, False] Translation: X:0.08, Y:0.00, Z:-0.02 [[ 0.99999251 -0.00322302 -0.00214123 0.08121053] [ 0.00321471 0.99998734 -0.00387223 0.00344975] [ 0.00215369 0.00386531 0.99999021 -0.02410806] [ 0. 0. 0. 1. ]] SLAMing on 0.467628 meters Centerline goodness : 0.123833 Centerline is valid? [False, False] Translation: X:0.08, Y:0.00, Z:-0.03 [[ 0.99998737 -0.00442818 -0.00237824 0.08419843] [ 0.00441748 0.99998018 -0.00448641 0.00418856] [ 0.00239806 0.00447585 0.99998711 -0.02574577] [ 0. 0. 0. 1. ]] SLAMing on 0.497628 meters Centerline goodness : 0.135185 Centerline is valid? [False, False] Translation: X:0.09, Y:0.00, Z:-0.03 [[ 0.99997727 -0.00615686 -0.00274961 0.08795701] [ 0.00614254 0.99996768 -0.00518636 0.00484987] [ 0.00278146 0.00516935 0.99998277 -0.02757557] [ 0. 0. 0. 1. ]] SLAMing on 0.527628 meters Centerline goodness : 0.863033 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-0.03 [[ 0.99996053 -0.00827135 -0.00324532 0.09220825] [ 0.00825166 0.99994774 -0.00603555 0.00592991] [ 0.00329507 0.00600853 0.99997652 -0.02934719] [ 0. 0. 0. 1. ]] SLAMing on 0.557628 meters Centerline goodness : 0.854527 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.03 [[ 0.99984353 -0.0171267 -0.00442527 0.11212985] [ 0.01710792 0.99984463 -0.0042475 0.00776307] [ 0.00449733 0.00417112 0.99998119 -0.03015682] [ 0. 0. 0. 1. ]] SLAMing on 0.587628 meters Centerline goodness : 0.851892 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.03 [[ 0.99980159 -0.01929909 -0.00493278 0.11646629] [ 0.01927371 0.99980103 -0.00514141 0.00879458] [ 0.00503102 0.00504532 0.99997462 -0.03175538] [ 0. 0. 0. 1. ]] SLAMing on 0.6176280000000001 meters Centerline goodness : 0.848746 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.03 [[ 0.99976878 -0.0208613 -0.00521392 0.11966915] [ 0.0208312 0.99976641 -0.00576136 0.00942812] [ 0.00533289 0.00565141 0.99996981 -0.03295386] [ 0. 0. 0. 1. ]] SLAMing on 0.647628 meters Centerline goodness : 0.847037 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.03 [[ 0.99974263 -0.02204167 -0.0053697 0.12205695] [ 0.02200889 0.99973923 -0.006089 0.00997634] [ 0.00550251 0.00596925 0.99996704 -0.0336068 ] [ 0. 0. 0. 1. ]] SLAMing on 0.677628 meters Centerline goodness : 0.839854 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.03 [[ 0.99972638 -0.02175744 -0.00858927 0.15169795] [ 0.02174027 0.99976147 -0.00208752 0.00732154] [ 0.00863264 0.00190022 0.99996093 -0.02825021] [ 0. 0. 0. 1. ]] SLAMing on 0.707628 meters Centerline goodness : 0.838056 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.03 [[ 0.99969896 -0.02289015 -0.00883367 0.15396734] [ 0.02286381 0.99973387 -0.00307156 0.0118558 ] [ 0.00890163 0.00286867 0.99995626 -0.02894216] [ 0. 0. 0. 1. ]] SLAMing on 0.7376280000000001 meters Centerline goodness : 0.834596 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.03 [[ 9.99744712e-01 -2.05869576e-02 -9.31067120e-03 1.56775973e-01] [ 2.05918687e-02 9.99787872e-01 4.31908773e-04 1.33123822e-02] [ 9.29980445e-03 -6.23522630e-04 9.99956561e-01 -2.88386262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7676280000000001 meters Centerline goodness : 0.832192 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:-0.03 [[ 0.9998214 -0.01845538 -0.00406989 0.1787283 ] [ 0.01844482 0.99982646 -0.00261645 0.02303703] [ 0.00411747 0.00254092 0.9999883 -0.03370437] [ 0. 0. 0. 1. ]] SLAMing on 0.797628 meters Centerline goodness : 0.830241 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:-0.03 [[ 9.99853844e-01 -1.65009665e-02 -4.47317733e-03 1.81877924e-01] [ 1.65011118e-02 9.99863847e-01 -4.43204112e-06 2.67772020e-02] [ 4.47264143e-03 -6.93810058e-05 9.99989995e-01 -3.43836670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.827628 meters Centerline goodness : 0.829267 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:-0.03 [[ 0.99988407 -0.0144384 -0.00483546 0.18479544] [ 0.01445099 0.99989225 0.00258004 0.03064591] [ 0.00479768 -0.00264962 0.99998498 -0.03488722] [ 0. 0. 0. 1. ]] SLAMing on 0.8576280000000001 meters Centerline goodness : 0.826605 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.04 [[ 0.99990956 -0.01241763 -0.00516424 0.18774787] [ 0.01244443 0.99990909 0.00519118 0.03472133] [ 0.00509931 -0.00525498 0.99997319 -0.03537543] [ 0. 0. 0. 1. ]] SLAMing on 0.8876280000000001 meters Centerline goodness : 0.826605 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.04 [[ 0.99990956 -0.01241763 -0.00516424 0.18774787] [ 0.01244443 0.99990909 0.00519118 0.03472133] [ 0.00509931 -0.00525498 0.99997319 -0.03537543] [ 0. 0. 0. 1. ]] SLAMing on 0.917628 meters Centerline goodness : 0.825468 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:-0.04 [[ 0.99993022 -0.01041122 -0.00558238 0.19091997] [ 0.01045424 0.99991546 0.00773247 0.03882456] [ 0.0055014 -0.00779029 0.99995452 -0.03585701] [ 0. 0. 0. 1. ]] SLAMing on 0.947628 meters Centerline goodness : 0.830989 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:-0.04 [[ 9.99964529e-01 -8.36235336e-03 -1.00581588e-03 2.15706478e-01] [ 8.36665532e-03 9.99955530e-01 4.35174482e-03 5.07160674e-02] [ 9.69380322e-04 -4.36000577e-03 9.99990025e-01 -4.15333388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.977628 meters Centerline goodness : 0.829963 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.04 [[ 0.99995963 -0.00886434 -0.00146806 0.2186704 ] [ 0.00886981 0.99995358 0.00376439 0.05680893] [ 0.00143462 -0.00377726 0.99999184 -0.04203919] [ 0. 0. 0. 1. ]] SLAMing on 1.0076280000000002 meters Centerline goodness : 0.832097 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.04 [[ 0.9999504 -0.00979864 -0.00178577 0.22171572] [ 0.00980378 0.99994775 0.00289594 0.0626938 ] [ 0.0017573 -0.00291331 0.99999421 -0.04279359] [ 0. 0. 0. 1. ]] SLAMing on 1.037628 meters Centerline goodness : 0.827101 Centerline is valid? [False, False] Translation: X:0.23, Y:0.07, Z:-0.04 [[ 0.99992188 -0.01203058 -0.00339016 0.23233172] [ 0.01204812 0.99991388 0.00520375 0.07018702] [ 0.00332726 -0.00524419 0.99998071 -0.04192102] [ 0. 0. 0. 1. ]] SLAMing on 1.067628 meters Centerline goodness : 0.832198 Centerline is valid? [False, False] Translation: X:0.24, Y:0.07, Z:-0.04 [[ 0.99990061 -0.01364431 -0.00355143 0.23511173] [ 0.01366052 0.9998962 0.00458077 0.07304855] [ 0.00348856 -0.00462883 0.9999832 -0.04197652] [ 0. 0. 0. 1. ]] SLAMing on 1.097628 meters Centerline goodness : 0.833260 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:-0.04 [[ 0.99987617 -0.01527384 -0.00378981 0.23789798] [ 0.01528934 0.99987472 0.00409559 0.07537216] [ 0.00372678 -0.00415302 0.99998443 -0.04189817] [ 0. 0. 0. 1. ]] SLAMing on 1.127628 meters Centerline goodness : 0.833766 Centerline is valid? [False, False] Translation: X:0.25, Y:0.08, Z:-0.04 [[ 0.99970743 -0.02342179 -0.00603883 0.25384916] [ 0.02345138 0.99971309 0.00487566 0.08118214] [ 0.0059229 -0.00501585 0.99996988 -0.04027915] [ 0. 0. 0. 1. ]] SLAMing on 1.157628 meters Centerline goodness : 0.835728 Centerline is valid? [False, False] Translation: X:0.26, Y:0.08, Z:-0.04 [[ 0.99965474 -0.02546545 -0.00647342 0.25787861] [ 0.02549501 0.9996647 0.00452605 0.08305191] [ 0.00635599 -0.00468953 0.9999688 -0.0407021 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1876280000000001 meters Centerline goodness : 0.836664 Centerline is valid? [False, False] Translation: X:0.26, Y:0.08, Z:-0.04 [[ 0.99959574 -0.02754504 -0.00704499 0.26206954] [ 0.0275751 0.99961088 0.00420651 0.08462118] [ 0.00692638 -0.00439907 0.99996634 -0.04091181] [ 0. 0. 0. 1. ]] SLAMing on 1.2176280000000002 meters Centerline goodness : 0.838729 Centerline is valid? [False, False] Translation: X:0.27, Y:0.09, Z:-0.04 [[ 0.99953197 -0.02968519 -0.00739185 0.26591784] [ 0.02971319 0.99955159 0.00370639 0.08601376] [ 0.00727851 -0.00392429 0.99996581 -0.04136284] [ 0. 0. 0. 1. ]] SLAMing on 1.2476280000000002 meters Centerline goodness : 0.841187 Centerline is valid? [False, False] Translation: X:0.27, Y:0.09, Z:-0.04 [[ 0.99946954 -0.03163699 -0.00772852 0.26943797] [ 0.0316628 0.99949335 0.0032408 0.08717217] [ 0.00762208 -0.00348379 0.99996488 -0.04164497] [ 0. 0. 0. 1. ]] SLAMing on 1.277628 meters Centerline goodness : 0.847815 Centerline is valid? [False, False] Translation: X:0.28, Y:0.09, Z:-0.04 [[ 0.99923341 -0.03791244 -0.00975927 0.28187754] [ 0.03794358 0.9992753 0.00302574 0.0919251 ] [ 0.00963748 -0.00339372 0.9999478 -0.0409771 ] [ 0. 0. 0. 1. ]] SLAMing on 1.307628 meters Centerline goodness : 0.808655 Centerline is valid? [False, False] Translation: X:0.29, Y:0.10, Z:-0.04 [[ 0.9991681 -0.03954906 -0.0099489 0.28547279] [ 0.03956767 0.99921548 0.00168105 0.09573568] [ 0.00987461 -0.00207331 0.9999491 -0.04272956] [ 0. 0. 0. 1. ]] SLAMing on 1.337628 meters Centerline goodness : 0.822486 Centerline is valid? [False, False] Translation: X:0.30, Y:0.10, Z:-0.04 [[ 0.99908798 -0.04094733 -0.01210486 0.29754114] [ 0.04101485 0.99914404 0.00538297 0.10282946] [ 0.01187408 -0.00587454 0.99991224 -0.04251136] [ 0. 0. 0. 1. ]] SLAMing on 1.367628 meters Centerline goodness : 0.831960 Centerline is valid? [False, False] Translation: X:0.30, Y:0.11, Z:-0.04 [[ 0.99917764 -0.03860187 -0.01240721 0.30051397] [ 0.03870473 0.99921737 0.00816018 0.10556312] [ 0.0120825 -0.00863368 0.99988973 -0.0434636 ] [ 0. 0. 0. 1. ]] SLAMing on 1.397628 meters Centerline goodness : 0.834420 Centerline is valid? [False, False] Translation: X:0.30, Y:0.11, Z:-0.04 [[ 0.99924447 -0.0365967 -0.01308309 0.30442487] [ 0.03673423 0.99927063 0.01043124 0.10834578] [ 0.0126918 -0.01090396 0.99986 -0.04485389] [ 0. 0. 0. 1. ]] SLAMing on 1.4276280000000001 meters Centerline goodness : 0.827748 Centerline is valid? [False, False] Translation: X:0.31, Y:0.11, Z:-0.05 [[ 0.99930124 -0.03487951 -0.0134335 0.30810797] [ 0.03504368 0.99931149 0.01218579 0.11150932] [ 0.01299922 -0.01264804 0.99983551 -0.04691792] [ 0. 0. 0. 1. ]] SLAMing on 1.4576280000000001 meters Centerline goodness : 0.844845 Centerline is valid? [False, False] Translation: X:0.33, Y:0.12, Z:-0.05 [[ 0.99943485 -0.03165741 -0.01130403 0.32945174] [ 0.03175163 0.9994617 0.00825475 0.11898098] [ 0.01103662 -0.00860901 0.99990203 -0.04992397] [ 0. 0. 0. 1. ]] SLAMing on 1.4876280000000002 meters Centerline goodness : 0.851638 Centerline is valid? [False, False] Translation: X:0.34, Y:0.12, Z:-0.05 [[ 9.99573283e-01 -2.76984709e-02 -9.27608326e-03 3.42791744e-01] [ 2.77027264e-02 9.99616151e-01 3.30556679e-04 1.23287077e-01] [ 9.26336673e-03 -5.87388422e-04 9.99956922e-01 -5.37416891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5176280000000002 meters Centerline goodness : 0.854347 Centerline is valid? [False, False] Translation: X:0.35, Y:0.13, Z:-0.06 [[ 0.99960038 -0.02634561 -0.01024595 0.34756236] [ 0.02636505 0.99965082 0.00176664 0.12530856] [ 0.01019582 -0.00203607 0.99994595 -0.05622209] [ 0. 0. 0. 1. ]] SLAMing on 1.547628 meters Centerline goodness : 0.857844 Centerline is valid? [False, False] Translation: X:0.35, Y:0.13, Z:-0.06 [[ 0.99963818 -0.0244722 -0.01116335 0.35159925] [ 0.02451715 0.99969177 0.00390717 0.12626346] [ 0.01106429 -0.00417945 0.99993005 -0.05801526] [ 0. 0. 0. 1. ]] SLAMing on 1.577628 meters Centerline goodness : 0.887882 Centerline is valid? [False, False] Translation: X:0.37, Y:0.13, Z:-0.06 [[ 9.99715637e-01 -2.23410820e-02 -8.33790245e-03 3.71327828e-01] [ 2.23339810e-02 9.99750120e-01 -9.43803190e-04 1.30257780e-01] [ 8.35690456e-03 7.57316252e-04 9.99964794e-01 -6.08620895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.607628 meters Centerline goodness : 0.887334 Centerline is valid? [False, False] Translation: X:0.37, Y:0.13, Z:-0.06 [[ 0.99977738 -0.01913104 -0.00889948 0.37327051] [ 0.01915774 0.9998122 0.00292438 0.1295573 ] [ 0.00884187 -0.00309423 0.99995612 -0.06101059] [ 0. 0. 0. 1. ]] SLAMing on 1.637628 meters Centerline goodness : 0.889262 Centerline is valid? [False, False] Translation: X:0.38, Y:0.13, Z:-0.06 [[ 0.99976435 -0.0193132 -0.00991163 0.37632472] [ 0.01933517 0.9998108 0.00212521 0.13170174] [ 0.00986871 -0.00231635 0.99994862 -0.06224363] [ 0. 0. 0. 1. ]] SLAMing on 1.667628 meters Centerline goodness : 0.904975 Centerline is valid? [False, False] Translation: X:0.39, Y:0.13, Z:-0.07 [[ 0.99988021 -0.01409731 -0.00639019 0.39118292] [ 0.01407589 0.9998952 -0.00338468 0.13442989] [ 0.00643723 0.00329432 0.99997385 -0.06744102] [ 0. 0. 0. 1. ]] SLAMing on 1.6976280000000001 meters Centerline goodness : 0.910074 Centerline is valid? [False, False] Translation: X:0.39, Y:0.13, Z:-0.07 [[ 9.99910416e-01 -1.12451315e-02 -7.25994983e-03 3.94592340e-01] [ 1.12455337e-02 9.99936767e-01 1.45815834e-05 1.33344111e-01] [ 7.25932679e-03 -9.62222877e-05 9.99973646e-01 -6.89765693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7276280000000002 meters Centerline goodness : 0.914508 Centerline is valid? [False, False] Translation: X:0.40, Y:0.13, Z:-0.07 [[ 0.99993232 -0.008424 -0.00802384 0.3978092 ] [ 0.00845161 0.99995846 0.00341345 0.13204238] [ 0.00799475 -0.00348104 0.99996198 -0.07052541] [ 0. 0. 0. 1. ]] SLAMing on 1.7576280000000002 meters Centerline goodness : 0.916489 Centerline is valid? [False, False] Translation: X:0.40, Y:0.13, Z:-0.07 [[ 0.99992645 -0.00843626 -0.00871315 0.39997761] [ 0.00846493 0.99995886 0.00325832 0.13235627] [ 0.00868531 -0.00333183 0.99995673 -0.0714468 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7876280000000002 meters Centerline goodness : 0.923267 Centerline is valid? [False, False] Translation: X:0.40, Y:0.13, Z:-0.07 [[ 0.99992775 -0.00805064 -0.00892621 0.40284791] [ 0.00808779 0.99995875 0.00413368 0.13078272] [ 0.00889256 -0.00420558 0.99995162 -0.07297103] [ 0. 0. 0. 1. ]] SLAMing on 1.817628 meters Centerline goodness : 0.927173 Centerline is valid? [False, False] Translation: X:0.41, Y:0.13, Z:-0.07 [[ 0.99991439 -0.00864048 -0.00982609 0.40622477] [ 0.00867675 0.99995568 0.00365442 0.12989562] [ 0.00979408 -0.00373937 0.99994505 -0.07465971] [ 0. 0. 0. 1. ]] SLAMing on 1.847628 meters Centerline goodness : 0.929821 Centerline is valid? [False, False] Translation: X:0.41, Y:0.13, Z:-0.08 [[ 0.99990447 -0.00896378 -0.01052155 0.40875133] [ 0.00900344 0.99995252 0.00372784 0.12841678] [ 0.01048763 -0.00382222 0.9999377 -0.07568135] [ 0. 0. 0. 1. ]] SLAMing on 1.877628 meters Centerline goodness : 0.935085 Centerline is valid? [False, False] Translation: X:0.41, Y:0.12, Z:-0.08 [[ 0.99988681 -0.00996054 -0.01127668 0.41375724] [ 0.01000548 0.9999422 0.0039359 0.12431927] [ 0.01123683 -0.00404828 0.99992867 -0.07827493] [ 0. 0. 0. 1. ]] SLAMing on 1.907628 meters Centerline goodness : 0.935350 Centerline is valid? [False, False] Translation: X:0.42, Y:0.12, Z:-0.08 [[ 0.99986658 -0.01098556 -0.01208889 0.41731504] [ 0.01102744 0.99993341 0.00340302 0.12238225] [ 0.0120507 -0.00353588 0.99992114 -0.08016478] [ 0. 0. 0. 1. ]] SLAMing on 1.9376280000000001 meters Centerline goodness : 0.939941 Centerline is valid? [False, False] Translation: X:0.42, Y:0.12, Z:-0.08 [[ 0.99985486 -0.01145829 -0.01260815 0.41946522] [ 0.01150677 0.99992665 0.00377961 0.11960625] [ 0.01256392 -0.00392414 0.99991337 -0.08084305] [ 0. 0. 0. 1. ]] SLAMing on 1.9676280000000002 meters Centerline goodness : 0.941166 Centerline is valid? [False, False] Translation: X:0.42, Y:0.12, Z:-0.08 [[ 0.9998286 -0.01283925 -0.01333898 0.42285702] [ 0.01287938 0.99991277 0.00292715 0.11721495] [ 0.01330023 -0.00309844 0.99990675 -0.08260154] [ 0. 0. 0. 1. ]] SLAMing on 1.9976280000000002 meters Centerline goodness : 0.946344 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:-0.08 [[ 0.99980522 -0.01458568 -0.01329594 0.42620419] [ 0.01463244 0.99988707 0.00342648 0.11087702] [ 0.01324447 -0.00362036 0.99990573 -0.08368617] [ 0. 0. 0. 1. ]] SLAMing on 2.0276280000000004 meters Centerline goodness : 0.949109 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:-0.09 [[ 0.99977294 -0.01594829 -0.01413229 0.42967993] [ 0.01598554 0.99986903 0.00252669 0.10906946] [ 0.01409014 -0.00275203 0.99989694 -0.08532777] [ 0. 0. 0. 1. ]] SLAMing on 2.0576280000000002 meters Centerline goodness : 0.951058 Centerline is valid? [False, True] Translation: X:0.44, Y:0.11, Z:-0.09 [[ 0.999828 -0.01574038 -0.00980844 0.44312426] [ 0.01566327 0.9998462 -0.00788954 0.11007678] [ 0.00993112 0.00773455 0.99992077 -0.09047551] [ 0. 0. 0. 1. ]] SLAMing on 2.0876280000000005 meters Centerline goodness : 0.956774 Centerline is valid? [True, True] Translation: X:0.46, Y:0.10, Z:-0.09 [[ 9.99856886e-01 -1.39792592e-02 -9.52830976e-03 4.62202309e-01] [ 1.39810847e-02 9.99902252e-01 1.25001494e-04 9.79175438e-02] [ 9.52563096e-03 -2.58199710e-04 9.99954597e-01 -8.51852347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1176280000000003 meters Centerline goodness : 0.957843 Centerline is valid? [True, True] Translation: X:0.50, Y:0.09, Z:-0.08 [[ 9.99719312e-01 -2.16885556e-02 -9.53435012e-03 5.00834729e-01] [ 2.16890475e-02 9.99764764e-01 -5.18235345e-05 9.33951039e-02] [ 9.53323127e-03 -1.54981984e-04 9.99954546e-01 -8.40996073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1476280000000005 meters Centerline goodness : 0.960259 Centerline is valid? [True, True] Translation: X:0.52, Y:0.09, Z:-0.08 [[ 9.99749813e-01 -2.02378503e-02 -9.52574660e-03 5.17493122e-01] [ 2.02406191e-02 9.99795119e-01 1.94332280e-04 8.86002045e-02] [ 9.51986209e-03 -3.87090669e-04 9.99954610e-01 -7.71631114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1776280000000003 meters Centerline goodness : 0.964154 Centerline is valid? [True, True] Translation: X:0.55, Y:0.08, Z:-0.07 [[ 9.99536186e-01 -2.89217858e-02 -9.53644483e-03 5.45475885e-01] [ 2.89220862e-02 9.99581663e-01 -1.06436519e-04 7.96229984e-02] [ 9.53553372e-03 -1.69426728e-04 9.99954521e-01 -7.27566152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2076280000000006 meters Centerline goodness : 0.966851 Centerline is valid? [True, True] Translation: X:0.58, Y:0.08, Z:-0.07 [[ 9.99364171e-01 -3.43553254e-02 -9.53757796e-03 5.76487642e-01] [ 3.43555719e-02 9.99409664e-01 -1.38038399e-04 7.52589800e-02] [ 9.53668993e-03 -1.89718315e-04 9.99954507e-01 -7.41334016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2376280000000004 meters Centerline goodness : 0.968416 Centerline is valid? [True, True] Translation: X:0.60, Y:0.07, Z:-0.07 [[ 9.99343218e-01 -3.49603639e-02 -9.53439806e-03 6.01279833e-01] [ 3.49614595e-02 9.99388660e-01 -5.17831795e-05 6.89490129e-02] [ 9.53037966e-03 -2.81587303e-04 9.99954545e-01 -6.73329411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.267628 meters Centerline goodness : 0.970500 Centerline is valid? [True, True] Translation: X:0.63, Y:0.06, Z:-0.07 [[ 9.99244492e-01 -3.76758710e-02 -9.53807437e-03 6.30035716e-01] [ 3.76761397e-02 9.99289991e-01 -1.51575197e-04 6.41467608e-02] [ 9.53701298e-03 -2.07897141e-04 9.99954500e-01 -7.47121833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2976280000000004 meters Centerline goodness : 0.974087 Centerline is valid? [True, True] Translation: X:0.65, Y:0.06, Z:-0.08 [[ 9.99116385e-01 -4.09323301e-02 -9.53907649e-03 6.50627091e-01] [ 4.09324890e-02 9.99161899e-01 -1.78662570e-04 5.50767082e-02] [ 9.53839485e-03 -2.11953442e-04 9.99954486e-01 -7.50384997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3276280000000003 meters Centerline goodness : 0.974499 Centerline is valid? [True, True] Translation: X:0.69, Y:0.05, Z:-0.07 [[ 9.99303759e-01 -3.60675045e-02 -9.54631206e-03 6.86222537e-01] [ 3.60655436e-02 9.99349355e-01 -3.77535901e-04 5.18534309e-02] [ 9.55371758e-03 3.29801107e-05 9.99954362e-01 -7.13583015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3576280000000005 meters Centerline goodness : 0.976062 Centerline is valid? [True, True] Translation: X:0.72, Y:0.05, Z:-0.07 [[ 9.99345242e-01 -3.49008517e-02 -9.54035117e-03 7.19209643e-01] [ 3.49003448e-02 9.99390773e-01 -2.19660969e-04 4.87265344e-02] [ 9.54220529e-03 -1.13444402e-04 9.99954466e-01 -7.09915731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3876280000000003 meters Centerline goodness : 0.977865 Centerline is valid? [True, True] Translation: X:0.74, Y:0.04, Z:-0.07 [[ 9.99398392e-01 -3.33453832e-02 -9.53627000e-03 7.37631177e-01] [ 3.33458195e-02 9.99443867e-01 -1.13289561e-04 4.28276576e-02] [ 9.53474425e-03 -2.04773333e-04 9.99954522e-01 -7.23346854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4176280000000006 meters Centerline goodness : 0.979805 Centerline is valid? [True, True] Translation: X:0.77, Y:0.04, Z:-0.07 [[ 9.99604613e-01 -2.64477389e-02 -9.54645154e-03 7.68823310e-01] [ 2.64451592e-02 9.99650187e-01 -3.96373379e-04 3.88956425e-02] [ 9.55359524e-03 1.43759227e-04 9.99954353e-01 -7.06445972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4476280000000004 meters Centerline goodness : 0.980655 Centerline is valid? [True, True] Translation: X:0.80, Y:0.04, Z:-0.07 [[ 9.99743681e-01 -2.05294874e-02 -9.54524722e-03 7.99081942e-01] [ 2.05269513e-02 9.99789234e-01 -3.63591966e-04 3.61409709e-02] [ 9.55069976e-03 1.67563945e-04 9.99954377e-01 -6.98914385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4776280000000006 meters Centerline goodness : 0.981905 Centerline is valid? [True, True] Translation: X:0.83, Y:0.03, Z:-0.07 [[ 9.99834956e-01 -1.54591814e-02 -9.54332053e-03 8.27527698e-01] [ 1.54569063e-02 9.99880486e-01 -3.12111047e-04 3.40270862e-02] [ 9.54700495e-03 1.64549323e-04 9.99954413e-01 -6.64527588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5076280000000004 meters Centerline goodness : 0.983751 Centerline is valid? [True, True] Translation: X:0.86, Y:0.03, Z:-0.06 [[ 9.99902642e-01 -1.01801821e-02 -9.54307754e-03 8.63272853e-01] [ 1.01777274e-02 9.99948159e-01 -3.05756764e-04 3.17095174e-02] [ 9.54569548e-03 2.08600154e-04 9.99954417e-01 -6.42742642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.537628 meters Centerline goodness : 0.984556 Centerline is valid? [True, True] Translation: X:0.89, Y:0.03, Z:-0.06 [[ 9.99921592e-01 -8.11501423e-03 -9.53707952e-03 8.92067412e-01] [ 8.11393265e-03 9.99967070e-01 -1.52095193e-04 2.92730563e-02] [ 9.53799972e-03 7.47000463e-05 9.99954509e-01 -6.40477144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5676280000000005 meters Centerline goodness : 0.985768 Centerline is valid? [True, True] Translation: X:0.92, Y:0.03, Z:-0.07 [[ 9.99920593e-01 -8.23726334e-03 -9.53709351e-03 9.21883558e-01] [ 8.23618392e-03 9.99966070e-01 -1.52451849e-04 2.71777384e-02] [ 9.53802571e-03 7.38904874e-05 9.99954509e-01 -6.55489973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5976280000000003 meters Centerline goodness : 0.986088 Centerline is valid? [True, True] Translation: X:0.95, Y:0.02, Z:-0.07 [[ 9.99910117e-01 -9.42383381e-03 -9.53676222e-03 9.51719945e-01] [ 9.42288800e-03 9.99955593e-01 -1.44103355e-04 2.34202662e-02] [ 9.53769673e-03 5.42265604e-05 9.99954514e-01 -6.55793643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6276280000000005 meters Centerline goodness : 0.988118 Centerline is valid? [True, True] Translation: X:0.98, Y:0.02, Z:-0.06 [[ 9.99892939e-01 -1.10985801e-02 -9.53579126e-03 9.81133774e-01] [ 1.10979412e-02 9.99938409e-01 -1.19919761e-04 1.99752085e-02] [ 9.53653488e-03 1.40792719e-05 9.99954526e-01 -6.32566858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6576280000000003 meters Centerline goodness : 0.988814 Centerline is valid? [True, True] Translation: X:1.01, Y:0.02, Z:-0.06 [[ 9.99868436e-01 -1.31219830e-02 -9.53539241e-03 1.01116835e+00] [ 1.31215298e-02 9.99913903e-01 -1.10082928e-04 1.56843036e-02] [ 9.53601595e-03 -1.50504915e-05 9.99954531e-01 -6.25849092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6876280000000006 meters Centerline goodness : 0.989597 Centerline is valid? [True, True] Translation: X:1.04, Y:0.01, Z:-0.06 [[ 9.99724666e-01 -2.14400402e-02 -9.53500006e-03 1.04420405e+00] [ 2.14400576e-02 9.99770131e-01 -1.00405040e-04 7.28100322e-03] [ 9.53496094e-03 -1.04053555e-04 9.99954536e-01 -6.01988477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7176280000000004 meters Centerline goodness : 0.990481 Centerline is valid? [True, True] Translation: X:1.08, Y:0.00, Z:-0.06 [[ 9.99530677e-01 -2.91137730e-02 -9.52961444e-03 1.08045310e+00] [ 2.91153754e-02 9.99576057e-01 2.94254580e-05 3.54451581e-03] [ 9.52471774e-03 -3.06869950e-04 9.99954592e-01 -5.83736738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7476280000000006 meters Centerline goodness : 0.991685 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.00, Z:-0.06 [[ 9.99439859e-01 -3.20825155e-02 -9.52257862e-03 1.10133031e+00] [ 3.20858405e-02 9.99485098e-01 1.96559429e-04 -6.01788377e-04] [ 9.51136930e-03 -5.01989267e-04 9.99954640e-01 -5.94999566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7776280000000004 meters Centerline goodness : 0.991231 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.00, Z:-0.05 [[ 9.99084108e-01 -4.17149971e-02 -9.52912106e-03 1.14735781e+00] [ 4.17173060e-02 9.99129453e-01 4.35707960e-05 -2.72266036e-04] [ 9.51900796e-03 -4.41060149e-04 9.99954596e-01 -5.24319360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8076280000000002 meters Centerline goodness : 0.991231 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.00, Z:-0.05 [[ 9.99074222e-01 -4.19548609e-02 -9.51250646e-03 1.17590602e+00] [ 4.19607469e-02 9.99119172e-01 4.19940566e-04 -1.58377280e-03] [ 9.48650903e-03 -8.18703671e-04 9.99954667e-01 -5.20086181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8376280000000005 meters Centerline goodness : 0.993447 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.00, Z:-0.05 [[ 9.98712596e-01 -4.98263142e-02 -9.51260822e-03 1.20265034e+00] [ 4.98325323e-02 9.98757500e-01 4.17622602e-04 -3.62379445e-03] [ 9.47998021e-03 -8.91122309e-04 9.99954667e-01 -5.10980961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8676280000000003 meters Centerline goodness : 0.993655 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.01, Z:-0.05 [[ 9.98527862e-01 -5.34005434e-02 -9.51267714e-03 1.23073813e+00] [ 5.34069073e-02 9.98572746e-01 4.16046864e-04 -5.44910683e-03] [ 9.47688300e-03 -9.23477052e-04 9.99954667e-01 -5.03415139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8976280000000005 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.01, Z:-0.05 [[ 9.98428702e-01 -5.52234853e-02 -9.51277632e-03 1.25848128e+00] [ 5.52299096e-02 9.98473578e-01 4.13766707e-04 -6.98035708e-03] [ 9.47540616e-03 -9.38506332e-04 9.99954667e-01 -4.85375741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9276280000000003 meters Centerline goodness : 0.995275 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.01, Z:-0.05 [[ 9.98278047e-01 -5.78830437e-02 -9.51287422e-03 1.28561242e+00] [ 5.78895662e-02 9.98322908e-01 4.11503492e-04 -6.63852362e-03] [ 9.47310118e-03 -9.61491064e-04 9.99954667e-01 -4.82048993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9576280000000006 meters Centerline goodness : 0.995496 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.01, Z:-0.05 [[ 9.98271458e-01 -5.79965588e-02 -9.51294053e-03 1.31326651e+00] [ 5.80030719e-02 9.98316320e-01 4.09964724e-04 -6.11329745e-03] [ 9.47314724e-03 -9.61035856e-04 9.99954667e-01 -4.83729591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9876280000000004 meters Centerline goodness : 0.995807 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.00, Z:-0.05 [[ 9.98250400e-01 -5.83578759e-02 -9.51303625e-03 1.34121770e+00] [ 5.83643842e-02 9.98295263e-01 4.07731449e-04 -4.87302888e-03] [ 9.47302469e-03 -9.62240584e-04 9.99954667e-01 -4.97546394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0176280000000006 meters Centerline goodness : 0.995748 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.00, Z:-0.05 [[ 9.98276964e-01 -5.79016789e-02 -9.51313092e-03 1.36905177e+00] [ 5.79081458e-02 9.98321833e-01 4.05510598e-04 -3.66044901e-03] [ 9.47368655e-03 -9.55699661e-04 9.99954667e-01 -5.12987885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0476280000000004 meters Centerline goodness : 0.996111 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.00, Z:-0.05 [[ 9.98368844e-01 -5.62952038e-02 -9.51322467e-03 1.39678529e+00] [ 5.63015775e-02 9.98413727e-01 4.03299134e-04 -2.50306635e-04] [ 9.47543029e-03 -9.38250846e-04 9.99954667e-01 -5.37973605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0776280000000003 meters Centerline goodness : 0.996111 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.00, Z:-0.05 [[ 9.98355831e-01 -5.65254997e-02 -9.51328823e-03 1.42533741e+00] [ 5.65318696e-02 9.98400714e-01 4.01794125e-04 -1.33274023e-03] [ 9.47536215e-03 -9.38937477e-04 9.99954667e-01 -5.35258783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1076280000000005 meters Centerline goodness : 0.996550 Centerline is valid? [True, True] Translation: X:1.45, Y:0.00, Z:-0.05 [[ 9.98419425e-01 -5.53908549e-02 -9.51338041e-03 1.45407487e+00] [ 5.53971531e-02 9.98464319e-01 3.99599674e-04 2.09043664e-03] [ 9.47663672e-03 -9.25982268e-04 9.99954667e-01 -5.42279307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1376280000000003 meters Centerline goodness : 0.996670 Centerline is valid? [True, True] Translation: X:1.48, Y:0.00, Z:-0.05 [[ 9.98491144e-01 -5.40826239e-02 -9.51347156e-03 1.48202473e+00] [ 5.40888426e-02 9.98536048e-01 3.97417660e-04 3.38114979e-03] [ 9.47805090e-03 -9.11390680e-04 9.99954667e-01 -5.38170522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1676280000000006 meters Centerline goodness : 0.996702 Centerline is valid? [True, True] Translation: X:1.51, Y:0.01, Z:-0.05 [[ 9.98576726e-01 -5.24787000e-02 -9.51356169e-03 1.51016862e+00] [ 5.24848262e-02 9.98621643e-01 3.95248375e-04 5.15827683e-03] [ 9.47970648e-03 -8.94003459e-04 9.99954667e-01 -5.36401785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1976280000000004 meters Centerline goodness : 0.997354 Centerline is valid? [True, True] Translation: X:1.54, Y:0.01, Z:-0.05 [[ 9.98854123e-01 -4.69034367e-02 -9.51365104e-03 1.53859707e+00] [ 4.69092916e-02 9.98899076e-01 3.93085701e-04 1.03393627e-02] [ 9.48474016e-03 -8.38913903e-04 9.99954667e-01 -5.16151034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2276280000000006 meters Centerline goodness : 0.997377 Centerline is valid? [True, True] Translation: X:1.57, Y:0.01, Z:-0.05 [[ 9.99033812e-01 -4.29060941e-02 -9.51369273e-03 1.56655317e+00] [ 4.29117595e-02 9.99078789e-01 3.92074182e-04 1.19802134e-02] [ 9.48810624e-03 -7.99944659e-04 9.99954667e-01 -5.08293962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2576280000000004 meters Centerline goodness : 0.997702 Centerline is valid? [True, True] Translation: X:1.59, Y:0.01, Z:-0.05 [[ 9.99213436e-01 -3.84967140e-02 -9.51378006e-03 1.59430302e+00] [ 3.85021607e-02 9.99258441e-01 3.89943433e-04 1.33916745e-02] [ 9.49171349e-03 -7.55937806e-04 9.99954667e-01 -5.06818477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2876280000000007 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:1.62, Y:0.01, Z:-0.05 [[ 9.99384960e-01 -3.37518714e-02 -9.51386668e-03 1.62213835e+00] [ 3.37570842e-02 9.99429992e-01 3.87818648e-04 1.48447770e-02] [ 9.49535409e-03 -7.08740522e-04 9.99954667e-01 -5.01502320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3176280000000005 meters Centerline goodness : 0.997929 Centerline is valid? [True, True] Translation: X:1.65, Y:0.02, Z:-0.05 [[ 9.99547097e-01 -2.85497159e-02 -9.51395253e-03 1.65049092e+00] [ 2.85546742e-02 9.99592158e-01 3.85701032e-04 1.63058561e-02] [ 9.49906068e-03 -6.57194161e-04 9.99954667e-01 -5.00190385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3476280000000003 meters Centerline goodness : 0.997997 Centerline is valid? [True, True] Translation: X:1.68, Y:0.02, Z:-0.05 [[ 9.99776190e-01 -1.88958396e-02 -9.51403765e-03 1.67749909e+00] [ 1.89003425e-02 9.99821299e-01 3.83589718e-04 2.02301943e-02] [ 9.50508923e-03 -5.63322437e-04 9.99954667e-01 -5.02308780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3776280000000005 meters Centerline goodness : 0.997851 Centerline is valid? [True, True] Translation: X:1.71, Y:0.02, Z:-0.05 [[ 9.99836117e-01 -1.54019818e-02 -9.51409540e-03 1.70571000e+00] [ 1.54063134e-02 9.99881243e-01 3.82152076e-04 2.10367523e-02] [ 9.50707963e-03 -5.28666583e-04 9.99954667e-01 -4.99736327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4076280000000003 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:1.73, Y:0.02, Z:-0.05 [[ 9.99875621e-01 -1.25786389e-02 -9.51417870e-03 1.73389679e+00] [ 1.25828233e-02 9.99920761e-01 3.80066658e-04 2.08892225e-02] [ 9.50864409e-03 -4.99734615e-04 9.99954667e-01 -4.87041865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4376280000000006 meters Centerline goodness : 0.998106 Centerline is valid? [True, True] Translation: X:1.76, Y:0.02, Z:-0.05 [[ 9.99899607e-01 -1.05001985e-02 -9.51427893e-03 1.76226461e+00] [ 1.05042650e-02 9.99944757e-01 3.77540970e-04 2.01706909e-02] [ 9.50978908e-03 -4.77443574e-04 9.99954667e-01 -4.78881852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4676280000000004 meters Centerline goodness : 0.998148 Centerline is valid? [True, True] Translation: X:1.79, Y:0.02, Z:-0.05 [[ 9.99912866e-01 -9.15083703e-03 -9.51438085e-03 1.79067685e+00] [ 9.15481807e-03 9.99958023e-01 3.74954774e-04 1.85316827e-02] [ 9.51055032e-03 -4.62024529e-04 9.99954667e-01 -4.78917345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4976280000000006 meters Centerline goodness : 0.998391 Centerline is valid? [True, True] Translation: X:1.82, Y:0.02, Z:-0.05 [[ 9.99910686e-01 -9.38589023e-03 -9.51448419e-03 1.81874507e+00] [ 9.38985682e-03 9.99955845e-01 3.72313707e-04 1.67307903e-02] [ 9.51056959e-03 -4.61620098e-04 9.99954667e-01 -4.78465245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5276280000000004 meters Centerline goodness : 0.998266 Centerline is valid? [True, True] Translation: X:1.85, Y:0.02, Z:-0.05 [[ 9.99903190e-01 -1.01529852e-02 -9.51458635e-03 1.84714261e+00] [ 1.01569615e-02 9.99948348e-01 3.69684633e-04 1.50763137e-02] [ 9.51034150e-03 -4.66288130e-04 9.99954667e-01 -4.84900947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5576280000000007 meters Centerline goodness : 0.998325 Centerline is valid? [True, True] Translation: X:1.87, Y:0.01, Z:-0.05 [[ 9.99876451e-01 -1.25120972e-02 -9.51468722e-03 1.87404126e+00] [ 1.25161552e-02 9.99921602e-01 3.67069962e-04 1.24832445e-02] [ 9.50934848e-03 -4.86111913e-04 9.99954667e-01 -5.02928158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5876280000000005 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:1.90, Y:0.01, Z:-0.05 [[ 9.99854757e-01 -1.41398639e-02 -9.51473077e-03 1.90205196e+00] [ 1.41439846e-02 9.99899902e-01 3.65937697e-04 9.80957846e-03] [ 9.50860405e-03 -5.00460753e-04 9.99954667e-01 -5.06680779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6176280000000003 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:1.93, Y:0.01, Z:-0.05 [[ 9.99827260e-01 -1.59661586e-02 -9.51482894e-03 1.92981825e+00] [ 1.59703374e-02 9.99872400e-01 3.63366840e-04 6.91432541e-03] [ 9.50781328e-03 -5.15259100e-04 9.99954667e-01 -5.07937736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6476280000000005 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:1.96, Y:0.00, Z:-0.05 [[ 9.99793605e-01 -1.79503165e-02 -9.51492583e-03 1.95816840e+00] [ 1.79545607e-02 9.99838739e-01 3.60811833e-04 3.79333618e-03] [ 9.50691476e-03 -5.31573676e-04 9.99954667e-01 -5.08592240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6776280000000003 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:1.99, Y:0.00, Z:-0.05 [[ 9.99750040e-01 -2.02317017e-02 -9.51502136e-03 1.98655318e+00] [ 2.02360247e-02 9.99795166e-01 3.58274854e-04 6.15164526e-04] [ 9.50582385e-03 -5.50731507e-04 9.99954667e-01 -5.08374347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7076280000000006 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.00, Z:-0.05 [[ 9.99686444e-01 -2.31619472e-02 -9.51511597e-03 2.01417035e+00] [ 2.31663785e-02 9.99731560e-01 3.55744292e-04 -2.91563934e-03] [ 9.50432200e-03 -5.76063525e-04 9.99954667e-01 -5.08352530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7376280000000004 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.01, Z:-0.05 [[ 9.99472866e-01 -3.10394937e-02 -9.51520938e-03 2.04091483e+00] [ 3.10442565e-02 9.99517948e-01 3.53227926e-04 -8.95731506e-03] [ 9.49965855e-03 -6.48434329e-04 9.99954667e-01 -5.07745595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7676280000000006 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.01, Z:-0.05 [[ 9.99320037e-01 -3.56219493e-02 -9.51524973e-03 2.06934260e+00] [ 3.56269085e-02 9.99365098e-01 3.52137642e-04 -1.25068544e-02] [ 9.49666465e-03 -6.90897133e-04 9.99954667e-01 -5.03970452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7976280000000004 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.02, Z:-0.05 [[ 9.98888377e-01 -4.61678392e-02 -9.51534076e-03 2.09567282e+00] [ 4.61732503e-02 9.98933386e-01 3.49660497e-04 -1.92311720e-02] [ 9.48904849e-03 -7.88626016e-04 9.99954667e-01 -5.02341654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8276280000000007 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.02, Z:-0.05 [[ 9.98613278e-01 -5.17781746e-02 -9.51538000e-03 2.12279668e+00] [ 5.17838283e-02 9.98658257e-01 3.48589364e-04 -2.37169401e-02] [ 9.48456348e-03 -8.40848772e-04 9.99954667e-01 -4.94907498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8576280000000005 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.03, Z:-0.05 [[ 9.98310465e-01 -5.73207858e-02 -9.51541847e-03 2.15073593e+00] [ 5.73266792e-02 9.98355413e-01 3.47535946e-04 -2.79999490e-02] [ 9.47984851e-03 -8.92436114e-04 9.99954667e-01 -4.84147341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8876280000000003 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.03, Z:-0.05 [[ 9.97983947e-01 -6.27494726e-02 -9.51550536e-03 2.17856306e+00] [ 6.27555877e-02 9.98028866e-01 3.45140493e-04 -3.21633737e-02] [ 9.47509164e-03 -9.41595802e-04 9.99954667e-01 -4.73003568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9176280000000006 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.04, Z:-0.05 [[ 9.97662711e-01 -6.76651255e-02 -9.51559118e-03 2.20535583e+00] [ 6.76714393e-02 9.97707602e-01 3.42758048e-04 -3.58132267e-02] [ 9.47058489e-03 -9.85890674e-04 9.99954667e-01 -4.66376950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9476280000000004 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.04, Z:-0.05 [[ 9.97174582e-01 -7.45137992e-02 -9.51562826e-03 2.23252408e+00] [ 7.45204114e-02 9.97219430e-01 3.41725431e-04 -4.08179055e-02] [ 9.46370613e-03 -1.04986845e-03 9.99954667e-01 -4.60103696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9776280000000006 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.04, Z:-0.05 [[ 9.96999172e-01 -7.68251417e-02 -9.51566487e-03 2.25911877e+00] [ 7.68318482e-02 9.97044007e-01 3.40702873e-04 -4.29948523e-02] [ 9.46136208e-03 -1.07078660e-03 9.99954667e-01 -4.52117543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.007628 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.05, Z:-0.04 [[ 9.96889715e-01 -7.82326415e-02 -9.51572140e-03 2.28735872e+00] [ 7.82393964e-02 9.96934542e-01 3.39116675e-04 -4.51841716e-02] [ 9.46002137e-03 -1.08256622e-03 9.99954667e-01 -4.41132274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.037628000000001 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.05, Z:-0.04 [[ 9.96881308e-01 -7.83396936e-02 -9.51580285e-03 2.31535341e+00] [ 7.83464316e-02 9.96926137e-01 3.36815690e-04 -4.91284732e-02] [ 9.46016654e-03 -1.08129446e-03 9.99954667e-01 -4.12135224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.067628000000001 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.05, Z:-0.04 [[ 9.96982627e-01 -7.70395363e-02 -9.51582801e-03 2.34316985e+00] [ 7.70462091e-02 9.97027466e-01 3.36103171e-04 -5.05378939e-02] [ 9.46164866e-03 -1.06824750e-03 9.99954667e-01 -4.05040519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.097628 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.05, Z:-0.04 [[ 9.97120740e-01 -7.52308272e-02 -9.51590781e-03 2.37108267e+00] [ 7.52373972e-02 9.97165594e-01 3.33828425e-04 -5.13838439e-02] [ 9.46382168e-03 -1.04881938e-03 9.99954667e-01 -4.18232768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1276280000000005 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.05, Z:-0.04 [[ 9.97278637e-01 -7.31079093e-02 -9.51598705e-03 2.39922090e+00] [ 7.31143624e-02 9.97323508e-01 3.31554136e-04 -5.17488823e-02] [ 9.46627836e-03 -1.02640718e-03 9.99954667e-01 -4.29387718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.157628000000001 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.05, Z:-0.04 [[ 9.97507094e-01 -6.99216912e-02 -9.51606527e-03 2.42721811e+00] [ 6.99279795e-02 9.97551988e-01 3.29293885e-04 -5.23626998e-02] [ 9.46974504e-03 -9.93912203e-04 9.99954667e-01 -4.20262441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.187628 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.05, Z:-0.04 [[ 9.97762428e-01 -6.61784000e-02 -9.51614264e-03 2.45432393e+00] [ 6.61844986e-02 9.97807349e-01 3.27042679e-04 -5.32461118e-02] [ 9.47363389e-03 -9.56132026e-04 9.99954667e-01 -4.22279772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.217628 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.05, Z:-0.04 [[ 9.98255496e-01 -5.82701160e-02 -9.51617613e-03 2.48182627e+00] [ 5.82758492e-02 9.98300465e-01 3.26065132e-04 -5.36308004e-02] [ 9.48100321e-03 -8.80059556e-04 9.99954667e-01 -4.26120000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.247628000000001 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.05, Z:-0.05 [[ 9.98432629e-01 -5.51518497e-02 -9.51619986e-03 2.51087690e+00] [ 5.51574359e-02 9.98477617e-01 3.25371093e-04 -5.39542474e-02] [ 9.48376774e-03 -8.49750300e-04 9.99954667e-01 -4.56638194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.277628000000001 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.05, Z:-0.04 [[ 9.98654942e-01 -5.09681094e-02 -9.51626545e-03 2.53893719e+00] [ 5.09734888e-02 9.98699954e-01 3.23441367e-04 -5.46567378e-02] [ 9.48740867e-03 -8.08083570e-04 9.99954667e-01 -4.42407029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.307628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.06, Z:-0.05 [[ 9.99016640e-01 -4.33034831e-02 -9.51633970e-03 2.56566699e+00] [ 4.33084962e-02 9.99061695e-01 3.21241833e-04 -5.55907407e-02] [ 9.49349958e-03 -7.33064298e-04 9.99954667e-01 -4.51886376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3376280000000005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.06, Z:-0.05 [[ 9.99140976e-01 -4.03329765e-02 -9.51639003e-03 2.59388630e+00] [ 4.03378413e-02 9.99186047e-01 3.19743812e-04 -5.60010619e-02] [ 9.49574792e-03 -7.03339776e-04 9.99954667e-01 -4.50406426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.367628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.06, Z:-0.04 [[ 9.99270790e-01 -3.69773664e-02 -9.51646242e-03 2.62238256e+00] [ 3.69820593e-02 9.99315879e-01 3.17574495e-04 -5.68534412e-02] [ 9.49820894e-03 -6.69281293e-04 9.99954667e-01 -4.43219779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.397628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.06, Z:-0.04 [[ 9.99354370e-01 -3.46450424e-02 -9.51653395e-03 2.65016292e+00] [ 3.46496096e-02 9.99399472e-01 3.15416280e-04 -5.77705878e-02] [ 9.49989140e-03 -6.44956824e-04 9.99954667e-01 -4.15390109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.06, Z:-0.04 [[ 9.99490361e-01 -3.04705311e-02 -9.51661639e-03 2.67705948e+00] [ 3.04748861e-02 9.99535484e-01 3.12909039e-04 -6.01427391e-02] [ 9.50266127e-03 -6.02767369e-04 9.99954667e-01 -4.35610315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.457628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.06, Z:-0.04 [[ 9.99516121e-01 -2.96134502e-02 -9.51665206e-03 2.70463249e+00] [ 2.96177562e-02 9.99561249e-01 3.11820477e-04 -6.19133182e-02] [ 9.50324254e-03 -5.93531475e-04 9.99954667e-01 -4.05155559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.487628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.06, Z:-0.04 [[ 9.99514761e-01 -2.96593053e-02 -9.51673329e-03 2.73224191e+00] [ 2.96635896e-02 9.99559891e-01 3.09321223e-04 -6.33828647e-02] [ 9.50337064e-03 -5.91471599e-04 9.99954667e-01 -3.94377798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.06, Z:-0.04 [[ 9.99501549e-01 -3.01012159e-02 -9.51681387e-03 2.75986736e+00] [ 3.01054965e-02 9.99546680e-01 3.06821947e-04 -6.49412785e-02] [ 9.50326399e-03 -5.93177418e-04 9.99954667e-01 -3.83225906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5476280000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.07, Z:-0.04 [[ 9.99456161e-01 -3.15723183e-02 -9.51689325e-03 2.78736911e+00] [ 3.15766418e-02 9.99501287e-01 3.04339614e-04 -6.76876543e-02] [ 9.50253835e-03 -6.04685632e-04 9.99954667e-01 -3.67214535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.577628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.07, Z:-0.04 [[ 9.99422398e-01 -3.26235847e-02 -9.51691779e-03 2.81430588e+00] [ 3.26279483e-02 9.99467521e-01 3.03570351e-04 -6.93910834e-02] [ 9.50194668e-03 -6.13912510e-04 9.99954667e-01 -3.62644161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.607628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.07, Z:-0.04 [[ 9.99373057e-01 -3.41016209e-02 -9.51695162e-03 2.84217622e+00] [ 3.41060411e-02 9.99418174e-01 3.02506080e-04 -7.14228536e-02] [ 9.50109846e-03 -6.26901969e-04 9.99954667e-01 -3.62787232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.08, Z:-0.04 [[ 9.99311560e-01 -3.58585034e-02 -9.51702788e-03 2.86998118e+00] [ 3.58629800e-02 9.99356671e-01 3.00087519e-04 -7.53155325e-02] [ 9.50014462e-03 -6.41189907e-04 9.99954667e-01 -3.73809267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6676280000000006 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.08, Z:-0.04 [[ 9.99252526e-01 -3.74675161e-02 -9.51705145e-03 2.89845266e+00] [ 3.74720583e-02 9.99297631e-01 2.99338315e-04 -7.77028120e-02] [ 9.49915150e-03 -6.55738075e-04 9.99954667e-01 -4.00851947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.697628000000001 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.08, Z:-0.04 [[ 9.99243154e-01 -3.77166271e-02 -9.51711626e-03 2.92702778e+00] [ 3.77211608e-02 9.99288260e-01 2.97263386e-04 -7.84926551e-02] [ 9.49913077e-03 -6.56035077e-04 9.99954667e-01 -3.98138652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.08, Z:-0.04 [[ 9.99239649e-01 -3.78093595e-02 -9.51718977e-03 2.95545399e+00] [ 3.78138750e-02 9.99284756e-01 2.94890846e-04 -8.11912523e-02] [ 9.49923302e-03 -6.54548450e-04 9.99954667e-01 -3.80637011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.09, Z:-0.04 [[ 9.99200996e-01 -3.88173978e-02 -9.51726249e-03 2.98301378e+00] [ 3.88219363e-02 9.99246102e-01 2.92524953e-04 -8.56816228e-02] [ 9.49873238e-03 -6.61769782e-04 9.99954667e-01 -3.69758681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.787628000000001 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.09, Z:-0.04 [[ 9.99144518e-01 -4.02448980e-02 -9.51734365e-03 3.01162136e+00] [ 4.02494757e-02 9.99189619e-01 2.89859956e-04 -8.81237213e-02] [ 9.49796560e-03 -6.72680079e-04 9.99954667e-01 -3.89611476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.817628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.09, Z:-0.04 [[ 9.99135325e-01 -4.04724751e-02 -9.51741718e-03 3.03908142e+00] [ 4.04770400e-02 9.99180427e-01 2.87425313e-04 -9.13372382e-02] [ 9.49798415e-03 -6.72413659e-04 9.99954667e-01 -3.78941345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.847628 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.09, Z:-0.04 [[ 9.99063411e-01 -4.22104096e-02 -9.51747398e-03 3.06676441e+00] [ 4.22150350e-02 9.99108507e-01 2.85531950e-04 -9.44245825e-02] [ 9.49693680e-03 -6.87045021e-04 9.99954667e-01 -4.06399666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8776280000000005 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.10, Z:-0.04 [[ 9.98922779e-01 -4.54169450e-02 -9.51749929e-03 3.09407945e+00] [ 4.54217071e-02 9.98967861e-01 2.84685698e-04 -1.00973788e-01] [ 9.49474636e-03 -7.16680093e-04 9.99954667e-01 -4.07749087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.907628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.10, Z:-0.04 [[ 9.98849454e-01 -4.70019687e-02 -9.51753676e-03 3.12321120e+00] [ 4.70067904e-02 9.98894530e-01 2.83427540e-04 -1.04839009e-01] [ 9.49369375e-03 -7.30490299e-04 9.99954667e-01 -3.80907539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.937628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.11, Z:-0.04 [[ 9.98740073e-01 -4.92715084e-02 -9.51760638e-03 3.15036689e+00] [ 4.92764103e-02 9.98785140e-01 2.81070170e-04 -1.08433862e-01] [ 9.49219507e-03 -7.49709518e-04 9.99954667e-01 -3.72720741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.967628 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.11, Z:-0.04 [[ 9.98599366e-01 -5.20453681e-02 -9.51766011e-03 3.17816704e+00] [ 5.20503777e-02 9.98644421e-01 2.79238870e-04 -1.11963447e-01] [ 9.49022508e-03 -7.74245562e-04 9.99954667e-01 -3.72680768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.997628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.12, Z:-0.03 [[ 9.98432339e-01 -5.51568486e-02 -9.51768428e-03 3.20694556e+00] [ 5.51619908e-02 9.98477379e-01 2.78412383e-04 -1.15518122e-01] [ 9.48783611e-03 -8.02990340e-04 9.99954667e-01 -3.39274506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.027628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.12, Z:-0.03 [[ 9.98270006e-01 -5.80207484e-02 -9.51775341e-03 3.23505352e+00] [ 5.80259972e-02 9.98315034e-01 2.76028669e-04 -1.19087064e-01] [ 9.48570094e-03 -8.27828274e-04 9.99954667e-01 -3.28005712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.12, Z:-0.03 [[ 9.98175190e-01 -5.96297000e-02 -9.51778997e-03 3.26385093e+00] [ 5.96350094e-02 9.98220211e-01 2.74762518e-04 -1.20718122e-01] [ 9.48446630e-03 -8.41854623e-04 9.99954667e-01 -2.89580148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0876280000000005 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.12, Z:-0.03 [[ 9.98233165e-01 -5.86511566e-02 -9.51785803e-03 3.29225994e+00] [ 5.86563994e-02 9.98278194e-01 2.72384201e-04 -1.21394011e-01] [ 9.48549448e-03 -8.30186225e-04 9.99954667e-01 -2.80776781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.117628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.12, Z:-0.03 [[ 9.98319049e-01 -5.71706656e-02 -9.51793569e-03 3.31893303e+00] [ 5.71758157e-02 9.98364089e-01 2.69642739e-04 -1.22732261e-01] [ 9.48694954e-03 -8.13385219e-04 9.99954667e-01 -2.73265047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.147628000000001 meters Centerline goodness : 0.999816 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.12, Z:-0.03 [[ 9.98394535e-01 -5.58369072e-02 -9.51798811e-03 3.34722998e+00] [ 5.58419794e-02 9.98439583e-01 2.67779692e-04 -1.23706525e-01] [ 9.48818409e-03 -7.98853078e-04 9.99954667e-01 -2.90805195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.12, Z:-0.03 [[ 9.98733653e-01 -4.94013933e-02 -9.51801162e-03 3.37643147e+00] [ 4.94061671e-02 9.98778734e-01 2.66941367e-04 -1.23484023e-01] [ 9.49320032e-03 -7.36851799e-04 9.99954667e-01 -2.72334717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.207628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.12, Z:-0.03 [[ 9.98922312e-01 -4.54271742e-02 -9.51764792e-03 3.40488821e+00] [ 4.54318927e-02 9.98967399e-01 2.80037956e-04 -1.22883361e-01] [ 9.49509865e-03 -7.12140922e-04 9.99954667e-01 -2.82056438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.237628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.12, Z:-0.03 [[ 9.99197466e-01 -3.89079462e-02 -9.51816240e-03 3.43213529e+00] [ 3.89121927e-02 9.99242600e-01 2.61297064e-04 -1.20988560e-01] [ 9.50078681e-03 -6.31459934e-04 9.99954667e-01 -2.90094404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.12, Z:-0.03 [[ 9.99274272e-01 -3.68827050e-02 -9.51819448e-03 3.46059281e+00] [ 3.68868489e-02 9.99319415e-01 2.60123341e-04 -1.21175938e-01] [ 9.50212248e-03 -6.11030763e-04 9.99954667e-01 -2.83168978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2976280000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.12, Z:-0.03 [[ 9.99307467e-01 -3.59720487e-02 -9.51826734e-03 3.48865517e+00] [ 3.59761260e-02 9.99352616e-01 2.57429270e-04 -1.22108375e-01] [ 9.50284512e-03 -5.99681376e-04 9.99954667e-01 -2.69833116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.327628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.12, Z:-0.03 [[ 9.99311642e-01 -3.58558660e-02 -9.51833968e-03 3.51666248e+00] [ 3.58599123e-02 9.99356794e-01 2.54726228e-04 -1.23789514e-01] [ 9.50308400e-03 -5.95877711e-04 9.99954667e-01 -2.53927641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.357628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.13, Z:-0.02 [[ 9.99316314e-01 -3.57253966e-02 -9.51841166e-03 3.54335675e+00] [ 3.57294112e-02 9.99361469e-01 2.52007745e-04 -1.25794572e-01] [ 9.50333078e-03 -5.91922696e-04 9.99954667e-01 -2.45853076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.13, Z:-0.02 [[ 9.99306896e-01 -3.59878616e-02 -9.51844269e-03 3.57262186e+00] [ 3.59918769e-02 9.99352051e-01 2.50830216e-04 -1.28284437e-01] [ 9.50324838e-03 -5.93242982e-04 9.99954667e-01 -2.41848058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4176280000000006 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.13, Z:-0.03 [[ 9.99283947e-01 -3.66196499e-02 -9.51811766e-03 3.60107200e+00] [ 3.66238120e-02 9.99329088e-01 2.63290318e-04 -1.28943827e-01] [ 9.50209024e-03 -6.11691539e-04 9.99954667e-01 -2.80205139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.447628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.13, Z:-0.03 [[ 9.99312499e-01 -3.58319121e-02 -9.51858324e-03 3.62808161e+00] [ 3.58358672e-02 9.99357659e-01 2.45217892e-04 -1.30375438e-01] [ 9.50368244e-03 -5.86155989e-04 9.99954667e-01 -2.64608373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.477628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.13, Z:-0.03 [[ 9.99310255e-01 -3.58944290e-02 -9.51863030e-03 3.65665681e+00] [ 3.58983694e-02 9.99355416e-01 2.43377465e-04 -1.31709680e-01] [ 9.50375885e-03 -5.84912903e-04 9.99954667e-01 -2.68007273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.13, Z:-0.03 [[ 9.99313855e-01 -3.57940523e-02 -9.51869760e-03 3.68498659e+00] [ 3.57979629e-02 9.99359019e-01 2.40716299e-04 -1.33127495e-01] [ 9.50398008e-03 -5.81301116e-04 9.99954667e-01 -2.69402615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.537628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.14, Z:-0.03 [[ 9.99343244e-01 -3.49638863e-02 -9.51876378e-03 3.71293264e+00] [ 3.49677342e-02 9.99388413e-01 2.38069893e-04 -1.37041160e-01] [ 9.50461839e-03 -5.70763142e-04 9.99954667e-01 -2.55001815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.567628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.14, Z:-0.02 [[ 9.99401914e-01 -3.32446441e-02 -9.51883096e-03 3.74050393e+00] [ 3.32483886e-02 9.99447092e-01 2.35352959e-04 -1.38546988e-01] [ 9.50574370e-03 -5.51697988e-04 9.99954667e-01 -2.41356289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.597628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.14, Z:-0.02 [[ 9.99445936e-01 -3.18937660e-02 -9.51885171e-03 3.76823239e+00] [ 3.18974413e-02 9.99491120e-01 2.34510725e-04 -1.39595152e-01] [ 9.50652832e-03 -5.38007806e-04 9.99954667e-01 -2.34816803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6276280000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.14, Z:-0.02 [[ 9.99484051e-01 -3.06760983e-02 -9.51891679e-03 3.79608499e+00] [ 3.06796932e-02 9.99529241e-01 2.31838798e-04 -1.40846972e-01] [ 9.50732376e-03 -5.23756628e-04 9.99954667e-01 -2.31610758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.657628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.14, Z:-0.02 [[ 9.99604031e-01 -2.64796122e-02 -9.51898130e-03 3.82446393e+00] [ 2.64829919e-02 9.99649238e-01 2.29159012e-04 -1.40490739e-01] [ 9.50957436e-03 -4.81159376e-04 9.99954667e-01 -2.35023068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.687628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.14, Z:-0.02 [[ 9.99666309e-01 -2.40136931e-02 -9.51904482e-03 3.85138134e+00] [ 2.40169359e-02 9.99711526e-01 2.26489315e-04 -1.40647396e-01] [ 9.51085998e-03 -4.55032027e-04 9.99954667e-01 -2.37698547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.14, Z:-0.02 [[ 9.99712738e-01 -2.19960943e-02 -9.51907222e-03 3.87944340e+00] [ 2.19992349e-02 9.99757962e-01 2.25332020e-04 -1.41526279e-01] [ 9.51181182e-03 -4.34679597e-04 9.99954667e-01 -2.35044856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.747628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.14, Z:-0.02 [[ 9.99776380e-01 -1.88832032e-02 -9.51913462e-03 3.90732334e+00] [ 1.88861776e-02 9.99821615e-01 2.22664263e-04 -1.43344533e-01] [ 9.51323194e-03 -4.02394538e-04 9.99954667e-01 -2.42621332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.777628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.14, Z:-0.02 [[ 9.99784524e-01 -1.84469862e-02 -9.51919670e-03 3.93477169e+00] [ 1.84499153e-02 9.99829762e-01 2.19977855e-04 -1.44171517e-01] [ 9.51351824e-03 -3.95558828e-04 9.99954667e-01 -2.43308768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.807628 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.14, Z:-0.03 [[ 9.99832680e-01 -1.56203522e-02 -9.51923872e-03 3.96412544e+00] [ 1.56231360e-02 9.99877928e-01 2.18144025e-04 -1.42618933e-01] [ 9.51466920e-03 -3.66827886e-04 9.99954667e-01 -2.51751772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8376280000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.14, Z:-0.02 [[ 9.99846817e-01 -1.46875866e-02 -9.51929146e-03 3.99239767e+00] [ 1.46903061e-02 9.99892068e-01 2.15817680e-04 -1.43502335e-01] [ 9.51509419e-03 -3.55625926e-04 9.99954667e-01 -2.26166655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.867628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.14, Z:-0.02 [[ 9.99833769e-01 -1.55504738e-02 -9.51931008e-03 4.02074605e+00] [ 1.55532245e-02 9.99879018e-01 2.14993576e-04 -1.44699898e-01] [ 9.51481516e-03 -3.63013805e-04 9.99954667e-01 -2.19114663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.897628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.15, Z:-0.02 [[ 9.99817500e-01 -1.65634824e-02 -9.51936967e-03 4.04797668e+00] [ 1.65662535e-02 9.99862748e-01 2.12321522e-04 -1.45859127e-01] [ 9.51454633e-03 -3.69983065e-04 9.99954667e-01 -2.22936706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.15, Z:-0.02 [[ 9.99792436e-01 -1.80129289e-02 -9.51939534e-03 4.07638325e+00] [ 1.80157546e-02 9.99837681e-01 2.11164662e-04 -1.46847154e-01] [ 9.51404646e-03 -3.82619923e-04 9.99954667e-01 -2.23873319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.957628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.15, Z:-0.02 [[ 9.99763616e-01 -1.95471770e-02 -9.51945203e-03 4.10311901e+00] [ 1.95500475e-02 9.99808858e-01 2.08577088e-04 -1.48108265e-01] [ 9.51355537e-03 -3.94633524e-04 9.99954667e-01 -2.26673107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.987628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.15, Z:-0.02 [[ 9.99736342e-01 -2.08955777e-02 -9.51947647e-03 4.13158852e+00] [ 2.08984986e-02 9.99781581e-01 2.07455908e-04 -1.48581453e-01] [ 9.51306232e-03 -4.06343976e-04 9.99954667e-01 -2.23191168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.017628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.15, Z:-0.02 [[ 9.99743104e-01 -2.05694849e-02 -9.51953367e-03 4.16003504e+00] [ 2.05723658e-02 9.99788346e-01 2.04796757e-04 -1.48086381e-01] [ 9.51330626e-03 -4.00583474e-04 9.99954667e-01 -2.18940604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0476280000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.15, Z:-0.02 [[ 9.99756978e-01 -1.98837200e-02 -9.51959053e-03 4.18794521e+00] [ 1.98865444e-02 9.99802223e-01 2.02118778e-04 -1.47760505e-01] [ 9.51368890e-03 -3.91381418e-04 9.99954667e-01 -2.09090429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.077628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.15, Z:-0.02 [[ 9.99789016e-01 -1.82016686e-02 -9.51964740e-03 4.21482242e+00] [ 1.82043911e-02 9.99834266e-01 1.99403645e-04 -1.48472102e-01] [ 9.51444020e-03 -3.72660958e-04 9.99954667e-01 -2.11533995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.107628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.15, Z:-0.02 [[ 9.99790476e-01 -1.81212505e-02 -9.51967188e-03 4.24275249e+00] [ 1.81239582e-02 9.99835728e-01 1.98228041e-04 -1.49205799e-01] [ 9.51451593e-03 -3.70720642e-04 9.99954667e-01 -2.10887599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.15, Z:-0.02 [[ 9.99789593e-01 -1.81698557e-02 -9.51972524e-03 4.27084837e+00] [ 1.81725409e-02 9.99834847e-01 1.95631800e-04 -1.49685997e-01] [ 9.51459842e-03 -3.68588235e-04 9.99954667e-01 -2.09952142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1676280000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.15, Z:-0.02 [[ 9.99785964e-01 -1.83684501e-02 -9.51977885e-03 4.29849078e+00] [ 1.83711191e-02 9.99831218e-01 1.92987336e-04 -1.49923501e-01] [ 9.51462720e-03 -3.67835020e-04 9.99954667e-01 -2.08364305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.197628000000001 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.15, Z:-0.02 [[ 9.99774801e-01 -1.89662643e-02 -9.51983179e-03 4.32703105e+00] [ 1.89689352e-02 9.99820055e-01 1.90339344e-04 -1.49857149e-01] [ 9.51450872e-03 -3.70877553e-04 9.99954667e-01 -2.21752221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.227628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.15, Z:-0.02 [[ 9.99787705e-01 -1.82733695e-02 -9.51988511e-03 4.35535781e+00] [ 1.82759833e-02 9.99832963e-01 1.87633846e-04 -1.50274238e-01] [ 9.51486624e-03 -3.61579274e-04 9.99954667e-01 -1.92318832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.15, Z:-0.02 [[ 9.99799717e-01 -1.76038636e-02 -9.51993740e-03 4.38304321e+00] [ 1.76064216e-02 9.99844978e-01 1.84942273e-04 -1.50981222e-01] [ 9.51520590e-03 -3.52517264e-04 9.99954667e-01 -1.87115935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.287628000000001 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.15, Z:-0.02 [[ 9.99796637e-01 -1.77779337e-02 -9.51995353e-03 4.41083348e+00] [ 1.77804916e-02 9.99841898e-01 1.84108184e-04 -1.51806162e-01] [ 9.51517534e-03 -3.53340197e-04 9.99954667e-01 -1.96462249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.317628000000001 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.15, Z:-0.02 [[ 9.99810272e-01 -1.69938097e-02 -9.52000462e-03 4.43912941e+00] [ 1.69963065e-02 9.99855536e-01 1.81427449e-04 -1.53619050e-01] [ 9.51554618e-03 -3.43197944e-04 9.99954667e-01 -2.02563757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.347628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.15, Z:-0.02 [[ 9.99829601e-01 -1.58157588e-02 -9.52005502e-03 4.46747249e+00] [ 1.58181768e-02 9.99874869e-01 1.78743090e-04 -1.54204246e-01] [ 9.51603681e-03 -3.29302546e-04 9.99954667e-01 -1.81317927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3776280000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.15, Z:-0.02 [[ 9.99858164e-01 -1.38931198e-02 -9.52010580e-03 4.49449419e+00] [ 1.38954247e-02 9.99903438e-01 1.75996533e-04 -1.53514215e-01] [ 9.51674138e-03 -3.08257483e-04 9.99954667e-01 -1.85629354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.407628000000001 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.15, Z:-0.02 [[ 9.99895407e-01 -1.08876759e-02 -9.52012763e-03 4.52285333e+00] [ 1.08898333e-02 9.99940689e-01 1.74807558e-04 -1.52254485e-01] [ 9.51765973e-03 -2.78461877e-04 9.99954667e-01 -2.19312001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.437628000000001 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.15, Z:-0.02 [[ 9.99908971e-01 -9.56112148e-03 -9.52017618e-03 4.55049983e+00] [ 9.56319328e-03 9.99954257e-01 1.72122200e-04 -1.51975587e-01] [ 9.51809502e-03 -2.63149817e-04 9.99954667e-01 -2.19485868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.15, Z:-0.02 [[ 9.99919085e-01 -8.43740387e-03 -9.52022370e-03 4.57859480e+00] [ 8.43939937e-03 9.99964373e-01 1.69452173e-04 -1.53159617e-01] [ 9.51845479e-03 -2.49783432e-04 9.99954667e-01 -2.02502063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.497628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.16, Z:-0.02 [[ 9.99912674e-01 -9.16567037e-03 -9.52027016e-03 4.60686086e+00] [ 9.16767363e-03 9.99957962e-01 1.66800538e-04 -1.55886451e-01] [ 9.51834111e-03 -2.54064702e-04 9.99954667e-01 -2.19930698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.527628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.16, Z:-0.02 [[ 9.99902998e-01 -1.01665448e-02 -9.52028446e-03 4.63509766e+00] [ 1.01685855e-02 9.99948285e-01 1.65980354e-04 -1.57201604e-01] [ 9.51810467e-03 -2.62772081e-04 9.99954667e-01 -2.11411704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.557628000000001 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.16, Z:-0.02 [[ 9.99880510e-01 -1.21790358e-02 -9.52033004e-03 4.66190892e+00] [ 1.21811425e-02 9.99925794e-01 1.63323579e-04 -1.57954991e-01] [ 9.51763445e-03 -2.79272560e-04 9.99954667e-01 -2.29634165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5876280000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.16, Z:-0.02 [[ 9.99869015e-01 -1.30887530e-02 -9.52034965e-03 4.69119783e+00] [ 1.30908899e-02 9.99914297e-01 1.62172240e-04 -1.59595881e-01] [ 9.51741110e-03 -2.86780847e-04 9.99954667e-01 -1.84498862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.617628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.16, Z:-0.02 [[ 9.99865308e-01 -1.33689087e-02 -9.52038882e-03 4.71980583e+00] [ 1.33710361e-02 9.99910591e-01 1.59839405e-04 -1.60007013e-01] [ 9.51740073e-03 -2.87115338e-04 9.99954667e-01 -1.81785260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.647628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.16, Z:-0.01 [[ 9.99837121e-01 -1.53327195e-02 -9.52043285e-03 4.74760871e+00] [ 1.53349105e-02 9.99882401e-01 1.57171938e-04 -1.61949595e-01] [ 9.51690339e-03 -3.03141323e-04 9.99954667e-01 -1.49899822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.16, Z:-0.01 [[ 9.99823233e-01 -1.62130821e-02 -9.52045309e-03 4.77574978e+00] [ 1.62153011e-02 9.99868511e-01 1.55936674e-04 -1.62774503e-01] [ 9.51667304e-03 -3.10286124e-04 9.99954667e-01 -1.33115141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.707628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.16, Z:-0.01 [[ 9.99826389e-01 -1.60172565e-02 -9.52049594e-03 4.80239962e+00] [ 1.60194414e-02 9.99871669e-01 1.53275006e-04 -1.63313269e-01] [ 9.51681912e-03 -3.05761423e-04 9.99954667e-01 -1.27707043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.737628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.16, Z:-0.01 [[ 9.99838279e-01 -1.52569601e-02 -9.52051437e-03 4.82992328e+00] [ 1.52590996e-02 9.99883562e-01 1.52121655e-04 -1.63674066e-01] [ 9.51708490e-03 -2.97371531e-04 9.99954667e-01 -1.30652419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.767628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.16, Z:-0.01 [[ 9.99890521e-01 -1.13272328e-02 -9.52053243e-03 4.85820150e+00] [ 1.13291835e-02 9.99935811e-01 1.50982893e-04 -1.63058971e-01] [ 9.51821110e-03 -2.58826222e-04 9.99954667e-01 -1.41839419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7976280000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.16, Z:-0.01 [[ 9.99887360e-01 -1.16028078e-02 -9.52057331e-03 4.88680910e+00] [ 1.16047460e-02 9.99932652e-01 1.48359088e-04 -1.63428797e-01] [ 9.51821074e-03 -2.58826212e-04 9.99954667e-01 -1.39127286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.827628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.16, Z:-0.02 [[ 9.99927316e-01 -7.39738244e-03 -9.52061348e-03 4.91389880e+00] [ 7.39910516e-03 9.99972616e-01 1.45735272e-04 -1.63040290e-01] [ 9.51927470e-03 -2.16168699e-04 9.99954667e-01 -1.56568667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.857628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.16, Z:-0.02 [[ 9.99940367e-01 -5.34977778e-03 -9.52063074e-03 4.94164909e+00] [ 5.35139691e-03 9.99985671e-01 1.44598440e-04 -1.63351146e-01] [ 9.51972075e-03 -1.95538491e-04 9.99954667e-01 -1.61662824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.16, Z:-0.02 [[ 9.99946891e-01 -3.94605323e-03 -9.52066941e-03 4.96986249e+00] [ 3.94758408e-03 9.99992198e-01 1.42005937e-04 -1.63825303e-01] [ 9.52003477e-03 -1.79582038e-04 9.99954667e-01 -1.61966911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9176280000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.16, Z:-0.02 [[ 9.99951442e-01 -2.54362969e-03 -9.52070733e-03 4.99758700e+00] [ 2.54507236e-03 9.99996752e-01 1.39416174e-04 -1.64126431e-01] [ 9.52032178e-03 -1.63640293e-04 9.99954667e-01 -1.62400739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.947628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.16, Z:-0.02 [[ 9.99954628e-01 -3.13318485e-04 -9.52074439e-03 5.02454357e+00] [ 3.14635539e-04 9.99999941e-01 1.36837675e-04 -1.64117870e-01] [ 9.52070096e-03 -1.39827031e-04 9.99954667e-01 -1.63791732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.977628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.16, Z:-0.02 [[ 9.99954650e-01 2.28361777e-04 -9.52076955e-03 5.05226642e+00] [-2.27086152e-04 9.99999965e-01 1.35064127e-04 -1.64369715e-01] [ 9.52080007e-03 -1.32895967e-04 9.99954667e-01 -1.54495313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.17, Z:-0.01 [[ 9.99954666e-01 1.43132040e-04 -9.52080495e-03 5.07966390e+00] [-1.41876761e-04 9.99999981e-01 1.32521182e-04 -1.65303196e-01] [ 9.52082374e-03 -1.31164393e-04 9.99954667e-01 -1.46423363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.037628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.17, Z:-0.01 [[ 9.99954626e-01 -3.16918502e-04 -9.52081869e-03 5.10837906e+00] [ 3.18185160e-04 9.99999941e-01 1.31526392e-04 -1.66254059e-01] [ 9.52077645e-03 -1.34549807e-04 9.99954667e-01 -1.35259660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.067628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.17, Z:-0.01 [[ 9.99954118e-01 -1.05652414e-03 -9.52082785e-03 5.13566643e+00] [ 1.05781797e-03 9.99999432e-01 1.30860067e-04 -1.66864860e-01] [ 9.52068419e-03 -1.40925366e-04 9.99954667e-01 -1.33879408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.097628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.17, Z:-0.01 [[ 9.99954308e-01 -8.57879640e-04 -9.52084359e-03 5.16381006e+00] [ 8.59153476e-04 9.99999623e-01 1.29705149e-04 -1.66619043e-01] [ 9.52072872e-03 -1.37879089e-04 9.99954667e-01 -1.10387703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1276280000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.17, Z:-0.01 [[ 9.99954675e-01 -2.11357738e-05 -9.52087832e-03 5.19224628e+00] [ 2.23469192e-05 9.99999992e-01 1.27103060e-04 -1.66516620e-01] [ 9.52087556e-03 -1.27310061e-04 9.99954667e-01 -9.84446000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.157628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.17, Z:-0.01 [[ 9.99953712e-01 1.38798970e-03 -9.52091283e-03 5.22036108e+00] [-1.38686754e-03 9.99999031e-01 1.24463706e-04 -1.66126776e-01] [ 9.52107635e-03 -1.11253700e-04 9.99954667e-01 -8.86183713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.187628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.17, Z:-0.01 [[ 9.99952798e-01 1.93710369e-03 -9.52094702e-03 5.24748746e+00] [-1.93603187e-03 9.99998118e-01 1.21790552e-04 -1.65976852e-01] [ 9.52116503e-03 -1.03351947e-04 9.99954667e-01 -8.12354359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.17, Z:-0.01 [[ 9.99950603e-01 2.85362578e-03 -9.52096166e-03 5.27571925e+00] [-2.85260649e-03 9.99995924e-01 1.20635148e-04 -1.65554520e-01] [ 9.52126710e-03 -9.34696319e-05 9.99954667e-01 -7.26499312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.247628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.17, Z:-0.01 [[ 9.99949679e-01 3.16055718e-03 -9.52099518e-03 5.30345115e+00] [-3.15957757e-03 9.99995002e-01 1.17929335e-04 -1.65509460e-01] [ 9.52132031e-03 -8.78410775e-05 9.99954667e-01 -7.57945607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.277628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.17, Z:-0.01 [[ 9.99952860e-01 1.90486195e-03 -9.52100663e-03 5.33252042e+00] [-1.90383430e-03 9.99998181e-01 1.16997136e-04 -1.66231975e-01] [ 9.52121217e-03 -9.88652022e-05 9.99954667e-01 -8.33538016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.307628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.17, Z:-0.01 [[ 9.99954624e-01 3.17016281e-04 -9.52101490e-03 5.36020751e+00] [-3.15923112e-04 9.99999943e-01 1.16320220e-04 -1.66999039e-01] [ 9.52105124e-03 -1.13307033e-04 9.99954667e-01 -8.83851758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3376280000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.17, Z:-0.01 [[ 9.99949095e-01 -3.34035532e-03 -9.52102509e-03 5.38955008e+00] [ 3.34160625e-03 9.99994410e-01 1.15480066e-04 -1.68927007e-01] [ 9.52058613e-03 -1.47289705e-04 9.99954667e-01 -9.07394604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.367628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.17, Z:-0.01 [[ 9.99943651e-01 -4.69510234e-03 -9.52103116e-03 5.41755114e+00] [ 4.69640987e-03 9.99988965e-01 1.14977849e-04 -1.69046307e-01] [ 9.52038626e-03 -1.59686035e-04 9.99954667e-01 -8.82513851e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.397628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.17, Z:-0.01 [[ 9.99937278e-01 -5.89824587e-03 -9.52104318e-03 5.44535124e+00] [ 5.89959836e-03 9.99982591e-01 1.13973341e-04 -1.69180761e-01] [ 9.52020518e-03 -1.70136524e-04 9.99954667e-01 -9.97543405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.17, Z:-0.01 [[ 9.99930234e-01 -6.99125640e-03 -9.52105305e-03 5.47333279e+00] [ 6.99265052e-03 9.99975545e-01 1.13142916e-04 -1.68449907e-01] [ 9.52002920e-03 -1.79712419e-04 9.99954667e-01 -1.02165232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.457628000000001 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.17, Z:-0.01 [[ 9.99904215e-01 -1.00453773e-02 -9.52108331e-03 5.50211374e+00] [ 1.00468850e-02 9.99949523e-01 1.10536747e-04 -1.68236647e-01] [ 9.51949232e-03 -2.06183388e-04 9.99954667e-01 -1.42597771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.487628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.17, Z:-0.01 [[ 9.99911707e-01 -9.26968490e-03 -9.52109097e-03 5.52976434e+00] [ 9.27115114e-03 9.99957016e-01 1.09872454e-04 -1.67094331e-01] [ 9.51966323e-03 -1.98134226e-04 9.99954667e-01 -1.13450157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.517628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.17, Z:-0.01 [[ 9.99894742e-01 -1.09477700e-02 -9.52110042e-03 5.55779487e+00] [ 1.09493044e-02 9.99940049e-01 1.09047521e-04 -1.67049755e-01] [ 9.51933579e-03 -2.13285470e-04 9.99954667e-01 -1.07116168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5476280000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.17, Z:-0.01 [[ 9.99869565e-01 -1.30460959e-02 -9.52113048e-03 5.58483067e+00] [ 1.30476998e-02 9.99914869e-01 1.06356277e-04 -1.67974045e-01] [ 9.51893241e-03 -2.30571256e-04 9.99954667e-01 -1.03888317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.577628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.17, Z:-0.01 [[ 9.99792257e-01 -1.80219535e-02 -9.52114332e-03 5.61393026e+00] [ 1.80237718e-02 9.99837553e-01 1.05194696e-04 -1.68026777e-01] [ 9.51770082e-03 -2.76779758e-04 9.99954667e-01 -7.53084165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.607628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.17, Z:-0.01 [[ 9.99733106e-01 -2.10490813e-02 -9.52115048e-03 5.64216963e+00] [ 2.10510305e-02 9.99778397e-01 1.04541975e-04 -1.67860804e-01] [ 9.51684006e-03 -3.04944103e-04 9.99954667e-01 -5.86796465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.637628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.17, Z:-0.00 [[ 9.99669450e-01 -2.38817379e-02 -9.52117930e-03 5.67039328e+00] [ 2.38837898e-02 9.99714736e-01 1.01848414e-04 -1.67717660e-01] [ 9.51603093e-03 -3.29216593e-04 9.99954667e-01 -4.62303631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6676280000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.17, Z:-0.00 [[ 9.99528475e-01 -2.91920133e-02 -9.52119264e-03 5.69864749e+00] [ 2.91942937e-02 9.99573751e-01 1.00585398e-04 -1.67678150e-01] [ 9.51419795e-03 -3.78502463e-04 9.99954667e-01 -2.65999988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.697628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.17, Z:-0.00 [[ 9.99470588e-01 -3.11109428e-02 -9.52122031e-03 5.72546148e+00] [ 3.11132845e-02 9.99515860e-01 9.78941278e-05 -1.67170574e-01] [ 9.51356513e-03 -3.94078738e-04 9.99954667e-01 -2.16541963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.727628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.17, Z:-0.00 [[ 9.99359080e-01 -3.45076129e-02 -9.52123877e-03 5.75360101e+00] [ 3.45100911e-02 9.99404345e-01 9.60643626e-05 -1.65477531e-01] [ 9.51225244e-03 -4.24581611e-04 9.99954667e-01 -2.77617297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.17, Z:-0.00 [[ 9.99268445e-01 -3.70394326e-02 -9.52126448e-03 5.78148596e+00] [ 3.70420005e-02 9.99313705e-01 9.34444468e-05 -1.65472818e-01] [ 9.51126896e-03 -4.46062771e-04 9.99954667e-01 -2.85922559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.787628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.17, Z:-0.00 [[ 9.99147611e-01 -4.01671120e-02 -9.52129020e-03 5.80953572e+00] [ 4.01697960e-02 9.99192864e-01 9.07458732e-05 -1.65573559e-01] [ 9.50996023e-03 -4.73136808e-04 9.99954667e-01 -3.00690316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.817628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.17, Z:-0.00 [[ 9.99016301e-01 -4.33102207e-02 -9.52131523e-03 5.83663805e+00] [ 4.33130213e-02 9.99061547e-01 8.80392956e-05 -1.65817305e-01] [ 9.50856692e-03 -5.00349621e-04 9.99954667e-01 -2.64054296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.847628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.17, Z:-0.00 [[ 9.98871452e-01 -4.65313541e-02 -9.52132592e-03 5.86491950e+00] [ 4.65342894e-02 9.98916689e-01 8.68672508e-05 -1.65961227e-01] [ 9.50696932e-03 -5.29837353e-04 9.99954667e-01 -2.20634960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8776280000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.17, Z:-0.00 [[ 9.98727831e-01 -4.95183074e-02 -9.52134968e-03 5.89306489e+00] [ 4.95213525e-02 9.98773062e-01 8.41802357e-05 -1.65899084e-01] [ 9.50549911e-03 -5.55583258e-04 9.99954667e-01 -1.88466887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.907628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.17, Z:-0.00 [[ 9.98538038e-01 -5.32083655e-02 -9.52137274e-03 5.92039065e+00] [ 5.32115521e-02 9.98583258e-01 8.14859531e-05 -1.65102253e-01] [ 9.50354768e-03 -5.88013845e-04 9.99954667e-01 -7.57050133e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.937628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.16, Z:0.00 [[ 9.98489331e-01 -5.41146936e-02 -9.52138258e-03 5.94895461e+00] [ 5.41179102e-02 9.98534549e-01 8.03195697e-05 -1.64542712e-01] [ 9.50308299e-03 -5.95475560e-04 9.99954667e-01 7.62952010e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.967628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.16, Z:0.00 [[ 9.98484176e-01 -5.42097213e-02 -9.52140450e-03 5.97632396e+00] [ 5.42129167e-02 9.98529395e-01 7.76302436e-05 -1.63538468e-01] [ 9.50319397e-03 -5.93695679e-04 9.99954667e-01 1.72115871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.997628000000001 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.16, Z:0.00 [[ 9.98539599e-01 -5.31790537e-02 -9.52141385e-03 6.00456437e+00] [ 5.31821913e-02 9.98584823e-01 7.64669669e-05 -1.61182153e-01] [ 9.50387292e-03 -5.82724947e-04 9.99954667e-01 7.86232097e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.16, Z:0.00 [[ 9.98628728e-01 -5.14782094e-02 -9.52143438e-03 6.03290676e+00] [ 5.14812448e-02 9.98673959e-01 7.38185295e-05 -1.60213713e-01] [ 9.50500852e-03 -5.63892599e-04 9.99954667e-01 3.67869121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.057628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.16, Z:0.00 [[ 9.98699651e-01 -5.00834194e-02 -9.52145437e-03 6.06113340e+00] [ 5.00863662e-02 9.98744888e-01 7.11429615e-05 -1.58797421e-01] [ 9.50594079e-03 -5.47945501e-04 9.99954667e-01 3.81110778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.16, Z:0.00 [[ 9.98777675e-01 -4.85025601e-02 -9.52147362e-03 6.08891139e+00] [ 4.85054098e-02 9.98822918e-01 6.84654126e-05 -1.57386452e-01] [ 9.50694532e-03 -5.30224706e-04 9.99954667e-01 3.52267869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.117628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.16, Z:0.00 [[ 9.98861981e-01 -4.67341921e-02 -9.52149251e-03 6.11579664e+00] [ 4.67369357e-02 9.98907230e-01 6.57290725e-05 -1.56080378e-01] [ 9.50801592e-03 -5.10659655e-04 9.99954667e-01 2.87219677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.147628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.15, Z:0.00 [[ 9.99031591e-01 -4.29560405e-02 -9.52150055e-03 6.14412684e+00] [ 4.29586017e-02 9.99076851e-01 6.45431590e-05 -1.53098314e-01] [ 9.50993827e-03 -4.73511005e-04 9.99954667e-01 2.44364057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.15, Z:0.00 [[ 9.99125108e-01 -4.07229519e-02 -9.52151817e-03 6.17134698e+00] [ 4.07253861e-02 9.99170375e-01 6.18305097e-05 -1.51938262e-01] [ 9.51110096e-03 -4.49543919e-04 9.99954667e-01 2.36369045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.207628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.15, Z:0.00 [[ 9.99199132e-01 -3.88643289e-02 -9.52152566e-03 6.19945583e+00] [ 3.88666678e-02 9.99244404e-01 6.06547939e-05 -1.50938754e-01] [ 9.51197392e-03 -4.30676192e-04 9.99954667e-01 2.56205530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.15, Z:0.00 [[ 9.99264095e-01 -3.71565369e-02 -9.52154208e-03 6.22729038e+00] [ 3.71587727e-02 9.99309373e-01 5.79568181e-05 -1.50642266e-01] [ 9.51281277e-03 -4.11722985e-04 9.99954667e-01 2.83409629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.15, Z:0.00 [[ 9.99401665e-01 -3.32513485e-02 -9.52155765e-03 6.25410946e+00] [ 3.32533819e-02 9.99446952e-01 5.52756455e-05 -1.50128305e-01] [ 9.51445378e-03 -3.71866565e-04 9.99954667e-01 3.01474498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.297628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.15, Z:0.00 [[ 9.99463150e-01 -3.13488715e-02 -9.52156787e-03 6.28240246e+00] [ 3.13508014e-02 9.99508441e-01 5.34546591e-05 -1.49580516e-01] [ 9.51521172e-03 -3.51934745e-04 9.99954667e-01 3.01386151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.15, Z:0.00 [[ 9.99525744e-01 -2.92852634e-02 -9.52158204e-03 6.31024360e+00] [ 2.92870745e-02 9.99571040e-01 5.07975343e-05 -1.49188521e-01] [ 9.51601005e-03 -3.29632726e-04 9.99954667e-01 3.11784173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.15, Z:0.00 [[ 9.99674019e-01 -2.36895555e-02 -9.52159580e-03 6.33820953e+00] [ 2.36910870e-02 9.99719326e-01 4.80730652e-05 -1.48889013e-01] [ 9.51778450e-03 -2.73634349e-04 9.99954667e-01 2.33817127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.387628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.15, Z:0.00 [[ 9.99730259e-01 -2.11836807e-02 -9.52159998e-03 6.36636662e+00] [ 2.11850906e-02 9.99775570e-01 4.72298007e-05 -1.48752637e-01] [ 9.51846255e-03 -2.48933019e-04 9.99954667e-01 2.50824433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.15, Z:0.00 [[ 9.99780197e-01 -1.86787900e-02 -9.52161264e-03 6.39397095e+00] [ 1.86800607e-02 9.99825511e-01 4.45231385e-05 -1.48911553e-01] [ 9.51911959e-03 -2.22377654e-04 9.99954667e-01 1.97471324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.447628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.15, Z:0.00 [[ 9.99820035e-01 -1.64084400e-02 -9.52161648e-03 6.42070853e+00] [ 1.64095998e-02 9.99865352e-01 4.36848440e-05 -1.49211866e-01] [ 9.51961762e-03 -1.99922898e-04 9.99954667e-01 1.41624307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.477628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.15, Z:0.00 [[ 9.99849579e-01 -1.44968645e-02 -9.52162164e-03 6.44876685e+00] [ 1.44979267e-02 9.99894899e-01 4.25308878e-05 -1.50084084e-01] [ 9.52000434e-03 -1.80568263e-04 9.99954667e-01 2.18328232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.15, Z:0.00 [[ 9.99845473e-01 -1.47772929e-02 -9.52163280e-03 6.47737150e+00] [ 1.47783424e-02 9.99890794e-01 3.98640366e-05 -1.50133066e-01] [ 9.52000390e-03 -1.80571826e-04 9.99954667e-01 2.45449228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.537628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.15, Z:0.00 [[ 9.99881250e-01 -1.21170779e-02 -9.52164324e-03 6.50509874e+00] [ 1.21179814e-02 9.99926574e-01 3.71936112e-05 -1.51578917e-01] [ 9.52049342e-03 -1.52572290e-04 9.99954667e-01 3.64855057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.567628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.15, Z:0.00 [[ 9.99890786e-01 -1.13028336e-02 -9.52165304e-03 6.53351540e+00] [ 1.13036743e-02 9.99936111e-01 3.44859568e-05 -1.52543014e-01] [ 9.52065492e-03 -1.42111855e-04 9.99954667e-01 4.25171177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.597628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.15, Z:0.00 [[ 9.99909678e-01 -9.48541014e-03 -9.52166214e-03 6.56008549e+00] [ 9.48614253e-03 9.99955005e-01 3.17570572e-05 -1.54727337e-01] [ 9.52093249e-03 -1.22078033e-04 9.99954667e-01 4.56448601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.627628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.16, Z:0.01 [[ 9.99917185e-01 -8.65802540e-03 -9.52166594e-03 6.58785859e+00] [ 8.65870903e-03 9.99962512e-01 3.05754459e-05 -1.55936871e-01] [ 9.52104427e-03 -1.13018249e-04 9.99954667e-01 5.87919140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.16, Z:0.01 [[ 9.99922299e-01 -8.04569406e-03 -9.52167383e-03 6.61491789e+00] [ 8.04632426e-03 9.99967627e-01 2.78787702e-05 -1.57042144e-01] [ 9.52114129e-03 -1.04491079e-04 9.99954667e-01 6.30171427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.16, Z:0.01 [[ 9.99923793e-01 -7.85791248e-03 -9.52167712e-03 6.64311135e+00] [ 7.85852302e-03 9.99969121e-01 2.67082546e-05 -1.58325746e-01] [ 9.52117323e-03 -1.01532538e-04 9.99954667e-01 6.79703468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.717628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.16, Z:0.01 [[ 9.99924902e-01 -7.71546360e-03 -9.52168383e-03 6.67140361e+00] [ 7.71604238e-03 9.99970231e-01 2.40511014e-05 -1.60943163e-01] [ 9.52121481e-03 -9.75190111e-05 9.99954667e-01 5.97422771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.16, Z:0.01 [[ 9.99919741e-01 -8.35751598e-03 -9.52168978e-03 6.69963666e+00] [ 8.35809867e-03 9.99965070e-01 2.14045258e-05 -1.62357142e-01] [ 9.52117830e-03 -1.00986031e-04 9.99954667e-01 5.46897767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.777628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.16, Z:0.01 [[ 9.99912118e-01 -9.22463997e-03 -9.52169499e-03 6.72792417e+00] [ 9.22523679e-03 9.99957446e-01 1.87601717e-05 -1.64219019e-01] [ 9.52111675e-03 -1.06598414e-04 9.99954667e-01 5.31130032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.807628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.17, Z:0.01 [[ 9.99904905e-01 -9.97590854e-03 -9.52169945e-03 6.75648263e+00] [ 9.97651431e-03 9.99950233e-01 1.61228109e-05 -1.66934752e-01] [ 9.52106475e-03 -1.11114648e-04 9.99954667e-01 5.69752943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.17, Z:0.01 [[ 9.99891793e-01 -1.12133537e-02 -9.52170325e-03 6.78386619e+00] [ 1.12139900e-02 9.99937121e-01 1.34307387e-05 -1.69669877e-01] [ 9.52095393e-03 -1.20205570e-04 9.99954667e-01 5.98965256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.867628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.18, Z:0.01 [[ 9.99856706e-01 -1.39965660e-02 -9.52170475e-03 6.81231779e+00] [ 1.39973173e-02 9.99902033e-01 1.22644312e-05 -1.75133723e-01] [ 9.52060028e-03 -1.45540996e-04 9.99954667e-01 7.72289419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.897628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.18, Z:0.01 [[ 9.99860998e-01 -1.36865888e-02 -9.52170743e-03 6.84157559e+00] [ 1.36873008e-02 9.99906324e-01 9.61368797e-06 -1.75681204e-01] [ 9.52068390e-03 -1.39938825e-04 9.99954667e-01 9.46118003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.18, Z:0.01 [[ 9.99865748e-01 -1.33350277e-02 -9.52170922e-03 6.86928103e+00] [ 1.33357014e-02 9.99911076e-01 7.26482574e-06 -1.75950547e-01] [ 9.52076563e-03 -1.34242522e-04 9.99954667e-01 1.03763740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.957628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.18, Z:0.01 [[ 9.99900400e-01 -1.04176354e-02 -9.52171051e-03 6.89634253e+00] [ 1.04181512e-02 9.99945730e-01 4.57638079e-06 -1.76164654e-01] [ 9.52114609e-03 -1.03774545e-04 9.99954667e-01 1.12631172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.18, Z:0.01 [[ 9.99915568e-01 -8.84278262e-03 -9.52171093e-03 6.92440807e+00] [ 8.84321598e-03 9.99960898e-01 3.41103418e-06 -1.75675443e-01] [ 9.52130845e-03 -8.76132924e-05 9.99954667e-01 1.18260793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.18, Z:0.01 [[ 9.99927427e-01 -7.38089770e-03 -9.52171114e-03 6.95228882e+00] [ 7.38123952e-03 9.99972758e-01 7.57409137e-07 -1.75292331e-01] [ 9.52144617e-03 -7.10393848e-05 9.99954667e-01 1.16390219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.047628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.18, Z:0.01 [[ 9.99932180e-01 -6.70615996e-03 -9.52171060e-03 6.97990916e+00] [ 6.70644568e-03 9.99977512e-01 -1.92248565e-06 -1.76138304e-01] [ 9.52150937e-03 -6.19344797e-05 9.99954667e-01 1.12901707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.18, Z:0.01 [[ 9.99927426e-01 -7.38098000e-03 -9.52170932e-03 7.00794137e+00] [ 7.38127094e-03 9.99972758e-01 -4.58674606e-06 -1.75869035e-01] [ 9.52148378e-03 -6.56959031e-05 9.99954667e-01 1.11303579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.18, Z:0.01 [[ 9.99917799e-01 -8.58678396e-03 -9.52170727e-03 7.03556705e+00] [ 8.58710403e-03 9.99963130e-01 -7.26796077e-06 -1.75652322e-01] [ 9.52141862e-03 -7.44965276e-05 9.99954667e-01 1.08863978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.137628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.18, Z:0.01 [[ 9.99904133e-01 -1.00529473e-02 -9.52170443e-03 7.06452230e+00] [ 1.00533080e-02 9.99949464e-01 -9.98201650e-06 -1.75516714e-01] [ 9.52132359e-03 -8.57435674e-05 9.99954667e-01 1.20267333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.18, Z:0.01 [[ 9.99858232e-01 -1.38871412e-02 -9.52169850e-03 7.09247035e+00] [ 1.38876313e-02 9.99903562e-01 -1.46459902e-05 -1.75864647e-01] [ 9.52098364e-03 -1.17589925e-04 9.99954667e-01 1.16191064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.197628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.18, Z:0.01 [[ 9.99838185e-01 -1.52623980e-02 -9.52170053e-03 7.11913473e+00] [ 1.52629644e-02 9.99883514e-01 -1.31782246e-05 -1.75311767e-01] [ 9.52079252e-03 -1.32153284e-04 9.99954667e-01 1.19215351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.227628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.17, Z:0.01 [[ 9.99810236e-01 -1.69949971e-02 -9.52169880e-03 7.14764277e+00] [ 1.69956311e-02 9.99855564e-01 -1.43307785e-05 -1.74556581e-01] [ 9.52056707e-03 -1.47499221e-04 9.99954667e-01 1.27869662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.17, Z:0.01 [[ 9.99793771e-01 -1.79374513e-02 -9.52169397e-03 7.17462457e+00] [ 1.79381024e-02 9.99839099e-01 -1.70294666e-05 -1.74191063e-01] [ 9.52046739e-03 -1.53775167e-04 9.99954667e-01 1.33221059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.287628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.17, Z:0.01 [[ 9.99764406e-01 -1.95056280e-02 -9.52169034e-03 7.20226103e+00] [ 1.95063327e-02 9.99809733e-01 -1.88615411e-05 -1.73473145e-01] [ 9.52024658e-03 -1.66876163e-04 9.99954668e-01 1.37768512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.317628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.17, Z:0.01 [[ 9.99740827e-01 -2.06788790e-02 -9.52168426e-03 7.23014469e+00] [ 2.06796113e-02 9.99786154e-01 -2.15499786e-05 -1.72854534e-01] [ 9.52009371e-03 -1.75360336e-04 9.99954668e-01 1.39902096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.347628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.17, Z:0.01 [[ 9.99714173e-01 -2.19296510e-02 -9.52167735e-03 7.25807109e+00] [ 2.19304142e-02 9.99759499e-01 -2.42603379e-05 -1.72537782e-01] [ 9.51991940e-03 -1.84560924e-04 9.99954668e-01 1.37617202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.377628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.17, Z:0.01 [[ 9.99697539e-01 -2.26752666e-02 -9.52166961e-03 7.28504034e+00] [ 2.26760376e-02 9.99742865e-01 -2.69902367e-05 -1.71837670e-01] [ 9.51983327e-03 -1.88931665e-04 9.99954668e-01 1.37066574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.17, Z:0.01 [[ 9.99689459e-01 -2.30287414e-02 -9.52166611e-03 7.31329569e+00] [ 2.30295172e-02 9.99734785e-01 -2.81739459e-05 -1.72019222e-01] [ 9.51978963e-03 -1.91114177e-04 9.99954668e-01 1.43568834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.17, Z:0.01 [[ 9.99656999e-01 -2.43971932e-02 -9.52165084e-03 7.34183342e+00] [ 2.43979840e-02 9.99702324e-01 -3.31089864e-05 -1.71795998e-01] [ 9.51962424e-03 -1.99211455e-04 9.99954668e-01 1.48074015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.467628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.17, Z:0.02 [[ 9.99636011e-01 -2.52425005e-02 -9.52165920e-03 7.36961244e+00] [ 2.52433545e-02 9.99681335e-01 -3.04976515e-05 -1.71975803e-01] [ 9.51939482e-03 -2.09872068e-04 9.99954668e-01 1.54546070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.17, Z:0.02 [[ 9.99618907e-01 -2.59109846e-02 -9.52164979e-03 7.39812698e+00] [ 2.59118432e-02 9.99664231e-01 -3.31969965e-05 -1.71742442e-01] [ 9.51931289e-03 -2.13539151e-04 9.99954668e-01 1.64792881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.527628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.17, Z:0.02 [[ 9.99625204e-01 -2.56668911e-02 -9.52163963e-03 7.42625305e+00] [ 2.56677131e-02 9.99670529e-01 -3.58926898e-05 -1.71722232e-01] [ 9.51942378e-03 -2.08519476e-04 9.99954668e-01 1.67392394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.557628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.17, Z:0.02 [[ 9.99630152e-01 -2.54734833e-02 -9.52162880e-03 7.45377195e+00] [ 2.54742709e-02 9.99675477e-01 -3.85666920e-05 -1.71383175e-01] [ 9.51952124e-03 -2.04004124e-04 9.99954668e-01 1.66834323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.17, Z:0.02 [[ 9.99629725e-01 -2.54902369e-02 -9.52162396e-03 7.48156580e+00] [ 2.54910143e-02 9.99675051e-01 -3.97252456e-05 -1.71474022e-01] [ 9.51954252e-03 -2.03005316e-04 9.99954668e-01 1.70585232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.617628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.17, Z:0.02 [[ 9.99617466e-01 -2.59665464e-02 -9.52161215e-03 7.50978037e+00] [ 2.59673201e-02 9.99662791e-01 -4.23794905e-05 -1.71875150e-01] [ 9.51950183e-03 -2.04887472e-04 9.99954668e-01 1.75922847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.647628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.17, Z:0.02 [[ 9.99599160e-01 -2.66619162e-02 -9.52159966e-03 7.53811030e+00] [ 2.66626964e-02 9.99644486e-01 -4.50209574e-05 -1.71953576e-01] [ 9.51941495e-03 -2.08868609e-04 9.99954668e-01 1.79791870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.17, Z:0.02 [[ 9.99567421e-01 -2.78264187e-02 -9.52158653e-03 7.56604461e+00] [ 2.78272266e-02 9.99612747e-01 -4.76444087e-05 -1.71728933e-01] [ 9.51922504e-03 -2.17335548e-04 9.99954668e-01 1.81509011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.707628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.17, Z:0.02 [[ 9.99537930e-01 -2.88663539e-02 -9.52157266e-03 7.59378700e+00] [ 2.88671840e-02 9.99583255e-01 -5.02719464e-05 -1.71298673e-01] [ 9.51905576e-03 -2.24612272e-04 9.99954668e-01 1.83287019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.17, Z:0.02 [[ 9.99455312e-01 -3.15977814e-02 -9.52155798e-03 7.62063447e+00] [ 3.15987102e-02 9.99500635e-01 -5.29140433e-05 -1.70948146e-01] [ 9.51847521e-03 -2.47983730e-04 9.99954668e-01 1.77701824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.17, Z:0.02 [[ 9.99452930e-01 -3.16730355e-02 -9.52155149e-03 7.64805725e+00] [ 3.16739568e-02 9.99498253e-01 -5.40569427e-05 -1.69470514e-01] [ 9.51848623e-03 -2.47557841e-04 9.99954668e-01 1.82932029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.797628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.17, Z:0.02 [[ 9.99441315e-01 -3.20374472e-02 -9.52154498e-03 7.67640846e+00] [ 3.20383744e-02 9.99486638e-01 -5.51798105e-05 -1.67804066e-01] [ 9.51842480e-03 -2.49905841e-04 9.99954668e-01 1.82363539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.17, Z:0.02 [[ 9.99413335e-01 -3.28987179e-02 -9.52152941e-03 7.70495479e+00] [ 3.28996597e-02 9.99458658e-01 -5.77470684e-05 -1.67512434e-01] [ 9.51827481e-03 -2.55541887e-04 9.99954668e-01 1.82538780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.857628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.17, Z:0.02 [[ 9.99307783e-01 -3.59624160e-02 -9.52151256e-03 7.73305970e+00] [ 3.59634715e-02 9.99353103e-01 -6.04032295e-05 -1.67335783e-01] [ 9.51752537e-03 -2.82065228e-04 9.99954668e-01 1.74466820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.887628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.17, Z:0.02 [[ 9.99244524e-01 -3.76791910e-02 -9.52150728e-03 7.76133634e+00] [ 3.76803165e-02 9.99289843e-01 -6.12252684e-05 -1.66293902e-01] [ 9.51705243e-03 -2.97594393e-04 9.99954668e-01 1.88287901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.17, Z:0.02 [[ 9.99104972e-01 -4.12140282e-02 -9.52148936e-03 7.78934447e+00] [ 4.12152886e-02 9.99150287e-01 -6.38956507e-05 -1.65738452e-01] [ 9.51603222e-03 -3.28592469e-04 9.99954668e-01 2.00655808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.947628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.16, Z:0.02 [[ 9.99018839e-01 -4.32516033e-02 -9.52147068e-03 7.81708750e+00] [ 4.32529307e-02 9.99064152e-01 -6.65669822e-05 -1.64901516e-01] [ 9.51543916e-03 -3.45329842e-04 9.99954668e-01 2.09145334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.977628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.16, Z:0.02 [[ 9.98914694e-01 -4.55936065e-02 -9.52145119e-03 7.84495032e+00] [ 4.55950146e-02 9.98960004e-01 -6.92474642e-05 -1.63205041e-01] [ 9.51470616e-03 -3.64958396e-04 9.99954668e-01 2.18488789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.16, Z:0.02 [[ 9.98875768e-01 -4.64385896e-02 -9.52143103e-03 7.87210101e+00] [ 4.64400106e-02 9.98921078e-01 -7.19158652e-05 -1.62311021e-01] [ 9.51449782e-03 -3.70340343e-04 9.99954668e-01 2.18394386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.037628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.16, Z:0.02 [[ 9.98851574e-01 -4.69560996e-02 -9.52142216e-03 7.90034056e+00] [ 4.69575331e-02 9.98896884e-01 -7.30723846e-05 -1.61494095e-01] [ 9.51435012e-03 -3.74114029e-04 9.99954668e-01 2.21129449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.067628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.16, Z:0.02 [[ 9.98847004e-01 -4.70532217e-02 -9.52140089e-03 7.92703876e+00] [ 4.70546341e-02 9.98892314e-01 -7.57450090e-05 -1.60677166e-01] [ 9.51441822e-03 -3.72368360e-04 9.99954668e-01 2.16896769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.097628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.16, Z:0.02 [[ 9.98850242e-01 -4.69844280e-02 -9.52139154e-03 7.95492000e+00] [ 4.69858263e-02 9.98895553e-01 -7.69036482e-05 -1.59797638e-01] [ 9.51448894e-03 -3.70555221e-04 9.99954668e-01 2.21439524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.127628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.16, Z:0.02 [[ 9.98927727e-01 -4.53071695e-02 -9.52136904e-03 7.98236314e+00] [ 4.53084661e-02 9.98973041e-01 -7.95942944e-05 -1.58530243e-01] [ 9.51519718e-03 -3.51889679e-04 9.99954668e-01 2.16360891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.16, Z:0.02 [[ 9.98987816e-01 -4.39623503e-02 -9.52135343e-03 8.00959645e+00] [ 4.39635685e-02 9.99033132e-01 -8.14196463e-05 -1.57565666e-01] [ 9.51572694e-03 -3.37255439e-04 9.99954668e-01 2.13096654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.16, Z:0.02 [[ 9.99053865e-01 -4.24348823e-02 -9.52134346e-03 8.03743143e+00] [ 4.24360203e-02 9.99099183e-01 -8.25700560e-05 -1.56623032e-01] [ 9.51627032e-03 -3.21555990e-04 9.99954668e-01 2.15823855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.217628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.16, Z:0.02 [[ 9.99133073e-01 -4.05271136e-02 -9.52132024e-03 8.06454616e+00] [ 4.05281404e-02 9.99178394e-01 -8.51661115e-05 -1.55921716e-01] [ 9.51694900e-03 -3.00789124e-04 9.99954668e-01 2.23554665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.16, Z:0.03 [[ 9.99257279e-01 -3.73394468e-02 -9.52130416e-03 8.09379860e+00] [ 3.73403121e-02 9.99302604e-01 -8.69274912e-05 -1.55480446e-01] [ 9.51790986e-03 -2.68665541e-04 9.99954668e-01 2.50895457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.277628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.16, Z:0.03 [[ 9.99300463e-01 -3.61653128e-02 -9.52128210e-03 8.12216913e+00] [ 3.61661025e-02 9.99345789e-01 -8.92799393e-05 -1.55322392e-01] [ 9.51828200e-03 -2.55130179e-04 9.99954668e-01 2.61495800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.307628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.15, Z:0.03 [[ 9.99363265e-01 -3.43862029e-02 -9.52125619e-03 8.15045169e+00] [ 3.43868863e-02 9.99408592e-01 -9.19619893e-05 -1.54243244e-01] [ 9.51878747e-03 -2.35502921e-04 9.99954668e-01 2.64529604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.15, Z:0.03 [[ 9.99400582e-01 -3.32839837e-02 -9.52122908e-03 8.17732843e+00] [ 3.32845912e-02 9.99445910e-01 -9.46880299e-05 -1.53734403e-01] [ 9.51910506e-03 -2.22278946e-04 9.99954668e-01 2.63048537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.367628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.15, Z:0.03 [[ 9.99441965e-01 -3.20172582e-02 -9.52121721e-03 8.20571488e+00] [ 3.20177971e-02 9.99487294e-01 -9.58674951e-05 -1.53434922e-01] [ 9.51940504e-03 -2.09034403e-04 9.99954668e-01 2.62607775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.397628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.15, Z:0.03 [[ 9.99502505e-01 -3.00680957e-02 -9.52118955e-03 8.23401597e+00] [ 3.00685206e-02 9.99547835e-01 -9.85400601e-05 -1.53655248e-01] [ 9.51984731e-03 -1.87797048e-04 9.99954668e-01 2.62058862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.15, Z:0.03 [[ 9.99494061e-01 -3.03474722e-02 -9.52116127e-03 8.26262194e+00] [ 3.03478845e-02 9.99539392e-01 -1.01200613e-04 -1.53279293e-01] [ 9.51984692e-03 -1.87797691e-04 9.99954668e-01 2.64770969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.457628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.15, Z:0.03 [[ 9.99608755e-01 -2.62998983e-02 -9.52113224e-03 8.29075759e+00] [ 2.63001018e-02 9.99654087e-01 -1.03861808e-04 -1.53157882e-01] [ 9.52057031e-03 -1.46585574e-04 9.99954668e-01 2.66539903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.15, Z:0.03 [[ 9.99642218e-01 -2.49956802e-02 -9.52110226e-03 8.31836863e+00] [ 2.49957990e-02 9.99687551e-01 -1.06540872e-04 -1.52606067e-01] [ 9.52079046e-03 -1.31484805e-04 9.99954668e-01 2.65222306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.15, Z:0.03 [[ 9.99659086e-01 -2.43117422e-02 -9.52107100e-03 8.34850393e+00] [ 2.43118040e-02 9.99704418e-01 -1.09264508e-04 -1.53425841e-01] [ 9.52091316e-03 -1.22247154e-04 9.99954668e-01 2.56485157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.547628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.15, Z:0.03 [[ 9.99656769e-01 -2.44066893e-02 -9.52147978e-03 8.37467474e+00] [ 2.44070936e-02 9.99702100e-01 -7.37487948e-05 -1.53588607e-01] [ 9.52044330e-03 -1.58668167e-04 9.99954667e-01 2.69674838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.15, Z:0.03 [[ 9.99653710e-01 -2.45318270e-02 -9.52101209e-03 8.40171640e+00] [ 2.45318621e-02 9.99699042e-01 -1.13115420e-04 -1.54123373e-01] [ 9.52092160e-03 -1.20491907e-04 9.99954668e-01 2.69749717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.607628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.15, Z:0.03 [[ 9.99643892e-01 -2.49287102e-02 -9.52099804e-03 8.42949732e+00] [ 2.49287522e-02 9.99689224e-01 -1.14285852e-04 -1.54618301e-01] [ 9.52088814e-03 -1.23101446e-04 9.99954668e-01 2.64880240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.637628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.16, Z:0.03 [[ 9.99632263e-01 -2.53907274e-02 -9.52096542e-03 8.45926795e+00] [ 2.53907651e-02 9.99677596e-01 -1.16941861e-04 -1.55547239e-01] [ 9.52086506e-03 -1.24845739e-04 9.99954668e-01 2.63557049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.15, Z:0.02 [[ 9.99738060e-01 -2.08124276e-02 -9.52127703e-03 8.48727773e+00] [ 2.08124955e-02 9.99783392e-01 -9.19615252e-05 -1.54197342e-01] [ 9.52112859e-03 -1.06224099e-04 9.99954667e-01 2.45070662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.697628000000002 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.15, Z:0.02 [[ 9.99761287e-01 -1.96652108e-02 -9.52090511e-03 8.51584036e+00] [ 1.96649484e-02 9.99806619e-01 -1.21182847e-04 -1.53980561e-01] [ 9.52144703e-03 -6.60741887e-05 9.99954668e-01 2.14877966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.727628000000001 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.15, Z:0.02 [[ 9.99794508e-01 -1.78967738e-02 -9.52087004e-03 8.54355673e+00] [ 1.78964056e-02 9.99839839e-01 -1.23877655e-04 -1.54246187e-01] [ 9.52156218e-03 -4.65371526e-05 9.99954668e-01 2.17207444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.757628 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.15, Z:0.02 [[ 9.99807394e-01 -1.71618379e-02 -9.52083382e-03 8.57152036e+00] [ 1.71614104e-02 9.99852724e-01 -1.26601906e-04 -1.54450777e-01] [ 9.52160435e-03 -3.68134150e-05 9.99954668e-01 2.19765235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.787628000000002 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.15, Z:0.02 [[ 9.99797093e-01 -1.77518022e-02 -9.52079698e-03 8.60004486e+00] [ 1.77513756e-02 9.99842424e-01 -1.29314350e-04 -1.54281411e-01] [ 9.52159229e-03 -3.97191323e-05 9.99954668e-01 2.32509703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.817628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.15, Z:0.03 [[ 9.99795664e-01 -1.78321319e-02 -9.52075955e-03 8.62811344e+00] [ 1.78316833e-02 9.99840994e-01 -1.32013442e-04 -1.54371623e-01] [ 9.52159978e-03 -3.77847020e-05 9.99954668e-01 2.62030362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.847628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.15, Z:0.03 [[ 9.99793109e-01 -1.79748341e-02 -9.52074790e-03 8.65644553e+00] [ 1.79743840e-02 9.99838439e-01 -1.32848719e-04 -1.53967635e-01] [ 9.52159765e-03 -3.83083442e-05 9.99954668e-01 2.79109441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.877628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.15, Z:0.03 [[ 9.99801499e-01 -1.75019565e-02 -9.52071013e-03 8.68451193e+00] [ 1.75014597e-02 9.99846829e-01 -1.35502066e-04 -1.54480733e-01] [ 9.52162338e-03 -3.11511561e-05 9.99954668e-01 2.93119589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.15, Z:0.03 [[ 9.99804643e-01 -1.73214518e-02 -9.52067158e-03 8.71307799e+00] [ 1.73209215e-02 9.99849972e-01 -1.38158936e-04 -1.53972101e-01] [ 9.52163633e-03 -2.67748590e-05 9.99954668e-01 3.00782150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.937628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.15, Z:0.03 [[ 9.99772345e-01 -1.90949369e-02 -9.52063131e-03 8.74054811e+00] [ 1.90944611e-02 9.99817674e-01 -1.40880093e-04 -1.51974962e-01] [ 9.52158555e-03 -4.09433035e-05 9.99954668e-01 2.89275563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.967628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.15, Z:0.03 [[ 9.99791804e-01 -1.80476251e-02 -9.52005341e-03 8.76911161e+00] [ 1.80467379e-02 9.99837128e-01 -1.79091865e-04 -1.52606555e-01] [ 9.52173504e-03 7.24867007e-06 9.99954667e-01 3.10385091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.15, Z:0.03 [[ 9.99772265e-01 -1.90991175e-02 -9.52058177e-03 8.79695240e+00] [ 1.90986102e-02 9.99817595e-01 -1.44210306e-04 -1.51471320e-01] [ 9.52159946e-03 -3.76524154e-05 9.99954668e-01 3.10603125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.027628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.15, Z:0.03 [[ 9.99709329e-01 -2.21498791e-02 -9.52054087e-03 8.82443923e+00] [ 2.21494848e-02 9.99754659e-01 -1.46862017e-04 -1.50179939e-01] [ 9.52145807e-03 -6.40557475e-05 9.99954668e-01 3.02637385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.057628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.15, Z:0.03 [[ 9.99703238e-01 -2.24231071e-02 -9.52051278e-03 8.85304152e+00] [ 2.24227081e-02 9.99748568e-01 -1.48661077e-04 -1.49649985e-01] [ 9.52145246e-03 -6.48587186e-05 9.99954668e-01 3.05353153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.15, Z:0.03 [[ 9.99660468e-01 -2.42551065e-02 -9.52047144e-03 8.88162876e+00] [ 2.42547658e-02 9.99705798e-01 -1.51263055e-04 -1.48869109e-01] [ 9.52133940e-03 -7.97051088e-05 9.99954668e-01 3.00783250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.117628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.15, Z:0.03 [[ 9.99592275e-01 -2.69192216e-02 -9.52042829e-03 8.90940159e+00] [ 2.69189763e-02 9.99637607e-01 -1.53931829e-04 -1.47935285e-01] [ 9.52112187e-03 -1.02411116e-04 9.99954668e-01 3.00114986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.147628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.15, Z:0.03 [[ 9.99411454e-01 -3.29561596e-02 -9.52038396e-03 8.93780325e+00] [ 3.29561624e-02 9.99456786e-01 -1.56625832e-04 -1.47499689e-01] [ 9.52037414e-03 -1.57221670e-04 9.99954668e-01 3.04134815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.15, Z:0.03 [[ 9.99260705e-01 -3.72479015e-02 -9.52033918e-03 8.96452928e+00] [ 3.72480735e-02 9.99306037e-01 -1.59302403e-04 -1.47714394e-01] [ 9.51966610e-03 -1.95429661e-04 9.99954668e-01 3.13086157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.207628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.15, Z:0.03 [[ 9.99101723e-01 -4.12929961e-02 -9.52031964e-03 8.99260971e+00] [ 4.12933406e-02 9.99147053e-01 -1.60461863e-04 -1.46397798e-01] [ 9.51882526e-03 -2.32808078e-04 9.99954668e-01 3.23894925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.15, Z:0.03 [[ 9.98863502e-01 -4.67019151e-02 -9.52027415e-03 9.02027557e+00] [ 4.67024797e-02 9.98908831e-01 -1.63116382e-04 -1.45281092e-01] [ 9.51750377e-03 -2.81689410e-04 9.99954668e-01 3.31389082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.14, Z:0.03 [[ 9.98273611e-01 -5.79582823e-02 -9.52022678e-03 9.04867380e+00] [ 5.79593320e-02 9.98318931e-01 -1.65836063e-04 -1.43528749e-01] [ 9.51383420e-03 -3.86236219e-04 9.99954668e-01 3.34949828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.297628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.14, Z:0.03 [[ 9.97979941e-01 -6.28124424e-02 -9.52017895e-03 9.07584489e+00] [ 6.28136868e-02 9.98025256e-01 -1.68537978e-04 -1.42047505e-01] [ 9.51196532e-03 -4.29800017e-04 9.99954668e-01 3.39353280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.14, Z:0.03 [[ 9.97676147e-01 -6.74660790e-02 -9.52014617e-03 9.10369369e+00] [ 6.74675172e-02 9.97721457e-01 -1.70369756e-04 -1.40915309e-01] [ 9.50994828e-03 -4.72326784e-04 9.99954668e-01 3.37858156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.357628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.14, Z:0.03 [[ 9.97433058e-01 -7.09694465e-02 -9.52009757e-03 9.13226142e+00] [ 7.09710184e-02 9.97478363e-01 -1.73043328e-04 -1.40396213e-01] [ 9.50837213e-03 -5.03051885e-04 9.99954668e-01 3.42286547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.387628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.14, Z:0.03 [[ 9.97081980e-01 -7.57422911e-02 -9.52004803e-03 9.16009863e+00] [ 7.57440543e-02 9.97127277e-01 -1.75727022e-04 -1.39184815e-01] [ 9.50600954e-03 -5.45872788e-04 9.99954668e-01 3.34801722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.14, Z:0.03 [[ 9.96975555e-01 -7.71304840e-02 -9.51999807e-03 9.18854714e+00] [ 7.71322849e-02 9.97020852e-01 -1.78393415e-04 -1.37546667e-01] [ 9.50539615e-03 -5.56445329e-04 9.99954668e-01 3.25020402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.447628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.14, Z:0.03 [[ 9.96905074e-01 -7.80361676e-02 -9.51994689e-03 9.21692695e+00] [ 7.80379841e-02 9.96950370e-01 -1.81083660e-04 -1.35553866e-01] [ 9.50504565e-03 -5.62394245e-04 9.99954668e-01 3.18769830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.477628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.13, Z:0.03 [[ 9.96915499e-01 -7.79028906e-02 -9.51989496e-03 9.24365651e+00] [ 7.79046754e-02 9.96960796e-01 -1.83773889e-04 -1.31600959e-01] [ 9.50527857e-03 -5.58437288e-04 9.99954668e-01 3.12759190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.13, Z:0.03 [[ 9.96943057e-01 -7.75494285e-02 -9.51985929e-03 9.27206188e+00] [ 7.75511798e-02 9.96988355e-01 -1.85603389e-04 -1.29386952e-01] [ 9.50558229e-03 -5.53240309e-04 9.99954668e-01 3.12197459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.537628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.13, Z:0.03 [[ 9.97021927e-01 -7.65287609e-02 -9.51980652e-03 9.29869257e+00] [ 7.65304404e-02 9.97067228e-01 -1.88271990e-04 -1.27778783e-01] [ 9.50629531e-03 -5.40843684e-04 9.99954668e-01 3.14786719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.567628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.13, Z:0.03 [[ 9.97105240e-01 -7.54354999e-02 -9.51977029e-03 9.32703658e+00] [ 7.54371125e-02 9.97150543e-01 -1.90086063e-04 -1.26603345e-01] [ 9.50698336e-03 -5.28608173e-04 9.99954668e-01 3.23772258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.597628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.13, Z:0.03 [[ 9.97384729e-01 -7.16454947e-02 -9.51971636e-03 9.35487334e+00] [ 7.16469097e-02 9.97430039e-01 -1.92749766e-04 -1.25760646e-01] [ 9.50906072e-03 -4.89812586e-04 9.99954668e-01 3.32977653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.627628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.12, Z:0.03 [[ 9.97534230e-01 -6.95329835e-02 -9.51966216e-03 9.38333269e+00] [ 6.95342775e-02 9.97579544e-01 -1.95390695e-04 -1.24208315e-01] [ 9.51020633e-03 -4.67033923e-04 9.99954668e-01 3.37352408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.12, Z:0.03 [[ 9.97679520e-01 -6.74162684e-02 -9.51960689e-03 9.41150561e+00] [ 6.74174409e-02 9.97724837e-01 -1.98047269e-04 -1.21994749e-01] [ 9.51129983e-03 -4.44199831e-04 9.99954668e-01 3.38606390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.687628000000002 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.12, Z:0.03 [[ 9.97823732e-01 -6.52470523e-02 -9.51955007e-03 9.43844168e+00] [ 6.52481006e-02 9.97869052e-01 -2.00741703e-04 -1.19675481e-01] [ 9.51236221e-03 -4.20827726e-04 9.99954668e-01 3.15090362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.717628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.12, Z:0.03 [[ 9.98224830e-01 -5.87925833e-02 -9.51952531e-03 9.46625614e+00] [ 5.87933274e-02 9.98270156e-01 -2.01909304e-04 -1.16547265e-01] [ 9.51492878e-03 -3.58133687e-04 9.99954668e-01 3.35727222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.12, Z:0.03 [[ 9.98355631e-01 -5.65279927e-02 -9.51946813e-03 9.49444832e+00] [ 5.65286087e-02 9.98400959e-01 -2.04570034e-04 -1.15251784e-01] [ 9.51581004e-03 -3.33888643e-04 9.99954668e-01 3.42042816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.777628000000002 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.11, Z:0.03 [[ 9.98444896e-01 -5.49287797e-02 -9.51940981e-03 9.52136894e+00] [ 5.49292975e-02 9.98490225e-01 -2.07248622e-04 -1.14479144e-01] [ 9.51642156e-03 -3.15968165e-04 9.99954668e-01 3.34397357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.807628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.11, Z:0.04 [[ 9.98545436e-01 -5.30697134e-02 -9.51938441e-03 9.54900342e+00] [ 5.30701357e-02 9.98590766e-01 -2.08409034e-04 -1.13716388e-01] [ 9.51702957e-03 -2.97089133e-04 9.99954668e-01 3.56899908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.837628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.11, Z:0.03 [[ 9.98612155e-01 -5.17990906e-02 -9.51932549e-03 9.57730377e+00] [ 5.17994299e-02 9.98657486e-01 -2.11066178e-04 -1.13151008e-01] [ 9.51747870e-03 -2.82322383e-04 9.99954668e-01 3.43202775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.867628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.11, Z:0.04 [[ 9.98652327e-01 -5.10187526e-02 -9.51926571e-03 9.60443372e+00] [ 5.10190312e-02 9.98697658e-01 -2.13728805e-04 -1.12000243e-01] [ 9.51777255e-03 -2.72222945e-04 9.99954668e-01 3.62214526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.897628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.11, Z:0.04 [[ 9.98631403e-01 -5.14266920e-02 -9.51923967e-03 9.63206564e+00] [ 5.14269781e-02 9.98676734e-01 -2.14882473e-04 -1.10648300e-01] [ 9.51769388e-03 -2.74957345e-04 9.99954668e-01 3.57199025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.11, Z:0.04 [[ 9.98511068e-01 -5.37124935e-02 -9.51917990e-03 9.65900051e+00] [ 5.37128584e-02 9.98556399e-01 -2.17498378e-04 -1.10341450e-01] [ 9.51712038e-03 -2.94127825e-04 9.99954668e-01 3.60126035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.957628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.11, Z:0.04 [[ 9.98400708e-01 -5.57262304e-02 -9.51915387e-03 9.68608985e+00] [ 5.57266760e-02 9.98446037e-01 -2.18631624e-04 -1.10850716e-01] [ 9.51654498e-03 -3.12188836e-04 9.99954668e-01 3.71590937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.11, Z:0.04 [[ 9.98121296e-01 -6.05249076e-02 -9.51912791e-03 9.71406535e+00] [ 6.05255604e-02 9.98166623e-01 -2.19756101e-04 -1.12142908e-01] [ 9.51497648e-03 -3.56807307e-04 9.99954668e-01 3.74720093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.017628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.11, Z:0.04 [[ 9.97950092e-01 -6.32850804e-02 -9.51906838e-03 9.74215114e+00] [ 6.32858343e-02 9.97995418e-01 -2.22305084e-04 -1.12315549e-01] [ 9.51405522e-03 -3.80572805e-04 9.99954668e-01 3.65393763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.047628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.11, Z:0.04 [[ 9.97785415e-01 -6.58304959e-02 -9.51900851e-03 9.77060689e+00] [ 6.58313412e-02 9.97830739e-01 -2.24839900e-04 -1.13040011e-01] [ 9.51316062e-03 -4.02307125e-04 9.99954668e-01 3.56964585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.11, Z:0.04 [[ 9.97650258e-01 -6.78480122e-02 -9.51894714e-03 9.79792110e+00] [ 6.78489248e-02 9.97695581e-01 -2.27408556e-04 -1.13898700e-01] [ 9.51244072e-03 -4.18976124e-04 9.99954668e-01 3.51632732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.107628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.11, Z:0.04 [[ 9.97542617e-01 -6.94126613e-02 -9.51892039e-03 9.82563906e+00] [ 6.94136343e-02 9.97587939e-01 -2.28522951e-04 -1.14920158e-01] [ 9.51182256e-03 -4.32781477e-04 9.99954668e-01 3.55902150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.137628000000001 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.11, Z:0.04 [[ 9.97302118e-01 -7.27865174e-02 -9.51885534e-03 9.85018015e+00] [ 7.27876182e-02 9.97347437e-01 -2.31201382e-04 -1.13286493e-01] [ 9.51043431e-03 -4.62277179e-04 9.99954668e-01 3.53432338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.167628 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.12, Z:0.03 [[ 9.97514181e-01 -6.98204780e-02 -9.51631538e-03 9.88200887e+00] [ 6.98204664e-02 9.97559518e-01 -3.33847476e-04 -1.16718461e-01] [ 9.51640037e-03 -3.31415987e-04 9.99954663e-01 3.27905645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.197628000000002 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.12, Z:0.03 [[ 9.97608961e-01 -6.84525634e-02 -9.51877554e-03 9.90996848e+00] [ 6.84534444e-02 9.97654284e-01 -2.33604333e-04 -1.16337609e-01] [ 9.51243802e-03 -4.18547196e-04 9.99954668e-01 3.29209267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.227628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.12, Z:0.04 [[ 9.97785589e-01 -6.58278948e-02 -9.51870887e-03 9.93812754e+00] [ 6.58286309e-02 9.97830915e-01 -2.36289940e-04 -1.16486937e-01] [ 9.51361646e-03 -3.90836877e-04 9.99954668e-01 3.51672094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.257628 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.12, Z:0.03 [[ 9.97867440e-01 -6.45752930e-02 -9.51864134e-03 9.96571703e+00] [ 6.45759466e-02 9.97912767e-01 -2.38979815e-04 -1.16293661e-01] [ 9.51420591e-03 -3.76205099e-04 9.99954668e-01 3.22728020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.287628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.12, Z:0.04 [[ 9.98219778e-01 -5.88784403e-02 -9.51859512e-03 9.99408127e+00] [ 5.88788178e-02 9.98265108e-01 -2.40806849e-04 -1.18178270e-01] [ 9.51625972e-03 -3.20065468e-04 9.99954668e-01 3.59309219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.317628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.12, Z:0.04 [[ 9.98203278e-01 -5.91575254e-02 -9.51852714e-03 1.00226784e+01] [ 5.91578902e-02 9.98248609e-01 -2.43464419e-04 -1.17377403e-01] [ 9.51625923e-03 -3.20069003e-04 9.99954668e-01 3.62021292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.347628000000002 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.12, Z:0.04 [[ 9.98296321e-01 -5.75660842e-02 -9.51845833e-03 1.00512710e+01] [ 5.75663515e-02 9.98341652e-01 -2.46125518e-04 -1.17711291e-01] [ 9.51684190e-03 -3.02236719e-04 9.99954668e-01 3.52536260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.377628000000001 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.12, Z:0.04 [[ 9.98463346e-01 -5.45925454e-02 -9.51841454e-03 1.00788375e+01] [ 5.45926617e-02 9.98508678e-01 -2.47807721e-04 -1.17990324e-01] [ 9.51774797e-03 -2.72208658e-04 9.99954668e-01 3.72630747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.12, Z:0.04 [[ 9.98599112e-01 -5.20501066e-02 -9.51839270e-03 1.01064205e+01] [ 5.20500994e-02 9.98644444e-01 -2.48643829e-04 -1.18015252e-01] [ 9.51843192e-03 -2.47137779e-04 9.99954668e-01 3.83153056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.437628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.12, Z:0.04 [[ 9.98872335e-01 -4.65130007e-02 -9.51837106e-03 1.01341019e+01] [ 4.65127344e-02 9.98917666e-01 -2.49469281e-04 -1.18307143e-01] [ 9.51967257e-03 -1.93537502e-04 9.99954668e-01 3.90887913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.467628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.12, Z:0.04 [[ 9.99003658e-01 -4.36015225e-02 -9.51834971e-03 1.01617582e+01] [ 4.36011162e-02 9.99048988e-01 -2.50281405e-04 -1.18427829e-01] [ 9.52021029e-03 -1.64978633e-04 9.99954668e-01 3.99224259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.497628 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.12, Z:0.04 [[ 9.99089752e-01 -4.15820868e-02 -9.51828087e-03 1.01903319e+01] [ 4.15815643e-02 9.99135081e-01 -2.52872640e-04 -1.18786020e-01] [ 9.52056330e-03 -1.43142544e-04 9.99954668e-01 3.81412109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.527628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.12, Z:0.04 [[ 9.99376871e-01 -3.39893009e-02 -9.51821167e-03 1.02181297e+01] [ 3.39884094e-02 9.99422194e-01 -2.55451065e-04 -1.20340935e-01] [ 9.52139460e-03 -6.82169894e-05 9.99954668e-01 4.28085429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.557628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.12, Z:0.04 [[ 9.99493806e-01 -3.03568405e-02 -9.51813854e-03 1.02461175e+01] [ 3.03557586e-02 9.99539124e-01 -2.58147407e-04 -1.19427782e-01] [ 9.52158840e-03 -3.09135812e-05 9.99954668e-01 4.27538709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.12, Z:0.04 [[ 9.99586069e-01 -2.71495493e-02 -9.51806432e-03 1.02739585e+01] [ 2.71482962e-02 9.99631383e-01 -2.60855389e-04 -1.18600760e-01] [ 9.52163791e-03 2.34818275e-06 9.99954668e-01 4.21641169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.617628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.12, Z:0.04 [[ 9.99737058e-01 -2.08619978e-02 -9.51798961e-03 1.03007479e+01] [ 2.08604340e-02 9.99782363e-01 -2.63553696e-04 -1.17331314e-01] [ 9.52141639e-03 6.49350030e-05 9.99954668e-01 4.05375591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.647628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.12, Z:0.04 [[ 9.99780536e-01 -1.86625054e-02 -9.51793848e-03 1.03286574e+01] [ 1.86608245e-02 9.99825836e-01 -2.65387276e-04 -1.16646561e-01] [ 9.52123359e-03 8.77164536e-05 9.99954668e-01 4.03280668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.12, Z:0.04 [[ 9.99806074e-01 -1.72402081e-02 -9.51786224e-03 1.03567649e+01] [ 1.72384370e-02 9.99851371e-01 -2.68093852e-04 -1.15647901e-01] [ 9.52106961e-03 1.03968793e-04 9.99954668e-01 4.03521943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.707628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.11, Z:0.04 [[ 9.99818715e-01 -1.64908598e-02 -9.51778518e-03 1.03851924e+01] [ 1.64890289e-02 9.99864010e-01 -2.70802429e-04 -1.14085607e-01] [ 9.52095662e-03 1.13814301e-04 9.99954668e-01 4.02603063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.11, Z:0.04 [[ 9.99810518e-01 -1.69805966e-02 -9.51770829e-03 1.04132601e+01] [ 1.69787625e-02 9.99855813e-01 -2.73478260e-04 -1.12453467e-01] [ 9.52097979e-03 1.11827533e-04 9.99954668e-01 3.97942032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.767628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.11, Z:0.04 [[ 9.99755053e-01 -1.99812161e-02 -9.51763092e-03 1.04413467e+01] [ 1.99794925e-02 9.99800352e-01 -2.76144942e-04 -1.10685048e-01] [ 9.52124846e-03 8.59198657e-05 9.99954668e-01 3.76889149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.797628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.11, Z:0.04 [[ 9.99712322e-01 -2.20156651e-02 -9.51759480e-03 1.04682260e+01] [ 2.20140220e-02 9.99757624e-01 -2.77384199e-04 -1.09875963e-01] [ 9.52139476e-03 6.77838599e-05 9.99954668e-01 3.79978176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.11, Z:0.04 [[ 9.99694393e-01 -2.28152707e-02 -9.51756147e-03 1.04964364e+01] [ 2.28136529e-02 9.99739696e-01 -2.78523174e-04 -1.08921555e-01] [ 9.52143859e-03 6.13077115e-05 9.99954668e-01 3.88009322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.857628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.11, Z:0.04 [[ 9.99655791e-01 -2.44482461e-02 -9.51753781e-03 1.05241010e+01] [ 2.44466946e-02 9.99701096e-01 -2.79329326e-04 -1.08659655e-01] [ 9.52152209e-03 4.65608380e-05 9.99954668e-01 4.08127982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.887628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.11, Z:0.04 [[ 9.99568838e-01 -2.77769059e-02 -9.51745772e-03 1.05515724e+01] [ 2.77754796e-02 9.99614147e-01 -2.82032118e-04 -1.08515963e-01] [ 9.52161936e-03 1.75585630e-05 9.99954668e-01 4.26807464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.11, Z:0.04 [[ 9.99504890e-01 -2.99899008e-02 -9.51743290e-03 1.05789946e+01] [ 2.99885668e-02 9.99550202e-01 -2.82867104e-04 -1.06698605e-01] [ 9.52163514e-03 -2.68711918e-06 9.99954668e-01 4.29496195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.947628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.11, Z:0.04 [[ 9.99414529e-01 -3.28636213e-02 -9.51740918e-03 1.06067291e+01] [ 3.28624100e-02 9.99459845e-01 -2.83662945e-04 -1.05286229e-01] [ 9.52159050e-03 -2.92681341e-05 9.99954668e-01 4.30760429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.977628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.10, Z:0.04 [[ 9.99330025e-01 -3.53400758e-02 -9.51732939e-03 1.06337041e+01] [ 3.53389517e-02 9.99375343e-01 -2.86315349e-04 -1.04508688e-01] [ 9.52150273e-03 -5.02089179e-05 9.99954668e-01 4.25437104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.10, Z:0.04 [[ 9.99294044e-01 -3.63432848e-02 -9.51729473e-03 1.06618107e+01] [ 3.63421952e-02 9.99339363e-01 -2.87462823e-04 -1.02288799e-01] [ 9.52145460e-03 -5.86194968e-05 9.99954668e-01 4.30774883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.037628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.10, Z:0.04 [[ 9.99168100e-01 -3.96551505e-02 -9.51721535e-03 1.06899866e+01] [ 3.96541863e-02 9.99213421e-01 -2.90067309e-04 -1.01533713e-01] [ 9.52123198e-03 -8.75714280e-05 9.99954668e-01 4.35630421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.067628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.10, Z:0.04 [[ 9.99045853e-01 -4.26240202e-02 -9.51713462e-03 1.07183862e+01] [ 4.26231656e-02 9.99091177e-01 -2.92692354e-04 -1.01421055e-01] [ 9.52096096e-03 -1.13237322e-04 9.99954668e-01 4.38477548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.097628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.10, Z:0.04 [[ 9.98903389e-01 -4.58415290e-02 -9.51705325e-03 1.07463247e+01] [ 4.58407955e-02 9.98948715e-01 -2.95314557e-04 -1.00578242e-01] [ 9.52058579e-03 -1.41278580e-04 9.99954668e-01 4.42758839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.127628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.10, Z:0.04 [[ 9.98615584e-01 -5.17333823e-02 -9.51697149e-03 1.07735661e+01] [ 5.17328913e-02 9.98660913e-01 -2.97926428e-04 -9.76603089e-02] [ 9.51964018e-03 -1.94826478e-04 9.99954668e-01 4.29952796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.10, Z:0.04 [[ 9.98440382e-01 -5.50111864e-02 -9.51693600e-03 1.08015700e+01] [ 5.50108334e-02 9.98485713e-01 -2.99055913e-04 -9.58756769e-02] [ 9.51897604e-03 -2.24945080e-04 9.99954668e-01 4.27689745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.187628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.09, Z:0.04 [[ 9.98249621e-01 -5.83705640e-02 -9.51685544e-03 1.08298877e+01] [ 5.83703394e-02 9.98294953e-01 -3.01597804e-04 -9.44701013e-02] [ 9.51823319e-03 -2.54432188e-04 9.99954668e-01 4.27788700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.217628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.09, Z:0.04 [[ 9.98032821e-01 -6.19670830e-02 -9.51677466e-03 1.08583340e+01] [ 6.19669976e-02 9.98078153e-01 -3.04125597e-04 -9.34966339e-02] [ 9.51733065e-03 -2.86198625e-04 9.99954668e-01 4.28569650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.09, Z:0.04 [[ 9.97644366e-01 -6.79349049e-02 -9.51669288e-03 1.08866253e+01] [ 6.79350664e-02 9.97689698e-01 -3.06663614e-04 -9.28671818e-02] [ 9.51553960e-03 -3.40575936e-04 9.99954668e-01 4.44401801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.277628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.09, Z:0.05 [[ 9.97519960e-01 -6.97378142e-02 -9.51661105e-03 1.09142849e+01] [ 6.97380337e-02 9.97565292e-01 -3.09182366e-04 -9.19777953e-02] [ 9.51500258e-03 -3.55254161e-04 9.99954668e-01 4.56429915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.307628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.09, Z:0.05 [[ 9.97384377e-01 -7.16508108e-02 -9.51658568e-03 1.09418992e+01] [ 7.16511098e-02 9.97429708e-01 -3.09961221e-04 -9.10656947e-02] [ 9.51433425e-03 -3.72723446e-04 9.99954668e-01 4.67439253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.09, Z:0.05 [[ 9.97295979e-01 -7.28708954e-02 -9.51650408e-03 1.09685330e+01] [ 7.28712262e-02 9.97341309e-01 -3.12446548e-04 -8.99695164e-02] [ 9.51397090e-03 -3.81877636e-04 9.99954668e-01 4.76001265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.367628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.09, Z:0.05 [[ 9.97237466e-01 -7.36673163e-02 -9.51646851e-03 1.09965442e+01] [ 7.36676730e-02 9.97282796e-01 -3.13526170e-04 -8.80303131e-02] [ 9.51370696e-03 -3.88396047e-04 9.99954668e-01 4.84693957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.397628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.09, Z:0.05 [[ 9.97282274e-01 -7.30582241e-02 -9.51638749e-03 1.10244151e+01] [ 7.30585299e-02 9.97327605e-01 -3.15966381e-04 -8.65516642e-02] [ 9.51403989e-03 -3.80145609e-04 9.99954668e-01 4.91365639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.427628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.08, Z:0.05 [[ 9.97429062e-01 -7.10261025e-02 -9.51630288e-03 1.10527349e+01] [ 7.10262918e-02 9.97474393e-01 -3.18494636e-04 -8.36256520e-02] [ 9.51488987e-03 -3.58231899e-04 9.99954668e-01 5.00073568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.457628000000001 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.08, Z:0.05 [[ 9.97480401e-01 -7.03014328e-02 -9.51621203e-03 1.10793544e+01] [ 7.03015635e-02 9.97525733e-01 -3.21186125e-04 -8.14047259e-02] [ 9.51524622e-03 -3.48627720e-04 9.99954668e-01 4.67044725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.08, Z:0.05 [[ 9.97632758e-01 -6.81052319e-02 -9.51617257e-03 1.11072246e+01] [ 6.81052517e-02 9.97678090e-01 -3.22351274e-04 -7.99338028e-02] [ 9.51603067e-03 -3.26513137e-04 9.99954668e-01 4.96913132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.517628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.08, Z:0.05 [[ 9.97752461e-01 -6.63285100e-02 -9.51607932e-03 1.11346649e+01] [ 6.63284231e-02 9.97797792e-01 -3.25080940e-04 -7.84987346e-02] [ 9.51668507e-03 -3.06836227e-04 9.99954668e-01 4.91339509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.547628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.08, Z:0.05 [[ 9.97873797e-01 -6.44773634e-02 -9.51603874e-03 1.11626667e+01] [ 6.44771811e-02 9.97919128e-01 -3.26264564e-04 -7.75959526e-02] [ 9.51727376e-03 -2.87996493e-04 9.99954668e-01 4.91159301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.577628 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.08, Z:0.05 [[ 9.97934956e-01 -6.35237849e-02 -9.51594705e-03 1.11912838e+01] [ 6.35235340e-02 9.97980287e-01 -3.28917230e-04 -7.65501575e-02] [ 9.51762163e-03 -2.76248585e-04 9.99954668e-01 4.67421933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.607628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.08, Z:0.05 [[ 9.98232129e-01 -5.86691098e-02 -9.51585976e-03 1.12185471e+01] [ 5.86686146e-02 9.98277458e-01 -3.31423378e-04 -7.59124936e-02] [ 9.51891261e-03 -2.27444844e-04 9.99954668e-01 4.97302627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.637628000000001 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.07, Z:0.05 [[ 9.98262468e-01 -5.81506173e-02 -9.51581927e-03 1.12465390e+01] [ 5.81500875e-02 9.98307797e-01 -3.32581814e-04 -7.39743427e-02] [ 9.51905641e-03 -2.21341780e-04 9.99954668e-01 4.70678743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.07, Z:0.05 [[ 9.98398631e-01 -5.57640121e-02 -9.51572435e-03 1.12751449e+01] [ 5.57633483e-02 9.98443958e-01 -3.35275833e-04 -7.28790451e-02] [ 9.51961381e-03 -1.95889719e-04 9.99954668e-01 5.01224207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.697628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.07, Z:0.05 [[ 9.98438556e-01 -5.50445448e-02 -9.51564052e-03 1.13036189e+01] [ 5.50438257e-02 9.98483882e-01 -3.37638574e-04 -7.12759781e-02] [ 9.51979885e-03 -1.86665888e-04 9.99954668e-01 5.03757980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.727628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.07, Z:0.05 [[ 9.98457001e-01 -5.47089774e-02 -9.51554299e-03 1.13318939e+01] [ 5.47082172e-02 9.98502326e-01 -3.40365036e-04 -7.06644343e-02] [ 9.51991283e-03 -1.80738540e-04 9.99954668e-01 5.13917079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.07, Z:0.05 [[ 9.98413642e-01 -5.54946374e-02 -9.51551272e-03 1.13596932e+01] [ 5.54939048e-02 9.98458968e-01 -3.41209256e-04 -7.07584105e-02] [ 9.51978429e-03 -1.87384981e-04 9.99954668e-01 5.24312889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.787628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.07, Z:0.05 [[ 9.98331890e-01 -5.69464218e-02 -9.51541648e-03 1.13875097e+01] [ 5.69457297e-02 9.98377216e-01 -3.43872408e-04 -7.09991605e-02] [ 9.51955732e-03 -1.98563544e-04 9.99954668e-01 5.34810986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.817628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.07, Z:0.05 [[ 9.98217087e-01 -5.89245777e-02 -9.51531859e-03 1.14148101e+01] [ 5.89239498e-02 9.98262414e-01 -3.46560015e-04 -7.35937163e-02] [ 9.51920581e-03 -2.14738027e-04 9.99954668e-01 5.46282130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.847628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.07, Z:0.05 [[ 9.98141446e-01 -6.01923028e-02 -9.51527606e-03 1.14430439e+01] [ 6.01917214e-02 9.98186774e-01 -3.47723979e-04 -7.34176929e-02] [ 9.51895302e-03 -2.25663130e-04 9.99954668e-01 5.48182944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.877628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.07, Z:0.05 [[ 9.98068886e-01 -6.13837209e-02 -9.51517608e-03 1.14710687e+01] [ 6.13831678e-02 9.98114214e-01 -3.50438514e-04 -7.31945605e-02] [ 9.51874371e-03 -2.34309873e-04 9.99954668e-01 5.43369734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.07, Z:0.05 [[ 9.98110211e-01 -6.07080719e-02 -9.51507545e-03 1.14994157e+01] [ 6.07074623e-02 9.98155539e-01 -3.53150004e-04 -7.17067161e-02] [ 9.51896431e-03 -2.25153458e-04 9.99954668e-01 5.46585553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.937628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.07, Z:0.05 [[ 9.98278175e-01 -5.78804894e-02 -9.51497478e-03 1.15267227e+01] [ 5.78797257e-02 9.98323500e-01 -3.55841810e-04 -6.87302165e-02] [ 9.51961922e-03 -1.95495018e-04 9.99954668e-01 5.35614756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.967628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.07, Z:0.05 [[ 9.98280642e-01 -5.78379246e-02 -9.51490604e-03 1.15549092e+01] [ 5.78371415e-02 9.98325967e-01 -3.57670358e-04 -6.81770219e-02] [ 9.51966469e-03 -1.93259573e-04 9.99954668e-01 5.30158441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.07, Z:0.05 [[ 9.98366156e-01 -5.63425848e-02 -9.51480306e-03 1.15823532e+01] [ 5.63417080e-02 9.98411479e-01 -3.60389169e-04 -6.63921822e-02] [ 9.51999386e-03 -1.76279907e-04 9.99954668e-01 5.31451039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.027628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.06, Z:0.05 [[ 9.98398892e-01 -5.57595046e-02 -9.51475833e-03 1.16105425e+01] [ 5.57585901e-02 9.98444214e-01 -3.61566242e-04 -6.43875123e-02] [ 9.52011616e-03 -1.69542174e-04 9.99954668e-01 5.29198770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.057628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.06, Z:0.05 [[ 9.98419378e-01 -5.53914855e-02 -9.51465531e-03 1.16384072e+01] [ 5.53905286e-02 9.98464700e-01 -3.64257291e-04 -6.49734672e-02] [ 9.52022421e-03 -1.63340249e-04 9.99954668e-01 5.21840869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.06, Z:0.05 [[ 9.98407246e-01 -5.56097436e-02 -9.51460695e-03 1.16667903e+01] [ 5.56087847e-02 9.98452567e-01 -3.65516129e-04 -6.32832237e-02] [ 9.52020999e-03 -1.64161778e-04 9.99954668e-01 5.26326638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.117628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.06, Z:0.05 [[ 9.98373618e-01 -5.62102576e-02 -9.51450434e-03 1.16941966e+01] [ 5.62093007e-02 9.98418940e-01 -3.68167745e-04 -6.20436984e-02] [ 9.52015614e-03 -1.67234672e-04 9.99954668e-01 5.27704279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.147628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.06, Z:0.05 [[ 9.98295735e-01 -5.75769059e-02 -9.51445970e-03 1.17223016e+01] [ 5.75760001e-02 9.98341058e-01 -3.69317904e-04 -6.09625334e-02] [ 9.51993994e-03 -1.79116044e-04 9.99954668e-01 5.28835380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.177628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.06, Z:0.05 [[ 9.98203429e-01 -5.91556554e-02 -9.51435711e-03 1.17500410e+01] [ 5.91547962e-02 9.98248752e-01 -3.71942182e-04 -5.88743565e-02] [ 9.51969760e-03 -1.91545894e-04 9.99954668e-01 5.28482395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.207628000000001 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.06, Z:0.05 [[ 9.98066683e-01 -6.14196467e-02 -9.51432526e-03 1.17786056e+01] [ 6.14188825e-02 9.98112009e-01 -3.72755023e-04 -5.66881225e-02] [ 9.51925678e-03 -2.12324856e-04 9.99954668e-01 4.98427023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.237628 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.06, Z:0.05 [[ 9.98050056e-01 -6.16892653e-02 -9.51422390e-03 1.18071841e+01] [ 6.16884889e-02 9.98095381e-01 -3.75324502e-04 -5.54764144e-02] [ 9.51925642e-03 -2.12325456e-04 9.99954668e-01 5.01139054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.267628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.06, Z:0.05 [[ 9.98004593e-01 -6.24204580e-02 -9.51412182e-03 1.18348695e+01] [ 6.24196903e-02 9.98049918e-01 -3.77894560e-04 -5.53473178e-02] [ 9.51915686e-03 -2.16728031e-04 9.99954668e-01 5.29145330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.297628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.06, Z:0.05 [[ 9.97872630e-01 -6.44957213e-02 -9.51401981e-03 1.18633755e+01] [ 6.44950236e-02 9.97917956e-01 -3.80445453e-04 -5.51103564e-02] [ 9.51874831e-03 -2.33970827e-04 9.99954668e-01 5.42794472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.05, Z:0.06 [[ 9.97820338e-01 -6.52997530e-02 -9.51391770e-03 1.18917817e+01] [ 6.52990677e-02 9.97865665e-01 -3.82982138e-04 -5.40557225e-02] [ 9.51862045e-03 -2.39102589e-04 9.99954668e-01 5.53596486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.357628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.05, Z:0.06 [[ 9.97759776e-01 -6.62187039e-02 -9.51381539e-03 1.19185559e+01] [ 6.62180363e-02 9.97805103e-01 -3.85507117e-04 -5.31752084e-02] [ 9.51846132e-03 -2.45342678e-04 9.99954668e-01 5.57772610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.387628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.05, Z:0.06 [[ 9.97692219e-01 -6.72288958e-02 -9.51377098e-03 1.19468237e+01] [ 6.72282637e-02 9.97737546e-01 -3.86599964e-04 -5.19170581e-02] [ 9.51823720e-03 -2.53886528e-04 9.99954668e-01 5.58837987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.05, Z:0.06 [[ 9.97655909e-01 -6.77656028e-02 -9.51366921e-03 1.19749687e+01] [ 6.77649713e-02 9.97701236e-01 -3.89088222e-04 -5.01351621e-02] [ 9.51816633e-03 -2.56517357e-04 9.99954668e-01 5.62231325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.447628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.05, Z:0.06 [[ 9.97686686e-01 -6.73109912e-02 -9.51356385e-03 1.20018330e+01] [ 6.73103147e-02 9.97732012e-01 -3.91647621e-04 -4.79758223e-02] [ 9.51834939e-03 -2.49619360e-04 9.99954668e-01 5.57411766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.477628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.05, Z:0.05 [[ 9.97751094e-01 -6.63494441e-02 -9.51349191e-03 1.20301826e+01] [ 6.63487073e-02 9.97796419e-01 -3.93387243e-04 -4.60254301e-02] [ 9.51862919e-03 -2.38705338e-04 9.99954668e-01 5.49575930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.507628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.05, Z:0.06 [[ 9.97789732e-01 -6.57658458e-02 -9.51338143e-03 1.20580845e+01] [ 6.57650572e-02 9.97835057e-01 -3.96041136e-04 -4.53358107e-02] [ 9.51883148e-03 -2.30482295e-04 9.99954668e-01 5.51453595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.537628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.04, Z:0.06 [[ 9.97882991e-01 -6.43353286e-02 -9.51326758e-03 1.20848343e+01] [ 6.43344491e-02 9.97928314e-01 -3.98757470e-04 -4.38081940e-02] [ 9.51921326e-03 -2.14117532e-04 9.99954668e-01 5.55670597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.567628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.04, Z:0.06 [[ 9.98059769e-01 -6.15320817e-02 -9.51318993e-03 1.21132898e+01] [ 6.15310574e-02 9.98105089e-01 -4.00601346e-04 -4.19203947e-02] [ 9.51981312e-03 -1.85532549e-04 9.99954668e-01 5.60661408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.597628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.04, Z:0.06 [[ 9.98119264e-01 -6.05593675e-02 -9.51307487e-03 1.21398948e+01] [ 6.05582731e-02 9.98164582e-01 -4.03315281e-04 -4.10520839e-02] [ 9.52003892e-03 -1.73538634e-04 9.99954668e-01 5.58626696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.627628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.04, Z:0.06 [[ 9.98161524e-01 -5.98587879e-02 -9.51302479e-03 1.21666736e+01] [ 5.98576505e-02 9.98206841e-01 -4.04493122e-04 -4.03682806e-02] [ 9.52017889e-03 -1.65677842e-04 9.99954668e-01 5.59765894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.04, Z:0.06 [[ 9.98191024e-01 -5.93648279e-02 -9.51297536e-03 1.21951691e+01] [ 5.93636571e-02 9.98236341e-01 -4.05652277e-04 -3.97943747e-02] [ 9.52027919e-03 -1.59806546e-04 9.99954668e-01 5.72235275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.687628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.04, Z:0.06 [[ 9.98327028e-01 -5.70320152e-02 -9.51285908e-03 1.22235625e+01] [ 5.70307126e-02 9.98372341e-01 -4.08361108e-04 -3.84366839e-02] [ 9.52066504e-03 -1.34847201e-04 9.99954668e-01 5.77534634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.717628000000001 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.04, Z:0.06 [[ 9.98375845e-01 -5.61709880e-02 -9.51274286e-03 1.22508489e+01] [ 5.61696207e-02 9.98421156e-01 -4.11050647e-04 -3.59778764e-02] [ 9.52081285e-03 -1.23944121e-04 9.99954668e-01 5.55245438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.03, Z:0.06 [[ 9.98455671e-01 -5.47337477e-02 -9.51266342e-03 1.22793435e+01] [ 5.47322977e-02 9.98500979e-01 -4.12880985e-04 -3.41195880e-02] [ 9.52100226e-03 -1.08406566e-04 9.99954668e-01 5.66493110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.777628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.03, Z:0.06 [[ 9.98482757e-01 -5.42373901e-02 -9.51254420e-03 1.23077987e+01] [ 5.42358916e-02 9.98528064e-01 -4.15609636e-04 -3.24780781e-02] [ 9.52108393e-03 -1.00942261e-04 9.99954668e-01 5.61231211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.807628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.03, Z:0.06 [[ 9.98515003e-01 -5.36404932e-02 -9.51242360e-03 1.23344415e+01] [ 5.36389415e-02 9.98560308e-01 -4.18351900e-04 -3.10382242e-02] [ 9.52116924e-03 -9.25056844e-05 9.99954668e-01 5.61668285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.03, Z:0.06 [[ 9.98509886e-01 -5.37356690e-02 -9.51237122e-03 1.23624181e+01] [ 5.37341104e-02 9.98555191e-01 -4.19539407e-04 -2.94150098e-02] [ 9.52117189e-03 -9.22245598e-05 9.99954668e-01 5.65166707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.867628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.03, Z:0.06 [[ 9.98460644e-01 -5.46430150e-02 -9.51225087e-03 1.23909327e+01] [ 5.46414717e-02 9.98505950e-01 -4.22250768e-04 -2.78139857e-02] [ 9.52111214e-03 -9.81626130e-05 9.99954668e-01 5.69136928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.897628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.03, Z:0.06 [[ 9.98378720e-01 -5.61199624e-02 -9.51212996e-03 1.24183695e+01] [ 5.61184604e-02 9.98424027e-01 -4.24957061e-04 -2.66431665e-02] [ 9.52098768e-03 -1.09538001e-04 9.99954668e-01 5.68769683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.927628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.03, Z:0.06 [[ 9.98297766e-01 -5.75420854e-02 -9.51207751e-03 1.24462205e+01] [ 5.75406367e-02 9.98343074e-01 -4.26127967e-04 -2.53959664e-02] [ 9.52083699e-03 -1.21928399e-04 9.99954668e-01 5.80152237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.957628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.02, Z:0.06 [[ 9.98093539e-01 -6.09820488e-02 -9.51195655e-03 1.24741883e+01] [ 6.09807307e-02 9.98138851e-01 -4.28811006e-04 -2.39240234e-02] [ 9.52040316e-03 -1.52052566e-04 9.99954668e-01 5.94844176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.02, Z:0.06 [[ 9.97900735e-01 -6.40597171e-02 -9.51183291e-03 1.25023846e+01] [ 6.40585128e-02 9.97946051e-01 -4.31536405e-04 -2.27238766e-02] [ 9.51994019e-03 -1.78683373e-04 9.99954668e-01 6.00027469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.017628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.02, Z:0.06 [[ 9.97656037e-01 -6.77639971e-02 -9.51170750e-03 1.25298090e+01] [ 6.77629348e-02 9.97701356e-01 -4.34282936e-04 -2.10489876e-02] [ 9.51927222e-03 -2.11276222e-04 9.99954668e-01 5.98760951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.047628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.02, Z:0.06 [[ 9.97093307e-01 -7.55940931e-02 -9.51162203e-03 1.25582219e+01] [ 7.55933689e-02 9.97138632e-01 -4.36147040e-04 -1.85695087e-02] [ 9.51737592e-03 -2.84136259e-04 9.99954668e-01 5.92839751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.02, Z:0.06 [[ 9.96769276e-01 -7.97530100e-02 -9.51149498e-03 1.25856269e+01] [ 7.97524486e-02 9.96814604e-01 -4.38900406e-04 -1.68474884e-02] [ 9.51620072e-03 -3.21082574e-04 9.99954668e-01 6.00971140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.107628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.02, Z:0.06 [[ 9.96421948e-01 -8.39811498e-02 -9.51143989e-03 1.26139662e+01] [ 8.39807694e-02 9.96467278e-01 -4.40091041e-04 -1.55640674e-02] [ 9.51479797e-03 -3.60261668e-04 9.99954668e-01 6.10731403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.137628000000001 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.01, Z:0.06 [[ 9.96005419e-01 -8.87847930e-02 -9.51131394e-03 1.26415727e+01] [ 8.87846054e-02 9.96050751e-01 -4.42796428e-04 -1.38760949e-02] [ 9.51306498e-03 -4.03430612e-04 9.99954668e-01 5.97238377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.67, Y:-0.01, Z:0.06 [[ 9.95486379e-01 -9.44267228e-02 -9.51118747e-03 1.26681527e+01] [ 9.44267663e-02 9.95531711e-01 -4.45496462e-04 -1.12662231e-02] [ 9.51075551e-03 -4.54625017e-04 9.99954668e-01 6.21958466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.197628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.01, Z:0.06 [[ 9.95191522e-01 -9.74852440e-02 -9.51113253e-03 1.26958658e+01] [ 9.74854156e-02 9.95236853e-01 -4.46666282e-04 -9.22922270e-03] [ 9.50937298e-03 -4.82678211e-04 9.99954668e-01 6.21694663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.227628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.01, Z:0.06 [[ 9.94977887e-01 -9.96420886e-02 -9.51100351e-03 1.27224151e+01] [ 9.96423325e-02 9.95023218e-01 -4.49396860e-04 -6.74694284e-03] [ 9.50844816e-03 -5.00558636e-04 9.99954668e-01 6.16562265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.257628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.00, Z:0.06 [[ 9.94792600e-01 -1.01475245e-01 -9.51094752e-03 1.27504990e+01] [ 1.01475561e-01 9.94837930e-01 -4.50578742e-04 -3.81731895e-03] [ 9.50757393e-03 -5.16896340e-04 9.99954668e-01 6.04895788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.287628000000002 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:12.78, Y:0.00, Z:0.06 [[ 9.94570647e-01 -1.03628049e-01 -9.51081992e-03 1.27787048e+01] [ 1.03628438e-01 9.94615977e-01 -4.53256231e-04 3.74481287e-04] [ 9.50658350e-03 -5.34796071e-04 9.99954668e-01 5.79568592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.317628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.81, Y:0.00, Z:0.06 [[ 9.94631928e-01 -1.03038216e-01 -9.51069107e-03 1.28064759e+01] [ 1.03038552e-01 9.94677259e-01 -4.55943860e-04 2.59317364e-03] [ 9.50704777e-03 -5.26471515e-04 9.99954668e-01 6.08503882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.347628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.83, Y:0.01, Z:0.06 [[ 9.94660562e-01 -1.02761450e-01 -9.51056126e-03 1.28347528e+01] [ 1.02761748e-01 9.94705893e-01 -4.58635750e-04 5.52941725e-03] [ 9.50734140e-03 -5.21135006e-04 9.99954668e-01 6.16409852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.377628000000001 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:12.86, Y:0.01, Z:0.06 [[ 9.94858231e-01 -1.00829817e-01 -9.51043069e-03 1.28612557e+01] [ 1.00830001e-01 9.94903562e-01 -4.61327603e-04 1.07113598e-02] [ 9.50847695e-03 -4.99981175e-04 9.99954668e-01 5.90895852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.89, Y:0.01, Z:0.06 [[ 9.95130145e-01 -9.81098738e-02 -9.51037393e-03 1.28891874e+01] [ 9.81099230e-02 9.95175477e-01 -4.62494680e-04 1.37252669e-02] [ 9.50986620e-03 -4.72819656e-04 9.99954668e-01 6.10361549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.437628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.92, Y:0.02, Z:0.06 [[ 9.95307274e-01 -9.62963467e-02 -9.51024378e-03 1.29170023e+01] [ 9.62962879e-02 9.95352605e-01 -4.65155732e-04 1.72223563e-02] [ 9.51083872e-03 -4.52828290e-04 9.99954668e-01 6.05477132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.467628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.95, Y:0.02, Z:0.06 [[ 9.95557147e-01 -9.36777687e-02 -9.51011103e-03 1.29450693e+01] [ 9.36775650e-02 9.95602478e-01 -4.67854120e-04 2.02363047e-02] [ 9.51211764e-03 -4.25108531e-04 9.99954668e-01 6.03819371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.97, Y:0.02, Z:0.06 [[ 9.96018865e-01 -8.86339691e-02 -9.50997820e-03 1.29731813e+01] [ 8.86335102e-02 9.96064194e-01 -4.70538589e-04 2.45968988e-02] [ 9.51425448e-03 -3.74237439e-04 9.99954668e-01 6.05425677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.527628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.00, Y:0.03, Z:0.06 [[ 9.96200672e-01 -8.65666459e-02 -9.50984544e-03 1.29998263e+01] [ 8.65660675e-02 9.96246000e-01 -4.73206659e-04 2.72498244e-02] [ 9.51510939e-03 -3.51821131e-04 9.99954668e-01 6.09175512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.557628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.03, Y:0.03, Z:0.06 [[ 9.96350084e-01 -8.48296802e-02 -9.50978772e-03 1.30282593e+01] [ 8.48290117e-02 9.96395410e-01 -4.74363772e-04 2.97292497e-02] [ 9.51574897e-03 -3.34073510e-04 9.99954668e-01 6.11234118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.587628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.06, Y:0.03, Z:0.06 [[ 9.96420600e-01 -8.39973512e-02 -9.50965192e-03 1.30559506e+01] [ 8.39966191e-02 9.96465925e-01 -4.77070708e-04 3.23888265e-02] [ 9.51611678e-03 -3.23415529e-04 9.99954668e-01 6.11863649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.617628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.08, Y:0.03, Z:0.06 [[ 9.96470225e-01 -8.34065883e-02 -9.50951573e-03 1.30840760e+01] [ 8.34058036e-02 9.96515550e-01 -4.79770267e-04 3.48896198e-02] [ 9.51639630e-03 -3.15072014e-04 9.99954668e-01 6.08175643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.647628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.11, Y:0.04, Z:0.06 [[ 9.96441911e-01 -8.37441914e-02 -9.50937849e-03 1.31123850e+01] [ 8.37433962e-02 9.96487236e-01 -4.82475104e-04 3.62003789e-02] [ 9.51637877e-03 -3.15589235e-04 9.99954668e-01 6.07217932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.677628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.14, Y:0.04, Z:0.06 [[ 9.96408169e-01 -8.41447291e-02 -9.50923819e-03 1.31397562e+01] [ 8.41439259e-02 9.96453493e-01 -4.85224713e-04 3.73493383e-02] [ 9.51634271e-03 -3.16662766e-04 9.99954668e-01 6.06277910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.707628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.17, Y:0.04, Z:0.06 [[ 9.96346773e-01 -8.48686300e-02 -9.50917731e-03 1.31677564e+01] [ 8.48678484e-02 9.96392097e-01 -4.86414944e-04 3.84078156e-02] [ 9.51615049e-03 -3.22385458e-04 9.99954668e-01 6.08657948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.19, Y:0.04, Z:0.06 [[ 9.96190690e-01 -8.66815304e-02 -9.50903991e-03 1.31944801e+01] [ 8.66808058e-02 9.96236016e-01 -4.89086367e-04 3.94400451e-02] [ 9.51564278e-03 -3.37027956e-04 9.99954668e-01 6.10312331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.767628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.22, Y:0.04, Z:0.06 [[ 9.96093589e-01 -8.77903304e-02 -9.50898025e-03 1.32223175e+01] [ 8.77896453e-02 9.96138915e-01 -4.90243496e-04 4.10303230e-02] [ 9.51530391e-03 -3.46461600e-04 9.99954668e-01 6.12181940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.797628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.25, Y:0.04, Z:0.06 [[ 9.96041621e-01 -8.83779989e-02 -9.50883962e-03 1.32506508e+01] [ 8.83773146e-02 9.96086948e-01 -4.92956223e-04 4.28529792e-02] [ 9.51519751e-03 -3.49360794e-04 9.99954668e-01 6.08142684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.827628 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:13.28, Y:0.04, Z:0.06 [[ 9.95994651e-01 -8.89057969e-02 -9.50869879e-03 1.32787765e+01] [ 8.89051109e-02 9.96039977e-01 -4.95657870e-04 4.41713494e-02] [ 9.51511098e-03 -3.51699333e-04 9.99954668e-01 5.94014157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.857628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.31, Y:0.05, Z:0.06 [[ 9.96065029e-01 -8.81138210e-02 -9.50855742e-03 1.33068598e+01] [ 8.81130733e-02 9.96110354e-01 -4.98355147e-04 4.50126082e-02] [ 9.51548448e-03 -3.41434083e-04 9.99954668e-01 6.10076474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.887628000000001 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:13.33, Y:0.04, Z:0.06 [[ 9.96138178e-01 -8.72829934e-02 -9.50841401e-03 1.33339878e+01] [ 8.72821818e-02 9.96183502e-01 -5.01076526e-04 4.35422953e-02] [ 9.51586062e-03 -3.30773663e-04 9.99954668e-01 5.91893523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.917628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.36, Y:0.04, Z:0.06 [[ 9.96279859e-01 -8.56506509e-02 -9.50831629e-03 1.33623797e+01] [ 8.56497475e-02 9.96325182e-01 -5.02923976e-04 4.40787515e-02] [ 9.51645072e-03 -3.13331861e-04 9.99954668e-01 6.19148746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.947628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.39, Y:0.04, Z:0.06 [[ 9.96336981e-01 -8.49836120e-02 -9.50817595e-03 1.33907920e+01] [ 8.49826531e-02 9.96382303e-01 -5.05563293e-04 4.49938965e-02] [ 9.51674285e-03 -3.04318614e-04 9.99954668e-01 6.18702962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.977628000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.42, Y:0.05, Z:0.06 [[ 9.96544110e-01 -8.25192998e-02 -9.50803043e-03 1.34177994e+01] [ 8.25182029e-02 9.96589428e-01 -5.08285555e-04 4.59782490e-02] [ 9.51754597e-03 -2.78056608e-04 9.99954668e-01 6.00682703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.45, Y:0.05, Z:0.06 [[ 9.96635062e-01 -8.14134687e-02 -9.50793143e-03 1.34459791e+01] [ 8.14123039e-02 9.96680378e-01 -5.10130668e-04 4.70260789e-02] [ 9.51790020e-03 -2.65648493e-04 9.99954668e-01 5.91642744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.037627999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.47, Y:0.05, Z:0.06 [[ 9.96734885e-01 -8.01821071e-02 -9.50778651e-03 1.34730622e+01] [ 8.01808606e-02 9.96780200e-01 -5.12817476e-04 4.73394180e-02] [ 9.51829213e-03 -2.51199437e-04 9.99954668e-01 5.83439233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.50, Y:0.05, Z:0.06 [[ 9.96839755e-01 -7.88676580e-02 -9.50768761e-03 1.35009637e+01] [ 7.88663344e-02 9.96885067e-01 -5.14644637e-04 4.73431342e-02] [ 9.51866062e-03 -2.36818237e-04 9.99954668e-01 5.84432816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.097628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.53, Y:0.05, Z:0.06 [[ 9.96817559e-01 -7.91477149e-02 -9.50754224e-03 1.35295215e+01] [ 7.91463785e-02 9.96862871e-01 -5.17316295e-04 4.89665776e-02] [ 9.51866026e-03 -2.36817570e-04 9.99954668e-01 5.87144865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.127628 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:13.56, Y:0.05, Z:0.06 [[ 9.96926593e-01 -7.77623121e-02 -9.50739616e-03 1.35579923e+01] [ 7.77608874e-02 9.96971902e-01 -5.19987256e-04 4.76424892e-02] [ 9.51904225e-03 -2.20914438e-04 9.99954668e-01 5.64005352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.157628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:13.59, Y:0.05, Z:0.06 [[ 9.96974886e-01 -7.71407059e-02 -9.50724846e-03 1.35855758e+01] [ 7.71392273e-02 9.97020194e-01 -5.22673912e-04 4.77949337e-02] [ 9.51923813e-03 -2.12289036e-04 9.99954668e-01 5.58506066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.187628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:13.61, Y:0.05, Z:0.06 [[ 9.97016438e-01 -7.66018024e-02 -9.50714791e-03 1.36138733e+01] [ 7.66002819e-02 9.97061744e-01 -5.24496541e-04 4.78448017e-02] [ 9.51939085e-03 -2.05318537e-04 9.99954668e-01 5.65292116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.217628 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:13.64, Y:0.05, Z:0.06 [[ 9.97053263e-01 -7.61210102e-02 -9.50699737e-03 1.36420736e+01] [ 7.61194420e-02 9.97098567e-01 -5.27211085e-04 4.88023260e-02] [ 9.51954530e-03 -1.98009803e-04 9.99954668e-01 5.67275075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.67, Y:0.05, Z:0.06 [[ 9.97324305e-01 -7.24834523e-02 -9.50684726e-03 1.36699899e+01] [ 7.24816932e-02 9.97369602e-01 -5.29904229e-04 4.96962652e-02] [ 9.52024975e-03 -1.60586019e-04 9.99954669e-01 6.05128560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.70, Y:0.05, Z:0.06 [[ 9.97412756e-01 -7.12559805e-02 -9.50677754e-03 1.36979046e+01] [ 7.12541538e-02 9.97458051e-01 -5.31152008e-04 4.98499082e-02] [ 9.52045955e-03 -1.47619600e-04 9.99954669e-01 6.21408319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.73, Y:0.05, Z:0.06 [[ 9.97511513e-01 -6.98598917e-02 -9.50662777e-03 1.37261881e+01] [ 6.98579762e-02 9.97556804e-01 -5.33819176e-04 5.04113848e-02] [ 9.52069377e-03 -1.31623003e-04 9.99954669e-01 6.38851317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.75, Y:0.05, Z:0.06 [[ 9.97624381e-01 -6.82291819e-02 -9.50647691e-03 1.37546133e+01] [ 6.82271669e-02 9.97669668e-01 -5.36492507e-04 5.19797869e-02] [ 9.52092810e-03 -1.13381981e-04 9.99954669e-01 6.49268008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.78, Y:0.05, Z:0.07 [[ 9.97696456e-01 -6.71670376e-02 -9.50632462e-03 1.37813776e+01] [ 6.71649488e-02 9.97741740e-01 -5.39177574e-04 5.32080878e-02] [ 9.52107182e-03 -1.00556251e-04 9.99954669e-01 6.55018727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.397628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:13.81, Y:0.06, Z:0.06 [[ 9.97885977e-01 -6.42900318e-02 -9.50625854e-03 1.38089711e+01] [ 6.42878013e-02 9.97931253e-01 -5.40339956e-04 5.61803696e-02] [ 9.52133098e-03 -7.19387956e-05 9.99954669e-01 6.35682834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.84, Y:0.06, Z:0.07 [[ 9.98062916e-01 -6.14821052e-02 -9.50610571e-03 1.38364198e+01] [ 6.14797218e-02 9.98108185e-01 -5.43015459e-04 5.82169756e-02] [ 9.52150765e-03 -4.24691426e-05 9.99954669e-01 6.59722087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.457628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:13.86, Y:0.06, Z:0.06 [[ 9.98158091e-01 -5.99171212e-02 -9.50600151e-03 1.38643587e+01] [ 5.99146496e-02 9.98203355e-01 -5.44833468e-04 6.04634102e-02] [ 9.52156746e-03 -2.57188150e-05 9.99954669e-01 6.42504402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.89, Y:0.06, Z:0.06 [[ 9.98284897e-01 -5.77659423e-02 -9.50584675e-03 1.38924411e+01] [ 5.77633475e-02 9.98330154e-01 -5.47520392e-04 6.26036104e-02] [ 9.52160148e-03 -2.50819121e-06 9.99954669e-01 6.27602934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.92, Y:0.06, Z:0.06 [[ 9.98310851e-01 -5.73156487e-02 -9.50579877e-03 1.39208440e+01] [ 5.73130256e-02 9.98356107e-01 -5.48352128e-04 6.38187338e-02] [ 9.52160141e-03 2.61979135e-06 9.99954669e-01 6.18388849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.547628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:13.95, Y:0.07, Z:0.06 [[ 9.98255928e-01 -5.82644341e-02 -9.50564514e-03 1.39478144e+01] [ 5.82618287e-02 9.98301185e-01 -5.51002569e-04 6.54310616e-02] [ 9.52160066e-03 -3.77468855e-06 9.99954669e-01 5.81459150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.98, Y:0.07, Z:0.06 [[ 9.98251112e-01 -5.83469201e-02 -9.50554068e-03 1.39757408e+01] [ 5.83443014e-02 9.98296367e-01 -5.52798800e-04 6.71109304e-02] [ 9.52160083e-03 -2.76211394e-06 9.99954669e-01 6.04998579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.00, Y:0.07, Z:0.06 [[ 9.98110562e-01 -6.07038142e-02 -9.50538797e-03 1.40030047e+01] [ 6.07012774e-02 9.98155823e-01 -5.55412172e-04 6.91180248e-02] [ 9.52157399e-03 -2.26264373e-05 9.99954669e-01 6.00570018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.03, Y:0.07, Z:0.06 [[ 9.97947883e-01 -6.33219688e-02 -9.50532172e-03 1.40313899e+01] [ 6.33195401e-02 9.97993149e-01 -5.56543771e-04 7.05403769e-02] [ 9.52148740e-03 -4.64709211e-05 9.99954669e-01 6.06823474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.06, Y:0.07, Z:0.06 [[ 9.97758175e-01 -6.62440598e-02 -9.50517065e-03 1.40598636e+01] [ 6.62417391e-02 9.97803447e-01 -5.59112019e-04 7.21991970e-02] [ 9.52132989e-03 -7.17804469e-05 9.99954669e-01 6.16923967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.697627999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.09, Y:0.07, Z:0.06 [[ 9.97559619e-01 -6.91697958e-02 -9.50501041e-03 1.40881749e+01] [ 6.91675820e-02 9.97604897e-01 -5.61822977e-04 7.40288782e-02] [ 9.52110611e-03 -9.69866724e-05 9.99954669e-01 6.23740721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.11, Y:0.08, Z:0.06 [[ 9.97328088e-01 -7.24316363e-02 -9.50484810e-03 1.41148132e+01] [ 7.24295446e-02 9.97373372e-01 -5.64555534e-04 7.51699913e-02] [ 9.52077408e-03 -1.25384728e-04 9.99954669e-01 6.27533965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.14, Y:0.08, Z:0.06 [[ 9.97022188e-01 -7.65272325e-02 -9.50473751e-03 1.41424671e+01] [ 7.65253091e-02 9.97067478e-01 -5.66411401e-04 7.72954607e-02] [ 9.52021056e-03 -1.62628242e-04 9.99954669e-01 6.41257914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.787627999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.17, Y:0.08, Z:0.06 [[ 9.96852933e-01 -7.87012891e-02 -9.50457376e-03 1.41698883e+01] [ 7.86994384e-02 9.96898227e-01 -5.69145944e-04 7.87296060e-02] [ 9.51988525e-03 -1.80649814e-04 9.99954669e-01 6.40722726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.20, Y:0.08, Z:0.06 [[ 9.96595356e-01 -8.18984767e-02 -9.50450276e-03 1.41978311e+01] [ 8.18967601e-02 9.96640655e-01 -5.70329244e-04 8.11649876e-02] [ 9.51928295e-03 -2.10000506e-04 9.99954669e-01 6.39700501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.847628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.23, Y:0.08, Z:0.06 [[ 9.96496501e-01 -8.30926711e-02 -9.50434083e-03 1.42261652e+01] [ 8.30909832e-02 9.96541801e-01 -5.73015078e-04 8.45217463e-02] [ 9.51908627e-03 -2.18717504e-04 9.99954669e-01 6.36644763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.25, Y:0.09, Z:0.06 [[ 9.96353305e-01 -8.47924659e-02 -9.50417756e-03 1.42527858e+01] [ 8.47908296e-02 9.96398607e-01 -5.75710443e-04 8.63777827e-02] [ 9.51876519e-03 -2.32256097e-04 9.99954669e-01 6.36406648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.28, Y:0.09, Z:0.06 [[ 9.96096375e-01 -8.77592365e-02 -9.50410677e-03 1.42812160e+01] [ 8.77577239e-02 9.96141681e-01 -5.76876751e-04 8.77525764e-02] [ 9.51806315e-03 -2.59433937e-04 9.99954669e-01 6.39726307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.31, Y:0.09, Z:0.06 [[ 9.95466828e-01 -9.46333456e-02 -9.50394401e-03 1.43079041e+01] [ 9.46321204e-02 9.95512143e-01 -5.79545787e-04 9.00750955e-02] [ 9.51613602e-03 -3.22459768e-04 9.99954669e-01 6.42544898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.33, Y:0.09, Z:0.06 [[ 9.95073706e-01 -9.86812851e-02 -9.50387334e-03 1.43348168e+01] [ 9.86802332e-02 9.95119025e-01 -5.80702294e-04 9.17989869e-02] [ 9.51478963e-03 -3.60002854e-04 9.99954669e-01 6.47579520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.997628 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:14.36, Y:0.09, Z:0.06 [[ 9.94704133e-01 -1.02339464e-01 -9.50376380e-03 1.43625601e+01] [ 1.02338562e-01 9.94749456e-01 -5.82489662e-04 9.43264667e-02] [ 9.51347554e-03 -3.93196644e-04 9.99954669e-01 6.39532458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.39, Y:0.10, Z:0.07 [[ 9.94464695e-01 -1.04640589e-01 -9.50359928e-03 1.43907465e+01] [ 1.04639766e-01 9.94510019e-01 -5.85161527e-04 9.74676511e-02] [ 9.51265635e-03 -4.12531923e-04 9.99954669e-01 6.70218627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.42, Y:0.10, Z:0.07 [[ 9.93955450e-01 -1.09372065e-01 -9.50343330e-03 1.44189061e+01] [ 1.09371432e-01 9.94000777e-01 -5.87844811e-04 1.01890631e-01] [ 9.51071389e-03 -4.55112553e-04 9.99954669e-01 6.83862425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.45, Y:0.10, Z:0.07 [[ 9.93704583e-01 -1.11628355e-01 -9.50326773e-03 1.44473611e+01] [ 1.11627799e-01 9.93749911e-01 -5.90509429e-04 1.04681169e-01] [ 9.50978906e-03 -4.74036937e-04 9.99954669e-01 6.89933396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.47, Y:0.11, Z:0.07 [[ 9.93503184e-01 -1.13406852e-01 -9.50310127e-03 1.44744533e+01] [ 1.13406353e-01 9.93548513e-01 -5.93176262e-04 1.07197379e-01] [ 9.50906239e-03 -4.88389549e-04 9.99954669e-01 6.96186740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.50, Y:0.11, Z:0.07 [[ 9.93321083e-01 -1.14990949e-01 -9.50298816e-03 1.45021873e+01] [ 1.14990504e-01 9.93366413e-01 -5.94982791e-04 1.11286731e-01] [ 9.50836690e-03 -5.01744450e-04 9.99954669e-01 6.90717099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.53, Y:0.11, Z:0.07 [[ 9.93345080e-01 -1.14783485e-01 -9.50282281e-03 1.45306031e+01] [ 1.14783005e-01 9.93390409e-01 -5.97612083e-04 1.14971679e-01] [ 9.50860904e-03 -4.97127540e-04 9.99954669e-01 6.83802641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.56, Y:0.12, Z:0.07 [[ 9.93486532e-01 -1.13552681e-01 -9.50265368e-03 1.45578938e+01] [ 1.13552120e-01 9.93531859e-01 -6.00289553e-04 1.18600695e-01] [ 9.50935366e-03 -4.82666882e-04 9.99954669e-01 6.76972488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.58, Y:0.12, Z:0.07 [[ 9.93697883e-01 -1.11688044e-01 -9.50258026e-03 1.45844323e+01] [ 1.11687387e-01 9.93743209e-01 -6.01449460e-04 1.21955565e-01] [ 9.51029932e-03 -4.63659307e-04 9.99954669e-01 6.71497446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.61, Y:0.13, Z:0.07 [[ 9.94277779e-01 -1.06402072e-01 -9.50250764e-03 1.46127933e+01] [ 1.06401163e-01 9.94323101e-01 -6.02594574e-04 1.26232315e-01] [ 9.51268018e-03 -4.11931472e-04 9.99954669e-01 6.69217530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.64, Y:0.13, Z:0.07 [[ 9.94593147e-01 -1.03412653e-01 -9.50234155e-03 1.46403197e+01] [ 1.03411583e-01 9.94638466e-01 -6.05202430e-04 1.29367976e-01] [ 9.51398001e-03 -3.80721995e-04 9.99954669e-01 6.68645390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.67, Y:0.13, Z:0.07 [[ 9.94931590e-01 -1.00104143e-01 -9.50217378e-03 1.46671790e+01] [ 1.00102897e-01 9.94976905e-01 -6.07825248e-04 1.32896966e-01] [ 9.51528928e-03 -3.46450585e-04 9.99954669e-01 6.67210062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.70, Y:0.14, Z:0.07 [[ 9.95255409e-01 -9.68317165e-02 -9.50210093e-03 1.46952988e+01] [ 9.68303109e-02 9.95300718e-01 -6.08961915e-04 1.36365627e-01] [ 9.51641471e-03 -3.14018747e-04 9.99954669e-01 6.67833135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.72, Y:0.14, Z:0.07 [[ 9.95850989e-01 -9.05014976e-02 -9.50192887e-03 1.47222224e+01] [ 9.04997784e-02 9.95896288e-01 -6.11634925e-04 1.40572222e-01] [ 9.51828957e-03 -2.50825212e-04 9.99954669e-01 6.64253143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.75, Y:0.14, Z:0.07 [[ 9.96119714e-01 -8.74941769e-02 -9.50181169e-03 1.47496277e+01] [ 8.74923036e-02 9.96165007e-01 -6.13449943e-04 1.43064401e-01] [ 9.51904560e-03 -2.20265811e-04 9.99954669e-01 6.66499108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.447627999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.78, Y:0.15, Z:0.07 [[ 9.96320092e-01 -8.51821068e-02 -9.50173827e-03 1.47776770e+01] [ 8.51801176e-02 9.96365380e-01 -6.14585084e-04 1.45375807e-01] [ 9.51955471e-03 -1.97035715e-04 9.99954669e-01 6.78136297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.81, Y:0.15, Z:0.07 [[ 9.96703157e-01 -8.05762760e-02 -9.50156095e-03 1.48054239e+01] [ 8.05740515e-02 9.96748434e-01 -6.17314324e-04 1.47437168e-01] [ 9.52040689e-03 -1.50300126e-04 9.99954669e-01 6.80445754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.83, Y:0.15, Z:0.07 [[ 9.96864935e-01 -7.85495084e-02 -9.50138334e-03 1.48330951e+01] [ 7.85471658e-02 9.96910206e-01 -6.20036046e-04 1.49401741e-01] [ 9.52072954e-03 -1.28214540e-04 9.99954669e-01 6.82466972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.86, Y:0.15, Z:0.07 [[ 9.97019250e-01 -7.65659286e-02 -9.50120479e-03 1.48596433e+01] [ 7.65634700e-02 9.97064515e-01 -6.22760078e-04 1.51338658e-01] [ 9.52099635e-03 -1.06541423e-04 9.99954669e-01 6.84721806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.89, Y:0.15, Z:0.07 [[ 9.97153395e-01 -7.47986333e-02 -9.50112722e-03 1.48872234e+01] [ 7.47960833e-02 9.97198655e-01 -6.23941233e-04 1.52707510e-01] [ 9.52118124e-03 -8.84819837e-05 9.99954669e-01 6.96966435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.597628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.92, Y:0.15, Z:0.07 [[ 9.97278824e-01 -7.31073098e-02 -9.50094466e-03 1.49150148e+01] [ 7.31046566e-02 9.97324078e-01 -6.26708951e-04 1.53960705e-01] [ 9.52133787e-03 -6.95597316e-05 9.99954669e-01 7.02908073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.94, Y:0.16, Z:0.07 [[ 9.97373596e-01 -7.18028138e-02 -9.50088801e-03 1.49429347e+01] [ 7.18000933e-02 9.97418845e-01 -6.27566542e-04 1.55216022e-01] [ 9.52142579e-03 -5.62463472e-05 9.99954669e-01 7.12703027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.97, Y:0.16, Z:0.07 [[ 9.97603432e-01 -6.85355998e-02 -9.50070721e-03 1.49708825e+01] [ 6.85327051e-02 9.97648671e-01 -6.30291798e-04 1.56213070e-01] [ 9.52156535e-03 -2.23279048e-05 9.99954669e-01 7.14503906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.00, Y:0.16, Z:0.07 [[ 9.97690961e-01 -6.72494141e-02 -9.50065117e-03 1.49993391e+01] [ 6.72464530e-02 9.97736196e-01 -6.31135490e-04 1.57352675e-01] [ 9.52158704e-03 -9.20691818e-06 9.99954669e-01 7.13299461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.03, Y:0.16, Z:0.07 [[ 9.97780523e-01 -6.59072793e-02 -9.50047293e-03 1.50273712e+01] [ 6.59042320e-02 9.97825752e-01 -6.33807134e-04 1.57976681e-01] [ 9.52158905e-03 6.27904124e-06 9.99954669e-01 7.11521555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.06, Y:0.16, Z:0.07 [[ 9.97971117e-01 -6.29554931e-02 -9.50029213e-03 1.50564981e+01] [ 6.29522863e-02 9.98016335e-01 -6.36505721e-04 1.56576700e-01] [ 9.52151826e-03 3.71492157e-05 9.99954669e-01 7.06778240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.08, Y:0.16, Z:0.07 [[ 9.98035671e-01 -6.19237128e-02 -9.50013263e-03 1.50846653e+01] [ 6.19204366e-02 9.98080884e-01 -6.38877466e-04 1.56958273e-01] [ 9.52146244e-03 4.93701400e-05 9.99954669e-01 6.98794891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.11, Y:0.16, Z:0.07 [[ 9.98063410e-01 -6.14750145e-02 -9.50007606e-03 1.51133749e+01] [ 6.14717101e-02 9.98108621e-01 -6.39717603e-04 1.57488193e-01] [ 9.52143446e-03 5.44928114e-05 9.99954669e-01 6.89648507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.14, Y:0.16, Z:0.07 [[ 9.98064611e-01 -6.14555503e-02 -9.49991767e-03 1.51416331e+01] [ 6.14522227e-02 9.98109820e-01 -6.42061090e-04 1.56173579e-01] [ 9.52141933e-03 5.70273953e-05 9.99954669e-01 6.59423210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.17, Y:0.16, Z:0.07 [[ 9.98009583e-01 -6.23427946e-02 -9.49986155e-03 1.51694114e+01] [ 6.23394993e-02 9.98054795e-01 -6.42890431e-04 1.56106045e-01] [ 9.52146195e-03 4.93941990e-05 9.99954669e-01 6.56165136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.20, Y:0.16, Z:0.07 [[ 9.97953569e-01 -6.32331489e-02 -9.49967882e-03 1.51973674e+01] [ 6.32298683e-02 9.97998781e-01 -6.45579241e-04 1.55335901e-01] [ 9.52148989e-03 4.35946658e-05 9.99954669e-01 6.56075923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.23, Y:0.15, Z:0.07 [[ 9.97857037e-01 -6.47386599e-02 -9.49949617e-03 1.52253748e+01] [ 6.47354221e-02 9.97902252e-01 -6.48255821e-04 1.54252234e-01] [ 9.52153583e-03 3.19127385e-05 9.99954669e-01 6.62524731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.25, Y:0.15, Z:0.07 [[ 9.97760672e-01 -6.62072782e-02 -9.49931197e-03 1.52528696e+01] [ 6.62040813e-02 9.97805891e-01 -6.50943861e-04 1.52847227e-01] [ 9.52156666e-03 2.05929626e-05 9.99954669e-01 6.67407572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.28, Y:0.15, Z:0.07 [[ 9.97802835e-01 -6.55687888e-02 -9.49923205e-03 1.52822246e+01] [ 6.55655519e-02 9.97848051e-01 -6.52108011e-04 1.52761871e-01] [ 9.52154812e-03 2.78528308e-05 9.99954669e-01 7.06284772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.31, Y:0.15, Z:0.07 [[ 9.97784222e-01 -6.58514579e-02 -9.49907054e-03 1.53107578e+01] [ 6.58482115e-02 9.97829437e-01 -6.54452334e-04 1.54801608e-01] [ 9.52154884e-03 2.75054076e-05 9.99954669e-01 7.08998220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.34, Y:0.16, Z:0.07 [[ 9.97790030e-01 -6.57634187e-02 -9.49888438e-03 1.53398679e+01] [ 6.57601427e-02 9.97835243e-01 -6.57143223e-04 1.55950526e-01] [ 9.52153758e-03 3.10429639e-05 9.99954669e-01 7.25786183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.37, Y:0.16, Z:0.07 [[ 9.97781827e-01 -6.58877766e-02 -9.49871984e-03 1.53679286e+01] [ 6.58844836e-02 9.97827039e-01 -6.59512991e-04 1.57396954e-01] [ 9.52153334e-03 3.22318253e-05 9.99954669e-01 7.31785235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.40, Y:0.16, Z:0.07 [[ 9.97805590e-01 -6.55269409e-02 -9.49866175e-03 1.53963097e+01] [ 6.55236236e-02 9.97850800e-01 -6.60348570e-04 1.59642560e-01] [ 9.52151785e-03 3.65127573e-05 9.99954669e-01 7.47088021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.42, Y:0.16, Z:0.07 [[ 9.97766213e-01 -6.61238505e-02 -9.49849698e-03 1.54228859e+01] [ 6.61205378e-02 9.97811423e-01 -6.62710255e-04 1.61493122e-01] [ 9.52152974e-03 3.31841720e-05 9.99954669e-01 7.41800224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.45, Y:0.16, Z:0.08 [[ 9.97707840e-01 -6.69988503e-02 -9.49841537e-03 1.54513034e+01] [ 6.69955662e-02 9.97753052e-01 -6.63877911e-04 1.63488626e-01] [ 9.52155198e-03 2.60044810e-05 9.99954669e-01 7.52252196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.197627999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.48, Y:0.17, Z:0.07 [[ 9.97538345e-01 -6.94768644e-02 -9.49822572e-03 1.54778775e+01] [ 6.94736668e-02 9.97583563e-01 -6.66580248e-04 1.66512599e-01] [ 9.52158576e-03 5.06278855e-06 9.99954669e-01 7.47351400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.50, Y:0.17, Z:0.07 [[ 9.97355443e-01 -7.20548887e-02 -9.49809664e-03 1.55045156e+01] [ 7.20517906e-02 9.97400668e-01 -6.68414466e-04 1.68974223e-01] [ 9.52157046e-03 -1.77080639e-05 9.99954669e-01 7.40236853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.53, Y:0.17, Z:0.08 [[ 9.97135829e-01 -7.50328402e-02 -9.49801924e-03 1.55329472e+01] [ 7.50298667e-02 9.97181062e-01 -6.69512386e-04 1.71602155e-01] [ 9.52148033e-03 -4.50403293e-05 9.99954669e-01 7.51995165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.56, Y:0.17, Z:0.08 [[ 9.96848923e-01 -7.87528742e-02 -9.49782851e-03 1.55605144e+01] [ 7.87500438e-02 9.96894166e-01 -6.72207289e-04 1.73995608e-01] [ 9.52126809e-03 -7.78652989e-05 9.99954669e-01 7.53871927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.59, Y:0.18, Z:0.08 [[ 9.96509743e-01 -8.29344707e-02 -9.49763805e-03 1.55887516e+01] [ 8.29318045e-02 9.96554996e-01 -6.74887612e-04 1.76302928e-01] [ 9.52089010e-03 -1.15124181e-04 9.99954669e-01 7.55987839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.347628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.62, Y:0.18, Z:0.08 [[ 9.95744861e-01 -9.16622599e-02 -9.49744756e-03 1.56160584e+01] [ 9.16599649e-02 9.95790134e-01 -6.77557748e-04 1.79109898e-01] [ 9.51957106e-03 -1.95861065e-04 9.99954669e-01 7.58794968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.64, Y:0.18, Z:0.08 [[ 9.95209395e-01 -9.73039598e-02 -9.49738860e-03 1.56444118e+01] [ 9.73019136e-02 9.95254680e-01 -6.78383230e-04 1.81772560e-01] [ 9.51832982e-03 -2.48980722e-04 9.99954669e-01 7.63670073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.67, Y:0.19, Z:0.08 [[ 9.94045396e-01 -1.08552079e-01 -9.49719774e-03 1.56720230e+01] [ 1.08550519e-01 9.94090701e-01 -6.81044839e-04 1.85698417e-01] [ 9.51500478e-03 -3.53936261e-04 9.99954669e-01 7.61315919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.70, Y:0.19, Z:0.08 [[ 9.93370336e-01 -1.14565188e-01 -9.49700634e-03 1.57000253e+01] [ 1.14563877e-01 9.93415648e-01 -6.83703490e-04 1.88411569e-01] [ 9.51280333e-03 -4.08843102e-04 9.99954669e-01 7.60705182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.73, Y:0.19, Z:0.08 [[ 9.92690752e-01 -1.20311600e-01 -9.49681346e-03 1.57269452e+01] [ 1.20310526e-01 9.92736071e-01 -6.86372133e-04 1.90652269e-01] [ 9.51040781e-03 -4.61211352e-04 9.99954669e-01 7.63817403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.497628 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:15.75, Y:0.19, Z:0.07 [[ 9.91976643e-01 -1.26064081e-01 -9.49672988e-03 1.57545857e+01] [ 1.26063259e-01 9.92021966e-01 -6.87526712e-04 1.92473205e-01] [ 9.50763707e-03 -5.15178280e-04 9.99954669e-01 7.41438211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.78, Y:0.19, Z:0.08 [[ 9.91044355e-01 -1.33194976e-01 -9.49653377e-03 1.57837829e+01] [ 1.33194454e-01 9.91089684e-01 -6.90224902e-04 1.94883647e-01] [ 9.50385114e-03 -5.80842135e-04 9.99954669e-01 7.83535026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.81, Y:0.20, Z:0.08 [[ 9.90697682e-01 -1.35749485e-01 -9.49636315e-03 1.58113219e+01] [ 1.35749058e-01 9.90743011e-01 -6.92564363e-04 1.97343540e-01] [ 9.50247068e-03 -6.03000443e-04 9.99954669e-01 7.86470872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.84, Y:0.20, Z:0.08 [[ 9.90502971e-01 -1.37162993e-01 -9.49616726e-03 1.58384625e+01] [ 1.37162605e-01 9.90548301e-01 -6.95240005e-04 2.00305027e-01] [ 9.50177354e-03 -6.13881747e-04 9.99954669e-01 7.88401118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.617628 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:15.87, Y:0.20, Z:0.08 [[ 9.90383423e-01 -1.38023551e-01 -9.49608219e-03 1.58662265e+01] [ 1.38023191e-01 9.90428752e-01 -6.96400072e-04 2.03526175e-01] [ 9.50131244e-03 -6.20976481e-04 9.99954669e-01 7.58308892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.89, Y:0.21, Z:0.08 [[ 9.90974387e-01 -1.33714591e-01 -9.49588543e-03 1.58946876e+01] [ 1.33714008e-01 9.91019715e-01 -6.99072699e-04 2.08235572e-01] [ 9.50408589e-03 -5.76969766e-04 9.99954669e-01 7.91461530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.92, Y:0.21, Z:0.08 [[ 9.91464451e-01 -1.30031050e-01 -9.49571352e-03 1.59227042e+01] [ 1.30030277e-01 9.91509776e-01 -7.01400003e-04 2.11497176e-01] [ 9.50629657e-03 -5.39317092e-04 9.99954669e-01 8.01416010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.95, Y:0.22, Z:0.08 [[ 9.91913355e-01 -1.26561180e-01 -9.49551717e-03 1.59492641e+01] [ 1.26560223e-01 9.91958676e-01 -7.04048266e-04 2.16107536e-01] [ 9.50826581e-03 -5.03399892e-04 9.99954669e-01 7.98991100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.737628 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:15.98, Y:0.22, Z:0.08 [[ 9.93300290e-01 -1.15171277e-01 -9.49270654e-03 1.59780849e+01] [ 1.15169440e-01 9.93345584e-01 -7.41787149e-04 2.20941475e-01] [ 9.51497070e-03 -3.56452308e-04 9.99954668e-01 7.73259675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.01, Y:0.22, Z:0.08 [[ 9.94066601e-01 -1.08357888e-01 -9.49526954e-03 1.60058150e+01] [ 1.08356069e-01 9.94111896e-01 -7.07383811e-04 2.24548509e-01] [ 9.51601103e-03 -3.25683458e-04 9.99954669e-01 8.05278379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.03, Y:0.23, Z:0.08 [[ 9.94356548e-01 -1.05664072e-01 -9.49520971e-03 1.60313981e+01] [ 1.05662122e-01 9.94401838e-01 -7.08185996e-04 2.31469745e-01] [ 9.51688380e-03 -2.99094624e-04 9.99954669e-01 7.79435009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.06, Y:0.23, Z:0.08 [[ 9.95207196e-01 -9.73271848e-02 -9.48974294e-03 1.60627720e+01] [ 9.73241594e-02 9.95252429e-01 -7.81183378e-04 2.32059322e-01] [ 9.52072009e-03 -1.46141935e-04 9.99954666e-01 8.07599883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.857628 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:16.09, Y:0.24, Z:0.08 [[ 9.95596709e-01 -9.32579123e-02 -9.49502213e-03 1.60911241e+01] [ 9.32553744e-02 9.95641969e-01 -7.10648017e-04 2.35516398e-01] [ 9.51991608e-03 -1.77943017e-04 9.99954669e-01 7.92908424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.12, Y:0.24, Z:0.08 [[ 9.96436205e-01 -8.38137047e-02 -9.49481991e-03 1.61183614e+01] [ 8.38107121e-02 9.96481438e-01 -7.13339756e-04 2.39228439e-01] [ 9.52119944e-03 -8.49700578e-05 9.99954669e-01 8.18718533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.15, Y:0.24, Z:0.08 [[ 9.96717974e-01 -8.03935875e-02 -9.49475722e-03 1.61464260e+01] [ 8.03904318e-02 9.96763196e-01 -7.14173097e-04 2.42014077e-01] [ 9.52143949e-03 -5.14584696e-05 9.99954669e-01 8.23003171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.947627999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.17, Y:0.24, Z:0.08 [[ 9.96918324e-01 -7.78698182e-02 -9.49455638e-03 1.61742918e+01] [ 7.78665226e-02 9.96963535e-01 -7.16833314e-04 2.44548809e-01] [ 9.52154617e-03 -2.46838229e-05 9.99954669e-01 8.22136031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.20, Y:0.25, Z:0.08 [[ 9.97067385e-01 -7.59373935e-02 -9.49435288e-03 1.62018923e+01] [ 7.59339847e-02 9.97112588e-01 -7.19518621e-04 2.46918961e-01] [ 9.52157713e-03 -3.53549634e-06 9.99954669e-01 8.22716472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.23, Y:0.25, Z:0.08 [[ 9.97188094e-01 -7.43355042e-02 -9.49414906e-03 1.62296635e+01] [ 7.43319973e-02 9.97233289e-01 -7.22197960e-04 2.48547950e-01] [ 9.52156645e-03 1.44481446e-05 9.99954669e-01 8.21966222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.26, Y:0.25, Z:0.08 [[ 9.97307519e-01 -7.27157275e-02 -9.49394505e-03 1.62565185e+01] [ 7.27121217e-02 9.97352707e-01 -7.24870040e-04 2.49086625e-01] [ 9.52152125e-03 3.25934534e-05 9.99954669e-01 8.18448036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.29, Y:0.25, Z:0.08 [[ 9.97319547e-01 -7.25505848e-02 -9.49385659e-03 1.62850985e+01] [ 7.25469606e-02 9.97364733e-01 -7.26026751e-04 2.50042796e-01] [ 9.52151141e-03 3.53302306e-05 9.99954669e-01 8.20746723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.097628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.31, Y:0.25, Z:0.08 [[ 9.97329859e-01 -7.24087166e-02 -9.49365467e-03 1.63129055e+01] [ 7.24050609e-02 9.97375043e-01 -7.28657620e-04 2.50676463e-01] [ 9.52149539e-03 3.93233569e-05 9.99954669e-01 8.20207107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.34, Y:0.25, Z:0.08 [[ 9.97246421e-01 -7.35489705e-02 -9.49345313e-03 1.63410891e+01] [ 7.35453415e-02 9.97291606e-01 -7.31273950e-04 2.50051965e-01] [ 9.52152557e-03 3.10610763e-05 9.99954669e-01 8.16871687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.37, Y:0.25, Z:0.08 [[ 9.97166448e-01 -7.46254236e-02 -9.49324288e-03 1.63686879e+01] [ 7.46218175e-02 9.97211635e-01 -7.33993341e-04 2.50512630e-01] [ 9.52154682e-03 2.35104946e-05 9.99954669e-01 8.09119725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.40, Y:0.25, Z:0.08 [[ 9.97070064e-01 -7.59023638e-02 -9.49309990e-03 1.63959736e+01] [ 7.58987981e-02 9.97115255e-01 -7.35837835e-04 2.50644745e-01] [ 9.52156656e-03 1.31670042e-05 9.99954669e-01 8.03408153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.42, Y:0.25, Z:0.08 [[ 9.96965225e-01 -7.72672107e-02 -9.49301312e-03 1.64243792e+01] [ 7.72636962e-02 9.97010420e-01 -7.36955793e-04 2.50647905e-01] [ 9.52157552e-03 1.25401674e-06 9.99954669e-01 8.09048157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.45, Y:0.25, Z:0.08 [[ 9.96779143e-01 -7.96318169e-02 -9.49280364e-03 1.64530435e+01] [ 7.96283840e-02 9.96824344e-01 -7.39644292e-04 2.47387974e-01] [ 9.52155698e-03 -1.86346098e-05 9.99954669e-01 8.09541851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.277628 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:16.48, Y:0.25, Z:0.08 [[ 9.96628487e-01 -8.14956816e-02 -9.49273885e-03 1.64805304e+01] [ 8.14923253e-02 9.96673694e-01 -7.40474885e-04 2.47063555e-01] [ 9.52150860e-03 -3.56069974e-05 9.99954669e-01 7.66438938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.307628 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:16.51, Y:0.25, Z:0.08 [[ 9.96544150e-01 -8.25205894e-02 -9.49264967e-03 1.65085407e+01] [ 8.25172687e-02 9.96589359e-01 -7.41616383e-04 2.46727342e-01] [ 9.52147227e-03 -4.42540565e-05 9.99954669e-01 7.87647930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.54, Y:0.25, Z:0.08 [[ 9.96640970e-01 -8.13429181e-02 -9.49243634e-03 1.65369705e+01] [ 8.13395181e-02 9.96686174e-01 -7.44336906e-04 2.45771279e-01] [ 9.52152659e-03 -3.02735412e-05 9.99954669e-01 8.36156651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.56, Y:0.25, Z:0.09 [[ 9.96700474e-01 -8.06105458e-02 -9.49237017e-03 1.65646092e+01] [ 8.06071045e-02 9.96745674e-01 -7.45179779e-04 2.47661758e-01] [ 9.52154826e-03 -2.24314364e-05 9.99954669e-01 8.50738099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.59, Y:0.25, Z:0.09 [[ 9.96769939e-01 -7.97470171e-02 -9.49216026e-03 1.65925099e+01] [ 7.97435113e-02 9.96815135e-01 -7.47844195e-04 2.49206362e-01] [ 9.52156735e-03 -1.15095757e-05 9.99954669e-01 8.56552654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.62, Y:0.25, Z:0.09 [[ 9.96863848e-01 -7.85644391e-02 -9.49194845e-03 1.66202603e+01] [ 7.85608542e-02 9.96909037e-01 -7.50522913e-04 2.51383701e-01] [ 9.52157361e-03 2.47358112e-06 9.99954669e-01 8.64722996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.65, Y:0.25, Z:0.09 [[ 9.96869006e-01 -7.84989870e-02 -9.49173484e-03 1.66487928e+01] [ 7.84953735e-02 9.96914193e-01 -7.53214750e-04 2.53251153e-01] [ 9.52157178e-03 5.79916795e-06 9.99954669e-01 8.69550054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.487628 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:16.68, Y:0.26, Z:0.08 [[ 9.96803192e-01 -7.93303648e-02 -9.49151996e-03 1.66768292e+01] [ 7.93267633e-02 9.96848380e-01 -7.55912858e-04 2.56048699e-01] [ 9.52157314e-03 5.64792655e-07 9.99954669e-01 8.47517811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.70, Y:0.26, Z:0.09 [[ 9.96767812e-01 -7.97737076e-02 -9.49130530e-03 1.67049621e+01] [ 7.97701006e-02 9.96812999e-01 -7.58598632e-04 2.58149862e-01] [ 9.52157273e-03 -9.75680208e-07 9.99954669e-01 8.81636532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.73, Y:0.26, Z:0.09 [[ 9.96660176e-01 -8.11074161e-02 -9.49108830e-03 1.67330001e+01] [ 8.11038438e-02 9.96705366e-01 -7.61303961e-04 2.60709111e-01] [ 9.52156604e-03 -1.10024030e-05 9.99954669e-01 8.84309265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.76, Y:0.26, Z:0.09 [[ 9.96224651e-01 -8.62923390e-02 -9.49087193e-03 1.67610372e+01] [ 8.62889763e-02 9.96269857e-01 -7.63991913e-04 2.63419924e-01] [ 9.52139627e-03 -5.78500453e-05 9.99954669e-01 8.87090724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.79, Y:0.27, Z:0.09 [[ 9.95850043e-01 -9.05130923e-02 -9.49065551e-03 1.67889271e+01] [ 9.05098957e-02 9.95895261e-01 -7.66670928e-04 2.65564710e-01] [ 9.52109260e-03 -9.55089640e-05 9.99954669e-01 8.95207003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.82, Y:0.27, Z:0.09 [[ 9.95434012e-01 -9.49792574e-02 -9.49043727e-03 1.68170072e+01] [ 9.49762380e-02 9.95479243e-01 -7.69363065e-04 2.68040515e-01] [ 9.52060683e-03 -1.35515866e-04 9.99954669e-01 9.05153827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.85, Y:0.27, Z:0.09 [[ 9.94887985e-01 -1.00537723e-01 -9.49021979e-03 1.68454865e+01] [ 1.00534931e-01 9.94933230e-01 -7.72036372e-04 2.70519239e-01] [ 9.51975381e-03 -1.86008883e-04 9.99954669e-01 9.18631294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.87, Y:0.27, Z:0.09 [[ 9.93649004e-01 -1.12123130e-01 -9.49000008e-03 1.68730856e+01] [ 1.12120839e-01 9.93694278e-01 -7.74727717e-04 2.73625363e-01] [ 9.51702367e-03 -2.94219347e-04 9.99954669e-01 9.33401193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.90, Y:0.28, Z:0.09 [[ 9.92965589e-01 -1.18022368e-01 -9.48993216e-03 1.69010736e+01] [ 1.18020338e-01 9.93010875e-01 -7.75558750e-04 2.76781206e-01] [ 9.51513912e-03 -3.49901853e-04 9.99954669e-01 9.40192080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.93, Y:0.28, Z:0.09 [[ 9.92235054e-01 -1.24014287e-01 -9.48971069e-03 1.69278735e+01] [ 1.24012505e-01 9.92280350e-01 -7.78259337e-04 2.80001433e-01] [ 9.51296872e-03 -4.04626599e-04 9.99954669e-01 9.35279235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.96, Y:0.28, Z:0.09 [[ 9.91407959e-01 -1.30461513e-01 -9.48961469e-03 1.69559144e+01] [ 1.30460014e-01 9.91453265e-01 -7.79428079e-04 2.83251970e-01] [ 9.51019484e-03 -4.65284065e-04 9.99954669e-01 9.38714071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.98, Y:0.29, Z:0.09 [[ 9.90588203e-01 -1.36546559e-01 -9.48939106e-03 1.69834081e+01] [ 1.36545313e-01 9.90633517e-01 -7.82141295e-04 2.86439383e-01] [ 9.50730755e-03 -5.20951931e-04 9.99954669e-01 9.37269226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.847628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.01, Y:0.29, Z:0.09 [[ 9.89076784e-01 -1.47095451e-01 -9.48916757e-03 1.70114023e+01] [ 1.47094662e-01 9.89122108e-01 -7.84843380e-04 2.90096432e-01] [ 9.50139232e-03 -6.19535528e-04 9.99954669e-01 9.39212992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.04, Y:0.29, Z:0.09 [[ 9.88401914e-01 -1.51563899e-01 -9.48894448e-03 1.70394190e+01] [ 1.51563289e-01 9.88447242e-01 -7.87531453e-04 2.93296016e-01] [ 9.49868233e-03 -6.59778037e-04 9.99954669e-01 9.47171795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.07, Y:0.30, Z:0.09 [[ 9.88359081e-01 -1.51842980e-01 -9.48872112e-03 1.70679221e+01] [ 1.51842357e-01 9.88404408e-01 -7.90213536e-04 2.95728154e-01] [ 9.49868216e-03 -6.59775054e-04 9.99954669e-01 9.49883874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.937628 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:17.10, Y:0.30, Z:0.09 [[ 9.87778075e-01 -1.55577775e-01 -9.48849724e-03 1.70959889e+01] [ 1.55577298e-01 9.87823403e-01 -7.92892604e-04 2.99314001e-01] [ 9.49631611e-03 -6.92992829e-04 9.99954669e-01 9.30729058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.12, Y:0.31, Z:0.10 [[ 9.87412189e-01 -1.57883319e-01 -9.48827278e-03 1.71231403e+01] [ 1.57882922e-01 9.87457518e-01 -7.95569623e-04 3.05852871e-01] [ 9.49487347e-03 -7.12481089e-04 9.99954669e-01 9.62291347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.997628 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:17.15, Y:0.31, Z:0.09 [[ 9.87384578e-01 -1.58055917e-01 -9.48804770e-03 1.71500362e+01] [ 1.58055503e-01 9.87429907e-01 -7.98244957e-04 3.10490449e-01] [ 9.49494940e-03 -7.11463388e-04 9.99954669e-01 9.32382759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.027628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:17.18, Y:0.31, Z:0.10 [[ 9.87646349e-01 -1.56411857e-01 -9.48795009e-03 1.71778692e+01] [ 1.56411356e-01 9.87691677e-01 -7.99403554e-04 3.14984904e-01] [ 9.49620552e-03 -6.94495139e-04 9.99954669e-01 9.56261981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.21, Y:0.32, Z:0.10 [[ 9.88050356e-01 -1.53839124e-01 -9.48772453e-03 1.72059984e+01] [ 1.53838480e-01 9.88095683e-01 -8.02071612e-04 3.19507185e-01] [ 9.49816965e-03 -6.67089977e-04 9.99954669e-01 9.73502476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.087628 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:17.23, Y:0.33, Z:0.09 [[ 9.89022792e-01 -1.47458147e-01 -9.48749687e-03 1.72331100e+01] [ 1.47457184e-01 9.89068112e-01 -8.04755644e-04 3.28170870e-01] [ 9.50244839e-03 -6.03077902e-04 9.99954669e-01 9.47967128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.26, Y:0.33, Z:0.10 [[ 9.89702102e-01 -1.42827665e-01 -9.48726788e-03 1.72595071e+01] [ 1.42826465e-01 9.89747417e-01 -8.07446214e-04 3.33258252e-01] [ 9.50532453e-03 -5.55901714e-04 9.99954669e-01 9.72008700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.29, Y:0.34, Z:0.10 [[ 9.90218471e-01 -1.39202637e-01 -9.48716829e-03 1.72864625e+01] [ 1.39201260e-01 9.90263781e-01 -8.08614655e-04 3.38747657e-01] [ 9.50736043e-03 -5.19920609e-04 9.99954669e-01 9.70112378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.31, Y:0.35, Z:0.10 [[ 9.91026754e-01 -1.33326553e-01 -9.48701515e-03 1.73141672e+01] [ 1.33324889e-01 9.91072054e-01 -8.10407385e-04 3.46988059e-01] [ 9.51036442e-03 -4.61719843e-04 9.99954669e-01 9.68523285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.34, Y:0.35, Z:0.10 [[ 9.91294424e-01 -1.31321615e-01 -9.48679266e-03 1.73414940e+01] [ 1.31319835e-01 9.91339720e-01 -8.13003546e-04 3.51715972e-01] [ 9.51139932e-03 -4.39878162e-04 9.99954669e-01 9.71373629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.37, Y:0.36, Z:0.10 [[ 9.91421277e-01 -1.30360489e-01 -9.48656644e-03 1.73695413e+01] [ 1.30358640e-01 9.91466570e-01 -8.15634656e-04 3.56087158e-01] [ 9.51194003e-03 -4.28018346e-04 9.99954669e-01 9.79975928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.40, Y:0.36, Z:0.10 [[ 9.91463465e-01 -1.30039255e-01 -9.48633272e-03 1.73976662e+01] [ 1.30037365e-01 9.91508756e-01 -8.18343976e-04 3.60302425e-01] [ 9.51219880e-03 -4.22219561e-04 9.99954669e-01 9.85801601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.43, Y:0.37, Z:0.10 [[ 9.91363881e-01 -1.30796289e-01 -9.48609887e-03 1.74256785e+01] [ 1.30794408e-01 9.91409173e-01 -8.21045861e-04 3.66921432e-01] [ 9.51199519e-03 -4.26773477e-04 9.99954669e-01 9.88631403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.45, Y:0.37, Z:0.10 [[ 9.91236273e-01 -1.31759896e-01 -9.48586301e-03 1.74525701e+01] [ 1.31758033e-01 9.91281565e-01 -8.23761776e-04 3.71742331e-01] [ 9.51169990e-03 -4.33296102e-04 9.99954669e-01 9.85092275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.48, Y:0.38, Z:0.10 [[ 9.91029425e-01 -1.33306784e-01 -9.48576087e-03 1.74806917e+01] [ 1.33304981e-01 9.91074720e-01 -8.24936359e-04 3.76182786e-01] [ 9.51106741e-03 -4.46962965e-04 9.99954669e-01 9.80312604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.387628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:17.51, Y:0.38, Z:0.10 [[ 9.90754707e-01 -1.35333422e-01 -9.48552679e-03 1.75080786e+01] [ 1.35331685e-01 9.90800005e-01 -8.27619169e-04 3.80375615e-01] [ 9.51026452e-03 -4.63724740e-04 9.99954669e-01 9.52650931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.54, Y:0.38, Z:0.10 [[ 9.90600637e-01 -1.36456607e-01 -9.48541742e-03 1.75363417e+01] [ 1.36454911e-01 9.90645936e-01 -8.28870794e-04 3.83446010e-01] [ 9.50979511e-03 -4.73251849e-04 9.99954669e-01 9.84950903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.56, Y:0.39, Z:0.10 [[ 9.90359278e-01 -1.38197434e-01 -9.48518716e-03 1.75638011e+01] [ 1.38195792e-01 9.90404580e-01 -8.31497405e-04 3.86667135e-01] [ 9.50908361e-03 -4.87331779e-04 9.99954669e-01 9.93141806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.59, Y:0.39, Z:0.10 [[ 9.89926300e-01 -1.41265551e-01 -9.48494988e-03 1.75927201e+01] [ 1.41264023e-01 9.89971606e-01 -8.34195293e-04 3.90950924e-01] [ 9.50767412e-03 -5.14090318e-04 9.99954669e-01 9.92622072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.62, Y:0.39, Z:0.10 [[ 9.89736888e-01 -1.42586578e-01 -9.48474292e-03 1.76210389e+01] [ 1.42585088e-01 9.89782195e-01 -8.36541878e-04 3.94445387e-01] [ 9.50710930e-03 -5.24426550e-04 9.99954669e-01 9.91810817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.537628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:17.65, Y:0.40, Z:0.10 [[ 9.89493817e-01 -1.44263751e-01 -9.48450564e-03 1.76502635e+01] [ 1.44262313e-01 9.89539125e-01 -8.39223433e-04 3.98446241e-01] [ 9.50635894e-03 -5.37850321e-04 9.99954669e-01 9.63655536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.68, Y:0.40, Z:0.10 [[ 9.89374579e-01 -1.45079254e-01 -9.48431158e-03 1.76789760e+01] [ 1.45077832e-01 9.89419888e-01 -8.41410896e-04 4.01755757e-01] [ 9.50603777e-03 -5.43492815e-04 9.99954669e-01 1.00343939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.597628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:17.71, Y:0.41, Z:0.10 [[ 9.89125645e-01 -1.46766857e-01 -9.48410016e-03 1.77073234e+01] [ 1.46765490e-01 9.89170955e-01 -8.43787258e-04 4.05522961e-01] [ 9.50523642e-03 -5.57326988e-04 9.99954669e-01 9.87069072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.627628 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:17.74, Y:0.41, Z:0.10 [[ 9.89018210e-01 -1.47489104e-01 -9.48388619e-03 1.77354371e+01] [ 1.47487747e-01 9.89063521e-01 -8.46185433e-04 4.08899449e-01] [ 9.50496899e-03 -5.61864206e-04 9.99954669e-01 1.00066491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.657628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:17.76, Y:0.41, Z:0.10 [[ 9.88822775e-01 -1.48793750e-01 -9.48364207e-03 1.77634850e+01] [ 1.48792426e-01 9.88868087e-01 -8.48912580e-04 4.12786410e-01] [ 9.50438388e-03 -5.71670020e-04 9.99954669e-01 9.94041117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.687628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:17.79, Y:0.42, Z:0.10 [[ 9.88684910e-01 -1.49707092e-01 -9.48339723e-03 1.77913033e+01] [ 1.49705785e-01 9.88730222e-01 -8.51638970e-04 4.17580429e-01] [ 9.50401785e-03 -5.77716824e-04 9.99954669e-01 1.00904648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.82, Y:0.42, Z:0.10 [[ 9.88670104e-01 -1.49804848e-01 -9.48328326e-03 1.78197737e+01] [ 1.49803533e-01 9.88715416e-01 -8.52906252e-04 4.20916703e-01] [ 9.50403784e-03 -5.77386420e-04 9.99954669e-01 1.03695628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.85, Y:0.42, Z:0.10 [[ 9.88651324e-01 -1.49928751e-01 -9.48307341e-03 1.78472235e+01] [ 1.49927419e-01 9.88696636e-01 -8.55233054e-04 4.24626144e-01] [ 9.50410680e-03 -5.76245431e-04 9.99954669e-01 1.04653380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.88, Y:0.43, Z:0.11 [[ 9.88619173e-01 -1.50140621e-01 -9.48282905e-03 1.78750232e+01] [ 1.50139273e-01 9.88664484e-01 -8.57934008e-04 4.28842956e-01] [ 9.50414704e-03 -5.75575050e-04 9.99954669e-01 1.05060079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.90, Y:0.43, Z:0.11 [[ 9.88760548e-01 -1.49206767e-01 -9.48258519e-03 1.79029182e+01] [ 1.49205351e-01 9.88805857e-01 -8.60620945e-04 4.34544944e-01] [ 9.50484624e-03 -5.63904412e-04 9.99954669e-01 1.05544842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.93, Y:0.44, Z:0.11 [[ 9.88891253e-01 -1.48338045e-01 -9.48234156e-03 1.79305837e+01] [ 1.48336563e-01 9.88936560e-01 -8.63296952e-04 4.38998581e-01] [ 9.50549402e-03 -5.52871154e-04 9.99954669e-01 1.06049203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.96, Y:0.45, Z:0.11 [[ 9.89274558e-01 -1.45759865e-01 -9.48209490e-03 1.79567263e+01] [ 1.45758239e-01 9.89319860e-01 -8.65997696e-04 4.45512836e-01] [ 9.50705251e-03 -5.25383965e-04 9.99954669e-01 1.06288916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.98, Y:0.45, Z:0.11 [[ 9.89462337e-01 -1.44479674e-01 -9.48198797e-03 1.79849085e+01] [ 1.44477979e-01 9.89507636e-01 -8.67166954e-04 4.50274641e-01] [ 9.50778750e-03 -5.11909413e-04 9.99954669e-01 1.06291881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.01, Y:0.46, Z:0.11 [[ 9.89614119e-01 -1.43436368e-01 -9.48174556e-03 1.80111891e+01] [ 1.43434599e-01 9.89659416e-01 -8.69809441e-04 4.55517492e-01] [ 9.50846108e-03 -4.99234669e-04 9.99954669e-01 1.06095780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.04, Y:0.46, Z:0.11 [[ 9.89980702e-01 -1.40884029e-01 -9.48158026e-03 1.80391048e+01] [ 1.40882127e-01 9.90025993e-01 -8.71607585e-04 4.63549868e-01] [ 9.50980650e-03 -4.72910503e-04 9.99954669e-01 1.06819732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.07, Y:0.47, Z:0.11 [[ 9.90182386e-01 -1.39459484e-01 -9.48133420e-03 1.80661912e+01] [ 1.39457491e-01 9.90227673e-01 -8.74276116e-04 4.68407414e-01] [ 9.51060559e-03 -4.56550266e-04 9.99954669e-01 1.06915951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.09, Y:0.48, Z:0.11 [[ 9.90575266e-01 -1.36640946e-01 -9.48125790e-03 1.80938750e+01] [ 1.36638816e-01 9.90620547e-01 -8.75102730e-04 4.75242409e-01] [ 9.51190375e-03 -4.28652732e-04 9.99954669e-01 1.07941329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.12, Y:0.48, Z:0.11 [[ 9.90537581e-01 -1.36913883e-01 -9.48101618e-03 1.81223260e+01] [ 1.36911741e-01 9.90582861e-01 -8.77713744e-04 4.77947585e-01] [ 9.51190333e-03 -4.28653979e-04 9.99954669e-01 1.08212534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.15, Y:0.48, Z:0.11 [[ 9.90679715e-01 -1.35881628e-01 -9.48077363e-03 1.81497976e+01] [ 1.35879413e-01 9.90724992e-01 -8.80325950e-04 4.82909120e-01] [ 9.51245950e-03 -4.16120897e-04 9.99954669e-01 1.08541266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.107628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.18, Y:0.49, Z:0.11 [[ 9.90843006e-01 -1.34685769e-01 -9.48051680e-03 1.81769138e+01] [ 1.34683474e-01 9.90888279e-01 -8.83083178e-04 4.87822953e-01] [ 9.51307172e-03 -4.01872144e-04 9.99954669e-01 1.08437300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.20, Y:0.49, Z:0.11 [[ 9.91070294e-01 -1.33002987e-01 -9.48040535e-03 1.82036155e+01] [ 1.33000603e-01 9.91115562e-01 -8.84278090e-04 4.94502778e-01] [ 9.51378890e-03 -3.84517878e-04 9.99954669e-01 1.08087216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.23, Y:0.50, Z:0.11 [[ 9.91141835e-01 -1.32468817e-01 -9.48029556e-03 1.82304097e+01] [ 1.32466397e-01 9.91187101e-01 -8.85453585e-04 4.98674019e-01] [ 9.51404166e-03 -3.78210505e-04 9.99954669e-01 1.07981416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.197628 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:18.26, Y:0.50, Z:0.11 [[ 9.91168996e-01 -1.32265440e-01 -9.48018753e-03 1.82578856e+01] [ 1.32263000e-01 9.91214262e-01 -8.86608631e-04 5.02503952e-01] [ 9.51416477e-03 -3.75099057e-04 9.99954669e-01 1.06342999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.29, Y:0.51, Z:0.11 [[ 9.91277375e-01 -1.31450738e-01 -9.47993913e-03 1.82853927e+01] [ 1.31448235e-01 9.91322637e-01 -8.89256721e-04 5.05784561e-01] [ 9.51457171e-03 -3.64621202e-04 9.99954669e-01 1.08256668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.31, Y:0.51, Z:0.11 [[ 9.91570238e-01 -1.29223055e-01 -9.47968565e-03 1.83136756e+01] [ 1.29220426e-01 9.91615493e-01 -8.91950795e-04 5.09039658e-01] [ 9.51546376e-03 -3.40537152e-04 9.99954669e-01 1.09374386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.34, Y:0.51, Z:0.11 [[ 9.91741793e-01 -1.27899787e-01 -9.47942694e-03 1.83407110e+01] [ 1.27897071e-01 9.91787043e-01 -8.94691784e-04 5.12265257e-01] [ 9.51600371e-03 -3.25087705e-04 9.99954669e-01 1.09798411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.37, Y:0.52, Z:0.11 [[ 9.91952950e-01 -1.26251687e-01 -9.47931475e-03 1.83684698e+01] [ 1.26248884e-01 9.91998194e-01 -8.95878898e-04 5.15716339e-01] [ 9.51656933e-03 -3.08083196e-04 9.99954669e-01 1.10467673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.347628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.40, Y:0.52, Z:0.11 [[ 9.92228989e-01 -1.24063614e-01 -9.47905628e-03 1.83955922e+01] [ 1.24060685e-01 9.92274226e-01 -8.98605412e-04 5.19555545e-01] [ 9.51730747e-03 -2.84355877e-04 9.99954669e-01 1.10057317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.42, Y:0.52, Z:0.11 [[ 9.92909577e-01 -1.18493552e-01 -9.47894412e-03 1.84233526e+01] [ 1.18490358e-01 9.92954795e-01 -8.99787016e-04 5.23309697e-01] [ 9.51878197e-03 -2.29756340e-04 9.99954669e-01 1.09365288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.45, Y:0.53, Z:0.11 [[ 9.93216115e-01 -1.15896085e-01 -9.47868827e-03 1.84514125e+01] [ 1.15892748e-01 9.93261323e-01 -9.02474182e-04 5.26027048e-01] [ 9.51940768e-03 -2.02159330e-04 9.99954669e-01 1.09290780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.48, Y:0.53, Z:0.11 [[ 9.93490843e-01 -1.13516976e-01 -9.47843270e-03 1.84793499e+01] [ 1.13513505e-01 9.93536041e-01 -9.05150408e-04 5.28295967e-01] [ 9.51991444e-03 -1.76671477e-04 9.99954669e-01 1.09365506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.51, Y:0.53, Z:0.11 [[ 9.93964304e-01 -1.09293763e-01 -9.47817257e-03 1.85062414e+01] [ 1.09290074e-01 9.94009485e-01 -9.07866162e-04 5.29937591e-01] [ 9.52061754e-03 -1.33483620e-04 9.99954669e-01 1.08988912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.53, Y:0.53, Z:0.11 [[ 9.94076322e-01 -1.08270179e-01 -9.47805971e-03 1.85345241e+01] [ 1.08266433e-01 9.94121498e-01 -9.09042972e-04 5.31890164e-01] [ 9.52076516e-03 -1.22497617e-04 9.99954669e-01 1.09297915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.56, Y:0.53, Z:0.11 [[ 9.94132749e-01 -1.07750861e-01 -9.47780912e-03 1.85630001e+01] [ 1.07747066e-01 9.94177921e-01 -9.11648135e-04 5.33553484e-01] [ 9.52085944e-03 -1.14906855e-04 9.99954669e-01 1.09566308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.59, Y:0.53, Z:0.11 [[ 9.94125793e-01 -1.07815047e-01 -9.47755815e-03 1.85908130e+01] [ 1.07811230e-01 9.94170963e-01 -9.14249814e-04 5.33666440e-01] [ 9.52088300e-03 -1.12907878e-04 9.99954669e-01 1.10965388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.62, Y:0.53, Z:0.11 [[ 9.94095389e-01 -1.08095046e-01 -9.47730345e-03 1.86188327e+01] [ 1.08091216e-01 9.94140558e-01 -9.16882480e-04 5.34620415e-01] [ 9.52088219e-03 -1.12944610e-04 9.99954669e-01 1.11740839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.65, Y:0.54, Z:0.11 [[ 9.94033267e-01 -1.08664846e-01 -9.47704768e-03 1.86468748e+01] [ 1.08661017e-01 9.94078436e-01 -9.19518571e-04 5.35460100e-01] [ 9.52084809e-03 -1.15753588e-04 9.99954669e-01 1.13002855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.647628 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:18.67, Y:0.54, Z:0.11 [[ 9.93924440e-01 -1.09655814e-01 -9.47678034e-03 1.86738762e+01] [ 1.09652004e-01 9.93969611e-01 -9.22265685e-04 5.36470118e-01] [ 9.52076346e-03 -1.22485554e-04 9.99954669e-01 1.10835645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.70, Y:0.54, Z:0.11 [[ 9.93895111e-01 -1.09921343e-01 -9.47659833e-03 1.87016329e+01] [ 1.09917527e-01 9.93940282e-01 -9.24132166e-04 5.36866578e-01] [ 9.52075466e-03 -1.23153810e-04 9.99954669e-01 1.13598180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.73, Y:0.54, Z:0.11 [[ 9.93523012e-01 -1.13235260e-01 -9.47632425e-03 1.87299499e+01] [ 1.13231568e-01 9.93568192e-01 -9.26934154e-04 5.35756675e-01] [ 9.52033598e-03 -1.52088639e-04 9.99954669e-01 1.11908051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.76, Y:0.54, Z:0.11 [[ 9.93147805e-01 -1.16480208e-01 -9.47623940e-03 1.87586062e+01] [ 1.16476655e-01 9.93192996e-01 -9.27800734e-04 5.36317097e-01] [ 9.51980503e-03 -1.82317408e-04 9.99954669e-01 1.12686796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.79, Y:0.54, Z:0.11 [[ 9.92690848e-01 -1.20312455e-01 -9.47596739e-03 1.87855587e+01] [ 1.20309051e-01 9.92736051e-01 -9.30570615e-04 5.36588366e-01] [ 9.51909368e-03 -2.16275709e-04 9.99954669e-01 1.12674564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.81, Y:0.53, Z:0.11 [[ 9.91424527e-01 -1.30336551e-01 -9.47584958e-03 1.88144310e+01] [ 1.30333592e-01 9.91469761e-01 -9.31768758e-04 5.34030374e-01] [ 9.51646184e-03 -3.11243111e-04 9.99954669e-01 1.13571111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.84, Y:0.54, Z:0.11 [[ 9.91386474e-01 -1.30625699e-01 -9.47557651e-03 1.88428765e+01] [ 1.30622726e-01 9.91431707e-01 -9.34537493e-04 5.36888543e-01] [ 9.51646161e-03 -3.11237807e-04 9.99954669e-01 1.13842315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.857628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.87, Y:0.54, Z:0.11 [[ 9.90674172e-01 -1.35922416e-01 -9.47530315e-03 1.88697378e+01] [ 1.35919659e-01 9.90719419e-01 -9.37300879e-04 5.36032843e-01] [ 9.51476704e-03 -3.59320199e-04 9.99954669e-01 1.14352247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.90, Y:0.54, Z:0.12 [[ 9.89859625e-01 -1.41732647e-01 -9.47518465e-03 1.88984442e+01] [ 1.41730144e-01 9.89904887e-01 -9.38497287e-04 5.35508081e-01] [ 9.51254730e-03 -4.13938716e-04 9.99954669e-01 1.15342286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.93, Y:0.54, Z:0.12 [[ 9.89120580e-01 -1.46801580e-01 -9.47491128e-03 1.89267492e+01] [ 1.46799283e-01 9.89165853e-01 -9.41249064e-04 5.35159365e-01] [ 9.51043555e-03 -4.59901364e-04 9.99954669e-01 1.16231781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.95, Y:0.53, Z:0.12 [[ 9.88000625e-01 -1.54158999e-01 -9.47463819e-03 1.89544664e+01] [ 1.54157012e-01 9.88045912e-01 -9.43990055e-04 5.33706124e-01] [ 9.50690209e-03 -5.27919152e-04 9.99954669e-01 1.17129903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.98, Y:0.53, Z:0.12 [[ 9.87577282e-01 -1.56848162e-01 -9.47451989e-03 1.89828697e+01] [ 1.56846288e-01 9.87622574e-01 -9.45175949e-04 5.34845239e-01] [ 9.50549883e-03 -5.52608980e-04 9.99954669e-01 1.17980075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.01, Y:0.54, Z:0.12 [[ 9.87292369e-01 -1.58631703e-01 -9.47424910e-03 1.90096961e+01] [ 1.58629885e-01 9.87337663e-01 -9.47882494e-04 5.35989049e-01] [ 9.50464718e-03 -5.67061893e-04 9.99954669e-01 1.18509749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.04, Y:0.54, Z:0.12 [[ 9.87092116e-01 -1.59873062e-01 -9.47413174e-03 1.90368925e+01] [ 1.59871289e-01 9.87137412e-01 -9.49054054e-04 5.37612584e-01] [ 9.50399807e-03 -5.77837884e-04 9.99954669e-01 1.18924937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.07, Y:0.54, Z:0.12 [[ 9.87017584e-01 -1.60332567e-01 -9.47401540e-03 1.90654575e+01] [ 1.60330804e-01 9.87062881e-01 -9.50214041e-04 5.39032830e-01] [ 9.50379919e-03 -5.81098540e-04 9.99954669e-01 1.18003857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.097628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.09, Y:0.54, Z:0.12 [[ 9.87091219e-01 -1.59878623e-01 -9.47374691e-03 1.90939382e+01] [ 1.59876814e-01 9.87136513e-01 -9.52883366e-04 5.41451352e-01] [ 9.50422718e-03 -5.74049674e-04 9.99954669e-01 1.17765689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.12, Y:0.54, Z:0.12 [[ 9.87225158e-01 -1.59049491e-01 -9.47347791e-03 1.91217374e+01] [ 1.59047618e-01 9.87270450e-01 -9.55550343e-04 5.43801426e-01] [ 9.50486460e-03 -5.63390761e-04 9.99954669e-01 1.17961675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.15, Y:0.55, Z:0.12 [[ 9.87416524e-01 -1.57857106e-01 -9.47320423e-03 1.91496800e+01] [ 1.57855153e-01 9.87461813e-01 -9.58255914e-04 5.46354309e-01] [ 9.50569493e-03 -5.49196381e-04 9.99954669e-01 1.18354231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.18, Y:0.55, Z:0.12 [[ 9.88040063e-01 -1.53906134e-01 -9.47293008e-03 1.91765836e+01] [ 1.53903974e-01 9.88085342e-01 -9.60958397e-04 5.49582196e-01] [ 9.50796075e-03 -5.08456191e-04 9.99954669e-01 1.17459922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.20, Y:0.55, Z:0.12 [[ 9.88405643e-01 -1.51540593e-01 -9.47281110e-03 1.92047092e+01] [ 1.51538314e-01 9.88450916e-01 -9.62129793e-04 5.52685382e-01] [ 9.50921054e-03 -4.84519304e-04 9.99954669e-01 1.17569036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.23, Y:0.56, Z:0.12 [[ 9.88780364e-01 -1.49076028e-01 -9.47254187e-03 1.92323956e+01] [ 1.49073610e-01 9.88825631e-01 -9.64773233e-04 5.55822286e-01] [ 9.51051675e-03 -4.58157187e-04 9.99954669e-01 1.17564015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.26, Y:0.56, Z:0.12 [[ 9.89207699e-01 -1.46213557e-01 -9.47226862e-03 1.92607536e+01] [ 1.46210983e-01 9.89252957e-01 -9.67448680e-04 5.58810950e-01] [ 9.51192385e-03 -4.27942018e-04 9.99954669e-01 1.17835434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.29, Y:0.56, Z:0.12 [[ 9.90095876e-01 -1.40072974e-01 -9.47199085e-03 1.92872714e+01] [ 1.40070093e-01 9.90141115e-01 -9.70160623e-04 5.62613495e-01] [ 9.51450086e-03 -3.66190609e-04 9.99954669e-01 1.17522986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.31, Y:0.57, Z:0.12 [[ 9.90541184e-01 -1.36888445e-01 -9.47187031e-03 1.93142133e+01] [ 1.36885407e-01 9.90586413e-01 -9.71336055e-04 5.65872904e-01] [ 9.51567071e-03 -3.34412455e-04 9.99954669e-01 1.17444604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.34, Y:0.57, Z:0.12 [[ 9.90920327e-01 -1.34116338e-01 -9.47175055e-03 1.93419040e+01] [ 1.34113162e-01 9.90965546e-01 -9.72502481e-04 5.68940742e-01] [ 9.51660692e-03 -3.06613940e-04 9.99954669e-01 1.18090898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.397628 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:19.37, Y:0.57, Z:0.12 [[ 9.91167228e-01 -1.32279318e-01 -9.47147181e-03 1.93701574e+01] [ 1.32276033e-01 9.91212439e-01 -9.75209587e-04 5.72132153e-01] [ 9.51724074e-03 -2.86252931e-04 9.99954669e-01 1.16727330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.40, Y:0.57, Z:0.12 [[ 9.91617624e-01 -1.28859556e-01 -9.47119283e-03 1.93976515e+01] [ 1.28856089e-01 9.91662822e-01 -9.77911574e-04 5.74387281e-01] [ 9.51824306e-03 -2.50706514e-04 9.99954669e-01 1.19277232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.43, Y:0.58, Z:0.12 [[ 9.92283518e-01 -1.23627336e-01 -9.47106223e-03 1.94253142e+01] [ 1.23623619e-01 9.92328697e-01 -9.79174837e-04 5.76543537e-01] [ 9.51945961e-03 -1.99227936e-04 9.99954669e-01 1.19117874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.45, Y:0.58, Z:0.12 [[ 9.92579065e-01 -1.21231609e-01 -9.47078521e-03 1.94529718e+01] [ 1.21227758e-01 9.92624232e-01 -9.81846922e-04 5.79085110e-01] [ 9.51996178e-03 -1.73561354e-04 9.99954669e-01 1.18958344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.48, Y:0.58, Z:0.12 [[ 9.92870914e-01 -1.18817751e-01 -9.47050091e-03 1.94800582e+01] [ 1.18813763e-01 9.92916069e-01 -9.84581555e-04 5.81281920e-01] [ 9.52039830e-03 -1.47663461e-04 9.99954669e-01 1.18681112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.51, Y:0.58, Z:0.12 [[ 9.93122110e-01 -1.16699564e-01 -9.47030735e-03 1.95069508e+01] [ 1.16695462e-01 9.93167255e-01 -9.86439860e-04 5.83116403e-01] [ 9.52071625e-03 -1.25486656e-04 9.99954669e-01 1.18889794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.54, Y:0.58, Z:0.12 [[ 9.93575387e-01 -1.12775298e-01 -9.47011673e-03 1.95350087e+01] [ 1.12771000e-01 9.93620513e-01 -9.88266448e-04 5.83400781e-01] [ 9.52115429e-03 -8.60373193e-05 9.99954669e-01 1.19320684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.607628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.56, Y:0.58, Z:0.12 [[ 9.93760647e-01 -1.11130999e-01 -9.46983865e-03 1.95626220e+01] [ 1.11126601e-01 9.93805764e-01 -9.90923947e-04 5.84922889e-01] [ 9.52130260e-03 -6.76097607e-05 9.99954669e-01 1.19773930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.59, Y:0.58, Z:0.12 [[ 9.94149766e-01 -1.07594473e-01 -9.46956118e-03 1.95912489e+01] [ 1.07589890e-01 9.94194864e-01 -9.93568492e-04 5.83602826e-01] [ 9.52149157e-03 -3.10731619e-05 9.99954669e-01 1.20548906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.62, Y:0.58, Z:0.12 [[ 9.94293399e-01 -1.06258978e-01 -9.46927671e-03 1.96186217e+01] [ 1.06254308e-01 9.94338488e-01 -9.96272266e-04 5.84124042e-01] [ 9.52152916e-03 -1.55645080e-05 9.99954669e-01 1.20441486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.65, Y:0.58, Z:0.12 [[ 9.94425008e-01 -1.05020178e-01 -9.46915326e-03 1.96473277e+01] [ 1.05015441e-01 9.94470091e-01 -9.97444186e-04 5.84438527e-01] [ 9.52154148e-03 -2.52386285e-06 9.99954669e-01 1.20552622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.68, Y:0.58, Z:0.12 [[ 9.94545858e-01 -1.03869514e-01 -9.46886956e-03 1.96755954e+01] [ 1.03864700e-01 9.94590933e-01 -1.00013020e-03 5.84310197e-01] [ 9.52153485e-03 1.11940613e-05 9.99954669e-01 1.20569002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.70, Y:0.58, Z:0.12 [[ 9.94711575e-01 -1.02270369e-01 -9.46858182e-03 1.97044220e+01] [ 1.02265456e-01 9.94756639e-01 -1.00284693e-03 5.81134065e-01] [ 9.52149616e-03 2.92346097e-05 9.99954669e-01 1.19825609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.73, Y:0.58, Z:0.12 [[ 9.94759459e-01 -1.01803584e-01 -9.46829131e-03 1.97314926e+01] [ 1.01798624e-01 9.94804518e-01 -1.00558230e-03 5.81402042e-01] [ 9.52147086e-03 3.64534820e-05 9.99954669e-01 1.19203275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.76, Y:0.58, Z:0.12 [[ 9.94532030e-01 -1.04001898e-01 -9.46816535e-03 1.97571318e+01] [ 1.03997026e-01 9.94577099e-01 -1.00676690e-03 5.83527686e-01] [ 9.52152609e-03 1.66008941e-05 9.99954669e-01 1.17840091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.847628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.79, Y:0.58, Z:0.12 [[ 9.94774635e-01 -1.01655822e-01 -9.46142674e-03 1.97874884e+01] [ 1.01650244e-01 9.94819624e-01 -1.06985556e-03 5.81126329e-01] [ 9.52117003e-03 1.02508845e-04 9.99954667e-01 1.18328099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.82, Y:0.57, Z:0.12 [[ 9.94625112e-01 -1.03107943e-01 -9.46774137e-03 1.98163408e+01] [ 1.03102994e-01 9.94670172e-01 -1.01070355e-03 5.74926784e-01] [ 9.52149150e-03 2.91186558e-05 9.99954669e-01 1.18670470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.85, Y:0.57, Z:0.12 [[ 9.94457940e-01 -1.04708040e-01 -9.46745486e-03 1.98450993e+01] [ 1.04703138e-01 9.94503005e-01 -1.01338029e-03 5.72553981e-01] [ 9.52152137e-03 1.64918438e-05 9.99954669e-01 1.19296101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.87, Y:0.57, Z:0.12 [[ 9.94223445e-01 -1.06911714e-01 -9.46716875e-03 1.98731820e+01] [ 1.06906886e-01 9.94268518e-01 -1.01604614e-03 5.70292995e-01] [ 9.52153508e-03 -1.92862962e-06 9.99954669e-01 1.20230680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.967628 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:19.90, Y:0.56, Z:0.12 [[ 9.93701342e-01 -1.11660289e-01 -9.46688371e-03 1.99012303e+01] [ 1.11655651e-01 9.93746435e-01 -1.01869506e-03 5.64069702e-01] [ 9.52142973e-03 -4.47524096e-05 9.99954669e-01 1.17668499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.93, Y:0.56, Z:0.12 [[ 9.93587119e-01 -1.12672168e-01 -9.46675989e-03 1.99295401e+01] [ 1.12667565e-01 9.93632216e-01 -1.01984447e-03 5.63741474e-01] [ 9.52138569e-03 -5.32924530e-05 9.99954669e-01 1.21039102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.96, Y:0.57, Z:0.12 [[ 9.93909082e-01 -1.09795819e-01 -9.46646792e-03 1.99574035e+01] [ 1.09791059e-01 9.93954163e-01 -1.02254745e-03 5.67501485e-01] [ 9.52150663e-03 -2.30143492e-05 9.99954669e-01 1.22274137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.99, Y:0.57, Z:0.12 [[ 9.94237803e-01 -1.06778191e-01 -9.46617550e-03 1.99856329e+01] [ 1.06773270e-01 9.94282866e-01 -1.02524733e-03 5.70724862e-01] [ 9.52153016e-03 8.60514098e-06 9.99954669e-01 1.22455436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.01, Y:0.57, Z:0.12 [[ 9.94433310e-01 -1.04941736e-01 -9.46700185e-03 2.00139348e+01] [ 1.04936803e-01 9.94478372e-01 -1.01762802e-03 5.72842970e-01] [ 9.52152024e-03 1.85262886e-05 9.99954669e-01 1.23053815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.04, Y:0.58, Z:0.12 [[ 9.94606739e-01 -1.03285198e-01 -9.46580984e-03 2.00422354e+01] [ 1.03280086e-01 9.94651781e-01 -1.02859766e-03 5.75032890e-01] [ 9.52142353e-03 4.54205103e-05 9.99954669e-01 1.23844959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.07, Y:0.58, Z:0.12 [[ 9.94478777e-01 -1.04510123e-01 -9.46551984e-03 2.00687619e+01] [ 1.04505041e-01 9.94523822e-01 -1.03125948e-03 5.78151893e-01] [ 9.52146202e-03 3.63711263e-05 9.99954669e-01 1.23315809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.10, Y:0.58, Z:0.12 [[ 9.94299742e-01 -1.06199957e-01 -9.46532179e-03 2.00964600e+01] [ 1.06194935e-01 9.94344794e-01 -1.03307409e-03 5.81610490e-01] [ 9.52150586e-03 2.20160690e-05 9.99954669e-01 1.23054574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.207628 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:20.12, Y:0.59, Z:0.12 [[ 9.94036752e-01 -1.08634014e-01 -9.46504637e-03 2.01241771e+01] [ 1.08629078e-01 9.94081813e-01 -1.03559133e-03 5.85708839e-01] [ 9.52153090e-03 1.23658332e-06 9.99954669e-01 1.20440405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.15, Y:0.59, Z:0.12 [[ 9.93545431e-01 -1.13039355e-01 -9.46475462e-03 2.01532826e+01] [ 1.13034594e-01 9.93590511e-01 -1.03825097e-03 5.89033813e-01] [ 9.52145359e-03 -3.82951860e-05 9.99954669e-01 1.24300174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.267628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.18, Y:0.59, Z:0.12 [[ 9.93315995e-01 -1.15037790e-01 -9.46786860e-03 2.01804704e+01] [ 1.15033389e-01 9.93361112e-01 -1.00985782e-03 5.91557170e-01] [ 9.52118429e-03 -8.60130912e-05 9.99954669e-01 1.24466347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.21, Y:0.59, Z:0.13 [[ 9.92970959e-01 -1.17979236e-01 -9.46435989e-03 2.02087273e+01] [ 1.17974666e-01 9.93016059e-01 -1.04173513e-03 5.94443764e-01] [ 9.52116447e-03 -8.21419587e-05 9.99954669e-01 1.25545283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.24, Y:0.60, Z:0.13 [[ 9.92658890e-01 -1.20576782e-01 -9.46407304e-03 2.02363215e+01] [ 1.20572305e-01 9.92703999e-01 -1.04433464e-03 5.97518536e-01] [ 9.52094566e-03 -1.04437029e-04 9.99954669e-01 1.26946430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.357628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.26, Y:0.60, Z:0.13 [[ 9.92337893e-01 -1.23190675e-01 -9.46378158e-03 2.02627680e+01] [ 1.23186291e-01 9.92383012e-01 -1.04696926e-03 6.00697538e-01] [ 9.52067291e-03 -1.26860881e-04 9.99954669e-01 1.27389869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.29, Y:0.61, Z:0.13 [[ 9.91588779e-01 -1.29081884e-01 -9.46365494e-03 2.02902453e+01] [ 1.29077758e-01 9.91633921e-01 -1.04811270e-03 6.05079242e-01] [ 9.51977362e-03 -1.82250568e-04 9.99954669e-01 1.27119590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.32, Y:0.61, Z:0.13 [[ 9.91112484e-01 -1.32689446e-01 -9.46336519e-03 2.03166878e+01] [ 1.32685459e-01 9.91157639e-01 -1.05072228e-03 6.08615909e-01] [ 9.51910646e-03 -2.14266978e-04 9.99954669e-01 1.26541353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.34, Y:0.61, Z:0.13 [[ 9.90199149e-01 -1.39341636e-01 -9.46323960e-03 2.03441854e+01] [ 1.39337941e-01 9.90244329e-01 -1.05185226e-03 6.13338009e-01] [ 9.51748616e-03 -2.77045105e-04 9.99954669e-01 1.25665658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.37, Y:0.62, Z:0.13 [[ 9.89771594e-01 -1.42346918e-01 -9.46294200e-03 2.03723592e+01] [ 1.42343335e-01 9.89816783e-01 -1.05452280e-03 6.17007773e-01] [ 9.51668687e-03 -3.03250011e-04 9.99954669e-01 1.26027751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.40, Y:0.62, Z:0.13 [[ 9.89417312e-01 -1.44788953e-01 -9.46263756e-03 2.03994402e+01] [ 1.44785456e-01 9.89462508e-01 -1.05724764e-03 6.21350548e-01] [ 9.51600286e-03 -3.23993169e-04 9.99954669e-01 1.26872854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.43, Y:0.63, Z:0.13 [[ 9.89114573e-01 -1.46842857e-01 -9.46243076e-03 2.04270280e+01] [ 1.46839436e-01 9.89159774e-01 -1.05909525e-03 6.25387666e-01] [ 9.51537644e-03 -3.41891448e-04 9.99954669e-01 1.27641536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.45, Y:0.63, Z:0.13 [[ 9.88388928e-01 -1.51650236e-01 -9.46212893e-03 2.04545450e+01] [ 1.51647009e-01 9.88434144e-01 -1.06178500e-03 6.29970160e-01] [ 9.51371126e-03 -3.85447010e-04 9.99954669e-01 1.28131327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.597628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.48, Y:0.63, Z:0.13 [[ 9.88041187e-01 -1.53899597e-01 -9.46182634e-03 2.04824300e+01] [ 1.53896447e-01 9.88086408e-01 -1.06447467e-03 6.34221173e-01] [ 9.51292423e-03 -4.04396642e-04 9.99954669e-01 1.27751468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.51, Y:0.64, Z:0.13 [[ 9.87748493e-01 -1.55767116e-01 -9.46151810e-03 2.05093010e+01] [ 1.55764025e-01 9.87793718e-01 -1.06720740e-03 6.38533787e-01] [ 9.51226396e-03 -4.19631642e-04 9.99954669e-01 1.27450080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.54, Y:0.64, Z:0.13 [[ 9.87551050e-01 -1.57014028e-01 -9.46138449e-03 2.05362039e+01] [ 1.57010983e-01 9.87596279e-01 -1.06839065e-03 6.42603750e-01] [ 9.51178043e-03 -4.30450973e-04 9.99954669e-01 1.27416231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.56, Y:0.65, Z:0.13 [[ 9.87393905e-01 -1.57999247e-01 -9.46125283e-03 2.05623433e+01] [ 1.57996236e-01 9.87439135e-01 -1.06955530e-03 6.47760753e-01] [ 9.51140024e-03 -4.38769949e-04 9.99954669e-01 1.27477100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.59, Y:0.65, Z:0.13 [[ 9.87350978e-01 -1.58267285e-01 -9.46112526e-03 2.05907546e+01] [ 1.58264275e-01 9.87396209e-01 -1.07068254e-03 6.51054419e-01] [ 9.51133323e-03 -4.40218677e-04 9.99954669e-01 1.27748942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.62, Y:0.66, Z:0.13 [[ 9.87307831e-01 -1.58536239e-01 -9.46083391e-03 2.06182856e+01] [ 1.58533217e-01 9.87353061e-01 -1.07325085e-03 6.55829081e-01] [ 9.51133247e-03 -4.40227470e-04 9.99954669e-01 1.27712124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.65, Y:0.66, Z:0.13 [[ 9.87391443e-01 -1.58014674e-01 -9.46052953e-03 2.06453240e+01] [ 1.58011603e-01 9.87436669e-01 -1.07592725e-03 6.59844086e-01] [ 9.51168606e-03 -4.32512072e-04 9.99954669e-01 1.27782339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.67, Y:0.66, Z:0.13 [[ 9.87766649e-01 -1.55652007e-01 -9.46039753e-03 2.06729976e+01] [ 1.55648816e-01 9.87811868e-01 -1.07708664e-03 6.64093628e-01] [ 9.51274365e-03 -4.08589414e-04 9.99954669e-01 1.28511453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.837628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:20.70, Y:0.67, Z:0.13 [[ 9.87888150e-01 -1.54879016e-01 -9.46009025e-03 2.07004319e+01] [ 1.54875765e-01 9.87933364e-01 -1.07977880e-03 6.68232014e-01] [ 9.51317386e-03 -3.98438027e-04 9.99954669e-01 1.26300080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.73, Y:0.67, Z:0.13 [[ 9.88313566e-01 -1.52140753e-01 -9.45977973e-03 2.07273023e+01] [ 1.52137351e-01 9.88358768e-01 -1.08249232e-03 6.72061000e-01] [ 9.51434744e-03 -3.69343984e-04 9.99954669e-01 1.28808507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.75, Y:0.68, Z:0.13 [[ 9.88556019e-01 -1.50557341e-01 -9.45964495e-03 2.07547424e+01] [ 1.50553854e-01 9.88601215e-01 -1.08366893e-03 6.76323446e-01] [ 9.51497080e-03 -3.52918566e-04 9.99954669e-01 1.28564058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.78, Y:0.68, Z:0.13 [[ 9.89055741e-01 -1.47238794e-01 -9.45933340e-03 2.07810829e+01] [ 1.47235130e-01 9.89100923e-01 -1.08638163e-03 6.80970559e-01] [ 9.51619292e-03 -3.18254193e-04 9.99954669e-01 1.27772307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.81, Y:0.68, Z:0.13 [[ 9.89259780e-01 -1.45861616e-01 -9.45919831e-03 2.08079979e+01] [ 1.45857878e-01 9.89304956e-01 -1.08755659e-03 6.84457826e-01] [ 9.51666453e-03 -3.03822597e-04 9.99954669e-01 1.27096690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.84, Y:0.69, Z:0.13 [[ 9.89376168e-01 -1.45070067e-01 -9.45906831e-03 2.08363227e+01] [ 1.45066282e-01 9.89421340e-01 -1.08868607e-03 6.87638465e-01] [ 9.51693981e-03 -2.95071815e-04 9.99954669e-01 1.26800699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.017628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.86, Y:0.69, Z:0.13 [[ 9.89472594e-01 -1.44410932e-01 -9.45876066e-03 2.08638472e+01] [ 1.44407092e-01 9.89517762e-01 -1.09135249e-03 6.90210865e-01] [ 9.51721491e-03 -2.86048737e-04 9.99954669e-01 1.27070784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.89, Y:0.69, Z:0.13 [[ 9.89682872e-01 -1.42962757e-01 -9.45845414e-03 2.08919309e+01] [ 1.42958825e-01 9.89728032e-01 -1.09400259e-03 6.91635023e-01] [ 9.51769883e-03 -2.69453861e-04 9.99954669e-01 1.27587804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.92, Y:0.69, Z:0.13 [[ 9.89723542e-01 -1.42680950e-01 -9.45814714e-03 2.09195590e+01] [ 1.42676980e-01 9.89768699e-01 -1.09665037e-03 6.94228618e-01] [ 9.51784910e-03 -2.64079183e-04 9.99954669e-01 1.27977966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.107628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.95, Y:0.70, Z:0.13 [[ 9.89778210e-01 -1.42301246e-01 -9.45783648e-03 2.09471325e+01] [ 1.42297233e-01 9.89823363e-01 -1.09932306e-03 6.97403672e-01] [ 9.51802255e-03 -2.57737952e-04 9.99954669e-01 1.27851419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.97, Y:0.70, Z:0.13 [[ 9.89939230e-01 -1.41176758e-01 -9.45752682e-03 2.09738656e+01] [ 1.41172669e-01 9.89984375e-01 -1.10198066e-03 7.00142806e-01] [ 9.51837784e-03 -2.44250411e-04 9.99954669e-01 1.26015812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.00, Y:0.70, Z:0.13 [[ 9.89940900e-01 -1.41165053e-01 -9.45739252e-03 2.10011263e+01] [ 1.41160952e-01 9.89986045e-01 -1.10313199e-03 7.02852059e-01] [ 9.51841030e-03 -2.42979058e-04 9.99954669e-01 1.25364367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.03, Y:0.71, Z:0.13 [[ 9.89900764e-01 -1.41446234e-01 -9.45726061e-03 2.10295716e+01] [ 1.41442135e-01 9.89945909e-01 -1.10426170e-03 7.05277267e-01] [ 9.51837012e-03 -2.44545623e-04 9.99954669e-01 1.25216018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.06, Y:0.71, Z:0.13 [[ 9.89832602e-01 -1.41922463e-01 -9.45694765e-03 2.10563000e+01] [ 1.41918360e-01 9.89877747e-01 -1.10693547e-03 7.05803721e-01] [ 9.51832104e-03 -2.46433690e-04 9.99954669e-01 1.25144095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.08, Y:0.71, Z:0.13 [[ 9.89714723e-01 -1.42742200e-01 -9.45681173e-03 2.10841666e+01] [ 1.42738123e-01 9.89759870e-01 -1.10809549e-03 7.07672169e-01] [ 9.51814473e-03 -2.53149134e-04 9.99954669e-01 1.25430936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.11, Y:0.71, Z:0.13 [[ 9.89642554e-01 -1.43241717e-01 -9.45650236e-03 2.11112225e+01] [ 1.43237638e-01 9.89687701e-01 -1.11072937e-03 7.09855898e-01] [ 9.51808686e-03 -2.55302010e-04 9.99954669e-01 1.25990554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.14, Y:0.71, Z:0.13 [[ 9.89665561e-01 -1.43082685e-01 -9.45636830e-03 2.11390397e+01] [ 1.43078588e-01 9.89710706e-01 -1.11186949e-03 7.13037236e-01] [ 9.51815822e-03 -2.52624877e-04 9.99954669e-01 1.26623148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.347628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.17, Y:0.72, Z:0.13 [[ 9.89856619e-01 -1.41754918e-01 -9.45606920e-03 2.11666208e+01] [ 1.41750736e-01 9.89901756e-01 -1.11440750e-03 7.16804837e-01] [ 9.51855225e-03 -2.37301121e-04 9.99954669e-01 1.27049326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.19, Y:0.72, Z:0.13 [[ 9.89982213e-01 -1.40875142e-01 -9.45576479e-03 2.11940455e+01] [ 1.40870896e-01 9.90027345e-01 -1.11698446e-03 7.20373072e-01] [ 9.51882105e-03 -2.26247311e-04 9.99954669e-01 1.26765569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.22, Y:0.72, Z:0.13 [[ 9.90085632e-01 -1.40146483e-01 -9.45545351e-03 2.12212346e+01] [ 1.40142178e-01 9.90130757e-01 -1.11961326e-03 7.23696248e-01] [ 9.51904521e-03 -2.16594846e-04 9.99954669e-01 1.26488495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.25, Y:0.73, Z:0.13 [[ 9.90112632e-01 -1.39955614e-01 -9.45531846e-03 2.12487161e+01] [ 1.39951289e-01 9.90157755e-01 -1.12075269e-03 7.27033488e-01] [ 9.51911253e-03 -2.13612617e-04 9.99954669e-01 1.26321612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.28, Y:0.73, Z:0.13 [[ 9.90166963e-01 -1.39570732e-01 -9.45500339e-03 2.12767994e+01] [ 1.39566364e-01 9.90212082e-01 -1.12340442e-03 7.31403466e-01] [ 9.51925297e-03 -2.07242502e-04 9.99954669e-01 1.26115710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.30, Y:0.74, Z:0.13 [[ 9.90140058e-01 -1.39761494e-01 -9.45468352e-03 2.13042052e+01] [ 1.39757110e-01 9.90185176e-01 -1.12609005e-03 7.35300938e-01] [ 9.51927149e-03 -2.06372371e-04 9.99954669e-01 1.25655895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.33, Y:0.74, Z:0.13 [[ 9.89998792e-01 -1.40758686e-01 -9.45436481e-03 2.13320821e+01] [ 1.40754321e-01 9.90043912e-01 -1.12875948e-03 7.39686887e-01] [ 9.51911902e-03 -2.13272176e-04 9.99954669e-01 1.25125170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.36, Y:0.74, Z:0.12 [[ 9.89785971e-01 -1.42247507e-01 -9.45404602e-03 2.13587663e+01] [ 1.42243185e-01 9.89831095e-01 -1.13142326e-03 7.43378638e-01] [ 9.51885086e-03 -2.24906751e-04 9.99954669e-01 1.24919373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.587628 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:21.39, Y:0.75, Z:0.12 [[ 9.89540643e-01 -1.43944224e-01 -9.45390785e-03 2.13861856e+01] [ 1.43939969e-01 9.89585773e-01 -1.13257664e-03 7.47112431e-01] [ 9.51848058e-03 -2.40064588e-04 9.99954669e-01 1.23195420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.41, Y:0.75, Z:0.13 [[ 9.89492177e-01 -1.44277026e-01 -9.45358849e-03 2.14132623e+01] [ 1.44272761e-01 9.89537307e-01 -1.13523605e-03 7.50519769e-01] [ 9.51846698e-03 -2.40588121e-04 9.99954669e-01 1.26965166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.44, Y:0.75, Z:0.13 [[ 9.89268443e-01 -1.45803226e-01 -9.45337130e-03 2.14415592e+01] [ 1.45799012e-01 9.89313578e-01 -1.13704181e-03 7.54485300e-01] [ 9.51813295e-03 -2.53452613e-04 9.99954669e-01 1.27561677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.677628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.47, Y:0.76, Z:0.13 [[ 9.89034162e-01 -1.47384080e-01 -9.45305379e-03 2.14698360e+01] [ 1.47379913e-01 9.89079300e-01 -1.13967537e-03 7.58445706e-01] [ 9.51778984e-03 -2.66012378e-04 9.99954669e-01 1.28230360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.50, Y:0.76, Z:0.13 [[ 9.88721172e-01 -1.49469359e-01 -9.45273640e-03 2.14970497e+01] [ 1.49465262e-01 9.88766317e-01 -1.14230185e-03 7.62086288e-01] [ 9.51728648e-03 -2.83437705e-04 9.99954669e-01 1.29446724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.52, Y:0.77, Z:0.13 [[ 9.88626289e-01 -1.50095673e-01 -9.45252072e-03 2.15245546e+01] [ 1.50091588e-01 9.88671435e-01 -1.14408381e-03 7.65589171e-01] [ 9.51715925e-03 -2.87672516e-04 9.99954669e-01 1.29880406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.767628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.55, Y:0.77, Z:0.13 [[ 9.88590886e-01 -1.50328690e-01 -9.45221050e-03 2.15519862e+01] [ 1.50324592e-01 9.88636031e-01 -1.14664105e-03 7.69341367e-01] [ 9.51716893e-03 -2.87340797e-04 9.99954669e-01 1.29770994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.58, Y:0.77, Z:0.13 [[ 9.88677389e-01 -1.49758746e-01 -9.45190087e-03 2.15801469e+01] [ 1.49754597e-01 9.88722529e-01 -1.14918773e-03 7.72912595e-01] [ 9.51740825e-03 -2.79289681e-04 9.99954669e-01 1.29499160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.61, Y:0.78, Z:0.13 [[ 9.89081756e-01 -1.47064432e-01 -9.45159081e-03 2.16065841e+01] [ 1.47060136e-01 9.89126883e-01 -1.15173225e-03 7.76587844e-01] [ 9.51820140e-03 -2.50794872e-04 9.99954669e-01 1.29127365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.857628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.63, Y:0.78, Z:0.13 [[ 9.89368662e-01 -1.45121747e-01 -9.45145608e-03 2.16348341e+01] [ 1.45117352e-01 9.89413779e-01 -1.15283680e-03 7.80060654e-01] [ 9.51870256e-03 -2.30989677e-04 9.99954669e-01 1.29417657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.66, Y:0.78, Z:0.13 [[ 9.89679105e-01 -1.42989320e-01 -9.45115016e-03 2.16620613e+01] [ 1.42984804e-01 9.89724210e-01 -1.15533938e-03 7.83485319e-01] [ 9.51923331e-03 -2.07955603e-04 9.99954669e-01 1.29977256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.69, Y:0.79, Z:0.13 [[ 9.89972648e-01 -1.40942666e-01 -9.45094195e-03 2.16900653e+01] [ 1.40938040e-01 9.90017742e-01 -1.15704007e-03 7.87158164e-01] [ 9.51967652e-03 -1.86559212e-04 9.99954669e-01 1.30441528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.72, Y:0.79, Z:0.13 [[ 9.90417230e-01 -1.37783872e-01 -9.45063920e-03 2.17175669e+01] [ 1.37779079e-01 9.90462307e-01 -1.15950763e-03 7.90458813e-01] [ 9.52026335e-03 -1.53704023e-04 9.99954669e-01 1.29853897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.75, Y:0.79, Z:0.13 [[ 9.90553747e-01 -1.36799001e-01 -9.45031342e-03 2.17453491e+01] [ 1.36794138e-01 9.90598816e-01 -1.16215675e-03 7.93083409e-01] [ 9.52045117e-03 -1.41568747e-04 9.99954669e-01 1.30052927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.77, Y:0.80, Z:0.13 [[ 9.90668259e-01 -1.35967271e-01 -9.44998943e-03 2.17721312e+01] [ 1.35962345e-01 9.90713321e-01 -1.16478532e-03 7.95090684e-01] [ 9.52060309e-03 -1.30926877e-04 9.99954669e-01 1.30156475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.80, Y:0.80, Z:0.13 [[ 9.90850947e-01 -1.34629494e-01 -9.44984893e-03 2.17999814e+01] [ 1.34624496e-01 9.90896001e-01 -1.16592409e-03 7.96069704e-01] [ 9.52078529e-03 -1.16924165e-04 9.99954669e-01 1.30349214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.83, Y:0.80, Z:0.13 [[ 9.91045149e-01 -1.33192413e-01 -9.44952908e-03 2.18269407e+01] [ 1.33187325e-01 9.91090193e-01 -1.16851067e-03 8.00349392e-01] [ 9.52097236e-03 -1.00510673e-04 9.99954669e-01 1.30918666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.097628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.85, Y:0.80, Z:0.13 [[ 9.91114269e-01 -1.32677110e-01 -9.44931131e-03 2.18545135e+01] [ 1.32671982e-01 9.91159309e-01 -1.17026901e-03 8.04623513e-01] [ 9.52104078e-03 -9.37885494e-05 9.99954669e-01 1.30462596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.88, Y:0.81, Z:0.13 [[ 9.91036993e-01 -1.33253125e-01 -9.44899401e-03 2.18813410e+01] [ 1.33247998e-01 9.91082033e-01 -1.17282537e-03 8.08422754e-01] [ 9.52101084e-03 -9.67462097e-05 9.99954669e-01 1.29699375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.91, Y:0.81, Z:0.13 [[ 9.90705035e-01 -1.35699128e-01 -9.44877824e-03 2.19082457e+01] [ 1.35694097e-01 9.90750086e-01 -1.17456118e-03 8.12798518e-01] [ 9.52076478e-03 -1.18499756e-04 9.99954669e-01 1.29402766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.94, Y:0.82, Z:0.13 [[ 9.90372195e-01 -1.38107341e-01 -9.44864177e-03 2.19364472e+01] [ 1.38102409e-01 9.90417257e-01 -1.17565797e-03 8.16410056e-01] [ 9.52046486e-03 -1.40541229e-04 9.99954669e-01 1.30002483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.96, Y:0.82, Z:0.13 [[ 9.89932372e-01 -1.41225453e-01 -9.44832995e-03 2.19648104e+01] [ 1.41220639e-01 9.89977446e-01 -1.17815865e-03 8.19601194e-01] [ 9.52001954e-03 -1.68001808e-04 9.99954669e-01 1.30779889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.99, Y:0.82, Z:0.13 [[ 9.89618449e-01 -1.43408715e-01 -9.44801685e-03 2.19922152e+01] [ 1.43403976e-01 9.89663532e-01 -1.18066415e-03 8.23821099e-01] [ 9.51967525e-03 -1.86476153e-04 9.99954669e-01 1.32037156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.02, Y:0.83, Z:0.13 [[ 9.88958719e-01 -1.47889802e-01 -9.44770442e-03 2.20196994e+01] [ 1.47885244e-01 9.89003819e-01 -1.18315894e-03 8.28441172e-01] [ 9.51879290e-03 -2.27080725e-04 9.99954669e-01 1.31535343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.05, Y:0.83, Z:0.13 [[ 9.88555212e-01 -1.50563410e-01 -9.44737238e-03 2.20478325e+01] [ 1.50558949e-01 9.88600322e-01 -1.18580434e-03 8.32729696e-01] [ 9.51821412e-03 -2.50153391e-04 9.99954669e-01 1.30875579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.08, Y:0.84, Z:0.13 [[ 9.88185673e-01 -1.52970028e-01 -9.44704028e-03 2.20761312e+01] [ 1.52965651e-01 9.88230791e-01 -1.18844418e-03 8.36939541e-01] [ 9.51765244e-03 -2.70669157e-04 9.99954669e-01 1.30083114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.10, Y:0.84, Z:0.13 [[ 9.87678251e-01 -1.56212778e-01 -9.44670934e-03 2.21027152e+01] [ 1.56208524e-01 9.87723382e-01 -1.19106899e-03 8.42071804e-01] [ 9.51679589e-03 -2.99263586e-04 9.99954669e-01 1.28813050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.13, Y:0.85, Z:0.13 [[ 9.87441792e-01 -1.57700568e-01 -9.44656599e-03 2.21309622e+01] [ 1.57696371e-01 9.87486928e-01 -1.19220483e-03 8.46407253e-01] [ 9.51637181e-03 -3.12456299e-04 9.99954669e-01 1.29101811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.427628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.16, Y:0.85, Z:0.13 [[ 9.87302324e-01 -1.58571405e-01 -9.44623750e-03 2.21583027e+01] [ 1.58567223e-01 9.87347461e-01 -1.19480194e-03 8.50263418e-01] [ 9.51618003e-03 -3.18232912e-04 9.99954669e-01 1.29157627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.19, Y:0.85, Z:0.13 [[ 9.87228581e-01 -1.59029886e-01 -9.44589827e-03 2.21850681e+01] [ 1.59025699e-01 9.87273717e-01 -1.19747782e-03 8.54375588e-01] [ 9.51612186e-03 -3.19956248e-04 9.99954669e-01 1.29265148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.21, Y:0.86, Z:0.13 [[ 9.87276788e-01 -1.58730341e-01 -9.44575118e-03 2.22117365e+01] [ 1.58726130e-01 9.87321923e-01 -1.19863697e-03 8.59596606e-01] [ 9.51625727e-03 -3.15901074e-04 9.99954669e-01 1.28990958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.517628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.24, Y:0.86, Z:0.13 [[ 9.87384416e-01 -1.58059472e-01 -9.44552989e-03 2.22397427e+01] [ 1.58055214e-01 9.87429546e-01 -1.20037823e-03 8.63947450e-01] [ 9.51652644e-03 -3.07680487e-04 9.99954670e-01 1.29141035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.27, Y:0.87, Z:0.13 [[ 9.87528939e-01 -1.57154009e-01 -9.44519385e-03 2.22662175e+01] [ 1.57149683e-01 9.87574063e-01 -1.20301661e-03 8.68002226e-01] [ 9.51688734e-03 -2.96295501e-04 9.99954670e-01 1.29219189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.29, Y:0.87, Z:0.13 [[ 9.87658556e-01 -1.56337352e-01 -9.44504810e-03 2.22943535e+01] [ 1.56332979e-01 9.87703675e-01 -1.20415978e-03 8.71972163e-01] [ 9.51716387e-03 -2.87273796e-04 9.99954670e-01 1.29493151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.607628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.32, Y:0.88, Z:0.13 [[ 9.88049044e-01 -1.53850203e-01 -9.44470445e-03 2.23209668e+01] [ 1.53845690e-01 9.88094149e-01 -1.20684920e-03 8.75976115e-01] [ 9.51793120e-03 -2.60600874e-04 9.99954670e-01 1.29903750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.35, Y:0.88, Z:0.13 [[ 9.88006357e-01 -1.54124099e-01 -9.44455534e-03 2.23493274e+01] [ 1.54119588e-01 9.88051463e-01 -1.20801493e-03 8.79677417e-01] [ 9.51789094e-03 -2.62064547e-04 9.99954670e-01 1.30175582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.38, Y:0.88, Z:0.13 [[ 9.88198072e-01 -1.52890080e-01 -9.44421974e-03 2.23773558e+01] [ 1.52885487e-01 9.88243170e-01 -1.21063302e-03 8.83657866e-01] [ 9.51827943e-03 -2.47538919e-04 9.99954670e-01 1.29900392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.40, Y:0.89, Z:0.13 [[ 9.88482176e-01 -1.51042383e-01 -9.44388385e-03 2.24043159e+01] [ 1.51037681e-01 9.88527262e-01 -1.21324756e-03 8.87276146e-01] [ 9.51878844e-03 -2.27108722e-04 9.99954670e-01 1.29110861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.43, Y:0.89, Z:0.13 [[ 9.89109165e-01 -1.46880481e-01 -9.44373808e-03 2.24321145e+01] [ 1.46875578e-01 9.89154230e-01 -1.21438112e-03 8.90474092e-01] [ 9.51968235e-03 -1.85898994e-04 9.99954670e-01 1.28464485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.46, Y:0.89, Z:0.13 [[ 9.89453201e-01 -1.44544749e-01 -9.44339479e-03 2.24588108e+01] [ 1.44539714e-01 9.89498252e-01 -1.21704482e-03 8.93518839e-01] [ 9.52014007e-03 -1.60736691e-04 9.99954670e-01 1.28699030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.49, Y:0.90, Z:0.13 [[ 9.89810622e-01 -1.42076588e-01 -9.44324590e-03 2.24864278e+01] [ 1.42071430e-01 9.89855659e-01 -1.21819902e-03 8.96692562e-01] [ 9.52052795e-03 -1.35829115e-04 9.99954670e-01 1.29206172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.51, Y:0.90, Z:0.13 [[ 9.90508649e-01 -1.37125664e-01 -9.44290144e-03 2.25144956e+01] [ 1.37120255e-01 9.90553656e-01 -1.22086324e-03 8.99462473e-01] [ 9.52111223e-03 -8.55374578e-05 9.99954670e-01 1.29729871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.847628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.54, Y:0.90, Z:0.13 [[ 9.90803775e-01 -1.34976731e-01 -9.44255513e-03 2.25415876e+01] [ 1.34971200e-01 9.90848767e-01 -1.22353588e-03 9.02599072e-01] [ 9.52129298e-03 -6.21890214e-05 9.99954670e-01 1.29874821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.57, Y:0.91, Z:0.13 [[ 9.91055389e-01 -1.33116708e-01 -9.44231907e-03 2.25691365e+01] [ 1.33111075e-01 9.91100368e-01 -1.22535490e-03 9.05763834e-01] [ 9.52140112e-03 -4.24826705e-05 9.99954670e-01 1.30123562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.60, Y:0.91, Z:0.13 [[ 9.91238733e-01 -1.31744541e-01 -9.44197659e-03 2.25974636e+01] [ 1.31738821e-01 9.91283701e-01 -1.22798823e-03 9.08826701e-01] [ 9.52145824e-03 -2.66453686e-05 9.99954670e-01 1.30362254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.63, Y:0.91, Z:0.13 [[ 9.91621598e-01 -1.28831135e-01 -9.44163375e-03 2.26257326e+01] [ 1.28825257e-01 9.91666546e-01 -1.23061860e-03 9.10364244e-01] [ 9.52149432e-03 3.98708712e-06 9.99954670e-01 1.31026998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.65, Y:0.91, Z:0.13 [[ 9.91768495e-01 -1.27695401e-01 -9.44128438e-03 2.26534022e+01] [ 1.27689446e-01 9.91813432e-01 -1.23329317e-03 9.12904583e-01] [ 9.52147853e-03 1.75889389e-05 9.99954670e-01 1.31271901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.68, Y:0.92, Z:0.13 [[ 9.91937610e-01 -1.26375023e-01 -9.44093652e-03 2.26814951e+01] [ 1.26368983e-01 9.91982536e-01 -1.23595033e-03 9.15526813e-01] [ 9.52143740e-03 3.29440692e-05 9.99954670e-01 1.31810263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.71, Y:0.92, Z:0.13 [[ 9.92074323e-01 -1.25297296e-01 -9.44058893e-03 2.27097755e+01] [ 1.25291182e-01 9.92119240e-01 -1.23859962e-03 9.18656058e-01] [ 9.52138309e-03 4.59603330e-05 9.99954670e-01 1.31576074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.74, Y:0.92, Z:0.13 [[ 9.92533681e-01 -1.21604993e-01 -9.44024145e-03 2.27359753e+01] [ 1.21598687e-01 9.92578571e-01 -1.24124238e-03 9.23271022e-01] [ 9.52112263e-03 8.40539061e-05 9.99954670e-01 1.31087925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.76, Y:0.93, Z:0.13 [[ 9.92697994e-01 -1.20256296e-01 -9.44009107e-03 2.27634062e+01] [ 1.20249918e-01 9.92742874e-01 -1.24238506e-03 9.28300204e-01] [ 9.52098776e-03 9.81429773e-05 9.99954670e-01 1.29831841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.79, Y:0.93, Z:0.13 [[ 9.92762677e-01 -1.19721169e-01 -9.43973382e-03 2.27897590e+01] [ 1.19714741e-01 9.92807550e-01 -1.24509350e-03 9.33295631e-01] [ 9.52090306e-03 1.06007066e-04 9.99954670e-01 1.28768679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.82, Y:0.94, Z:0.13 [[ 9.92696488e-01 -1.20268769e-01 -9.43957868e-03 2.28172794e+01] [ 1.20262355e-01 9.92741363e-01 -1.24626860e-03 9.38058709e-01] [ 9.52094739e-03 1.01940504e-04 9.99954670e-01 1.27647676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.177628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.84, Y:0.94, Z:0.13 [[ 9.92379200e-01 -1.22859365e-01 -9.43922422e-03 2.28442400e+01] [ 1.22853042e-01 9.92424088e-01 -1.24894754e-03 9.43304875e-01] [ 9.52115839e-03 7.97921490e-05 9.99954670e-01 1.25554006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.87, Y:0.95, Z:0.13 [[ 9.92148760e-01 -1.24706626e-01 -9.43907027e-03 2.28725062e+01] [ 1.24700376e-01 9.92193657e-01 -1.25010994e-03 9.47241398e-01] [ 9.52128264e-03 6.32394190e-05 9.99954670e-01 1.25300870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.90, Y:0.95, Z:0.13 [[ 9.91848670e-01 -1.27071344e-01 -9.43872012e-03 2.29006821e+01] [ 1.27065176e-01 9.91893579e-01 -1.25274810e-03 9.50454554e-01] [ 9.52139427e-03 4.32039044e-05 9.99954670e-01 1.25365586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.267628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.93, Y:0.95, Z:0.13 [[ 9.91530337e-01 -1.29531879e-01 -9.43836851e-03 2.29284824e+01] [ 1.29525797e-01 9.91575258e-01 -1.25539163e-03 9.52730252e-01] [ 9.52146592e-03 2.22466840e-05 9.99954670e-01 1.26130431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.96, Y:0.95, Z:0.13 [[ 9.90897329e-01 -1.34288521e-01 -9.43800444e-03 2.29550146e+01] [ 1.34282629e-01 9.90942275e-01 -1.25812272e-03 9.54770824e-01] [ 9.52146903e-03 -2.06896119e-05 9.99954670e-01 1.26649051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.98, Y:0.96, Z:0.13 [[ 9.90611575e-01 -1.36380479e-01 -9.43784674e-03 2.29833155e+01] [ 1.36374670e-01 9.90656532e-01 -1.25930464e-03 9.58888263e-01] [ 9.52140908e-03 -3.96014846e-05 9.99954670e-01 1.27088259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.357628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.01, Y:0.96, Z:0.13 [[ 9.90228213e-01 -1.39136697e-01 -9.43748827e-03 2.30110784e+01] [ 1.39130988e-01 9.90273182e-01 -1.26198539e-03 9.62949761e-01] [ 9.52128002e-03 -6.33935306e-05 9.99954670e-01 1.27684006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.04, Y:0.97, Z:0.13 [[ 9.89806316e-01 -1.42106993e-01 -9.43712248e-03 2.30381535e+01] [ 1.42101393e-01 9.89851299e-01 -1.26471483e-03 9.66441703e-01] [ 9.52107277e-03 -8.92055187e-05 9.99954670e-01 1.28525647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.06, Y:0.97, Z:0.13 [[ 9.88719499e-01 -1.49481426e-01 -9.43696425e-03 2.30645082e+01] [ 1.49476150e-01 9.88764521e-01 -1.26589441e-03 9.69720075e-01] [ 9.52016314e-03 -1.58986591e-04 9.99954670e-01 1.30102198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.09, Y:0.97, Z:0.13 [[ 9.88078912e-01 -1.53658748e-01 -9.43680924e-03 2.30927922e+01] [ 1.53653651e-01 9.88123955e-01 -1.26704889e-03 9.73379262e-01] [ 9.51943041e-03 -1.98055904e-04 9.99954670e-01 1.30941167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.12, Y:0.98, Z:0.13 [[ 9.87404335e-01 -1.57935536e-01 -9.43645149e-03 2.31204908e+01] [ 1.57930609e-01 9.87449396e-01 -1.26970771e-03 9.76838282e-01] [ 9.51855029e-03 -2.36589632e-04 9.99954670e-01 1.32400328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.15, Y:0.98, Z:0.14 [[ 9.86292244e-01 -1.64737880e-01 -9.43609175e-03 2.31481441e+01] [ 1.64733238e-01 9.86337336e-01 -1.27237558e-03 9.82392923e-01] [ 9.51677806e-03 -2.99503786e-04 9.99954670e-01 1.35231993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.18, Y:0.99, Z:0.14 [[ 9.85652620e-01 -1.68522627e-01 -9.43598015e-03 2.31761266e+01] [ 1.68518150e-01 9.85697728e-01 -1.27320265e-03 9.86924157e-01] [ 9.51558766e-03 -3.35198394e-04 9.99954670e-01 1.35447420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.20, Y:0.99, Z:0.14 [[ 9.84911017e-01 -1.72804101e-01 -9.43562600e-03 2.32025791e+01] [ 1.72799795e-01 9.84956143e-01 -1.27582183e-03 9.91476741e-01] [ 9.51414504e-03 -3.73903268e-04 9.99954670e-01 1.35310599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.597628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.23, Y:1.00, Z:0.13 [[ 9.83404500e-01 -1.81181018e-01 -9.43547259e-03 2.32300421e+01] [ 1.81177086e-01 9.83449660e-01 -1.27695542e-03 9.97401751e-01] [ 9.51067239e-03 -4.53727719e-04 9.99954670e-01 1.33513480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.26, Y:1.00, Z:0.13 [[ 9.82659751e-01 -1.85177734e-01 -9.43511058e-03 2.32577538e+01] [ 1.85173960e-01 9.82704924e-01 -1.27962464e-03 1.00273570e+00] [ 9.50888761e-03 -4.89701164e-04 9.99954670e-01 1.32874041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.29, Y:1.01, Z:0.13 [[ 9.82013964e-01 -1.88572425e-01 -9.43474880e-03 2.32851361e+01] [ 1.88568781e-01 9.82059148e-01 -1.28228655e-03 1.00842785e+00] [ 9.50728525e-03 -5.19875782e-04 9.99954670e-01 1.31872029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.31, Y:1.01, Z:0.13 [[ 9.81487023e-01 -1.91296134e-01 -9.43463684e-03 2.33128579e+01] [ 1.91292608e-01 9.81532216e-01 -1.28310978e-03 1.01378218e+00] [ 9.50585394e-03 -5.45420690e-04 9.99954670e-01 1.30669518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.34, Y:1.02, Z:0.13 [[ 9.80898470e-01 -1.94291499e-01 -9.43427505e-03 2.33389745e+01] [ 1.94288086e-01 9.80943671e-01 -1.28576441e-03 1.01965465e+00] [ 9.50430550e-03 -5.71762896e-04 9.99954670e-01 1.30048503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.37, Y:1.02, Z:0.13 [[ 9.80756995e-01 -1.95004396e-01 -9.43411832e-03 2.33662143e+01] [ 1.95001005e-01 9.80802198e-01 -1.28691337e-03 1.02417100e+00] [ 9.50395775e-03 -5.77513260e-04 9.99954670e-01 1.30989145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.777628 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:23.39, Y:1.03, Z:0.13 [[ 9.80702611e-01 -1.95277732e-01 -9.43375665e-03 2.33939289e+01] [ 1.95274328e-01 9.80747814e-01 -1.28955915e-03 1.02923511e+00] [ 9.50395839e-03 -5.77496462e-04 9.99954670e-01 1.30489765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.42, Y:1.03, Z:0.13 [[ 9.80864021e-01 -1.94465377e-01 -9.43339326e-03 2.34219431e+01] [ 1.94461910e-01 9.80909219e-01 -1.29221193e-03 1.03498954e+00] [ 9.50459290e-03 -5.66951483e-04 9.99954670e-01 1.32813811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.837628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.45, Y:1.04, Z:0.13 [[ 9.81528465e-01 -1.91083464e-01 -9.43302980e-03 2.34488579e+01] [ 1.91079816e-01 9.81573648e-01 -1.29485975e-03 1.04400881e+00] [ 9.50663976e-03 -5.31519901e-04 9.99954670e-01 1.33510235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.47, Y:1.05, Z:0.13 [[ 9.81919259e-01 -1.89065050e-01 -9.43266842e-03 2.34749511e+01] [ 1.89061284e-01 9.81964433e-01 -1.29748698e-03 1.05032017e+00] [ 9.50785433e-03 -5.09324943e-04 9.99954670e-01 1.34211586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.50, Y:1.06, Z:0.14 [[ 9.82377618e-01 -1.86668806e-01 -9.43251165e-03 2.35016131e+01] [ 1.86664919e-01 9.82422782e-01 -1.29862562e-03 1.05610449e+00] [ 9.50912723e-03 -4.84978274e-04 9.99954670e-01 1.35164800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.927628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.53, Y:1.06, Z:0.14 [[ 9.82833167e-01 -1.84255250e-01 -9.43235599e-03 2.35296546e+01] [ 1.84251241e-01 9.82878319e-01 -1.29975531e-03 1.06171060e+00] [ 9.51034494e-03 -4.60480671e-04 9.99954670e-01 1.36492439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.56, Y:1.07, Z:0.14 [[ 9.83921050e-01 -1.78354715e-01 -9.43199848e-03 2.35574007e+01] [ 1.78350410e-01 9.83966176e-01 -1.30234449e-03 1.06934593e+00] [ 9.51304675e-03 -4.00796645e-04 9.99954670e-01 1.38574500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.59, Y:1.08, Z:0.14 [[ 9.84525085e-01 -1.74989720e-01 -9.43163010e-03 2.35853426e+01] [ 1.74985236e-01 9.84570193e-01 -1.30500684e-03 1.07581619e+00] [ 9.51446465e-03 -3.65584048e-04 9.99954670e-01 1.38882898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.017628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.61, Y:1.08, Z:0.14 [[ 9.85132523e-01 -1.71537059e-01 -9.43126238e-03 2.36126340e+01] [ 1.71532391e-01 9.85177613e-01 -1.30765902e-03 1.08226908e+00] [ 9.51578054e-03 -3.29549557e-04 9.99954670e-01 1.39253054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.64, Y:1.09, Z:0.14 [[ 9.85786366e-01 -1.67738783e-01 -9.43089614e-03 2.36401555e+01] [ 1.67733917e-01 9.85831434e-01 -1.31029499e-03 1.08865401e+00] [ 9.51706116e-03 -2.90210208e-04 9.99954670e-01 1.38670529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.67, Y:1.10, Z:0.14 [[ 9.87065023e-01 -1.60042828e-01 -9.43051194e-03 2.36659376e+01] [ 1.60037583e-01 9.87110049e-01 -1.31305441e-03 1.09737086e+00] [ 9.51909804e-03 -2.13166256e-04 9.99954670e-01 1.37250631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.107628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.69, Y:1.10, Z:0.14 [[ 9.87513562e-01 -1.57251501e-01 -9.43025035e-03 2.36927906e+01] [ 1.57246111e-01 9.87558571e-01 -1.31493042e-03 1.10362086e+00] [ 9.51969934e-03 -1.84358571e-04 9.99954670e-01 1.36323785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.72, Y:1.11, Z:0.13 [[ 9.87886020e-01 -1.54894430e-01 -9.43008934e-03 2.37194236e+01] [ 1.54888922e-01 9.87931015e-01 -1.31608408e-03 1.10887600e+00] [ 9.52013183e-03 -1.60475306e-04 9.99954670e-01 1.34953348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.75, Y:1.11, Z:0.13 [[ 9.88191945e-01 -1.52930563e-01 -9.42993032e-03 2.37482644e+01] [ 1.52924955e-01 9.88236927e-01 -1.31722252e-03 1.11483999e+00] [ 9.52044894e-03 -1.40402989e-04 9.99954670e-01 1.32751214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.78, Y:1.12, Z:0.13 [[ 9.88165738e-01 -1.53099828e-01 -9.42960706e-03 2.37756154e+01] [ 1.53094205e-01 9.88210718e-01 -1.31953260e-03 1.11891988e+00] [ 9.52045898e-03 -1.39701294e-04 9.99954670e-01 1.31992200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.80, Y:1.12, Z:0.13 [[ 9.87973774e-01 -1.54333763e-01 -9.42923511e-03 2.38033467e+01] [ 1.54328171e-01 9.88018759e-01 -1.32218516e-03 1.12287356e+00] [ 9.52031898e-03 -1.48912353e-04 9.99954670e-01 1.31760966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.83, Y:1.13, Z:0.13 [[ 9.87599303e-01 -1.56712198e-01 -9.42885869e-03 2.38309480e+01] [ 1.56706689e-01 9.87644297e-01 -1.32486412e-03 1.12649956e+00] [ 9.51998088e-03 -1.69130346e-04 9.99954670e-01 1.31836504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.86, Y:1.13, Z:0.13 [[ 9.86243760e-01 -1.65028332e-01 -9.42848047e-03 2.38585303e+01] [ 1.65023176e-01 9.86288796e-01 -1.32755026e-03 1.12868745e+00] [ 9.51828806e-03 -2.46629632e-04 9.99954670e-01 1.33060197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.89, Y:1.13, Z:0.13 [[ 9.85301644e-01 -1.70563132e-01 -9.42809827e-03 2.38869056e+01] [ 1.70558203e-01 9.85346705e-01 -1.33025908e-03 1.13068934e+00] [ 9.51683872e-03 -2.97333043e-04 9.99954670e-01 1.34117918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.347628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.91, Y:1.13, Z:0.14 [[ 9.84326339e-01 -1.76104447e-01 -9.42771715e-03 2.39147555e+01] [ 1.76099746e-01 9.84371425e-01 -1.33295466e-03 1.13227765e+00] [ 9.51511461e-03 -3.48156216e-04 9.99954670e-01 1.35324290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.94, Y:1.13, Z:0.14 [[ 9.82165245e-01 -1.87783258e-01 -9.42753871e-03 2.39438402e+01] [ 1.87779082e-01 9.82210383e-01 -1.33421551e-03 1.13237288e+00] [ 9.51036974e-03 -4.59874453e-04 9.99954670e-01 1.38183547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.407628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:23.97, Y:1.14, Z:0.14 [[ 9.81090943e-01 -1.93317587e-01 -9.42720767e-03 2.39723270e+01] [ 1.93313642e-01 9.81136101e-01 -1.33655049e-03 1.13510956e+00] [ 9.50775249e-03 -5.11130264e-04 9.99954670e-01 1.37194074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.00, Y:1.14, Z:0.14 [[ 9.80260559e-01 -1.97485118e-01 -9.42683084e-03 2.40005073e+01] [ 1.97481340e-01 9.80305731e-01 -1.33920303e-03 1.13828512e+00] [ 9.50564897e-03 -5.48855277e-04 9.99954670e-01 1.39624414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.03, Y:1.14, Z:0.14 [[ 9.79235908e-01 -2.02504760e-01 -9.42644991e-03 2.40278113e+01] [ 2.02501188e-01 9.79281098e-01 -1.34187901e-03 1.14170643e+00] [ 9.50288110e-03 -5.94851190e-04 9.99954670e-01 1.39976239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.497628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:24.06, Y:1.15, Z:0.14 [[ 9.78951336e-01 -2.03876010e-01 -9.42628481e-03 2.40556033e+01] [ 2.03872490e-01 9.78996529e-01 -1.34303780e-03 1.14593549e+00] [ 9.50211330e-03 -6.06991507e-04 9.99954670e-01 1.38116786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.527628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:24.08, Y:1.15, Z:0.14 [[ 9.78894376e-01 -2.04149338e-01 -9.42590919e-03 2.40839002e+01] [ 2.04145805e-01 9.78939569e-01 -1.34566887e-03 1.15003856e+00] [ 9.50211288e-03 -6.06992131e-04 9.99954670e-01 1.38387983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.11, Y:1.15, Z:0.14 [[ 9.79066130e-01 -2.03324059e-01 -9.42553274e-03 2.41106737e+01] [ 2.03320463e-01 9.79111317e-01 -1.34830047e-03 1.15398585e+00] [ 9.50278770e-03 -5.96328355e-04 9.99954670e-01 1.40394002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.587628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.14, Y:1.16, Z:0.14 [[ 9.79305737e-01 -2.02166849e-01 -9.42536955e-03 2.41387169e+01] [ 2.02163189e-01 9.79350920e-01 -1.34944033e-03 1.15887585e+00] [ 9.50355644e-03 -5.83948112e-04 9.99954670e-01 1.40353726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.17, Y:1.16, Z:0.14 [[ 9.79751015e-01 -1.99997796e-01 -9.42499356e-03 2.41663989e+01] [ 1.99994011e-01 9.79796187e-01 -1.35206130e-03 1.16413270e+00] [ 9.50498203e-03 -5.60258834e-04 9.99954670e-01 1.40309786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.19, Y:1.17, Z:0.14 [[ 9.81055637e-01 -1.93496804e-01 -9.42461166e-03 2.41940012e+01] [ 1.93492694e-01 9.81100781e-01 -1.35471809e-03 1.17111658e+00] [ 9.50862748e-03 -4.94539677e-04 9.99954670e-01 1.39616593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.677628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.22, Y:1.18, Z:0.14 [[ 9.81774188e-01 -1.89817341e-01 -9.42449338e-03 2.42228997e+01] [ 1.89813053e-01 9.81819315e-01 -1.35554043e-03 1.17657619e+00] [ 9.51045472e-03 -4.58057255e-04 9.99954670e-01 1.39672494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.707628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:24.25, Y:1.18, Z:0.14 [[ 9.82377907e-01 -1.86667700e-01 -9.42431179e-03 2.42515292e+01] [ 1.86663256e-01 9.82423019e-01 -1.35680179e-03 1.18219707e+00] [ 9.51193191e-03 -4.26280620e-04 9.99954670e-01 1.38032681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.28, Y:1.19, Z:0.14 [[ 9.83827575e-01 -1.78870038e-01 -9.42397553e-03 2.42784875e+01] [ 1.78865214e-01 9.83872648e-01 -1.35913334e-03 1.18840549e+00] [ 9.51510000e-03 -3.48468544e-04 9.99954670e-01 1.40871636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.767628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.30, Y:1.20, Z:0.14 [[ 9.83977056e-01 -1.78045906e-01 -9.42385638e-03 2.43038329e+01] [ 1.78041037e-01 9.84022124e-01 -1.35995901e-03 1.19631568e+00] [ 9.51541830e-03 -3.39664697e-04 9.99954670e-01 1.42287081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.33, Y:1.20, Z:0.14 [[ 9.84957510e-01 -1.72540182e-01 -9.41215250e-03 2.43343026e+01] [ 1.72534288e-01 9.85002459e-01 -1.44079067e-03 1.19893277e+00] [ 9.51958764e-03 -2.04801438e-04 9.99954667e-01 1.42900314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.36, Y:1.21, Z:0.15 [[ 9.85758808e-01 -1.67901073e-01 -9.42345561e-03 2.43627578e+01] [ 1.67895714e-01 9.85803821e-01 -1.36262220e-03 1.20531816e+00] [ 9.51846427e-03 -2.38940970e-04 9.99954670e-01 1.45855383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.857628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.39, Y:1.21, Z:0.15 [[ 9.86052493e-01 -1.66167646e-01 -9.42312470e-03 2.43900144e+01] [ 1.66162186e-01 9.86097493e-01 -1.36490676e-03 1.21029405e+00] [ 9.51892298e-03 -2.19897283e-04 9.99954670e-01 1.46726729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.42, Y:1.21, Z:0.15 [[ 9.86243546e-01 -1.65029924e-01 -9.42300751e-03 2.44181545e+01] [ 1.65024404e-01 9.86288538e-01 -1.36571537e-03 1.21498471e+00] [ 9.51918820e-03 -2.08098225e-04 9.99954670e-01 1.48484912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.45, Y:1.22, Z:0.15 [[ 9.86373004e-01 -1.64254410e-01 -9.42262280e-03 2.44463683e+01] [ 1.64248830e-01 9.86417989e-01 -1.36836447e-03 1.21927860e+00] [ 9.51940454e-03 -1.97936991e-04 9.99954670e-01 1.49161532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.47, Y:1.22, Z:0.15 [[ 9.86518061e-01 -1.63380953e-01 -9.42223622e-03 2.44727566e+01] [ 1.63375307e-01 9.86563039e-01 -1.37102125e-03 1.22310636e+00] [ 9.51962875e-03 -1.86823512e-04 9.99954670e-01 1.49924361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.50, Y:1.23, Z:0.15 [[ 9.86684668e-01 -1.62371769e-01 -9.42206836e-03 2.45003933e+01] [ 1.62366066e-01 9.86729638e-01 -1.37217381e-03 1.22782581e+00] [ 9.51983639e-03 -1.75921311e-04 9.99954670e-01 1.50500318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.53, Y:1.23, Z:0.15 [[ 9.86714200e-01 -1.62192229e-01 -9.42168307e-03 2.45283538e+01] [ 1.62186493e-01 9.86759166e-01 -1.37481426e-03 1.23246425e+00] [ 9.51991632e-03 -1.71520982e-04 9.99954670e-01 1.50094147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.56, Y:1.24, Z:0.15 [[ 9.86749816e-01 -1.61975432e-01 -9.42129661e-03 2.45560263e+01] [ 1.61969661e-01 9.86794777e-01 -1.37745749e-03 1.23713168e+00] [ 9.52000056e-03 -1.66758296e-04 9.99954670e-01 1.48886970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.58, Y:1.24, Z:0.15 [[ 9.86632952e-01 -1.62685766e-01 -9.42117693e-03 2.45834191e+01] [ 1.62680019e-01 9.86677917e-01 -1.37827559e-03 1.24148350e+00] [ 9.51989304e-03 -1.72785127e-04 9.99954670e-01 1.48960257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.097628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.61, Y:1.25, Z:0.15 [[ 9.86442031e-01 -1.63839461e-01 -9.42078198e-03 2.46108793e+01] [ 1.63833741e-01 9.86486999e-01 -1.38096987e-03 1.24552070e+00] [ 9.51973630e-03 -1.81195234e-04 9.99954670e-01 1.48585842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.64, Y:1.25, Z:0.15 [[ 9.86177115e-01 -1.65426580e-01 -9.42038939e-03 2.46384243e+01] [ 1.65420907e-01 9.86222089e-01 -1.38364280e-03 1.24920789e+00] [ 9.51948740e-03 -1.93812497e-04 9.99954670e-01 1.48447129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.67, Y:1.25, Z:0.15 [[ 9.85317443e-01 -1.70472287e-01 -9.41999878e-03 2.46661069e+01] [ 1.70466819e-01 9.85362442e-01 -1.38629698e-03 1.25120463e+00] [ 9.51843822e-03 -2.39854635e-04 9.99954670e-01 1.48902271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.69, Y:1.25, Z:0.15 [[ 9.84731562e-01 -1.73824686e-01 -9.41959527e-03 2.46929779e+01] [ 1.73819345e-01 9.84776577e-01 -1.38903338e-03 1.25359637e+00] [ 9.51764507e-03 -2.69482861e-04 9.99954670e-01 1.48231747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.72, Y:1.26, Z:0.15 [[ 9.83992538e-01 -1.77960556e-01 -9.41942052e-03 2.47201784e+01] [ 1.77955393e-01 9.84037573e-01 -1.39021735e-03 1.25631647e+00] [ 9.51646757e-03 -3.08273176e-04 9.99954670e-01 1.47488055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.247628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.75, Y:1.26, Z:0.15 [[ 9.83116001e-01 -1.82740819e-01 -9.41916150e-03 2.47479978e+01] [ 1.82735858e-01 9.83161059e-01 -1.39197008e-03 1.25927175e+00] [ 9.51492255e-03 -3.52750507e-04 9.99954670e-01 1.49288054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.78, Y:1.26, Z:0.15 [[ 9.81238500e-01 -1.92567632e-01 -9.41876383e-03 2.47760957e+01] [ 1.92563096e-01 9.81283603e-01 -1.39465577e-03 1.26137785e+00] [ 9.51104406e-03 -4.45216392e-04 9.99954670e-01 1.49651916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.80, Y:1.26, Z:0.15 [[ 9.80220428e-01 -1.97684603e-01 -9.41857781e-03 2.48035904e+01] [ 1.97680290e-01 9.80265553e-01 -1.39591088e-03 1.26455524e+00] [ 9.50865747e-03 -4.93566834e-04 9.99954670e-01 1.50562401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.337628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.83, Y:1.27, Z:0.15 [[ 9.79334474e-01 -2.02027934e-01 -9.41817507e-03 2.48315718e+01] [ 2.02023796e-01 9.79379615e-01 -1.39862293e-03 1.26732324e+00] [ 9.50652957e-03 -5.32975830e-04 9.99954670e-01 1.50582814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.86, Y:1.27, Z:0.15 [[ 9.78018605e-01 -2.08304856e-01 -9.41777455e-03 2.48598544e+01] [ 2.08300982e-01 9.78063770e-01 -1.40131468e-03 1.26810099e+00] [ 9.50308473e-03 -5.91219850e-04 9.99954670e-01 1.51576748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.89, Y:1.27, Z:0.15 [[ 9.77719325e-01 -2.09705100e-01 -9.41765060e-03 2.48874183e+01] [ 2.09701282e-01 9.77764494e-01 -1.40214718e-03 1.27102732e+00] [ 9.50228179e-03 -6.03987005e-04 9.99954670e-01 1.52468472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.427628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.91, Y:1.28, Z:0.15 [[ 9.77488461e-01 -2.10778614e-01 -9.41725220e-03 2.49148780e+01] [ 2.10774820e-01 9.77533632e-01 -1.40481790e-03 1.27529806e+00] [ 9.50178631e-03 -6.11726351e-04 9.99954670e-01 1.52228142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.94, Y:1.28, Z:0.15 [[ 9.77488403e-01 -2.10778902e-01 -9.41685499e-03 2.49422229e+01] [ 2.10775083e-01 9.77533571e-01 -1.40747542e-03 1.27993658e+00] [ 9.50195802e-03 -6.09047488e-04 9.99954670e-01 1.51444614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.97, Y:1.29, Z:0.15 [[ 9.77995018e-01 -2.08415632e-01 -9.41645767e-03 2.49695989e+01] [ 2.08411678e-01 9.78040175e-01 -1.41012861e-03 1.28593432e+00] [ 9.50356676e-03 -5.83400990e-04 9.99954670e-01 1.49725177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.517628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.00, Y:1.29, Z:0.15 [[ 9.78417840e-01 -2.06421569e-01 -9.41628176e-03 2.49973559e+01] [ 2.06417512e-01 9.78462988e-01 -1.41130231e-03 1.29075272e+00] [ 9.50480643e-03 -5.62842101e-04 9.99954670e-01 1.50373738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.02, Y:1.30, Z:0.15 [[ 9.78987324e-01 -2.03703609e-01 -9.41588327e-03 2.50236423e+01] [ 2.03699401e-01 9.79032459e-01 -1.41395598e-03 1.29529177e+00] [ 9.50648328e-03 -5.33764797e-04 9.99954670e-01 1.50588244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.05, Y:1.30, Z:0.15 [[ 9.80243983e-01 -1.97567908e-01 -9.41571038e-03 2.50509741e+01] [ 1.97563406e-01 9.80289089e-01 -1.41510634e-03 1.30046669e+00] [ 9.50969775e-03 -4.73050334e-04 9.99954670e-01 1.52276259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.607628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.08, Y:1.31, Z:0.15 [[ 9.80908765e-01 -1.94240433e-01 -9.41531698e-03 2.50780511e+01] [ 1.94235753e-01 9.80953853e-01 -1.41771896e-03 1.30555345e+00] [ 9.51136982e-03 -4.38138227e-04 9.99954670e-01 1.52916489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.11, Y:1.31, Z:0.15 [[ 9.81592906e-01 -1.90753037e-01 -9.41519504e-03 2.51050085e+01] [ 1.90748189e-01 9.81637976e-01 -1.41852829e-03 1.31101531e+00] [ 9.51290159e-03 -4.03514098e-04 9.99954670e-01 1.53021130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.13, Y:1.32, Z:0.15 [[ 9.82196200e-01 -1.87621908e-01 -9.41507488e-03 2.51325022e+01] [ 1.87616909e-01 9.82241254e-01 -1.41932537e-03 1.31703267e+00] [ 9.51417149e-03 -3.72371265e-04 9.99954670e-01 1.53206750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.16, Y:1.32, Z:0.15 [[ 9.83489875e-01 -1.80718091e-01 -9.41469424e-03 2.51611243e+01] [ 1.80712752e-01 9.83534890e-01 -1.42184581e-03 1.32387021e+00] [ 9.51663352e-03 -3.02984343e-04 9.99954670e-01 1.53991986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.19, Y:1.33, Z:0.15 [[ 9.84171816e-01 -1.76966683e-01 -9.41435018e-03 2.51891070e+01] [ 1.76961150e-01 9.84216807e-01 -1.42412022e-03 1.32875508e+00] [ 9.51778351e-03 -2.64395258e-04 9.99954670e-01 1.54875498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.22, Y:1.33, Z:0.15 [[ 9.84846256e-01 -1.73173985e-01 -9.41394936e-03 2.52158232e+01] [ 1.73168254e-01 9.84891223e-01 -1.42676493e-03 1.33328979e+00] [ 9.51879466e-03 -2.25053075e-04 9.99954670e-01 1.54923201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.24, Y:1.34, Z:0.16 [[ 9.86145265e-01 -1.65616725e-01 -9.41367614e-03 2.52431464e+01] [ 1.65610631e-01 9.86190183e-01 -1.42856528e-03 1.33731756e+00] [ 9.52026931e-03 -1.50231964e-04 9.99954670e-01 1.55537656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.27, Y:1.34, Z:0.16 [[ 9.86633757e-01 -1.62681342e-01 -9.41327612e-03 2.52704328e+01] [ 1.62675090e-01 9.86678654e-01 -1.43119633e-03 1.34165016e+00] [ 9.52070755e-03 -1.19238930e-04 9.99954670e-01 1.55793861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.847628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.30, Y:1.35, Z:0.16 [[ 9.87466746e-01 -1.57546258e-01 -9.41287560e-03 2.52981486e+01] [ 1.57539748e-01 9.87511606e-01 -1.43382569e-03 1.34575401e+00] [ 9.52121777e-03 -6.70468658e-05 9.99954670e-01 1.55963050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.32, Y:1.35, Z:0.16 [[ 9.87826041e-01 -1.55277554e-01 -9.41246811e-03 2.53247575e+01] [ 1.55270915e-01 9.87870882e-01 -1.43649570e-03 1.34898704e+00] [ 9.52135871e-03 -4.24746676e-05 9.99954670e-01 1.55796615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.35, Y:1.35, Z:0.16 [[ 9.88161314e-01 -1.53129449e-01 -9.41219069e-03 2.53522565e+01] [ 1.53122696e-01 9.88206138e-01 -1.43831112e-03 1.35217075e+00] [ 9.52143240e-03 -1.99366048e-05 9.99954670e-01 1.56033513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.38, Y:1.36, Z:0.16 [[ 9.88476848e-01 -1.51079247e-01 -9.41179454e-03 2.53800532e+01] [ 1.51072376e-01 9.88521654e-01 -1.44089876e-03 1.35528993e+00] [ 9.52145261e-03 2.43290215e-06 9.99954670e-01 1.56293632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.41, Y:1.36, Z:0.15 [[ 9.89059856e-01 -1.47214219e-01 -9.41138327e-03 2.54067904e+01] [ 1.47207147e-01 9.89104631e-01 -1.44358003e-03 1.35659116e+00] [ 9.52135828e-03 4.23641804e-05 9.99954670e-01 1.54951890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.997628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.43, Y:1.36, Z:0.16 [[ 9.89214903e-01 -1.46168760e-01 -9.41110346e-03 2.54348245e+01] [ 1.46161623e-01 9.89259668e-01 -1.44540189e-03 1.35878806e+00] [ 9.52129768e-03 5.42709374e-05 9.99954670e-01 1.55169784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.46, Y:1.36, Z:0.16 [[ 9.89395539e-01 -1.44941042e-01 -9.41069070e-03 2.54628660e+01] [ 1.44933824e-01 9.89440291e-01 -1.44808430e-03 1.35810609e+00] [ 9.52120339e-03 6.88007631e-05 9.99954670e-01 1.55521049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.49, Y:1.36, Z:0.16 [[ 9.89362843e-01 -1.45164087e-01 -9.41026875e-03 2.54895406e+01] [ 1.45156853e-01 9.89407592e-01 -1.45082110e-03 1.35996647e+00] [ 9.52119847e-03 6.94234904e-05 9.99954670e-01 1.55376291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.087628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.52, Y:1.36, Z:0.16 [[ 9.89231092e-01 -1.46059222e-01 -9.41008574e-03 2.55171682e+01] [ 1.46052017e-01 9.89275846e-01 -1.45200715e-03 1.36128039e+00] [ 9.52124957e-03 6.20086148e-05 9.99954670e-01 1.55706590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.55, Y:1.36, Z:0.16 [[ 9.88986742e-01 -1.47704701e-01 -9.40990662e-03 2.55450597e+01] [ 1.47697560e-01 9.89031506e-01 -1.45316704e-03 1.36217976e+00] [ 9.52133371e-03 4.73426855e-05 9.99954670e-01 1.56788672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.57, Y:1.36, Z:0.16 [[ 9.88747689e-01 -1.49296582e-01 -9.40948937e-03 2.55727310e+01] [ 1.49289487e-01 9.88792460e-01 -1.45586379e-03 1.36286093e+00] [ 9.52138763e-03 3.47441168e-05 9.99954670e-01 1.57170389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.177628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.60, Y:1.36, Z:0.16 [[ 9.88090929e-01 -1.53583140e-01 -9.40930880e-03 2.56015303e+01] [ 1.53576229e-01 9.88135729e-01 -1.45702988e-03 1.35984572e+00] [ 9.52144944e-03 -5.36815452e-06 9.99954670e-01 1.57644034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.63, Y:1.36, Z:0.16 [[ 9.87751694e-01 -1.55750003e-01 -9.40889407e-03 2.56292035e+01] [ 1.55743164e-01 9.87796505e-01 -1.45970317e-03 1.35985462e+00] [ 9.52142145e-03 -2.35466522e-05 9.99954670e-01 1.57597166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.66, Y:1.36, Z:0.16 [[ 9.87420401e-01 -1.57836715e-01 -9.40871472e-03 2.56576113e+01] [ 1.57829960e-01 9.87465225e-01 -1.46085825e-03 1.35945518e+00] [ 9.52135566e-03 -4.24958273e-05 9.99954670e-01 1.58071148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.267628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.69, Y:1.36, Z:0.16 [[ 9.86758219e-01 -1.61924984e-01 -9.40829956e-03 2.56876396e+01] [ 1.61918389e-01 9.86803067e-01 -1.46352709e-03 1.35529873e+00] [ 9.52112047e-03 -7.92293265e-05 9.99954670e-01 1.58066057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.72, Y:1.36, Z:0.16 [[ 9.86420010e-01 -1.63972728e-01 -9.40793327e-03 2.57151997e+01] [ 1.63966204e-01 9.86464868e-01 -1.46587793e-03 1.35608256e+00] [ 9.52095965e-03 -9.66117767e-05 9.99954670e-01 1.57701850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.74, Y:1.36, Z:0.16 [[ 9.86740695e-01 -1.62031770e-01 -9.40775186e-03 2.57433147e+01] [ 1.62025146e-01 9.86785539e-01 -1.46704129e-03 1.36040923e+00] [ 9.52114078e-03 -7.67030333e-05 9.99954670e-01 1.59533311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.357628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.77, Y:1.36, Z:0.16 [[ 9.87245115e-01 -1.58929493e-01 -9.40738619e-03 2.57714130e+01] [ 1.58922707e-01 9.87289934e-01 -1.46938242e-03 1.36332392e+00] [ 9.52134589e-03 -4.44066590e-05 9.99954670e-01 1.59927245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.80, Y:1.37, Z:0.16 [[ 9.87400711e-01 -1.57959930e-01 -9.40725668e-03 2.57996558e+01] [ 1.57953092e-01 9.87445522e-01 -1.47021107e-03 1.36709206e+00] [ 9.52138792e-03 -3.42178167e-05 9.99954670e-01 1.61514247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.83, Y:1.37, Z:0.16 [[ 9.87471402e-01 -1.57517435e-01 -9.40684557e-03 2.58274166e+01] [ 1.57510551e-01 9.87516206e-01 -1.47283682e-03 1.37118127e+00] [ 9.52140992e-03 -2.72931922e-05 9.99954670e-01 1.61362977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.86, Y:1.38, Z:0.16 [[ 9.87363541e-01 -1.58192151e-01 -9.40643491e-03 2.58555529e+01] [ 1.58185273e-01 9.87408346e-01 -1.47545484e-03 1.37524488e+00] [ 9.52139772e-03 -3.11491678e-05 9.99954670e-01 1.61233377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.88, Y:1.38, Z:0.16 [[ 9.87319278e-01 -1.58468197e-01 -9.40602178e-03 2.58837990e+01] [ 1.58461307e-01 9.87364082e-01 -1.47808386e-03 1.37975912e+00] [ 9.52139734e-03 -3.11498177e-05 9.99954670e-01 1.61504568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.91, Y:1.38, Z:0.16 [[ 9.87070306e-01 -1.60011702e-01 -9.40560782e-03 2.59113722e+01] [ 1.60004857e-01 9.87115117e-01 -1.48071341e-03 1.38486123e+00] [ 9.52134913e-03 -4.33746984e-05 9.99954670e-01 1.62175274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.94, Y:1.39, Z:0.16 [[ 9.86778437e-01 -1.61801914e-01 -9.40519053e-03 2.59379656e+01] [ 1.61795124e-01 9.86823255e-01 -1.48335920e-03 1.38931293e+00] [ 9.52127109e-03 -5.79670963e-05 9.99954670e-01 1.62317071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.567628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:25.97, Y:1.39, Z:0.16 [[ 9.86322117e-01 -1.64560710e-01 -9.40500981e-03 2.59658731e+01] [ 1.64554035e-01 9.86366953e-01 -1.48450415e-03 1.39451676e+00] [ 9.52108192e-03 -8.34330421e-05 9.99954670e-01 1.58891555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.597628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.99, Y:1.40, Z:0.16 [[ 9.85890344e-01 -1.67128043e-01 -9.40459899e-03 2.59929800e+01] [ 1.67121460e-01 9.85935194e-01 -1.48710220e-03 1.39958465e+00] [ 9.52086161e-03 -1.05590609e-04 9.99954670e-01 1.61510869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.627628 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:26.02, Y:1.41, Z:0.16 [[ 9.84749142e-01 -1.73725890e-01 -9.40440741e-03 2.60207927e+01] [ 1.73719596e-01 9.84794033e-01 -1.48831278e-03 1.40521239e+00] [ 9.51996276e-03 -1.68115126e-04 9.99954670e-01 1.59226623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.05, Y:1.41, Z:0.16 [[ 9.84213625e-01 -1.76734563e-01 -9.40399628e-03 2.60482630e+01] [ 1.76728381e-01 9.84258531e-01 -1.49090599e-03 1.40988065e+00] [ 9.51945819e-03 -1.94583052e-04 9.99954670e-01 1.62197791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.08, Y:1.41, Z:0.16 [[ 9.83549475e-01 -1.80394008e-01 -9.40380554e-03 2.60762728e+01] [ 1.80387982e-01 9.83594403e-01 -1.49210811e-03 1.41442466e+00] [ 9.51869786e-03 -2.28771352e-04 9.99954670e-01 1.63088500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.10, Y:1.42, Z:0.17 [[ 9.82102605e-01 -1.88111801e-01 -9.40340726e-03 2.61038041e+01] [ 1.88106104e-01 9.82147575e-01 -1.49461390e-03 1.41921884e+00] [ 9.51668815e-03 -3.00974102e-04 9.99954670e-01 1.65168667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.747628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.13, Y:1.42, Z:0.17 [[ 9.81402926e-01 -1.91728665e-01 -9.40299266e-03 2.61316831e+01] [ 1.91723109e-01 9.81447914e-01 -1.49721775e-03 1.42399393e+00] [ 9.51560709e-03 -3.33397105e-04 9.99954670e-01 1.65345127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.16, Y:1.43, Z:0.17 [[ 9.80767473e-01 -1.94953202e-01 -9.40286444e-03 2.61596508e+01] [ 1.94947786e-01 9.80812478e-01 -1.49802252e-03 1.42869087e+00] [ 9.51449106e-03 -3.63855841e-04 9.99954670e-01 1.67016356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.19, Y:1.43, Z:0.17 [[ 9.79957501e-01 -1.98984647e-01 -9.40244275e-03 2.61857940e+01] [ 1.98979391e-01 9.80002526e-01 -1.50066465e-03 1.43377820e+00] [ 9.51302687e-03 -4.00304753e-04 9.99954670e-01 1.67072814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.837628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.21, Y:1.44, Z:0.17 [[ 9.79725397e-01 -2.00124319e-01 -9.40226000e-03 2.62132804e+01] [ 2.00119105e-01 9.79770426e-01 -1.50180879e-03 1.43902847e+00] [ 9.51260475e-03 -4.10211641e-04 9.99954670e-01 1.67840956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.24, Y:1.44, Z:0.17 [[ 9.79553476e-01 -2.00964159e-01 -9.40183381e-03 2.62397742e+01] [ 2.00958957e-01 9.79598507e-01 -1.50447218e-03 1.44440899e+00] [ 9.51236734e-03 -4.15671761e-04 9.99954670e-01 1.67953864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.27, Y:1.45, Z:0.17 [[ 9.79545027e-01 -2.01005346e-01 -9.40164896e-03 2.62673412e+01] [ 2.01000136e-01 9.79590056e-01 -1.50562639e-03 1.44976948e+00] [ 9.51240079e-03 -4.14903869e-04 9.99954670e-01 1.68242226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.927628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.29, Y:1.46, Z:0.17 [[ 9.79767743e-01 -1.99916948e-01 -9.40122503e-03 2.62948863e+01] [ 1.99911662e-01 9.79812764e-01 -1.50826883e-03 1.45658940e+00] [ 9.51296878e-03 -4.01661374e-04 9.99954670e-01 1.67839095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.32, Y:1.46, Z:0.17 [[ 9.79992121e-01 -1.98814154e-01 -9.40080185e-03 2.63210354e+01] [ 1.98808792e-01 9.80037133e-01 -1.51090184e-03 1.46253195e+00] [ 9.51352356e-03 -3.88290165e-04 9.99954670e-01 1.66747375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.35, Y:1.47, Z:0.17 [[ 9.80296349e-01 -1.97308633e-01 -9.40061819e-03 2.63490014e+01] [ 1.97303191e-01 9.80341351e-01 -1.51204368e-03 1.46825904e+00] [ 9.51415401e-03 -3.72521064e-04 9.99954670e-01 1.67381265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.017628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.38, Y:1.47, Z:0.17 [[ 9.80950353e-01 -1.94031033e-01 -9.40018585e-03 2.63756396e+01] [ 1.94025415e-01 9.80995333e-01 -1.51472675e-03 1.47385156e+00] [ 9.51544244e-03 -3.38003219e-04 9.99954670e-01 1.67579733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.40, Y:1.48, Z:0.17 [[ 9.81133644e-01 -1.93102086e-01 -9.39989191e-03 2.64029408e+01] [ 1.93096407e-01 9.81178617e-01 -1.51654867e-03 1.47891480e+00] [ 9.51582165e-03 -3.27148437e-04 9.99954670e-01 1.67927993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.43, Y:1.48, Z:0.17 [[ 9.81337621e-01 -1.92062814e-01 -9.39947148e-03 2.64302251e+01] [ 1.92057063e-01 9.81382584e-01 -1.51914999e-03 1.48492875e+00] [ 9.51624983e-03 -3.14435847e-04 9.99954670e-01 1.67905110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.107628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.46, Y:1.49, Z:0.17 [[ 9.81371374e-01 -1.91890291e-01 -9.39904327e-03 2.64565972e+01] [ 1.91884507e-01 9.81416334e-01 -1.52179471e-03 1.48997984e+00] [ 9.51639222e-03 -3.10085017e-04 9.99954670e-01 1.67430479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.48, Y:1.49, Z:0.17 [[ 9.81415577e-01 -1.91664099e-01 -9.39885770e-03 2.64839491e+01] [ 1.91658294e-01 9.81460534e-01 -1.52293996e-03 1.49456025e+00] [ 9.51650081e-03 -3.06732030e-04 9.99954670e-01 1.67352945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.167628 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:26.51, Y:1.50, Z:0.16 [[ 9.81393986e-01 -1.91774641e-01 -9.39843550e-03 2.65129569e+01] [ 1.91768816e-01 9.81438940e-01 -1.52554100e-03 1.49943552e+00] [ 9.51655066e-03 -3.05170088e-04 9.99954670e-01 1.63681403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.54, Y:1.50, Z:0.17 [[ 9.81673686e-01 -1.90337721e-01 -9.39823340e-03 2.65412229e+01] [ 1.90331819e-01 9.81718630e-01 -1.52678509e-03 1.50338897e+00] [ 9.51702561e-03 -2.89978112e-04 9.99954670e-01 1.67210187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.57, Y:1.51, Z:0.17 [[ 9.81772129e-01 -1.89829309e-01 -9.39785729e-03 2.65681901e+01] [ 1.89823361e-01 9.81817067e-01 -1.52909666e-03 1.50737841e+00] [ 9.51724404e-03 -2.82708373e-04 9.99954670e-01 1.66906718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.60, Y:1.51, Z:0.17 [[ 9.81865391e-01 -1.89346345e-01 -9.39767083e-03 2.65957551e+01] [ 1.89340364e-01 9.81910324e-01 -1.53024176e-03 1.51043283e+00] [ 9.51741570e-03 -2.76866988e-04 9.99954670e-01 1.67692439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.62, Y:1.51, Z:0.17 [[ 9.81854213e-01 -1.89404321e-01 -9.39723882e-03 2.66225906e+01] [ 1.89398317e-01 9.81899143e-01 -1.53289018e-03 1.51436372e+00] [ 9.51747677e-03 -2.74746534e-04 9.99954670e-01 1.67882663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.65, Y:1.52, Z:0.17 [[ 9.81765922e-01 -1.89861450e-01 -9.39705132e-03 2.66497595e+01] [ 1.89855457e-01 9.81810854e-01 -1.53403874e-03 1.51847282e+00] [ 9.51738180e-03 -2.78014513e-04 9.99954670e-01 1.67756648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.347628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.68, Y:1.52, Z:0.17 [[ 9.81681995e-01 -1.90294930e-01 -9.39686583e-03 2.66774686e+01] [ 1.90288945e-01 9.81726928e-01 -1.53517411e-03 1.52223334e+00] [ 9.51729207e-03 -2.81066902e-04 9.99954670e-01 1.69214868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.70, Y:1.53, Z:0.17 [[ 9.81592926e-01 -1.90753858e-01 -9.39643088e-03 2.67049958e+01] [ 1.90747869e-01 9.81637859e-01 -1.53783172e-03 1.52564278e+00] [ 9.51723962e-03 -2.82824430e-04 9.99954670e-01 1.69846970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.407628000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.73, Y:1.53, Z:0.17 [[ 9.81551233e-01 -1.90968304e-01 -9.39599080e-03 2.67331195e+01] [ 1.90962298e-01 9.81596163e-01 -1.54051591e-03 1.52793550e+00] [ 9.51725823e-03 -2.82184709e-04 9.99954670e-01 1.71263524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.76, Y:1.53, Z:0.17 [[ 9.81609468e-01 -1.90668758e-01 -9.39555153e-03 2.67596455e+01] [ 1.90662714e-01 9.81654393e-01 -1.54319037e-03 1.53150364e+00] [ 9.51742263e-03 -2.76571078e-04 9.99954670e-01 1.71132898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.79, Y:1.54, Z:0.17 [[ 9.81659232e-01 -1.90412395e-01 -9.39536109e-03 2.67879054e+01] [ 1.90406327e-01 9.81704154e-01 -1.54434894e-03 1.53581209e+00] [ 9.51752819e-03 -2.72911803e-04 9.99954670e-01 1.71382177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.497628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.82, Y:1.54, Z:0.17 [[ 9.81741482e-01 -1.89987889e-01 -9.39493430e-03 2.68157220e+01] [ 1.89981777e-01 9.81786398e-01 -1.54694091e-03 1.54043489e+00] [ 9.51771874e-03 -2.66170256e-04 9.99954670e-01 1.70941621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.84, Y:1.54, Z:0.17 [[ 9.82026469e-01 -1.88509301e-01 -9.39450145e-03 2.68430347e+01] [ 1.88503097e-01 9.82071373e-01 -1.54956513e-03 1.54479818e+00] [ 9.51817838e-03 -2.49178645e-04 9.99954670e-01 1.70160313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.87, Y:1.55, Z:0.17 [[ 9.82153063e-01 -1.87848641e-01 -9.39406303e-03 2.68694890e+01] [ 1.87842381e-01 9.82197959e-01 -1.55221849e-03 1.54860392e+00] [ 9.51841167e-03 -2.40087021e-04 9.99954670e-01 1.70418398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.587628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.90, Y:1.55, Z:0.17 [[ 9.82512938e-01 -1.85957208e-01 -9.39376510e-03 2.68974741e+01] [ 1.85950844e-01 9.82557819e-01 -1.55401938e-03 1.55068020e+00] [ 9.51889846e-03 -2.19934402e-04 9.99954670e-01 1.72078530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.93, Y:1.55, Z:0.17 [[ 9.82627016e-01 -1.85353467e-01 -9.39363098e-03 2.69254502e+01] [ 1.85347068e-01 9.82671892e-01 -1.55482972e-03 1.55391940e+00] [ 9.51905020e-03 -2.13264272e-04 9.99954670e-01 1.73802690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.95, Y:1.56, Z:0.18 [[ 9.82699894e-01 -1.84966715e-01 -9.39318846e-03 2.69531924e+01] [ 1.84960274e-01 9.82744764e-01 -1.55749855e-03 1.55767315e+00] [ 9.51919216e-03 -2.06813047e-04 9.99954670e-01 1.75111434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.677628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.98, Y:1.56, Z:0.17 [[ 9.83086772e-01 -1.82899357e-01 -9.39274649e-03 2.69805000e+01] [ 1.82892796e-01 9.83131625e-01 -1.56015937e-03 1.56112697e+00] [ 9.51965826e-03 -1.84093624e-04 9.99954670e-01 1.74872927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.01, Y:1.57, Z:0.17 [[ 9.83278800e-01 -1.81864183e-01 -9.39255489e-03 2.70076363e+01] [ 1.81857563e-01 9.83323644e-01 -1.56131199e-03 1.56547276e+00] [ 9.51986803e-03 -1.72902164e-04 9.99954670e-01 1.74188072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.04, Y:1.57, Z:0.17 [[ 9.83476811e-01 -1.80790335e-01 -9.39236477e-03 2.70352830e+01] [ 1.80783655e-01 9.83521646e-01 -1.56245481e-03 1.56977550e+00] [ 9.52007079e-03 -1.61347953e-04 9.99954670e-01 1.73429002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.767628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.06, Y:1.57, Z:0.17 [[ 9.84253197e-01 -1.76514692e-01 -9.39193149e-03 2.70632340e+01] [ 1.76507793e-01 9.84297998e-01 -1.56505497e-03 1.57369596e+00] [ 9.52071456e-03 -1.17338741e-04 9.99954670e-01 1.71984154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.09, Y:1.58, Z:0.17 [[ 9.84641290e-01 -1.74336811e-01 -9.39179735e-03 2.70906335e+01] [ 1.74329804e-01 9.84686076e-01 -1.56585952e-03 1.57810387e+00] [ 9.52095903e-03 -9.54602552e-05 9.99954670e-01 1.72759515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.12, Y:1.58, Z:0.17 [[ 9.84948208e-01 -1.72594409e-01 -9.39136270e-03 2.71184417e+01] [ 1.72587299e-01 9.84992977e-01 -1.56846204e-03 1.58229906e+00] [ 9.52113408e-03 -7.59760413e-05 9.99954670e-01 1.73251673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.857628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.15, Y:1.59, Z:0.17 [[ 9.85547432e-01 -1.69139204e-01 -9.39092675e-03 2.71465627e+01] [ 1.69131912e-01 9.85592171e-01 -1.57106789e-03 1.58710109e+00] [ 9.52135306e-03 -3.99434742e-05 9.99954670e-01 1.74770289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.17, Y:1.59, Z:0.17 [[ 9.85666777e-01 -1.68442346e-01 -9.39047923e-03 2.71737800e+01] [ 1.68434997e-01 9.85711507e-01 -1.57373824e-03 1.59210694e+00] [ 9.52138759e-03 -3.05038385e-05 9.99954670e-01 1.74932263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.20, Y:1.60, Z:0.18 [[ 9.85701556e-01 -1.68238713e-01 -9.39034036e-03 2.72009551e+01] [ 1.68231347e-01 9.85746283e-01 -1.57456644e-03 1.59715448e+00] [ 9.52139614e-03 -2.76970140e-05 9.99954670e-01 1.75515337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.23, Y:1.60, Z:0.18 [[ 9.85716596e-01 -1.68150593e-01 -9.38989694e-03 2.72282346e+01] [ 1.68143198e-01 9.85761319e-01 -1.57720634e-03 1.60170426e+00] [ 9.52140537e-03 -2.41688377e-05 9.99954670e-01 1.75901457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.26, Y:1.61, Z:0.18 [[ 9.85658823e-01 -1.68488924e-01 -9.38975949e-03 2.72559618e+01] [ 1.68481536e-01 9.85703547e-01 -1.57802422e-03 1.60538543e+00] [ 9.52139883e-03 -2.66076083e-05 9.99954670e-01 1.76946456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.28, Y:1.61, Z:0.18 [[ 9.85606840e-01 -1.68792749e-01 -9.38962685e-03 2.72841668e+01] [ 1.68785368e-01 9.85651565e-01 -1.57881302e-03 1.60917758e+00] [ 9.52139259e-03 -2.87427059e-05 9.99954670e-01 1.78062121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.31, Y:1.61, Z:0.18 [[ 9.85513378e-01 -1.69337605e-01 -9.38920222e-03 2.73106439e+01] [ 1.69330224e-01 9.85558103e-01 -1.58133427e-03 1.61302118e+00] [ 9.52138369e-03 -3.14496382e-05 9.99954670e-01 1.78523299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.34, Y:1.62, Z:0.18 [[ 9.85493285e-01 -1.69454511e-01 -9.38901870e-03 2.73385218e+01] [ 1.69447125e-01 9.85538009e-01 -1.58242319e-03 1.61822703e+00] [ 9.52138354e-03 -3.14748051e-05 9.99954670e-01 1.78806348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.097628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.37, Y:1.62, Z:0.18 [[ 9.85472936e-01 -1.69572835e-01 -9.38858552e-03 2.73650508e+01] [ 1.69565430e-01 9.85517657e-01 -1.58498912e-03 1.62319896e+00] [ 9.52138790e-03 -3.00156588e-05 9.99954670e-01 1.78062478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.39, Y:1.63, Z:0.18 [[ 9.85385154e-01 -1.70082206e-01 -9.38839799e-03 2.73929298e+01] [ 1.70074814e-01 9.85429877e-01 -1.58609914e-03 1.62858544e+00] [ 9.52137511e-03 -3.38114912e-05 9.99954670e-01 1.77445143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.157628000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.42, Y:1.63, Z:0.18 [[ 9.85295377e-01 -1.70601543e-01 -9.38796920e-03 2.74199984e+01] [ 1.70594150e-01 9.85340100e-01 -1.58863305e-03 1.63429325e+00] [ 9.52136576e-03 -3.62598236e-05 9.99954670e-01 1.76187467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.45, Y:1.64, Z:0.18 [[ 9.85296274e-01 -1.70596383e-01 -9.38752706e-03 2.74475315e+01] [ 1.70588965e-01 9.85340993e-01 -1.59124141e-03 1.63903986e+00] [ 9.52137527e-03 -3.35642861e-05 9.99954670e-01 1.76010907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.47, Y:1.64, Z:0.17 [[ 9.85229901e-01 -1.70979314e-01 -9.38707149e-03 2.74740703e+01] [ 1.70971888e-01 9.85274618e-01 -1.59392440e-03 1.64377573e+00] [ 9.52137138e-03 -3.45433601e-05 9.99954670e-01 1.74829831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.247628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.50, Y:1.65, Z:0.18 [[ 9.85129248e-01 -1.71558301e-01 -9.38687400e-03 2.75012596e+01] [ 1.71550890e-01 9.85173968e-01 -1.59508662e-03 1.64871647e+00] [ 9.52135426e-03 -3.89601029e-05 9.99954670e-01 1.75643621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.53, Y:1.65, Z:0.18 [[ 9.85163535e-01 -1.71361329e-01 -9.38643029e-03 2.75286498e+01] [ 1.71353884e-01 9.85208249e-01 -1.59769341e-03 1.65431582e+00] [ 9.52137142e-03 -3.44120055e-05 9.99954670e-01 1.75993605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.56, Y:1.66, Z:0.18 [[ 9.85008638e-01 -1.72249488e-01 -9.38597559e-03 2.75556989e+01] [ 1.72242058e-01 9.85053355e-01 -1.60036019e-03 1.66058162e+00] [ 9.52134797e-03 -4.02911458e-05 9.99954670e-01 1.75157166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.337628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.58, Y:1.67, Z:0.17 [[ 9.84759007e-01 -1.73670964e-01 -9.38583500e-03 2.75836870e+01] [ 1.73663590e-01 9.84803734e-01 -1.60118431e-03 1.66598395e+00] [ 9.52128457e-03 -5.31971345e-05 9.99954670e-01 1.74717664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.61, Y:1.67, Z:0.17 [[ 9.84710494e-01 -1.73945847e-01 -9.38538760e-03 2.76118695e+01] [ 1.73938461e-01 9.84755218e-01 -1.60380250e-03 1.67087584e+00] [ 9.52128419e-03 -5.31987258e-05 9.99954670e-01 1.74988858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.64, Y:1.68, Z:0.17 [[ 9.84468027e-01 -1.75312939e-01 -9.38493919e-03 2.76384557e+01] [ 1.75305591e-01 9.84512757e-01 -1.60642213e-03 1.67543141e+00] [ 9.52121895e-03 -6.37610845e-05 9.99954670e-01 1.74339706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.427628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.67, Y:1.68, Z:0.18 [[ 9.83737964e-01 -1.79364278e-01 -9.38474486e-03 2.76674058e+01] [ 1.79357103e-01 9.83782723e-01 -1.60755661e-03 1.67911083e+00] [ 9.52088808e-03 -1.01806187e-04 9.99954670e-01 1.78393756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.70, Y:1.68, Z:0.18 [[ 9.83293625e-01 -1.81784434e-01 -9.38434880e-03 2.76954733e+01] [ 1.81777347e-01 9.83338398e-01 -1.60986537e-03 1.68308236e+00] [ 9.52063898e-03 -1.22891679e-04 9.99954670e-01 1.79861056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.72, Y:1.69, Z:0.18 [[ 9.82759577e-01 -1.84649805e-01 -9.38420863e-03 2.77231839e+01] [ 1.84642841e-01 9.82804369e-01 -1.61068202e-03 1.68744914e+00] [ 9.52025336e-03 -1.49813764e-04 9.99954670e-01 1.80903400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.517628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.75, Y:1.69, Z:0.18 [[ 9.81592334e-01 -1.90757532e-01 -9.38375820e-03 2.77495921e+01] [ 1.90750821e-01 9.81637164e-01 -1.61330196e-03 1.69249209e+00] [ 9.51919528e-03 -2.06354745e-04 9.99954670e-01 1.80729012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.78, Y:1.70, Z:0.18 [[ 9.81005210e-01 -1.93754297e-01 -9.38356304e-03 2.77760129e+01] [ 1.93747712e-01 9.81050059e-01 -1.61443629e-03 1.69708556e+00] [ 9.51854904e-03 -2.34273457e-04 9.99954670e-01 1.80662444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.80, Y:1.70, Z:0.18 [[ 9.80482794e-01 -1.96380864e-01 -9.38337121e-03 2.78038807e+01] [ 1.96374389e-01 9.80527659e-01 -1.61555048e-03 1.70237678e+00] [ 9.51791820e-03 -2.58634335e-04 9.99954670e-01 1.81015116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.607628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.83, Y:1.71, Z:0.18 [[ 9.80004952e-01 -1.98751741e-01 -9.38293503e-03 2.78317347e+01] [ 1.98745351e-01 9.80049829e-01 -1.61807977e-03 1.70755415e+00] [ 9.51734005e-03 -2.79088522e-04 9.99954670e-01 1.81440773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.86, Y:1.71, Z:0.18 [[ 9.79295403e-01 -2.02218895e-01 -9.38250052e-03 2.78598554e+01] [ 2.02212639e-01 9.79340300e-01 -1.62059540e-03 1.71270552e+00] [ 9.51637588e-03 -3.10218562e-04 9.99954670e-01 1.82511515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.89, Y:1.72, Z:0.18 [[ 9.78918777e-01 -2.04034320e-01 -9.38207817e-03 2.78874567e+01] [ 2.04028124e-01 9.78963682e-01 -1.62303684e-03 1.71747850e+00] [ 9.51586900e-03 -3.25386563e-04 9.99954670e-01 1.82693950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.92, Y:1.72, Z:0.18 [[ 9.78611018e-01 -2.05505379e-01 -9.38162647e-03 2.79154347e+01] [ 2.05499225e-01 9.78655928e-01 -1.62564357e-03 1.72246531e+00] [ 9.51546286e-03 -3.37044270e-04 9.99954670e-01 1.83099411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.94, Y:1.73, Z:0.18 [[ 9.78380237e-01 -2.06601319e-01 -9.38117618e-03 2.79426670e+01] [ 2.06595191e-01 9.78425151e-01 -1.62823794e-03 1.72782953e+00] [ 9.51517483e-03 -3.45070061e-04 9.99954670e-01 1.83605431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.97, Y:1.74, Z:0.18 [[ 9.78170129e-01 -2.07593837e-01 -9.38071851e-03 2.79694332e+01] [ 2.07587729e-01 9.78215045e-01 -1.63087043e-03 1.73529945e+00] [ 9.51491864e-03 -3.52053315e-04 9.99954670e-01 1.82392665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.00, Y:1.74, Z:0.18 [[ 9.78192333e-01 -2.07489189e-01 -9.38057708e-03 2.79972801e+01] [ 2.07483069e-01 9.78237248e-01 -1.63168352e-03 1.74134688e+00] [ 9.51498660e-03 -3.50210611e-04 9.99954670e-01 1.82047089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.817628000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.02, Y:1.75, Z:0.18 [[ 9.78218552e-01 -2.07365567e-01 -9.38011699e-03 2.80241139e+01] [ 2.07359416e-01 9.78263462e-01 -1.63432422e-03 1.74746206e+00] [ 9.51512829e-03 -3.46329310e-04 9.99954670e-01 1.81445864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.847628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:28.05, Y:1.75, Z:0.18 [[ 9.78567480e-01 -2.05712675e-01 -9.37991754e-03 2.80514016e+01] [ 2.05706437e-01 9.78612378e-01 -1.63546810e-03 1.75417233e+00] [ 9.51573993e-03 -3.29093520e-04 9.99954670e-01 1.80071872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.08, Y:1.76, Z:0.18 [[ 9.78858691e-01 -2.04322498e-01 -9.37978211e-03 2.80794174e+01] [ 2.04316189e-01 9.78903579e-01 -1.63624449e-03 1.75956991e+00] [ 9.51622384e-03 -3.14789187e-04 9.99954670e-01 1.83804746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.907628000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.11, Y:1.77, Z:0.18 [[ 9.79104913e-01 -2.03139352e-01 -9.37933213e-03 2.81064761e+01] [ 2.03132964e-01 9.79149791e-01 -1.63881983e-03 1.76517784e+00] [ 9.51667989e-03 -3.00674993e-04 9.99954670e-01 1.84250320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.13, Y:1.77, Z:0.18 [[ 9.79425848e-01 -2.01586323e-01 -9.37888284e-03 2.81325246e+01] [ 2.01579839e-01 9.79470711e-01 -1.64138707e-03 1.77093278e+00] [ 9.51722223e-03 -2.82976768e-04 9.99954670e-01 1.84740261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.16, Y:1.78, Z:0.19 [[ 9.80061497e-01 -1.98472927e-01 -9.37868839e-03 2.81600041e+01] [ 1.98466290e-01 9.80106338e-01 -1.64249738e-03 1.77893417e+00] [ 9.51810319e-03 -2.51605050e-04 9.99954670e-01 1.85507571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.997628000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.19, Y:1.78, Z:0.19 [[ 9.80266949e-01 -1.97455711e-01 -9.37824149e-03 2.81870210e+01] [ 1.97449003e-01 9.80311780e-01 -1.64504508e-03 1.78482568e+00] [ 9.51842415e-03 -2.39141105e-04 9.99954670e-01 1.86427840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.02762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.21, Y:1.79, Z:0.19 [[ 9.80465754e-01 -1.96466187e-01 -9.37776872e-03 2.82133215e+01] [ 1.96459408e-01 9.80510574e-01 -1.64773575e-03 1.79053815e+00] [ 9.51872576e-03 -2.26802422e-04 9.99954670e-01 1.86181840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.24, Y:1.80, Z:0.19 [[ 9.80619467e-01 -1.95697527e-01 -9.37756346e-03 2.82394756e+01] [ 1.95690702e-01 9.80664280e-01 -1.64890313e-03 1.79596747e+00] [ 9.51892778e-03 -2.18155469e-04 9.99954670e-01 1.85123349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.27, Y:1.80, Z:0.19 [[ 9.80823141e-01 -1.94674165e-01 -9.37735996e-03 2.82677987e+01] [ 1.94667282e-01 9.80867946e-01 -1.65005960e-03 1.80038198e+00] [ 9.51917578e-03 -2.07048537e-04 9.99954670e-01 1.86574599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.30, Y:1.80, Z:0.19 [[ 9.80817726e-01 -1.94701465e-01 -9.37695042e-03 2.82954302e+01] [ 1.94694561e-01 9.80862527e-01 -1.65238369e-03 1.80427657e+00] [ 9.51922081e-03 -2.04954025e-04 9.99954670e-01 1.87257824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.147628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.32, Y:1.81, Z:0.19 [[ 9.80791685e-01 -1.94832624e-01 -9.37648145e-03 2.83228580e+01] [ 1.94825701e-01 9.80836483e-01 -1.65504056e-03 1.80954885e+00] [ 9.51925099e-03 -2.03529542e-04 9.99954670e-01 1.87082436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.177628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.35, Y:1.82, Z:0.19 [[ 9.80791676e-01 -1.94832692e-01 -9.37601501e-03 2.83501648e+01] [ 1.94825744e-01 9.80836470e-01 -1.65767880e-03 1.81523671e+00] [ 9.51930750e-03 -2.00851527e-04 9.99954670e-01 1.87013776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.38, Y:1.82, Z:0.19 [[ 9.80803371e-01 -1.94773832e-01 -9.37555045e-03 2.83762554e+01] [ 1.94766856e-01 9.80848161e-01 -1.66030217e-03 1.82047325e+00] [ 9.51937483e-03 -1.97616522e-04 9.99954670e-01 1.87149779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.23762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.40, Y:1.83, Z:0.19 [[ 9.80766635e-01 -1.94958746e-01 -9.37523448e-03 2.84039183e+01] [ 1.94951762e-01 9.80811423e-01 -1.66208441e-03 1.82528165e+00] [ 9.51937497e-03 -1.97601543e-04 9.99954670e-01 1.88181985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.43, Y:1.83, Z:0.19 [[ 9.80855639e-01 -1.94510488e-01 -9.37476416e-03 2.84320729e+01] [ 1.94503457e-01 9.80900420e-01 -1.66473297e-03 1.82880663e+00] [ 9.51951812e-03 -1.90561314e-04 9.99954670e-01 1.90589494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.46, Y:1.83, Z:0.19 [[ 9.80886826e-01 -1.94353162e-01 -9.37461613e-03 2.84597684e+01] [ 1.94346116e-01 9.80931605e-01 -1.66556617e-03 1.83295057e+00] [ 9.51956529e-03 -1.88188319e-04 9.99954670e-01 1.92190373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.327628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.49, Y:1.84, Z:0.19 [[ 9.80950460e-01 -1.94031751e-01 -9.37413943e-03 2.84873551e+01] [ 1.94024665e-01 9.80995233e-01 -1.66824479e-03 1.83732467e+00] [ 9.51967855e-03 -1.82348771e-04 9.99954670e-01 1.93040716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.357628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.51, Y:1.84, Z:0.19 [[ 9.81425718e-01 -1.91613397e-01 -9.37366351e-03 2.85149587e+01] [ 1.91606175e-01 9.81470469e-01 -1.67091465e-03 1.84252806e+00] [ 9.52014356e-03 -1.56173200e-04 9.99954670e-01 1.93062890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.38762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.54, Y:1.85, Z:0.19 [[ 9.81707202e-01 -1.90165997e-01 -9.37351600e-03 2.85414149e+01] [ 1.90158702e-01 9.81751941e-01 -1.67174179e-03 1.84810931e+00] [ 9.52037597e-03 -1.41294680e-04 9.99954670e-01 1.92815252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.57, Y:1.85, Z:0.19 [[ 9.82130488e-01 -1.87967679e-01 -9.37319555e-03 2.85677562e+01] [ 1.87960266e-01 9.82175207e-01 -1.67353656e-03 1.85288249e+00] [ 9.52069106e-03 -1.18157052e-04 9.99954670e-01 1.92415863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.60, Y:1.86, Z:0.19 [[ 9.82893280e-01 -1.83937346e-01 -9.37299356e-03 2.85962441e+01] [ 1.83929739e-01 9.82937967e-01 -1.67466710e-03 1.85741890e+00] [ 9.52110505e-03 -7.79532238e-05 9.99954670e-01 1.92145573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.62, Y:1.86, Z:0.19 [[ 9.83251027e-01 -1.82015306e-01 -9.37258976e-03 2.86239242e+01] [ 1.82007590e-01 9.83295696e-01 -1.67692398e-03 1.86192184e+00] [ 9.52125300e-03 -5.70452459e-05 9.99954670e-01 1.91956301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.507628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.65, Y:1.87, Z:0.19 [[ 9.83478877e-01 -1.80780148e-01 -9.37211629e-03 2.86513536e+01] [ 1.80772350e-01 9.83523531e-01 -1.67956598e-03 1.86672977e+00] [ 9.52132909e-03 -4.24018266e-05 9.99954670e-01 1.91196553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.537628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.68, Y:1.87, Z:0.19 [[ 9.83628260e-01 -1.79965606e-01 -9.37164497e-03 2.86802640e+01] [ 1.79957747e-01 9.83672903e-01 -1.68219176e-03 1.87205821e+00] [ 9.52136987e-03 -3.18487600e-05 9.99954670e-01 1.90413150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.567628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.71, Y:1.88, Z:0.19 [[ 9.83862079e-01 -1.78682930e-01 -9.37123322e-03 2.87075321e+01] [ 1.78674991e-01 9.83906708e-01 -1.68448242e-03 1.87613938e+00] [ 9.52140748e-03 -1.71066312e-05 9.99954670e-01 1.89008463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.74, Y:1.88, Z:0.19 [[ 9.83812178e-01 -1.78957483e-01 -9.37108734e-03 2.87358450e+01] [ 1.78949548e-01 9.83856808e-01 -1.68529362e-03 1.88013825e+00] [ 9.52140398e-03 -1.89394612e-05 9.99954670e-01 1.89547785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.76, Y:1.88, Z:0.19 [[ 9.83648596e-01 -1.79854473e-01 -9.37062289e-03 2.87638274e+01] [ 1.79846555e-01 9.83693228e-01 -1.68787208e-03 1.88364195e+00] [ 9.52138963e-03 -2.50012417e-05 9.99954670e-01 1.90516097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.79, Y:1.88, Z:0.19 [[ 9.83230842e-01 -1.82124442e-01 -9.37014605e-03 2.87924583e+01] [ 1.82116602e-01 9.83275488e-01 -1.69051512e-03 1.88458601e+00] [ 9.52131905e-03 -4.42925505e-05 9.99954670e-01 1.91017281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.687628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.82, Y:1.89, Z:0.19 [[ 9.82925023e-01 -1.83767795e-01 -9.36999847e-03 2.88216154e+01] [ 1.83760021e-01 9.82969681e-01 -1.69133271e-03 1.88820473e+00] [ 9.52123689e-03 -5.93778806e-05 9.99954670e-01 1.93042416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.717628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.85, Y:1.89, Z:0.19 [[ 9.82751192e-01 -1.84695166e-01 -9.36959003e-03 2.88493610e+01] [ 1.84687413e-01 9.82795854e-01 -1.69359233e-03 1.89164891e+00] [ 9.52119256e-03 -6.60654615e-05 9.99954670e-01 1.93135311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.747628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.88, Y:1.89, Z:0.20 [[ 9.82621964e-01 -1.85381468e-01 -9.36944539e-03 2.88778137e+01] [ 1.85373738e-01 9.82666630e-01 -1.69439215e-03 1.89449195e+00] [ 9.52115024e-03 -7.19021712e-05 9.99954670e-01 1.95290081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.77762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.91, Y:1.90, Z:0.20 [[ 9.82757702e-01 -1.84660557e-01 -9.36903002e-03 2.89058564e+01] [ 1.84652773e-01 9.82802358e-01 -1.69668585e-03 1.89880350e+00] [ 9.52121574e-03 -6.25862866e-05 9.99954670e-01 1.96098411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.93, Y:1.90, Z:0.20 [[ 9.82860251e-01 -1.84113960e-01 -9.36888182e-03 2.89335517e+01] [ 1.84106143e-01 9.82904902e-01 -1.69750376e-03 1.90314324e+00] [ 9.52125401e-03 -5.64597299e-05 9.99954670e-01 1.96985613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.96, Y:1.91, Z:0.20 [[ 9.83117815e-01 -1.82733672e-01 -9.36840865e-03 2.89613689e+01] [ 1.82725768e-01 9.83162450e-01 -1.70011119e-03 1.90693927e+00] [ 9.52133516e-03 -4.04400670e-05 9.99954670e-01 1.97579372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.99, Y:1.91, Z:0.20 [[ 9.83714529e-01 -1.79493640e-01 -9.36793336e-03 2.89889462e+01] [ 1.79485564e-01 9.83759134e-01 -1.70272607e-03 1.91003781e+00] [ 9.52141851e-03 -6.41242474e-06 9.99954670e-01 1.98266520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.897628000000005 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:29.02, Y:1.91, Z:0.20 [[ 9.83826429e-01 -1.78879312e-01 -9.36745838e-03 2.90162047e+01] [ 1.78871183e-01 9.83871024e-01 -1.70533515e-03 1.91475931e+00] [ 9.52142005e-03 2.18542826e-06 9.99954670e-01 1.95241049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.927628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.04, Y:1.92, Z:0.20 [[ 9.84185237e-01 -1.76894541e-01 -9.36698001e-03 2.90441519e+01] [ 1.76886297e-01 9.84229811e-01 -1.70795868e-03 1.91956444e+00] [ 9.52138953e-03 2.40573069e-05 9.99954670e-01 1.98128520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.07, Y:1.92, Z:0.20 [[ 9.84496700e-01 -1.75152839e-01 -9.36650166e-03 2.90716278e+01] [ 1.75144491e-01 9.84541254e-01 -1.71057794e-03 1.92478842e+00] [ 9.52131988e-03 4.35671652e-05 9.99954670e-01 1.97972743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.98762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.10, Y:1.93, Z:0.20 [[ 9.85140991e-01 -1.71491999e-01 -9.36602142e-03 2.90996708e+01] [ 1.71483461e-01 9.85185509e-01 -1.71320343e-03 1.92972943e+00] [ 9.52106926e-03 8.16291558e-05 9.99954670e-01 1.97462352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.13, Y:1.93, Z:0.20 [[ 9.85414476e-01 -1.69913494e-01 -9.36559984e-03 2.91276229e+01] [ 1.69904862e-01 9.85458977e-01 -1.71550500e-03 1.93498515e+00] [ 9.52090188e-03 9.92225109e-05 9.99954670e-01 1.96996816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.16, Y:1.94, Z:0.20 [[ 9.85613212e-01 -1.68756901e-01 -9.36511668e-03 2.91551313e+01] [ 1.68748192e-01 9.85657697e-01 -1.71813858e-03 1.94076541e+00] [ 9.52074708e-03 1.13073577e-04 9.99954670e-01 1.96469481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.077628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.18, Y:1.95, Z:0.20 [[ 9.85772044e-01 -1.67826639e-01 -9.36462788e-03 2.91819478e+01] [ 1.67817863e-01 9.85816516e-01 -1.72079863e-03 1.94687802e+00] [ 9.52060068e-03 1.24763348e-04 9.99954670e-01 1.95455208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.107628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.21, Y:1.95, Z:0.19 [[ 9.85949664e-01 -1.66779997e-01 -9.36447616e-03 2.92094623e+01] [ 1.66771166e-01 9.85994125e-01 -1.72162386e-03 1.95347255e+00] [ 9.52045090e-03 1.35709851e-04 9.99954670e-01 1.94300905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.13762800000001 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:29.24, Y:1.96, Z:0.19 [[ 9.85762689e-01 -1.67881598e-01 -9.36432606e-03 2.92371704e+01] [ 1.67872809e-01 9.85807158e-01 -1.72243994e-03 1.95877768e+00] [ 9.52058563e-03 1.25901308e-04 9.99954670e-01 1.92243859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.27, Y:1.96, Z:0.20 [[ 9.85770935e-01 -1.67833196e-01 -9.36383982e-03 2.92660588e+01] [ 1.67824380e-01 9.85815399e-01 -1.72507925e-03 1.96340520e+00] [ 9.52054306e-03 1.29052378e-04 9.99954670e-01 1.96749684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.29, Y:1.97, Z:0.20 [[ 9.85306090e-01 -1.70541007e-01 -9.36340491e-03 2.92935278e+01] [ 1.70532290e-01 9.85350574e-01 -1.72743666e-03 1.96727614e+00] [ 9.52083519e-03 1.05290980e-04 9.99954670e-01 1.98757212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.32, Y:1.97, Z:0.20 [[ 9.84903955e-01 -1.72848284e-01 -9.36325088e-03 2.93217682e+01] [ 1.72839664e-01 9.84948457e-01 -1.72827112e-03 1.97157995e+00] [ 9.52104821e-03 8.38399227e-05 9.99954670e-01 2.00696340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.257628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.35, Y:1.98, Z:0.20 [[ 9.84440944e-01 -1.75466139e-01 -9.36282512e-03 2.93490510e+01] [ 1.75457615e-01 9.84485465e-01 -1.73057458e-03 1.97538461e+00] [ 9.52122248e-03 6.08695114e-05 9.99954670e-01 2.02073409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.287628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.38, Y:1.98, Z:0.20 [[ 9.84392007e-01 -1.75740487e-01 -9.36259722e-03 2.93771659e+01] [ 1.75731964e-01 9.84436528e-01 -1.73180667e-03 1.98066563e+00] [ 9.52123125e-03 5.94690435e-05 9.99954670e-01 2.02345233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.317628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.41, Y:1.98, Z:0.20 [[ 9.83844594e-01 -1.78779657e-01 -9.36211386e-03 2.94054055e+01] [ 1.78771247e-01 9.83889137e-01 -1.73441581e-03 1.98494040e+00] [ 9.52136038e-03 3.27188554e-05 9.99954670e-01 2.03819815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.43, Y:1.99, Z:0.20 [[ 9.83026944e-01 -1.83222235e-01 -9.36162322e-03 2.94330383e+01] [ 1.83214000e-01 9.83071520e-01 -1.73706001e-03 1.99016786e+00] [ 9.52141318e-03 -7.60364763e-06 9.99954670e-01 2.04423751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.46, Y:2.00, Z:0.20 [[ 9.82711343e-01 -1.84907487e-01 -9.36147138e-03 2.94604759e+01] [ 1.84899322e-01 9.82755931e-01 -1.73787794e-03 1.99641446e+00] [ 9.52138817e-03 -2.30973412e-05 9.99954670e-01 2.04567153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.49, Y:2.00, Z:0.20 [[ 9.82431682e-01 -1.86387666e-01 -9.36098413e-03 2.94877383e+01] [ 1.86379542e-01 9.82476278e-01 -1.74049851e-03 2.00210900e+00] [ 9.52135231e-03 -3.47750551e-05 9.99954670e-01 2.03896762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.437628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.52, Y:2.01, Z:0.20 [[ 9.81770378e-01 -1.89840210e-01 -9.36049693e-03 2.95166343e+01] [ 1.89832219e-01 9.81814998e-01 -1.74311481e-03 2.00767596e+00] [ 9.52118955e-03 -6.55854157e-05 9.99954670e-01 2.03260391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.467628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.54, Y:2.01, Z:0.20 [[ 9.81411423e-01 -1.91687263e-01 -9.36009942e-03 2.95440660e+01] [ 1.91679335e-01 9.81456054e-01 -1.74524673e-03 2.01284220e+00] [ 9.52106781e-03 -8.13325574e-05 9.99954670e-01 2.03127098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.497628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.57, Y:2.02, Z:0.20 [[ 9.81010499e-01 -1.93728674e-01 -9.35961064e-03 2.95721245e+01] [ 1.93720815e-01 9.81055142e-01 -1.74786405e-03 2.01836022e+00] [ 9.52090553e-03 -9.84784098e-05 9.99954670e-01 2.02656336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.52762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.60, Y:2.02, Z:0.20 [[ 9.80228433e-01 -1.97647732e-01 -9.35912048e-03 2.95994593e+01] [ 1.97640026e-01 9.80273103e-01 -1.75048475e-03 2.02484512e+00] [ 9.52047341e-03 -1.33861892e-04 9.99954670e-01 2.01328720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.63, Y:2.03, Z:0.20 [[ 9.79805079e-01 -1.99735870e-01 -9.35896861e-03 2.96273477e+01] [ 1.99728251e-01 9.79849763e-01 -1.75129637e-03 2.03071091e+00] [ 9.52017988e-03 -1.53321350e-04 9.99954670e-01 2.01350291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.65, Y:2.04, Z:0.20 [[ 9.79426397e-01 -2.01584603e-01 -9.35848409e-03 2.96539930e+01] [ 2.01577043e-01 9.79471092e-01 -1.75388169e-03 2.03661064e+00] [ 9.51992017e-03 -1.68657531e-04 9.99954670e-01 2.01690790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.68, Y:2.04, Z:0.20 [[ 9.79037102e-01 -2.03466893e-01 -9.35827415e-03 2.96825443e+01] [ 2.03459409e-01 9.79081809e-01 -1.75500115e-03 2.04283985e+00] [ 9.51960062e-03 -1.85817685e-04 9.99954670e-01 2.02972613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.647628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.71, Y:2.05, Z:0.20 [[ 9.78664394e-01 -2.05252125e-01 -9.35784802e-03 2.97096030e+01] [ 2.05244700e-01 9.78709112e-01 -1.75727039e-03 2.04939389e+00] [ 9.51929460e-03 -2.00870756e-04 9.99954670e-01 2.04190705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.677628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.74, Y:2.06, Z:0.20 [[ 9.78623400e-01 -2.05447498e-01 -9.35769723e-03 2.97367070e+01] [ 2.05440075e-01 9.78668118e-01 -1.75807299e-03 2.05532873e+00] [ 9.51927164e-03 -2.01954655e-04 9.99954670e-01 2.04946794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.76, Y:2.06, Z:0.21 [[ 9.78618355e-01 -2.05471551e-01 -9.35722237e-03 2.97636706e+01] [ 2.05464105e-01 9.78663069e-01 -1.76059681e-03 2.06133845e+00] [ 9.51932051e-03 -1.99620963e-04 9.99954670e-01 2.06023827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.73762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.79, Y:2.07, Z:0.21 [[ 9.79113368e-01 -2.03099638e-01 -9.35674265e-03 2.97909242e+01] [ 2.03092060e-01 9.79158060e-01 -1.76314258e-03 2.06890997e+00] [ 9.51982361e-03 -1.73963664e-04 9.99954670e-01 2.07807904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.82, Y:2.08, Z:0.21 [[ 9.79472915e-01 -2.01358558e-01 -9.35624846e-03 2.98176091e+01] [ 2.01350875e-01 9.79517589e-01 -1.76576119e-03 2.07543969e+00] [ 9.52016106e-03 -1.54373553e-04 9.99954670e-01 2.07324221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.797628 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:29.84, Y:2.08, Z:0.21 [[ 9.79724279e-01 -2.00131965e-01 -9.35591245e-03 2.98449368e+01] [ 2.00124209e-01 9.79768940e-01 -1.76753976e-03 2.08245429e+00] [ 9.52037363e-03 -1.40642967e-04 9.99954670e-01 2.05469372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.827628000000004 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:29.87, Y:2.09, Z:0.20 [[ 9.80540870e-01 -1.96092017e-01 -9.35544017e-03 2.98716104e+01] [ 1.96084053e-01 9.80585494e-01 -1.77003593e-03 2.09046382e+00] [ 9.52089884e-03 -9.88600502e-05 9.99954670e-01 2.04979639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.857628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.90, Y:2.10, Z:0.21 [[ 9.80964423e-01 -1.93962073e-01 -9.35494447e-03 2.98986202e+01] [ 1.93953987e-01 9.81009026e-01 -1.77265196e-03 2.09682435e+00] [ 9.52111220e-03 -7.55202766e-05 9.99954670e-01 2.06783593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.88762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.93, Y:2.10, Z:0.21 [[ 9.81304243e-01 -1.92235473e-01 -9.35444087e-03 2.99264614e+01] [ 1.92227284e-01 9.81348827e-01 -1.77530552e-03 2.10292822e+00] [ 9.52124627e-03 -5.60639219e-05 9.99954670e-01 2.05881703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.91762800000001 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:29.96, Y:2.11, Z:0.20 [[ 9.81570425e-01 -1.90871695e-01 -9.35393801e-03 2.99552109e+01] [ 1.90863418e-01 9.81614993e-01 -1.77795111e-03 2.10873157e+00] [ 9.52132633e-03 -4.01403510e-05 9.99954670e-01 2.03268333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.98, Y:2.11, Z:0.21 [[ 9.82360351e-01 -1.86763628e-01 -9.35349746e-03 2.99830224e+01] [ 1.86755143e-01 9.82404879e-01 -1.78026574e-03 2.11371379e+00] [ 9.52141043e-03 2.04872356e-06 9.99954670e-01 2.06545005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.977628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:30.01, Y:2.12, Z:0.20 [[ 9.82507431e-01 -1.85988360e-01 -9.35299375e-03 3.00105284e+01] [ 1.85979814e-01 9.82551948e-01 -1.78290815e-03 2.11914260e+00] [ 9.52140239e-03 1.22524670e-05 9.99954670e-01 2.04491206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.007628000000004 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:30.04, Y:2.12, Z:0.21 [[ 9.82571254e-01 -1.85650894e-01 -9.35283769e-03 3.00382426e+01] [ 1.85642326e-01 9.82615767e-01 -1.78372642e-03 2.12453522e+00] [ 9.52139619e-03 1.63557652e-05 9.99954670e-01 2.05240049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.037628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.07, Y:2.13, Z:0.21 [[ 9.82435239e-01 -1.86369352e-01 -9.35232945e-03 3.00654878e+01] [ 1.86360790e-01 9.82479753e-01 -1.78638725e-03 2.12988063e+00] [ 9.52140216e-03 1.21022780e-05 9.99954670e-01 2.09169499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.067628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.09, Y:2.13, Z:0.21 [[ 9.82136753e-01 -1.87935986e-01 -9.35217202e-03 3.00929018e+01] [ 1.87927488e-01 9.82181279e-01 -1.78721105e-03 2.13474201e+00] [ 9.52140955e-03 -2.24453167e-06 9.99954670e-01 2.09809903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.12, Y:2.14, Z:0.21 [[ 9.81674734e-01 -1.90334610e-01 -9.35167285e-03 3.01206677e+01] [ 1.90326196e-01 9.81719275e-01 -1.78981920e-03 2.13918434e+00] [ 9.52138203e-03 -2.28480339e-05 9.99954670e-01 2.10141315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.127628 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:30.15, Y:2.14, Z:0.21 [[ 9.80980140e-01 -1.93882731e-01 -9.35151825e-03 3.01486411e+01] [ 1.93874471e-01 9.81024711e-01 -1.79062656e-03 2.14312123e+00] [ 9.52124206e-03 -5.64515557e-05 9.99954670e-01 2.08314597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.18, Y:2.14, Z:0.21 [[ 9.79668825e-01 -2.00403473e-01 -9.35101149e-03 3.01755223e+01] [ 2.00395484e-01 9.79713445e-01 -1.79326907e-03 2.14428169e+00] [ 9.52068903e-03 -1.17090672e-04 9.99954670e-01 2.11820036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.187628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.20, Y:2.15, Z:0.21 [[ 9.78873327e-01 -2.04253702e-01 -9.35066694e-03 3.02023029e+01] [ 2.04245871e-01 9.78917975e-01 -1.79506387e-03 2.14752520e+00] [ 9.52018439e-03 -1.52694966e-04 9.99954670e-01 2.12474458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.217628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.23, Y:2.15, Z:0.21 [[ 9.78021469e-01 -2.08294443e-01 -9.35045125e-03 3.02306572e+01] [ 2.08286786e-01 9.78066147e-01 -1.79618669e-03 2.15121196e+00] [ 9.51949554e-03 -1.90866290e-04 9.99954670e-01 2.13472158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.247628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.26, Y:2.16, Z:0.21 [[ 9.77254500e-01 -2.11863684e-01 -9.34995128e-03 3.02580412e+01] [ 2.11856165e-01 9.77299202e-01 -1.79878553e-03 2.15513009e+00] [ 9.51879725e-03 -2.22973572e-04 9.99954670e-01 2.14284500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.27762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.29, Y:2.16, Z:0.21 [[ 9.75989308e-01 -2.17617691e-01 -9.34944014e-03 3.02858612e+01] [ 2.17610410e-01 9.76034049e-01 -1.80143833e-03 2.15904765e+00] [ 9.51739676e-03 -2.76350953e-04 9.99954670e-01 2.14669542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.31, Y:2.16, Z:0.21 [[ 9.75675161e-01 -2.19021767e-01 -9.35120510e-03 3.03125899e+01] [ 2.19014638e-01 9.75719927e-01 -1.79228463e-03 2.16315071e+00] [ 9.51670650e-03 -2.99363203e-04 9.99954670e-01 2.13138307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.34, Y:2.17, Z:0.21 [[ 9.75466384e-01 -2.19949842e-01 -9.34886813e-03 3.03418970e+01] [ 2.19942640e-01 9.75511137e-01 -1.80439287e-03 2.16607543e+00] [ 9.51680091e-03 -2.96090144e-04 9.99954670e-01 2.14120608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.37, Y:2.17, Z:0.21 [[ 9.75542430e-01 -2.19612325e-01 -9.34842364e-03 3.03695165e+01] [ 2.19605085e-01 9.75587178e-01 -1.80669280e-03 2.17063478e+00] [ 9.51697424e-03 -2.90455890e-04 9.99954670e-01 2.12520216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.397628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.40, Y:2.18, Z:0.21 [[ 9.75696381e-01 -2.18927342e-01 -9.34826633e-03 3.03984537e+01] [ 2.18920063e-01 9.75741123e-01 -1.80750640e-03 2.17589168e+00] [ 9.51720045e-03 -2.82945606e-04 9.99954670e-01 2.12559683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.427628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.43, Y:2.18, Z:0.21 [[ 9.75854071e-01 -2.18223395e-01 -9.34786105e-03 3.04267679e+01] [ 2.18216064e-01 9.75898804e-01 -1.80959996e-03 2.18107878e+00] [ 9.51746346e-03 -2.73947955e-04 9.99954670e-01 2.12673609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.45762800000001 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:30.45, Y:2.19, Z:0.21 [[ 9.75987814e-01 -2.17624477e-01 -9.34741458e-03 3.04546426e+01] [ 2.17617096e-01 9.76032539e-01 -1.81190324e-03 2.18632262e+00] [ 9.51769528e-03 -2.65761735e-04 9.99954670e-01 2.09394061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.48762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.48, Y:2.19, Z:0.21 [[ 9.76538818e-01 -2.15138486e-01 -9.34718780e-03 3.04830467e+01] [ 2.15130980e-01 9.76583521e-01 -1.81307238e-03 2.19154007e+00] [ 9.51837122e-03 -2.40334116e-04 9.99954670e-01 2.14172469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.51, Y:2.20, Z:0.22 [[ 9.76783623e-01 -2.14024278e-01 -9.34674652e-03 3.05114082e+01] [ 2.14016700e-01 9.76828315e-01 -1.81534443e-03 2.19692838e+00] [ 9.51869443e-03 -2.27161127e-04 9.99954670e-01 2.16277149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.54, Y:2.20, Z:0.22 [[ 9.77103238e-01 -2.12560367e-01 -9.34629924e-03 3.05391107e+01] [ 2.12552700e-01 9.77147914e-01 -1.81764435e-03 2.20219234e+00] [ 9.51907595e-03 -2.10554962e-04 9.99954670e-01 2.17698330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.577628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.57, Y:2.21, Z:0.22 [[ 9.77921907e-01 -2.08761571e-01 -9.34614105e-03 3.05677107e+01] [ 2.08753722e-01 9.77966552e-01 -1.81845735e-03 2.20699392e+00] [ 9.51983735e-03 -1.72732456e-04 9.99954670e-01 2.21350374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.607628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.60, Y:2.21, Z:0.22 [[ 9.78411782e-01 -2.06453490e-01 -9.34569669e-03 3.05950495e+01] [ 2.06445514e-01 9.78456404e-01 -1.82073823e-03 2.21257634e+00] [ 9.52025454e-03 -1.47945424e-04 9.99954670e-01 2.22148407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.63762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.62, Y:2.22, Z:0.22 [[ 9.78934092e-01 -2.03962522e-01 -9.34518569e-03 3.06220454e+01] [ 2.03954407e-01 9.78978690e-01 -1.82335724e-03 2.21858713e+00] [ 9.52063418e-03 -1.21045248e-04 9.99954670e-01 2.22451001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.65, Y:2.23, Z:0.22 [[ 9.80036066e-01 -1.98600065e-01 -9.34467383e-03 3.06486105e+01] [ 1.98591682e-01 9.80080614e-01 -1.82597674e-03 2.22623256e+00] [ 9.52117276e-03 -6.62514240e-05 9.99954670e-01 2.20220081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.68, Y:2.23, Z:0.22 [[ 9.80518266e-01 -1.96205532e-01 -9.34445210e-03 3.06758576e+01] [ 1.96197029e-01 9.80562791e-01 -1.82711073e-03 2.23221987e+00] [ 9.52131127e-03 -4.18382995e-05 9.99954670e-01 2.19882212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.70, Y:2.24, Z:0.22 [[ 9.80937961e-01 -1.94096389e-01 -9.34393222e-03 3.07025147e+01] [ 1.94087765e-01 9.80982462e-01 -1.82976556e-03 2.23784613e+00] [ 9.52138453e-03 -1.86564251e-05 9.99954670e-01 2.18954900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.757628000000004 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:30.73, Y:2.24, Z:0.22 [[ 9.81205754e-01 -1.92738077e-01 -9.34357852e-03 3.07306393e+01] [ 1.92729374e-01 9.81250240e-01 -1.83156994e-03 2.24333451e+00] [ 9.52140194e-03 -3.63507432e-06 9.99954670e-01 2.16204885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.787628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.76, Y:2.25, Z:0.22 [[ 9.81986995e-01 -1.88717378e-01 -9.34312099e-03 3.07588488e+01] [ 1.88708470e-01 9.82031440e-01 -1.83390089e-03 2.24755343e+00] [ 9.52132753e-03 3.77407495e-05 9.99954670e-01 2.19951042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.817628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.79, Y:2.25, Z:0.22 [[ 9.82179660e-01 -1.87712095e-01 -9.34259633e-03 3.07859227e+01] [ 1.87703117e-01 9.82224092e-01 -1.83656982e-03 2.25254462e+00] [ 9.52126957e-03 5.02070729e-05 9.99954670e-01 2.20118571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.81, Y:2.26, Z:0.22 [[ 9.82266184e-01 -1.87258817e-01 -9.34236849e-03 3.08134874e+01] [ 1.87249808e-01 9.82310609e-01 -1.83772810e-03 2.25799302e+00] [ 9.52123847e-03 5.57814647e-05 9.99954670e-01 2.20485674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.84, Y:2.26, Z:0.22 [[ 9.82425273e-01 -1.86422406e-01 -9.34184604e-03 3.08416190e+01] [ 1.86413334e-01 9.82469685e-01 -1.84038006e-03 2.26232153e+00] [ 9.52116862e-03 6.65912195e-05 9.99954670e-01 2.20956848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.87, Y:2.27, Z:0.22 [[ 9.82386266e-01 -1.86627878e-01 -9.34132226e-03 3.08692237e+01] [ 1.86618789e-01 9.82430675e-01 -1.84303481e-03 2.26696045e+00] [ 9.52116321e-03 6.73058380e-05 9.99954670e-01 2.20935961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.937628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.90, Y:2.27, Z:0.22 [[ 9.82316946e-01 -1.86992409e-01 -9.34116015e-03 3.08966227e+01] [ 1.86983329e-01 9.82361357e-01 -1.84385612e-03 2.27144685e+00] [ 9.52118185e-03 6.46098888e-05 9.99954670e-01 2.21694670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.967628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.92, Y:2.28, Z:0.22 [[ 9.82184430e-01 -1.87687233e-01 -9.34063988e-03 3.09248205e+01] [ 1.87678160e-01 9.82228842e-01 -1.84648794e-03 2.27626967e+00] [ 9.52120811e-03 6.05575981e-05 9.99954670e-01 2.21927787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.997628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.95, Y:2.28, Z:0.22 [[ 9.81903792e-01 -1.89149954e-01 -9.34011248e-03 3.09527345e+01] [ 1.89140922e-01 9.81948213e-01 -1.84915186e-03 2.27986749e+00] [ 9.52127374e-03 4.90917461e-05 9.99954670e-01 2.21309537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.02762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.98, Y:2.28, Z:0.22 [[ 9.81742186e-01 -1.89986977e-01 -9.33958679e-03 3.09797004e+01] [ 1.89977957e-01 9.81786610e-01 -1.85180318e-03 2.28412446e+00] [ 9.52129974e-03 4.36776899e-05 9.99954670e-01 2.21387029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.01, Y:2.29, Z:0.22 [[ 9.81577763e-01 -1.90834673e-01 -9.33936012e-03 3.10068375e+01] [ 1.90825681e-01 9.81622191e-01 -1.85294563e-03 2.28860663e+00] [ 9.52132942e-03 3.66204710e-05 9.99954670e-01 2.21135907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.03, Y:2.29, Z:0.22 [[ 9.81621276e-01 -1.90610734e-01 -9.33913542e-03 3.10348600e+01] [ 1.90601721e-01 9.81665700e-01 -1.85407747e-03 2.29405105e+00] [ 9.52131598e-03 3.99466072e-05 9.99954670e-01 2.23216920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.06, Y:2.30, Z:0.22 [[ 9.81635151e-01 -1.90539291e-01 -9.33861259e-03 3.10619434e+01] [ 1.90530249e-01 9.81679569e-01 -1.85670713e-03 2.29895340e+00] [ 9.52130085e-03 4.33207963e-05 9.99954670e-01 2.24493375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.147628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.09, Y:2.30, Z:0.22 [[ 9.81495267e-01 -1.91258554e-01 -9.33838621e-03 3.10894218e+01] [ 1.91249534e-01 9.81539690e-01 -1.85784501e-03 2.30477055e+00] [ 9.52132546e-03 3.75040650e-05 9.99954670e-01 2.24378505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.177628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.12, Y:2.31, Z:0.22 [[ 9.81442161e-01 -1.91530910e-01 -9.33787047e-03 3.11174633e+01] [ 1.91521878e-01 9.81486581e-01 -1.86043362e-03 2.31043965e+00] [ 9.52132511e-03 3.75014996e-05 9.99954670e-01 2.24649704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.15, Y:2.32, Z:0.22 [[ 9.81180917e-01 -1.92864778e-01 -9.33735351e-03 3.11450187e+01] [ 1.92855781e-01 9.81225345e-01 -1.86302460e-03 2.31675982e+00] [ 9.52135974e-03 2.72015802e-05 9.99954670e-01 2.24031326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.23762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.17, Y:2.32, Z:0.22 [[ 9.80566997e-01 -1.95962208e-01 -9.33683527e-03 3.11708748e+01] [ 1.95953327e-01 9.80611449e-01 -1.86561825e-03 2.32327390e+00] [ 9.52139823e-03 -2.20252751e-07 9.99954670e-01 2.23028979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.20, Y:2.33, Z:0.22 [[ 9.80009239e-01 -1.98732785e-01 -9.33661120e-03 3.11987586e+01] [ 1.98724020e-01 9.80053712e-01 -1.86673895e-03 2.32904420e+00] [ 9.52136269e-03 -2.59874922e-05 9.99954670e-01 2.23557744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.297628 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:31.23, Y:2.33, Z:0.22 [[ 9.79183505e-01 -2.02762176e-01 -9.33610613e-03 3.12260310e+01] [ 2.02753569e-01 9.79228010e-01 -1.86926151e-03 2.33454658e+00] [ 9.52119216e-03 -6.25787938e-05 9.99954670e-01 2.21871006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.327628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.25, Y:2.34, Z:0.23 [[ 9.78509251e-01 -2.05991485e-01 -9.33560387e-03 3.12547315e+01] [ 2.05983001e-01 9.78553780e-01 -1.87176660e-03 2.34064994e+00] [ 9.52095843e-03 -9.14347677e-05 9.99954670e-01 2.25547409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.357628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.28, Y:2.35, Z:0.23 [[ 9.76493094e-01 -2.15346448e-01 -9.33516772e-03 3.12821621e+01] [ 2.15338370e-01 9.76537698e-01 -1.87393929e-03 2.34655075e+00] [ 9.51968936e-03 -1.80331027e-04 9.99954670e-01 2.27506256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.38762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.31, Y:2.35, Z:0.23 [[ 9.75339301e-01 -2.20513276e-01 -9.33501313e-03 3.13094848e+01] [ 2.20505427e-01 9.75383946e-01 -1.87470906e-03 2.35260273e+00] [ 9.51862018e-03 -2.29943632e-04 9.99954670e-01 2.29599032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.34, Y:2.36, Z:0.23 [[ 9.74075233e-01 -2.26031651e-01 -9.33448163e-03 3.13356910e+01] [ 2.26024029e-01 9.74119917e-01 -1.87735177e-03 2.35906573e+00] [ 9.51724540e-03 -2.81135292e-04 9.99954670e-01 2.29505015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.36, Y:2.37, Z:0.23 [[ 9.71327432e-01 -2.37562395e-01 -9.33425123e-03 3.13625713e+01] [ 2.37555293e-01 9.71372202e-01 -1.87849664e-03 2.36707903e+00] [ 9.51329233e-03 -3.92765461e-04 9.99954670e-01 2.29471171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.39, Y:2.37, Z:0.23 [[ 9.70045341e-01 -2.42744554e-01 -9.33372365e-03 3.13903000e+01] [ 2.42737665e-01 9.70090144e-01 -1.88111436e-03 2.37376196e+00] [ 9.51118359e-03 -4.40880064e-04 9.99954670e-01 2.29807457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.507628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.42, Y:2.38, Z:0.23 [[ 9.68774511e-01 -2.47767709e-01 -9.33318975e-03 3.14169974e+01] [ 2.47761028e-01 9.68819346e-01 -1.88375963e-03 2.38026981e+00] [ 9.50890959e-03 -4.87462371e-04 9.99954670e-01 2.30180341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.537628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.44, Y:2.39, Z:0.23 [[ 9.67675695e-01 -2.52025087e-01 -9.33295903e-03 3.14446449e+01] [ 2.52018592e-01 9.67720557e-01 -1.88490203e-03 2.38718862e+00] [ 9.50673891e-03 -5.28105309e-04 9.99954670e-01 2.31170650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.567628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.47, Y:2.40, Z:0.23 [[ 9.66225890e-01 -2.57527544e-01 -9.33242173e-03 3.14709984e+01] [ 2.57521278e-01 9.66270784e-01 -1.88755852e-03 2.39572520e+00] [ 9.50374477e-03 -5.79489266e-04 9.99954670e-01 2.31056853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.50, Y:2.40, Z:0.23 [[ 9.65922433e-01 -2.58663423e-01 -9.33205687e-03 3.14986064e+01] [ 2.58657193e-01 9.65967332e-01 -1.88936067e-03 2.40308139e+00] [ 9.50317057e-03 -5.88827780e-04 9.99954670e-01 2.32541913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.53, Y:2.41, Z:0.23 [[ 9.65822615e-01 -2.59035902e-01 -9.33152463e-03 3.15256857e+01] [ 2.59029664e-01 9.65867513e-01 -1.89198574e-03 2.41061257e+00] [ 9.50310872e-03 -5.89819072e-04 9.99954670e-01 2.33308631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.55, Y:2.42, Z:0.23 [[ 9.66620013e-01 -2.56044301e-01 -9.33098438e-03 3.15517830e+01] [ 2.56037898e-01 9.66664888e-01 -1.89464640e-03 2.42018766e+00] [ 9.50504839e-03 -5.57682501e-04 9.99954670e-01 2.34043476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.687628000000004 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:31.58, Y:2.43, Z:0.23 [[ 9.67097307e-01 -2.54235594e-01 -9.33061726e-03 3.15791282e+01] [ 2.54229090e-01 9.67142168e-01 -1.89645268e-03 2.42822108e+00] [ 9.50617918e-03 -5.38060058e-04 9.99954670e-01 2.33292264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.717628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.61, Y:2.44, Z:0.23 [[ 9.67934946e-01 -2.51027667e-01 -9.33008204e-03 3.16056678e+01] [ 2.51020989e-01 9.67979781e-01 -1.89908217e-03 2.43578350e+00] [ 9.50805294e-03 -5.03858419e-04 9.99954671e-01 2.34598197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.747628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.63, Y:2.44, Z:0.24 [[ 9.68668274e-01 -2.48182853e-01 -9.32984979e-03 3.16329686e+01] [ 2.48176033e-01 9.68713088e-01 -1.90022252e-03 2.44392771e+00] [ 9.50955024e-03 -4.74759839e-04 9.99954671e-01 2.35258466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.77762800000001 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:31.66, Y:2.46, Z:0.23 [[ 9.69745707e-01 -2.43938982e-01 -9.32932019e-03 3.16591609e+01] [ 2.43931940e-01 9.69790487e-01 -1.90281907e-03 2.45625300e+00] [ 9.51165771e-03 -4.30468548e-04 9.99954671e-01 2.32288253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.80762800000001 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:31.69, Y:2.46, Z:0.23 [[ 9.70201039e-01 -2.42121700e-01 -9.32878987e-03 3.16856733e+01] [ 2.42114549e-01 9.70245801e-01 -1.90541547e-03 2.46452559e+00] [ 9.51256163e-03 -4.09999685e-04 9.99954671e-01 2.32735978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.71, Y:2.47, Z:0.24 [[ 9.70633549e-01 -2.40381983e-01 -9.32825475e-03 3.17116210e+01] [ 2.40374727e-01 9.70678294e-01 -1.90803166e-03 2.47144673e+00] [ 9.51339084e-03 -3.90277148e-04 9.99954671e-01 2.35309197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.74, Y:2.48, Z:0.24 [[ 9.70363012e-01 -2.41471766e-01 -9.32802312e-03 3.17381382e+01] [ 2.41464550e-01 9.70407763e-01 -1.90916337e-03 2.47982340e+00] [ 9.51299510e-03 -3.99805387e-04 9.99954671e-01 2.37262941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.897628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.76, Y:2.49, Z:0.24 [[ 9.70011364e-01 -2.42880532e-01 -9.32747831e-03 3.17640466e+01] [ 2.42873355e-01 9.70056121e-01 -1.91182140e-03 2.48657316e+00] [ 9.51252163e-03 -4.10907472e-04 9.99954671e-01 2.37782104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.927628000000006 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:31.79, Y:2.49, Z:0.24 [[ 9.69329171e-01 -2.45589007e-01 -9.32724210e-03 3.17908040e+01] [ 2.45581944e-01 9.69373947e-01 -1.91297312e-03 2.49438236e+00] [ 9.51139066e-03 -4.36301592e-04 9.99954671e-01 2.36348205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.82, Y:2.50, Z:0.24 [[ 9.68985132e-01 -2.46942964e-01 -9.32669574e-03 3.18173313e+01] [ 2.46935938e-01 9.69029913e-01 -1.91563322e-03 2.50159217e+00] [ 9.51089931e-03 -4.46876249e-04 9.99954671e-01 2.38488782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.98762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.84, Y:2.51, Z:0.24 [[ 9.68218661e-01 -2.49931273e-01 -9.32645905e-03 3.18435727e+01] [ 2.49924375e-01 9.68263463e-01 -1.91678485e-03 2.51115596e+00] [ 9.50953401e-03 -4.75042583e-04 9.99954671e-01 2.38802697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.87, Y:2.52, Z:0.24 [[ 9.67999721e-01 -2.50777923e-01 -9.32591604e-03 3.18707644e+01] [ 2.50771038e-01 9.68044525e-01 -1.91942317e-03 2.51884342e+00] [ 9.50925092e-03 -4.80668547e-04 9.99954671e-01 2.38743539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.90, Y:2.53, Z:0.24 [[ 9.67953730e-01 -2.50955402e-01 -9.32537508e-03 3.18978830e+01] [ 2.50948500e-01 9.67998531e-01 -1.92204781e-03 2.52663777e+00] [ 9.50929766e-03 -4.79735541e-04 9.99954671e-01 2.38807802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.077628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.92, Y:2.54, Z:0.24 [[ 9.68490115e-01 -2.48877370e-01 -9.32483072e-03 3.19232232e+01] [ 2.48870346e-01 9.68534897e-01 -1.92468517e-03 2.53591955e+00] [ 9.51043454e-03 -4.56635288e-04 9.99954671e-01 2.37844335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.107628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.95, Y:2.54, Z:0.24 [[ 9.69025484e-01 -2.46784655e-01 -9.32446139e-03 3.19503586e+01] [ 2.46777518e-01 9.69070248e-01 -1.92647277e-03 2.54392154e+00] [ 9.51148203e-03 -4.34266222e-04 9.99954671e-01 2.37228051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.13762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.98, Y:2.55, Z:0.24 [[ 9.69701199e-01 -2.44116057e-01 -9.32391990e-03 3.19773507e+01] [ 2.44108771e-01 9.69745939e-01 -1.92908997e-03 2.55193284e+00] [ 9.51275530e-03 -4.05409774e-04 9.99954671e-01 2.36786466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.00, Y:2.56, Z:0.24 [[ 9.70498346e-01 -2.40927447e-01 -9.32336516e-03 3.20036946e+01] [ 2.40919989e-01 9.70543058e-01 -1.93176735e-03 2.55975358e+00] [ 9.51414311e-03 -3.71408013e-04 9.99954671e-01 2.36111671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.03, Y:2.57, Z:0.24 [[ 9.72224770e-01 -2.33863371e-01 -9.32312464e-03 3.20302768e+01] [ 2.33855576e-01 9.72269424e-01 -1.93292746e-03 2.56911318e+00] [ 9.51662995e-03 -3.01024728e-04 9.99954671e-01 2.35285069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.06, Y:2.58, Z:0.24 [[ 9.72996075e-01 -2.30633303e-01 -9.32295423e-03 3.20566028e+01] [ 2.30625353e-01 9.73040702e-01 -1.93374903e-03 2.57625529e+00] [ 9.51760085e-03 -2.68579391e-04 9.99954671e-01 2.35720268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.257628000000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:32.08, Y:2.58, Z:0.23 [[ 9.73601840e-01 -2.28062589e-01 -9.32272035e-03 3.20824472e+01] [ 2.28054510e-01 9.73646443e-01 -1.93487590e-03 2.58349213e+00] [ 9.51830632e-03 -2.42289686e-04 9.99954671e-01 2.34405718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.287628000000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.11, Y:2.59, Z:0.24 [[ 9.75148345e-01 -2.21356723e-01 -9.32235613e-03 3.21095373e+01] [ 2.21348320e-01 9.75192889e-01 -1.93662915e-03 2.59096792e+00] [ 9.51978129e-03 -1.74987154e-04 9.99954671e-01 2.36916597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.317628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.14, Y:2.60, Z:0.24 [[ 9.75809564e-01 -2.18423428e-01 -9.32210906e-03 3.21362866e+01] [ 2.18414880e-01 9.75854080e-01 -1.93781773e-03 2.59758342e+00] [ 9.52028295e-03 -1.45146255e-04 9.99954671e-01 2.37729187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.16, Y:2.60, Z:0.24 [[ 9.76488623e-01 -2.15367296e-01 -9.32187405e-03 3.21635888e+01] [ 2.15358598e-01 9.76533110e-01 -1.93894759e-03 2.60393240e+00] [ 9.52070455e-03 -1.14185460e-04 9.99954671e-01 2.38354705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.19, Y:2.61, Z:0.24 [[ 9.77202114e-01 -2.12106437e-01 -9.32132028e-03 3.21897700e+01] [ 2.12097565e-01 9.77246567e-01 -1.94160616e-03 2.60995068e+00] [ 9.52105541e-03 -7.96876879e-05 9.99954671e-01 2.38336296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.22, Y:2.62, Z:0.24 [[ 9.78578261e-01 -2.05664056e-01 -9.32108006e-03 3.22170599e+01] [ 2.05654881e-01 9.78622652e-01 -1.94275868e-03 2.61686227e+00] [ 9.52137572e-03 -1.57842001e-05 9.99954671e-01 2.39437251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.437628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.24, Y:2.62, Z:0.24 [[ 9.79234900e-01 -2.02514541e-01 -9.32052610e-03 3.22442261e+01] [ 2.02505197e-01 9.79279256e-01 -1.94541274e-03 2.62241838e+00] [ 9.52137222e-03 1.75610723e-05 9.99954671e-01 2.39933444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.467628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.27, Y:2.63, Z:0.24 [[ 9.79761269e-01 -1.99952481e-01 -9.31997411e-03 3.22709257e+01] [ 1.99942996e-01 9.79805595e-01 -1.94805360e-03 2.62837367e+00] [ 9.52128092e-03 4.51639175e-05 9.99954671e-01 2.39958443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.497628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.30, Y:2.63, Z:0.24 [[ 9.80178253e-01 -1.97898293e-01 -9.31973436e-03 3.22982567e+01] [ 1.97888704e-01 9.80222557e-01 -1.94919988e-03 2.63436865e+00] [ 9.52115718e-03 6.62931765e-05 9.99954671e-01 2.39893832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.52762800000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:32.33, Y:2.64, Z:0.24 [[ 9.80514718e-01 -1.96224465e-01 -9.31918929e-03 3.23260259e+01] [ 1.96214776e-01 9.80559000e-01 -1.95180243e-03 2.63945370e+00] [ 9.52100631e-03 8.52083734e-05 9.99954671e-01 2.38016642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.35, Y:2.64, Z:0.24 [[ 9.80507095e-01 -1.96262579e-01 -9.31863295e-03 3.23534817e+01] [ 1.96252867e-01 9.80551372e-01 -1.95445499e-03 2.64382536e+00] [ 9.52098470e-03 8.75485576e-05 9.99954671e-01 2.39562076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.587628 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:32.38, Y:2.65, Z:0.24 [[ 9.80357892e-01 -1.97006540e-01 -9.31807627e-03 3.23810196e+01] [ 1.96996836e-01 9.80402171e-01 -1.95710542e-03 2.64821896e+00] [ 9.52102477e-03 8.30321993e-05 9.99954671e-01 2.36986360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.41, Y:2.65, Z:0.24 [[ 9.79802560e-01 -1.99750160e-01 -9.31752013e-03 3.24094505e+01] [ 1.99740555e-01 9.79846861e-01 -1.95974959e-03 2.65070678e+00] [ 9.52120314e-03 5.90810229e-05 9.99954671e-01 2.36238423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.647628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.44, Y:2.65, Z:0.23 [[ 9.79390472e-01 -2.01760975e-01 -9.31727129e-03 3.24372223e+01] [ 2.01751450e-01 9.79434790e-01 -1.96093190e-03 2.65442822e+00] [ 9.52129918e-03 4.07450289e-05 9.99954671e-01 2.34882598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.677628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.46, Y:2.66, Z:0.23 [[ 9.78878669e-01 -2.04229639e-01 -9.31701422e-03 3.24648024e+01] [ 2.04220214e-01 9.78923007e-01 -1.96215258e-03 2.65809359e+00] [ 9.52136929e-03 1.79866660e-05 9.99954671e-01 2.34480695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.70762800000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:32.49, Y:2.66, Z:0.23 [[ 9.78302132e-01 -2.06973772e-01 -9.31645445e-03 3.24929401e+01] [ 2.06964446e-01 9.78346492e-01 -1.96480681e-03 2.66167119e+00] [ 9.52138400e-03 -6.00014818e-06 9.99954671e-01 2.31771626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.73762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.52, Y:2.66, Z:0.23 [[ 9.77221451e-01 -2.12017556e-01 -9.31619595e-03 3.25210395e+01] [ 2.12008448e-01 9.77265856e-01 -1.96603175e-03 2.66165370e+00] [ 9.52123345e-03 -5.38638398e-05 9.99954671e-01 2.32990033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.55, Y:2.66, Z:0.23 [[ 9.76660302e-01 -2.14587670e-01 -9.31596063e-03 3.25494198e+01] [ 2.14578668e-01 9.76704728e-01 -1.96714615e-03 2.66412483e+00] [ 9.52106811e-03 -7.77728691e-05 9.99954671e-01 2.33931638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.58, Y:2.67, Z:0.24 [[ 9.75987656e-01 -2.17626558e-01 -9.31542913e-03 3.25773099e+01] [ 2.17617670e-01 9.76032105e-01 -1.96965989e-03 2.66670455e+00] [ 9.52080820e-03 -1.04838243e-04 9.99954671e-01 2.35918809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.827628000000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:32.61, Y:2.67, Z:0.24 [[ 9.75381445e-01 -2.20327640e-01 -9.31487994e-03 3.26056075e+01] [ 2.20318850e-01 9.75425914e-01 -1.97225369e-03 2.66920873e+00] [ 9.52051728e-03 -1.28543983e-04 9.99954671e-01 2.36201047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.857628000000005 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:32.64, Y:2.67, Z:0.24 [[ 9.74065339e-01 -2.26075117e-01 -9.31432546e-03 3.26350431e+01] [ 2.26066564e-01 9.74109854e-01 -1.97486883e-03 2.66906362e+00] [ 9.51964492e-03 -1.82006284e-04 9.99954671e-01 2.37041374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.88762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.66, Y:2.67, Z:0.24 [[ 9.73413188e-01 -2.28866814e-01 -9.31383969e-03 3.26630983e+01] [ 2.28858367e-01 9.73457723e-01 -1.97715717e-03 2.67192117e+00] [ 9.51913484e-03 -2.06959281e-04 9.99954671e-01 2.39615155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.91762800000001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:32.69, Y:2.68, Z:0.24 [[ 9.72718981e-01 -2.31799570e-01 -9.31366800e-03 3.26913224e+01] [ 2.31791249e-01 9.72763540e-01 -1.97796561e-03 2.67511766e+00] [ 9.51848823e-03 -2.34822050e-04 9.99954671e-01 2.39157745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.72, Y:2.67, Z:0.24 [[ 9.71497463e-01 -2.36866935e-01 -9.31310113e-03 3.27201735e+01] [ 2.36858821e-01 9.71542061e-01 -1.98063109e-03 2.67397202e+00] [ 9.51721548e-03 -2.81712076e-04 9.99954671e-01 2.42166706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.75, Y:2.68, Z:0.24 [[ 9.71062488e-01 -2.38643909e-01 -9.31283772e-03 3.27480871e+01] [ 2.38635866e-01 9.71107098e-01 -1.98186885e-03 2.67679185e+00] [ 9.51672374e-03 -2.97858592e-04 9.99954671e-01 2.42351321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.007628000000004 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:32.78, Y:2.68, Z:0.24 [[ 9.70728951e-01 -2.39997054e-01 -9.31227871e-03 3.27756670e+01] [ 2.39989047e-01 9.70773567e-01 -1.98449204e-03 2.68029091e+00] [ 9.51638626e-03 -3.08441024e-04 9.99954671e-01 2.40005679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.037628000000005 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:32.80, Y:2.68, Z:0.24 [[ 9.70593364e-01 -2.40544828e-01 -9.31172005e-03 3.28035944e+01] [ 2.40536822e-01 9.70637980e-01 -1.98710996e-03 2.68449462e+00] [ 9.51629816e-03 -3.11135810e-04 9.99954671e-01 2.39941006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.067628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.83, Y:2.69, Z:0.24 [[ 9.70828133e-01 -2.39595572e-01 -9.31116364e-03 3.28321736e+01] [ 2.39587497e-01 9.70872738e-01 -1.98971374e-03 2.68713145e+00] [ 9.51668153e-03 -2.99168314e-04 9.99954671e-01 2.40425979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.86, Y:2.69, Z:0.24 [[ 9.70759963e-01 -2.39871647e-01 -9.31059728e-03 3.28601334e+01] [ 2.39863560e-01 9.70804565e-01 -1.99236042e-03 2.69317822e+00] [ 9.51668112e-03 -2.99169282e-04 9.99954671e-01 2.40697170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.127628 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:32.89, Y:2.70, Z:0.24 [[ 9.70966099e-01 -2.39035892e-01 -9.31002996e-03 3.28871857e+01] [ 2.39027741e-01 9.71010689e-01 -1.99500789e-03 2.69732969e+00] [ 9.51701711e-03 -2.88270400e-04 9.99954671e-01 2.38617076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.157628 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:32.91, Y:2.70, Z:0.24 [[ 9.71259403e-01 -2.37841338e-01 -9.30964435e-03 3.29139885e+01] [ 2.37833115e-01 9.71303980e-01 -1.99680572e-03 2.70114817e+00] [ 9.51741756e-03 -2.74725384e-04 9.99954671e-01 2.38568577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.187628000000004 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:32.94, Y:2.70, Z:0.24 [[ 9.71869797e-01 -2.35334724e-01 -9.30940507e-03 3.29419132e+01] [ 2.35326375e-01 9.71914351e-01 -1.99792068e-03 2.70361536e+00] [ 9.51812450e-03 -2.49029780e-04 9.99954671e-01 2.39186442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.217628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.97, Y:2.71, Z:0.24 [[ 9.72217323e-01 -2.33894895e-01 -9.30884740e-03 3.29693448e+01] [ 2.33886455e-01 9.72261860e-01 -2.00051561e-03 2.70812386e+00] [ 9.51854768e-03 -2.32277387e-04 9.99954671e-01 2.41569433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.247628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.00, Y:2.71, Z:0.24 [[ 9.72521864e-01 -2.32625390e-01 -9.30867492e-03 3.29975078e+01] [ 2.32616884e-01 9.72566389e-01 -2.00131789e-03 2.71314303e+00] [ 9.51886170e-03 -2.19029541e-04 9.99954671e-01 2.42695542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.27762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.03, Y:2.72, Z:0.24 [[ 9.72836226e-01 -2.31307234e-01 -9.30811270e-03 3.30250389e+01] [ 2.31298643e-01 9.72880734e-01 -2.00392937e-03 2.71830418e+00] [ 9.51920687e-03 -2.03458755e-04 9.99954671e-01 2.43359161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.05, Y:2.72, Z:0.24 [[ 9.73446866e-01 -2.28723771e-01 -9.30784838e-03 3.30526247e+01] [ 2.28715050e-01 9.73491348e-01 -2.00515633e-03 2.72210437e+00] [ 9.51973678e-03 -1.76931858e-04 9.99954671e-01 2.44556032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.08, Y:2.73, Z:0.24 [[ 9.73744435e-01 -2.27453619e-01 -9.30728856e-03 3.30789413e+01] [ 2.27444816e-01 9.73788902e-01 -2.00775147e-03 2.72643974e+00] [ 9.52000464e-03 -1.61857711e-04 9.99954671e-01 2.44423301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.11, Y:2.73, Z:0.24 [[ 9.73994460e-01 -2.26380589e-01 -9.30704562e-03 3.31065140e+01] [ 2.26371725e-01 9.74038914e-01 -2.00887701e-03 2.73099498e+00] [ 9.52019537e-03 -1.50216895e-04 9.99954671e-01 2.44648379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.397628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.14, Y:2.73, Z:0.24 [[ 9.74573249e-01 -2.23875796e-01 -9.30650646e-03 3.31350376e+01] [ 2.23866794e-01 9.74617675e-01 -2.01137168e-03 2.73392176e+00] [ 9.52058312e-03 -1.23188733e-04 9.99954671e-01 2.44339487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.427628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.16, Y:2.74, Z:0.24 [[ 9.74771262e-01 -2.23012077e-01 -9.30596511e-03 3.31630762e+01] [ 2.23003013e-01 9.74815675e-01 -2.01387319e-03 2.73911248e+00] [ 9.52071871e-03 -1.12192541e-04 9.99954671e-01 2.43898143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.19, Y:2.74, Z:0.24 [[ 9.74971183e-01 -2.22136449e-01 -9.30541343e-03 3.31907943e+01] [ 2.22127320e-01 9.75015583e-01 -2.01641911e-03 2.74487688e+00] [ 9.52084328e-03 -1.01036025e-04 9.99954671e-01 2.42731623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.48762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.22, Y:2.75, Z:0.24 [[ 9.75305415e-01 -2.20664377e-01 -9.30486425e-03 3.32182699e+01] [ 2.20655156e-01 9.75349797e-01 -2.01895016e-03 2.75182534e+00] [ 9.52100783e-03 -8.40732521e-05 9.99954671e-01 2.41994291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.25, Y:2.76, Z:0.24 [[ 9.75705312e-01 -2.18889409e-01 -9.30430626e-03 3.32460939e+01] [ 2.18880083e-01 9.75749672e-01 -2.02151836e-03 2.75795200e+00] [ 9.52116274e-03 -6.41211260e-05 9.99954671e-01 2.41268349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.27, Y:2.76, Z:0.24 [[ 9.75852741e-01 -2.18231225e-01 -9.30374440e-03 3.32725845e+01] [ 2.18221845e-01 9.75897090e-01 -2.02410093e-03 2.76408750e+00] [ 9.52121911e-03 -5.50558270e-05 9.99954671e-01 2.42236428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.577628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.30, Y:2.77, Z:0.24 [[ 9.75261287e-01 -2.20859383e-01 -9.30350121e-03 3.33002894e+01] [ 2.20850112e-01 9.75305658e-01 -2.02521811e-03 2.76996866e+00] [ 9.52104579e-03 -7.95624631e-05 9.99954671e-01 2.43391996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.607628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.33, Y:2.78, Z:0.24 [[ 9.74531805e-01 -2.24056280e-01 -9.30292830e-03 3.33263968e+01] [ 2.24047129e-01 9.74576201e-01 -2.02784638e-03 2.77517344e+00] [ 9.52076424e-03 -1.08093586e-04 9.99954671e-01 2.43745341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.63762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.35, Y:2.78, Z:0.24 [[ 9.73795334e-01 -2.27235798e-01 -9.30268031e-03 3.33545795e+01] [ 2.27226781e-01 9.73839757e-01 -2.02898340e-03 2.78179914e+00] [ 9.52037760e-03 -1.38003542e-04 9.99954671e-01 2.44968552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.38, Y:2.79, Z:0.25 [[ 9.71939657e-01 -2.35046321e-01 -9.30218840e-03 3.33817068e+01] [ 2.35037640e-01 9.71984147e-01 -2.03123615e-03 2.78939522e+00] [ 9.51901424e-03 -2.12125439e-04 9.99954671e-01 2.46907761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.41, Y:2.80, Z:0.25 [[ 9.70926689e-01 -2.39196230e-01 -9.30201418e-03 3.34084688e+01] [ 2.39187731e-01 9.70971215e-01 -2.03203366e-03 2.79657805e+00] [ 9.51804280e-03 -2.51971957e-04 9.99954671e-01 2.47905802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.44, Y:2.80, Z:0.25 [[ 9.69786713e-01 -2.43776978e-01 -9.30144278e-03 3.34350925e+01] [ 2.43768665e-01 9.69831273e-01 -2.03464583e-03 2.80336138e+00] [ 9.51682991e-03 -2.94227803e-04 9.99954671e-01 2.48353710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.757628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.46, Y:2.81, Z:0.25 [[ 9.68583950e-01 -2.48512817e-01 -9.30119551e-03 3.34627027e+01] [ 2.48504710e-01 9.68628548e-01 -2.03577559e-03 2.80985164e+00] [ 9.51531983e-03 -3.39571326e-04 9.99954671e-01 2.48567744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.787628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.49, Y:2.82, Z:0.25 [[ 9.66677822e-01 -2.55827066e-01 -9.30062131e-03 3.34898682e+01] [ 2.55819272e-01 9.66722476e-01 -2.03839549e-03 2.81730280e+00] [ 9.51259640e-03 -4.08806457e-04 9.99954671e-01 2.48243802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.817628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.52, Y:2.82, Z:0.25 [[ 9.66075195e-01 -2.58093446e-01 -9.30004658e-03 3.35173144e+01] [ 2.58085732e-01 9.66119863e-01 -2.04101429e-03 2.82379255e+00] [ 9.51173214e-03 -4.28436046e-04 9.99954671e-01 2.47942053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.84762800000001 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:33.55, Y:2.83, Z:0.25 [[ 9.65504669e-01 -2.60219627e-01 -9.29947601e-03 3.35457622e+01] [ 2.60211985e-01 9.65549350e-01 -2.04361070e-03 2.83087575e+00] [ 9.51089062e-03 -4.46719438e-04 9.99954671e-01 2.45981085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.877628 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:33.57, Y:2.84, Z:0.24 [[ 9.65242399e-01 -2.61190811e-01 -9.29896972e-03 3.35741735e+01] [ 2.61183192e-01 9.65287084e-01 -2.04591184e-03 2.83857147e+00] [ 9.51054874e-03 -4.53933742e-04 9.99954671e-01 2.44982752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.60, Y:2.85, Z:0.25 [[ 9.65529987e-01 -2.60125698e-01 -9.29869122e-03 3.36011396e+01] [ 2.60118018e-01 9.65574661e-01 -2.04717683e-03 2.84758097e+00] [ 9.51110393e-03 -4.42146512e-04 9.99954671e-01 2.45687419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.937628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.63, Y:2.85, Z:0.25 [[ 9.65899721e-01 -2.58749430e-01 -9.29851243e-03 3.36281260e+01] [ 2.58741679e-01 9.65944382e-01 -2.04798860e-03 2.85485675e+00] [ 9.51176173e-03 -4.27761105e-04 9.99954671e-01 2.45791695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.967628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.66, Y:2.86, Z:0.24 [[ 9.66552357e-01 -2.56300780e-01 -9.29793655e-03 3.36550441e+01] [ 2.56292891e-01 9.66596994e-01 -2.05059978e-03 2.86242975e+00] [ 9.51292785e-03 -4.00982992e-04 9.99954671e-01 2.44335041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.997628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.68, Y:2.87, Z:0.24 [[ 9.68291089e-01 -2.49651595e-01 -9.29775818e-03 3.36828544e+01] [ 2.49643391e-01 9.68335670e-01 -2.05140824e-03 2.87179742e+00] [ 9.51548823e-03 -3.34763560e-04 9.99954671e-01 2.44427541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.02762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.71, Y:2.88, Z:0.25 [[ 9.69337858e-01 -2.45555853e-01 -9.29728124e-03 3.37102795e+01] [ 2.45547440e-01 9.69382400e-01 -2.05356755e-03 2.87894339e+00] [ 9.51688633e-03 -2.92322841e-04 9.99954671e-01 2.45670804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.74, Y:2.89, Z:0.25 [[ 9.70473759e-01 -2.41027496e-01 -9.29671336e-03 3.37362267e+01] [ 2.41018850e-01 9.70518256e-01 -2.05613518e-03 2.88529319e+00] [ 9.51821515e-03 -2.45257930e-04 9.99954671e-01 2.45683521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.76, Y:2.89, Z:0.25 [[ 9.71556525e-01 -2.36625220e-01 -9.29646717e-03 3.37639526e+01] [ 2.36616362e-01 9.71600980e-01 -2.05724769e-03 2.89192744e+00] [ 9.51925330e-03 -2.00963819e-04 9.99954671e-01 2.47865921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.79, Y:2.90, Z:0.25 [[ 9.73761436e-01 -2.27381290e-01 -9.29597556e-03 3.37907538e+01] [ 2.27371989e-01 9.73805801e-01 -2.05946669e-03 2.89984187e+00] [ 9.52075912e-03 -1.08215214e-04 9.99954671e-01 2.50482842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.147628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.82, Y:2.91, Z:0.25 [[ 9.74762587e-01 -2.23050414e-01 -9.29580135e-03 3.38186566e+01] [ 2.23040908e-01 9.74806908e-01 -2.06025273e-03 2.90773409e+00] [ 9.52115160e-03 -6.50866923e-05 9.99954671e-01 2.51854661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.177628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.85, Y:2.92, Z:0.25 [[ 9.75684806e-01 -2.18981177e-01 -9.29531857e-03 3.38462813e+01] [ 2.18971466e-01 9.75729083e-01 -2.06242859e-03 2.91535822e+00] [ 9.52134571e-03 -2.31293014e-05 9.99954671e-01 2.53085646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.87, Y:2.92, Z:0.26 [[ 9.77337330e-01 -2.11483686e-01 -9.29483477e-03 3.38730131e+01] [ 2.11473615e-01 9.77381526e-01 -2.06460665e-03 2.92261491e+00] [ 9.52123042e-03 5.22048431e-05 9.99954671e-01 2.55519486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.23762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.90, Y:2.93, Z:0.26 [[ 9.77888168e-01 -2.08921852e-01 -9.29466323e-03 3.39000740e+01] [ 2.08911657e-01 9.77932336e-01 -2.06537863e-03 2.92874761e+00] [ 9.52105445e-03 7.79458247e-05 9.99954671e-01 2.56296646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.267628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:33.93, Y:2.93, Z:0.25 [[ 9.78266845e-01 -2.07141498e-01 -9.29409271e-03 3.39265984e+01] [ 2.07131198e-01 9.78310989e-01 -2.06794277e-03 2.93431169e+00] [ 9.52086979e-03 9.79032902e-05 9.99954671e-01 2.54897540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.95, Y:2.94, Z:0.26 [[ 9.78509239e-01 -2.05993431e-01 -9.29384552e-03 3.39540246e+01] [ 2.05983069e-01 9.78553368e-01 -2.06905308e-03 2.93970383e+00] [ 9.52073518e-03 1.10212726e-04 9.99954671e-01 2.56876695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.327628000000004 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:33.98, Y:2.94, Z:0.25 [[ 9.78484505e-01 -2.06110915e-01 -9.29327521e-03 3.39812351e+01] [ 2.06100534e-01 9.78528629e-01 -2.07161149e-03 2.94435823e+00] [ 9.52071760e-03 1.11690758e-04 9.99954671e-01 2.53035308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.357628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.01, Y:2.95, Z:0.25 [[ 9.78437406e-01 -2.06334399e-01 -9.29288758e-03 3.40085218e+01] [ 2.06324012e-01 9.78481529e-01 -2.07334889e-03 2.95000140e+00] [ 9.52072205e-03 1.11296259e-04 9.99954671e-01 2.54414751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.38762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.04, Y:2.96, Z:0.25 [[ 9.78174295e-01 -2.07578183e-01 -9.29231458e-03 3.40361427e+01] [ 2.07567828e-01 9.78218425e-01 -2.07591378e-03 2.95545665e+00] [ 9.52082775e-03 1.01819942e-04 9.99954671e-01 2.52686092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.06, Y:2.96, Z:0.25 [[ 9.77508060e-01 -2.10693277e-01 -9.29174294e-03 3.40637659e+01] [ 2.10683038e-01 9.77552217e-01 -2.07846931e-03 2.95784478e+00] [ 9.52108342e-03 7.41078745e-05 9.99954671e-01 2.49460910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.09, Y:2.96, Z:0.25 [[ 9.77025752e-01 -2.12918642e-01 -9.29147869e-03 3.40913539e+01] [ 2.12908492e-01 9.77069930e-01 -2.07964990e-03 2.96120656e+00] [ 9.52122067e-03 5.36367866e-05 9.99954671e-01 2.48431172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.12, Y:2.96, Z:0.25 [[ 9.76458661e-01 -2.15504438e-01 -9.29091801e-03 3.41190170e+01] [ 2.15494381e-01 9.76502860e-01 -2.08215176e-03 2.96413524e+00] [ 9.52132096e-03 3.09944861e-05 9.99954671e-01 2.48031929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.507628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.15, Y:2.96, Z:0.25 [[ 9.75356316e-01 -2.20439893e-01 -9.29035719e-03 3.41480749e+01] [ 2.20430036e-01 9.75400560e-01 -2.08465111e-03 2.96358590e+00] [ 9.52135987e-03 -1.45961506e-05 9.99954671e-01 2.46926211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.537628000000005 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:34.18, Y:2.97, Z:0.24 [[ 9.74626077e-01 -2.23646378e-01 -9.29018391e-03 3.41769048e+01] [ 2.23636660e-01 9.74670352e-01 -2.08542302e-03 2.96735255e+00] [ 9.52126413e-03 -4.51180461e-05 9.99954671e-01 2.44734581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.567628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.21, Y:2.97, Z:0.25 [[ 9.75105776e-01 -2.21545540e-01 -9.28970192e-03 3.42053347e+01] [ 2.21535705e-01 9.75150026e-01 -2.08756787e-03 2.97395637e+00] [ 9.52134442e-03 -2.24011756e-05 9.99954671e-01 2.48732041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.59762800000001 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:34.23, Y:2.98, Z:0.25 [[ 9.75224758e-01 -2.21021227e-01 -9.28922186e-03 3.42326878e+01] [ 2.21011348e-01 9.75268997e-01 -2.08970187e-03 2.98068478e+00] [ 9.52135856e-03 -1.50944500e-05 9.99954671e-01 2.47517127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.62762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.26, Y:2.98, Z:0.25 [[ 9.75695187e-01 -2.18935201e-01 -9.28867436e-03 3.42607951e+01] [ 2.18925205e-01 9.75739401e-01 -2.09213264e-03 2.98471619e+00] [ 9.52136703e-03 7.75881403e-06 9.99954671e-01 2.51615287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.29, Y:2.99, Z:0.25 [[ 9.75708390e-01 -2.18876359e-01 -9.28850443e-03 3.42882483e+01] [ 2.18866353e-01 9.75752602e-01 -2.09288681e-03 2.99064738e+00] [ 9.52136581e-03 9.10613338e-06 9.99954671e-01 2.53044726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.687628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.32, Y:3.00, Z:0.25 [[ 9.75721460e-01 -2.18818110e-01 -9.28796184e-03 3.43158087e+01] [ 2.18808079e-01 9.75765666e-01 -2.09529201e-03 2.99701918e+00] [ 9.52136211e-03 1.21402941e-05 9.99954671e-01 2.54448455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.717628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.34, Y:3.00, Z:0.26 [[ 9.75520179e-01 -2.19713731e-01 -9.28741966e-03 3.43424525e+01] [ 2.19703717e-01 9.75564389e-01 -2.09769246e-03 3.00342921e+00] [ 9.52136772e-03 5.86070992e-06 9.99954671e-01 2.56248084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.747628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.37, Y:3.01, Z:0.26 [[ 9.75328470e-01 -2.20563195e-01 -9.28725170e-03 3.43695541e+01] [ 2.20553212e-01 9.75372686e-01 -2.09843582e-03 3.01025762e+00] [ 9.52136935e-03 -1.66900264e-06 9.99954671e-01 2.56830526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.77762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.40, Y:3.02, Z:0.26 [[ 9.75131855e-01 -2.21430853e-01 -9.28672117e-03 3.43971601e+01] [ 2.21420887e-01 9.75176075e-01 -2.10078110e-03 3.01747278e+00] [ 9.52136605e-03 -7.73547243e-06 9.99954671e-01 2.56844961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.42, Y:3.02, Z:0.26 [[ 9.74647156e-01 -2.23554663e-01 -9.28619335e-03 3.44227918e+01] [ 2.23544772e-01 9.74691393e-01 -2.10311168e-03 3.02498072e+00] [ 9.52133315e-03 -2.60881533e-05 9.99954671e-01 2.55005379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.45, Y:3.03, Z:0.25 [[ 9.74309341e-01 -2.25022398e-01 -9.28596464e-03 3.44503282e+01] [ 2.25012563e-01 9.74353590e-01 -2.10412103e-03 3.03157793e+00] [ 9.52128734e-03 -3.93939332e-05 9.99954671e-01 2.53972147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.48, Y:3.04, Z:0.25 [[ 9.73926971e-01 -2.26671649e-01 -9.28544609e-03 3.44780391e+01] [ 2.26661868e-01 9.73971232e-01 -2.10640687e-03 3.03820922e+00] [ 9.52122009e-03 -5.31700988e-05 9.99954671e-01 2.54913490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.897628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.51, Y:3.05, Z:0.26 [[ 9.73588576e-01 -2.28120745e-01 -9.28492115e-03 3.45054029e+01] [ 2.28111008e-01 9.73632847e-01 -2.10871825e-03 3.04516381e+00] [ 9.52114660e-03 -6.49687201e-05 9.99954671e-01 2.55579743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.927628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.53, Y:3.05, Z:0.25 [[ 9.72957662e-01 -2.30796858e-01 -9.28434747e-03 3.45324628e+01] [ 2.30787218e-01 9.73001954e-01 -2.11124104e-03 3.05253967e+00] [ 9.52095603e-03 -8.85605744e-05 9.99954671e-01 2.54072868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.95762800000001 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:34.56, Y:3.06, Z:0.25 [[ 9.72378745e-01 -2.33223887e-01 -9.28417041e-03 3.45599481e+01] [ 2.33214350e-01 9.72423059e-01 -2.11201937e-03 3.05922962e+00] [ 9.52071476e-03 -1.11519028e-04 9.99954671e-01 2.53404016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.98762800000001 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:34.59, Y:3.07, Z:0.25 [[ 9.72313315e-01 -2.33496535e-01 -9.28357750e-03 3.45878266e+01] [ 2.33486986e-01 9.72357627e-01 -2.11462239e-03 3.06565395e+00] [ 9.52071439e-03 -1.11519024e-04 9.99954671e-01 2.53675213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.62, Y:3.07, Z:0.25 [[ 9.72104288e-01 -2.34365270e-01 -9.28298385e-03 3.46154154e+01] [ 2.34355736e-01 9.72148603e-01 -2.11722524e-03 3.07195729e+00] [ 9.52064385e-03 -1.17356778e-04 9.99954671e-01 2.54636013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.64, Y:3.08, Z:0.26 [[ 9.71725828e-01 -2.35929534e-01 -9.28280009e-03 3.46423233e+01] [ 2.35920063e-01 9.71770157e-01 -2.11803059e-03 3.07897919e+00] [ 9.52045407e-03 -1.31853753e-04 9.99954671e-01 2.55134253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.077628000000004 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:34.67, Y:3.09, Z:0.25 [[ 9.70936962e-01 -2.39155296e-01 -9.28229289e-03 3.46677802e+01] [ 2.39145951e-01 9.70981317e-01 -2.12025110e-03 3.08735507e+00] [ 9.52000225e-03 -1.61192601e-04 9.99954671e-01 2.52410840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.107628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.70, Y:3.09, Z:0.26 [[ 9.70751953e-01 -2.39905165e-01 -9.28207278e-03 3.46952666e+01] [ 2.39895845e-01 9.70796314e-01 -2.12121424e-03 3.09405833e+00] [ 9.51989230e-03 -1.67557834e-04 9.99954671e-01 2.56878518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.13762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.72, Y:3.10, Z:0.26 [[ 9.70446913e-01 -2.41136150e-01 -9.28146905e-03 3.47216433e+01] [ 2.41126862e-01 9.70491281e-01 -2.12385263e-03 3.10038269e+00] [ 9.51972243e-03 -1.76925268e-04 9.99954671e-01 2.56999193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.75, Y:3.11, Z:0.26 [[ 9.69984920e-01 -2.42987896e-01 -9.28105855e-03 3.47493884e+01] [ 2.42978675e-01 9.70029301e-01 -2.12564494e-03 3.10695407e+00] [ 9.51940473e-03 -1.93255778e-04 9.99954671e-01 2.58151440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.78, Y:3.11, Z:0.26 [[ 9.69865759e-01 -2.43463104e-01 -9.28045319e-03 3.47762046e+01] [ 2.43453880e-01 9.69910140e-01 -2.12828466e-03 3.11309003e+00] [ 9.51936444e-03 -1.95211916e-04 9.99954671e-01 2.58396594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.80, Y:3.12, Z:0.26 [[ 9.69833044e-01 -2.43593401e-01 -9.28019082e-03 3.48035612e+01] [ 2.43584172e-01 9.69877424e-01 -2.12942808e-03 3.11945083e+00] [ 9.51936219e-03 -1.95317875e-04 9.99954671e-01 2.59377008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.257628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.83, Y:3.13, Z:0.26 [[ 9.70302096e-01 -2.41718289e-01 -9.27959491e-03 3.48295953e+01] [ 2.41708949e-01 9.70346453e-01 -2.13202177e-03 3.12734464e+00] [ 9.51977066e-03 -1.74255939e-04 9.99954671e-01 2.59078073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.287628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.86, Y:3.13, Z:0.26 [[ 9.70754729e-01 -2.39894040e-01 -9.27933670e-03 3.48571930e+01] [ 2.39884606e-01 9.70799065e-01 -2.13314499e-03 3.13450389e+00] [ 9.52010017e-03 -1.55209448e-04 9.99954671e-01 2.59667693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.317628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.88, Y:3.14, Z:0.26 [[ 9.71370275e-01 -2.37389329e-01 -9.27874070e-03 3.48848046e+01] [ 2.37379756e-01 9.71414582e-01 -2.13573434e-03 3.14171457e+00] [ 9.52050456e-03 -1.27996343e-04 9.99954671e-01 2.60021735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.91, Y:3.15, Z:0.26 [[ 9.72736551e-01 -2.31727251e-01 -9.27814735e-03 3.49122074e+01] [ 2.31717396e-01 9.72780795e-01 -2.13830890e-03 3.14972437e+00] [ 9.52110800e-03 -6.98969213e-05 9.99954671e-01 2.60044960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.37762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.94, Y:3.16, Z:0.26 [[ 9.73345575e-01 -2.29155666e-01 -9.27754670e-03 3.49394923e+01] [ 2.29145668e-01 9.73389788e-01 -2.14091179e-03 3.15684714e+00] [ 9.52127128e-03 -4.20626190e-05 9.99954671e-01 2.60050280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.97, Y:3.16, Z:0.26 [[ 9.73910592e-01 -2.26742359e-01 -9.27694162e-03 3.49668300e+01] [ 2.26732228e-01 9.73954774e-01 -2.14353048e-03 3.16350072e+00] [ 9.52135074e-03 -1.57746005e-05 9.99954671e-01 2.60183461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.437628000000004 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:34.99, Y:3.17, Z:0.26 [[ 9.74488018e-01 -2.24247747e-01 -9.27633825e-03 3.49943547e+01] [ 2.24237477e-01 9.74532169e-01 -2.14613845e-03 3.17054316e+00] [ 9.52135675e-03 1.12835217e-05 9.99954671e-01 2.58053071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.467628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.02, Y:3.18, Z:0.26 [[ 9.74691430e-01 -2.23361987e-01 -9.27572424e-03 3.50208691e+01] [ 2.23351652e-01 9.74735565e-01 -2.14878895e-03 3.17626848e+00] [ 9.52133608e-03 2.26578361e-05 9.99954671e-01 2.60174541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.497628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.05, Y:3.18, Z:0.26 [[ 9.74600124e-01 -2.23760058e-01 -9.27545924e-03 3.50484865e+01] [ 2.23749730e-01 9.74644261e-01 -2.14993226e-03 3.18205513e+00] [ 9.52134209e-03 1.99427503e-05 9.99954671e-01 2.60087795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.52762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.08, Y:3.19, Z:0.26 [[ 9.74329462e-01 -2.24935716e-01 -9.27485325e-03 3.50763147e+01] [ 2.24925417e-01 9.74373606e-01 -2.15254332e-03 3.18733056e+00] [ 9.52135608e-03 1.11361461e-05 9.99954671e-01 2.60212962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.10, Y:3.19, Z:0.26 [[ 9.73599660e-01 -2.28073868e-01 -9.27424963e-03 3.51044619e+01] [ 2.28063686e-01 9.73643831e-01 -2.15514089e-03 3.19114153e+00] [ 9.52134727e-03 -1.68751252e-05 9.99954671e-01 2.60001789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.587628 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:35.13, Y:3.20, Z:0.26 [[ 9.73078126e-01 -2.30288861e-01 -9.27363987e-03 3.51309133e+01] [ 2.30278755e-01 9.73122315e-01 -2.15776153e-03 3.19591088e+00] [ 9.52129434e-03 -3.58516962e-05 9.99954671e-01 2.59505675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.16, Y:3.20, Z:0.26 [[ 9.72634234e-01 -2.32156522e-01 -9.27337540e-03 3.51589313e+01] [ 2.32146490e-01 9.72678439e-01 -2.15889753e-03 3.20134596e+00] [ 9.52121446e-03 -5.29639016e-05 9.99954671e-01 2.60502677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.647628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.19, Y:3.21, Z:0.26 [[ 9.72443926e-01 -2.32952411e-01 -9.27276919e-03 3.51857408e+01] [ 2.32942390e-01 9.72488134e-01 -2.16149816e-03 3.20842355e+00] [ 9.52118422e-03 -5.80852630e-05 9.99954671e-01 2.60956801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.677628000000006 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:35.21, Y:3.22, Z:0.26 [[ 9.72104209e-01 -2.34366010e-01 -9.27258152e-03 3.52133149e+01] [ 2.34356045e-01 9.72148429e-01 -2.16230295e-03 3.21524148e+00] [ 9.52109588e-03 -7.11017348e-05 9.99954671e-01 2.58780014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.24, Y:3.22, Z:0.26 [[ 9.71899063e-01 -2.35215309e-01 -9.27197789e-03 3.52406954e+01] [ 2.35205359e-01 9.71943287e-01 -2.16488824e-03 3.22119144e+00] [ 9.52105152e-03 -7.67660337e-05 9.99954671e-01 2.61193964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.73762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.27, Y:3.23, Z:0.26 [[ 9.71349951e-01 -2.37472767e-01 -9.27137339e-03 3.52683589e+01] [ 2.37462895e-01 9.71394192e-01 -2.16747399e-03 3.22659133e+00] [ 9.52087431e-03 -9.62314152e-05 9.99954671e-01 2.61794586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.767628 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:35.30, Y:3.23, Z:0.26 [[ 9.71077842e-01 -2.38583061e-01 -9.27076477e-03 3.52954930e+01] [ 2.38573214e-01 9.71122089e-01 -2.17007405e-03 3.23316990e+00] [ 9.52078737e-03 -1.04445321e-04 9.99954671e-01 2.60012538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.32, Y:3.24, Z:0.26 [[ 9.71199504e-01 -2.38087351e-01 -9.27015868e-03 3.53224739e+01] [ 2.38077458e-01 9.71243741e-01 -2.17266009e-03 3.23996702e+00] [ 9.52086648e-03 -9.69294037e-05 9.99954671e-01 2.63350429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.827628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.35, Y:3.25, Z:0.26 [[ 9.71112418e-01 -2.38442320e-01 -9.26997094e-03 3.53494999e+01] [ 2.38432435e-01 9.71156656e-01 -2.17346082e-03 3.24749820e+00] [ 9.52083902e-03 -9.95869515e-05 9.99954671e-01 2.63851137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.857628000000005 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:35.38, Y:3.26, Z:0.26 [[ 9.70679453e-01 -2.40198829e-01 -9.26936581e-03 3.53765475e+01] [ 2.40189000e-01 9.70723704e-01 -2.17603852e-03 3.25608476e+00] [ 9.52067502e-03 -1.14163822e-04 9.99954671e-01 2.60417283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.88762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.40, Y:3.26, Z:0.26 [[ 9.70468582e-01 -2.41049416e-01 -9.26875673e-03 3.54027422e+01] [ 2.41039600e-01 9.70512836e-01 -2.17862981e-03 3.26244074e+00] [ 9.52060482e-03 -1.19845634e-04 9.99954671e-01 2.62226091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.43, Y:3.27, Z:0.26 [[ 9.70044649e-01 -2.42749820e-01 -9.26849266e-03 3.54292625e+01] [ 2.42740071e-01 9.70088917e-01 -2.17975263e-03 3.26887610e+00] [ 9.52039656e-03 -1.35377193e-04 9.99954671e-01 2.62160989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.46, Y:3.28, Z:0.26 [[ 9.69511253e-01 -2.44871457e-01 -9.26823191e-03 3.54568957e+01] [ 2.44861795e-01 9.69555540e-01 -2.18086076e-03 3.27538314e+00] [ 9.52009615e-03 -1.55066848e-04 9.99954671e-01 2.63480888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.48, Y:3.28, Z:0.26 [[ 9.68211088e-01 -2.49962799e-01 -9.26761917e-03 3.54844798e+01] [ 2.49953344e-01 9.68255420e-01 -2.18346151e-03 3.28270752e+00] [ 9.51920664e-03 -2.02420755e-04 9.99954671e-01 2.64664789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.007628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.51, Y:3.29, Z:0.27 [[ 9.67478325e-01 -2.52784124e-01 -9.26700816e-03 3.55113602e+01] [ 2.52774774e-01 9.67522679e-01 -2.18605168e-03 3.28985391e+00] [ 9.51863972e-03 -2.27508272e-04 9.99954671e-01 2.65232225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.037628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.54, Y:3.30, Z:0.27 [[ 9.66487244e-01 -2.56547346e-01 -9.26639791e-03 3.55388173e+01] [ 2.56538144e-01 9.66531629e-01 -2.18863541e-03 3.29789824e+00] [ 9.51775528e-03 -2.61896309e-04 9.99954671e-01 2.66066327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.067628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.57, Y:3.31, Z:0.27 [[ 9.66148113e-01 -2.57821585e-01 -9.26579047e-03 3.55661827e+01] [ 2.57812416e-01 9.66192505e-01 -2.19120404e-03 3.30506097e+00] [ 9.51747700e-03 -2.71808181e-04 9.99954671e-01 2.66642664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.59, Y:3.31, Z:0.27 [[ 9.65967625e-01 -2.58497010e-01 -9.26517021e-03 3.55924017e+01] [ 2.58487848e-01 9.66012018e-01 -2.19382358e-03 3.31163245e+00] [ 9.51736261e-03 -2.75771350e-04 9.99954671e-01 2.66563389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.12762800000001 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:35.62, Y:3.32, Z:0.26 [[ 9.65744100e-01 -2.59330860e-01 -9.26490135e-03 3.56201224e+01] [ 2.59321725e-01 9.65788499e-01 -2.19495844e-03 3.31839016e+00] [ 9.51715563e-03 -2.82822041e-04 9.99954671e-01 2.64318538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.65, Y:3.33, Z:0.27 [[ 9.65619087e-01 -2.59795981e-01 -9.26428435e-03 3.56468936e+01] [ 2.59786843e-01 9.65663485e-01 -2.19755953e-03 3.32602674e+00] [ 9.51709825e-03 -2.84733759e-04 9.99954671e-01 2.66122737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.187628000000004 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:35.67, Y:3.33, Z:0.26 [[ 9.65463186e-01 -2.60374769e-01 -9.26366791e-03 3.56736175e+01] [ 2.60365633e-01 9.65507585e-01 -2.20015505e-03 3.33355912e+00] [ 9.51700649e-03 -2.87772047e-04 9.99954671e-01 2.63326022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.217628000000005 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:35.70, Y:3.34, Z:0.26 [[ 9.65494488e-01 -2.60258697e-01 -9.26305469e-03 3.57009802e+01] [ 2.60249531e-01 9.65538881e-01 -2.20273379e-03 3.34106599e+00] [ 9.51712008e-03 -2.83978301e-04 9.99954671e-01 2.64096403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.247628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.73, Y:3.35, Z:0.27 [[ 9.65643906e-01 -2.59703767e-01 -9.26286103e-03 3.57283611e+01] [ 2.59694567e-01 9.65688292e-01 -2.20354787e-03 3.34800086e+00] [ 9.51730612e-03 -2.77672106e-04 9.99954671e-01 2.66856387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.27762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.75, Y:3.35, Z:0.27 [[ 9.66109664e-01 -2.57965736e-01 -9.26266876e-03 3.57547629e+01] [ 2.57956448e-01 9.66154031e-01 -2.20435576e-03 3.35482070e+00] [ 9.51781302e-03 -2.59715729e-04 9.99954671e-01 2.68219877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.78, Y:3.36, Z:0.27 [[ 9.66486813e-01 -2.56549114e-01 -9.26240722e-03 3.57816568e+01] [ 2.56539751e-01 9.66531165e-01 -2.20545416e-03 3.36210660e+00] [ 9.51821255e-03 -2.44633282e-04 9.99954671e-01 2.68659007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.337628 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:35.81, Y:3.37, Z:0.27 [[ 9.67491983e-01 -2.52732036e-01 -9.26178857e-03 3.58089786e+01] [ 2.52722473e-01 9.67536292e-01 -2.20804916e-03 3.37079268e+00] [ 9.51916133e-03 -2.04392247e-04 9.99954671e-01 2.66990609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.367628 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:35.84, Y:3.38, Z:0.27 [[ 9.68077029e-01 -2.50481731e-01 -9.26115820e-03 3.58353575e+01] [ 2.50472040e-01 9.68121310e-01 -2.21068991e-03 3.37819379e+00] [ 9.51966204e-03 -1.79543072e-04 9.99954671e-01 2.66394214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.397628000000005 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:35.86, Y:3.39, Z:0.27 [[ 9.68745988e-01 -2.47881920e-01 -9.26088506e-03 3.58626461e+01] [ 2.47872099e-01 9.68790241e-01 -2.21183355e-03 3.38556184e+00] [ 9.52012861e-03 -1.52810135e-04 9.99954671e-01 2.66540646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.427628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.89, Y:3.39, Z:0.27 [[ 9.70135950e-01 -2.42384996e-01 -9.26026844e-03 3.58894538e+01] [ 2.42374899e-01 9.70180140e-01 -2.21441214e-03 3.39350603e+00] [ 9.52086881e-03 -9.61758030e-05 9.99954671e-01 2.68829079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.92, Y:3.40, Z:0.27 [[ 9.70639032e-01 -2.40362494e-01 -9.25965533e-03 3.59163164e+01] [ 2.40352281e-01 9.70683195e-01 -2.21697291e-03 3.40062020e+00] [ 9.52106897e-03 -7.36988381e-05 9.99954671e-01 2.68986994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.48762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.94, Y:3.41, Z:0.27 [[ 9.71203284e-01 -2.38072368e-01 -9.25903367e-03 3.59426670e+01] [ 2.38062026e-01 9.71247417e-01 -2.21956622e-03 3.40704592e+00] [ 9.52122992e-03 -4.85743145e-05 9.99954671e-01 2.68976626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.97, Y:3.41, Z:0.27 [[ 9.72111272e-01 -2.34337256e-01 -9.25876393e-03 3.59696977e+01] [ 2.34326734e-01 9.72155363e-01 -2.22069083e-03 3.41400010e+00] [ 9.52134761e-03 -1.08173235e-05 9.99954671e-01 2.69145105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.547628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:36.00, Y:3.42, Z:0.27 [[ 9.72307029e-01 -2.33523722e-01 -9.25813634e-03 3.59966306e+01] [ 2.33513138e-01 9.72351105e-01 -2.22330421e-03 3.42080548e+00] [ 9.52135338e-03 -1.62160340e-07 9.99954671e-01 2.66717037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.577628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.02, Y:3.43, Z:0.27 [[ 9.72675239e-01 -2.31985297e-01 -9.25749887e-03 3.60232440e+01] [ 2.31974618e-01 9.72719292e-01 -2.22595541e-03 3.42674345e+00] [ 9.52133667e-03 1.76269414e-05 9.99954671e-01 2.68008005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.607628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.05, Y:3.43, Z:0.27 [[ 9.72873365e-01 -2.31153023e-01 -9.25722286e-03 3.60506347e+01] [ 2.31142296e-01 9.72917406e-01 -2.22710265e-03 3.43269717e+00] [ 9.52131476e-03 2.69531021e-05 9.99954671e-01 2.68038919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.63762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.08, Y:3.44, Z:0.27 [[ 9.72917420e-01 -2.30967551e-01 -9.25659160e-03 3.60774657e+01] [ 2.30956790e-01 9.72961453e-01 -2.22972330e-03 3.43779494e+00] [ 9.52130055e-03 3.14639570e-05 9.99954671e-01 2.67093619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.11, Y:3.44, Z:0.27 [[ 9.72815171e-01 -2.31397855e-01 -9.25616119e-03 3.61052091e+01] [ 2.31387097e-01 9.72859205e-01 -2.23150862e-03 3.44331064e+00] [ 9.52130792e-03 2.90891787e-05 9.99954671e-01 2.67450306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.13, Y:3.45, Z:0.27 [[ 9.72703610e-01 -2.31866388e-01 -9.25553170e-03 3.61329296e+01] [ 2.31855626e-01 9.72747643e-01 -2.23411646e-03 3.44817826e+00] [ 9.52131317e-03 2.71860539e-05 9.99954671e-01 2.67655533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.16, Y:3.45, Z:0.27 [[ 9.72488476e-01 -2.32767074e-01 -9.25490654e-03 3.61599646e+01] [ 2.32756329e-01 9.72532513e-01 -2.23670325e-03 3.45269952e+00] [ 9.52132838e-03 2.10300667e-05 9.99954671e-01 2.68074226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.757628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.19, Y:3.46, Z:0.27 [[ 9.72066690e-01 -2.34522284e-01 -9.25463472e-03 3.61868318e+01] [ 2.34511607e-01 9.72110744e-01 -2.23782736e-03 3.45516270e+00] [ 9.52135022e-03 4.99818144e-06 9.99954671e-01 2.67629308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.787628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.21, Y:3.46, Z:0.27 [[ 9.71798614e-01 -2.35630665e-01 -9.25436537e-03 3.62148984e+01] [ 2.35620027e-01 9.71842678e-01 -2.23894066e-03 3.46016142e+00] [ 9.52135030e-03 -4.71439497e-06 9.99954671e-01 2.67916881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.817628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.24, Y:3.46, Z:0.27 [[ 9.71600687e-01 -2.36445498e-01 -9.25373771e-03 3.62413935e+01] [ 2.36434873e-01 9.71644753e-01 -2.24153184e-03 3.46472960e+00] [ 9.52134581e-03 -1.00324270e-05 9.99954671e-01 2.68280849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.27, Y:3.47, Z:0.27 [[ 9.71609168e-01 -2.36410663e-01 -9.25331075e-03 3.62695590e+01] [ 2.36400019e-01 9.71653230e-01 -2.24329302e-03 3.46954073e+00] [ 9.52134766e-03 -7.87877571e-06 9.99954671e-01 2.70371959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.87762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.30, Y:3.48, Z:0.27 [[ 9.71686059e-01 -2.36094451e-01 -9.25274974e-03 3.62958514e+01] [ 2.36083772e-01 9.71730112e-01 -2.24560457e-03 3.47592866e+00] [ 9.52135032e-03 -2.40140420e-06 9.99954671e-01 2.70559634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.32, Y:3.48, Z:0.27 [[ 9.71621971e-01 -2.36358075e-01 -9.25231308e-03 3.63236271e+01] [ 2.36347390e-01 9.71666023e-01 -2.24740228e-03 3.48276485e+00] [ 9.52134993e-03 -3.13461592e-06 9.99954671e-01 2.70831166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.937628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.35, Y:3.49, Z:0.27 [[ 9.71706242e-01 -2.36011408e-01 -9.25170266e-03 3.63506280e+01] [ 2.36000683e-01 9.71750284e-01 -2.24991235e-03 3.48927125e+00] [ 9.52134967e-03 2.84572504e-06 9.99954671e-01 2.70990736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.967628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.38, Y:3.50, Z:0.27 [[ 9.71755033e-01 -2.35810462e-01 -9.25109061e-03 3.63775776e+01] [ 2.35799704e-01 9.71799067e-01 -2.25242611e-03 3.49532546e+00] [ 9.52134687e-03 7.40197204e-06 9.99954671e-01 2.70104134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.997628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.40, Y:3.50, Z:0.27 [[ 9.71523733e-01 -2.36761620e-01 -9.25048070e-03 3.64048892e+01] [ 2.36750882e-01 9.71567772e-01 -2.25492817e-03 3.50169668e+00] [ 9.52134937e-03 6.56775949e-07 9.99954671e-01 2.69860171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.02762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.43, Y:3.51, Z:0.27 [[ 9.70794713e-01 -2.39733320e-01 -9.24987622e-03 3.64325216e+01] [ 2.39722692e-01 9.70838779e-01 -2.25740507e-03 3.50745022e+00] [ 9.52131375e-03 -2.59283213e-05 9.99954671e-01 2.70088925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.46, Y:3.51, Z:0.27 [[ 9.70345365e-01 -2.41545699e-01 -9.24924030e-03 3.64586258e+01] [ 2.41535130e-01 9.70389444e-01 -2.26000764e-03 3.51366302e+00] [ 9.52126028e-03 -4.10285176e-05 9.99954671e-01 2.70887129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.49, Y:3.52, Z:0.27 [[ 9.69976875e-01 -2.43021238e-01 -9.24880826e-03 3.64862621e+01] [ 2.43010719e-01 9.70020966e-01 -2.26177433e-03 3.52067971e+00] [ 9.52119712e-03 -5.36907464e-05 9.99954671e-01 2.71948201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.117628 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:36.51, Y:3.53, Z:0.27 [[ 9.69532320e-01 -2.44788792e-01 -9.24817971e-03 3.65129707e+01] [ 2.44778328e-01 9.69576424e-01 -2.26434148e-03 3.52800862e+00] [ 9.52110243e-03 -6.84017264e-05 9.99954671e-01 2.70684123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.147628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.54, Y:3.54, Z:0.27 [[ 9.69145069e-01 -2.46317515e-01 -9.24754323e-03 3.65391979e+01] [ 2.46307097e-01 9.69189184e-01 -2.26693787e-03 3.53514368e+00] [ 9.52100539e-03 -8.07438694e-05 9.99954671e-01 2.73808410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.177628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.57, Y:3.54, Z:0.27 [[ 9.68798680e-01 -2.47676413e-01 -9.24726760e-03 3.65659355e+01] [ 2.47666046e-01 9.68842808e-01 -2.26806166e-03 3.54224368e+00] [ 9.52089408e-03 -9.29390627e-05 9.99954671e-01 2.74503949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.59, Y:3.55, Z:0.27 [[ 9.68440787e-01 -2.49072161e-01 -9.24662261e-03 3.65933856e+01] [ 2.49061832e-01 9.68484924e-01 -2.27068819e-03 3.54989406e+00] [ 9.52077981e-03 -1.03953713e-04 9.99954671e-01 2.74087322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.23762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.62, Y:3.56, Z:0.27 [[ 9.67836925e-01 -2.51408430e-01 -9.24598193e-03 3.66201068e+01] [ 2.51398183e-01 9.67881080e-01 -2.27329398e-03 3.55805383e+00] [ 9.52053625e-03 -1.24245197e-04 9.99954671e-01 2.74779444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.65, Y:3.56, Z:0.28 [[ 9.67505518e-01 -2.52680821e-01 -9.24532671e-03 3.66460152e+01] [ 2.52670606e-01 9.67549681e-01 -2.27595558e-03 3.56465720e+00] [ 9.52040323e-03 -1.34022721e-04 9.99954671e-01 2.75351653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.67, Y:3.57, Z:0.28 [[ 9.67239585e-01 -2.53696899e-01 -9.24488196e-03 3.66723287e+01] [ 2.53686714e-01 9.67283755e-01 -2.27776071e-03 3.57131647e+00] [ 9.52028497e-03 -1.42163401e-04 9.99954671e-01 2.76240148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.327628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.70, Y:3.58, Z:0.28 [[ 9.66960281e-01 -2.54759402e-01 -9.24460454e-03 3.66992295e+01] [ 2.54749254e-01 9.67004459e-01 -2.27888613e-03 3.57831370e+00] [ 9.52014148e-03 -1.51463743e-04 9.99954671e-01 2.77446674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.357628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.73, Y:3.59, Z:0.28 [[ 9.66581888e-01 -2.56191340e-01 -9.24396894e-03 3.67264004e+01] [ 2.56181233e-01 9.66626076e-01 -2.28146143e-03 3.58637313e+00] [ 9.51995208e-03 -1.62912059e-04 9.99954671e-01 2.78514638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.38762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.75, Y:3.59, Z:0.28 [[ 9.66424257e-01 -2.56785336e-01 -9.24377188e-03 3.67535501e+01] [ 2.56775249e-01 9.66468449e-01 -2.28225957e-03 3.59402369e+00] [ 9.51986466e-03 -1.67940810e-04 9.99954671e-01 2.78684282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.78, Y:3.60, Z:0.28 [[ 9.66355550e-01 -2.57043800e-01 -9.24312912e-03 3.67807349e+01] [ 2.57033700e-01 9.66399740e-01 -2.28485978e-03 3.60122529e+00] [ 9.51986661e-03 -1.67808745e-04 9.99954671e-01 2.78630374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.81, Y:3.61, Z:0.28 [[ 9.66389363e-01 -2.56916669e-01 -9.24248704e-03 3.68067440e+01] [ 2.56906538e-01 9.66433546e-01 -2.28745411e-03 3.60804659e+00] [ 9.51993461e-03 -1.63884024e-04 9.99954671e-01 2.78053533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.477628 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:36.83, Y:3.62, Z:0.28 [[ 9.66168492e-01 -2.57746052e-01 -9.24220857e-03 3.68342907e+01] [ 2.57735948e-01 9.66212680e-01 -2.28857867e-03 3.61524061e+00] [ 9.51981123e-03 -1.70896788e-04 9.99954671e-01 2.75262330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.507628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.86, Y:3.62, Z:0.28 [[ 9.66364924e-01 -2.57008612e-01 -9.24157731e-03 3.68613836e+01] [ 2.56998450e-01 9.66409099e-01 -2.29112497e-03 3.62177879e+00] [ 9.51998325e-03 -1.61008233e-04 9.99954671e-01 2.77945829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.537628000000005 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:36.89, Y:3.63, Z:0.27 [[ 9.66380807e-01 -2.56948907e-01 -9.24091877e-03 3.68881437e+01] [ 2.56938717e-01 9.66424976e-01 -2.29377801e-03 3.62986139e+00] [ 9.52003845e-03 -1.57686766e-04 9.99954671e-01 2.74122488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.567628000000006 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:36.91, Y:3.64, Z:0.27 [[ 9.66434342e-01 -2.56747491e-01 -9.24061126e-03 3.69137783e+01] [ 2.56737280e-01 9.66478506e-01 -2.29501618e-03 3.63681687e+00] [ 9.52009181e-03 -1.54426944e-04 9.99954671e-01 2.73721488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.94, Y:3.64, Z:0.28 [[ 9.66600211e-01 -2.56122330e-01 -9.24033072e-03 3.69409977e+01] [ 2.56112080e-01 9.66644366e-01 -2.29614512e-03 3.64287532e+00] [ 9.52020767e-03 -1.47105960e-04 9.99954671e-01 2.76935357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.62762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.97, Y:3.65, Z:0.28 [[ 9.66478888e-01 -2.56579787e-01 -9.23968024e-03 3.69672950e+01] [ 2.56569532e-01 9.66523042e-01 -2.29875969e-03 3.64894153e+00] [ 9.52017912e-03 -1.48917724e-04 9.99954671e-01 2.76954938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.99, Y:3.66, Z:0.28 [[ 9.66269344e-01 -2.57367807e-01 -9.23939827e-03 3.69948719e+01] [ 2.57357578e-01 9.66313504e-01 -2.29989247e-03 3.65528882e+00] [ 9.52007359e-03 -1.55513571e-04 9.99954671e-01 2.78823609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.687628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.02, Y:3.66, Z:0.28 [[ 9.65699039e-01 -2.59499540e-01 -9.23874439e-03 3.70223656e+01] [ 2.59489383e-01 9.65743216e-01 -2.30251611e-03 3.66207329e+00] [ 9.51975659e-03 -1.73818493e-04 9.99954671e-01 2.78758952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.717628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.05, Y:3.67, Z:0.28 [[ 9.65242118e-01 -2.61193993e-01 -9.23854206e-03 3.70498057e+01] [ 2.61183906e-01 9.65286311e-01 -2.30332763e-03 3.66904537e+00] [ 9.51945353e-03 -1.89689658e-04 9.99954671e-01 2.79949364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.747628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.08, Y:3.68, Z:0.28 [[ 9.64632638e-01 -2.63436019e-01 -9.23788527e-03 3.70766225e+01] [ 2.63426009e-01 9.64676848e-01 -2.30595882e-03 3.67540477e+00] [ 9.51904665e-03 -2.09096107e-04 9.99954671e-01 2.80913439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.77762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.10, Y:3.68, Z:0.28 [[ 9.64340792e-01 -2.64502365e-01 -9.23768207e-03 3.71039449e+01] [ 2.64492397e-01 9.64385012e-01 -2.30677254e-03 3.68186471e+00] [ 9.51882893e-03 -2.18781815e-04 9.99954671e-01 2.81903794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.80762800000001 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:37.13, Y:3.69, Z:0.28 [[ 9.63973557e-01 -2.65837653e-01 -9.23704019e-03 3.71316391e+01] [ 2.65827722e-01 9.64017785e-01 -2.30933999e-03 3.68861337e+00] [ 9.51858054e-03 -2.29318658e-04 9.99954671e-01 2.80648502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.837628 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:37.16, Y:3.70, Z:0.28 [[ 9.63695548e-01 -2.66843737e-01 -9.23638387e-03 3.71585038e+01] [ 2.66833826e-01 9.63739780e-01 -2.31196202e-03 3.69500553e+00] [ 9.51840314e-03 -2.36552140e-04 9.99954671e-01 2.80923146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.19, Y:3.70, Z:0.28 [[ 9.63876420e-01 -2.66189685e-01 -9.23572207e-03 3.71850152e+01] [ 2.66179719e-01 9.63920640e-01 -2.31460270e-03 3.70155185e+00] [ 9.51862650e-03 -2.27370939e-04 9.99954671e-01 2.82684308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.897628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.21, Y:3.71, Z:0.28 [[ 9.64136039e-01 -2.65247819e-01 -9.23543559e-03 3.72120584e+01] [ 2.65237798e-01 9.64180246e-01 -2.31574522e-03 3.70912962e+00] [ 9.51887093e-03 -2.16893177e-04 9.99954671e-01 2.81027487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.927628000000006 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:37.24, Y:3.72, Z:0.28 [[ 9.64289441e-01 -2.64689617e-01 -9.23477762e-03 3.72382898e+01] [ 2.64679546e-01 9.64333637e-01 -2.31836614e-03 3.71638913e+00] [ 9.51905413e-03 -2.08680765e-04 9.99954671e-01 2.78078626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.95762800000001 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:37.27, Y:3.72, Z:0.28 [[ 9.64564573e-01 -2.63685246e-01 -9.23449221e-03 3.72659757e+01] [ 2.63675118e-01 9.64608756e-01 -2.31950240e-03 3.72350948e+00] [ 9.51929061e-03 -1.97595985e-04 9.99954671e-01 2.77769028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.98762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.29, Y:3.73, Z:0.28 [[ 9.64958607e-01 -2.62239630e-01 -9.23383722e-03 3.72936819e+01] [ 2.62229411e-01 9.65002769e-01 -2.32210699e-03 3.73035412e+00] [ 9.51962696e-03 -1.80646569e-04 9.99954671e-01 2.80252656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.017628 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:37.32, Y:3.74, Z:0.28 [[ 9.65460675e-01 -2.60385162e-01 -9.23317955e-03 3.73217435e+01] [ 2.60374833e-01 9.65504812e-01 -2.32471908e-03 3.73879883e+00] [ 9.52000164e-03 -1.59662736e-04 9.99954671e-01 2.77010568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.35, Y:3.75, Z:0.28 [[ 9.65838285e-01 -2.58981013e-01 -9.23260782e-03 3.73479088e+01] [ 2.58970599e-01 9.65882402e-01 -2.32698746e-03 3.74599534e+00] [ 9.52025899e-03 -1.43480395e-04 9.99954671e-01 2.79043699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.077628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.37, Y:3.75, Z:0.28 [[ 9.66009775e-01 -2.58340627e-01 -9.23232414e-03 3.73746779e+01] [ 2.58330172e-01 9.66053882e-01 -2.32811242e-03 3.75310415e+00] [ 9.52036860e-03 -1.36008532e-04 9.99954671e-01 2.79916917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.107628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.40, Y:3.76, Z:0.28 [[ 9.66066377e-01 -2.58128906e-01 -9.23168421e-03 3.74031392e+01] [ 2.58118418e-01 9.66110475e-01 -2.33064721e-03 3.76042516e+00] [ 9.52043423e-03 -1.31307810e-04 9.99954671e-01 2.81993814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.13762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.43, Y:3.77, Z:0.28 [[ 9.65839403e-01 -2.58976900e-01 -9.23111243e-03 3.74301096e+01] [ 2.58966429e-01 9.65883506e-01 -2.33290967e-03 3.76748091e+00] [ 9.52034895e-03 -1.37332144e-04 9.99954671e-01 2.82999239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.16762800000001 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:37.46, Y:3.78, Z:0.28 [[ 9.65369544e-01 -2.60722924e-01 -9.23045260e-03 3.74564252e+01] [ 2.60712507e-01 9.65413660e-01 -2.33551746e-03 3.77509018e+00] [ 9.52012797e-03 -1.51857017e-04 9.99954671e-01 2.80217102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.19762800000001 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:37.48, Y:3.78, Z:0.28 [[ 9.64431907e-01 -2.64170212e-01 -9.23016662e-03 3.74834160e+01] [ 2.64159942e-01 9.64476057e-01 -2.33664712e-03 3.78242554e+00] [ 9.51954728e-03 -1.84703244e-04 9.99954671e-01 2.80534432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.51, Y:3.79, Z:0.28 [[ 9.63918573e-01 -2.66037217e-01 -9.22952010e-03 3.75105445e+01] [ 2.66027008e-01 9.63962737e-01 -2.33919804e-03 3.78850823e+00] [ 9.51922720e-03 -2.00505179e-04 9.99954671e-01 2.84459358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.257628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.54, Y:3.80, Z:0.29 [[ 9.63122813e-01 -2.68903840e-01 -9.22887372e-03 3.75374803e+01] [ 2.68893738e-01 9.63167002e-01 -2.34174542e-03 3.79501317e+00] [ 9.51865097e-03 -2.26197913e-04 9.99954671e-01 2.85543778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.287628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.56, Y:3.80, Z:0.29 [[ 9.61721816e-01 -2.73872214e-01 -9.22821479e-03 3.75642283e+01] [ 2.73862315e-01 9.61766051e-01 -2.34433923e-03 3.80089296e+00] [ 9.51743307e-03 -2.72658091e-04 9.99954671e-01 2.88778649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.317628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.59, Y:3.81, Z:0.29 [[ 9.60862537e-01 -2.76871867e-01 -9.22792926e-03 3.75913989e+01] [ 2.76862097e-01 9.60906800e-01 -2.34546262e-03 3.80826137e+00] [ 9.51657259e-03 -3.01196681e-04 9.99954671e-01 2.89952139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.62, Y:3.82, Z:0.29 [[ 9.60019215e-01 -2.79781994e-01 -9.22729254e-03 3.76187152e+01] [ 2.79772334e-01 9.60063502e-01 -2.34796488e-03 3.81623750e+00] [ 9.51570509e-03 -3.27449770e-04 9.99954671e-01 2.90268794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.37762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.65, Y:3.83, Z:0.29 [[ 9.58318343e-01 -2.85553537e-01 -9.22665880e-03 3.76456065e+01] [ 2.85544119e-01 9.58362683e-01 -2.35045263e-03 3.82558344e+00] [ 9.51366554e-03 -3.82136283e-04 9.99954671e-01 2.89191582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.67, Y:3.83, Z:0.29 [[ 9.57576397e-01 -2.88031814e-01 -9.22599547e-03 3.76723213e+01] [ 2.88022485e-01 9.57620755e-01 -2.35305343e-03 3.83317527e+00] [ 9.51275900e-03 -4.04065721e-04 9.99954671e-01 2.89097075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.437628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.70, Y:3.84, Z:0.29 [[ 9.56944286e-01 -2.90125018e-01 -9.22533602e-03 3.76996068e+01] [ 2.90115762e-01 9.56988660e-01 -2.35563603e-03 3.84057919e+00] [ 9.51197090e-03 -4.22202953e-04 9.99954671e-01 2.89239221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.467628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.73, Y:3.85, Z:0.29 [[ 9.56103838e-01 -2.92882838e-01 -9.22466960e-03 3.77264849e+01] [ 2.92873685e-01 9.56148233e-01 -2.35824283e-03 3.84892742e+00] [ 9.51084039e-03 -4.46937955e-04 9.99954671e-01 2.88528432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.497628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.75, Y:3.86, Z:0.29 [[ 9.55858314e-01 -2.93683164e-01 -9.22400725e-03 3.77520688e+01] [ 2.93674023e-01 9.55902712e-01 -2.36083071e-03 3.85748791e+00] [ 9.51058978e-03 -4.52231656e-04 9.99954671e-01 2.87664531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.52762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.78, Y:3.87, Z:0.29 [[ 9.55820410e-01 -2.93806517e-01 -9.22355704e-03 3.77784495e+01] [ 2.93797364e-01 9.55864806e-01 -2.36258833e-03 3.86670316e+00] [ 9.51061741e-03 -4.51646599e-04 9.99954671e-01 2.86634553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.55762800000001 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:37.80, Y:3.88, Z:0.28 [[ 9.55766826e-01 -2.93980802e-01 -9.22290437e-03 3.78046211e+01] [ 2.93971633e-01 9.55811218e-01 -2.36513345e-03 3.87661262e+00] [ 9.51065929e-03 -4.50756169e-04 9.99954671e-01 2.82926108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.83, Y:3.89, Z:0.28 [[ 9.56299287e-01 -2.92244117e-01 -9.22225341e-03 3.78288272e+01] [ 2.92234843e-01 9.56343657e-01 -2.36766898e-03 3.88969350e+00] [ 9.51158088e-03 -4.30863623e-04 9.99954671e-01 2.84816622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.86, Y:3.90, Z:0.29 [[ 9.57465984e-01 -2.88399100e-01 -9.21128535e-03 3.78566954e+01] [ 2.88389238e-01 9.57510228e-01 -2.41033192e-03 3.89677978e+00] [ 9.51503750e-03 -3.48624739e-04 9.99954670e-01 2.87523535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.647628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.88, Y:3.91, Z:0.29 [[ 9.58182167e-01 -2.86010318e-01 -9.22133053e-03 3.78832832e+01] [ 2.86000721e-01 9.58226468e-01 -2.37126851e-03 3.90530638e+00] [ 9.51433025e-03 -3.65199986e-04 9.99954671e-01 2.89380003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.677628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.91, Y:3.91, Z:0.29 [[ 9.59099221e-01 -2.82919889e-01 -9.22066476e-03 3.79089407e+01] [ 2.82910125e-01 9.59143486e-01 -2.37385452e-03 3.91352129e+00] [ 9.51555120e-03 -3.31857394e-04 9.99954671e-01 2.90930860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.93, Y:3.93, Z:0.29 [[ 9.61447689e-01 -2.74833277e-01 -9.22021207e-03 3.79348425e+01] [ 2.74823123e-01 9.61491866e-01 -2.37561151e-03 3.92509075e+00] [ 9.51805600e-03 -2.49901277e-04 9.99954671e-01 2.92412509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.73762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.96, Y:3.94, Z:0.29 [[ 9.62723426e-01 -2.70330548e-01 -9.21954149e-03 3.79601148e+01] [ 2.70320163e-01 9.62767549e-01 -2.37821113e-03 3.93513096e+00] [ 9.51917848e-03 -2.02668387e-04 9.99954671e-01 2.92705124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.99, Y:3.95, Z:0.29 [[ 9.63950511e-01 -2.65921827e-01 -9.21925067e-03 3.79863661e+01] [ 2.65911229e-01 9.63994584e-01 -2.37933796e-03 3.94558193e+00] [ 9.52002561e-03 -1.57938236e-04 9.99954671e-01 2.92842261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.01, Y:3.95, Z:0.29 [[ 9.63875769e-01 -2.66192636e-01 -9.21858134e-03 3.80140365e+01] [ 2.66182026e-01 9.63919839e-01 -2.38192842e-03 3.95280422e+00] [ 9.52002524e-03 -1.57937572e-04 9.99954671e-01 2.93113460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.827628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.04, Y:3.96, Z:0.29 [[ 9.66183518e-01 -2.57690589e-01 -9.21791145e-03 3.80387713e+01] [ 2.57679567e-01 9.66227486e-01 -2.38451805e-03 3.96431837e+00] [ 9.52106727e-03 -7.13853863e-05 9.99954671e-01 2.93847951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.857628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.07, Y:3.97, Z:0.29 [[ 9.67036223e-01 -2.54471965e-01 -9.21745617e-03 3.80652245e+01] [ 2.54460780e-01 9.67080150e-01 -2.38627663e-03 3.97273711e+00] [ 9.52125941e-03 -3.78651409e-05 9.99954671e-01 2.94892223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.88762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.09, Y:3.98, Z:0.29 [[ 9.68290647e-01 -2.49656313e-01 -9.21676601e-03 3.80910704e+01] [ 2.49644883e-01 9.68334511e-01 -2.38893934e-03 3.98266861e+00] [ 9.52132640e-03 1.22691481e-05 9.99954671e-01 2.94864040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.12, Y:3.99, Z:0.29 [[ 9.68544158e-01 -2.48671010e-01 -9.21646682e-03 3.81181894e+01] [ 2.48659524e-01 9.68588008e-01 -2.39009305e-03 3.99096661e+00] [ 9.52130609e-03 2.31484079e-05 9.99954671e-01 2.94147084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.14, Y:4.00, Z:0.29 [[ 9.68665608e-01 -2.48197522e-01 -9.21579577e-03 3.81445251e+01] [ 2.48185990e-01 9.68709445e-01 -2.39267770e-03 3.99894573e+00] [ 9.52128509e-03 3.04731989e-05 9.99954671e-01 2.93712559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.17, Y:4.01, Z:0.29 [[ 9.68592713e-01 -2.48481858e-01 -9.21533950e-03 3.81719588e+01] [ 2.48470323e-01 9.68636550e-01 -2.39443376e-03 4.00708820e+00] [ 9.52128800e-03 2.94927134e-05 9.99954671e-01 2.92291482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.007628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.20, Y:4.01, Z:0.29 [[ 9.68437925e-01 -2.49084476e-01 -9.21466666e-03 3.81992047e+01] [ 2.49072943e-01 9.68481762e-01 -2.39702029e-03 4.01414302e+00] [ 9.52129714e-03 2.62412073e-05 9.99954671e-01 2.91628045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.037628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.23, Y:4.02, Z:0.29 [[ 9.68272768e-01 -2.49725750e-01 -9.21397200e-03 3.82258028e+01] [ 2.49714221e-01 9.68316606e-01 -2.39968753e-03 4.02030367e+00] [ 9.52130587e-03 2.26922426e-05 9.99954671e-01 2.91457363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.067628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.25, Y:4.03, Z:0.29 [[ 9.67828643e-01 -2.51441501e-01 -9.21349783e-03 3.82531206e+01] [ 2.51430032e-01 9.67872498e-01 -2.40150671e-03 4.02556786e+00] [ 9.52132961e-03 7.69692610e-06 9.99954671e-01 2.91350085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.28, Y:4.03, Z:0.29 [[ 9.67609056e-01 -2.52285231e-01 -9.21282120e-03 3.82805512e+01] [ 2.52273776e-01 9.67652914e-01 -2.40409967e-03 4.03216028e+00] [ 9.52133212e-03 2.07542134e-06 9.99954671e-01 2.90977082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.12762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.31, Y:4.04, Z:0.29 [[ 9.67378475e-01 -2.53167975e-01 -9.21214507e-03 3.83080996e+01] [ 2.53156535e-01 9.67422336e-01 -2.40668769e-03 4.03870879e+00] [ 9.52133115e-03 -3.93686565e-06 9.99954671e-01 2.90427295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.34, Y:4.05, Z:0.29 [[ 9.67167898e-01 -2.53971268e-01 -9.21146532e-03 3.83358216e+01] [ 2.53959840e-01 9.67211763e-01 -2.40928661e-03 4.04510928e+00] [ 9.52132719e-03 -9.15759785e-06 9.99954671e-01 2.89681982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.187628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.36, Y:4.05, Z:0.29 [[ 9.67016481e-01 -2.54547218e-01 -9.21078707e-03 3.83628650e+01] [ 2.54535791e-01 9.67060346e-01 -2.41187679e-03 4.05093763e+00] [ 9.52132346e-03 -1.21503724e-05 9.99954671e-01 2.89439864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.217628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.39, Y:4.06, Z:0.29 [[ 9.65995876e-01 -2.58393384e-01 -9.21009953e-03 3.83851490e+01] [ 2.58382107e-01 9.66039780e-01 -2.41449941e-03 4.05835810e+00] [ 9.52121320e-03 -4.73284572e-05 9.99954671e-01 2.85348201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.247628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.42, Y:4.06, Z:0.29 [[ 9.66891447e-01 -2.55022826e-01 -9.18084517e-03 3.84178749e+01] [ 2.55010336e-01 9.66935028e-01 -2.52588835e-03 4.06101685e+00] [ 9.52143996e-03 1.01049422e-04 9.99954665e-01 2.88059415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.27762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.45, Y:4.06, Z:0.29 [[ 9.66755673e-01 -2.55536011e-01 -9.20956358e-03 3.84456928e+01] [ 2.55524586e-01 9.66799538e-01 -2.41643651e-03 4.06479069e+00] [ 9.52128836e-03 -1.71662207e-05 9.99954671e-01 2.88235031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.47, Y:4.07, Z:0.29 [[ 9.66564053e-01 -2.56259882e-01 -9.20888332e-03 3.84733365e+01] [ 2.56248466e-01 9.66607921e-01 -2.41902615e-03 4.07005375e+00] [ 9.52127891e-03 -2.16184986e-05 9.99954671e-01 2.88919247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.50, Y:4.08, Z:0.29 [[ 9.66358367e-01 -2.57034466e-01 -9.20820117e-03 3.85010697e+01] [ 2.57023059e-01 9.66402237e-01 -2.42162002e-03 4.07528119e+00] [ 9.52126601e-03 -2.65672714e-05 9.99954671e-01 2.89416825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.53, Y:4.08, Z:0.29 [[ 9.66045497e-01 -2.58207898e-01 -9.20752145e-03 3.85286480e+01] [ 2.58196520e-01 9.66089375e-01 -2.42420171e-03 4.07843155e+00] [ 9.52123667e-03 -3.54608524e-05 9.99954671e-01 2.89698475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.397628000000005 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:38.56, Y:4.08, Z:0.29 [[ 9.65760921e-01 -2.59270264e-01 -9.20722686e-03 3.85558653e+01] [ 2.59258924e-01 9.65804809e-01 -2.42532007e-03 4.08394284e+00] [ 9.52119735e-03 -4.47763867e-05 9.99954671e-01 2.86957469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.427628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.58, Y:4.09, Z:0.29 [[ 9.65779584e-01 -2.59200743e-01 -9.20701850e-03 3.85840131e+01] [ 2.59189393e-01 9.65823469e-01 -2.42611078e-03 4.08624565e+00] [ 9.52120426e-03 -4.32732716e-05 9.99954671e-01 2.88827526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.61, Y:4.09, Z:0.29 [[ 9.65639242e-01 -2.59723115e-01 -9.20635577e-03 3.86119761e+01] [ 2.59711764e-01 9.65683127e-01 -2.42862303e-03 4.09108859e+00] [ 9.52119197e-03 -4.58251941e-05 9.99954671e-01 2.88962176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.48762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.64, Y:4.10, Z:0.29 [[ 9.65477238e-01 -2.60324716e-01 -9.20567209e-03 3.86399659e+01] [ 2.60313367e-01 9.65521124e-01 -2.43121177e-03 4.09598443e+00] [ 9.52117537e-03 -4.90798703e-05 9.99954671e-01 2.89385793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.517628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:38.67, Y:4.10, Z:0.29 [[ 9.65128382e-01 -2.61615126e-01 -9.20497645e-03 3.86671327e+01] [ 2.61603811e-01 9.65172276e-01 -2.43384271e-03 4.10134655e+00] [ 9.52111814e-03 -5.90862454e-05 9.99954671e-01 2.86449976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.70, Y:4.10, Z:0.29 [[ 9.64745810e-01 -2.63022422e-01 -9.20476144e-03 3.86964965e+01] [ 2.63011163e-01 9.64789718e-01 -2.43465563e-03 4.10386084e+00] [ 9.52102821e-03 -7.21311922e-05 9.99954671e-01 2.89789491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.577628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.72, Y:4.11, Z:0.29 [[ 9.64405026e-01 -2.64269238e-01 -9.20415757e-03 3.87239527e+01] [ 2.64258014e-01 9.64448943e-01 -2.43693639e-03 4.10852050e+00] [ 9.52094736e-03 -8.20787041e-05 9.99954671e-01 2.90618027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.607628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.75, Y:4.11, Z:0.29 [[ 9.63952536e-01 -2.65915017e-01 -9.20394370e-03 3.87514659e+01] [ 2.65903861e-01 9.63996470e-01 -2.43774387e-03 4.11283677e+00] [ 9.52080194e-03 -9.74947795e-05 9.99954671e-01 2.91636322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.63762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.78, Y:4.12, Z:0.29 [[ 9.63994583e-01 -2.65762570e-01 -9.20325779e-03 3.87784179e+01] [ 2.65751382e-01 9.64038509e-01 -2.44033066e-03 4.11821398e+00] [ 9.52084347e-03 -9.33129386e-05 9.99954671e-01 2.94612924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.81, Y:4.13, Z:0.30 [[ 9.64121771e-01 -2.65300800e-01 -9.20304562e-03 3.88054118e+01] [ 2.65289584e-01 9.64165690e-01 -2.44113056e-03 4.12539565e+00] [ 9.52089472e-03 -8.79250213e-05 9.99954671e-01 2.95385015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.83, Y:4.13, Z:0.30 [[ 9.64119508e-01 -2.65309048e-01 -9.20236276e-03 3.88324209e+01] [ 2.65297807e-01 9.64163421e-01 -2.44370203e-03 4.13257083e+00] [ 9.52091782e-03 -8.53458615e-05 9.99954671e-01 2.95546341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.86, Y:4.14, Z:0.29 [[ 9.64277536e-01 -2.64734136e-01 -9.20168429e-03 3.88596976e+01] [ 2.64722844e-01 9.64321436e-01 -2.44625412e-03 4.14119295e+00] [ 9.52098838e-03 -7.70281389e-05 9.99954671e-01 2.94986878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.757628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.89, Y:4.15, Z:0.29 [[ 9.64083970e-01 -2.65438203e-01 -9.20101014e-03 3.88873004e+01] [ 2.65426919e-01 9.64127872e-01 -2.44878714e-03 4.14850376e+00] [ 9.52095199e-03 -8.13593519e-05 9.99954671e-01 2.94456483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.787628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.91, Y:4.16, Z:0.29 [[ 9.63709108e-01 -2.66796005e-01 -9.20032113e-03 3.89130378e+01] [ 2.66784759e-01 9.63753020e-01 -2.45137310e-03 4.15567146e+00] [ 9.52085382e-03 -9.20948685e-05 9.99954671e-01 2.94645768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.817628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.94, Y:4.16, Z:0.29 [[ 9.62471546e-01 -2.71226632e-01 -9.19985367e-03 3.89399423e+01] [ 2.71215572e-01 9.62515504e-01 -2.45312621e-03 4.16425262e+00] [ 9.52035495e-03 -1.34079393e-04 9.99954671e-01 2.94923498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.97, Y:4.17, Z:0.30 [[ 9.61283174e-01 -2.75408848e-01 -9.19917381e-03 3.89666279e+01] [ 2.75397954e-01 9.61327174e-01 -2.45567300e-03 4.17240431e+00] [ 9.51972984e-03 -1.72836509e-04 9.99954671e-01 2.95079840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.87762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.99, Y:4.18, Z:0.30 [[ 9.59861040e-01 -2.80325118e-01 -9.19849562e-03 3.89932781e+01] [ 2.80314425e-01 9.59905089e-01 -2.45821077e-03 4.18111794e+00] [ 9.51878098e-03 -2.18930260e-04 9.99954671e-01 2.95052359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.02, Y:4.19, Z:0.29 [[ 9.58286385e-01 -2.85661695e-01 -9.19781526e-03 3.90199554e+01] [ 2.85651223e-01 9.58330488e-01 -2.46075383e-03 4.18995112e+00] [ 9.51748989e-03 -2.69260286e-04 9.99954671e-01 2.94456371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.937628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.05, Y:4.20, Z:0.29 [[ 9.55152448e-01 -2.95971642e-01 -9.19713460e-03 3.90453737e+01] [ 2.95961622e-01 9.55196656e-01 -2.46329518e-03 4.19869887e+00] [ 9.51413773e-03 -3.69176445e-04 9.99954671e-01 2.94129829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.967628000000005 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:39.07, Y:4.21, Z:0.29 [[ 9.53437243e-01 -3.01451226e-01 -9.19683942e-03 3.90727062e+01] [ 3.01441448e-01 9.53481505e-01 -2.46439677e-03 4.20653426e+00] [ 9.51191171e-03 -4.22660928e-04 9.99954671e-01 2.92819041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.997628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.10, Y:4.21, Z:0.30 [[ 9.52262541e-01 -3.05141744e-01 -9.19615098e-03 3.90999070e+01] [ 3.05132114e-01 9.52306835e-01 -2.46696308e-03 4.21414188e+00] [ 9.51033084e-03 -4.56844452e-04 9.99954671e-01 2.95252328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.02762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.12, Y:4.22, Z:0.29 [[ 9.50464532e-01 -3.10696986e-01 -9.19545481e-03 3.91249793e+01] [ 3.10687589e-01 9.50508876e-01 -2.46955527e-03 4.22335057e+00] [ 9.50764480e-03 -5.09688987e-04 9.99954671e-01 2.93878681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.15, Y:4.23, Z:0.29 [[ 9.49950232e-01 -3.12265920e-01 -9.19515336e-03 3.91520295e+01] [ 3.12256586e-01 9.49994590e-01 -2.47067719e-03 4.23220544e+00] [ 9.50685423e-03 -5.24226823e-04 9.99954671e-01 2.94428384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.087628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:39.18, Y:4.24, Z:0.29 [[ 9.49574869e-01 -3.13405538e-01 -9.19444354e-03 3.91786150e+01] [ 3.13396232e-01 9.49619231e-01 -2.47331592e-03 4.24113644e+00] [ 9.50637131e-03 -5.32905314e-04 9.99954671e-01 2.92337445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.20, Y:4.25, Z:0.30 [[ 9.50785865e-01 -3.09712308e-01 -9.19373893e-03 3.92049550e+01] [ 3.09702804e-01 9.50830186e-01 -2.47593228e-03 4.25079600e+00] [ 9.50851120e-03 -4.93245313e-04 9.99954671e-01 2.95009974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.147628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.23, Y:4.26, Z:0.30 [[ 9.51640041e-01 -3.07077696e-01 -9.19352079e-03 3.92320261e+01] [ 3.07068061e-01 9.51684334e-01 -2.47674203e-03 4.25998105e+00] [ 9.50988194e-03 -4.66069721e-04 9.99954671e-01 2.95940069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.177628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.26, Y:4.27, Z:0.30 [[ 9.52776563e-01 -3.03533051e-01 -9.19281117e-03 3.92576451e+01] [ 3.03523227e-01 9.52820814e-01 -2.47937308e-03 4.26900993e+00] [ 9.51167350e-03 -4.27943150e-04 9.99954671e-01 2.96203512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.28, Y:4.28, Z:0.30 [[ 9.54195291e-01 -2.99043216e-01 -9.19250377e-03 3.92827006e+01] [ 2.99033172e-01 9.54239492e-01 -2.48051230e-03 4.27821083e+00] [ 9.51363050e-03 -3.81970410e-04 9.99954671e-01 2.95985361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.23762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.31, Y:4.29, Z:0.30 [[ 9.57183996e-01 -2.89334238e-01 -9.19220286e-03 3.93087145e+01] [ 2.89323735e-01 9.57228091e-01 -2.48162690e-03 4.28975507e+00] [ 9.51705442e-03 -2.84148918e-04 9.99954671e-01 2.95668012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.34, Y:4.30, Z:0.30 [[ 9.58646181e-01 -2.84452132e-01 -9.19150758e-03 3.93352813e+01] [ 2.84441380e-01 9.58690216e-01 -2.48419939e-03 4.29888977e+00] [ 9.51844421e-03 -2.32976838e-04 9.99954671e-01 2.96110269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.36, Y:4.31, Z:0.30 [[ 9.60054479e-01 -2.79662166e-01 -9.19080862e-03 3.93607131e+01] [ 2.79651169e-01 9.60098453e-01 -2.48678268e-03 4.30777675e+00] [ 9.51954017e-03 -1.82773518e-04 9.99954671e-01 2.96525956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.327628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.39, Y:4.32, Z:0.30 [[ 9.62285318e-01 -2.71886927e-01 -9.19050506e-03 3.93868812e+01] [ 2.71875564e-01 9.62329200e-01 -2.48790404e-03 4.31900441e+00] [ 9.52071996e-03 -1.04600217e-04 9.99954671e-01 2.96016347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.357628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.41, Y:4.33, Z:0.30 [[ 9.63069951e-01 -2.69094439e-01 -9.18981082e-03 3.94134130e+01] [ 2.69082924e-01 9.63113793e-01 -2.49046579e-03 4.32731275e+00] [ 9.52100405e-03 -7.43284071e-05 9.99954671e-01 2.95693817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.38762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.44, Y:4.34, Z:0.30 [[ 9.63619901e-01 -2.67118414e-01 -9.18911938e-03 3.94406582e+01] [ 2.67106785e-01 9.63663712e-01 -2.49301440e-03 4.33559586e+00] [ 9.52115095e-03 -5.21578468e-05 9.99954671e-01 2.95724829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.47, Y:4.34, Z:0.30 [[ 9.64119030e-01 -2.65311267e-01 -9.18842371e-03 3.94676298e+01] [ 2.65299532e-01 9.64162813e-01 -2.49557576e-03 4.34398998e+00] [ 9.52124083e-03 -3.16524237e-05 9.99954671e-01 2.95647790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.49, Y:4.35, Z:0.30 [[ 9.64119846e-01 -2.65308325e-01 -9.18773235e-03 3.94947552e+01] [ 2.65296566e-01 9.64163623e-01 -2.49811849e-03 4.35094811e+00] [ 9.52124895e-03 -2.89882240e-05 9.99954671e-01 2.96035459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.52, Y:4.36, Z:0.30 [[ 9.63837089e-01 -2.66333747e-01 -9.18703804e-03 3.95223975e+01] [ 2.66322010e-01 9.63880871e-01 -2.50066929e-03 4.35794316e+00] [ 9.52122285e-03 -3.64726325e-05 9.99954671e-01 2.96171198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.507628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.55, Y:4.36, Z:0.30 [[ 9.62916289e-01 -2.69643899e-01 -9.18632601e-03 3.95486525e+01] [ 2.69632288e-01 9.62960105e-01 -2.50328223e-03 4.36285340e+00] [ 9.52106024e-03 -6.64788579e-05 9.99954671e-01 2.96320779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.537628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.58, Y:4.37, Z:0.30 [[ 9.62194373e-01 -2.72208754e-01 -9.18601756e-03 3.95759543e+01] [ 2.72197248e-01 9.62238217e-01 -2.50441358e-03 4.36878783e+00] [ 9.52086046e-03 -9.06760451e-05 9.99954671e-01 2.96478204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.567628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.60, Y:4.37, Z:0.30 [[ 9.61522813e-01 -2.74571502e-01 -9.18531102e-03 3.96030205e+01] [ 2.74560079e-01 9.61566679e-01 -2.50700228e-03 4.37413267e+00] [ 9.52064039e-03 -1.11379839e-04 9.99954671e-01 2.96158383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.63, Y:4.38, Z:0.30 [[ 9.60881915e-01 -2.76806037e-01 -9.18500487e-03 3.96310905e+01] [ 2.76794705e-01 9.60925804e-01 -2.50812342e-03 4.37961527e+00] [ 9.52037189e-03 -1.32350279e-04 9.99954671e-01 2.96657427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.62762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.66, Y:4.38, Z:0.30 [[ 9.59955739e-01 -2.80001121e-01 -9.18429805e-03 3.96590943e+01] [ 2.79989910e-01 9.59999660e-01 -2.51070899e-03 4.38378658e+00] [ 9.51992434e-03 -1.61341287e-04 9.99954671e-01 2.96711034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.69, Y:4.39, Z:0.30 [[ 9.59618464e-01 -2.81154878e-01 -9.18359635e-03 3.96863305e+01] [ 2.81143696e-01 9.59662392e-01 -2.51327305e-03 4.38994898e+00] [ 9.51977101e-03 -1.70126998e-04 9.99954671e-01 2.96207343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.687628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.71, Y:4.39, Z:0.29 [[ 9.59268533e-01 -2.82346517e-01 -9.18289299e-03 3.97143984e+01] [ 2.82335365e-01 9.59312468e-01 -2.51584033e-03 4.39485533e+00] [ 9.51960250e-03 -1.79288982e-04 9.99954671e-01 2.94864997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.717628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.74, Y:4.40, Z:0.30 [[ 9.59189071e-01 -2.82616372e-01 -9.18218418e-03 3.97419627e+01] [ 2.82605208e-01 9.59233003e-01 -2.51842466e-03 4.40248689e+00] [ 9.51960214e-03 -1.79287655e-04 9.99954671e-01 2.95136189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.747628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.77, Y:4.41, Z:0.30 [[ 9.58938738e-01 -2.83464631e-01 -9.18147499e-03 3.97699267e+01] [ 2.83453480e-01 9.58982674e-01 -2.52100753e-03 4.40797325e+00] [ 9.51949190e-03 -1.85029263e-04 9.99954671e-01 2.95065074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.80, Y:4.41, Z:0.30 [[ 9.58667019e-01 -2.84382243e-01 -9.18075929e-03 3.97980469e+01] [ 2.84371110e-01 9.58710959e-01 -2.52361117e-03 4.41316655e+00] [ 9.51936475e-03 -1.91439907e-04 9.99954671e-01 2.95147880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.83, Y:4.42, Z:0.30 [[ 9.58090236e-01 -2.86319449e-01 -9.18004366e-03 3.98260672e+01] [ 2.86308380e-01 9.58134192e-01 -2.52621174e-03 4.41644134e+00] [ 9.51901726e-03 -2.07984630e-04 9.99954671e-01 2.95247861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.85, Y:4.42, Z:0.30 [[ 9.57821445e-01 -2.87217372e-01 -9.17932578e-03 3.98531306e+01] [ 2.87206319e-01 9.57865406e-01 -2.52881756e-03 4.42228081e+00] [ 9.51887894e-03 -2.14204672e-04 9.99954672e-01 2.95377800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.867628 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:39.88, Y:4.43, Z:0.29 [[ 9.57799344e-01 -2.87291089e-01 -9.17860618e-03 3.98800410e+01] [ 2.87280015e-01 9.57843299e-01 -2.53142672e-03 4.42829453e+00] [ 9.51892276e-03 -2.12231270e-04 9.99954672e-01 2.93817675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.897628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.91, Y:4.44, Z:0.30 [[ 9.58469699e-01 -2.85046661e-01 -9.17811758e-03 3.99064728e+01] [ 2.85035467e-01 9.58513623e-01 -2.53319699e-03 4.43551564e+00] [ 9.51943008e-03 -1.88096477e-04 9.99954672e-01 2.96035849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.927628000000006 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:39.93, Y:4.44, Z:0.30 [[ 9.59511332e-01 -2.81520465e-01 -9.17778495e-03 3.99335224e+01] [ 2.81509098e-01 9.59555212e-01 -2.53440154e-03 4.44178656e+00] [ 9.52007728e-03 -1.51842958e-04 9.99954672e-01 2.95193772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.96, Y:4.45, Z:0.30 [[ 9.60226777e-01 -2.79070452e-01 -9.17706723e-03 3.99602808e+01] [ 2.79058948e-01 9.60270622e-01 -2.53699775e-03 4.44934487e+00] [ 9.52046916e-03 -1.24849551e-04 9.99954672e-01 2.97397567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.98762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.99, Y:4.46, Z:0.30 [[ 9.60772044e-01 -2.77187420e-01 -9.17684508e-03 3.99872513e+01] [ 2.77175822e-01 9.60815863e-01 -2.53780104e-03 4.45712013e+00] [ 9.52070485e-03 -1.05351287e-04 9.99954672e-01 2.98117294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.02, Y:4.46, Z:0.30 [[ 9.61905128e-01 -2.73229433e-01 -9.17612877e-03 4.00150654e+01] [ 2.73217630e-01 9.61948893e-01 -2.54038842e-03 4.46498425e+00] [ 9.52107580e-03 -6.34675078e-05 9.99954672e-01 2.99127425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.04, Y:4.47, Z:0.30 [[ 9.62403672e-01 -2.71468196e-01 -9.17550809e-03 4.00417424e+01] [ 2.71456292e-01 9.62447410e-01 -2.54262826e-03 4.47286557e+00] [ 9.52118670e-03 -4.37146326e-05 9.99954672e-01 2.99343253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.077628000000004 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:40.07, Y:4.48, Z:0.30 [[ 9.62500858e-01 -2.71123427e-01 -9.17528772e-03 4.00683900e+01] [ 2.71111500e-01 9.62544589e-01 -2.54342323e-03 4.48139216e+00] [ 9.52120517e-03 -3.94789727e-05 9.99954672e-01 2.97624987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.107628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.09, Y:4.49, Z:0.30 [[ 9.63174630e-01 -2.68720040e-01 -9.17456218e-03 4.00943162e+01] [ 2.68707978e-01 9.63218324e-01 -2.54603768e-03 4.49092340e+00] [ 9.52127776e-03 -1.29991530e-05 9.99954672e-01 3.01309337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.13762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.12, Y:4.50, Z:0.30 [[ 9.63332542e-01 -2.68153399e-01 -9.17433775e-03 4.01213843e+01] [ 2.68141304e-01 9.63376227e-01 -2.54684616e-03 4.49887960e+00] [ 9.52128434e-03 -6.55910543e-06 9.99954672e-01 3.02578986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.15, Y:4.51, Z:0.30 [[ 9.63601501e-01 -2.67185314e-01 -9.17361571e-03 4.01483134e+01] [ 2.67173151e-01 9.63645167e-01 -2.54944426e-03 4.50679278e+00] [ 9.52128450e-03 5.70449703e-06 9.99954672e-01 3.04622480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.17, Y:4.51, Z:0.31 [[ 9.63659188e-01 -2.66977205e-01 -9.17289123e-03 4.01738576e+01] [ 2.66965007e-01 9.63702844e-01 -2.55204825e-03 4.51457542e+00] [ 9.52128008e-03 1.04637753e-05 9.99954672e-01 3.05409877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.20, Y:4.52, Z:0.31 [[ 9.63625609e-01 -2.67098391e-01 -9.17257694e-03 4.02004532e+01] [ 2.67086188e-01 9.63669264e-01 -2.55317737e-03 4.52260633e+00] [ 9.52128004e-03 1.04384856e-05 9.99954672e-01 3.05041976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.257628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.23, Y:4.53, Z:0.30 [[ 9.63600624e-01 -2.67188536e-01 -9.17188136e-03 4.02270978e+01] [ 2.67176314e-01 9.63644274e-01 -2.55567371e-03 4.53043447e+00] [ 9.52127767e-03 1.21393268e-05 9.99954672e-01 3.04973962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.287628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.25, Y:4.54, Z:0.30 [[ 9.63391178e-01 -2.67942769e-01 -9.17118894e-03 4.02538390e+01] [ 2.67930557e-01 9.63434831e-01 -2.55815609e-03 4.53881772e+00] [ 9.52128229e-03 7.26325255e-06 9.99954672e-01 3.02739206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.317628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.28, Y:4.55, Z:0.30 [[ 9.63161166e-01 -2.68768433e-01 -9.17048357e-03 4.02811063e+01] [ 2.68756235e-01 9.63204822e-01 -2.56068220e-03 4.54681401e+00] [ 9.52128454e-03 1.72501451e-06 9.99954672e-01 3.01761822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.31, Y:4.55, Z:0.30 [[ 9.62862194e-01 -2.69837564e-01 -9.16978070e-03 4.03078836e+01] [ 2.69825390e-01 9.62905857e-01 -2.56319670e-03 4.55428071e+00] [ 9.52128230e-03 -6.23445981e-06 9.99954672e-01 3.01101339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.37762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.33, Y:4.56, Z:0.30 [[ 9.62550088e-01 -2.70948807e-01 -9.16907949e-03 4.03340059e+01] [ 2.70936659e-01 9.62593758e-01 -2.56570264e-03 4.56082415e+00] [ 9.52127275e-03 -1.46224656e-05 9.99954672e-01 3.00704029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.36, Y:4.57, Z:0.30 [[ 9.61510752e-01 -2.74614289e-01 -9.16877549e-03 4.03617175e+01] [ 2.74602297e-01 9.61554465e-01 -2.56678853e-03 4.56685729e+00] [ 9.52115382e-03 -4.97720466e-05 9.99954672e-01 2.99939029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.437628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.39, Y:4.57, Z:0.30 [[ 9.60839476e-01 -2.76953875e-01 -9.16805682e-03 4.03877270e+01] [ 2.76941965e-01 9.60883212e-01 -2.56935292e-03 4.57359794e+00] [ 9.52102413e-03 -7.02839643e-05 9.99954672e-01 2.99417084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.467628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.41, Y:4.58, Z:0.30 [[ 9.59498266e-01 -2.81565320e-01 -9.16774527e-03 4.04148957e+01] [ 2.81553610e-01 9.59542056e-01 -2.57046410e-03 4.58054191e+00] [ 9.52059069e-03 -1.14855933e-04 9.99954672e-01 2.99965268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.497628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.44, Y:4.59, Z:0.30 [[ 9.58941181e-01 -2.83456835e-01 -9.16701851e-03 4.04411712e+01] [ 2.83445187e-01 9.58984987e-01 -2.57305332e-03 4.58764552e+00] [ 9.52038268e-03 -1.30940480e-04 9.99954672e-01 2.99794445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.52762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.47, Y:4.59, Z:0.30 [[ 9.58390157e-01 -2.85314349e-01 -9.16670375e-03 4.04686063e+01] [ 2.85302775e-01 9.58433983e-01 -2.57417419e-03 4.59486369e+00] [ 9.52012922e-03 -1.48222811e-04 9.99954672e-01 3.00227632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.49, Y:4.60, Z:0.30 [[ 9.57983397e-01 -2.86677162e-01 -9.16597594e-03 4.04944609e+01] [ 2.86665626e-01 9.58027233e-01 -2.57676312e-03 4.60158407e+00] [ 9.51995371e-03 -1.59073936e-04 9.99954672e-01 3.00500398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.52, Y:4.61, Z:0.30 [[ 9.57390333e-01 -2.88651590e-01 -9.16566099e-03 4.05214101e+01] [ 2.88640133e-01 9.57434190e-01 -2.57788294e-03 4.60876233e+00] [ 9.51962721e-03 -1.77537401e-04 9.99954672e-01 3.01366005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.55, Y:4.62, Z:0.30 [[ 9.57275654e-01 -2.89031705e-01 -9.16492818e-03 4.05473780e+01] [ 2.89020241e-01 9.57319509e-01 -2.58048561e-03 4.61683898e+00] [ 9.51960669e-03 -1.78613695e-04 9.99954672e-01 3.01174336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.647628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.57, Y:4.63, Z:0.30 [[ 9.57131434e-01 -2.89508941e-01 -9.16461026e-03 4.05742212e+01] [ 2.89497488e-01 9.57175292e-01 -2.58161422e-03 4.62513675e+00] [ 9.51953890e-03 -1.82187529e-04 9.99954672e-01 3.01244908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.677628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.60, Y:4.63, Z:0.30 [[ 9.56958683e-01 -2.90079475e-01 -9.16389146e-03 4.06009837e+01] [ 2.90068024e-01 9.57002541e-01 -2.58416320e-03 4.63319903e+00] [ 9.51948012e-03 -1.85214469e-04 9.99954672e-01 3.01059992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.63, Y:4.64, Z:0.30 [[ 9.56884651e-01 -2.90323614e-01 -9.16316942e-03 4.06278393e+01] [ 2.90312149e-01 9.56928506e-01 -2.58672093e-03 4.64179462e+00] [ 9.51948419e-03 -1.84985851e-04 9.99954672e-01 3.00876942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.73762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.65, Y:4.65, Z:0.30 [[ 9.56895898e-01 -2.90286567e-01 -9.16243950e-03 4.06545196e+01] [ 2.90275076e-01 9.56939745e-01 -2.58930382e-03 4.64998623e+00] [ 9.51954263e-03 -1.81933621e-04 9.99954672e-01 3.01004207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.76762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.68, Y:4.66, Z:0.30 [[ 9.56839263e-01 -2.90473214e-01 -9.16171374e-03 4.06814016e+01] [ 2.90461706e-01 9.56883106e-01 -2.59186923e-03 4.65844780e+00] [ 9.51955769e-03 -1.81124759e-04 9.99954672e-01 3.01290899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.71, Y:4.67, Z:0.30 [[ 9.56879588e-01 -2.90340371e-01 -9.16098902e-03 4.07076744e+01] [ 2.90328833e-01 9.56923423e-01 -2.59442823e-03 4.66754908e+00] [ 9.51963223e-03 -1.77143837e-04 9.99954672e-01 3.02092188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.827628000000004 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:40.73, Y:4.68, Z:0.30 [[ 9.56675657e-01 -2.91011643e-01 -9.16025395e-03 4.07342952e+01] [ 2.91000111e-01 9.56719494e-01 -2.59702097e-03 4.67598514e+00] [ 9.51955687e-03 -1.81128180e-04 9.99954672e-01 3.00999681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.857628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.76, Y:4.68, Z:0.30 [[ 9.56692446e-01 -2.90956469e-01 -9.15952113e-03 4.07610015e+01] [ 2.90944910e-01 9.56736276e-01 -2.59960303e-03 4.68486328e+00] [ 9.51961745e-03 -1.77895467e-04 9.99954672e-01 3.03486704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.88762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.79, Y:4.69, Z:0.30 [[ 9.56551716e-01 -2.91418823e-01 -9.15879151e-03 4.07876177e+01] [ 2.91407260e-01 9.56595545e-01 -2.60217106e-03 4.69492859e+00] [ 9.51958078e-03 -1.79827147e-04 9.99954672e-01 3.03255167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.81, Y:4.70, Z:0.30 [[ 9.56463147e-01 -2.91709407e-01 -9.15806585e-03 4.08143669e+01] [ 2.91697833e-01 9.56506973e-01 -2.60472243e-03 4.70359011e+00] [ 9.51957588e-03 -1.80066946e-04 9.99954672e-01 3.02918262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.84, Y:4.71, Z:0.30 [[ 9.56493017e-01 -2.91611474e-01 -9.15732823e-03 4.08400114e+01] [ 2.91599871e-01 9.56536835e-01 -2.60731306e-03 4.71158783e+00] [ 9.51964417e-03 -1.76398997e-04 9.99954672e-01 3.02515444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.87, Y:4.72, Z:0.30 [[ 9.56815524e-01 -2.90551548e-01 -9.15700856e-03 4.08667880e+01] [ 2.90539886e-01 9.56859327e-01 -2.60843527e-03 4.71950768e+00] [ 9.51985395e-03 -1.64684864e-04 9.99954672e-01 3.03262785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.007628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.89, Y:4.73, Z:0.30 [[ 9.57060061e-01 -2.89745065e-01 -9.15627763e-03 4.08925466e+01] [ 2.89733342e-01 9.57103847e-01 -2.61099853e-03 4.72722260e+00] [ 9.52003248e-03 -1.53996497e-04 9.99954672e-01 3.03665280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.037628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.92, Y:4.74, Z:0.30 [[ 9.57196675e-01 -2.89293438e-01 -9.15596048e-03 4.09190465e+01] [ 2.89281683e-01 9.57240453e-01 -2.61211021e-03 4.73546958e+00] [ 9.52012209e-03 -1.48348449e-04 9.99954672e-01 3.03840634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.067628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.95, Y:4.74, Z:0.30 [[ 9.57745517e-01 -2.87471228e-01 -9.15523990e-03 4.09464239e+01] [ 2.87459366e-01 9.57789265e-01 -2.61463333e-03 4.74243387e+00] [ 9.52042235e-03 -1.27606106e-04 9.99954672e-01 3.04726442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.97, Y:4.75, Z:0.31 [[ 9.58045800e-01 -2.86468918e-01 -9.15451016e-03 4.09733749e+01] [ 2.86456985e-01 9.58089529e-01 -2.61718586e-03 4.74966558e+00] [ 9.52058273e-03 -1.14989460e-04 9.99954672e-01 3.05029532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.12762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.00, Y:4.76, Z:0.31 [[ 9.58555133e-01 -2.84760015e-01 -9.15377659e-03 4.09994306e+01] [ 2.84747980e-01 9.58598834e-01 -2.61974906e-03 4.75641688e+00] [ 9.52079934e-03 -9.53454925e-05 9.99954672e-01 3.05361909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.03, Y:4.76, Z:0.31 [[ 9.59175826e-01 -2.82662252e-01 -9.15345893e-03 4.10266249e+01] [ 2.82650111e-01 9.59219498e-01 -2.62085850e-03 4.76382430e+00] [ 9.52099404e-03 -7.33620597e-05 9.99954672e-01 3.05702211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.187628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.05, Y:4.77, Z:0.30 [[ 9.60484469e-01 -2.78183055e-01 -9.15273767e-03 4.10540659e+01] [ 2.78170686e-01 9.60528077e-01 -2.62337492e-03 4.77166276e+00] [ 9.52123996e-03 -2.63124500e-05 9.99954672e-01 3.04747782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.217628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.08, Y:4.78, Z:0.30 [[ 9.61224997e-01 -2.75613398e-01 -9.15201949e-03 4.10804914e+01] [ 2.75600888e-01 9.61268566e-01 -2.62587799e-03 4.77913125e+00] [ 9.52127580e-03 1.75486583e-06 9.99954672e-01 3.04538894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.247628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.11, Y:4.79, Z:0.30 [[ 9.61861577e-01 -2.73383528e-01 -9.15170809e-03 4.11073503e+01] [ 2.73370908e-01 9.61905113e-01 -2.62696283e-03 4.78653531e+00] [ 9.52124317e-03 2.49638609e-05 9.99954672e-01 3.04650595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.27762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.13, Y:4.79, Z:0.30 [[ 9.62996579e-01 -2.69358214e-01 -9.15099763e-03 4.11348200e+01] [ 2.69345388e-01 9.63040055e-01 -2.62943538e-03 4.79361062e+00] [ 9.52103728e-03 6.73582763e-05 9.99954672e-01 3.04243154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.16, Y:4.80, Z:0.30 [[ 9.63389759e-01 -2.67948584e-01 -9.15029123e-03 4.11616299e+01] [ 2.67935671e-01 9.63433210e-01 -2.63189132e-03 4.80030725e+00] [ 9.52090600e-03 8.38477256e-05 9.99954672e-01 3.04773914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.19, Y:4.81, Z:0.31 [[ 9.63747473e-01 -2.66659133e-01 -9.14958548e-03 4.11889908e+01] [ 2.66646139e-01 9.63790899e-01 -2.63434251e-03 4.80668356e+00] [ 9.52075871e-03 9.91393012e-05 9.99954672e-01 3.06071240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.22, Y:4.81, Z:0.31 [[ 9.64298957e-01 -2.64657931e-01 -9.14885379e-03 4.12166300e+01] [ 2.64644822e-01 9.64342348e-01 -2.63688119e-03 4.81156318e+00] [ 9.52049867e-03 1.21544997e-04 9.99954672e-01 3.07950006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.397628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.24, Y:4.82, Z:0.31 [[ 9.64414351e-01 -2.64237151e-01 -9.14810449e-03 4.12428364e+01] [ 2.64223999e-01 9.64457729e-01 -2.63947815e-03 4.81822545e+00] [ 9.52040827e-03 1.28401856e-04 9.99954672e-01 3.08165306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.427628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.27, Y:4.82, Z:0.31 [[ 9.64127999e-01 -2.65280076e-01 -9.14777975e-03 4.12699745e+01] [ 2.65266961e-01 9.64171389e-01 -2.64060317e-03 4.82478899e+00] [ 9.52052691e-03 1.19275724e-04 9.99954672e-01 3.07451847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.30, Y:4.83, Z:0.31 [[ 9.63720613e-01 -2.66756278e-01 -9.14705167e-03 4.12974079e+01] [ 2.66743205e-01 9.63764015e-01 -2.64312282e-03 4.83259628e+00] [ 9.52066885e-03 1.07318068e-04 9.99954672e-01 3.07643702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.48762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.32, Y:4.84, Z:0.31 [[ 9.63269099e-01 -2.68382167e-01 -9.14629996e-03 4.13242417e+01] [ 2.68369142e-01 9.63312516e-01 -2.64572150e-03 4.84067794e+00] [ 9.52080969e-03 9.39570907e-05 9.99954672e-01 3.06333708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.51762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.35, Y:4.85, Z:0.30 [[ 9.62208618e-01 -2.72159744e-01 -9.14594817e-03 4.13517942e+01] [ 2.72146878e-01 9.62252082e-01 -2.64693701e-03 4.85096784e+00] [ 9.52109738e-03 5.78643611e-05 9.99954672e-01 3.04175499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.38, Y:4.86, Z:0.30 [[ 9.61570336e-01 -2.74406364e-01 -9.14530292e-03 4.13797294e+01] [ 2.74393579e-01 9.61613824e-01 -2.64916453e-03 4.85998915e+00] [ 9.52119732e-03 3.79456301e-05 9.99954672e-01 3.03574436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.577628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.41, Y:4.87, Z:0.30 [[ 9.61001506e-01 -2.76391898e-01 -9.14465812e-03 4.14062904e+01] [ 2.76379181e-01 9.61045014e-01 -2.65138844e-03 4.86816432e+00] [ 9.52125037e-03 2.05951615e-05 9.99954672e-01 3.04299533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.607628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.43, Y:4.88, Z:0.30 [[ 9.60923385e-01 -2.76663401e-01 -9.14390979e-03 4.14337392e+01] [ 2.76650672e-01 9.60966889e-01 -2.65396674e-03 4.87620541e+00] [ 9.52125001e-03 2.05899100e-05 9.99954672e-01 3.04570711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.63762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.46, Y:4.88, Z:0.30 [[ 9.60271215e-01 -2.78918619e-01 -9.14315926e-03 4.14594363e+01] [ 2.78905968e-01 9.60314742e-01 -2.65654987e-03 4.88420304e+00] [ 9.52127184e-03 9.26684437e-07 9.99954672e-01 3.04662912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.49, Y:4.89, Z:0.31 [[ 9.59145843e-01 -2.82764319e-01 -9.14283412e-03 4.14869255e+01] [ 2.82751831e-01 9.59189418e-01 -2.65766838e-03 4.89137829e+00] [ 9.52120353e-03 -3.60615095e-05 9.99954672e-01 3.07583004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.51, Y:4.90, Z:0.31 [[ 9.58566556e-01 -2.84721934e-01 -9.14207641e-03 4.15142828e+01] [ 2.84709510e-01 9.58610149e-01 -2.66027228e-03 4.89870522e+00] [ 9.52112510e-03 -5.27880588e-05 9.99954672e-01 3.08103042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.54, Y:4.91, Z:0.31 [[ 9.57920890e-01 -2.86886729e-01 -9.14184203e-03 4.15417482e+01] [ 2.86874396e-01 9.57964508e-01 -2.66107747e-03 4.90636561e+00] [ 9.52098802e-03 -7.34587115e-05 9.99954672e-01 3.09744107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.757628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.57, Y:4.91, Z:0.31 [[ 9.57186756e-01 -2.89326726e-01 -9.14109197e-03 4.15689858e+01] [ 2.89314480e-01 9.57230399e-01 -2.66365151e-03 4.91465899e+00] [ 9.52079668e-03 -9.50383202e-05 9.99954672e-01 3.10444855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.787628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.60, Y:4.92, Z:0.31 [[ 9.55885422e-01 -2.93597535e-01 -9.14043566e-03 4.15965837e+01] [ 2.93585462e-01 9.55929113e-01 -2.66590177e-03 4.92371334e+00] [ 9.52031074e-03 -1.35202395e-04 9.99954672e-01 3.10861831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.817628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.62, Y:4.93, Z:0.31 [[ 9.55227897e-01 -2.95729825e-01 -9.13978231e-03 4.16236234e+01] [ 2.95717829e-01 9.55271609e-01 -2.66813983e-03 4.93210903e+00] [ 9.52002308e-03 -1.54114980e-04 9.99954672e-01 3.11506555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.65, Y:4.94, Z:0.31 [[ 9.54625946e-01 -2.97667234e-01 -9.13902962e-03 4.16499391e+01] [ 2.97655302e-01 9.54669675e-01 -2.67071548e-03 4.94017086e+00] [ 9.51973893e-03 -1.70746328e-04 9.99954672e-01 3.12257927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.87762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.68, Y:4.95, Z:0.31 [[ 9.53610692e-01 -3.00903857e-01 -9.13879640e-03 4.16767905e+01] [ 3.00892065e-01 9.53654459e-01 -2.67151330e-03 4.94788013e+00] [ 9.51912260e-03 -2.02207675e-04 9.99954672e-01 3.14683299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.70, Y:4.96, Z:0.32 [[ 9.53271849e-01 -3.01975625e-01 -9.13804543e-03 4.17033841e+01] [ 3.01963858e-01 9.53315623e-01 -2.67407958e-03 4.95591089e+00] [ 9.51894832e-03 -2.10234665e-04 9.99954672e-01 3.15320231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.937628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.73, Y:4.96, Z:0.32 [[ 9.52986848e-01 -3.02873864e-01 -9.13729947e-03 4.17301954e+01] [ 3.02862114e-01 9.53030627e-01 -2.67662607e-03 4.96480774e+00] [ 9.51880632e-03 -2.16552385e-04 9.99954672e-01 3.15100942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.967628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.76, Y:4.97, Z:0.31 [[ 9.52908253e-01 -3.03121073e-01 -9.13655407e-03 4.17560508e+01] [ 3.03109310e-01 9.52952028e-01 -2.67916807e-03 4.97378078e+00] [ 9.51881003e-03 -2.16373227e-04 9.99954672e-01 3.14516609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.997628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.78, Y:4.98, Z:0.31 [[ 9.53044593e-01 -3.02692143e-01 -9.13623108e-03 4.17823215e+01] [ 3.02680350e-01 9.53088360e-01 -2.68026905e-03 4.98494937e+00] [ 9.51893188e-03 -2.10941697e-04 9.99954672e-01 3.12395121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.02762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.81, Y:4.99, Z:0.31 [[ 9.53162116e-01 -3.02321871e-01 -9.13600428e-03 4.18094226e+01] [ 3.02310053e-01 9.53205877e-01 -2.68104188e-03 4.99417815e+00] [ 9.51903057e-03 -2.06438385e-04 9.99954672e-01 3.11649914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.84, Y:5.00, Z:0.31 [[ 9.53309312e-01 -3.01857420e-01 -9.13532754e-03 4.18356019e+01] [ 3.01845559e-01 9.53353061e-01 -2.68334583e-03 5.00307052e+00] [ 9.51918032e-03 -1.99399479e-04 9.99954672e-01 3.11422347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.86, Y:5.01, Z:0.31 [[ 9.53555693e-01 -3.01078213e-01 -9.13510377e-03 4.18620788e+01] [ 3.01066309e-01 9.53599430e-01 -2.68410739e-03 5.01188635e+00] [ 9.51935601e-03 -1.90826100e-04 9.99954672e-01 3.12368260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.89, Y:5.02, Z:0.31 [[ 9.53582500e-01 -3.00993319e-01 -9.13439363e-03 4.18892492e+01] [ 3.00981388e-01 9.53626230e-01 -2.68652192e-03 5.02059247e+00] [ 9.51942251e-03 -1.87462179e-04 9.99954672e-01 3.13626751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.147628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.92, Y:5.03, Z:0.32 [[ 9.54117161e-01 -2.99294201e-01 -9.13367451e-03 4.19167888e+01] [ 2.99282169e-01 9.54160863e-01 -2.68896459e-03 5.03091146e+00] [ 9.51978626e-03 -1.67958660e-04 9.99954672e-01 3.16207725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.177628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.94, Y:5.04, Z:0.32 [[ 9.54535116e-01 -2.97958555e-01 -9.13302076e-03 4.19434563e+01] [ 2.97946440e-01 9.54578795e-01 -2.69118321e-03 5.04047178e+00] [ 9.52004901e-03 -1.52322144e-04 9.99954672e-01 3.15319184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.97, Y:5.05, Z:0.32 [[ 9.54936287e-01 -2.96670323e-01 -9.13278905e-03 4.19712079e+01] [ 2.96658141e-01 9.54979948e-01 -2.69196929e-03 5.04994479e+00] [ 9.52025781e-03 -1.38657064e-04 9.99954672e-01 3.17460807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.23762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.00, Y:5.06, Z:0.32 [[ 9.56026730e-01 -2.93137331e-01 -9.13213049e-03 4.19980895e+01] [ 2.93124967e-01 9.56070340e-01 -2.69420152e-03 5.05850956e+00] [ 9.52073015e-03 -1.01126782e-04 9.99954672e-01 3.19201639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.26762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.02, Y:5.07, Z:0.32 [[ 9.56510711e-01 -2.91554244e-01 -9.13136906e-03 4.20243214e+01] [ 2.91541783e-01 9.56554293e-01 -2.69677975e-03 5.06665706e+00] [ 9.52090786e-03 -8.26769032e-05 9.99954672e-01 3.18996273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.05, Y:5.08, Z:0.32 [[ 9.56948058e-01 -2.90115559e-01 -9.13103887e-03 4.20509424e+01] [ 2.90103022e-01 9.56991618e-01 -2.69789728e-03 5.07531941e+00] [ 9.52102964e-03 -6.71944047e-05 9.99954672e-01 3.19392759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.327628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.08, Y:5.08, Z:0.32 [[ 9.57876961e-01 -2.87033736e-01 -9.13028270e-03 4.20770082e+01] [ 2.87021035e-01 9.57920473e-01 -2.70045390e-03 5.08483245e+00] [ 9.52120610e-03 -3.38806174e-05 9.99954672e-01 3.18471692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.357628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.10, Y:5.09, Z:0.32 [[ 9.58300510e-01 -2.85616499e-01 -9.12953122e-03 4.21037113e+01] [ 2.85603710e-01 9.58343996e-01 -2.70299209e-03 5.09309834e+00] [ 9.52125057e-03 -1.71492852e-05 9.99954672e-01 3.18536625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.38762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.13, Y:5.10, Z:0.32 [[ 9.59043838e-01 -2.83110549e-01 -9.12878065e-03 4.21287344e+01] [ 2.83097621e-01 9.59087283e-01 -2.70552458e-03 5.10042925e+00] [ 9.52125999e-03 1.03805911e-05 9.99954672e-01 3.19385060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.16, Y:5.11, Z:0.32 [[ 9.59283906e-01 -2.82296283e-01 -9.12121067e-03 4.21575926e+01] [ 2.82283076e-01 9.59327268e-01 -2.73105105e-03 5.10887786e+00] [ 9.52119167e-03 4.50899174e-05 9.99954671e-01 3.19890335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.18, Y:5.12, Z:0.32 [[ 9.60229446e-01 -2.79062876e-01 -9.12807400e-03 4.21848869e+01] [ 2.79049742e-01 9.60272830e-01 -2.70791556e-03 5.11593463e+00] [ 9.52112016e-03 5.30335650e-05 9.99954672e-01 3.19291690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.21, Y:5.12, Z:0.32 [[ 9.60589756e-01 -2.77820108e-01 -9.12731419e-03 4.22107050e+01] [ 2.77806894e-01 9.60633116e-01 -2.71047414e-03 5.12343911e+00] [ 9.52102449e-03 6.80228862e-05 9.99954672e-01 3.18140341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.507628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.24, Y:5.13, Z:0.32 [[ 9.60976889e-01 -2.76478059e-01 -9.12698513e-03 4.22380196e+01] [ 2.76464774e-01 9.61020227e-01 -2.71158173e-03 5.13115646e+00] [ 9.52091018e-03 8.24774960e-05 9.99954672e-01 3.18085520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.537628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.26, Y:5.14, Z:0.32 [[ 9.61130411e-01 -2.75943918e-01 -9.12621436e-03 4.22645689e+01] [ 2.75930584e-01 9.61173734e-01 -2.71417342e-03 5.13837806e+00] [ 9.52083717e-03 9.04729534e-05 9.99954672e-01 3.16628690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.567628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.29, Y:5.14, Z:0.32 [[ 9.61147794e-01 -2.75883374e-01 -9.12585508e-03 4.22930115e+01] [ 2.75870026e-01 9.61191113e-01 -2.71538086e-03 5.14346769e+00] [ 9.52081924e-03 9.23324420e-05 9.99954672e-01 3.16184685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.32, Y:5.15, Z:0.32 [[ 9.60981015e-01 -2.76463777e-01 -9.12517846e-03 4.23193389e+01] [ 2.76450433e-01 9.61024335e-01 -2.71765281e-03 5.14981576e+00] [ 9.52085111e-03 8.89532134e-05 9.99954672e-01 3.16536882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.62762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.35, Y:5.16, Z:0.32 [[ 9.60521821e-01 -2.78054973e-01 -9.12484166e-03 4.23482078e+01] [ 2.78041691e-01 9.60565160e-01 -2.71878317e-03 5.15540699e+00] [ 9.52097617e-03 7.43641565e-05 9.99954672e-01 3.17931771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.38, Y:5.16, Z:0.32 [[ 9.60157690e-01 -2.79309791e-01 -9.12417297e-03 4.23758295e+01] [ 2.79296544e-01 9.60201040e-01 -2.72102541e-03 5.16198153e+00] [ 9.52104941e-03 6.42634986e-05 9.99954672e-01 3.19432711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.687628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.40, Y:5.17, Z:0.32 [[ 9.59835588e-01 -2.80414691e-01 -9.12392907e-03 4.24029507e+01] [ 2.80401486e-01 9.59878950e-01 -2.72184299e-03 5.16783756e+00] [ 9.52111222e-03 5.41584955e-05 9.99954672e-01 3.20394154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.717628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.43, Y:5.17, Z:0.32 [[ 9.58649642e-01 -2.84442651e-01 -9.12368643e-03 4.24316924e+01] [ 2.84429620e-01 9.58693057e-01 -2.72265609e-03 5.17263964e+00] [ 9.52125436e-03 1.50266244e-05 9.99954672e-01 3.21891574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.747628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.46, Y:5.18, Z:0.32 [[ 9.57938260e-01 -2.86829323e-01 -9.12301197e-03 4.24588762e+01] [ 2.86816379e-01 9.57981701e-01 -2.72491419e-03 5.17946604e+00] [ 9.52126382e-03 -6.32969541e-06 9.99954672e-01 3.22024732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.77762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.49, Y:5.19, Z:0.32 [[ 9.57128760e-01 -2.89519120e-01 -9.12224451e-03 4.24853894e+01] [ 2.89506274e-01 9.57172230e-01 -2.72748103e-03 5.18607698e+00] [ 9.52121702e-03 -3.03964810e-05 9.99954672e-01 3.21894628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.51, Y:5.19, Z:0.32 [[ 9.56431980e-01 -2.91812713e-01 -9.12191203e-03 4.25121410e+01] [ 2.91799960e-01 9.56475477e-01 -2.72859253e-03 5.19449475e+00] [ 9.52112315e-03 -5.20604106e-05 9.99954672e-01 3.23046885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.54, Y:5.20, Z:0.32 [[ 9.55888024e-01 -2.93589663e-01 -9.12114624e-03 4.25387711e+01] [ 2.93576967e-01 9.55931538e-01 -2.73115001e-03 5.20231191e+00] [ 9.52102876e-03 -6.70848709e-05 9.99954672e-01 3.23587387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.56, Y:5.21, Z:0.32 [[ 9.55536108e-01 -2.94733042e-01 -9.12036952e-03 4.25643421e+01] [ 2.94720373e-01 9.55579630e-01 -2.73374132e-03 5.21031616e+00] [ 9.52096322e-03 -7.57701670e-05 9.99954672e-01 3.23420481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.897628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.59, Y:5.22, Z:0.32 [[ 9.54362791e-01 -2.98510455e-01 -9.11984254e-03 4.25923541e+01] [ 2.98497941e-01 9.54406358e-01 -2.73549821e-03 5.21913011e+00] [ 9.52061052e-03 -1.11596520e-04 9.99954672e-01 3.23850781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.927628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.62, Y:5.23, Z:0.32 [[ 9.53432296e-01 -3.01469231e-01 -9.11917140e-03 4.26190359e+01] [ 3.01456831e-01 9.53475896e-01 -2.73773372e-03 5.22713847e+00] [ 9.52025260e-03 -1.38792769e-04 9.99954672e-01 3.24195016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.65, Y:5.24, Z:0.32 [[ 9.52482494e-01 -3.04456817e-01 -9.11839616e-03 4.26456195e+01] [ 3.04444530e-01 9.52526125e-01 -2.74031333e-03 5.23542151e+00] [ 9.51981764e-03 -1.65945352e-04 9.99954672e-01 3.24547992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.98762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.67, Y:5.24, Z:0.32 [[ 9.51669977e-01 -3.06987172e-01 -9.11762086e-03 4.26711497e+01] [ 3.06974976e-01 9.51713634e-01 -2.74289052e-03 5.24442819e+00] [ 9.51939628e-03 -1.88554882e-04 9.99954672e-01 3.24764928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.01762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.70, Y:5.25, Z:0.32 [[ 9.49707461e-01 -3.13005772e-01 -9.11728516e-03 4.26966938e+01] [ 3.12993842e-01 9.49751191e-01 -2.74400591e-03 5.25465775e+00] [ 9.51804213e-03 -2.47651222e-04 9.99954672e-01 3.24375731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.047628 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:42.72, Y:5.26, Z:0.32 [[ 9.48344196e-01 -3.17112227e-01 -9.11704766e-03 4.27230703e+01] [ 3.17100479e-01 9.48387976e-01 -2.74479479e-03 5.26359163e+00] [ 9.51690636e-03 -2.88009971e-04 9.99954672e-01 3.22041085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.077628000000004 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:42.75, Y:5.27, Z:0.32 [[ 9.47057023e-01 -3.20935956e-01 -9.11628807e-03 4.27497635e+01] [ 3.20924360e-01 9.47100843e-01 -2.74731530e-03 5.27243554e+00] [ 9.51575638e-03 -3.23774662e-04 9.99954672e-01 3.22153396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.107628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.78, Y:5.28, Z:0.33 [[ 9.45184628e-01 -3.26409140e-01 -9.11553519e-03 4.27759495e+01] [ 3.26397774e-01 9.45228508e-01 -2.74981106e-03 5.28100708e+00] [ 9.51382719e-03 -3.76211251e-04 9.99954672e-01 3.26895591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.80, Y:5.29, Z:0.33 [[ 9.44553282e-01 -3.28231639e-01 -9.11530221e-03 4.28021752e+01] [ 3.28220350e-01 9.44597182e-01 -2.75058314e-03 5.28953362e+00] [ 9.51311720e-03 -3.93755345e-04 9.99954672e-01 3.28388038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.83, Y:5.30, Z:0.33 [[ 9.44156474e-01 -3.29371326e-01 -9.11495647e-03 4.28285284e+01] [ 3.29360079e-01 9.44200385e-01 -2.75172841e-03 5.29882446e+00] [ 9.51268584e-03 -4.04040591e-04 9.99954672e-01 3.29674807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.85, Y:5.31, Z:0.33 [[ 9.44525507e-01 -3.28311587e-01 -9.11422383e-03 4.28537251e+01] [ 3.28300267e-01 9.44569399e-01 -2.75415291e-03 5.31099216e+00] [ 9.51323723e-03 -3.90834442e-04 9.99954672e-01 3.31022251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.88, Y:5.32, Z:0.33 [[ 9.44216697e-01 -3.29198684e-01 -9.11344202e-03 4.28772302e+01] [ 3.29187381e-01 9.44260594e-01 -2.75673747e-03 5.32432083e+00] [ 9.51297852e-03 -3.97072559e-04 9.99954672e-01 3.29962100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.257628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.91, Y:5.33, Z:0.33 [[ 9.45921082e-01 -3.24269433e-01 -9.09070545e-03 4.29057497e+01] [ 3.24257180e-01 9.45964726e-01 -2.83178593e-03 5.33319937e+00] [ 9.51774830e-03 -2.69080507e-04 9.99954669e-01 3.30652505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.287628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.93, Y:5.34, Z:0.33 [[ 9.48144755e-01 -3.17708180e-01 -9.11235867e-03 4.29304975e+01] [ 3.17696310e-01 9.48188502e-01 -2.76030408e-03 5.34498093e+00] [ 9.51720490e-03 -2.77794884e-04 9.99954672e-01 3.30691367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.317628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.96, Y:5.35, Z:0.33 [[ 9.49250186e-01 -3.14389975e-01 -9.11202011e-03 4.29570997e+01] [ 3.14377941e-01 9.49293887e-01 -2.76142124e-03 5.35480330e+00] [ 9.51814814e-03 -2.43338496e-04 9.99954672e-01 3.31341932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.98, Y:5.37, Z:0.33 [[ 9.49297128e-01 -3.14248228e-01 -9.11125111e-03 4.29795645e+01] [ 3.14236163e-01 9.49340821e-01 -2.76395620e-03 5.36760470e+00] [ 9.51825095e-03 -2.39268910e-04 9.99954672e-01 3.28784387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.37762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.01, Y:5.38, Z:0.33 [[ 9.52257688e-01 -3.05160240e-01 -9.08425542e-03 4.30087822e+01] [ 3.05146910e-01 9.52301016e-01 -2.85279821e-03 5.37930434e+00] [ 9.52150625e-03 -5.54334404e-05 9.99954668e-01 3.29167189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.04, Y:5.39, Z:0.33 [[ 9.53122928e-01 -3.02446174e-01 -9.11024427e-03 4.30351496e+01] [ 3.02433537e-01 9.53166459e-01 -2.76723840e-03 5.39036934e+00] [ 9.52051993e-03 -1.17725030e-04 9.99954672e-01 3.28346647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.437628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.06, Y:5.40, Z:0.33 [[ 9.53945476e-01 -2.99841703e-01 -9.10947468e-03 4.30604639e+01] [ 2.99828924e-01 9.53988965e-01 -2.76976951e-03 5.40039383e+00] [ 9.52083072e-03 -8.90748969e-05 9.99954672e-01 3.27910880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.467628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.09, Y:5.41, Z:0.33 [[ 9.54603944e-01 -2.97738701e-01 -9.10914033e-03 4.30879650e+01] [ 2.97725815e-01 9.54647402e-01 -2.77086866e-03 5.41011862e+00] [ 9.52101198e-03 -6.69440763e-05 9.99954672e-01 3.28388270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.497628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.11, Y:5.42, Z:0.33 [[ 9.55476572e-01 -2.94926274e-01 -9.11115772e-03 4.31137457e+01] [ 2.94913324e-01 9.55520011e-01 -2.76424021e-03 5.41997003e+00] [ 9.52114059e-03 -4.58350485e-05 9.99954672e-01 3.28507504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.52762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.14, Y:5.43, Z:0.33 [[ 9.55392876e-01 -2.95197383e-01 -9.10813522e-03 4.31410778e+01] [ 2.95184350e-01 9.55436290e-01 -2.77416370e-03 5.42837055e+00] [ 9.52116878e-03 -3.81627455e-05 9.99954672e-01 3.28775659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.17, Y:5.44, Z:0.33 [[ 9.55541578e-01 -2.94715710e-01 -9.10734755e-03 4.31671434e+01] [ 2.94702630e-01 9.55584978e-01 -2.77674716e-03 5.43732250e+00] [ 9.52119551e-03 -3.06619111e-05 9.99954672e-01 3.27798588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.19, Y:5.45, Z:0.33 [[ 9.55669699e-01 -2.94299999e-01 -9.10700634e-03 4.31932997e+01] [ 2.94286890e-01 9.55713090e-01 -2.77786577e-03 5.44641394e+00] [ 9.52121106e-03 -2.53504250e-05 9.99954672e-01 3.27428721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.22, Y:5.46, Z:0.33 [[ 9.55724722e-01 -2.94121289e-01 -9.10625023e-03 4.32201817e+01] [ 2.94108148e-01 9.55768103e-01 -2.78034221e-03 5.45576189e+00] [ 9.52122134e-03 -2.09806075e-05 9.99954672e-01 3.27572183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.647628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.25, Y:5.46, Z:0.33 [[ 9.56179247e-01 -2.92640288e-01 -9.10547840e-03 4.32466120e+01] [ 2.92627056e-01 9.56222601e-01 -2.78286762e-03 5.46439116e+00] [ 9.52124342e-03 -3.58906668e-06 9.99954672e-01 3.28754945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.677628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.27, Y:5.47, Z:0.33 [[ 9.55623101e-01 -2.94451327e-01 -9.10523965e-03 4.32709920e+01] [ 2.94438170e-01 9.55666477e-01 -2.78364857e-03 5.47417016e+00] [ 9.52122131e-03 -2.08112170e-05 9.99954672e-01 3.30679493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.30, Y:5.48, Z:0.33 [[ 9.56581196e-01 -2.91324438e-01 -9.08224459e-03 4.33005652e+01] [ 2.91310425e-01 9.56624306e-01 -2.85877886e-03 5.47921558e+00] [ 9.52112808e-03 8.89015652e-05 9.99954669e-01 3.33358301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.73762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.33, Y:5.49, Z:0.33 [[ 9.56462063e-01 -2.91714636e-01 -9.10460714e-03 4.33273643e+01] [ 2.91701335e-01 9.56505395e-01 -2.78569035e-03 5.48702007e+00] [ 9.52123249e-03 8.58107466e-06 9.99954672e-01 3.34284530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.76762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.35, Y:5.49, Z:0.33 [[ 9.56229796e-01 -2.92475122e-01 -9.10381687e-03 4.33540753e+01] [ 2.92461831e-01 9.56273132e-01 -2.78827060e-03 5.49489455e+00] [ 9.52123526e-03 3.70847332e-06 9.99954672e-01 3.34163295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.38, Y:5.50, Z:0.33 [[ 9.56049706e-01 -2.93063295e-01 -9.10302734e-03 4.33800590e+01] [ 2.93050006e-01 9.56093042e-01 -2.79084586e-03 5.50187514e+00] [ 9.52123558e-03 5.45149760e-07 9.99954672e-01 3.34546310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.827628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.41, Y:5.51, Z:0.33 [[ 9.55367675e-01 -2.95279101e-01 -9.10268518e-03 4.34080087e+01] [ 2.95265902e-01 9.55411038e-01 -2.79196141e-03 5.50750720e+00] [ 9.52121375e-03 -2.03628629e-05 9.99954672e-01 3.34395001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.857628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.43, Y:5.51, Z:0.33 [[ 9.54982456e-01 -2.96522622e-01 -9.10188753e-03 4.34345360e+01] [ 2.96509454e-01 9.55025829e-01 -2.79455934e-03 5.51409144e+00] [ 9.52118775e-03 -3.00405631e-05 9.99954672e-01 3.33626215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.88762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.46, Y:5.52, Z:0.33 [[ 9.54574019e-01 -2.97834866e-01 -9.10134554e-03 4.34612550e+01] [ 2.97821742e-01 9.54617405e-01 -2.79632339e-03 5.52076065e+00] [ 9.52114547e-03 -4.12809202e-05 9.99954672e-01 3.32932375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.49, Y:5.53, Z:0.33 [[ 9.54066065e-01 -2.99458034e-01 -9.10110361e-03 4.34889468e+01] [ 2.99444976e-01 9.54109471e-01 -2.79711057e-03 5.52762263e+00] [ 9.52106638e-03 -5.66514747e-05 9.99954672e-01 3.32444239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.52, Y:5.53, Z:0.33 [[ 9.52745177e-01 -3.03634339e-01 -9.10033647e-03 4.35177667e+01] [ 3.03621448e-01 9.52788633e-01 -2.79960423e-03 5.53227553e+00] [ 9.52075312e-03 -9.57479014e-05 9.99954672e-01 3.32377900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.54, Y:5.54, Z:0.33 [[ 9.51918213e-01 -3.06217100e-01 -9.09963490e-03 4.35449106e+01] [ 3.06204304e-01 9.51961697e-01 -2.80188271e-03 5.53856804e+00] [ 9.52048828e-03 -1.19184187e-04 9.99954672e-01 3.32679457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.007628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.57, Y:5.54, Z:0.33 [[ 9.50309886e-01 -3.11172511e-01 -9.09883084e-03 4.35721481e+01] [ 3.11159917e-01 9.50353429e-01 -2.80449138e-03 5.54249379e+00] [ 9.51978572e-03 -1.66055565e-04 9.99954672e-01 3.33104893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.037628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.60, Y:5.55, Z:0.33 [[ 9.49458643e-01 -3.13760264e-01 -9.09848252e-03 4.36000174e+01] [ 3.13747778e-01 9.49502217e-01 -2.80562095e-03 5.54859740e+00] [ 9.51932170e-03 -1.90807616e-04 9.99954672e-01 3.33857251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.067628000000006 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:43.63, Y:5.55, Z:0.33 [[ 9.48448896e-01 -3.16799500e-01 -9.09768788e-03 4.36265138e+01] [ 3.16787129e-01 9.48492503e-01 -2.80819534e-03 5.55426211e+00] [ 9.51872363e-03 -2.18600650e-04 9.99954672e-01 3.31761286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.65, Y:5.56, Z:0.34 [[ 9.47357438e-01 -3.20048632e-01 -9.09714918e-03 4.36540461e+01] [ 3.20036393e-01 9.47401083e-01 -2.80993937e-03 5.55800352e+00] [ 9.51796624e-03 -2.49401853e-04 9.99954672e-01 3.36480741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.12762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.68, Y:5.56, Z:0.34 [[ 9.46662449e-01 -3.22098517e-01 -9.09690620e-03 4.36814852e+01] [ 3.22086365e-01 9.46706118e-01 -2.81072579e-03 5.56454116e+00] [ 9.51742736e-03 -2.69180895e-04 9.99954672e-01 3.38669951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.71, Y:5.57, Z:0.34 [[ 9.45997538e-01 -3.24046167e-01 -9.09613127e-03 4.37084487e+01] [ 3.24034082e-01 9.46041225e-01 -2.81323141e-03 5.57103698e+00] [ 9.51693202e-03 -2.86146552e-04 9.99954672e-01 3.39790317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.187628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.74, Y:5.58, Z:0.34 [[ 9.44712600e-01 -3.27773362e-01 -9.09535934e-03 4.37362202e+01] [ 3.27761425e-01 9.44756328e-01 -2.81572490e-03 5.57757663e+00] [ 9.51581791e-03 -3.21057142e-04 9.99954672e-01 3.40817937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.217628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.76, Y:5.59, Z:0.34 [[ 9.44157412e-01 -3.29369201e-01 -9.09457228e-03 4.37630849e+01] [ 3.29357313e-01 9.44201153e-01 -2.81826473e-03 5.58538901e+00] [ 9.51535524e-03 -3.34478359e-04 9.99954672e-01 3.40644987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.247628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.79, Y:5.59, Z:0.34 [[ 9.43708396e-01 -3.30653546e-01 -9.09377210e-03 4.37905461e+01] [ 3.30641693e-01 9.43752146e-01 -2.82084434e-03 5.59326852e+00] [ 9.51498912e-03 -3.44725710e-04 9.99954672e-01 3.40714746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.27762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.82, Y:5.60, Z:0.34 [[ 9.43382701e-01 -3.31581659e-01 -9.09296861e-03 4.38173374e+01] [ 3.31569824e-01 9.43426457e-01 -2.82343203e-03 5.60066539e+00] [ 9.51474543e-03 -3.51377070e-04 9.99954672e-01 3.41027042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.84, Y:5.61, Z:0.34 [[ 9.42923694e-01 -3.32884725e-01 -9.09217020e-03 4.38429640e+01] [ 3.32872926e-01 9.42967459e-01 -2.82600075e-03 5.60772125e+00] [ 9.51435312e-03 -3.61834237e-04 9.99954672e-01 3.42576890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.87, Y:5.62, Z:0.34 [[ 9.42717373e-01 -3.33468579e-01 -9.09182434e-03 4.38687815e+01] [ 3.33456797e-01 9.42761143e-01 -2.82711302e-03 5.61686332e+00] [ 9.51417207e-03 -3.66562057e-04 9.99954672e-01 3.42733405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.89, Y:5.63, Z:0.34 [[ 9.42687232e-01 -3.33553789e-01 -9.09128722e-03 4.38949896e+01] [ 3.33541994e-01 9.42730999e-01 -2.82883922e-03 5.62632377e+00] [ 9.51420832e-03 -3.65615456e-04 9.99954672e-01 3.42596926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.397628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.92, Y:5.64, Z:0.34 [[ 9.42788650e-01 -3.33267045e-01 -9.09051055e-03 4.39218237e+01] [ 3.33255213e-01 9.42832407e-01 -2.83133285e-03 5.63633287e+00] [ 9.51441787e-03 -3.60111550e-04 9.99954672e-01 3.42592540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.427628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.95, Y:5.65, Z:0.34 [[ 9.43771666e-01 -3.30473022e-01 -9.08973218e-03 4.39480855e+01] [ 3.30461036e-01 9.43815381e-01 -2.83382954e-03 5.64648968e+00] [ 9.51553325e-03 -3.29314283e-04 9.99954672e-01 3.42145498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.97, Y:5.66, Z:0.34 [[ 9.44339816e-01 -3.28846017e-01 -9.08895700e-03 4.39748489e+01] [ 3.28833931e-01 9.44383503e-01 -2.83631358e-03 5.65618518e+00] [ 9.51617148e-03 -3.10313613e-04 9.99954672e-01 3.42285946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.48762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.00, Y:5.67, Z:0.34 [[ 9.45945578e-01 -3.24198038e-01 -9.08815907e-03 4.40003577e+01] [ 3.24185714e-01 9.45989199e-01 -2.83886802e-03 5.66727828e+00] [ 9.51765576e-03 -2.60836681e-04 9.99954672e-01 3.41967441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.51762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.03, Y:5.68, Z:0.34 [[ 9.46723220e-01 -3.21920121e-01 -9.08735106e-03 4.40252698e+01] [ 3.21907667e-01 9.46766804e-01 -2.84145218e-03 5.67746188e+00] [ 9.51832294e-03 -2.35219221e-04 9.99954672e-01 3.41340537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.05, Y:5.69, Z:0.34 [[ 9.47521879e-01 -3.19561756e-01 -9.08700100e-03 4.40511373e+01] [ 3.19549183e-01 9.47565428e-01 -2.84257122e-03 5.68810841e+00] [ 9.51890504e-03 -2.10345318e-04 9.99954672e-01 3.40727770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.577628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.08, Y:5.70, Z:0.34 [[ 9.49169105e-01 -3.14635425e-01 -9.08620472e-03 4.40756519e+01] [ 3.14622601e-01 9.49212581e-01 -2.84511425e-03 5.69949548e+00] [ 9.51991356e-03 -1.58230822e-04 9.99954672e-01 3.39497121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.607628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.10, Y:5.71, Z:0.34 [[ 9.49792120e-01 -3.12749708e-01 -9.08566288e-03 4.41018792e+01] [ 3.12736781e-01 9.49835565e-01 -2.84684352e-03 5.70835391e+00] [ 9.52023521e-03 -1.37511427e-04 9.99954672e-01 3.40177277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.63762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.13, Y:5.72, Z:0.34 [[ 9.51204306e-01 -3.08428005e-01 -9.08485766e-03 4.41285461e+01] [ 3.08414856e-01 9.51247685e-01 -2.84941081e-03 5.71745597e+00] [ 9.52078791e-03 -9.15332364e-05 9.99954672e-01 3.41402223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.16, Y:5.73, Z:0.34 [[ 9.51854978e-01 -3.06414069e-01 -9.08405497e-03 4.41550394e+01] [ 3.06400804e-01 9.51898321e-01 -2.85196752e-03 5.72685656e+00] [ 9.52097965e-03 -6.87022628e-05 9.99954672e-01 3.41316437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.18, Y:5.74, Z:0.34 [[ 9.52469899e-01 -3.04497269e-01 -9.08325693e-03 4.41817903e+01] [ 3.04483892e-01 9.52513208e-01 -2.85450695e-03 5.73674552e+00] [ 9.52111177e-03 -4.68734749e-05 9.99954672e-01 3.40904529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.21, Y:5.75, Z:0.34 [[ 9.53043393e-01 -3.02697539e-01 -9.08245857e-03 4.42078588e+01] [ 3.02684056e-01 9.53086669e-01 -2.85704492e-03 5.74618029e+00] [ 9.52119065e-03 -2.62276208e-05 9.99954672e-01 3.40325083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.757628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.23, Y:5.76, Z:0.34 [[ 9.54317995e-01 -2.98654797e-01 -9.08166442e-03 4.42342277e+01] [ 2.98641107e-01 9.54361206e-01 -2.85956707e-03 5.75505785e+00] [ 9.52121163e-03 1.67779917e-05 9.99954672e-01 3.40286641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.787628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.26, Y:5.76, Z:0.34 [[ 9.54746043e-01 -2.97283586e-01 -9.08086870e-03 4.42597266e+01] [ 2.97269810e-01 9.54789227e-01 -2.86209173e-03 5.76304709e+00] [ 9.52116850e-03 3.31026420e-05 9.99954672e-01 3.40857368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.817628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.29, Y:5.77, Z:0.34 [[ 9.55088597e-01 -2.96181227e-01 -9.08032688e-03 4.42865615e+01] [ 2.96167385e-01 9.55131760e-01 -2.86380966e-03 5.77074028e+00] [ 9.52111526e-03 4.58952835e-05 9.99954672e-01 3.41738194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.31, Y:5.78, Z:0.34 [[ 9.55349320e-01 -2.95339192e-01 -9.07954333e-03 4.43133349e+01] [ 2.95325288e-01 9.55392463e-01 -2.86629173e-03 5.77848117e+00] [ 9.52105555e-03 5.68911055e-05 9.99954672e-01 3.42939448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.87762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.34, Y:5.79, Z:0.34 [[ 9.55486419e-01 -2.94895370e-01 -9.07875582e-03 4.43408433e+01] [ 2.94881422e-01 9.55529548e-01 -2.86878393e-03 5.78606749e+00] [ 9.52101054e-03 6.39276571e-05 9.99954672e-01 3.44113165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.37, Y:5.79, Z:0.34 [[ 9.55490612e-01 -2.94881809e-01 -9.07794985e-03 4.43665704e+01] [ 2.94867836e-01 9.55533733e-01 -2.87133208e-03 5.79347510e+00] [ 9.52099090e-03 6.67354173e-05 9.99954672e-01 3.44819796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.937628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.39, Y:5.80, Z:0.35 [[ 9.55464559e-01 -2.94966232e-01 -9.07740170e-03 4.43935630e+01] [ 2.94952247e-01 9.55507675e-01 -2.87306394e-03 5.80126334e+00] [ 9.52098384e-03 6.77107413e-05 9.99954672e-01 3.46895758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.967628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.42, Y:5.81, Z:0.35 [[ 9.55491725e-01 -2.94878174e-01 -9.07892688e-03 4.44210718e+01] [ 2.94864231e-01 9.55534855e-01 -2.86824688e-03 5.80815914e+00] [ 9.52101447e-03 6.35353642e-05 9.99954672e-01 3.45060431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.997628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.45, Y:5.82, Z:0.34 [[ 9.55436167e-01 -2.95058214e-01 -9.07645929e-03 4.44483195e+01] [ 2.95044205e-01 9.55479275e-01 -2.87603432e-03 5.81553280e+00] [ 9.52096629e-03 6.99104924e-05 9.99954672e-01 3.44893817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.02762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.48, Y:5.82, Z:0.34 [[ 9.55279418e-01 -2.95565334e-01 -9.07564472e-03 4.44756382e+01] [ 2.95551324e-01 9.55322526e-01 -2.87860247e-03 5.82322028e+00] [ 9.52098294e-03 6.75508817e-05 9.99954672e-01 3.44441271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.50, Y:5.83, Z:0.34 [[ 9.55156480e-01 -2.95962408e-01 -9.07483053e-03 4.45030031e+01] [ 2.95948391e-01 9.55199586e-01 -2.88116693e-03 5.83129595e+00] [ 9.52099147e-03 6.62837685e-05 9.99954672e-01 3.44249974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.53, Y:5.84, Z:0.34 [[ 9.54695176e-01 -2.97447109e-01 -9.07401672e-03 4.45293526e+01] [ 2.97433134e-01 9.54738296e-01 -2.88372770e-03 5.83895994e+00] [ 9.52106773e-03 5.41676950e-05 9.99954672e-01 3.42747635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.56, Y:5.85, Z:0.34 [[ 9.54205572e-01 -2.99014034e-01 -9.07376536e-03 4.45563290e+01] [ 2.99000123e-01 9.54248713e-01 -2.88451839e-03 5.84584901e+00] [ 9.52114040e-03 3.93665591e-05 9.99954672e-01 3.42935266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.147628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.58, Y:5.85, Z:0.34 [[ 9.53531554e-01 -3.01156533e-01 -9.07295190e-03 4.45836392e+01] [ 3.01142695e-01 9.53574718e-01 -2.88707479e-03 5.85203791e+00] [ 9.52119898e-03 2.06637239e-05 9.99954672e-01 3.43794749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.177628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.61, Y:5.86, Z:0.35 [[ 9.51717039e-01 -3.06842588e-01 -9.07213200e-03 4.46116171e+01] [ 3.06828983e-01 9.51760277e-01 -2.88964890e-03 5.85685554e+00] [ 9.52116221e-03 -3.34649416e-05 9.99954672e-01 3.45631276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.64, Y:5.86, Z:0.35 [[ 9.50595557e-01 -3.10299531e-01 -9.07131065e-03 4.46387261e+01] [ 3.10286059e-01 9.50638836e-01 -2.89222500e-03 5.86374811e+00] [ 9.52099626e-03 -6.53649997e-05 9.99954672e-01 3.46218342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.23762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.67, Y:5.87, Z:0.35 [[ 9.49204014e-01 -3.14530531e-01 -9.07105674e-03 4.46671910e+01] [ 3.14517244e-01 9.49247351e-01 -2.89302115e-03 5.87122647e+00] [ 9.52062006e-03 -1.06936476e-04 9.99954672e-01 3.47142451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.26762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.69, Y:5.88, Z:0.35 [[ 9.47672968e-01 -3.19113890e-01 -9.07034043e-03 4.46942522e+01] [ 3.19100792e-01 9.47716362e-01 -2.89526521e-03 5.87796050e+00] [ 9.52002938e-03 -1.50588239e-04 9.99954672e-01 3.47712333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.72, Y:5.88, Z:0.35 [[ 9.44310054e-01 -3.28932008e-01 -9.06952374e-03 4.47231235e+01] [ 3.28919336e-01 9.44353574e-01 -2.89782127e-03 5.88346259e+00] [ 9.51802333e-03 -2.46699969e-04 9.99954672e-01 3.48873344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.327628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.75, Y:5.89, Z:0.35 [[ 9.42529853e-01 -3.33998852e-01 -9.06880786e-03 4.47496724e+01] [ 3.33986392e-01 9.42573435e-01 -2.90005990e-03 5.89021995e+00] [ 9.51663405e-03 -2.95465384e-04 9.99954672e-01 3.49960678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.357628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.78, Y:5.90, Z:0.35 [[ 9.39251865e-01 -3.43108875e-01 -9.06825289e-03 4.47775818e+01] [ 3.43096821e-01 9.39295561e-01 -2.90179420e-03 5.89549315e+00] [ 9.51340103e-03 -3.85773129e-04 9.99954672e-01 3.51920949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.38762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.80, Y:5.90, Z:0.35 [[ 9.37780038e-01 -3.47111469e-01 -9.06800427e-03 4.48044041e+01] [ 3.47099593e-01 9.37823783e-01 -2.90257093e-03 5.90262218e+00] [ 9.51170572e-03 -4.25527515e-04 9.99954672e-01 3.53390115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.83, Y:5.91, Z:0.35 [[ 9.37684390e-01 -3.47369789e-01 -9.06720404e-03 4.48316220e+01] [ 3.47357901e-01 9.37728132e-01 -2.90506859e-03 5.91141892e+00] [ 9.51170536e-03 -4.25527499e-04 9.99954672e-01 3.53661310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.86, Y:5.92, Z:0.35 [[ 9.36581341e-01 -3.50332974e-01 -9.06640312e-03 4.48584797e+01] [ 3.50321201e-01 9.36625113e-01 -2.90756602e-03 5.91924153e+00] [ 9.51043710e-03 -4.52981146e-04 9.99954672e-01 3.54745886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.88, Y:5.93, Z:0.36 [[ 9.35360907e-01 -3.53578545e-01 -9.06560007e-03 4.48837760e+01] [ 3.53566900e-01 9.35404714e-01 -2.91006773e-03 5.92867508e+00] [ 9.50894255e-03 -4.83332520e-04 9.99954672e-01 3.55533156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.507628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.91, Y:5.94, Z:0.36 [[ 9.35122028e-01 -3.54209845e-01 -9.06525186e-03 4.49103642e+01] [ 3.54198219e-01 9.35165839e-01 -2.91115204e-03 5.93871100e+00] [ 9.50867258e-03 -4.88613669e-04 9.99954672e-01 3.55347045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.537628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.94, Y:5.95, Z:0.36 [[ 9.35201533e-01 -3.53999898e-01 -9.06446342e-03 4.49365880e+01] [ 3.53988238e-01 9.35245336e-01 -2.91360495e-03 5.94846649e+00] [ 9.50891299e-03 -4.83905619e-04 9.99954672e-01 3.55631490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.567628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.96, Y:5.96, Z:0.36 [[ 9.35936696e-01 -3.52051631e-01 -9.06367856e-03 4.49615837e+01] [ 3.52039856e-01 9.35980468e-01 -2.91604447e-03 5.95948574e+00] [ 9.51002431e-03 -4.61543071e-04 9.99954672e-01 3.56521096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.99, Y:5.97, Z:0.36 [[ 9.36514334e-01 -3.50512136e-01 -9.06333822e-03 4.49876494e+01] [ 3.50500279e-01 9.36558084e-01 -2.91710189e-03 5.96970046e+00] [ 9.51082229e-03 -4.44794840e-04 9.99954672e-01 3.56610646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.62762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.01, Y:5.98, Z:0.36 [[ 9.37065060e-01 -3.49037166e-01 -9.06256613e-03 4.50127148e+01] [ 3.49025218e-01 9.37108785e-01 -2.91949855e-03 5.98036402e+00] [ 9.51162384e-03 -4.27304028e-04 9.99954672e-01 3.56770558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.04, Y:5.99, Z:0.36 [[ 9.37650603e-01 -3.47461110e-01 -9.06223120e-03 4.50384930e+01] [ 3.47449078e-01 9.37694305e-01 -2.92053783e-03 5.99151069e+00] [ 9.51237590e-03 -4.10219818e-04 9.99954672e-01 3.56454741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.687628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.06, Y:6.01, Z:0.36 [[ 9.39369584e-01 -3.42786630e-01 -9.06146820e-03 4.50621150e+01] [ 3.42774357e-01 9.39413219e-01 -2.92290324e-03 6.00510492e+00] [ 9.51439517e-03 -3.60352542e-04 9.99954672e-01 3.55596881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.717628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.09, Y:6.02, Z:0.36 [[ 9.40285232e-01 -3.40266923e-01 -9.06113690e-03 4.50874237e+01] [ 3.40254523e-01 9.40328831e-01 -2.92392993e-03 6.01679254e+00] [ 9.51536491e-03 -3.33764686e-04 9.99954672e-01 3.56272767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.747628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.11, Y:6.03, Z:0.36 [[ 9.41298070e-01 -3.37454966e-01 -9.06030336e-03 4.51122571e+01] [ 3.37442411e-01 9.41341625e-01 -2.92651054e-03 6.02849005e+00] [ 9.51640620e-03 -3.02611892e-04 9.99954672e-01 3.56052180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.77762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.14, Y:6.04, Z:0.36 [[ 9.42203336e-01 -3.34919082e-01 -9.05994167e-03 4.51380614e+01] [ 3.34906400e-01 9.42246853e-01 -2.92762983e-03 6.04030855e+00] [ 9.51722062e-03 -2.75809851e-04 9.99954672e-01 3.55873638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.16, Y:6.05, Z:0.36 [[ 9.43893065e-01 -3.30126966e-01 -9.05910208e-03 4.51632324e+01] [ 3.30114038e-01 9.43936510e-01 -2.93022551e-03 6.05410838e+00] [ 9.51856366e-03 -2.24717223e-04 9.99954672e-01 3.55137045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.19, Y:6.06, Z:0.36 [[ 9.44522005e-01 -3.28323209e-01 -9.05826539e-03 4.51894412e+01] [ 3.28310173e-01 9.44565418e-01 -2.93280970e-03 6.06496062e+00] [ 9.51903373e-03 -2.03817378e-04 9.99954672e-01 3.55249409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.22, Y:6.08, Z:0.36 [[ 9.46008790e-01 -3.24014400e-01 -9.05742911e-03 4.52156964e+01] [ 3.24001141e-01 9.46052136e-01 -2.93539013e-03 6.07656648e+00] [ 9.51990883e-03 -1.57712502e-04 9.99954672e-01 3.55839672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.897628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.24, Y:6.09, Z:0.36 [[ 9.46737431e-01 -3.21879192e-01 -9.05659621e-03 4.52415442e+01] [ 3.21865811e-01 9.46780739e-01 -2.93795764e-03 6.08666083e+00] [ 9.52027828e-03 -1.33534220e-04 9.99954672e-01 3.56145236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.927628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.27, Y:6.10, Z:0.36 [[ 9.47715718e-01 -3.18987321e-01 -9.05576708e-03 4.52669487e+01] [ 3.18973784e-01 9.47758977e-01 -2.94051108e-03 6.09712894e+00] [ 9.52067029e-03 -1.01783722e-04 9.99954672e-01 3.56083900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.29, Y:6.11, Z:0.36 [[ 9.49808753e-01 -3.12700068e-01 -9.05540691e-03 4.52919286e+01] [ 3.12686234e-01 9.49851918e-01 -2.94161981e-03 6.11021645e+00] [ 9.52114034e-03 -3.75248403e-05 9.99954672e-01 3.56099386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.98762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.32, Y:6.12, Z:0.36 [[ 9.50862181e-01 -3.09482031e-01 -9.05456967e-03 4.53171912e+01] [ 3.09468027e-01 9.50905291e-01 -2.94419464e-03 6.12033904e+00] [ 9.52121355e-03 -2.57646807e-06 9.99954672e-01 3.56178494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.01762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.34, Y:6.13, Z:0.36 [[ 9.51750341e-01 -3.06739808e-01 -9.05420663e-03 4.53436016e+01] [ 3.06725669e-01 9.51793407e-01 -2.94531069e-03 6.13064694e+00] [ 9.52117821e-03 2.60428691e-05 9.99954672e-01 3.56395522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.37, Y:6.14, Z:0.36 [[ 9.53397087e-01 -3.01582543e-01 -9.05336865e-03 4.53688291e+01] [ 3.01568146e-01 9.53440068e-01 -2.94788424e-03 6.14052346e+00] [ 9.52087485e-03 8.02966543e-05 9.99954672e-01 3.56962829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.077628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.40, Y:6.15, Z:0.36 [[ 9.53956945e-01 -2.99806923e-01 -9.05300530e-03 4.53953825e+01] [ 2.99792435e-01 9.53999895e-01 -2.94899968e-03 6.14944178e+00] [ 9.52069662e-03 9.91962155e-05 9.99954672e-01 3.57918823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.107628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.42, Y:6.16, Z:0.36 [[ 9.54407780e-01 -2.98368645e-01 -9.05216669e-03 4.54215255e+01] [ 2.98354068e-01 9.54450700e-01 -2.95157161e-03 6.15812218e+00] [ 9.52050325e-03 1.16252150e-04 9.99954672e-01 3.58517573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.13762800000001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:45.45, Y:6.17, Z:0.36 [[ 9.54780872e-01 -2.97172602e-01 -9.05159636e-03 4.54478109e+01] [ 2.97157955e-01 9.54823768e-01 -2.95331960e-03 6.16761268e+00] [ 9.52032501e-03 1.30019206e-04 9.99954672e-01 3.56605026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.47, Y:6.18, Z:0.36 [[ 9.55117768e-01 -2.96088051e-01 -9.05075005e-03 4.54742956e+01] [ 2.96073330e-01 9.55160639e-01 -2.95591094e-03 6.17639343e+00] [ 9.52013010e-03 1.43557352e-04 9.99954672e-01 3.58607769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.50, Y:6.19, Z:0.36 [[ 9.55040208e-01 -2.96338133e-01 -9.05048822e-03 4.55005188e+01] [ 2.96323416e-01 9.55083081e-01 -2.95671240e-03 6.18502179e+00] [ 9.52015480e-03 1.41907641e-04 9.99954672e-01 3.57767417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.53, Y:6.19, Z:0.36 [[ 9.54867054e-01 -2.96895628e-01 -9.04965512e-03 4.55270723e+01] [ 2.96880912e-01 9.54909926e-01 -2.95926006e-03 6.19308258e+00] [ 9.52019688e-03 1.39030073e-04 9.99954672e-01 3.57764795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.257628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.55, Y:6.20, Z:0.36 [[ 9.54153347e-01 -2.99181399e-01 -9.04881907e-03 4.55543975e+01] [ 2.99166762e-01 9.54196246e-01 -2.96181436e-03 6.20005114e+00] [ 9.52046895e-03 1.18919181e-04 9.99954672e-01 3.56430494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.287628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.58, Y:6.21, Z:0.36 [[ 9.53572264e-01 -3.01028337e-01 -9.04856022e-03 4.55822134e+01] [ 3.01013776e-01 9.53615190e-01 -2.96260495e-03 6.20775507e+00] [ 9.52067251e-03 1.01316635e-04 9.99954672e-01 3.55433795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.317628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.61, Y:6.22, Z:0.35 [[ 9.52881795e-01 -3.03206895e-01 -9.04783373e-03 4.56097380e+01] [ 3.03192410e-01 9.52924746e-01 -2.96482199e-03 6.21518977e+00] [ 9.52085913e-03 8.18903850e-05 9.99954672e-01 3.54735085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.64, Y:6.22, Z:0.35 [[ 9.51211039e-01 -3.08408350e-01 -9.04709867e-03 4.56386080e+01] [ 3.08394079e-01 9.51254061e-01 -2.96706333e-03 6.22094560e+00] [ 9.52115645e-03 3.22317298e-05 9.99954672e-01 3.52896950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.37762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.67, Y:6.23, Z:0.35 [[ 9.50172996e-01 -3.11591785e-01 -9.04636913e-03 4.56660802e+01] [ 3.11577637e-01 9.50216059e-01 -2.96928595e-03 6.22741764e+00] [ 9.52121034e-03 2.68901195e-06 9.99954672e-01 3.52397192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.69, Y:6.23, Z:0.35 [[ 9.48908403e-01 -3.15421956e-01 -9.04611101e-03 4.56939339e+01] [ 3.15407974e-01 9.48951521e-01 -2.97007213e-03 6.23350255e+00] [ 9.52114676e-03 -3.48891391e-05 9.99954672e-01 3.53990899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.437628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.72, Y:6.24, Z:0.36 [[ 9.47545824e-01 -3.19491932e-01 -9.04527077e-03 4.57220875e+01] [ 3.19478111e-01 9.47588993e-01 -2.97262887e-03 6.23933972e+00] [ 9.52092996e-03 -7.30639409e-05 9.99954672e-01 3.55250991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.467628000000005 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:45.75, Y:6.24, Z:0.35 [[ 9.44367391e-01 -3.28768048e-01 -9.04443114e-03 4.57504310e+01] [ 3.28754627e-01 9.44410686e-01 -2.97518130e-03 6.24214591e+00] [ 9.51980197e-03 -1.63734385e-04 9.99954672e-01 3.54472818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.497628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.78, Y:6.25, Z:0.36 [[ 9.42834747e-01 -3.33137874e-01 -9.04417123e-03 4.57788569e+01] [ 3.33124645e-01 9.42878102e-01 -2.97597118e-03 6.24800631e+00] [ 9.51895971e-03 -2.06987299e-04 9.99954672e-01 3.58945336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.52762800000001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:45.81, Y:6.25, Z:0.36 [[ 9.40969645e-01 -3.38370127e-01 -9.04344936e-03 4.58072536e+01] [ 3.38357119e-01 9.41013066e-01 -2.97816321e-03 6.25417030e+00] [ 9.51772548e-03 -2.57554286e-04 9.99954672e-01 3.59748425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.84, Y:6.26, Z:0.36 [[ 9.37724541e-01 -3.47262025e-01 -9.04272311e-03 4.58354874e+01] [ 3.47249407e-01 9.37768077e-01 -2.98036673e-03 6.25618797e+00] [ 9.51494525e-03 -3.45317216e-04 9.99954672e-01 3.63609479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.58762800000001 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:45.86, Y:6.26, Z:0.36 [[ 9.35917162e-01 -3.52104103e-01 -9.04246607e-03 4.58633864e+01] [ 3.52091703e-01 9.35960761e-01 -2.98114638e-03 6.26253604e+00] [ 9.51306729e-03 -3.93671211e-04 9.99954672e-01 3.63798602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.617628 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:45.89, Y:6.27, Z:0.36 [[ 9.34527876e-01 -3.55775068e-01 -9.04161370e-03 4.58913037e+01] [ 3.55762814e-01 9.34571516e-01 -2.98372934e-03 6.26903518e+00] [ 9.51157112e-03 -4.28291690e-04 9.99954672e-01 3.64907638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.647628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.92, Y:6.27, Z:0.37 [[ 9.32906361e-01 -3.60005533e-01 -9.04086908e-03 4.59192659e+01] [ 3.59993455e-01 9.32950050e-01 -2.98598386e-03 6.27353941e+00] [ 9.50964997e-03 -4.69010359e-04 9.99954672e-01 3.68616393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.677628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.95, Y:6.28, Z:0.37 [[ 9.32477927e-01 -3.61113809e-01 -9.04060563e-03 4.59466674e+01] [ 3.61101775e-01 9.32521628e-01 -2.98678129e-03 6.28089667e+00] [ 9.50912825e-03 -4.79471111e-04 9.99954672e-01 3.69358895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.97, Y:6.29, Z:0.37 [[ 9.32451072e-01 -3.61183168e-01 -9.03975859e-03 4.59726759e+01] [ 3.61171112e-01 9.32494767e-01 -2.98934275e-03 6.28867150e+00] [ 9.50922786e-03 -4.77483811e-04 9.99954672e-01 3.68816306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.73762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.00, Y:6.30, Z:0.37 [[ 9.32765912e-01 -3.60369316e-01 -9.03939180e-03 4.59993685e+01] [ 3.60357211e-01 9.32809593e-01 -2.99045146e-03 6.29701710e+00] [ 9.50969833e-03 -4.68018836e-04 9.99954672e-01 3.68583927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.76762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.03, Y:6.31, Z:0.37 [[ 9.34517328e-01 -3.55802849e-01 -9.03855969e-03 4.60261412e+01] [ 3.55790507e-01 9.34560944e-01 -2.99296436e-03 6.30646573e+00] [ 9.51199012e-03 -4.18856677e-04 9.99954672e-01 3.67527068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.05, Y:6.32, Z:0.37 [[ 9.35604736e-01 -3.52933560e-01 -9.03771183e-03 4.60513002e+01] [ 3.52921060e-01 9.35648306e-01 -2.99552242e-03 6.31534731e+00] [ 9.51334016e-03 -3.86973881e-04 9.99954672e-01 3.65817277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.827628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.08, Y:6.32, Z:0.37 [[ 9.36604329e-01 -3.50272261e-01 -9.03734444e-03 4.60783616e+01] [ 3.50259627e-01 9.36647860e-01 -2.99663042e-03 6.32452400e+00] [ 9.51444584e-03 -3.58759865e-04 9.99954672e-01 3.66082744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.857628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.10, Y:6.33, Z:0.37 [[ 9.38306668e-01 -3.45686186e-01 -9.03649303e-03 4.61049877e+01] [ 3.45673314e-01 9.38350129e-01 -2.99919570e-03 6.33375981e+00] [ 9.51617492e-03 -3.09509171e-04 9.99954672e-01 3.66023572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.88762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.13, Y:6.34, Z:0.37 [[ 9.38987131e-01 -3.43833556e-01 -9.03622937e-03 4.61313893e+01] [ 3.43820591e-01 9.39030565e-01 -2.99998986e-03 6.34329285e+00] [ 9.51679275e-03 -2.89889850e-04 9.99954672e-01 3.66886432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.16, Y:6.35, Z:0.37 [[ 9.39718687e-01 -3.41829125e-01 -9.03538223e-03 4.61582018e+01] [ 3.41816042e-01 9.39762086e-01 -3.00253910e-03 6.35313633e+00] [ 9.51746497e-03 -2.66896489e-04 9.99954672e-01 3.66996454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.18, Y:6.36, Z:0.37 [[ 9.41428617e-01 -3.37091288e-01 -9.03454210e-03 4.61848750e+01] [ 3.37077963e-01 9.41471941e-01 -3.00506491e-03 6.36436578e+00] [ 9.51874909e-03 -2.16290947e-04 9.99954672e-01 3.68238444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.21, Y:6.37, Z:0.37 [[ 9.42207152e-01 -3.34909052e-01 -9.03380619e-03 4.62119513e+01] [ 3.34895604e-01 9.42250439e-01 -3.00727556e-03 6.37499582e+00] [ 9.51927166e-03 -1.91905447e-04 9.99954672e-01 3.68890199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.007628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.24, Y:6.39, Z:0.37 [[ 9.43624105e-01 -3.30895682e-01 -9.03307155e-03 4.62386202e+01] [ 3.30882030e-01 9.43667328e-01 -3.00948063e-03 6.38684940e+00] [ 9.52003863e-03 -1.49062592e-04 9.99954672e-01 3.70099524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.037628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.27, Y:6.40, Z:0.37 [[ 9.44092258e-01 -3.29557620e-01 -9.03232559e-03 4.62651720e+01] [ 3.29543885e-01 9.44135455e-01 -3.01171780e-03 6.39684784e+00] [ 9.52027338e-03 -1.33208211e-04 9.99954672e-01 3.70647351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.067628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.29, Y:6.41, Z:0.37 [[ 9.44418918e-01 -3.28620357e-01 -9.03147337e-03 4.62900995e+01] [ 3.28606555e-01 9.44462094e-01 -3.01427127e-03 6.40666868e+00] [ 9.52043514e-03 -1.21066535e-04 9.99954672e-01 3.71088002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.32, Y:6.42, Z:0.37 [[ 9.44631469e-01 -3.28008883e-01 -9.03110417e-03 4.63160086e+01] [ 3.27995042e-01 9.44674632e-01 -3.01537703e-03 6.41654845e+00] [ 9.52052545e-03 -1.13737359e-04 9.99954672e-01 3.71752773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.12762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.34, Y:6.43, Z:0.37 [[ 9.44841854e-01 -3.27402392e-01 -9.03024127e-03 4.63413912e+01] [ 3.27388498e-01 9.44885000e-01 -3.01795896e-03 6.42611244e+00] [ 9.52062650e-03 -1.04903189e-04 9.99954672e-01 3.71869688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.37, Y:6.44, Z:0.37 [[ 9.44875788e-01 -3.27304457e-01 -9.02986727e-03 4.63673265e+01] [ 3.27290549e-01 9.44918929e-01 -3.01907756e-03 6.43649055e+00] [ 9.52065005e-03 -1.02736926e-04 9.99954672e-01 3.71515680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.187628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.39, Y:6.45, Z:0.37 [[ 9.44799993e-01 -3.27523205e-01 -9.02902406e-03 4.63939248e+01] [ 3.27509282e-01 9.44843130e-01 -3.02159723e-03 6.44591673e+00] [ 9.52065456e-03 -1.02284147e-04 9.99954672e-01 3.71251324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.217628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.42, Y:6.46, Z:0.37 [[ 9.44132408e-01 -3.29442694e-01 -9.02818044e-03 4.64203981e+01] [ 3.29428836e-01 9.44175565e-01 -3.02411577e-03 6.45505955e+00] [ 9.52046021e-03 -1.18977268e-04 9.99954672e-01 3.70556660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.247628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.45, Y:6.46, Z:0.37 [[ 9.43489319e-01 -3.31279960e-01 -9.02732816e-03 4.64469031e+01] [ 3.31266161e-01 9.43532496e-01 -3.02665777e-03 6.46387039e+00] [ 9.52024853e-03 -1.34829058e-04 9.99954672e-01 3.70670486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.27762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.47, Y:6.47, Z:0.37 [[ 9.42805263e-01 -3.33221787e-01 -9.02647517e-03 4.64728521e+01] [ 3.33208052e-01 9.42848460e-01 -3.02919953e-03 6.47251550e+00] [ 9.51999349e-03 -1.51748948e-04 9.99954672e-01 3.70641401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.50, Y:6.48, Z:0.37 [[ 9.41183116e-01 -3.37776369e-01 -9.02589621e-03 4.64994227e+01] [ 3.37762827e-01 9.41226373e-01 -3.03092364e-03 6.48110815e+00] [ 9.51918594e-03 -1.95958063e-04 9.99954672e-01 3.70383548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.53, Y:6.49, Z:0.37 [[ 9.41088015e-01 -3.38041265e-01 -9.02504107e-03 4.65265123e+01] [ 3.38027711e-01 9.41131269e-01 -3.03346779e-03 6.49028556e+00] [ 9.51918565e-03 -1.95953788e-04 9.99954672e-01 3.70654740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.55, Y:6.50, Z:0.37 [[ 9.40099494e-01 -3.40780729e-01 -9.02418659e-03 4.65536677e+01] [ 3.40767277e-01 9.40142779e-01 -3.03600766e-03 6.49868735e+00] [ 9.51863677e-03 -2.20998224e-04 9.99954672e-01 3.70744486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.397628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.58, Y:6.51, Z:0.37 [[ 9.39228198e-01 -3.43174841e-01 -9.02333751e-03 4.65803125e+01] [ 3.43161475e-01 9.39271510e-01 -3.03852910e-03 6.50659837e+00] [ 9.51811059e-03 -2.42589596e-04 9.99954672e-01 3.71704571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.427628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.61, Y:6.51, Z:0.37 [[ 9.38124087e-01 -3.46181733e-01 -9.02246135e-03 4.66071752e+01] [ 3.46168480e-01 9.38167434e-01 -3.04112851e-03 6.51438932e+00] [ 9.51736256e-03 -2.70335828e-04 9.99954672e-01 3.73507853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.63, Y:6.52, Z:0.37 [[ 9.37782863e-01 -3.47105030e-01 -9.02219048e-03 4.66324615e+01] [ 3.47091813e-01 9.37826221e-01 -3.04193189e-03 6.52280530e+00] [ 9.51711667e-03 -2.78856851e-04 9.99954672e-01 3.74274321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.48762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.66, Y:6.53, Z:0.37 [[ 9.37612111e-01 -3.47566016e-01 -9.02181805e-03 4.66589915e+01] [ 3.47552809e-01 9.37655472e-01 -3.04303606e-03 6.53196476e+00] [ 9.51701299e-03 -2.82370741e-04 9.99954672e-01 3.74763466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.51762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.68, Y:6.54, Z:0.37 [[ 9.38014017e-01 -3.46479907e-01 -9.02096296e-03 4.66841451e+01] [ 3.46466626e-01 9.38057355e-01 -3.04556883e-03 6.54218848e+00] [ 9.51740906e-03 -2.68676342e-04 9.99954672e-01 3.74582974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.71, Y:6.55, Z:0.37 [[ 9.38418845e-01 -3.45381969e-01 -9.02038227e-03 4.67100295e+01] [ 3.45368620e-01 9.38462162e-01 -3.04728774e-03 6.55189212e+00] [ 9.51776570e-03 -2.55724734e-04 9.99954672e-01 3.74290236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.577628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.74, Y:6.56, Z:0.37 [[ 9.38915777e-01 -3.44028795e-01 -9.01952547e-03 4.67364365e+01] [ 3.44015360e-01 9.38959068e-01 -3.04982165e-03 6.56168890e+00] [ 9.51819169e-03 -2.39329640e-04 9.99954672e-01 3.73784486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.607628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.76, Y:6.57, Z:0.37 [[ 9.39552021e-01 -3.42287398e-01 -9.01866385e-03 4.67630224e+01] [ 3.42273858e-01 9.39595279e-01 -3.05236743e-03 6.57120738e+00] [ 9.51868089e-03 -2.18994887e-04 9.99954672e-01 3.73953010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.63762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.79, Y:6.58, Z:0.37 [[ 9.40958934e-01 -3.38400596e-01 -9.01778799e-03 4.67881915e+01] [ 3.38386852e-01 9.41002128e-01 -3.05495286e-03 6.58152476e+00] [ 9.51955556e-03 -1.76915704e-04 9.99954672e-01 3.74576685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.81, Y:6.59, Z:0.37 [[ 9.41533469e-01 -3.36798771e-01 -9.01740874e-03 4.68140090e+01] [ 3.36784944e-01 9.41576636e-01 -3.05607189e-03 6.59200220e+00] [ 9.51986265e-03 -1.59533520e-04 9.99954672e-01 3.74509213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.84, Y:6.60, Z:0.37 [[ 9.42105356e-01 -3.35195763e-01 -9.01654977e-03 4.68392958e+01] [ 3.35181837e-01 9.42148492e-01 -3.05860405e-03 6.60236155e+00] [ 9.52015989e-03 -1.40656457e-04 9.99954672e-01 3.74193836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.87, Y:6.61, Z:0.37 [[ 9.43212321e-01 -3.32068111e-01 -9.01596590e-03 4.68651438e+01] [ 3.32054026e-01 9.43255405e-01 -3.06032419e-03 6.61336092e+00] [ 9.52059464e-03 -1.07252295e-04 9.99954672e-01 3.74280655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.757628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.89, Y:6.62, Z:0.37 [[ 9.43655293e-01 -3.30807218e-01 -9.01511601e-03 4.68907795e+01] [ 3.30793051e-01 9.43698350e-01 -3.06282576e-03 6.62257665e+00] [ 9.52075497e-03 -9.18859939e-05 9.99954672e-01 3.74501567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.787628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.92, Y:6.63, Z:0.38 [[ 9.43944133e-01 -3.29982133e-01 -9.01474742e-03 4.69170140e+01] [ 3.29967919e-01 9.43987174e-01 -3.06391023e-03 6.63149348e+00] [ 9.52084158e-03 -8.24173667e-05 9.99954672e-01 3.75328618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.817628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.94, Y:6.64, Z:0.38 [[ 9.44260271e-01 -3.29076419e-01 -9.01389624e-03 4.69429447e+01] [ 3.29062140e-01 9.44303291e-01 -3.06641234e-03 6.63947738e+00] [ 9.52093587e-03 -7.06406342e-05 9.99954672e-01 3.76194388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.97, Y:6.65, Z:0.38 [[ 9.44044473e-01 -3.29694995e-01 -9.01352785e-03 4.69694751e+01] [ 3.29680733e-01 9.44087498e-01 -3.06749480e-03 6.64849254e+00] [ 9.52089665e-03 -7.57349591e-05 9.99954672e-01 3.76403081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.87762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.00, Y:6.66, Z:0.38 [[ 9.43807854e-01 -3.30371771e-01 -9.01269662e-03 4.69954802e+01] [ 3.30357517e-01 9.43850882e-01 -3.06993513e-03 6.65721095e+00] [ 9.52086156e-03 -7.99831912e-05 9.99954672e-01 3.76617013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.90762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.02, Y:6.66, Z:0.38 [[ 9.43364505e-01 -3.31635633e-01 -9.01213169e-03 4.70221089e+01] [ 3.31621421e-01 9.43407546e-01 -3.07159264e-03 6.66487005e+00] [ 9.52076262e-03 -9.09844497e-05 9.99954672e-01 3.78456995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.937628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.05, Y:6.67, Z:0.38 [[ 9.43085510e-01 -3.32428215e-01 -9.01125847e-03 4.70491012e+01] [ 3.32414015e-01 9.43128556e-01 -3.07415231e-03 6.67311424e+00] [ 9.52071015e-03 -9.62801042e-05 9.99954672e-01 3.79578277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.967628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.08, Y:6.68, Z:0.38 [[ 9.42934030e-01 -3.32857669e-01 -9.01038409e-03 4.70754230e+01] [ 3.32843463e-01 9.42977074e-01 -3.07671301e-03 6.68084731e+00] [ 9.52069315e-03 -9.79100418e-05 9.99954672e-01 3.80726132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.997628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.10, Y:6.69, Z:0.38 [[ 9.42786483e-01 -3.33275363e-01 -9.01000502e-03 4.71024590e+01] [ 3.33261166e-01 9.42829530e-01 -3.07782269e-03 6.68833416e+00] [ 9.52066127e-03 -1.00955158e-04 9.99954672e-01 3.81098421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.02762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.13, Y:6.70, Z:0.38 [[ 9.42859304e-01 -3.33069314e-01 -9.00913710e-03 4.71295661e+01] [ 3.33055083e-01 9.42902340e-01 -3.08036110e-03 6.69720528e+00] [ 9.52071021e-03 -9.61917775e-05 9.99954672e-01 3.81133768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.16, Y:6.71, Z:0.38 [[ 9.43150389e-01 -3.32244180e-01 -9.00826707e-03 4.71554161e+01] [ 3.32229887e-01 9.43193404e-01 -3.08290332e-03 6.70542622e+00] [ 9.52081477e-03 -8.51740873e-05 9.99954672e-01 3.80944013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.18, Y:6.71, Z:0.38 [[ 9.43675850e-01 -3.30748774e-01 -9.00767572e-03 4.71816805e+01] [ 3.30734397e-01 9.43718837e-01 -3.08463020e-03 6.71449127e+00] [ 9.52095091e-03 -6.82571733e-05 9.99954672e-01 3.79618507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.117628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:47.21, Y:6.72, Z:0.38 [[ 9.43712790e-01 -3.30643385e-01 -9.00681106e-03 4.72080747e+01] [ 3.30628978e-01 9.43755767e-01 -3.08715285e-03 6.72367221e+00] [ 9.52097655e-03 -6.45271056e-05 9.99954672e-01 3.76308789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.147628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.23, Y:6.73, Z:0.38 [[ 9.43991610e-01 -3.29846531e-01 -9.00595038e-03 4.72349040e+01] [ 3.29832064e-01 9.44034567e-01 -3.08966160e-03 6.73270039e+00] [ 9.52104263e-03 -5.38365762e-05 9.99954672e-01 3.77636869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.177628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.26, Y:6.74, Z:0.38 [[ 9.44013982e-01 -3.29782520e-01 -9.00508474e-03 4.72616897e+01] [ 3.29768027e-01 9.44056930e-01 -3.09218254e-03 6.74181459e+00] [ 9.52106040e-03 -5.05254709e-05 9.99954672e-01 3.76744318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.20762800000001 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:47.29, Y:6.75, Z:0.37 [[ 9.43443193e-01 -3.31411910e-01 -9.00481676e-03 4.72893450e+01] [ 3.31397484e-01 9.43486164e-01 -3.09296274e-03 6.75045318e+00] [ 9.52096471e-03 -6.61389682e-05 9.99954672e-01 3.73260133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.23762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.32, Y:6.76, Z:0.38 [[ 9.43186334e-01 -3.32142237e-01 -9.00405527e-03 4.73169207e+01] [ 3.32127822e-01 9.43229309e-01 -3.09517794e-03 6.75901359e+00] [ 9.52092816e-03 -7.11677314e-05 9.99954672e-01 3.76243304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.26762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.34, Y:6.77, Z:0.38 [[ 9.42611056e-01 -3.33771386e-01 -9.00329597e-03 4.73443037e+01] [ 3.33757024e-01 9.42654048e-01 -3.09738505e-03 6.76715808e+00] [ 9.52081189e-03 -8.52838783e-05 9.99954672e-01 3.76964200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.37, Y:6.78, Z:0.38 [[ 9.42023711e-01 -3.35425526e-01 -9.00242837e-03 4.73706834e+01] [ 3.35411216e-01 9.42066721e-01 -3.09990463e-03 6.77506993e+00] [ 9.52067532e-03 -9.93317868e-05 9.99954672e-01 3.77557767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.327628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.40, Y:6.78, Z:0.38 [[ 9.40808963e-01 -3.38817736e-01 -9.00205271e-03 4.73974122e+01] [ 3.38803571e-01 9.40852020e-01 -3.10099517e-03 6.78283996e+00] [ 9.52027164e-03 -1.32483554e-04 9.99954672e-01 3.77579108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.357628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.42, Y:6.79, Z:0.38 [[ 9.40004778e-01 -3.41042498e-01 -9.00178758e-03 4.74245579e+01] [ 3.41028427e-01 9.40047866e-01 -3.10176461e-03 6.79152444e+00] [ 9.51994476e-03 -1.54191909e-04 9.99954672e-01 3.78174224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.38762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.45, Y:6.80, Z:0.38 [[ 9.38497376e-01 -3.45169030e-01 -9.00090601e-03 4.74521411e+01] [ 3.45155125e-01 9.38540518e-01 -3.10432071e-03 6.79806579e+00] [ 9.51923035e-03 -1.93311995e-04 9.99954672e-01 3.78519858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.48, Y:6.81, Z:0.38 [[ 9.37627310e-01 -3.47525562e-01 -9.00063384e-03 4.74790857e+01] [ 3.47511757e-01 9.37670484e-01 -3.10510962e-03 6.80579594e+00] [ 9.51873366e-03 -2.16390495e-04 9.99954672e-01 3.80005581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.51, Y:6.81, Z:0.38 [[ 9.36895074e-01 -3.49494814e-01 -8.99976546e-03 4.75060065e+01] [ 3.49481076e-01 9.36938269e-01 -3.10762448e-03 6.81351414e+00] [ 9.51832331e-03 -2.33729646e-04 9.99954672e-01 3.80986529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.53, Y:6.82, Z:0.38 [[ 9.36411777e-01 -3.50787690e-01 -8.99890015e-03 4.75317612e+01] [ 3.50773988e-01 9.36454984e-01 -3.11012818e-03 6.82147673e+00] [ 9.51805957e-03 -2.44219435e-04 9.99954672e-01 3.81943670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.507628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.56, Y:6.83, Z:0.38 [[ 9.36315491e-01 -3.51044624e-01 -8.99852504e-03 4.75588707e+01] [ 3.51030923e-01 9.36358698e-01 -3.11121311e-03 6.82978271e+00] [ 9.51802183e-03 -2.45683526e-04 9.99954672e-01 3.81386827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.537628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.58, Y:6.84, Z:0.38 [[ 9.36703450e-01 -3.50008126e-01 -8.99767051e-03 4.75842587e+01] [ 3.49994353e-01 9.36746635e-01 -3.11368246e-03 6.83817333e+00] [ 9.51835173e-03 -2.32536766e-04 9.99954672e-01 3.81022846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.567628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.61, Y:6.85, Z:0.38 [[ 9.37248866e-01 -3.48544993e-01 -8.99729970e-03 4.76110567e+01] [ 3.48531142e-01 9.37292026e-01 -3.11475358e-03 6.84724531e+00] [ 9.51872902e-03 -2.16539881e-04 9.99954672e-01 3.80585565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.64, Y:6.86, Z:0.38 [[ 9.38618368e-01 -3.44839997e-01 -8.99645547e-03 4.76380497e+01] [ 3.44825953e-01 9.38661465e-01 -3.11719008e-03 6.85609821e+00] [ 9.51955789e-03 -1.76359459e-04 9.99954672e-01 3.80713681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.62762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.66, Y:6.87, Z:0.38 [[ 9.39261592e-01 -3.43084161e-01 -8.99557224e-03 4.76640273e+01] [ 3.43070012e-01 9.39304655e-01 -3.11973684e-03 6.86519862e+00] [ 9.51991517e-03 -1.55862084e-04 9.99954672e-01 3.79962078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.65762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.69, Y:6.87, Z:0.38 [[ 9.39885009e-01 -3.41372606e-01 -8.99518910e-03 4.76904857e+01] [ 3.41358368e-01 9.39928042e-01 -3.12084115e-03 6.87432820e+00] [ 9.52020016e-03 -1.37351255e-04 9.99954672e-01 3.80742481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.687628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.72, Y:6.88, Z:0.38 [[ 9.40991204e-01 -3.38311477e-01 -8.99434343e-03 4.77173144e+01] [ 3.38297075e-01 9.41034183e-01 -3.12327651e-03 6.88374834e+00] [ 9.52062491e-03 -1.03784350e-04 9.99954672e-01 3.81816541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.717628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.74, Y:6.89, Z:0.38 [[ 9.41576535e-01 -3.36678996e-01 -8.99347397e-03 4.77434064e+01] [ 3.36664497e-01 9.41619481e-01 -3.12577809e-03 6.89310221e+00] [ 9.52081412e-03 -8.46240835e-05 9.99954672e-01 3.82168988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.747628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.77, Y:6.90, Z:0.38 [[ 9.42171429e-01 -3.35010629e-01 -8.99320497e-03 4.77702327e+01] [ 3.34996045e-01 9.42214346e-01 -3.12655185e-03 6.90249063e+00] [ 9.52095484e-03 -6.69402778e-05 9.99954672e-01 3.82883346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.77762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.80, Y:6.91, Z:0.38 [[ 9.43507962e-01 -3.31227811e-01 -8.99232826e-03 4.77964205e+01] [ 3.31213032e-01 9.43550813e-01 -3.12907135e-03 6.91125336e+00] [ 9.52115409e-03 -2.60725716e-05 9.99954672e-01 3.82387104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.82, Y:6.92, Z:0.38 [[ 9.44298076e-01 -3.28968536e-01 -8.99145720e-03 4.78218995e+01] [ 3.28953631e-01 9.44340882e-01 -3.13157237e-03 6.92037956e+00] [ 9.52118940e-03 -6.34723815e-07 9.99954672e-01 3.82404355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.85, Y:6.93, Z:0.38 [[ 9.44927864e-01 -3.27155150e-01 -8.99110586e-03 4.78484613e+01] [ 3.27140153e-01 9.44970638e-01 -3.13258077e-03 6.93057659e+00] [ 9.52117098e-03 1.87111110e-05 9.99954672e-01 3.82578580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.87, Y:6.94, Z:0.38 [[ 9.46361503e-01 -3.22984644e-01 -8.99025730e-03 4.78749032e+01] [ 3.22969435e-01 9.46404203e-01 -3.13501418e-03 6.94112841e+00] [ 9.52097874e-03 6.32784138e-05 9.99954672e-01 3.81608444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.897628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.90, Y:6.95, Z:0.38 [[ 9.46939976e-01 -3.21284721e-01 -8.98938226e-03 4.79002507e+01] [ 3.21269412e-01 9.46982640e-01 -3.13752129e-03 6.95053560e+00] [ 9.52082660e-03 8.30307815e-05 9.99954672e-01 3.80581323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.927628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.93, Y:6.96, Z:0.38 [[ 9.47325115e-01 -3.20147355e-01 -8.98878620e-03 4.79263490e+01] [ 3.20131978e-01 9.47367754e-01 -3.13922802e-03 6.95983888e+00] [ 9.52070174e-03 9.62716344e-05 9.99954672e-01 3.80107854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.95, Y:6.97, Z:0.38 [[ 9.47635442e-01 -3.19227641e-01 -8.98790454e-03 4.79534040e+01] [ 3.19212199e-01 9.47678058e-01 -3.14175027e-03 6.96886784e+00] [ 9.52057345e-03 1.08185136e-04 9.99954672e-01 3.80350580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.98762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.98, Y:6.98, Z:0.38 [[ 9.47839097e-01 -3.18622464e-01 -8.98734524e-03 4.79792238e+01] [ 3.18606979e-01 9.47881697e-01 -3.14334941e-03 6.97636085e+00] [ 9.52048179e-03 1.15958553e-04 9.99954672e-01 3.81482232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.01762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.01, Y:6.99, Z:0.38 [[ 9.47557420e-01 -3.19459189e-01 -8.98673037e-03 4.80054365e+01] [ 3.19443726e-01 9.47600029e-01 -3.14510630e-03 6.98525576e+00] [ 9.52055907e-03 1.09414181e-04 9.99954672e-01 3.82137939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.03, Y:6.99, Z:0.38 [[ 9.47176234e-01 -3.20587641e-01 -8.98585760e-03 4.80322161e+01] [ 3.20572205e-01 9.47218852e-01 -3.14759793e-03 6.99448099e+00] [ 9.52065472e-03 1.00713776e-04 9.99954672e-01 3.81926433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.077628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.06, Y:7.00, Z:0.38 [[ 9.46020345e-01 -3.23982680e-01 -8.98497001e-03 4.80598039e+01] [ 3.23967373e-01 9.46063010e-01 -3.15012954e-03 7.00224740e+00] [ 9.52093518e-03 6.92495062e-05 9.99954672e-01 3.81580152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.107628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.09, Y:7.01, Z:0.38 [[ 9.45208731e-01 -3.26342979e-01 -8.98414251e-03 4.80866639e+01] [ 3.26327755e-01 9.45251426e-01 -3.15248782e-03 7.01110427e+00] [ 9.52106578e-03 4.79839565e-05 9.99954672e-01 3.81973905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.13762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.11, Y:7.02, Z:0.38 [[ 9.44484767e-01 -3.28432378e-01 -8.98324564e-03 4.81129015e+01] [ 3.28417225e-01 9.44527486e-01 -3.15504145e-03 7.02017095e+00] [ 9.52114019e-03 2.96359797e-05 9.99954672e-01 3.81953042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.14, Y:7.03, Z:0.38 [[ 9.43501362e-01 -3.31246882e-01 -8.98234948e-03 4.81390894e+01] [ 3.31231832e-01 9.43544118e-01 -3.15759072e-03 7.03057704e+00] [ 9.52118510e-03 3.95107513e-06 9.99954672e-01 3.83290904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.17, Y:7.04, Z:0.38 [[ 9.42782245e-01 -3.33288105e-01 -8.98207205e-03 4.81650944e+01] [ 3.33273140e-01 9.42825031e-01 -3.15837972e-03 7.04005063e+00] [ 9.52117275e-03 -1.58190338e-05 9.99954672e-01 3.84450378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.19, Y:7.05, Z:0.38 [[ 9.42689305e-01 -3.33550914e-01 -8.98118996e-03 4.81920523e+01] [ 3.33535937e-01 9.42732087e-01 -3.16088604e-03 7.04961863e+00] [ 9.52117238e-03 -1.58161450e-05 9.99954672e-01 3.84721568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.257628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.22, Y:7.06, Z:0.39 [[ 9.41875911e-01 -3.35840919e-01 -8.98030813e-03 4.82173767e+01] [ 3.35826022e-01 9.41918720e-01 -3.16338939e-03 7.05869660e+00] [ 9.52111595e-03 -3.63008994e-05 9.99954672e-01 3.85847289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.287628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.24, Y:7.07, Z:0.39 [[ 9.39465915e-01 -3.42524679e-01 -8.97992610e-03 4.82439873e+01] [ 3.42510076e-01 9.39508826e-01 -3.16447350e-03 7.06893395e+00] [ 9.52063010e-03 -1.02800181e-04 9.99954672e-01 3.87352408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.317628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.27, Y:7.08, Z:0.39 [[ 9.37961562e-01 -3.46622971e-01 -8.97914894e-03 4.82701595e+01] [ 3.46608535e-01 9.38004529e-01 -3.16667715e-03 7.07806161e+00] [ 9.52012541e-03 -1.42028215e-04 9.99954672e-01 3.87922283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.30, Y:7.09, Z:0.39 [[ 9.36507997e-01 -3.50531258e-01 -8.97826077e-03 4.82958381e+01] [ 3.50516977e-01 9.36551016e-01 -3.16919332e-03 7.08721290e+00] [ 9.51950056e-03 -1.79057929e-04 9.99954672e-01 3.87868870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.37762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.32, Y:7.10, Z:0.39 [[ 9.33783802e-01 -3.57725046e-01 -8.97787604e-03 4.83217402e+01] [ 3.57711086e-01 9.33826926e-01 -3.17028282e-03 7.09696090e+00] [ 9.51787196e-03 -2.51127044e-04 9.99954672e-01 3.87186978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.40762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.35, Y:7.11, Z:0.39 [[ 9.32503206e-01 -3.61050113e-01 -8.97700071e-03 4.83483552e+01] [ 3.61036282e-01 9.32546372e-01 -3.17275948e-03 7.10710465e+00] [ 9.51699461e-03 -2.82414573e-04 9.99954673e-01 3.86544851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.437628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.37, Y:7.12, Z:0.39 [[ 9.31285953e-01 -3.64178394e-01 -8.97612491e-03 4.83743440e+01] [ 3.64164684e-01 9.31329158e-01 -3.17523531e-03 7.11784187e+00] [ 9.51607894e-03 -3.11735656e-04 9.99954673e-01 3.85845349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.467628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.40, Y:7.13, Z:0.38 [[ 9.28866943e-01 -3.70304791e-01 -8.97571675e-03 4.84006569e+01] [ 3.70291355e-01 9.28910234e-01 -3.17638867e-03 7.12997380e+00] [ 9.51386708e-03 -3.73187885e-04 9.99954673e-01 3.84404552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.497628000000006 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:48.43, Y:7.14, Z:0.38 [[ 9.27485167e-01 -3.73752212e-01 -8.97494527e-03 4.84269133e+01] [ 3.73738917e-01 9.27528500e-01 -3.17856698e-03 7.14039109e+00] [ 9.51251397e-03 -4.06212600e-04 9.99954673e-01 3.82432499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.52762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.45, Y:7.15, Z:0.39 [[ 9.26498934e-01 -3.76190365e-01 -8.97406860e-03 4.84532186e+01] [ 3.76177160e-01 9.26542295e-01 -3.18104017e-03 7.15083542e+00] [ 9.51153079e-03 -4.28609310e-04 9.99954673e-01 3.85347263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.48, Y:7.16, Z:0.39 [[ 9.25756309e-01 -3.78014203e-01 -8.97317499e-03 4.84792610e+01] [ 3.78001059e-01 9.25799689e-01 -3.18355891e-03 7.16114995e+00] [ 9.51079310e-03 -4.44669895e-04 9.99954673e-01 3.86440092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.50, Y:7.17, Z:0.39 [[ 9.25141233e-01 -3.79517042e-01 -8.97289836e-03 4.85042792e+01] [ 3.79503961e-01 9.25184632e-01 -3.18433841e-03 7.17374088e+00] [ 9.51009836e-03 -4.59287703e-04 9.99954673e-01 3.88410797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.53, Y:7.19, Z:0.39 [[ 9.25246817e-01 -3.79259568e-01 -8.97262409e-03 4.85309249e+01] [ 3.79246467e-01 9.25290210e-01 -3.18511102e-03 7.18550496e+00] [ 9.51026506e-03 -4.55822152e-04 9.99954673e-01 3.89643318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.647628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.56, Y:7.20, Z:0.39 [[ 9.25530645e-01 -3.78566414e-01 -8.97188543e-03 4.85562119e+01] [ 3.78553260e-01 9.25574022e-01 -3.18719036e-03 7.19712365e+00] [ 9.51070731e-03 -4.46494127e-04 9.99954673e-01 3.91447710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.677628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.58, Y:7.21, Z:0.39 [[ 9.26048090e-01 -3.77298894e-01 -8.97100732e-03 4.85820147e+01] [ 3.77285657e-01 9.26091442e-01 -3.18966006e-03 7.20917105e+00] [ 9.51142832e-03 -4.30853791e-04 9.99954673e-01 3.92515031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.61, Y:7.22, Z:0.40 [[ 9.27217678e-01 -3.74415415e-01 -8.97073522e-03 4.86069278e+01] [ 3.74402036e-01 9.27260986e-01 -3.19042515e-03 7.22360251e+00] [ 9.51275714e-03 -4.00442931e-04 9.99954673e-01 3.95227199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.73762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.63, Y:7.24, Z:0.40 [[ 9.27917088e-01 -3.72678709e-01 -8.96983214e-03 4.86309765e+01] [ 3.72665225e-01 9.27960363e-01 -3.19296210e-03 7.23533702e+00] [ 9.51359769e-03 -3.79940413e-04 9.99954673e-01 3.96157056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.76762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.65, Y:7.25, Z:0.40 [[ 9.29346822e-01 -3.69098948e-01 -8.96944107e-03 4.86537195e+01] [ 3.69085286e-01 9.29390042e-01 -3.19406031e-03 7.25124601e+00] [ 9.51503351e-03 -3.42098917e-04 9.99954673e-01 3.96961868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.68, Y:7.26, Z:0.40 [[ 9.29942468e-01 -3.67595650e-01 -8.96905297e-03 4.86787498e+01] [ 3.67581908e-01 9.29985662e-01 -3.19514974e-03 7.26420273e+00] [ 9.51561381e-03 -3.25556170e-04 9.99954673e-01 3.96505963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.827628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.70, Y:7.28, Z:0.40 [[ 9.30438864e-01 -3.66337403e-01 -8.96816181e-03 4.87044401e+01] [ 3.66323579e-01 9.30482031e-01 -3.19764909e-03 7.27713407e+00] [ 9.51613188e-03 -3.10032138e-04 9.99954673e-01 3.96254852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.857628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.73, Y:7.29, Z:0.40 [[ 9.30900716e-01 -3.65162217e-01 -8.96727499e-03 4.87295327e+01] [ 3.65148314e-01 9.30943859e-01 -3.20013409e-03 7.28983616e+00] [ 9.51659764e-03 -2.95378229e-04 9.99954673e-01 3.95822360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.88762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.75, Y:7.31, Z:0.39 [[ 9.31670462e-01 -3.63193823e-01 -8.96639100e-03 4.87536588e+01] [ 3.63179805e-01 9.31713568e-01 -3.20260902e-03 7.30570189e+00] [ 9.51727596e-03 -2.72635907e-04 9.99954673e-01 3.93419143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.78, Y:7.32, Z:0.39 [[ 9.31831711e-01 -3.62779937e-01 -8.96549035e-03 4.87788074e+01] [ 3.62765876e-01 9.31874802e-01 -3.20512836e-03 7.31802098e+00] [ 9.51747081e-03 -2.65733712e-04 9.99954673e-01 3.92617603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.80, Y:7.33, Z:0.39 [[ 9.32024835e-01 -3.62283511e-01 -8.96459162e-03 4.88028021e+01] [ 3.62269403e-01 9.32067911e-01 -3.20764009e-03 7.33312069e+00] [ 9.51768330e-03 -2.57997023e-04 9.99954673e-01 3.90911522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.83, Y:7.34, Z:0.39 [[ 9.32141408e-01 -3.61983492e-01 -8.96368122e-03 4.88268144e+01] [ 3.61969345e-01 9.32184471e-01 -3.21018217e-03 7.34483350e+00] [ 9.51783739e-03 -2.52234085e-04 9.99954673e-01 3.90437098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.007628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.85, Y:7.36, Z:0.39 [[ 9.32372677e-01 -3.61387396e-01 -8.96328681e-03 4.88528554e+01] [ 3.61373211e-01 9.32415728e-01 -3.21128302e-03 7.35676260e+00] [ 9.51802681e-03 -2.44979190e-04 9.99954673e-01 3.90734232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.037628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.88, Y:7.37, Z:0.39 [[ 9.32692220e-01 -3.60561919e-01 -8.96238471e-03 4.88785252e+01] [ 3.60547672e-01 9.32735251e-01 -3.21379873e-03 7.36843819e+00] [ 9.51830559e-03 -2.33881865e-04 9.99954673e-01 3.91458976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.067628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.90, Y:7.38, Z:0.39 [[ 9.34089449e-01 -3.56926594e-01 -8.96148432e-03 4.89027304e+01] [ 3.56912155e-01 9.34132415e-01 -3.21630747e-03 7.38152586e+00] [ 9.51919866e-03 -1.94143811e-04 9.99954673e-01 3.92516268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.93, Y:7.39, Z:0.39 [[ 9.35010030e-01 -3.54508033e-01 -8.96087184e-03 4.89282781e+01] [ 3.54493467e-01 9.35052954e-01 -3.21801299e-03 7.39271121e+00] [ 9.51970113e-03 -1.67696106e-04 9.99954673e-01 3.93098741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.12762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.95, Y:7.40, Z:0.39 [[ 9.35905476e-01 -3.52137273e-01 -8.95999397e-03 4.89539197e+01] [ 3.52122575e-01 9.35948354e-01 -3.22045541e-03 7.40384940e+00] [ 9.52013399e-03 -1.40974295e-04 9.99954673e-01 3.93447200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.15762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.98, Y:7.42, Z:0.39 [[ 9.37753557e-01 -3.47185831e-01 -8.95908830e-03 4.89792541e+01] [ 3.47170882e-01 9.37796349e-01 -3.22297295e-03 7.41596612e+00] [ 9.52077083e-03 -8.79802353e-05 9.99954673e-01 3.93877851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.187628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.00, Y:7.43, Z:0.39 [[ 9.38287500e-01 -3.45740247e-01 -8.95816179e-03 4.90047822e+01] [ 3.45725208e-01 9.38330260e-01 -3.22554610e-03 7.42621023e+00] [ 9.52091538e-03 -7.05727537e-05 9.99954673e-01 3.94670415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.217628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.03, Y:7.44, Z:0.40 [[ 9.38619202e-01 -3.44838735e-01 -8.95775990e-03 4.90305166e+01] [ 3.44823644e-01 9.38661943e-01 -3.22666180e-03 7.43645582e+00] [ 9.52098629e-03 -6.02406851e-05 9.99954673e-01 3.95513095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.247628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.06, Y:7.45, Z:0.40 [[ 9.38816795e-01 -3.44300450e-01 -8.95683660e-03 4.90567203e+01] [ 3.44285310e-01 9.38859519e-01 -3.22922275e-03 7.44719225e+00] [ 9.52103415e-03 -5.20587163e-05 9.99954673e-01 3.96820546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.08, Y:7.46, Z:0.40 [[ 9.38817563e-01 -3.44298380e-01 -8.95589881e-03 4.90825561e+01] [ 3.44283215e-01 9.38860279e-01 -3.23182151e-03 7.45650592e+00] [ 9.52104857e-03 -4.92748446e-05 9.99954673e-01 3.98249837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.11, Y:7.47, Z:0.40 [[ 9.38794751e-01 -3.44360589e-01 -8.95549228e-03 4.91092922e+01] [ 3.44345416e-01 9.38837463e-01 -3.23294764e-03 7.46575532e+00] [ 9.52105141e-03 -4.87084378e-05 9.99954673e-01 3.98644681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.14, Y:7.48, Z:0.40 [[ 9.38760353e-01 -3.44454373e-01 -8.95463668e-03 4.91356759e+01] [ 3.44439182e-01 9.38803059e-01 -3.23531576e-03 7.47535447e+00] [ 9.52105896e-03 -4.71415660e-05 9.99954673e-01 3.98588918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.16, Y:7.49, Z:0.40 [[ 9.38705857e-01 -3.44602879e-01 -8.95372616e-03 4.91623467e+01] [ 3.44587670e-01 9.38748557e-01 -3.23783365e-03 7.48548471e+00] [ 9.52106431e-03 -4.59702250e-05 9.99954673e-01 3.97995459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.397628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.19, Y:7.50, Z:0.40 [[ 9.38678195e-01 -3.44678247e-01 -8.95281416e-03 4.91891245e+01] [ 3.44663018e-01 9.38720887e-01 -3.24035343e-03 7.49527187e+00] [ 9.52107299e-03 -4.40548380e-05 9.99954673e-01 3.97369262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.427628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.21, Y:7.50, Z:0.40 [[ 9.38701126e-01 -3.44615814e-01 -8.95188242e-03 4.92145134e+01] [ 3.44600557e-01 9.38743809e-01 -3.24292542e-03 7.50415646e+00] [ 9.52108759e-03 -4.06859237e-05 9.99954673e-01 3.95819147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.24, Y:7.51, Z:0.40 [[ 9.38632965e-01 -3.44801434e-01 -8.95147854e-03 4.92411986e+01] [ 3.44786175e-01 9.38675647e-01 -3.24403987e-03 7.51339755e+00] [ 9.52108451e-03 -4.13832876e-05 9.99954673e-01 3.95624080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.48762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.27, Y:7.52, Z:0.40 [[ 9.38437892e-01 -3.45332028e-01 -8.95056008e-03 4.92683011e+01] [ 3.45316770e-01 9.38480574e-01 -3.24657200e-03 7.52191555e+00] [ 9.52107206e-03 -4.40723045e-05 9.99954673e-01 3.95540019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.51762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.30, Y:7.53, Z:0.40 [[ 9.37802877e-01 -3.47052833e-01 -8.94964462e-03 4.92958563e+01] [ 3.47037628e-01 9.37845578e-01 -3.24909366e-03 7.52786656e+00] [ 9.52099178e-03 -5.88540622e-05 9.99954673e-01 3.95710888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.32, Y:7.54, Z:0.40 [[ 9.37278985e-01 -3.48465241e-01 -8.94873268e-03 4.93224314e+01] [ 3.48450077e-01 9.37321701e-01 -3.25160341e-03 7.53577456e+00] [ 9.52091210e-03 -7.05270511e-05 9.99954673e-01 3.96091913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.577628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.35, Y:7.54, Z:0.40 [[ 9.36607572e-01 -3.50265888e-01 -8.94782369e-03 4.93489891e+01] [ 3.50250783e-01 9.36650308e-01 -3.25410286e-03 7.54388825e+00] [ 9.52078304e-03 -8.61648714e-05 9.99954673e-01 3.96690227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.607628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.37, Y:7.55, Z:0.40 [[ 9.35891602e-01 -3.52174476e-01 -8.94689508e-03 4.93747310e+01] [ 3.52159433e-01 9.35934361e-01 -3.25665400e-03 7.55121005e+00] [ 9.52061694e-03 -1.02858373e-04 9.99954673e-01 3.97020557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.63762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.40, Y:7.56, Z:0.40 [[ 9.34241611e-01 -3.56528501e-01 -8.94649281e-03 4.94030189e+01] [ 3.56513647e-01 9.34284435e-01 -3.25775871e-03 7.55654859e+00] [ 9.52005282e-03 -1.46013038e-04 9.99954673e-01 3.98052136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.43, Y:7.56, Z:0.40 [[ 9.33351652e-01 -3.58851879e-01 -8.94556694e-03 4.94304043e+01] [ 3.58837107e-01 9.33394505e-01 -3.26029909e-03 7.56403961e+00] [ 9.51970748e-03 -1.66995816e-04 9.99954673e-01 3.98925872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.46, Y:7.57, Z:0.40 [[ 9.32619722e-01 -3.60749842e-01 -8.94464536e-03 4.94578085e+01] [ 3.60735133e-01 9.32662596e-01 -3.26282551e-03 7.57118617e+00] [ 9.51939995e-03 -1.83672410e-04 9.99954673e-01 3.99751076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.48, Y:7.58, Z:0.40 [[ 9.31753722e-01 -3.62980731e-01 -8.94371229e-03 4.94845754e+01] [ 3.62966101e-01 9.31796623e-01 -3.26538114e-03 7.57621527e+00] [ 9.51899134e-03 -2.03733345e-04 9.99954673e-01 4.01480497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.757628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.51, Y:7.58, Z:0.40 [[ 9.31596414e-01 -3.63384285e-01 -8.94330785e-03 4.95102997e+01] [ 3.63369662e-01 9.31639318e-01 -3.26648844e-03 7.58429939e+00] [ 9.51892779e-03 -2.06677834e-04 9.99954673e-01 4.01402535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.787628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.54, Y:7.59, Z:0.40 [[ 9.31552956e-01 -3.63495688e-01 -8.94290810e-03 4.95367403e+01] [ 3.63481060e-01 9.31595858e-01 -3.26758250e-03 7.59318076e+00] [ 9.51892829e-03 -2.06651582e-04 9.99954673e-01 4.01157779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.817628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.56, Y:7.60, Z:0.40 [[ 9.32005014e-01 -3.62335059e-01 -8.94199120e-03 4.95624729e+01] [ 3.62320354e-01 9.32047889e-01 -3.27008974e-03 7.60051859e+00] [ 9.51923219e-03 -1.92125384e-04 9.99954673e-01 4.00273724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.59, Y:7.61, Z:0.40 [[ 9.32244915e-01 -3.61717386e-01 -8.94159371e-03 4.95890895e+01] [ 3.61702641e-01 9.32287777e-01 -3.27117627e-03 7.60913632e+00] [ 9.51937985e-03 -1.84660618e-04 9.99954673e-01 4.00574240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.87762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.61, Y:7.62, Z:0.40 [[ 9.32521819e-01 -3.61002938e-01 -8.94066609e-03 4.96149396e+01] [ 3.60988136e-01 9.32564662e-01 -3.27370965e-03 7.61798871e+00] [ 9.51956805e-03 -1.74668707e-04 9.99954673e-01 4.00620211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.90762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.64, Y:7.63, Z:0.40 [[ 9.33335147e-01 -3.58894937e-01 -8.94026422e-03 4.96420848e+01] [ 3.58880028e-01 9.33377952e-01 -3.27480677e-03 7.62656107e+00] [ 9.51995707e-03 -1.51990018e-04 9.99954673e-01 4.00465049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.937628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.67, Y:7.64, Z:0.40 [[ 9.33688328e-01 -3.57975131e-01 -8.93933407e-03 4.96674753e+01] [ 3.57960156e-01 9.33731110e-01 -3.27734384e-03 7.63532336e+00] [ 9.52014192e-03 -1.39907734e-04 9.99954673e-01 4.00607786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.967628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.69, Y:7.64, Z:0.40 [[ 9.34008775e-01 -3.57138213e-01 -8.93893105e-03 4.96943195e+01] [ 3.57123189e-01 9.34051540e-01 -3.27844271e-03 7.64469585e+00] [ 9.52027949e-03 -1.30205299e-04 9.99954673e-01 4.00395103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.997628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.72, Y:7.65, Z:0.40 [[ 9.34719480e-01 -3.55273988e-01 -8.93800490e-03 4.97203033e+01] [ 3.55258854e-01 9.34762206e-01 -3.28096573e-03 7.65286653e+00] [ 9.52055096e-03 -1.08522802e-04 9.99954673e-01 3.99064361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.02762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.75, Y:7.66, Z:0.40 [[ 9.34879623e-01 -3.54852378e-01 -8.93760284e-03 4.97471559e+01] [ 3.54837215e-01 9.34922339e-01 -3.28206060e-03 7.66140035e+00] [ 9.52061156e-03 -1.03062530e-04 9.99954673e-01 3.98820124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.77, Y:7.67, Z:0.40 [[ 9.35033422e-01 -3.54446942e-01 -8.93672538e-03 4.97745391e+01] [ 3.54431738e-01 9.35076123e-01 -3.28444810e-03 7.66968286e+00] [ 9.52068111e-03 -9.63903641e-05 9.99954673e-01 3.99339268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.80, Y:7.68, Z:0.40 [[ 9.35469176e-01 -3.53295304e-01 -8.93581177e-03 4.98016000e+01] [ 3.53280023e-01 9.35511850e-01 -3.28693182e-03 7.67674136e+00] [ 9.52081538e-03 -8.20203856e-05 9.99954673e-01 3.99584921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.83, Y:7.68, Z:0.40 [[ 9.35841278e-01 -3.52308488e-01 -8.93487796e-03 4.98277557e+01] [ 3.52293138e-01 9.35883927e-01 -3.28946826e-03 7.68494997e+00] [ 9.52091626e-03 -6.92760192e-05 9.99954673e-01 3.99134072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.147628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.85, Y:7.69, Z:0.40 [[ 9.35744408e-01 -3.52565708e-01 -8.93447269e-03 4.98545594e+01] [ 3.52550359e-01 9.35787057e-01 -3.29056863e-03 7.69490726e+00] [ 9.52090557e-03 -7.07203671e-05 9.99954673e-01 3.99405852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.177628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.88, Y:7.70, Z:0.40 [[ 9.36013881e-01 -3.51849692e-01 -8.93356754e-03 4.98812987e+01] [ 3.51834287e-01 9.36056510e-01 -3.29302419e-03 7.70341680e+00] [ 9.52097361e-03 -6.08190078e-05 9.99954673e-01 3.99426195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.91, Y:7.71, Z:0.40 [[ 9.36422534e-01 -3.50760668e-01 -8.93265033e-03 4.99079756e+01] [ 3.50745189e-01 9.36465136e-01 -3.29551034e-03 7.71176510e+00] [ 9.52105102e-03 -4.70939839e-05 9.99954673e-01 3.99327947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.23762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.93, Y:7.72, Z:0.40 [[ 9.37456038e-01 -3.47989081e-01 -8.93172187e-03 4.99344643e+01] [ 3.47973453e-01 9.37498586e-01 -3.29802481e-03 7.71796070e+00] [ 9.52115325e-03 -1.62488300e-05 9.99954673e-01 3.99088410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.26762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.96, Y:7.73, Z:0.40 [[ 9.37825376e-01 -3.46992500e-01 -8.93131971e-03 4.99618377e+01] [ 3.46976816e-01 9.37867904e-01 -3.29911353e-03 7.72627447e+00] [ 9.52116574e-03 -4.96848780e-06 9.99954673e-01 3.99382750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.99, Y:7.73, Z:0.40 [[ 9.38320992e-01 -3.45650061e-01 -8.93037215e-03 4.99886472e+01] [ 3.45634292e-01 9.38363488e-01 -3.30167648e-03 7.73248646e+00] [ 9.52115984e-03 1.13894867e-05 9.99954673e-01 3.98883229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.327628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.02, Y:7.74, Z:0.40 [[ 9.38132747e-01 -3.46160663e-01 -8.92996096e-03 5.00152495e+01] [ 3.46144906e-01 9.38175248e-01 -3.30278825e-03 7.74023954e+00] [ 9.52116370e-03 7.39331156e-06 9.99954673e-01 3.98722589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.357628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.04, Y:7.75, Z:0.40 [[ 9.37690771e-01 -3.47356142e-01 -8.92907929e-03 5.00426092e+01] [ 3.47340417e-01 9.37733283e-01 -3.30517011e-03 7.74806998e+00] [ 9.52116598e-03 -2.20262045e-06 9.99954673e-01 3.99252645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.38762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.07, Y:7.75, Z:0.40 [[ 9.36602561e-01 -3.50279790e-01 -8.92813225e-03 5.00697290e+01] [ 3.50264173e-01 9.36645113e-01 -3.30772634e-03 7.75325103e+00] [ 9.52112113e-03 -2.91799011e-05 9.99954673e-01 3.98455519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.10, Y:7.76, Z:0.40 [[ 9.35882144e-01 -3.52200097e-01 -8.92772253e-03 5.00970187e+01] [ 3.52184557e-01 9.35924724e-01 -3.30883182e-03 7.76092876e+00] [ 9.52104714e-03 -4.75293822e-05 9.99954673e-01 3.98225103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.12, Y:7.77, Z:0.40 [[ 9.35335428e-01 -3.53649472e-01 -8.92686014e-03 5.01242298e+01] [ 3.53633976e-01 9.35378024e-01 -3.31115683e-03 7.76828940e+00] [ 9.52097766e-03 -5.97987595e-05 9.99954673e-01 3.99221636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.15, Y:7.77, Z:0.40 [[ 9.34518344e-01 -3.55803026e-01 -8.92591526e-03 5.01513932e+01] [ 3.55787604e-01 9.34560967e-01 -3.31370198e-03 7.77301385e+00] [ 9.52083719e-03 -7.90147154e-05 9.99954673e-01 3.99332833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.507628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.18, Y:7.78, Z:0.40 [[ 9.34333722e-01 -3.56287569e-01 -8.92550595e-03 5.01779608e+01] [ 3.56272158e-01 9.34376349e-01 -3.31480410e-03 7.78131393e+00] [ 9.52080516e-03 -8.27760131e-05 9.99954673e-01 3.99765540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.537628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.20, Y:7.79, Z:0.40 [[ 9.34730378e-01 -3.55245650e-01 -8.92457807e-03 5.02039163e+01] [ 3.55230168e-01 9.34772979e-01 -3.31730039e-03 7.79192562e+00] [ 9.52091097e-03 -6.94979215e-05 9.99954673e-01 4.00383252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.567628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.23, Y:7.80, Z:0.40 [[ 9.35571394e-01 -3.53024837e-01 -8.92364995e-03 5.02303763e+01] [ 3.53009230e-01 9.35613950e-01 -3.31979520e-03 7.80273762e+00] [ 9.52106153e-03 -4.42253734e-05 9.99954673e-01 3.99062149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.26, Y:7.81, Z:0.40 [[ 9.35887774e-01 -3.52185264e-01 -8.92272012e-03 5.02567956e+01] [ 3.52169595e-01 9.35930307e-01 -3.32229247e-03 7.81249915e+00] [ 9.52110662e-03 -3.30178302e-05 9.99954673e-01 3.98605246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.62762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.28, Y:7.82, Z:0.40 [[ 9.35961980e-01 -3.51988013e-01 -8.92243220e-03 5.02835655e+01] [ 3.51972328e-01 9.36004507e-01 -3.32306553e-03 7.82227729e+00] [ 9.52111599e-03 -3.01862366e-05 9.99954673e-01 3.98265590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.65762800000001 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:50.31, Y:7.83, Z:0.40 [[ 9.36030567e-01 -3.51805606e-01 -8.92152116e-03 5.03096228e+01] [ 3.51789889e-01 9.36073082e-01 -3.32550961e-03 7.83211348e+00] [ 9.52112873e-03 -2.57223002e-05 9.99954673e-01 3.96502286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.687628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.34, Y:7.84, Z:0.40 [[ 9.36035733e-01 -3.51791868e-01 -8.92123894e-03 5.03371748e+01] [ 3.51776144e-01 9.36078245e-01 -3.32626653e-03 7.84217411e+00] [ 9.52113121e-03 -2.47747021e-05 9.99954673e-01 3.98980510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.717628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.36, Y:7.85, Z:0.40 [[ 9.35643797e-01 -3.52832978e-01 -8.92044357e-03 5.03624217e+01] [ 3.52817280e-01 9.35686320e-01 -3.32839820e-03 7.85170531e+00] [ 9.52110567e-03 -3.30915052e-05 9.99954673e-01 3.98831435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.747628000000006 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:50.39, Y:7.86, Z:0.40 [[ 9.34760290e-01 -3.55167050e-01 -8.92004926e-03 5.03889801e+01] [ 3.55151449e-01 9.34802847e-01 -3.32945464e-03 7.86234278e+00] [ 9.52100002e-03 -5.57264352e-05 9.99954673e-01 3.97135166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.77762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.42, Y:7.87, Z:0.40 [[ 9.33386017e-01 -3.58763140e-01 -8.91923015e-03 5.04154428e+01] [ 3.58747681e-01 9.33428627e-01 -3.33164749e-03 7.87291436e+00] [ 9.52073706e-03 -9.00399568e-05 9.99954673e-01 3.98631381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.44, Y:7.88, Z:0.40 [[ 9.32433931e-01 -3.61230433e-01 -8.91841342e-03 5.04414831e+01] [ 3.61215067e-01 9.32476574e-01 -3.33383233e-03 7.88277367e+00] [ 9.52049329e-03 -1.12886910e-04 9.99954673e-01 3.99277544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.83762800000001 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:50.47, Y:7.89, Z:0.40 [[ 9.31231069e-01 -3.64320153e-01 -8.91748417e-03 5.04679520e+01] [ 3.64304904e-01 9.31273755e-01 -3.33631608e-03 7.89271836e+00] [ 9.52010615e-03 -1.41802024e-04 9.99954673e-01 3.97986210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.49, Y:7.90, Z:0.40 [[ 9.30566276e-01 -3.66014891e-01 -8.91655299e-03 5.04944319e+01] [ 3.65999696e-01 9.30608981e-01 -3.33880287e-03 7.90281318e+00] [ 9.51987586e-03 -1.56478331e-04 9.99954673e-01 4.01292310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.897628000000005 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:50.52, Y:7.91, Z:0.40 [[ 9.29051569e-01 -3.69842781e-01 -8.91626273e-03 5.05203494e+01] [ 3.69827755e-01 9.29094333e-01 -3.33957784e-03 7.91349573e+00] [ 9.51916793e-03 -1.94841392e-04 9.99954673e-01 4.02045597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.927628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.55, Y:7.92, Z:0.40 [[ 9.28782989e-01 -3.70516758e-01 -8.91582890e-03 5.05461330e+01] [ 3.70501751e-01 9.28825760e-01 -3.34073566e-03 7.92337051e+00] [ 9.51905010e-03 -2.00511763e-04 9.99954673e-01 4.04978058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.57, Y:7.93, Z:0.41 [[ 9.28503413e-01 -3.71216833e-01 -8.91490941e-03 5.05719359e+01] [ 3.71201835e-01 9.28546187e-01 -3.34318755e-03 7.93395419e+00] [ 9.51895263e-03 -2.05069684e-04 9.99954673e-01 4.06614116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.98762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.60, Y:7.94, Z:0.41 [[ 9.28742668e-01 -3.70617860e-01 -8.91396220e-03 5.05973255e+01] [ 3.70602811e-01 9.28785424e-01 -3.34571120e-03 7.94366793e+00] [ 9.51913849e-03 -1.96234696e-04 9.99954673e-01 4.07584317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.01762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.62, Y:7.95, Z:0.41 [[ 9.29011496e-01 -3.69943493e-01 -8.91355170e-03 5.06237357e+01] [ 3.69928402e-01 9.29054238e-01 -3.34680448e-03 7.95383436e+00] [ 9.51930152e-03 -1.88156098e-04 9.99954673e-01 4.08442446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.65, Y:7.96, Z:0.41 [[ 9.30176836e-01 -3.67003569e-01 -8.91260289e-03 5.06481936e+01] [ 3.66988318e-01 9.30219520e-01 -3.34932928e-03 7.96487755e+00] [ 9.51989299e-03 -1.55352631e-04 9.99954673e-01 4.08857026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.077628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.67, Y:7.98, Z:0.41 [[ 9.30977165e-01 -3.64968617e-01 -8.91219195e-03 5.06732491e+01] [ 3.64953263e-01 9.31019812e-01 -3.35042239e-03 7.97593291e+00] [ 9.52022630e-03 -1.33366789e-04 9.99954673e-01 4.09039571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.107628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.70, Y:7.99, Z:0.41 [[ 9.31740518e-01 -3.63015409e-01 -8.91178717e-03 5.06992331e+01] [ 3.62999955e-01 9.31783129e-01 -3.35149872e-03 7.98740503e+00] [ 9.52049862e-03 -1.12251189e-04 9.99954673e-01 4.08839272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.13762800000001 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:50.72, Y:8.00, Z:0.41 [[ 9.32410819e-01 -3.61290274e-01 -8.91083374e-03 5.07247272e+01] [ 3.61274717e-01 9.32453393e-01 -3.35403176e-03 7.99828374e+00] [ 9.52071620e-03 -9.19234400e-05 9.99954673e-01 4.06695010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.75, Y:8.01, Z:0.41 [[ 9.34270970e-01 -3.56452477e-01 -8.90988088e-03 5.07508567e+01] [ 3.56436675e-01 9.34313454e-01 -3.35656109e-03 8.00908326e+00] [ 9.52107609e-03 -3.98707314e-05 9.99954673e-01 4.08080617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.78, Y:8.02, Z:0.41 [[ 9.34877386e-01 -3.54858992e-01 -8.90893338e-03 5.07770411e+01] [ 3.54843094e-01 9.34919834e-01 -3.35907403e-03 8.01955446e+00] [ 9.52113614e-03 -2.09511361e-05 9.99954673e-01 4.07481175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.80, Y:8.03, Z:0.41 [[ 9.35415441e-01 -3.53438256e-01 -8.90798109e-03 5.08022649e+01] [ 3.53422269e-01 9.35457855e-01 -3.36159753e-03 8.02931882e+00] [ 9.52115806e-03 -3.78865693e-06 9.99954673e-01 4.06608255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.257628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.83, Y:8.04, Z:0.40 [[ 9.35512644e-01 -3.53180900e-01 -8.90756806e-03 5.08288383e+01] [ 3.53164891e-01 9.35555050e-01 -3.36269165e-03 8.03772439e+00] [ 9.52115874e-03 2.51453611e-10 9.99954673e-01 4.04441467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.287628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.86, Y:8.05, Z:0.40 [[ 9.34949760e-01 -3.54668322e-01 -8.90663371e-03 5.08556670e+01] [ 3.54652357e-01 9.34992182e-01 -3.36516458e-03 8.04669689e+00] [ 9.52115017e-03 -1.24988246e-05 9.99954673e-01 4.04058011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.317628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.88, Y:8.06, Z:0.40 [[ 9.34155813e-01 -3.56754265e-01 -8.90567817e-03 5.08818303e+01] [ 3.56738370e-01 9.34198263e-01 -3.36769147e-03 8.05521783e+00] [ 9.52110737e-03 -3.10485528e-05 9.99954673e-01 4.03767876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.91, Y:8.06, Z:0.40 [[ 9.32022464e-01 -3.62291074e-01 -8.90526442e-03 5.09097638e+01] [ 3.62275421e-01 9.32065003e-01 -3.36878519e-03 8.06163508e+00] [ 9.52076612e-03 -8.63749422e-05 9.99954673e-01 4.04981662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.37762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.94, Y:8.07, Z:0.41 [[ 9.31311574e-01 -3.64114633e-01 -8.90430867e-03 5.09364268e+01] [ 3.64099040e-01 9.31354134e-01 -3.37130953e-03 8.07150320e+00] [ 9.52060782e-03 -1.02310654e-04 9.99954673e-01 4.06597152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.40762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.96, Y:8.08, Z:0.41 [[ 9.30922647e-01 -3.65107869e-01 -8.90335864e-03 5.09614558e+01] [ 3.65092297e-01 9.30965215e-01 -3.37381662e-03 8.08191539e+00] [ 9.52052419e-03 -1.09785362e-04 9.99954673e-01 4.07657190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.437628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.99, Y:8.09, Z:0.41 [[ 9.30079353e-01 -3.67250779e-01 -8.90294690e-03 5.09876760e+01] [ 3.67235295e-01 9.30121954e-01 -3.37490278e-03 8.09217541e+00] [ 9.52026204e-03 -1.30548933e-04 9.99954673e-01 4.07985611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.467628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.01, Y:8.10, Z:0.41 [[ 9.29675042e-01 -3.68273092e-01 -8.90199329e-03 5.10134717e+01] [ 3.68257631e-01 9.29717651e-01 -3.37741625e-03 8.10170948e+00] [ 9.52015182e-03 -1.38327366e-04 9.99954673e-01 4.08377789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.497628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.04, Y:8.11, Z:0.41 [[ 9.28998103e-01 -3.69977413e-01 -8.90157946e-03 5.10393862e+01] [ 3.69962019e-01 9.29040737e-01 -3.37850660e-03 8.11143681e+00] [ 9.51990107e-03 -1.54620087e-04 9.99954673e-01 4.09516688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.52762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.07, Y:8.12, Z:0.41 [[ 9.28710119e-01 -3.70699736e-01 -8.90062706e-03 5.10652745e+01] [ 3.70684352e-01 9.28752755e-01 -3.38101382e-03 8.12139801e+00] [ 9.51982284e-03 -1.59341422e-04 9.99954673e-01 4.09862315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.09, Y:8.13, Z:0.41 [[ 9.28481425e-01 -3.71272189e-01 -8.89967301e-03 5.10909377e+01] [ 3.71256807e-01 9.28524063e-01 -3.38352325e-03 8.13208587e+00] [ 9.51976863e-03 -1.62525694e-04 9.99954673e-01 4.09504797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.12, Y:8.14, Z:0.41 [[ 9.28243155e-01 -3.71867528e-01 -8.89872557e-03 5.11166917e+01] [ 3.71852149e-01 9.28285793e-01 -3.38601320e-03 8.14354316e+00] [ 9.51970889e-03 -1.65966655e-04 9.99954673e-01 4.09169898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.14, Y:8.16, Z:0.41 [[ 9.28477011e-01 -3.71283275e-01 -8.89777106e-03 5.11421264e+01] [ 3.71267846e-01 9.28519631e-01 -3.38851962e-03 8.15606684e+00] [ 9.51985576e-03 -1.57293729e-04 9.99954673e-01 4.07062751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.647628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.17, Y:8.17, Z:0.41 [[ 9.28795779e-01 -3.70485152e-01 -8.89682406e-03 5.11665544e+01] [ 3.70469662e-01 9.28838377e-01 -3.39100421e-03 8.16668598e+00] [ 9.52002833e-03 -1.46453002e-04 9.99954673e-01 4.06402723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.677628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.19, Y:8.18, Z:0.41 [[ 9.29044579e-01 -3.69860817e-01 -8.89641384e-03 5.11921270e+01] [ 3.69845288e-01 9.29087163e-01 -3.39208010e-03 8.17800851e+00] [ 9.52014141e-03 -1.38903112e-04 9.99954673e-01 4.05862578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.22, Y:8.19, Z:0.41 [[ 9.29386614e-01 -3.69000531e-01 -8.89547032e-03 5.12177032e+01] [ 3.68984939e-01 9.29429175e-01 -3.39455261e-03 8.18905497e+00] [ 9.52030136e-03 -1.27442810e-04 9.99954673e-01 4.05782805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.73762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.24, Y:8.20, Z:0.41 [[ 9.30090679e-01 -3.67222297e-01 -8.89451573e-03 5.12433974e+01] [ 3.67206600e-01 9.30133202e-01 -3.39705201e-03 8.20078025e+00] [ 9.52055764e-03 -1.06558466e-04 9.99954673e-01 4.06561490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.76762800000001 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:51.27, Y:8.21, Z:0.41 [[ 9.29934234e-01 -3.67618314e-01 -8.89356658e-03 5.12691163e+01] [ 3.67602611e-01 9.29976754e-01 -3.39953509e-03 8.21168688e+00] [ 9.52054154e-03 -1.07954238e-04 9.99954673e-01 4.05078376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.30, Y:8.22, Z:0.41 [[ 9.29980819e-01 -3.67500473e-01 -8.89261904e-03 5.12952947e+01] [ 3.67484741e-01 9.30023328e-01 -3.40201191e-03 8.22215229e+00] [ 9.52058414e-03 -1.04095984e-04 9.99954673e-01 4.07611898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.827628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.32, Y:8.23, Z:0.41 [[ 9.29480683e-01 -3.68763608e-01 -8.89165589e-03 5.13202445e+01] [ 3.68747910e-01 9.29523205e-01 -3.40452738e-03 8.23154600e+00] [ 9.52046628e-03 -1.14337090e-04 9.99954673e-01 4.07567871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.857628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.35, Y:8.24, Z:0.41 [[ 9.29064685e-01 -3.69810435e-01 -8.89123814e-03 5.13465116e+01] [ 3.69794774e-01 9.29107220e-01 -3.40561803e-03 8.24072713e+00] [ 9.52034663e-03 -1.23893958e-04 9.99954673e-01 4.07979949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.88762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.37, Y:8.25, Z:0.41 [[ 9.28528895e-01 -3.71153679e-01 -8.89029085e-03 5.13719951e+01] [ 3.71138056e-01 9.28571445e-01 -3.40808910e-03 8.25012374e+00] [ 9.52019503e-03 -1.35016054e-04 9.99954673e-01 4.08478499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.40, Y:8.26, Z:0.41 [[ 9.27091239e-01 -3.74730309e-01 -8.88988036e-03 5.13981851e+01] [ 3.74714839e-01 9.27133845e-01 -3.40915952e-03 8.25953884e+00] [ 9.51962436e-03 -1.70568165e-04 9.99954673e-01 4.09489885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.42, Y:8.27, Z:0.41 [[ 9.26383029e-01 -3.76477715e-01 -8.88892632e-03 5.14234536e+01] [ 3.76462302e-01 9.26425656e-01 -3.41164523e-03 8.26870603e+00] [ 9.51933780e-03 -1.85855426e-04 9.99954673e-01 4.10118274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.45, Y:8.28, Z:0.41 [[ 9.25361224e-01 -3.78982321e-01 -8.88851306e-03 5.14495338e+01] [ 3.78967013e-01 9.25403888e-01 -3.41272158e-03 8.27620275e+00] [ 9.51882569e-03 -2.10453027e-04 9.99954673e-01 4.11751707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.007628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.48, Y:8.29, Z:0.41 [[ 9.24951876e-01 -3.79980301e-01 -8.88811392e-03 5.14764762e+01] [ 3.79965030e-01 9.24994553e-01 -3.41376080e-03 8.28573846e+00] [ 9.51861881e-03 -2.19608017e-04 9.99954673e-01 4.12813045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.037628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.50, Y:8.30, Z:0.41 [[ 9.24845041e-01 -3.80240277e-01 -8.88715499e-03 5.15031489e+01] [ 3.80224994e-01 9.24887714e-01 -3.41625539e-03 8.29606705e+00] [ 9.51861835e-03 -2.19611594e-04 9.99954673e-01 4.13084242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.067628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.53, Y:8.31, Z:0.41 [[ 9.24841497e-01 -3.80248920e-01 -8.88619407e-03 5.15289045e+01] [ 3.80233613e-01 9.24884161e-01 -3.41875306e-03 8.30548471e+00] [ 9.51867730e-03 -2.17024980e-04 9.99954673e-01 4.14144609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.55, Y:8.32, Z:0.41 [[ 9.25449016e-01 -3.78767952e-01 -8.88577774e-03 5.15548436e+01] [ 3.78752566e-01 9.25491652e-01 -3.41983480e-03 8.31589507e+00] [ 9.51903695e-03 -2.00628372e-04 9.99954673e-01 4.14485255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.12762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.58, Y:8.33, Z:0.41 [[ 9.25981069e-01 -3.77465389e-01 -8.88483560e-03 5.15812446e+01] [ 3.77449920e-01 9.26023675e-01 -3.42228077e-03 8.32604418e+00] [ 9.51936065e-03 -1.84613280e-04 9.99954673e-01 4.14782237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.15762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.61, Y:8.34, Z:0.42 [[ 9.26583701e-01 -3.75983671e-01 -8.88389177e-03 5.16073756e+01] [ 3.75968110e-01 9.26626274e-01 -3.42472911e-03 8.33601587e+00] [ 9.51968975e-03 -1.66761822e-04 9.99954673e-01 4.15063921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.187628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.63, Y:8.35, Z:0.41 [[ 9.28012225e-01 -3.72443827e-01 -8.88293917e-03 5.16334886e+01] [ 3.72428080e-01 9.28054729e-01 -3.42719814e-03 8.34632086e+00] [ 9.52029249e-03 -1.27774204e-04 9.99954673e-01 4.14150097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.217628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.66, Y:8.36, Z:0.41 [[ 9.27907675e-01 -3.72704250e-01 -8.88197728e-03 5.16601450e+01] [ 3.72688491e-01 9.27950174e-01 -3.42968917e-03 8.35669067e+00] [ 9.52029210e-03 -1.27775809e-04 9.99954673e-01 4.14421292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.247628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.69, Y:8.37, Z:0.41 [[ 9.29312965e-01 -3.69186321e-01 -8.88101412e-03 5.16867163e+01] [ 3.69170378e-01 9.29355396e-01 -3.43218143e-03 8.36591368e+00] [ 9.52073283e-03 -8.90366387e-05 9.99954673e-01 4.13459187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.27762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.71, Y:8.38, Z:0.41 [[ 9.29974926e-01 -3.67515689e-01 -8.88005493e-03 5.17132011e+01] [ 3.67499646e-01 9.30017319e-01 -3.43466134e-03 8.37511640e+00] [ 9.52089680e-03 -6.92681125e-05 9.99954673e-01 4.13418348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.74, Y:8.38, Z:0.41 [[ 9.31370556e-01 -3.63964351e-01 -8.87909271e-03 5.17397346e+01] [ 3.63948122e-01 9.31412879e-01 -3.43714701e-03 8.38442785e+00] [ 9.52110028e-03 -3.02715976e-05 9.99954673e-01 4.12459775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.77, Y:8.40, Z:0.41 [[ 9.32354018e-01 -3.61437634e-01 -8.87812769e-03 5.17657740e+01] [ 3.61421267e-01 9.32396287e-01 -3.43963784e-03 8.39526921e+00] [ 9.52114786e-03 -1.78399237e-06 9.99954673e-01 4.11772965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.79, Y:8.41, Z:0.41 [[ 9.33424172e-01 -3.58664901e-01 -8.87716746e-03 5.17916059e+01] [ 3.58648385e-01 9.33466383e-01 -3.44211426e-03 8.40610041e+00] [ 9.52110297e-03 2.91708743e-05 9.99954673e-01 4.11194430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.397628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.82, Y:8.42, Z:0.41 [[ 9.35043413e-01 -3.54422106e-01 -8.87619057e-03 5.18178875e+01] [ 3.54405374e-01 9.35085539e-01 -3.44463153e-03 8.41718444e+00] [ 9.52085101e-03 7.51103769e-05 9.99954673e-01 4.10070754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.427628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.84, Y:8.43, Z:0.41 [[ 9.35466917e-01 -3.53302813e-01 -8.87520581e-03 5.18432892e+01] [ 3.53286007e-01 9.35509014e-01 -3.44716694e-03 8.42767848e+00] [ 9.52072881e-03 8.92246116e-05 9.99954673e-01 4.08973009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.87, Y:8.44, Z:0.41 [[ 9.35105865e-01 -3.54257335e-01 -8.87477864e-03 5.18695341e+01] [ 3.54240561e-01 9.35147974e-01 -3.44826633e-03 8.43835252e+00] [ 9.52080491e-03 8.06874966e-05 9.99954673e-01 4.08360027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.48762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.90, Y:8.45, Z:0.41 [[ 9.34551798e-01 -3.55716449e-01 -8.87382331e-03 5.18955661e+01] [ 3.55699718e-01 9.34593924e-01 -3.45072304e-03 8.44842597e+00] [ 9.52090030e-03 6.84629761e-05 9.99954673e-01 4.09402278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.51762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.92, Y:8.46, Z:0.41 [[ 9.33882058e-01 -3.57471082e-01 -8.87285766e-03 5.19214619e+01] [ 3.57454407e-01 9.33924206e-01 -3.45320426e-03 8.45974807e+00] [ 9.52099720e-03 5.32434291e-05 9.99954673e-01 4.10390654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.95, Y:8.47, Z:0.41 [[ 9.33056712e-01 -3.59619884e-01 -8.87188325e-03 5.19472066e+01] [ 3.59603282e-01 9.33098890e-01 -3.45570585e-03 8.47069424e+00] [ 9.52108495e-03 3.40112069e-05 9.99954673e-01 4.11173912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.577628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.97, Y:8.48, Z:0.41 [[ 9.30874138e-01 -3.65232317e-01 -8.87091172e-03 5.19734029e+01] [ 3.65215946e-01 9.30916405e-01 -3.45819800e-03 8.48071867e+00] [ 9.52112293e-03 -2.06513280e-05 9.99954673e-01 4.13224249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.607628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.00, Y:8.49, Z:0.41 [[ 9.29565466e-01 -3.68550360e-01 -8.86994162e-03 5.20001855e+01] [ 3.68534115e-01 9.29607783e-01 -3.46068443e-03 8.49010928e+00] [ 9.52100326e-03 -5.19433504e-05 9.99954673e-01 4.14673008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.63762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.03, Y:8.50, Z:0.42 [[ 9.28281783e-01 -3.71771802e-01 -8.86897082e-03 5.20268778e+01] [ 3.71755680e-01 9.28324146e-01 -3.46317059e-03 8.49943525e+00] [ 9.52078894e-03 -8.22921109e-05 9.99954673e-01 4.16184722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.05, Y:8.51, Z:0.42 [[ 9.25954677e-01 -3.77530522e-01 -8.86800192e-03 5.20535301e+01] [ 3.77514641e-01 9.25997130e-01 -3.46564984e-03 8.50869011e+00] [ 9.52013293e-03 -1.38765882e-04 9.99954673e-01 4.17066892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.08, Y:8.52, Z:0.42 [[ 9.24892000e-01 -3.80126510e-01 -8.86702819e-03 5.20790136e+01] [ 3.80110724e-01 9.24934489e-01 -3.46813939e-03 8.51881640e+00] [ 9.51975192e-03 -1.62798121e-04 9.99954673e-01 4.17314075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.10, Y:8.53, Z:0.42 [[ 9.24046148e-01 -3.82178104e-01 -8.86636857e-03 5.21039099e+01] [ 3.82162396e-01 9.24088667e-01 -3.46982490e-03 8.52912942e+00] [ 9.51940181e-03 -1.82114319e-04 9.99954673e-01 4.17354530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.757628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.13, Y:8.54, Z:0.42 [[ 9.22966946e-01 -3.84777094e-01 -8.86595229e-03 5.21291142e+01] [ 3.84761495e-01 9.23009504e-01 -3.47088825e-03 8.54158480e+00] [ 9.51887652e-03 -2.07761935e-04 9.99954673e-01 4.15919381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.787628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.15, Y:8.55, Z:0.42 [[ 9.22728510e-01 -3.85348555e-01 -8.86498358e-03 5.21547277e+01] [ 3.85332959e-01 9.22771069e-01 -3.47336066e-03 8.55213637e+00] [ 9.51880489e-03 -2.11001452e-04 9.99954673e-01 4.15126727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.817628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.18, Y:8.56, Z:0.41 [[ 9.22738594e-01 -3.85324429e-01 -8.86401781e-03 5.21810676e+01] [ 3.85308808e-01 9.22781145e-01 -3.47582356e-03 8.56277083e+00] [ 9.51886823e-03 -2.08107592e-04 9.99954673e-01 4.14738643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.21, Y:8.57, Z:0.41 [[ 9.23344200e-01 -3.83870987e-01 -8.86305773e-03 5.22067194e+01] [ 3.83855276e-01 9.23386717e-01 -3.47826997e-03 8.57439094e+00] [ 9.51923670e-03 -1.90491072e-04 9.99954673e-01 4.12579593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.87762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.23, Y:8.59, Z:0.41 [[ 9.23703152e-01 -3.83006463e-01 -8.86209617e-03 5.22329911e+01] [ 3.82990688e-01 9.23745646e-01 -3.48071815e-03 8.58573801e+00] [ 9.51946029e-03 -1.78949979e-04 9.99954673e-01 4.11863630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.90762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.26, Y:8.60, Z:0.41 [[ 9.25407381e-01 -3.78870149e-01 -8.86508078e-03 5.22585112e+01] [ 3.78854257e-01 9.25449831e-01 -3.47312311e-03 8.59756648e+00] [ 9.52005018e-03 -1.44519835e-04 9.99954673e-01 4.09569946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.937628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.28, Y:8.61, Z:0.41 [[ 9.26375970e-01 -3.76495747e-01 -8.86084032e-03 5.22844812e+01] [ 3.76479644e-01 9.26418340e-01 -3.48390814e-03 8.60899006e+00] [ 9.52052158e-03 -1.08517225e-04 9.99954673e-01 4.09533418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.967628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.31, Y:8.62, Z:0.41 [[ 9.27421294e-01 -3.73913420e-01 -8.85986170e-03 5.23095017e+01] [ 3.73897174e-01 9.27463610e-01 -3.48639507e-03 8.62023491e+00] [ 9.52080922e-03 -7.93202253e-05 9.99954673e-01 4.08913924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.997628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.33, Y:8.63, Z:0.41 [[ 9.28578508e-01 -3.71030276e-01 -8.85943753e-03 5.23343782e+01] [ 3.71013888e-01 9.28620769e-01 -3.48747261e-03 8.63061021e+00] [ 9.52101562e-03 -4.85822565e-05 9.99954673e-01 4.09129351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.02762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.36, Y:8.64, Z:0.41 [[ 9.30435715e-01 -3.66348056e-01 -8.85901748e-03 5.23600320e+01] [ 3.66331446e-01 9.30477889e-01 -3.48853931e-03 8.64050830e+00] [ 9.52113948e-03 5.24889982e-07 9.99954673e-01 4.10858575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.39, Y:8.65, Z:0.41 [[ 9.31027697e-01 -3.64840997e-01 -8.85856828e-03 5.23861282e+01] [ 3.64824308e-01 9.31069840e-01 -3.48967963e-03 8.65041784e+00] [ 9.52112394e-03 1.71673442e-05 9.99954673e-01 4.12885371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.41, Y:8.66, Z:0.41 [[ 9.31557717e-01 -3.63485575e-01 -8.85757336e-03 5.24113357e+01] [ 3.63468800e-01 9.31599826e-01 -3.49220312e-03 8.65997077e+00] [ 9.52107926e-03 3.37372056e-05 9.99954673e-01 4.14545501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.44, Y:8.67, Z:0.42 [[ 9.32466950e-01 -3.61146699e-01 -8.85714179e-03 5.24376023e+01] [ 3.61129809e-01 9.32509012e-01 -3.49329736e-03 8.66957150e+00] [ 9.52095735e-03 5.88064183e-05 9.99954673e-01 4.17237180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.147628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.46, Y:8.68, Z:0.42 [[ 9.32748752e-01 -3.60418277e-01 -8.85613436e-03 5.24640121e+01] [ 3.60401330e-01 9.32790791e-01 -3.49584949e-03 8.67966793e+00] [ 9.52088863e-03 6.89866486e-05 9.99954673e-01 4.17757639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.177628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.49, Y:8.69, Z:0.42 [[ 9.32932581e-01 -3.59942197e-01 -8.85513360e-03 5.24896607e+01] [ 3.59925204e-01 9.32974602e-01 -3.49838263e-03 8.68957956e+00] [ 9.52083028e-03 7.65693641e-05 9.99954673e-01 4.17873728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.52, Y:8.70, Z:0.42 [[ 9.32574909e-01 -3.60867890e-01 -8.85469915e-03 5.25161682e+01] [ 3.60850928e-01 9.32616943e-01 -3.49948193e-03 8.69899179e+00] [ 9.52089310e-03 6.83026394e-05 9.99954673e-01 4.15650079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.23762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.54, Y:8.71, Z:0.41 [[ 9.32323960e-01 -3.61515761e-01 -8.85370500e-03 5.25424284e+01] [ 3.61498804e-01 9.32365996e-01 -3.50199532e-03 8.70848039e+00] [ 9.52091998e-03 6.43903709e-05 9.99954673e-01 4.14569536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.26762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.57, Y:8.72, Z:0.41 [[ 9.31985276e-01 -3.62388017e-01 -8.85271149e-03 5.25683693e+01] [ 3.62371076e-01 9.32027318e-01 -3.50450502e-03 8.71792121e+00] [ 9.52095957e-03 5.81804964e-05 9.99954673e-01 4.12103669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.59, Y:8.73, Z:0.41 [[ 9.32225591e-01 -3.61769377e-01 -8.85240453e-03 5.25947157e+01] [ 3.61752401e-01 9.32267619e-01 -3.50528023e-03 8.72904372e+00] [ 9.52091314e-03 6.53333427e-05 9.99954673e-01 4.11284820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.327628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.62, Y:8.74, Z:0.41 [[ 9.32702029e-01 -3.60539287e-01 -8.85142931e-03 5.26204647e+01] [ 3.60522232e-01 9.32744025e-01 -3.50774110e-03 8.74028473e+00] [ 9.52079628e-03 8.05401882e-05 9.99954673e-01 4.10981091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.357628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.65, Y:8.75, Z:0.41 [[ 9.33194516e-01 -3.59262668e-01 -8.85046042e-03 5.26462022e+01] [ 3.59245533e-01 9.33236479e-01 -3.51018403e-03 8.75220443e+00] [ 9.52065060e-03 9.61961216e-05 9.99954673e-01 4.10420519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.38762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.67, Y:8.77, Z:0.41 [[ 9.34343289e-01 -3.56264375e-01 -8.84949213e-03 5.26701853e+01] [ 3.56247082e-01 9.34385187e-01 -3.51262348e-03 8.76643347e+00] [ 9.52025697e-03 1.29390427e-04 9.99954673e-01 4.08453022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.70, Y:8.78, Z:0.41 [[ 9.34637416e-01 -3.55492051e-01 -8.84883355e-03 5.26958889e+01] [ 3.55474707e-01 9.34679294e-01 -3.51428177e-03 8.77832741e+00] [ 9.52012072e-03 1.39042718e-04 9.99954673e-01 4.07999701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.72, Y:8.79, Z:0.41 [[ 9.34594835e-01 -3.55604006e-01 -8.84788012e-03 5.27216999e+01] [ 3.55586645e-01 9.34636705e-01 -3.51668057e-03 8.78943192e+00] [ 9.52009922e-03 1.40483495e-04 9.99954673e-01 4.08008849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.75, Y:8.80, Z:0.41 [[ 9.33865834e-01 -3.57514107e-01 -8.84692637e-03 5.27477775e+01] [ 3.57496808e-01 9.33907730e-01 -3.51907828e-03 8.79906810e+00] [ 9.52033305e-03 1.23599036e-04 9.99954673e-01 4.09577836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.507628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.77, Y:8.81, Z:0.41 [[ 9.33428624e-01 -3.58654086e-01 -8.84597040e-03 5.27730543e+01] [ 3.58636816e-01 9.33470532e-01 -3.52147968e-03 8.80761722e+00] [ 9.52044577e-03 1.14559269e-04 9.99954673e-01 4.10660863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.537628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.80, Y:8.82, Z:0.41 [[ 9.32850071e-01 -3.60156218e-01 -8.84555659e-03 5.27996311e+01] [ 3.60139006e-01 9.32892003e-01 -3.52251881e-03 8.81659325e+00] [ 9.52060606e-03 1.00351969e-04 9.99954673e-01 4.11329125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.567628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.83, Y:8.83, Z:0.41 [[ 9.32227884e-01 -3.61763661e-01 -8.84455530e-03 5.28264123e+01] [ 3.61746497e-01 9.32269836e-01 -3.52503114e-03 8.82585800e+00] [ 9.52074028e-03 8.66454212e-05 9.99954673e-01 4.11537548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.85, Y:8.83, Z:0.41 [[ 9.30979015e-01 -3.64965566e-01 -8.84355796e-03 5.28522914e+01] [ 3.64948523e-01 9.31021016e-01 -3.52753148e-03 8.83413751e+00] [ 9.52096584e-03 5.66143686e-05 9.99954673e-01 4.10290456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.62762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.88, Y:8.84, Z:0.41 [[ 9.30316717e-01 -3.66650522e-01 -8.84312627e-03 5.28771246e+01] [ 3.66633544e-01 9.30358744e-01 -3.52861332e-03 8.84371396e+00] [ 9.52104777e-03 4.05412338e-05 9.99954673e-01 4.09873540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.65762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.90, Y:8.85, Z:0.41 [[ 9.29875913e-01 -3.67767043e-01 -8.84245677e-03 5.29027130e+01] [ 3.67750100e-01 9.29917954e-01 -3.53029026e-03 8.85457151e+00] [ 9.52108372e-03 3.09175199e-05 9.99954673e-01 4.10098832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.687628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.93, Y:8.87, Z:0.41 [[ 9.29304958e-01 -3.69207426e-01 -8.84145277e-03 5.29283807e+01] [ 3.69190524e-01 9.29347016e-01 -3.53280295e-03 8.86696123e+00] [ 9.52111483e-03 1.88707203e-05 9.99954673e-01 4.11376675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.717628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.95, Y:8.88, Z:0.41 [[ 9.28933889e-01 -3.70140077e-01 -8.84044830e-03 5.29542636e+01] [ 3.70123193e-01 9.28975954e-01 -3.53531473e-03 8.87888934e+00] [ 9.52112556e-03 1.20187116e-05 9.99954673e-01 4.12353816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.747628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.98, Y:8.89, Z:0.41 [[ 9.28147431e-01 -3.72107795e-01 -8.83944830e-03 5.29783134e+01] [ 3.72090977e-01 9.28189522e-01 -3.53781329e-03 8.89189051e+00] [ 9.52113120e-03 -5.46663315e-06 9.99954673e-01 4.13881976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.77762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.00, Y:8.90, Z:0.41 [[ 9.27657882e-01 -3.73326573e-01 -8.83876809e-03 5.30042563e+01] [ 3.73309794e-01 9.27699989e-01 -3.53951190e-03 8.90350694e+00] [ 9.52111891e-03 -1.61425794e-05 9.99954673e-01 4.14451443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.03, Y:8.91, Z:0.41 [[ 9.27209178e-01 -3.74439625e-01 -8.83778654e-03 5.30305201e+01] [ 3.74422874e-01 9.27251296e-01 -3.54196102e-03 8.91453652e+00] [ 9.52109959e-03 -2.49306667e-05 9.99954673e-01 4.14699485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.06, Y:8.92, Z:0.41 [[ 9.26720081e-01 -3.75648509e-01 -8.83679188e-03 5.30568371e+01] [ 3.75631789e-01 9.26762211e-01 -3.54444087e-03 8.92490181e+00] [ 9.52106871e-03 -3.46754107e-05 9.99954673e-01 4.14924995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.08, Y:8.93, Z:0.41 [[ 9.25839130e-01 -3.77814549e-01 -8.83579518e-03 5.30821263e+01] [ 3.77797904e-01 9.25881290e-01 -3.54692376e-03 8.93355566e+00] [ 9.52097684e-03 -5.42640837e-05 9.99954673e-01 4.14916978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.897628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.11, Y:8.94, Z:0.41 [[ 9.25530074e-01 -3.78571022e-01 -8.83536343e-03 5.31081742e+01] [ 3.78554401e-01 9.25572243e-01 -3.54799892e-03 8.94326170e+00] [ 9.52093672e-03 -6.08860067e-05 9.99954673e-01 4.14208475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.927628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.13, Y:8.95, Z:0.41 [[ 9.25356700e-01 -3.78994632e-01 -8.83435712e-03 5.31347915e+01] [ 3.78978006e-01 9.25398868e-01 -3.55050280e-03 8.95371737e+00] [ 9.52092558e-03 -6.25454923e-05 9.99954673e-01 4.13326846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.16, Y:8.96, Z:0.41 [[ 9.25250053e-01 -3.79254943e-01 -8.83335798e-03 5.31612983e+01] [ 3.79238305e-01 9.25292216e-01 -3.55298684e-03 8.96445697e+00] [ 9.52092520e-03 -6.25464495e-05 9.99954673e-01 4.13598040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.98762800000001 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:53.19, Y:8.98, Z:0.41 [[ 9.25428163e-01 -3.78820149e-01 -8.83235779e-03 5.31876393e+01] [ 3.78803467e-01 9.25470308e-01 -3.55547149e-03 8.97521285e+00] [ 9.52096912e-03 -5.53943023e-05 9.99954673e-01 4.08380967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.01762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.21, Y:8.99, Z:0.41 [[ 9.26068635e-01 -3.77251756e-01 -8.83149010e-03 5.32137806e+01] [ 3.77234983e-01 9.26110745e-01 -3.55762544e-03 8.98557095e+00] [ 9.52105832e-03 -3.69416831e-05 9.99954673e-01 4.10374213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.04762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.24, Y:9.00, Z:0.41 [[ 9.26568430e-01 -3.76022562e-01 -8.83049985e-03 5.32401222e+01] [ 3.76005709e-01 9.26610507e-01 -3.56008169e-03 8.99661527e+00] [ 9.52110498e-03 -2.16590600e-05 9.99954673e-01 4.10645747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.077628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.27, Y:9.01, Z:0.41 [[ 9.27799362e-01 -3.72975046e-01 -8.82949936e-03 5.32653958e+01] [ 3.72958031e-01 9.27841374e-01 -3.56256131e-03 9.00790255e+00] [ 9.52112128e-03 1.23094158e-05 9.99954673e-01 4.10956325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.107628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.29, Y:9.02, Z:0.41 [[ 9.28426697e-01 -3.71410725e-01 -8.82849277e-03 5.32901066e+01] [ 3.71393616e-01 9.28468671e-01 -3.56505403e-03 9.01845067e+00] [ 9.52107825e-03 3.10454828e-05 9.99954673e-01 4.10945608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.13762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.32, Y:9.03, Z:0.41 [[ 9.28750570e-01 -3.70600113e-01 -8.82805632e-03 5.33155312e+01] [ 3.70582957e-01 9.28792525e-01 -3.56613448e-03 9.02935269e+00] [ 9.52104256e-03 4.05222147e-05 9.99954673e-01 4.11539357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.34, Y:9.04, Z:0.41 [[ 9.29093130e-01 -3.69740501e-01 -8.82705888e-03 5.33423501e+01] [ 3.69723283e-01 9.29135060e-01 -3.56860168e-03 9.04068620e+00] [ 9.52098645e-03 5.19941195e-05 9.99954673e-01 4.13312753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.37, Y:9.05, Z:0.41 [[ 9.29010022e-01 -3.69949290e-01 -8.82617505e-03 5.33677173e+01] [ 3.69932060e-01 9.29051947e-01 -3.57078631e-03 9.05094015e+00] [ 9.52098497e-03 5.22111473e-05 9.99954673e-01 4.14375248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.39, Y:9.06, Z:0.42 [[ 9.28635784e-01 -3.70887700e-01 -8.82579920e-03 5.33936587e+01] [ 3.70870504e-01 9.28677723e-01 -3.57171504e-03 9.06134268e+00] [ 9.52102827e-03 4.35938092e-05 9.99954673e-01 4.15319121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.257628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.42, Y:9.07, Z:0.42 [[ 9.27781778e-01 -3.73018893e-01 -8.82478693e-03 5.34187033e+01] [ 3.73001770e-01 9.27823747e-01 -3.57421435e-03 9.07071322e+00] [ 9.52109635e-03 2.44298063e-05 9.99954673e-01 4.17115818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.287628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.45, Y:9.08, Z:0.42 [[ 9.27570748e-01 -3.73543361e-01 -8.82409805e-03 5.34453145e+01] [ 3.73526245e-01 9.27612719e-01 -3.57591427e-03 9.08116622e+00] [ 9.52110462e-03 2.08812619e-05 9.99954673e-01 4.17557163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.317628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.47, Y:9.09, Z:0.42 [[ 9.27443891e-01 -3.73858237e-01 -8.82310378e-03 5.34700658e+01] [ 3.73841112e-01 9.27485859e-01 -3.57836580e-03 9.09125965e+00] [ 9.52110552e-03 2.02945754e-05 9.99954673e-01 4.18050276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.50, Y:9.10, Z:0.42 [[ 9.27766329e-01 -3.73057367e-01 -8.82267301e-03 5.34960080e+01] [ 3.73040196e-01 9.27808277e-01 -3.57942759e-03 9.10284780e+00] [ 9.52108088e-03 2.96607303e-05 9.99954673e-01 4.18074449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.37762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.52, Y:9.11, Z:0.42 [[ 9.27933397e-01 -3.72641636e-01 -8.82169046e-03 5.35218596e+01] [ 3.72624423e-01 9.27975328e-01 -3.58184749e-03 9.11463789e+00] [ 9.52105661e-03 3.65385870e-05 9.99954673e-01 4.16919025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.40762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.55, Y:9.13, Z:0.42 [[ 9.28013339e-01 -3.72442529e-01 -8.82068436e-03 5.35475835e+01] [ 3.72425284e-01 9.28055257e-01 -3.58432342e-03 9.12628249e+00] [ 9.52103697e-03 4.12540741e-05 9.99954673e-01 4.15167120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.437628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.57, Y:9.14, Z:0.41 [[ 9.28160835e-01 -3.72074829e-01 -8.81966989e-03 5.35726845e+01] [ 3.72057543e-01 9.28202736e-01 -3.58681791e-03 9.13771434e+00] [ 9.52100638e-03 4.77191906e-05 9.99954673e-01 4.10783012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.467628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.60, Y:9.15, Z:0.41 [[ 9.27810575e-01 -3.72947394e-01 -8.81923077e-03 5.35971883e+01] [ 3.72930138e-01 9.27852488e-01 -3.58789728e-03 9.14912540e+00] [ 9.52104216e-03 3.99320917e-05 9.99954673e-01 4.07796153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.497628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.62, Y:9.16, Z:0.41 [[ 9.28228572e-01 -3.71906339e-01 -8.79737901e-03 5.36249814e+01] [ 3.71888526e-01 9.28270253e-01 -3.64156069e-03 9.16029923e+00] [ 9.52066475e-03 1.08556365e-04 9.99954672e-01 4.06863955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.52762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.65, Y:9.17, Z:0.41 [[ 9.28215123e-01 -3.71939403e-01 -8.81845764e-03 5.36502699e+01] [ 3.71922083e-01 9.28257011e-01 -3.58978011e-03 9.17159279e+00] [ 9.52097580e-03 5.23090587e-05 9.99954673e-01 4.05476957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.68, Y:9.18, Z:0.40 [[ 9.28190869e-01 -3.71999935e-01 -8.81814335e-03 5.36759009e+01] [ 3.71982610e-01 9.28232754e-01 -3.59055200e-03 9.18301565e+00] [ 9.52097460e-03 5.25216000e-05 9.99954673e-01 4.04526481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.70, Y:9.19, Z:0.41 [[ 9.27825633e-01 -3.72909962e-01 -8.81783354e-03 5.37019467e+01] [ 3.72892671e-01 9.27867533e-01 -3.59131267e-03 9.19473908e+00] [ 9.52101773e-03 4.40064458e-05 9.99954673e-01 4.05464737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.73, Y:9.21, Z:0.41 [[ 9.27443083e-01 -3.73860391e-01 -8.81682503e-03 5.37276012e+01] [ 3.73843119e-01 9.27484990e-01 -3.59378691e-03 9.20642215e+00] [ 9.52104745e-03 3.69234410e-05 9.99954673e-01 4.06360171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.647628000000005 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:53.75, Y:9.22, Z:0.41 [[ 9.26228229e-01 -3.76860118e-01 -8.81580600e-03 5.37525147e+01] [ 3.76842958e-01 9.26270183e-01 -3.59628492e-03 9.21968074e+00] [ 9.52111460e-03 8.80619411e-06 9.99954673e-01 4.05474774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.677628000000006 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:53.78, Y:9.23, Z:0.41 [[ 9.25648321e-01 -3.78282282e-01 -8.81478401e-03 5.37782827e+01] [ 3.78265163e-01 9.25690291e-01 -3.59878816e-03 9.23158065e+00] [ 9.52111778e-03 -3.11349069e-06 9.99954673e-01 4.06020276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.70762800000001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:53.81, Y:9.24, Z:0.41 [[ 9.25129948e-01 -3.79548263e-01 -8.81446753e-03 5.38050038e+01] [ 3.79531194e-01 9.25171938e-01 -3.59956315e-03 9.24295922e+00] [ 9.52110595e-03 -1.53017153e-05 9.99954673e-01 4.07772848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.73762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.83, Y:9.25, Z:0.41 [[ 9.24337836e-01 -3.81473309e-01 -8.81357563e-03 5.38313545e+01] [ 3.81456307e-01 9.24379853e-01 -3.60174566e-03 9.25310973e+00] [ 9.52106158e-03 -3.27642216e-05 9.99954673e-01 4.10706901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.76762800000001 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:53.86, Y:9.26, Z:0.41 [[ 9.23871406e-01 -3.82601558e-01 -8.81326016e-03 5.38576751e+01] [ 3.82584599e-01 9.23913441e-01 -3.60251743e-03 9.26349069e+00] [ 9.52101830e-03 -4.35547598e-05 9.99954673e-01 4.08790371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.79762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.88, Y:9.27, Z:0.41 [[ 9.23706914e-01 -3.82998522e-01 -8.81294754e-03 5.38843956e+01] [ 3.82981575e-01 9.23748954e-01 -3.60328202e-03 9.27444234e+00] [ 9.52100276e-03 -4.68200111e-05 9.99954673e-01 4.10375024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.827628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.91, Y:9.29, Z:0.41 [[ 9.23589119e-01 -3.83282515e-01 -8.81208241e-03 5.39109143e+01] [ 3.83265560e-01 9.23631156e-01 -3.60539653e-03 9.28511798e+00] [ 9.52099931e-03 -4.74626939e-05 9.99954673e-01 4.10138179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.857628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.94, Y:9.30, Z:0.41 [[ 9.23696083e-01 -3.83024685e-01 -8.81114732e-03 5.39366298e+01] [ 3.83007697e-01 9.23738106e-01 -3.60768032e-03 9.29577425e+00] [ 9.52102316e-03 -4.23370618e-05 9.99954673e-01 4.10676387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.88762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.96, Y:9.31, Z:0.41 [[ 9.24042001e-01 -3.82189432e-01 -8.81014339e-03 5.39624249e+01] [ 3.82172382e-01 9.24083999e-01 -3.61013031e-03 9.30611338e+00] [ 9.52106619e-03 -3.10814503e-05 9.99954673e-01 4.11334980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.91762800000001 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:53.99, Y:9.32, Z:0.41 [[ 9.24685259e-01 -3.80630476e-01 -8.80983284e-03 5.39887715e+01] [ 3.80613348e-01 9.24727225e-01 -3.61088798e-03 9.31529683e+00] [ 9.52110629e-03 -1.42050887e-05 9.99954673e-01 4.09578874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.02, Y:9.33, Z:0.41 [[ 9.25201534e-01 -3.79373844e-01 -8.80952562e-03 5.40162534e+01] [ 3.79356653e-01 9.25243474e-01 -3.61163737e-03 9.32550317e+00] [ 9.52111684e-03 -4.59711428e-07 9.99954673e-01 4.12646464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.04, Y:9.34, Z:0.41 [[ 9.25768784e-01 -3.77987522e-01 -8.80864677e-03 5.40423795e+01] [ 3.77970247e-01 9.25810690e-01 -3.61377957e-03 9.33527849e+00] [ 9.52110293e-03 1.61179202e-05 9.99954673e-01 4.11622883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.007628000000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.07, Y:9.35, Z:0.41 [[ 9.26335747e-01 -3.76595934e-01 -8.80833591e-03 5.40694622e+01] [ 3.76578589e-01 9.26377624e-01 -3.61453711e-03 9.34547368e+00] [ 9.52106527e-03 3.12442276e-05 9.99954673e-01 4.10881386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.037628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.10, Y:9.36, Z:0.41 [[ 9.27515426e-01 -3.73681097e-01 -8.80746503e-03 5.40969241e+01] [ 3.73663601e-01 9.27557240e-01 -3.61665792e-03 9.35538985e+00] [ 9.52090466e-03 6.34769171e-05 9.99954673e-01 4.08840565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.067628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.12, Y:9.37, Z:0.41 [[ 9.28251085e-01 -3.71849925e-01 -8.80657829e-03 5.41227442e+01] [ 3.71832325e-01 9.28292856e-01 -3.61881585e-03 9.36565664e+00] [ 9.52074012e-03 8.45992574e-05 9.99954673e-01 4.09636468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.09762800000001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:54.15, Y:9.38, Z:0.41 [[ 9.28921314e-01 -3.70172465e-01 -8.80553576e-03 5.41486552e+01] [ 3.70154766e-01 9.28963043e-01 -3.62135084e-03 9.37683579e+00] [ 9.52054166e-03 1.04538953e-04 9.99954673e-01 4.09187523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.12762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.17, Y:9.39, Z:0.41 [[ 9.30760142e-01 -3.65524334e-01 -8.80449431e-03 5.41736611e+01] [ 3.65506402e-01 9.30801771e-01 -3.62388112e-03 9.38803463e+00] [ 9.51985563e-03 1.54865076e-04 9.99954673e-01 4.13550623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.15762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.20, Y:9.40, Z:0.42 [[ 9.31279586e-01 -3.64198876e-01 -8.80410732e-03 5.41988234e+01] [ 3.64180876e-01 9.31321185e-01 -3.62482104e-03 9.39933349e+00] [ 9.51960742e-03 1.69434320e-04 9.99954673e-01 4.15514889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.187628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.23, Y:9.41, Z:0.42 [[ 9.31488763e-01 -3.63663555e-01 -8.80363645e-03 5.42254853e+01] [ 3.63645520e-01 9.31530347e-01 -3.62596431e-03 9.41147874e+00] [ 9.51948558e-03 1.76142049e-04 9.99954673e-01 4.18883386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.217628000000005 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:54.25, Y:9.42, Z:0.42 [[ 9.31313748e-01 -3.64111542e-01 -8.80273025e-03 5.42517097e+01] [ 3.64093507e-01 9.31355332e-01 -3.62816293e-03 9.42319000e+00] [ 9.51952576e-03 1.73941095e-04 9.99954673e-01 4.19448044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.247628000000006 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:54.28, Y:9.43, Z:0.42 [[ 9.30599099e-01 -3.65934207e-01 -8.80182597e-03 5.42788452e+01] [ 3.65916233e-01 9.30640710e-01 -3.63035536e-03 9.43445718e+00] [ 9.51980879e-03 1.57674428e-04 9.99954673e-01 4.20857287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.27762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.31, Y:9.44, Z:0.42 [[ 9.30346258e-01 -3.66576572e-01 -8.80092585e-03 5.43056756e+01] [ 3.66558606e-01 9.30387872e-01 -3.63253620e-03 9.44438423e+00] [ 9.51987734e-03 1.53461347e-04 9.99954673e-01 4.23977559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.33, Y:9.45, Z:0.42 [[ 9.29329959e-01 -3.69145483e-01 -8.80002639e-03 5.43317258e+01] [ 3.69127611e-01 9.29371613e-01 -3.63471386e-03 9.45201139e+00] [ 9.52023293e-03 1.29515762e-04 9.99954673e-01 4.23307357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.36, Y:9.46, Z:0.42 [[ 9.28859173e-01 -3.70328507e-01 -8.79958064e-03 5.43581853e+01] [ 3.70310678e-01 9.28900846e-01 -3.63579272e-03 9.46188139e+00] [ 9.52037559e-03 1.18560742e-04 9.99954673e-01 4.21874329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.38, Y:9.47, Z:0.42 [[ 9.28405284e-01 -3.71464940e-01 -8.79926584e-03 5.43848038e+01] [ 3.71447155e-01 9.28446976e-01 -3.63655441e-03 9.47214170e+00] [ 9.52050423e-03 1.07734065e-04 9.99954673e-01 4.21059519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.397628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.41, Y:9.48, Z:0.42 [[ 9.28061854e-01 -3.72322152e-01 -8.79834930e-03 5.44110837e+01] [ 3.72304384e-01 9.28103553e-01 -3.63877057e-03 9.48199320e+00] [ 9.52057413e-03 1.01340142e-04 9.99954673e-01 4.17270892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.427628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.44, Y:9.49, Z:0.42 [[ 9.28165429e-01 -3.72063881e-01 -8.79802450e-03 5.44372788e+01] [ 3.72046094e-01 9.28207120e-01 -3.63955572e-03 9.49309769e+00] [ 9.52053621e-03 1.04839138e-04 9.99954673e-01 4.15625804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.46, Y:9.50, Z:0.41 [[ 9.28530005e-01 -3.71153123e-01 -8.79712554e-03 5.44635383e+01] [ 3.71135275e-01 9.28571670e-01 -3.64172729e-03 9.50492294e+00] [ 9.52040001e-03 1.16529449e-04 9.99954673e-01 4.14689707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.48762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.49, Y:9.52, Z:0.41 [[ 9.29382211e-01 -3.69013999e-01 -8.79622805e-03 5.44890825e+01] [ 3.68996034e-01 9.29423826e-01 -3.64389379e-03 9.51858940e+00] [ 9.52007175e-03 1.40796795e-04 9.99954673e-01 4.13825900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.51762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.51, Y:9.53, Z:0.41 [[ 9.29658144e-01 -3.68318309e-01 -8.79531697e-03 5.45136678e+01] [ 3.68300293e-01 9.29699737e-01 -3.64609155e-03 9.53008574e+00] [ 9.51992615e-03 1.50300894e-04 9.99954673e-01 4.13159547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.54762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.54, Y:9.54, Z:0.42 [[ 9.29763235e-01 -3.68052960e-01 -8.79460908e-03 5.45395522e+01] [ 3.68034916e-01 9.29804815e-01 -3.64779824e-03 9.54177032e+00] [ 9.51985281e-03 1.54865483e-04 9.99954673e-01 4.15376201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.577628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.57, Y:9.55, Z:0.42 [[ 9.29731591e-01 -3.68132899e-01 -8.79412365e-03 5.45658671e+01] [ 3.68114847e-01 9.29773168e-01 -3.64896813e-03 9.55270047e+00] [ 9.51984543e-03 1.55313462e-04 9.99954673e-01 4.17214321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.607628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.59, Y:9.56, Z:0.42 [[ 9.29151102e-01 -3.69595602e-01 -8.79321993e-03 5.45916791e+01] [ 3.69577594e-01 9.29192699e-01 -3.65114460e-03 9.56168313e+00] [ 9.52004274e-03 1.42687959e-04 9.99954673e-01 4.21543365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.63762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.62, Y:9.57, Z:0.42 [[ 9.28612986e-01 -3.70945561e-01 -8.79283547e-03 5.46175513e+01] [ 3.70927605e-01 9.28654604e-01 -3.65207025e-03 9.57124519e+00] [ 9.52022639e-03 1.29854456e-04 9.99954673e-01 4.23145192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.64, Y:9.58, Z:0.42 [[ 9.27370471e-01 -3.74041042e-01 -8.79251771e-03 5.46417983e+01] [ 3.74023218e-01 9.27412146e-01 -3.65283509e-03 9.58199749e+00] [ 9.52059797e-03 9.89256269e-05 9.99954673e-01 4.23630435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.67, Y:9.59, Z:0.42 [[ 9.26515619e-01 -3.76154027e-01 -8.77245540e-03 5.46703850e+01] [ 3.76135841e-01 9.26557139e-01 -3.70107429e-03 9.59144998e+00] [ 9.52035517e-03 1.29468246e-04 9.99954672e-01 4.24498785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.70, Y:9.60, Z:0.43 [[ 9.25760213e-01 -3.78008914e-01 -8.79136692e-03 5.46969094e+01] [ 3.77991242e-01 9.25801954e-01 -3.65559386e-03 9.60171171e+00] [ 9.52091173e-03 6.11436464e-05 9.99954673e-01 4.25810127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.757628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.72, Y:9.61, Z:0.43 [[ 9.25237433e-01 -3.79286729e-01 -8.79033760e-03 5.47228187e+01] [ 3.79269091e-01 9.25279188e-01 -3.65806730e-03 9.61136646e+00] [ 9.52097281e-03 5.06774416e-05 9.99954673e-01 4.26351461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.787628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.75, Y:9.62, Z:0.43 [[ 9.24764070e-01 -3.80439435e-01 -8.78930125e-03 5.47492946e+01] [ 3.80421826e-01 9.24805836e-01 -3.66055566e-03 9.62136876e+00] [ 9.52101682e-03 4.15083114e-05 9.99954673e-01 4.26948924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.817628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.78, Y:9.63, Z:0.43 [[ 9.24528006e-01 -3.81012772e-01 -8.78826726e-03 5.47758870e+01] [ 3.80995166e-01 9.24569773e-01 -3.66303640e-03 9.63113246e+00] [ 9.52102992e-03 3.82924005e-05 9.99954673e-01 4.27788658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.80, Y:9.64, Z:0.43 [[ 9.24419719e-01 -3.81275449e-01 -8.78722438e-03 5.48022559e+01] [ 3.81257831e-01 9.24461481e-01 -3.66553645e-03 9.64220721e+00] [ 9.52102952e-03 3.82960736e-05 9.99954673e-01 4.28059844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.87762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.83, Y:9.65, Z:0.43 [[ 9.24514283e-01 -3.81046118e-01 -8.78618220e-03 5.48277270e+01] [ 3.81028465e-01 9.24556031e-01 -3.66803281e-03 9.65354712e+00] [ 9.52100741e-03 4.33632099e-05 9.99954673e-01 4.28033162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.90762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.85, Y:9.66, Z:0.43 [[ 9.24710938e-01 -3.80568656e-01 -8.78514125e-03 5.48527768e+01] [ 3.80550958e-01 9.24752667e-01 -3.67052426e-03 9.66498790e+00] [ 9.52096929e-03 5.09800157e-05 9.99954673e-01 4.27069385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.937628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.88, Y:9.68, Z:0.43 [[ 9.24884436e-01 -3.80146826e-01 -8.78467706e-03 5.48790583e+01] [ 3.80129098e-01 9.24926153e-01 -3.67163486e-03 9.67687820e+00] [ 9.52093789e-03 5.65265672e-05 9.99954673e-01 4.25996799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.967628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.91, Y:9.69, Z:0.42 [[ 9.24884308e-01 -3.80147160e-01 -8.78378264e-03 5.49055777e+01] [ 3.80129412e-01 9.24926015e-01 -3.67377338e-03 9.68963004e+00] [ 9.52092359e-03 5.88412171e-05 9.99954673e-01 4.23687125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.997628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.93, Y:9.70, Z:0.42 [[ 9.24510296e-01 -3.81055866e-01 -8.78294282e-03 5.49324854e+01] [ 3.81038140e-01 9.24552013e-01 -3.67578004e-03 9.70131523e+00] [ 9.52096501e-03 5.16602932e-05 9.99954673e-01 4.23582847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.02762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.96, Y:9.71, Z:0.42 [[ 9.23061607e-01 -3.84551877e-01 -8.78202398e-03 5.49574384e+01] [ 3.84534288e-01 9.23103382e-01 -3.67797399e-03 9.71185390e+00] [ 9.52108784e-03 1.80072363e-05 9.99954673e-01 4.22409640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.98, Y:9.72, Z:0.42 [[ 9.22002230e-01 -3.87084968e-01 -8.78156884e-03 5.49831325e+01] [ 3.87067483e-01 9.22044049e-01 -3.67906036e-03 9.72229210e+00] [ 9.52110225e-03 -6.95789796e-06 9.99954673e-01 4.22924149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.01, Y:9.73, Z:0.42 [[ 9.20770439e-01 -3.90006010e-01 -8.78125237e-03 5.50086114e+01] [ 3.89988652e-01 9.20812310e-01 -3.67981557e-03 9.73288230e+00] [ 9.52103547e-03 -3.63233701e-05 9.99954673e-01 4.24953891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.117628 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:55.04, Y:9.74, Z:0.42 [[ 9.18074986e-01 -3.96309573e-01 -8.77738988e-03 5.50351192e+01] [ 3.96292414e-01 9.18116939e-01 -3.68902766e-03 9.74452740e+00] [ 9.52066730e-03 -9.16090050e-05 9.99954673e-01 4.24010574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.147628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.06, Y:9.76, Z:0.43 [[ 9.17362756e-01 -3.97955381e-01 -8.77998428e-03 5.50622020e+01] [ 3.97938356e-01 9.17404764e-01 -3.68284254e-03 9.75582253e+00] [ 9.52040642e-03 -1.15389934e-04 9.99954673e-01 4.28024968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.177628000000006 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:55.09, Y:9.77, Z:0.43 [[ 9.16475485e-01 -3.99994516e-01 -8.77908314e-03 5.50877485e+01] [ 3.99977564e-01 9.16517522e-01 -3.68498941e-03 9.76651271e+00] [ 9.52015909e-03 -1.34233833e-04 9.99954673e-01 4.27418984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.11, Y:9.78, Z:0.43 [[ 9.16275140e-01 -4.00453261e-01 -8.77805060e-03 5.51141892e+01] [ 4.00436307e-01 9.16317176e-01 -3.68744739e-03 9.77828582e+00] [ 9.52012887e-03 -1.36333787e-04 9.99954673e-01 4.30975392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.23762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.14, Y:9.79, Z:0.43 [[ 9.15596280e-01 -4.02003003e-01 -8.77714652e-03 5.51370827e+01] [ 4.01986099e-01 9.15638336e-01 -3.68959811e-03 9.79103838e+00] [ 9.51992135e-03 -1.50108588e-04 9.99954673e-01 4.31035055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.26762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.17, Y:9.80, Z:0.43 [[ 9.16840973e-01 -3.99156728e-01 -8.74859203e-03 5.51658382e+01] [ 3.99139045e-01 9.16882710e-01 -3.75745503e-03 9.80032061e+00] [ 9.52124623e-03 -4.69159447e-05 9.99954671e-01 4.31152072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.29762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.19, Y:9.81, Z:0.43 [[ 9.17922459e-01 -3.96662758e-01 -8.77590203e-03 5.51919237e+01] [ 3.96645581e-01 9.17964405e-01 -3.69254874e-03 9.81087627e+00] [ 9.52066225e-03 -9.14493436e-05 9.99954673e-01 4.30151927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.327628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.22, Y:9.82, Z:0.43 [[ 9.18357651e-01 -3.95654159e-01 -8.77558732e-03 5.52187604e+01] [ 3.95636928e-01 9.18399576e-01 -3.69329651e-03 9.82221130e+00] [ 9.52076380e-03 -8.01793008e-05 9.99954673e-01 4.29606108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.357628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.24, Y:9.83, Z:0.43 [[ 9.18141196e-01 -3.96156217e-01 -8.77470941e-03 5.52420442e+01] [ 3.96138990e-01 9.18183121e-01 -3.69538112e-03 9.83472692e+00] [ 9.52073828e-03 -8.31228862e-05 9.99954673e-01 4.29061264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.38762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.27, Y:9.84, Z:0.43 [[ 9.19566403e-01 -3.92837199e-01 -8.75020689e-03 5.52700758e+01] [ 3.92819267e-01 9.19608033e-01 -3.75351344e-03 9.84465770e+00] [ 9.52128025e-03 1.43549967e-05 9.99954671e-01 4.26583517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.30, Y:9.86, Z:0.43 [[ 9.20911464e-01 -3.89673056e-01 -8.77410142e-03 5.52961836e+01] [ 3.89655521e-01 9.20953261e-01 -3.69680147e-03 9.85645626e+00] [ 9.52108124e-03 -1.44502015e-05 9.99954673e-01 4.25687944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.32, Y:9.87, Z:0.43 [[ 9.21625657e-01 -3.87980901e-01 -8.77319017e-03 5.53223617e+01] [ 3.87963268e-01 9.21667413e-01 -3.69896278e-03 9.86718658e+00] [ 9.52109040e-03 5.38347491e-06 9.99954673e-01 4.26065964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.35, Y:9.88, Z:0.43 [[ 9.22803186e-01 -3.85171817e-01 -8.77214788e-03 5.53482165e+01] [ 3.85154034e-01 9.22844879e-01 -3.70143292e-03 9.87677985e+00] [ 9.52101939e-03 3.70659543e-05 9.99954673e-01 4.27722818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.507628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.37, Y:9.89, Z:0.43 [[ 9.23092703e-01 -3.84477462e-01 -8.77166493e-03 5.53739088e+01] [ 3.84459636e-01 9.23134377e-01 -3.70257708e-03 9.88711338e+00] [ 9.52098288e-03 4.54707775e-05 9.99954673e-01 4.28761636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.537628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.40, Y:9.90, Z:0.43 [[ 9.23241418e-01 -3.84120243e-01 -8.77063784e-03 5.54003586e+01] [ 3.84102377e-01 9.23283075e-01 -3.70500845e-03 9.89803305e+00] [ 9.52095022e-03 5.17944046e-05 9.99954673e-01 4.29711263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.567628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.43, Y:9.91, Z:0.43 [[ 9.23215673e-01 -3.84182136e-01 -8.76973927e-03 5.54275290e+01] [ 3.84164253e-01 9.23257323e-01 -3.70713414e-03 9.90904498e+00] [ 9.52094071e-03 5.34640000e-05 9.99954673e-01 4.30888910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.46, Y:9.92, Z:0.43 [[ 9.23357044e-01 -3.83842255e-01 -8.76884018e-03 5.54551489e+01] [ 3.83824337e-01 9.23398679e-01 -3.70925961e-03 9.91795192e+00] [ 9.52090601e-03 5.92767155e-05 9.99954673e-01 4.34206747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.62762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.48, Y:9.93, Z:0.44 [[ 9.23418572e-01 -3.83694231e-01 -8.76794257e-03 5.54821683e+01] [ 3.83676287e-01 9.23460196e-01 -3.71138018e-03 9.92801727e+00] [ 9.52088112e-03 6.31057440e-05 9.99954673e-01 4.36006466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.65762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.51, Y:9.94, Z:0.44 [[ 9.22995753e-01 -3.84710252e-01 -8.76704779e-03 5.55094833e+01] [ 3.84692333e-01 9.23037388e-01 -3.71349264e-03 9.93846394e+00] [ 9.52093157e-03 5.49218659e-05 9.99954673e-01 4.37820888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.687628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.53, Y:9.95, Z:0.44 [[ 9.22600785e-01 -3.85656513e-01 -8.76613712e-03 5.55341935e+01] [ 3.85638616e-01 9.22642429e-01 -3.71564113e-03 9.94854116e+00] [ 9.52097125e-03 4.74924336e-05 9.99954673e-01 4.37399004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.717628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.56, Y:9.96, Z:0.44 [[ 9.22032563e-01 -3.87013069e-01 -8.76568764e-03 5.55603301e+01] [ 3.86995223e-01 9.22074229e-01 -3.71670120e-03 9.95841196e+00] [ 9.52102661e-03 3.46402946e-05 9.99954673e-01 4.37098197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.747628000000006 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:55.59, Y:9.97, Z:0.44 [[ 9.21204359e-01 -3.88980346e-01 -8.76466293e-03 5.55876154e+01] [ 3.88962567e-01 9.21246053e-01 -3.71911610e-03 9.96868095e+00] [ 9.52107420e-03 1.69401779e-05 9.99954673e-01 4.35281261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.77762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.61, Y:9.98, Z:0.44 [[ 9.21354324e-01 -3.88624983e-01 -8.76541730e-03 5.56134513e+01] [ 3.88607204e-01 9.21396018e-01 -3.71733882e-03 9.98002203e+00] [ 9.52107133e-03 1.86818890e-05 9.99954673e-01 4.36862924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.64, Y:9.99, Z:0.44 [[ 9.21482449e-01 -3.88321129e-01 -8.76333073e-03 5.56381154e+01] [ 3.88303290e-01 9.21524118e-01 -3.72225124e-03 9.99095115e+00] [ 9.52104943e-03 2.71590318e-05 9.99954673e-01 4.36178974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.66, Y:10.00, Z:0.44 [[ 9.21521752e-01 -3.88227861e-01 -8.76287765e-03 5.56635472e+01] [ 3.88210007e-01 9.21563415e-01 -3.72331758e-03 1.00020242e+01] [ 9.52104307e-03 2.92813447e-05 9.99954673e-01 4.36216430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.69, Y:10.02, Z:0.44 [[ 9.21463003e-01 -3.88367306e-01 -8.76186528e-03 5.56889766e+01] [ 3.88349436e-01 9.21504658e-01 -3.72569840e-03 1.00153637e+01] [ 9.52103912e-03 3.04277954e-05 9.99954673e-01 4.36579313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.897628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.71, Y:10.03, Z:0.44 [[ 9.21493414e-01 -3.88295163e-01 -8.76094917e-03 5.57131674e+01] [ 3.88277269e-01 9.21535059e-01 -3.72785138e-03 1.00271164e+01] [ 9.52102847e-03 3.35130727e-05 9.99954673e-01 4.35362508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.927628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.74, Y:10.04, Z:0.44 [[ 9.21514759e-01 -3.88244515e-01 -8.76049504e-03 5.57384312e+01] [ 3.88226609e-01 9.21556398e-01 -3.72891830e-03 1.00386975e+01] [ 9.52102233e-03 3.51959708e-05 9.99954673e-01 4.37630923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.76, Y:10.05, Z:0.44 [[ 9.21683921e-01 -3.87842781e-01 -8.75941784e-03 5.57637482e+01] [ 3.87824832e-01 9.21725542e-01 -3.73144697e-03 1.00500902e+01] [ 9.52099393e-03 4.20949138e-05 9.99954673e-01 4.37192528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.98762800000001 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:55.79, Y:10.06, Z:0.44 [[ 9.21342089e-01 -3.88654130e-01 -8.75908432e-03 5.57904801e+01] [ 3.88636211e-01 9.21383724e-01 -3.73222971e-03 1.00622549e+01] [ 9.52102421e-03 3.45629784e-05 9.99954673e-01 4.35633287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.01762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.82, Y:10.07, Z:0.44 [[ 9.21405567e-01 -3.88503636e-01 -8.75816020e-03 5.58163498e+01] [ 3.88485690e-01 9.21447190e-01 -3.73439702e-03 1.00737651e+01] [ 9.52100892e-03 3.84742976e-05 9.99954673e-01 4.38408866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.04762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.84, Y:10.09, Z:0.44 [[ 9.21062851e-01 -3.89315473e-01 -8.75710016e-03 5.58417910e+01] [ 3.89297539e-01 9.21104479e-01 -3.73688113e-03 1.00855309e+01] [ 9.52102983e-03 3.27848438e-05 9.99954673e-01 4.37660134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.077628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.87, Y:10.10, Z:0.44 [[ 9.20520729e-01 -3.90595595e-01 -8.75604939e-03 5.58674936e+01] [ 3.90577696e-01 9.20562372e-01 -3.73934162e-03 1.00956434e+01] [ 9.52105996e-03 2.22238746e-05 9.99954673e-01 4.38630811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.107628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.89, Y:10.11, Z:0.44 [[ 9.20281288e-01 -3.91159431e-01 -8.75499715e-03 5.58941626e+01] [ 3.91141534e-01 9.20322932e-01 -3.74180362e-03 1.01059345e+01] [ 9.52106643e-03 1.90688367e-05 9.99954673e-01 4.39937200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.13762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.92, Y:10.12, Z:0.44 [[ 9.20323475e-01 -3.91060185e-01 -8.75408037e-03 5.59201916e+01] [ 3.91042263e-01 9.20365108e-01 -3.74394724e-03 1.01164319e+01] [ 9.52105882e-03 2.24271337e-05 9.99954673e-01 4.42817269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.95, Y:10.13, Z:0.44 [[ 9.20374106e-01 -3.90941015e-01 -8.75375576e-03 5.59458387e+01] [ 3.90923081e-01 9.20415733e-01 -3.74470607e-03 1.01280553e+01] [ 9.52105372e-03 2.44853352e-05 9.99954673e-01 4.44273391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.97, Y:10.14, Z:0.45 [[ 9.20614959e-01 -3.90373523e-01 -8.75270675e-03 5.59714722e+01] [ 3.90355540e-01 9.20656565e-01 -3.74715636e-03 1.01394234e+01] [ 9.52102757e-03 3.30206311e-05 9.99954673e-01 4.45020965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.00, Y:10.15, Z:0.44 [[ 9.21379583e-01 -3.88565404e-01 -8.75164624e-03 5.59971160e+01] [ 3.88547316e-01 9.21421143e-01 -3.74963161e-03 1.01505534e+01] [ 9.52092900e-03 5.44053507e-05 9.99954673e-01 4.44849181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.257628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.02, Y:10.16, Z:0.44 [[ 9.21963748e-01 -3.87177318e-01 -8.75058306e-03 5.60223394e+01] [ 3.87159143e-01 9.22005271e-01 -3.75211113e-03 1.01612479e+01] [ 9.52081603e-03 7.14421958e-05 9.99954673e-01 4.43996157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.287628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.05, Y:10.17, Z:0.44 [[ 9.22461760e-01 -3.85989293e-01 -8.75025425e-03 5.60492975e+01] [ 3.85971057e-01 9.22503257e-01 -3.75287778e-03 1.01724952e+01] [ 9.52070868e-03 8.45413586e-05 9.99954673e-01 4.43882626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.317628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.08, Y:10.18, Z:0.44 [[ 9.23068225e-01 -3.84536736e-01 -8.74932397e-03 5.60753110e+01] [ 3.84518415e-01 9.23109684e-01 -3.75504534e-03 1.01829757e+01] [ 9.52053857e-03 1.01886855e-04 9.99954673e-01 4.43138475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.10, Y:10.19, Z:0.44 [[ 9.23786594e-01 -3.82807762e-01 -8.74899535e-03 5.61019843e+01] [ 3.82789356e-01 9.23828016e-01 -3.75581086e-03 1.01933955e+01] [ 9.52032056e-03 1.20545426e-04 9.99954673e-01 4.42787160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.37762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.13, Y:10.20, Z:0.44 [[ 9.23833016e-01 -3.82695739e-01 -8.74808907e-03 5.61276715e+01] [ 3.82677308e-01 9.23874426e-01 -3.75792060e-03 1.02043530e+01] [ 9.52027597e-03 1.23995948e-04 9.99954673e-01 4.43393761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.40762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.15, Y:10.22, Z:0.44 [[ 9.23507107e-01 -3.83481569e-01 -8.74703444e-03 5.61531589e+01] [ 3.83463150e-01 9.23548522e-01 -3.76037378e-03 1.02152112e+01] [ 9.52034476e-03 1.18566537e-04 9.99954673e-01 4.43795094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.437628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.18, Y:10.22, Z:0.44 [[ 9.22186981e-01 -3.86645420e-01 -8.74597590e-03 5.61789271e+01] [ 3.86627119e-01 9.22228449e-01 -3.76283413e-03 1.02241009e+01] [ 9.52067037e-03 8.86051788e-05 9.99954673e-01 4.43853607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.467628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.21, Y:10.23, Z:0.45 [[ 9.21027107e-01 -3.89400294e-01 -8.74525803e-03 5.62058730e+01] [ 3.89382102e-01 9.21068622e-01 -3.76450181e-03 1.02337256e+01] [ 9.52088088e-03 6.19612561e-05 9.99954673e-01 4.45901420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.497628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.23, Y:10.24, Z:0.45 [[ 9.19556166e-01 -3.92861291e-01 -8.74435204e-03 5.62318560e+01] [ 3.92843235e-01 9.19597741e-01 -3.76660512e-03 1.02430040e+01] [ 9.52103973e-03 2.84454117e-05 9.99954673e-01 4.46667165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.52762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.26, Y:10.25, Z:0.45 [[ 9.16223146e-01 -4.00572951e-01 -8.74403141e-03 5.62601799e+01] [ 4.00555238e-01 9.16264868e-01 -3.76734931e-03 1.02511078e+01] [ 9.52094701e-03 -5.07349460e-05 9.99954673e-01 4.49570718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.29, Y:10.26, Z:0.45 [[ 9.14885403e-01 -4.03618951e-01 -8.74309670e-03 5.62857535e+01] [ 4.03601356e-01 9.14927175e-01 -3.76951729e-03 1.02616898e+01] [ 9.52074538e-03 -8.00493405e-05 9.99954673e-01 4.50575883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.31, Y:10.27, Z:0.45 [[ 9.14024714e-01 -4.05564297e-01 -8.74203513e-03 5.63114080e+01] [ 4.05546767e-01 9.14066514e-01 -3.77197761e-03 1.02733268e+01] [ 9.52058102e-03 -9.76233242e-05 9.99954673e-01 4.51226196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.34, Y:10.28, Z:0.45 [[ 9.12159148e-01 -4.09742933e-01 -8.74170637e-03 5.63371025e+01] [ 4.09725588e-01 9.12201025e-01 -3.77273936e-03 1.02846177e+01] [ 9.52004680e-03 -1.40362056e-04 9.99954673e-01 4.51373983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.647628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.36, Y:10.30, Z:0.45 [[ 9.11113818e-01 -4.12062146e-01 -8.74066373e-03 5.63630978e+01] [ 4.12044884e-01 9.11155728e-01 -3.77515342e-03 1.02954458e+01] [ 9.51970364e-03 -1.61951331e-04 9.99954673e-01 4.52299324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.677628000000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.38, Y:10.31, Z:0.45 [[ 9.08636014e-01 -4.17497560e-01 -8.73962922e-03 5.63827511e+01] [ 4.17480526e-01 9.08678018e-01 -3.77754683e-03 1.03088471e+01] [ 9.51862554e-03 -2.16209906e-04 9.99954673e-01 4.51785386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.41, Y:10.32, Z:0.45 [[ 9.08520221e-01 -4.17750522e-01 -8.68959199e-03 5.64127651e+01] [ 4.17732391e-01 9.08561772e-01 -3.89316740e-03 1.03194621e+01] [ 9.52140381e-03 -9.29027224e-05 9.99954666e-01 4.53050262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.73762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.44, Y:10.33, Z:0.45 [[ 9.07805049e-01 -4.19301359e-01 -8.73868219e-03 5.64374709e+01] [ 4.19284387e-01 9.07847078e-01 -3.77966994e-03 1.03316084e+01] [ 9.51820783e-03 -2.32789553e-04 9.99954674e-01 4.52001028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.76762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.46, Y:10.34, Z:0.45 [[ 9.07693339e-01 -4.19543138e-01 -8.73822677e-03 5.64636794e+01] [ 4.19526168e-01 9.07735369e-01 -3.78072253e-03 1.03430432e+01] [ 9.51817370e-03 -2.34178139e-04 9.99954674e-01 4.52272799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.79762800000001 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:56.49, Y:10.36, Z:0.45 [[ 9.07025366e-01 -4.20985328e-01 -8.73721915e-03 5.64886396e+01] [ 4.20968402e-01 9.07067414e-01 -3.78304970e-03 1.03555439e+01] [ 9.51785520e-03 -2.46771144e-04 9.99954674e-01 4.50875469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.827628000000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.51, Y:10.37, Z:0.45 [[ 9.06613366e-01 -4.21871881e-01 -8.73617340e-03 5.65128001e+01] [ 4.21854973e-01 9.06655421e-01 -3.78546310e-03 1.03702075e+01] [ 9.51767941e-03 -2.53446751e-04 9.99954674e-01 4.52986009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.857628000000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.54, Y:10.38, Z:0.45 [[ 9.06638112e-01 -4.21818718e-01 -8.73513571e-03 5.65379113e+01] [ 4.21801784e-01 9.06680157e-01 -3.78785612e-03 1.03833571e+01] [ 9.51776282e-03 -2.50281108e-04 9.99954674e-01 4.54234687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.88762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.56, Y:10.40, Z:0.45 [[ 9.06955583e-01 -4.21135710e-01 -8.73406801e-03 5.65620367e+01] [ 4.21118721e-01 9.06997605e-01 -3.79031642e-03 1.03959274e+01] [ 9.51801637e-03 -2.40430908e-04 9.99954674e-01 4.53958556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.59, Y:10.41, Z:0.45 [[ 9.07251187e-01 -4.20498522e-01 -8.73360542e-03 5.65863454e+01] [ 4.20481494e-01 9.07293193e-01 -3.79138203e-03 1.04090769e+01] [ 9.51821129e-03 -2.32583601e-04 9.99954674e-01 4.54501706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.61, Y:10.43, Z:0.46 [[ 9.08206871e-01 -4.18430413e-01 -8.73316256e-03 5.66102124e+01] [ 4.18413280e-01 9.08248834e-01 -3.79240183e-03 1.04254099e+01] [ 9.51874098e-03 -2.09785791e-04 9.99954674e-01 4.56199510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.63, Y:10.44, Z:0.46 [[ 9.08708654e-01 -4.17339590e-01 -8.73211032e-03 5.66347939e+01] [ 4.17322382e-01 9.08750587e-01 -3.79482310e-03 1.04392052e+01] [ 9.51904029e-03 -1.95716489e-04 9.99954674e-01 4.56979286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.66, Y:10.45, Z:0.46 [[ 9.10147986e-01 -4.14191275e-01 -8.73103869e-03 5.66588787e+01] [ 4.14173898e-01 9.10189850e-01 -3.79728708e-03 1.04546641e+01] [ 9.51970597e-03 -1.60075140e-04 9.99954674e-01 4.58097682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.68, Y:10.47, Z:0.46 [[ 9.10925515e-01 -4.12478477e-01 -8.72996951e-03 5.66838231e+01] [ 4.12460999e-01 9.10967336e-01 -3.79974354e-03 1.04680646e+01] [ 9.52002949e-03 -1.39488606e-04 9.99954674e-01 4.58522315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.06762800000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.71, Y:10.48, Z:0.46 [[ 9.11744335e-01 -4.10665387e-01 -8.72963831e-03 5.67082107e+01] [ 4.10647819e-01 9.11786118e-01 -3.80050431e-03 1.04813388e+01] [ 9.52029860e-03 -1.19718652e-04 9.99954674e-01 4.59001373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.097628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.73, Y:10.50, Z:0.46 [[ 9.12373572e-01 -4.09265534e-01 -8.72857537e-03 5.67328937e+01] [ 4.09247878e-01 9.12415318e-01 -3.80294398e-03 1.04951488e+01] [ 9.52049977e-03 -1.02445362e-04 9.99954674e-01 4.59302734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.76, Y:10.51, Z:0.46 [[ 9.13604699e-01 -4.06509867e-01 -8.72824581e-03 5.67576934e+01] [ 4.06492078e-01 9.13646388e-01 -3.80370022e-03 1.05114715e+01] [ 9.52077193e-03 -7.28843822e-05 9.99954674e-01 4.59649424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.77, Y:10.53, Z:0.46 [[ 9.12202113e-01 -4.09647579e-01 -8.72731387e-03 5.67746093e+01] [ 4.09629913e-01 9.12243854e-01 -3.80583729e-03 1.05281646e+01] [ 9.52049047e-03 -1.03276007e-04 9.99954674e-01 4.55700907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.81, Y:10.54, Z:0.46 [[ 9.15258084e-01 -4.02774857e-01 -8.66340356e-03 5.68076817e+01] [ 4.02755487e-01 9.15299076e-01 -3.95213830e-03 1.05388274e+01] [ 9.52142721e-03 1.27993205e-04 9.99954662e-01 4.62403663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.83, Y:10.55, Z:0.46 [[ 9.15595759e-01 -4.02005291e-01 -8.72647682e-03 5.68328485e+01] [ 4.01987260e-01 9.15637344e-01 -3.80758302e-03 1.05511350e+01] [ 9.52095658e-03 -2.17256328e-05 9.99954674e-01 4.63350134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.86, Y:10.56, Z:0.46 [[ 9.15775741e-01 -4.01595144e-01 -8.72540501e-03 5.68582445e+01] [ 4.01577070e-01 9.15817307e-01 -3.81003759e-03 1.05639267e+01] [ 9.52096951e-03 -1.47825829e-05 9.99954674e-01 4.63741754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.88, Y:10.58, Z:0.46 [[ 9.15732935e-01 -4.01692764e-01 -8.72433798e-03 5.68823003e+01] [ 4.01674672e-01 9.15774494e-01 -3.81247934e-03 1.05787388e+01] [ 9.52097156e-03 -1.31327012e-05 9.99954674e-01 4.62703935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.90, Y:10.59, Z:0.46 [[ 9.14225271e-01 -4.05112403e-01 -8.72326479e-03 5.69018526e+01] [ 4.05094443e-01 9.14266886e-01 -3.81493330e-03 1.05933820e+01] [ 9.52086893e-03 -4.60376622e-05 9.99954674e-01 4.59087934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33762800000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:56.93, Y:10.60, Z:0.46 [[ 9.15109099e-01 -4.03112888e-01 -8.67968320e-03 5.69321673e+01] [ 4.03093890e-01 9.15150257e-01 -3.91445352e-03 1.06029126e+01] [ 9.52118098e-03 8.34247673e-05 9.99954669e-01 4.59453138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.96, Y:10.62, Z:0.46 [[ 9.14375652e-01 -4.04772890e-01 -8.72202550e-03 5.69570090e+01] [ 4.04754888e-01 9.14417249e-01 -3.81771770e-03 1.06155935e+01] [ 9.52087919e-03 -3.94543447e-05 9.99954675e-01 4.62404949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.98, Y:10.63, Z:0.46 [[ 9.13752597e-01 -4.06177471e-01 -8.72091417e-03 5.69811653e+01] [ 4.06159508e-01 9.13794211e-01 -3.82025466e-03 1.06270685e+01] [ 9.52082225e-03 -5.13145990e-05 9.99954675e-01 4.62030435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.01, Y:10.64, Z:0.46 [[ 9.13064921e-01 -4.07720994e-01 -8.72015953e-03 5.70058387e+01] [ 4.07703086e-01 9.13106558e-01 -3.82197643e-03 1.06386002e+01] [ 9.52073488e-03 -6.55233368e-05 9.99954675e-01 4.61287170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45762800000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:57.03, Y:10.65, Z:0.46 [[ 9.12116361e-01 -4.09838639e-01 -8.71968490e-03 5.70326215e+01] [ 4.09820817e-01 9.12158036e-01 -3.82305897e-03 1.06504304e+01] [ 9.52056794e-03 -8.64337488e-05 9.99954675e-01 4.58841403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.06, Y:10.66, Z:0.46 [[ 9.10554817e-01 -4.13296393e-01 -8.71871805e-03 5.70572361e+01] [ 4.13278708e-01 9.10596550e-01 -3.82526265e-03 1.06625055e+01] [ 9.52020184e-03 -1.20149192e-04 9.99954675e-01 4.59919322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.08, Y:10.68, Z:0.46 [[ 9.09312432e-01 -4.16022708e-01 -8.71823932e-03 5.70829066e+01] [ 4.16005137e-01 9.09354213e-01 -3.82635343e-03 1.06751371e+01] [ 9.51981757e-03 -1.47481606e-04 9.99954675e-01 4.59735205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.11, Y:10.69, Z:0.46 [[ 9.07941695e-01 -4.19005834e-01 -8.71723099e-03 5.71082009e+01] [ 4.18988379e-01 9.07983524e-01 -3.82864924e-03 1.06868772e+01] [ 9.51932848e-03 -1.76228198e-04 9.99954675e-01 4.59893798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.13, Y:10.70, Z:0.46 [[ 9.04913894e-01 -4.25505433e-01 -8.71614341e-03 5.71343904e+01] [ 4.25488254e-01 9.04955838e-01 -3.83112358e-03 1.06990067e+01] [ 9.51788876e-03 -2.41779687e-04 9.99954675e-01 4.59351866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.16, Y:10.71, Z:0.46 [[ 9.03106573e-01 -4.29328037e-01 -8.71519759e-03 5.71601438e+01] [ 4.29311015e-01 9.03148580e-01 -3.83327397e-03 1.07105745e+01] [ 9.51685032e-03 -2.79675409e-04 9.99954675e-01 4.59283802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.637628 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:57.19, Y:10.72, Z:0.46 [[ 8.99453481e-01 -4.36929627e-01 -8.71411829e-03 5.71854413e+01] [ 4.36912937e-01 8.99495621e-01 -3.83572596e-03 1.07219041e+01] [ 9.51425356e-03 -3.57253942e-04 9.99954675e-01 4.56330696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.21, Y:10.73, Z:0.46 [[ 8.97778918e-01 -4.40360178e-01 -8.71362358e-03 5.72112222e+01] [ 4.40343638e-01 8.97821118e-01 -3.83684946e-03 1.07340531e+01] [ 9.51287097e-03 -3.92346145e-04 9.99954675e-01 4.59856693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.24, Y:10.75, Z:0.46 [[ 8.96161477e-01 -4.43642532e-01 -8.71266711e-03 5.72366301e+01] [ 4.43626125e-01 8.96203729e-01 -3.83902017e-03 1.07466104e+01] [ 9.51147738e-03 -4.24784763e-04 9.99954675e-01 4.59506525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72762800000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.26, Y:10.76, Z:0.46 [[ 8.94529051e-01 -4.46924907e-01 -8.71232873e-03 5.72615543e+01] [ 4.46908647e-01 8.94571360e-01 -3.83978793e-03 1.07590093e+01] [ 9.50989662e-03 -4.58813198e-04 9.99954675e-01 4.61706182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.29, Y:10.77, Z:0.46 [[ 8.92138599e-01 -4.51677800e-01 -8.71122079e-03 5.72864106e+01] [ 4.51661741e-01 8.92180984e-01 -3.84229985e-03 1.07727473e+01] [ 9.50746708e-03 -5.06661141e-04 9.99954675e-01 4.63241193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.31, Y:10.78, Z:0.46 [[ 8.91519742e-01 -4.52898080e-01 -8.71087815e-03 5.73113107e+01] [ 4.52882071e-01 8.91562146e-01 -3.84307649e-03 1.07846790e+01] [ 9.50681118e-03 -5.18821976e-04 9.99954675e-01 4.64258546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.34, Y:10.80, Z:0.47 [[ 8.91056576e-01 -4.53808666e-01 -8.71054230e-03 5.73367899e+01] [ 4.53792694e-01 8.91098994e-01 -3.84383755e-03 1.07972635e+01] [ 9.50632227e-03 -5.27703728e-04 9.99954675e-01 4.66538408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.847628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.36, Y:10.81, Z:0.47 [[ 8.91214238e-01 -4.53498982e-01 -8.70943927e-03 5.73611499e+01] [ 4.53482971e-01 8.91256641e-01 -3.84633521e-03 1.08099308e+01] [ 9.50665469e-03 -5.21673691e-04 9.99954675e-01 4.67509981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.39, Y:10.83, Z:0.47 [[ 8.93199492e-01 -4.49576267e-01 -8.70909795e-03 5.73856840e+01] [ 4.49560062e-01 8.93241821e-01 -3.84710788e-03 1.08257686e+01] [ 9.50889891e-03 -4.79027806e-04 9.99954675e-01 4.69228738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.41, Y:10.84, Z:0.47 [[ 8.94407459e-01 -4.47168274e-01 -8.70814989e-03 5.74104504e+01] [ 4.47151934e-01 8.94449736e-01 -3.84925269e-03 1.08398604e+01] [ 9.51026605e-03 -4.51065750e-04 9.99954675e-01 4.70452368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.43, Y:10.85, Z:0.47 [[ 8.95891199e-01 -4.44188189e-01 -8.70706926e-03 5.74343822e+01] [ 4.44171684e-01 8.95933412e-01 -3.85169553e-03 1.08535798e+01] [ 9.51183193e-03 -4.16733493e-04 9.99954675e-01 4.71492086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.46, Y:10.87, Z:0.47 [[ 8.98940355e-01 -4.37984510e-01 -8.70673459e-03 5.74567556e+01] [ 4.37967707e-01 8.98982451e-01 -3.85245191e-03 1.08697501e+01] [ 9.51451586e-03 -3.50144095e-04 9.99954675e-01 4.72929917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.48, Y:10.88, Z:0.47 [[ 9.00301950e-01 -4.35178819e-01 -8.70600802e-03 5.74812283e+01] [ 4.35161869e-01 9.00343986e-01 -3.85409314e-03 1.08836899e+01] [ 9.51562167e-03 -3.18675154e-04 9.99954675e-01 4.73000394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.50, Y:10.90, Z:0.47 [[ 9.02990853e-01 -4.29571582e-01 -8.70494099e-03 5.75045876e+01] [ 4.29554348e-01 9.03032773e-01 -3.85650167e-03 1.08998495e+01] [ 9.51749053e-03 -2.56859519e-04 9.99954675e-01 4.72686966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.53, Y:10.91, Z:0.47 [[ 9.04286783e-01 -4.26836803e-01 -8.70386903e-03 5.75293562e+01] [ 4.26819419e-01 9.04328642e-01 -3.85891948e-03 1.09136997e+01] [ 9.51828692e-03 -2.25410435e-04 9.99954675e-01 4.72508489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.55, Y:10.93, Z:0.47 [[ 9.05577371e-01 -4.24091836e-01 -8.70279641e-03 5.75531668e+01] [ 4.24074302e-01 9.05619168e-01 -3.86133700e-03 1.09275115e+01] [ 9.51898074e-03 -1.93892895e-04 9.99954675e-01 4.72027672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.58, Y:10.94, Z:0.47 [[ 9.08231693e-01 -4.18377175e-01 -8.70233139e-03 5.75767869e+01] [ 4.18359368e-01 9.08273374e-01 -3.86238474e-03 1.09427940e+01] [ 9.52002950e-03 -1.32761625e-04 9.99954675e-01 4.71793728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.60, Y:10.96, Z:0.47 [[ 9.09395051e-01 -4.15842433e-01 -8.70121915e-03 5.76005795e+01] [ 4.15824486e-01 9.09436672e-01 -3.86488878e-03 1.09553283e+01] [ 9.52039253e-03 -1.03469247e-04 9.99954675e-01 4.71944242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.62, Y:10.97, Z:0.47 [[ 9.10532698e-01 -4.13345506e-01 -8.70046230e-03 5.76244008e+01] [ 4.13327427e-01 9.10574262e-01 -3.86659180e-03 1.09679585e+01] [ 9.52065539e-03 -7.54814325e-05 9.99954675e-01 4.71437463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.65, Y:10.98, Z:0.47 [[ 9.13063810e-01 -4.07723912e-01 -8.69998428e-03 5.76494027e+01] [ 4.07705568e-01 9.13105257e-01 -3.86766708e-03 1.09811479e+01] [ 9.52094173e-03 -1.56051924e-05 9.99954675e-01 4.72194796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.67, Y:10.99, Z:0.47 [[ 9.14213087e-01 -4.05140422e-01 -8.69888196e-03 5.76743101e+01] [ 4.05121936e-01 9.14254471e-01 -3.87014474e-03 1.09925421e+01] [ 9.52094380e-03 1.40290663e-05 9.99954675e-01 4.72446792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.70, Y:11.00, Z:0.47 [[ 9.15078001e-01 -4.03183073e-01 -8.69840390e-03 5.76993538e+01] [ 4.03164489e-01 9.15119341e-01 -3.87121893e-03 1.10041609e+01] [ 9.52088758e-03 3.55797146e-05 9.99954675e-01 4.73297869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.72, Y:11.02, Z:0.47 [[ 9.15810290e-01 -4.01516961e-01 -8.69730329e-03 5.77236896e+01] [ 4.01498278e-01 9.15851586e-01 -3.87369004e-03 1.10153273e+01] [ 9.52079126e-03 5.56128979e-05 9.99954675e-01 4.73135346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.75, Y:11.03, Z:0.47 [[ 9.16383334e-01 -4.00207390e-01 -8.69655490e-03 5.77490530e+01] [ 4.00188633e-01 9.16424596e-01 -3.87536947e-03 1.10256691e+01] [ 9.52068831e-03 7.10615773e-05 9.99954675e-01 4.72337288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.77, Y:11.04, Z:0.47 [[ 9.16280281e-01 -4.00443290e-01 -8.69582227e-03 5.77746980e+01] [ 4.00424528e-01 9.16321541e-01 -3.87701269e-03 1.10361460e+01] [ 9.52069298e-03 7.04097488e-05 9.99954675e-01 4.72338948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.80, Y:11.04, Z:0.47 [[ 9.16211621e-01 -4.00600384e-01 -8.69473822e-03 5.78003499e+01] [ 4.00581606e-01 9.16252873e-01 -3.87944231e-03 1.10445124e+01] [ 9.52068495e-03 7.14379279e-05 9.99954675e-01 4.72640871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.83, Y:11.05, Z:0.47 [[ 9.16077304e-01 -4.00907450e-01 -8.69426855e-03 5.78264893e+01] [ 4.00888675e-01 9.16118558e-01 -3.88049460e-03 1.10544779e+01] [ 9.52069996e-03 6.93992298e-05 9.99954675e-01 4.73180016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.85, Y:11.06, Z:0.47 [[ 9.16116442e-01 -4.00818030e-01 -8.69319678e-03 5.78532292e+01] [ 4.00799228e-01 9.16157684e-01 -3.88289412e-03 1.10645121e+01] [ 9.52067300e-03 7.29565889e-05 9.99954675e-01 4.74221950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.88, Y:11.07, Z:0.47 [[ 9.16694100e-01 -3.99495149e-01 -8.69208074e-03 5.78794207e+01] [ 3.99476264e-01 9.16735304e-01 -3.88539085e-03 1.10727059e+01] [ 9.52053207e-03 8.94349265e-05 9.99954675e-01 4.73607523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.91, Y:11.08, Z:0.47 [[ 9.16983515e-01 -3.98830408e-01 -8.69132269e-03 5.79053767e+01] [ 3.98811478e-01 9.17024697e-01 -3.88708580e-03 1.10831339e+01] [ 9.52044558e-03 9.81943513e-05 9.99954675e-01 4.73133304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.93, Y:11.09, Z:0.47 [[ 9.17337341e-01 -3.98015931e-01 -8.69027204e-03 5.79318955e+01] [ 3.97996942e-01 9.17378497e-01 -3.88943331e-03 1.10931787e+01] [ 9.52032512e-03 1.09220721e-04 9.99954675e-01 4.72777334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.96, Y:11.10, Z:0.47 [[ 9.17583422e-01 -3.97448297e-01 -8.68994648e-03 5.79576396e+01] [ 3.97429275e-01 9.17624563e-01 -3.89016053e-03 1.11025318e+01] [ 9.52024602e-03 1.15907681e-04 9.99954675e-01 4.72552305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.597628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.99, Y:11.11, Z:0.47 [[ 9.17823358e-01 -3.96893917e-01 -8.68923893e-03 5.79851962e+01] [ 3.96874855e-01 9.17864480e-01 -3.89174031e-03 1.11090401e+01] [ 9.52015183e-03 1.23389715e-04 9.99954675e-01 4.74237460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.01, Y:11.12, Z:0.47 [[ 9.17712339e-01 -3.97150574e-01 -8.68815050e-03 5.80112415e+01] [ 3.97131501e-01 9.17753456e-01 -3.89416868e-03 1.11207982e+01] [ 9.52015148e-03 1.23388407e-04 9.99954675e-01 4.74508636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.04, Y:11.13, Z:0.47 [[ 9.17685356e-01 -3.97212944e-01 -8.68706085e-03 5.80367505e+01] [ 3.97193851e-01 9.17726463e-01 -3.89659794e-03 1.11296246e+01] [ 9.52012477e-03 1.25403716e-04 9.99954675e-01 4.73742922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.06, Y:11.14, Z:0.47 [[ 9.17416659e-01 -3.97833152e-01 -8.68658867e-03 5.80640395e+01] [ 3.97814077e-01 9.17457775e-01 -3.89765027e-03 1.11361042e+01] [ 9.52019281e-03 1.20122034e-04 9.99954675e-01 4.73688805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.09, Y:11.15, Z:0.47 [[ 9.17116560e-01 -3.98524484e-01 -8.68626935e-03 5.80910449e+01] [ 3.98505433e-01 9.17157687e-01 -3.89836178e-03 1.11452746e+01] [ 9.52027132e-03 1.13726620e-04 9.99954675e-01 4.73507766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.12, Y:11.15, Z:0.48 [[ 9.16521436e-01 -3.99891264e-01 -8.68525641e-03 5.81176631e+01] [ 3.99872253e-01 9.16562582e-01 -3.90061723e-03 1.11548803e+01] [ 9.52040379e-03 1.02006256e-04 9.99954675e-01 4.75411273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.15, Y:11.16, Z:0.48 [[ 9.14985570e-01 -4.03393099e-01 -8.68415344e-03 5.81457380e+01] [ 4.03374222e-01 9.15026777e-01 -3.90307128e-03 1.11610979e+01] [ 9.52070496e-03 6.82902651e-05 9.99954675e-01 4.76939666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80762800000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.17, Y:11.17, Z:0.48 [[ 9.13803349e-01 -4.06064089e-01 -8.68299964e-03 5.81730497e+01] [ 4.06045308e-01 9.13844601e-01 -3.90563640e-03 1.11691874e+01] [ 9.52085103e-03 4.32923627e-05 9.99954675e-01 4.77362829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.20, Y:11.17, Z:0.48 [[ 9.10926254e-01 -4.12477844e-01 -8.68264325e-03 5.82018555e+01] [ 4.12459346e-01 9.10967633e-01 -3.90642854e-03 1.11730902e+01] [ 9.52092219e-03 -2.27690378e-05 9.99954675e-01 4.76953657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.23, Y:11.18, Z:0.48 [[ 9.09232592e-01 -4.16197923e-01 -8.68230064e-03 5.82284836e+01] [ 4.16179587e-01 9.09274043e-01 -3.90718987e-03 1.11813143e+01] [ 9.52075491e-03 -6.08519203e-05 9.99954675e-01 4.79841301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.25, Y:11.19, Z:0.48 [[ 9.07625480e-01 -4.19691106e-01 -8.68120616e-03 5.82549646e+01] [ 4.19672906e-01 9.07666991e-01 -3.90962014e-03 1.11899307e+01] [ 9.52047707e-03 -9.47961634e-05 9.99954675e-01 4.79770386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.28, Y:11.19, Z:0.48 [[ 9.05022598e-01 -4.25274914e-01 -8.68011971e-03 5.82830741e+01] [ 4.25256947e-01 9.05064210e-01 -3.91203077e-03 1.11948451e+01] [ 9.51975424e-03 -1.50804959e-04 9.99954675e-01 4.80448069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.31, Y:11.20, Z:0.48 [[ 9.04004500e-01 -4.27434835e-01 -8.67900324e-03 5.83094029e+01] [ 4.27416944e-01 9.04046145e-01 -3.91450614e-03 1.12030599e+01] [ 9.51941571e-03 -1.70821876e-04 9.99954675e-01 4.80280973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.34, Y:11.21, Z:0.48 [[ 9.02573610e-01 -4.30448094e-01 -8.67851995e-03 5.83384133e+01] [ 4.30430332e-01 9.02615310e-01 -3.91557732e-03 1.12096671e+01] [ 9.51881777e-03 -2.01401467e-04 9.99954675e-01 4.82042513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.36, Y:11.22, Z:0.48 [[ 8.99891120e-01 -4.36028293e-01 -8.67754009e-03 5.83575081e+01] [ 4.36010768e-01 8.99932920e-01 -3.91774763e-03 1.12217235e+01] [ 9.51745281e-03 -2.57954617e-04 9.99954675e-01 4.79092092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.39, Y:11.23, Z:0.48 [[ 9.02349014e-01 -4.30920140e-01 -8.60752935e-03 5.83922006e+01] [ 4.30900896e-01 9.02390066e-01 -4.07256764e-03 1.12270875e+01] [ 9.52230040e-03 -3.41147202e-05 9.99954661e-01 4.84491659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.42, Y:11.24, Z:0.49 [[ 9.02542630e-01 -4.30513082e-01 -8.67681581e-03 5.84187306e+01] [ 4.30495288e-01 9.02584316e-01 -3.91917183e-03 1.12360362e+01] [ 9.51881260e-03 -1.98108664e-04 9.99954675e-01 4.85930287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.44, Y:11.24, Z:0.49 [[ 9.03775997e-01 -4.27917842e-01 -8.67569032e-03 5.84446379e+01] [ 4.27899904e-01 9.03817621e-01 -3.92166168e-03 1.12432490e+01] [ 9.51939079e-03 -1.68023358e-04 9.99954675e-01 4.85373298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.47, Y:11.25, Z:0.48 [[ 9.04462771e-01 -4.26464345e-01 -8.67520240e-03 5.84705378e+01] [ 4.26446330e-01 9.04504361e-01 -3.92274072e-03 1.12527490e+01] [ 9.51966746e-03 -1.51535286e-04 9.99954675e-01 4.84657514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.50, Y:11.26, Z:0.48 [[ 9.05867804e-01 -4.23471685e-01 -8.67485790e-03 5.84984764e+01] [ 4.23453525e-01 9.05909332e-01 -3.92350242e-03 1.12601162e+01] [ 9.52012691e-03 -1.19224637e-04 9.99954675e-01 4.83817147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.53, Y:11.27, Z:0.48 [[ 9.06423578e-01 -4.22280788e-01 -8.67375885e-03 5.85251959e+01] [ 4.22262551e-01 9.06465071e-01 -3.92593060e-03 1.12693962e+01] [ 9.52030450e-03 -1.04047474e-04 9.99954675e-01 4.84242377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.55, Y:11.28, Z:0.48 [[ 9.06897447e-01 -4.21262158e-01 -8.67265077e-03 5.85516734e+01] [ 4.21243851e-01 9.06938910e-01 -3.92837690e-03 1.12787861e+01] [ 9.52044097e-03 -9.06658253e-05 9.99954675e-01 4.84369242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25762800000001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:58.58, Y:11.29, Z:0.48 [[ 9.07999746e-01 -4.18880968e-01 -8.67154982e-03 5.85787103e+01] [ 4.18862528e-01 9.08041151e-01 -3.93080566e-03 1.12860978e+01] [ 9.52066375e-03 -6.30167426e-05 9.99954675e-01 4.82225899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.61, Y:11.30, Z:0.48 [[ 9.08754981e-01 -4.17239988e-01 -8.67043654e-03 5.86050218e+01] [ 4.17221451e-01 9.08796341e-01 -3.93325976e-03 1.12952909e+01] [ 9.52077426e-03 -4.31227201e-05 9.99954675e-01 4.84625997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.63, Y:11.30, Z:0.48 [[ 9.09481068e-01 -4.15654941e-01 -8.66932911e-03 5.86309550e+01] [ 4.15636308e-01 9.09522386e-01 -3.93569915e-03 1.13045605e+01] [ 9.52084169e-03 -2.38440793e-05 9.99954675e-01 4.84831584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.347628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.66, Y:11.31, Z:0.49 [[ 9.10096715e-01 -4.14305226e-01 -8.66884941e-03 5.86569628e+01] [ 4.14286522e-01 9.10138000e-01 -3.93675545e-03 1.13142471e+01] [ 9.52086763e-03 -8.55927302e-06 9.99954675e-01 4.85120796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.68, Y:11.32, Z:0.49 [[ 9.11217203e-01 -4.11835014e-01 -8.66773801e-03 5.86842109e+01] [ 4.11816175e-01 9.11258427e-01 -3.93920096e-03 1.13209914e+01] [ 9.52085019e-03 1.99529661e-05 9.99954675e-01 4.85435134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.71, Y:11.33, Z:0.49 [[ 9.11444383e-01 -4.11331998e-01 -8.66739405e-03 5.87108719e+01] [ 4.11313129e-01 9.11485593e-01 -3.93995763e-03 1.13298361e+01] [ 9.52083545e-03 2.60392791e-05 9.99954675e-01 4.87210738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.74, Y:11.34, Z:0.49 [[ 9.11954947e-01 -4.10198817e-01 -8.66630549e-03 5.87386876e+01] [ 4.10179874e-01 9.11996123e-01 -3.94235057e-03 1.13370084e+01] [ 9.52078455e-03 4.05020087e-05 9.99954675e-01 4.88336544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.77, Y:11.35, Z:0.49 [[ 9.12267929e-01 -4.09502306e-01 -8.66522314e-03 5.87652425e+01] [ 4.09483309e-01 9.12309081e-01 -3.94472811e-03 1.13471028e+01] [ 9.52073702e-03 5.03846953e-05 9.99954675e-01 4.88557981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.79, Y:11.36, Z:0.49 [[ 9.13222833e-01 -4.07368372e-01 -8.66412642e-03 5.87905222e+01] [ 4.07349256e-01 9.13263929e-01 -3.94713547e-03 1.13583116e+01] [ 9.52057228e-03 7.52887844e-05 9.99954675e-01 4.89428077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.81, Y:11.37, Z:0.49 [[ 9.15518800e-01 -4.02181897e-01 -8.66303626e-03 5.88148494e+01] [ 4.02162526e-01 9.15559776e-01 -3.94952667e-03 1.13698850e+01] [ 9.51995566e-03 1.31917372e-04 9.99954675e-01 4.89605676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.84, Y:11.38, Z:0.49 [[ 9.15885254e-01 -4.01346684e-01 -8.66256163e-03 5.88395715e+01] [ 4.01327265e-01 9.15926208e-01 -3.95056740e-03 1.13830583e+01] [ 9.51981435e-03 1.41744263e-04 9.99954675e-01 4.89140587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.86, Y:11.40, Z:0.49 [[ 9.15942665e-01 -4.01215670e-01 -8.66147534e-03 5.88648717e+01] [ 4.01196223e-01 9.15983605e-01 -3.95294761e-03 1.13965457e+01] [ 9.51975393e-03 1.45722170e-04 9.99954675e-01 4.88375669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.89, Y:11.41, Z:0.49 [[ 9.15021064e-01 -4.03313091e-01 -8.66043646e-03 5.88898243e+01] [ 4.03293716e-01 9.15062039e-01 -3.95522236e-03 1.14121772e+01] [ 9.52002960e-03 1.26412174e-04 9.99954676e-01 4.85034004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.91, Y:11.42, Z:0.48 [[ 9.14410742e-01 -4.04694958e-01 -8.65945959e-03 5.89146876e+01] [ 4.04675625e-01 9.14451736e-01 -3.95735995e-03 1.14246969e+01] [ 9.52018147e-03 1.14380229e-04 9.99954676e-01 4.82565937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.94, Y:11.44, Z:0.48 [[ 9.13748209e-01 -4.06188663e-01 -8.65911436e-03 5.89397428e+01] [ 4.06169390e-01 9.13789232e-01 -3.95811520e-03 1.14362450e+01] [ 9.52034698e-03 9.96534803e-05 9.99954676e-01 4.81737652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.97, Y:11.45, Z:0.48 [[ 9.12508085e-01 -4.08967020e-01 -8.65862109e-03 5.89670049e+01] [ 4.08947862e-01 9.12549161e-01 -3.95919396e-03 1.14460050e+01] [ 9.52059717e-03 7.18719119e-05 9.99954676e-01 4.83928745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.99, Y:11.46, Z:0.49 [[ 9.12084356e-01 -4.09911177e-01 -8.65764521e-03 5.89924518e+01] [ 4.09892041e-01 9.12125442e-01 -3.96132680e-03 1.14554616e+01] [ 9.52065060e-03 6.43643350e-05 9.99954676e-01 4.85326488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.02, Y:11.47, Z:0.49 [[ 9.11978623e-01 -4.10146370e-01 -8.65716090e-03 5.90182890e+01] [ 4.10127234e-01 9.12019710e-01 -3.96238492e-03 1.14669078e+01] [ 9.52065917e-03 6.30728846e-05 9.99954676e-01 4.86923467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.04, Y:11.48, Z:0.49 [[ 9.11750420e-01 -4.10653437e-01 -8.65604854e-03 5.90431596e+01] [ 4.10634301e-01 9.11791506e-01 -3.96481345e-03 1.14796102e+01] [ 9.52067581e-03 6.04498854e-05 9.99954676e-01 4.86563598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.07, Y:11.49, Z:0.49 [[ 9.11307153e-01 -4.11636206e-01 -8.65492839e-03 5.90681735e+01] [ 4.11617091e-01 9.11348249e-01 -3.96725716e-03 1.14920206e+01] [ 9.52072052e-03 5.28733785e-05 9.99954676e-01 4.85792950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.857628 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:59.09, Y:11.50, Z:0.48 [[ 9.09813813e-01 -4.14926423e-01 -8.65380411e-03 5.90937116e+01] [ 4.14907434e-01 9.09854968e-01 -3.96970804e-03 1.15039426e+01] [ 9.52084342e-03 2.11675574e-05 9.99954676e-01 4.83029293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.12, Y:11.52, Z:0.49 [[ 9.09229814e-01 -4.16204593e-01 -8.65345642e-03 5.91207132e+01] [ 4.16185654e-01 9.09270992e-01 -3.97046582e-03 1.15153031e+01] [ 9.52086301e-03 8.62148705e-06 9.99954676e-01 4.88258649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.15, Y:11.53, Z:0.49 [[ 9.08231180e-01 -4.18379323e-01 -8.65247446e-03 5.91476414e+01] [ 4.18360462e-01 9.08272394e-01 -3.97260457e-03 1.15267888e+01] [ 9.52085930e-03 -1.18098738e-05 9.99954676e-01 4.90601276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.17, Y:11.54, Z:0.50 [[ 9.06450194e-01 -4.22224107e-01 -8.65149351e-03 5.91732206e+01] [ 4.22205401e-01 9.06491479e-01 -3.97473972e-03 1.15368457e+01] [ 9.52073607e-03 -4.98037003e-05 9.99954676e-01 4.95064903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.20, Y:11.55, Z:0.50 [[ 9.05401037e-01 -4.24469221e-01 -8.65114613e-03 5.91992069e+01] [ 4.24450610e-01 9.05442365e-01 -3.97549566e-03 1.15484506e+01] [ 9.52058975e-03 -7.25663540e-05 9.99954676e-01 4.97333460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.23, Y:11.56, Z:0.50 [[ 9.04346352e-01 -4.26711672e-01 -8.65016689e-03 5.92251402e+01] [ 4.26693143e-01 9.04387716e-01 -3.97762522e-03 1.15604386e+01] [ 9.52040378e-03 -9.38160425e-05 9.99954676e-01 4.98331903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.25, Y:11.57, Z:0.50 [[ 9.02614371e-01 -4.30363208e-01 -8.64904970e-03 5.92507896e+01] [ 4.30344823e-01 9.02655799e-01 -3.98005298e-03 1.15730143e+01] [ 9.51998324e-03 -1.29620754e-04 9.99954676e-01 4.98043430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.27, Y:11.58, Z:0.50 [[ 9.02066422e-01 -4.31510584e-01 -8.64792608e-03 5.92747835e+01] [ 4.31492228e-01 9.02107863e-01 -3.98249290e-03 1.15844684e+01] [ 9.51984996e-03 -1.39039773e-04 9.99954676e-01 4.97236466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.097628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.30, Y:11.60, Z:0.50 [[ 9.01965983e-01 -4.31720498e-01 -8.64743984e-03 5.93004270e+01] [ 4.31702141e-01 9.02007424e-01 -3.98354843e-03 1.15960859e+01] [ 9.51983444e-03 -1.40093128e-04 9.99954676e-01 4.97565663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.33, Y:11.61, Z:0.50 [[ 9.02598556e-01 -4.30396432e-01 -8.64631675e-03 5.93256541e+01] [ 4.30377992e-01 9.02639959e-01 -3.98598461e-03 1.16080457e+01] [ 9.52006456e-03 -1.23440486e-04 9.99954676e-01 4.97958982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.157628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:59.35, Y:11.62, Z:0.49 [[ 9.02989519e-01 -4.29575591e-01 -8.64519927e-03 5.93503532e+01] [ 4.29557090e-01 9.03030896e-01 -3.98840686e-03 1.16206277e+01] [ 9.52020427e-03 -1.12117049e-04 9.99954676e-01 4.94752918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.187628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:59.37, Y:11.63, Z:0.50 [[ 9.04165938e-01 -4.27093928e-01 -8.64485304e-03 5.93749229e+01] [ 4.27075307e-01 9.04207260e-01 -3.98915717e-03 1.16324249e+01] [ 9.52048368e-03 -8.51432289e-05 9.99954676e-01 4.95972056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.217628 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:59.40, Y:11.65, Z:0.49 [[ 9.05265628e-01 -4.24758070e-01 -8.64437427e-03 5.94003099e+01] [ 4.24739332e-01 9.05306897e-01 -3.99019436e-03 1.16466633e+01] [ 9.52067891e-03 -5.94199545e-05 9.99954676e-01 4.94350259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.247628 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:59.43, Y:11.66, Z:0.49 [[ 9.05486642e-01 -4.24286734e-01 -8.64341126e-03 5.94259615e+01] [ 4.24267954e-01 9.05527893e-01 -3.99227931e-03 1.16593500e+01] [ 9.52072114e-03 -5.21668279e-05 9.99954676e-01 4.93670884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.277628 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:59.45, Y:11.67, Z:0.49 [[ 9.05838679e-01 -4.23534647e-01 -8.64238334e-03 5.94507167e+01] [ 4.23515812e-01 9.05879904e-01 -3.99450328e-03 1.16705107e+01] [ 9.52077193e-03 -4.18104245e-05 9.99954676e-01 4.93438499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30762800000001 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:59.48, Y:11.68, Z:0.49 [[ 9.05576792e-01 -4.24094318e-01 -8.64190791e-03 5.94763271e+01] [ 4.24075499e-01 9.05618025e-01 -3.99553158e-03 1.16825487e+01] [ 9.52074982e-03 -4.65607327e-05 9.99954676e-01 4.92761781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33762800000001 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:59.50, Y:11.69, Z:0.49 [[ 9.05523761e-01 -4.24207560e-01 -8.64080466e-03 5.95014650e+01] [ 4.24188723e-01 9.05564986e-01 -3.99791607e-03 1.16942633e+01] [ 9.52075638e-03 -4.51239001e-05 9.99954676e-01 4.94350459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36762800000001 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:59.53, Y:11.71, Z:0.50 [[ 9.04605208e-01 -4.26162836e-01 -8.64029390e-03 5.95271440e+01] [ 4.26144077e-01 9.04646469e-01 -3.99901963e-03 1.17067104e+01] [ 9.52064491e-03 -6.44760858e-05 9.99954676e-01 4.96563359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39762800000001 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:59.55, Y:11.72, Z:0.50 [[ 9.03978820e-01 -4.27489947e-01 -8.63930041e-03 5.95521283e+01] [ 4.27471229e-01 9.04020099e-01 -4.00116477e-03 1.17179407e+01] [ 9.52055893e-03 -7.60841479e-05 9.99954676e-01 4.96975514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.42762800000001 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:59.58, Y:11.73, Z:0.50 [[ 9.02874501e-01 -4.29817416e-01 -8.63852834e-03 5.95792936e+01] [ 4.29798788e-01 9.02915821e-01 -4.00283097e-03 1.17287012e+01] [ 9.52035037e-03 -9.87749983e-05 9.99954676e-01 4.98555297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45762800000001 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:59.61, Y:11.74, Z:0.50 [[ 9.02148599e-01 -4.31338959e-01 -8.63754808e-03 5.96052604e+01] [ 4.31320381e-01 9.02189941e-01 -4.00494512e-03 1.17399831e+01] [ 9.52019785e-03 -1.12494901e-04 9.99954676e-01 4.97273351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.487628 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:59.63, Y:11.75, Z:0.50 [[ 9.02043696e-01 -4.31558318e-01 -8.63643463e-03 5.96317428e+01] [ 4.31539727e-01 9.02085032e-01 -4.00734478e-03 1.17514284e+01] [ 9.52020138e-03 -1.12164537e-04 9.99954676e-01 5.00825551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.517628 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:59.66, Y:11.76, Z:0.50 [[ 9.02412261e-01 -4.30787118e-01 -8.63545631e-03 5.96574545e+01] [ 4.30768471e-01 9.02453572e-01 -4.00945186e-03 1.17631335e+01] [ 9.52031860e-03 -1.01703793e-04 9.99954676e-01 5.01605521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.547628 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:59.68, Y:11.78, Z:0.50 [[ 9.02292564e-01 -4.31037790e-01 -8.63434416e-03 5.96833640e+01] [ 4.31019132e-01 9.02333870e-01 -4.01184544e-03 1.17752574e+01] [ 9.52031817e-03 -1.01709215e-04 9.99954676e-01 5.01876711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.577628 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:59.71, Y:11.79, Z:0.50 [[ 9.02778217e-01 -4.30019718e-01 -8.63322906e-03 5.97073175e+01] [ 4.30000990e-01 9.02819492e-01 -4.01424363e-03 1.17867855e+01] [ 9.52045138e-03 -8.83253271e-05 9.99954676e-01 5.01768191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.607628 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:59.73, Y:11.80, Z:0.50 [[ 9.03193242e-01 -4.29147345e-01 -8.63274583e-03 5.97329071e+01] [ 4.29128567e-01 9.03234494e-01 -4.01528257e-03 1.17988363e+01] [ 9.52054166e-03 -7.79817633e-05 9.99954676e-01 5.01813904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.637628 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:59.76, Y:11.81, Z:0.50 [[ 9.03907030e-01 -4.27641877e-01 -8.63164229e-03 5.97583778e+01] [ 4.27623008e-01 9.03948240e-01 -4.01765344e-03 1.18102878e+01] [ 9.52067472e-03 -5.95036562e-05 9.99954676e-01 5.00195279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66762800000001 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:59.78, Y:11.82, Z:0.50 [[ 9.04104196e-01 -4.27224887e-01 -8.63130121e-03 5.97835430e+01] [ 4.27205992e-01 9.04145394e-01 -4.01838606e-03 1.18219012e+01] [ 9.52070576e-03 -5.43039052e-05 9.99954676e-01 4.99596511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69762800000001 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:59.81, Y:11.83, Z:0.50 [[ 9.05402928e-01 -4.24465613e-01 -8.63022016e-03 5.98081497e+01] [ 4.24446570e-01 9.05444058e-01 -4.02070647e-03 1.18345999e+01] [ 9.52083320e-03 -2.27079365e-05 9.99954676e-01 4.99134790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72762800000001 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:59.83, Y:11.85, Z:0.50 [[ 9.06004483e-01 -4.23180122e-01 -8.62911169e-03 5.98326197e+01] [ 4.23160999e-01 9.06045575e-01 -4.02308402e-03 1.18469679e+01] [ 9.52085766e-03 -6.57136529e-06 9.99954676e-01 4.97933745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75762800000001 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:59.86, Y:11.86, Z:0.50 [[ 9.06485494e-01 -4.22148780e-01 -8.62876834e-03 5.98580290e+01] [ 4.22129603e-01 9.06526562e-01 -4.02382032e-03 1.18598093e+01] [ 9.52085854e-03 5.07619428e-06 9.99954676e-01 4.97330841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78762800000001 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:59.88, Y:11.87, Z:0.50 [[ 9.06861568e-01 -4.21340314e-01 -8.62768798e-03 5.98833339e+01] [ 4.21321077e-01 9.06902608e-01 -4.02613544e-03 1.18734546e+01] [ 9.52084590e-03 1.61207048e-05 9.99954676e-01 4.95498310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81762800000001 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:59.91, Y:11.89, Z:0.50 [[ 9.06545847e-01 -4.22019201e-01 -8.62673594e-03 5.99083186e+01] [ 4.21999976e-01 9.06586893e-01 -4.02817432e-03 1.18855659e+01] [ 9.52085264e-03 1.12423395e-05 9.99954676e-01 4.95176752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.847628 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:59.93, Y:11.90, Z:0.49 [[ 9.05895875e-01 -4.23412637e-01 -8.62564744e-03 5.99329759e+01] [ 4.23393454e-01 9.05936940e-01 -4.03050383e-03 1.18975713e+01] [ 9.52085890e-03 -8.25868539e-07 9.99954676e-01 4.94735781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.877628 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:59.96, Y:11.91, Z:0.49 [[ 9.04194086e-01 -4.27034731e-01 -8.62517588e-03 5.99582746e+01] [ 4.27015702e-01 9.04235222e-01 -4.03151270e-03 1.19095930e+01] [ 9.52078377e-03 -3.78155986e-05 9.99954676e-01 4.94776978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.907628 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:59.98, Y:11.92, Z:0.50 [[ 9.03266334e-01 -4.28993654e-01 -8.62410172e-03 5.99836922e+01] [ 4.28974692e-01 9.03307501e-01 -4.03380921e-03 1.19221723e+01] [ 9.52069432e-03 -5.59173210e-05 9.99954676e-01 4.95614343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.937628 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:60.01, Y:11.94, Z:0.50 [[ 9.01176345e-01 -4.33366848e-01 -8.62376832e-03 6.00095387e+01] [ 4.33348080e-01 9.01217601e-01 -4.03452185e-03 1.19350163e+01] [ 9.52031981e-03 -1.01277785e-04 9.99954676e-01 4.98744879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.967628 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:60.04, Y:11.95, Z:0.50 [[ 8.99366458e-01 -4.37110536e-01 -8.62283966e-03 6.00355002e+01] [ 4.37091920e-01 8.99407783e-01 -4.03650565e-03 1.19466097e+01] [ 9.51984825e-03 -1.38675748e-04 9.99954676e-01 4.98234039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.997628 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:60.06, Y:11.96, Z:0.50 [[ 8.97890403e-01 -4.40134625e-01 -8.62177901e-03 6.00613078e+01] [ 4.40116127e-01 8.97931781e-01 -4.03876988e-03 1.19577493e+01] [ 9.51937185e-03 -1.68211272e-04 9.99954676e-01 5.02099693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.027628 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:60.09, Y:11.97, Z:0.50 [[ 8.94311732e-01 -4.47361375e-01 -8.62128653e-03 6.00865873e+01] [ 4.47343200e-01 8.94353253e-01 -4.03982087e-03 1.19687266e+01] [ 9.51773547e-03 -2.43814706e-04 9.99954676e-01 5.04435426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05762800000001 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:60.11, Y:11.98, Z:0.51 [[ 8.92683164e-01 -4.50602320e-01 -8.62079837e-03 6.01116206e+01] [ 4.50584286e-01 8.92724746e-01 -4.04086232e-03 1.19802029e+01] [ 9.51682197e-03 -2.77186526e-04 9.99954676e-01 5.05259645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08762800000001 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:60.14, Y:11.99, Z:0.51 [[ 8.91352763e-01 -4.53228355e-01 -8.62034782e-03 6.01371978e+01] [ 4.53210434e-01 8.91394394e-01 -4.04182325e-03 1.19918024e+01] [ 9.51599862e-03 -3.04141255e-04 9.99954676e-01 5.06698341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11762800000001 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:60.16, Y:12.00, Z:0.51 [[ 8.89673043e-01 -4.56516797e-01 -8.61923446e-03 6.01626075e+01] [ 4.56499008e-01 8.89714730e-01 -4.04419610e-03 1.20048569e+01] [ 9.51490331e-03 -3.36659727e-04 9.99954676e-01 5.06530943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14762800000001 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:60.19, Y:12.02, Z:0.51 [[ 8.89337460e-01 -4.57170221e-01 -8.61809400e-03 6.01864613e+01] [ 4.57152438e-01 8.89379150e-01 -4.04662494e-03 1.20172720e+01] [ 9.51474954e-03 -3.40967540e-04 9.99954676e-01 5.06010327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17762800000001 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:60.21, Y:12.03, Z:0.51 [[ 8.89563935e-01 -4.56729403e-01 -8.61731978e-03 6.02114427e+01] [ 4.56711584e-01 8.89605610e-01 -4.04827299e-03 1.20304445e+01] [ 9.51498132e-03 -3.34432111e-04 9.99954676e-01 5.05412083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20762800000001 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:60.24, Y:12.04, Z:0.51 [[ 8.89888024e-01 -4.56097649e-01 -8.61618759e-03 6.02370409e+01] [ 4.56079777e-01 8.89929676e-01 -4.05068125e-03 1.20429936e+01] [ 9.51530723e-03 -3.25016185e-04 9.99954676e-01 5.05452442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.237628 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:60.26, Y:12.06, Z:0.51 [[ 8.90279047e-01 -4.55333942e-01 -8.61505295e-03 6.02619336e+01] [ 4.55316011e-01 8.90320674e-01 -4.05309300e-03 1.20553760e+01] [ 9.51567056e-03 -3.14187767e-04 9.99954676e-01 5.05875600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.267628 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:60.29, Y:12.07, Z:0.51 [[ 8.91667217e-01 -4.52609516e-01 -8.61391361e-03 6.02852032e+01] [ 4.52591435e-01 8.91708779e-01 -4.05551295e-03 1.20687001e+01] [ 9.51666614e-03 -2.82415576e-04 9.99954676e-01 5.06447459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.297628 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:60.31, Y:12.08, Z:0.51 [[ 8.92426044e-01 -4.51111476e-01 -8.61341977e-03 6.03099669e+01] [ 4.51093315e-01 8.92467571e-01 -4.05656153e-03 1.20817698e+01] [ 9.51715928e-03 -2.65274920e-04 9.99954676e-01 5.07504037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.327628 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:60.33, Y:12.09, Z:0.51 [[ 8.93130290e-01 -4.49715591e-01 -8.61231164e-03 6.03345017e+01] [ 4.49697342e-01 8.93171778e-01 -4.05891280e-03 1.20948916e+01] [ 9.51763007e-03 -2.47795687e-04 9.99954676e-01 5.08714613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.357628 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:60.36, Y:12.11, Z:0.51 [[ 8.94571536e-01 -4.46841824e-01 -8.61115899e-03 6.03580545e+01] [ 4.46823418e-01 8.94612955e-01 -4.06135672e-03 1.21088608e+01] [ 9.51843843e-03 -2.14493367e-04 9.99954676e-01 5.09586796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.387628 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:60.38, Y:12.12, Z:0.51 [[ 8.95205430e-01 -4.45570533e-01 -8.61037627e-03 6.03831304e+01] [ 4.45552053e-01 8.95246815e-01 -4.06301547e-03 1.21217896e+01] [ 9.51877190e-03 -1.99137317e-04 9.99954676e-01 5.09816067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41762800000001 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:60.41, Y:12.13, Z:0.51 [[ 8.96695843e-01 -4.42563494e-01 -8.60923609e-03 6.04073390e+01] [ 4.42544852e-01 8.96737156e-01 -4.06543000e-03 1.21345026e+01] [ 9.51943279e-03 -1.64518924e-04 9.99954676e-01 5.09875291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44762800000001 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:60.43, Y:12.15, Z:0.51 [[ 8.97228124e-01 -4.41483389e-01 -8.60874170e-03 6.04327997e+01] [ 4.41464687e-01 8.97269410e-01 -4.06647662e-03 1.21473301e+01] [ 9.51964246e-03 -1.51898267e-04 9.99954676e-01 5.10021417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47762800000001 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:60.46, Y:12.16, Z:0.51 [[ 8.97577868e-01 -4.40771913e-01 -8.60760511e-03 6.04579629e+01] [ 4.40753155e-01 8.97619129e-01 -4.06888104e-03 1.21602660e+01] [ 9.51979948e-03 -1.41691541e-04 9.99954676e-01 5.09782140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50762800000001 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:60.48, Y:12.17, Z:0.51 [[ 8.97830616e-01 -4.40256873e-01 -8.60644304e-03 6.04820639e+01] [ 4.40238068e-01 8.97871855e-01 -4.07133755e-03 1.21729456e+01] [ 9.51991732e-03 -1.33512356e-04 9.99954676e-01 5.09199857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53762800000001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:60.50, Y:12.19, Z:0.51 [[ 8.96223624e-01 -4.43519057e-01 -8.60593882e-03 6.05009012e+01] [ 4.43500392e-01 8.96264926e-01 -4.07240308e-03 1.21871839e+01] [ 9.51938950e-03 -1.66953394e-04 9.99954676e-01 5.07579378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56762800000001 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:60.53, Y:12.20, Z:0.51 [[ 8.97812674e-01 -4.40294618e-01 -8.54702968e-03 6.05328177e+01] [ 4.40274617e-01 8.97853356e-01 -4.19670969e-03 1.21960742e+01] [ 9.52176798e-03 4.81892318e-06 9.99954667e-01 5.10841220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.597628 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:60.56, Y:12.21, Z:0.51 [[ 8.97510869e-01 -4.40908376e-01 -8.60485460e-03 6.05588927e+01] [ 4.40889569e-01 8.97552107e-01 -4.07459342e-03 1.22071795e+01] [ 9.51982774e-03 -1.36798753e-04 9.99954676e-01 5.12921011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.627628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:60.58, Y:12.22, Z:0.51 [[ 8.97511407e-01 -4.40907304e-01 -8.60371534e-03 6.05844371e+01] [ 4.40888474e-01 8.97552634e-01 -4.07699760e-03 1.22200183e+01] [ 9.51986539e-03 -1.34127074e-04 9.99954676e-01 5.12606318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.657628 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:60.61, Y:12.23, Z:0.51 [[ 8.97699346e-01 -4.40524551e-01 -8.60257665e-03 6.06094075e+01] [ 4.40505681e-01 8.97740555e-01 -4.07939886e-03 1.22328383e+01] [ 9.51995728e-03 -1.27410201e-04 9.99954676e-01 5.11950788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.687628 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:60.63, Y:12.25, Z:0.51 [[ 8.97921832e-01 -4.40070902e-01 -8.60141474e-03 6.06342618e+01] [ 4.40051987e-01 8.97963021e-01 -4.08184726e-03 1.22454125e+01] [ 9.52005457e-03 -1.19889878e-04 9.99954676e-01 5.11155719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.717628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:60.66, Y:12.26, Z:0.51 [[ 8.98589957e-01 -4.38705054e-01 -8.60025958e-03 6.06589306e+01] [ 4.38686053e-01 8.98631106e-01 -4.08427969e-03 1.22572515e+01] [ 9.52025492e-03 -1.02721222e-04 9.99954676e-01 5.11181538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.747628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:60.68, Y:12.27, Z:0.51 [[ 8.99057754e-01 -4.37745588e-01 -8.59975958e-03 6.06845173e+01] [ 4.37726533e-01 8.99098878e-01 -4.08533220e-03 1.22687182e+01] [ 9.52037034e-03 -9.13933575e-05 9.99954676e-01 5.12941617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.777628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:60.71, Y:12.28, Z:0.51 [[ 8.98967552e-01 -4.37930821e-01 -8.59860598e-03 6.07094788e+01] [ 4.37911752e-01 8.99008670e-01 -4.08775881e-03 1.22806717e+01] [ 9.52037689e-03 -9.06680749e-05 9.99954676e-01 5.13310703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80762800000001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:60.73, Y:12.29, Z:0.51 [[ 8.98801956e-01 -4.38270610e-01 -8.59746123e-03 6.07348371e+01] [ 4.38251534e-01 8.98843070e-01 -4.09016504e-03 1.22927119e+01] [ 9.52036758e-03 -9.16022291e-05 9.99954676e-01 5.13690709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83762800000001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:60.76, Y:12.30, Z:0.51 [[ 8.98850935e-01 -4.38170173e-01 -8.59631428e-03 6.07595015e+01] [ 4.38151069e-01 8.98892036e-01 -4.09257418e-03 1.23037504e+01] [ 9.52040238e-03 -8.78701652e-05 9.99954676e-01 5.13899807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.79, Y:12.32, Z:0.51 [[ 8.98871312e-01 -4.38128378e-01 -8.59581685e-03 6.07851748e+01] [ 4.38109262e-01 8.98912408e-01 -4.09361870e-03 1.23156042e+01] [ 9.52041694e-03 -8.62705614e-05 9.99954676e-01 5.13647263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89762800000001 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:60.81, Y:12.33, Z:0.51 [[ 8.99097596e-01 -4.37663849e-01 -8.59468026e-03 6.08103184e+01] [ 4.37644689e-01 8.99138671e-01 -4.09600360e-03 1.23273761e+01] [ 9.52048209e-03 -7.87091779e-05 9.99954676e-01 5.12978874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92762800000001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:60.84, Y:12.34, Z:0.51 [[ 8.99996043e-01 -4.35813347e-01 -8.59353042e-03 6.08373741e+01] [ 4.35794079e-01 9.00037068e-01 -4.09841459e-03 1.23389923e+01] [ 9.52063970e-03 -5.64527625e-05 9.99954676e-01 5.11088394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95762800000001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:60.87, Y:12.35, Z:0.51 [[ 9.00145445e-01 -4.35504695e-01 -8.59298199e-03 6.08651453e+01] [ 4.35485402e-01 9.00186458e-01 -4.09956413e-03 1.23515478e+01] [ 9.52066544e-03 -5.19142430e-05 9.99954676e-01 5.11930205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.89, Y:12.36, Z:0.51 [[ 9.01812505e-01 -4.32041852e-01 -8.60489062e-03 6.08893784e+01] [ 4.32022640e-01 9.01853556e-01 -4.07461306e-03 1.23628025e+01] [ 9.52075458e-03 -4.29705559e-05 9.99954676e-01 5.10015984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.92, Y:12.37, Z:0.51 [[ 9.02587826e-01 -4.30420046e-01 -8.59070846e-03 6.09151120e+01] [ 4.30400477e-01 9.02628708e-01 -4.10429776e-03 1.23747565e+01] [ 9.52079211e-03 7.04417103e-06 9.99954676e-01 5.10171095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.94, Y:12.39, Z:0.51 [[ 9.03436341e-01 -4.28636205e-01 -8.58957043e-03 6.09409009e+01] [ 4.28616533e-01 9.03477173e-01 -4.10667809e-03 1.23863545e+01] [ 9.52075172e-03 2.84903290e-05 9.99954676e-01 5.11036623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.077628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:60.97, Y:12.40, Z:0.51 [[ 9.05140669e-01 -4.25025420e-01 -8.58840766e-03 6.09671828e+01] [ 4.25005562e-01 9.05181411e-01 -4.10910837e-03 1.23970343e+01] [ 9.52054248e-03 6.92000722e-05 9.99954676e-01 5.09243807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.99, Y:12.41, Z:0.51 [[ 9.05724368e-01 -4.23780150e-01 -8.58804791e-03 6.09927236e+01] [ 4.23760229e-01 9.05765079e-01 -4.10986011e-03 1.24080021e+01] [ 9.52043102e-03 8.31273041e-05 9.99954676e-01 5.12403017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.02, Y:12.42, Z:0.51 [[ 9.05835060e-01 -4.23543502e-01 -8.58751359e-03 6.10183680e+01] [ 4.23523559e-01 9.05875761e-01 -4.11097626e-03 1.24186651e+01] [ 9.52039769e-03 8.68521071e-05 9.99954676e-01 5.13674771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.04, Y:12.43, Z:0.51 [[ 9.03590550e-01 -4.28311092e-01 -8.58636570e-03 6.10404229e+01] [ 4.28291342e-01 9.03631345e-01 -4.11337240e-03 1.24292277e+01] [ 9.52071221e-03 3.93383454e-05 9.99954676e-01 5.14300519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.07, Y:12.44, Z:0.52 [[ 9.04074202e-01 -4.27290155e-01 -8.54177122e-03 6.10705528e+01] [ 4.27269477e-01 9.04114539e-01 -4.20634147e-03 1.24379671e+01] [ 9.52006785e-03 1.53206681e-04 9.99954671e-01 5.17152601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.10, Y:12.45, Z:0.52 [[ 9.03176082e-01 -4.29184414e-01 -8.58509710e-03 6.10955532e+01] [ 4.29164679e-01 9.03216883e-01 -4.11597244e-03 1.24481987e+01] [ 9.52071587e-03 3.30274237e-05 9.99954676e-01 5.17973823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.12, Y:12.46, Z:0.52 [[ 9.02123239e-01 -4.31393060e-01 -8.58431056e-03 6.11214556e+01] [ 4.31373408e-01 9.02164080e-01 -4.11761220e-03 1.24591087e+01] [ 9.52076597e-03 1.15503499e-05 9.99954676e-01 5.18764459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.15, Y:12.47, Z:0.52 [[ 9.00390556e-01 -4.34997902e-01 -8.58319594e-03 6.11480356e+01] [ 4.34978392e-01 9.00431466e-01 -4.11993433e-03 1.24692235e+01] [ 9.52074249e-03 -2.39548042e-05 9.99954676e-01 5.19524923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.17, Y:12.48, Z:0.52 [[ 9.00036716e-01 -4.35729571e-01 -8.58203100e-03 6.11721381e+01] [ 4.35710071e-01 9.00077630e-01 -4.12235953e-03 1.24811968e+01] [ 9.52072808e-03 -2.90024070e-05 9.99954676e-01 5.20084337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.20, Y:12.50, Z:0.52 [[ 8.99424497e-01 -4.36991912e-01 -8.58152723e-03 6.11968274e+01] [ 4.36972460e-01 8.99465434e-01 -4.12340798e-03 1.24957506e+01] [ 9.52068305e-03 -4.11969139e-05 9.99954676e-01 5.19671694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.22, Y:12.51, Z:0.52 [[ 8.98675289e-01 -4.38530617e-01 -8.58037405e-03 6.12214995e+01] [ 4.38511211e-01 8.98716248e-01 -4.12580623e-03 1.25095075e+01] [ 9.52061392e-03 -5.48301151e-05 9.99954676e-01 5.18962033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.25, Y:12.52, Z:0.52 [[ 8.97806062e-01 -4.40307475e-01 -8.57921654e-03 6.12453769e+01] [ 4.40288128e-01 8.97847049e-01 -4.12821175e-03 1.25229092e+01] [ 9.52050674e-03 -7.09936535e-05 9.99954676e-01 5.17815557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.27, Y:12.54, Z:0.52 [[ 8.95153765e-01 -4.45674928e-01 -8.57871477e-03 6.12698565e+01] [ 4.45655817e-01 8.95194863e-01 -4.12925419e-03 1.25371905e+01] [ 9.51992646e-03 -1.26836705e-04 9.99954676e-01 5.17073043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.30, Y:12.55, Z:0.52 [[ 8.95028331e-01 -4.45926802e-01 -8.57755063e-03 6.12955973e+01] [ 4.45907679e-01 8.95069422e-01 -4.13167100e-03 1.25496677e+01] [ 9.51992613e-03 -1.26833096e-04 9.99954676e-01 5.17344223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.32, Y:12.56, Z:0.52 [[ 8.93444363e-01 -4.49091990e-01 -8.57638738e-03 6.13196846e+01] [ 4.49072990e-01 8.93485512e-01 -4.13408424e-03 1.25616053e+01] [ 9.51946198e-03 -1.57849659e-04 9.99954676e-01 5.17401384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.34, Y:12.57, Z:0.52 [[ 8.91595551e-01 -4.52751397e-01 -8.57588351e-03 6.13447896e+01] [ 4.52732555e-01 8.91636773e-01 -4.13512921e-03 1.25733916e+01] [ 9.51875862e-03 -1.95718845e-04 9.99954676e-01 5.17846829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55762800000001 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:61.37, Y:12.59, Z:0.52 [[ 8.87364179e-01 -4.60989466e-01 -8.57472677e-03 6.13702075e+01] [ 4.60970983e-01 8.87405563e-01 -4.13752647e-03 1.25855369e+01] [ 9.51661636e-03 -2.81207456e-04 9.99954676e-01 5.15021658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.39, Y:12.60, Z:0.52 [[ 8.85411350e-01 -4.64729208e-01 -8.57353893e-03 6.13945122e+01] [ 4.64710876e-01 8.85452801e-01 -4.13998638e-03 1.25973259e+01] [ 9.51543665e-03 -3.18625856e-04 9.99954676e-01 5.16232102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.42, Y:12.61, Z:0.52 [[ 8.83617730e-01 -4.68130549e-01 -8.57302434e-03 6.14192709e+01] [ 4.68112367e-01 8.83659246e-01 -4.14105171e-03 1.26102470e+01] [ 9.51418504e-03 -3.54032005e-04 9.99954676e-01 5.16601356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.44, Y:12.62, Z:0.52 [[ 8.82179171e-01 -4.70835888e-01 -8.57186693e-03 6.14442927e+01] [ 4.70817809e-01 8.82220733e-01 -4.14344615e-03 1.26238820e+01] [ 9.51316187e-03 -3.80525721e-04 9.99954676e-01 5.17087166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.47, Y:12.64, Z:0.52 [[ 8.80293518e-01 -4.74352048e-01 -8.57067768e-03 6.14679195e+01] [ 4.74334112e-01 8.80335142e-01 -4.14590463e-03 1.26382782e+01] [ 9.51168710e-03 -4.15751815e-04 9.99954676e-01 5.18531558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.49, Y:12.65, Z:0.52 [[ 8.79868718e-01 -4.75139605e-01 -8.56713846e-03 6.14929279e+01] [ 4.75121635e-01 8.79910327e-01 -4.15321654e-03 1.26517879e+01] [ 9.51167127e-03 -4.16147525e-04 9.99954676e-01 5.18258728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.52, Y:12.66, Z:0.52 [[ 8.79777183e-01 -4.75309036e-01 -8.56906346e-03 6.15176026e+01] [ 4.75291113e-01 8.79818812e-01 -4.14924101e-03 1.26649373e+01] [ 9.51139498e-03 -4.22392142e-04 9.99954676e-01 5.19809534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.54, Y:12.68, Z:0.52 [[ 8.80757582e-01 -4.73489886e-01 -8.56788894e-03 6.15416179e+01] [ 4.73471853e-01 8.80799164e-01 -4.15166489e-03 1.26802297e+01] [ 9.51236075e-03 -4.00043929e-04 9.99954676e-01 5.23114184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.57, Y:12.69, Z:0.52 [[ 8.81548708e-01 -4.72015346e-01 -8.56672234e-03 6.15655198e+01] [ 4.71997221e-01 8.81590249e-01 -4.15407072e-03 1.26948153e+01] [ 9.51312401e-03 -3.81453460e-04 9.99954676e-01 5.24229819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.59, Y:12.71, Z:0.52 [[ 8.82452800e-01 -4.70322960e-01 -8.56554775e-03 6.15878511e+01] [ 4.70304731e-01 8.82494297e-01 -4.15649126e-03 1.27097442e+01] [ 9.51394031e-03 -3.60510282e-04 9.99954676e-01 5.24277721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.61, Y:12.73, Z:0.52 [[ 8.84372828e-01 -4.66702632e-01 -8.56474865e-03 6.16096428e+01] [ 4.66684217e-01 8.84414242e-01 -4.15813721e-03 1.27282475e+01] [ 9.51539927e-03 -3.19689462e-04 9.99954676e-01 5.23992386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.63, Y:12.74, Z:0.52 [[ 8.85200616e-01 -4.65130665e-01 -8.56359501e-03 6.16334070e+01] [ 4.65112154e-01 8.85241987e-01 -4.16051175e-03 1.27427498e+01] [ 9.51603546e-03 -3.00144553e-04 9.99954676e-01 5.24209053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.66, Y:12.76, Z:0.52 [[ 8.85796176e-01 -4.63995496e-01 -8.56244472e-03 6.16580661e+01] [ 4.63976909e-01 8.85837513e-01 -4.16287773e-03 1.27573114e+01] [ 9.51649125e-03 -2.85315461e-04 9.99954676e-01 5.24601556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.68, Y:12.77, Z:0.53 [[ 8.86663216e-01 -4.62336507e-01 -8.56130038e-03 6.16820342e+01] [ 4.62317820e-01 8.86704508e-01 -4.16522984e-03 1.27729261e+01] [ 9.51708145e-03 -2.64885644e-04 9.99954676e-01 5.25035582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.71, Y:12.79, Z:0.53 [[ 8.86845446e-01 -4.61986882e-01 -8.56013890e-03 6.17061190e+01] [ 4.61968156e-01 8.86886720e-01 -4.16761548e-03 1.27867917e+01] [ 9.51725719e-03 -2.58480772e-04 9.99954676e-01 5.25041731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.73, Y:12.80, Z:0.52 [[ 8.87016747e-01 -4.61657919e-01 -8.55897279e-03 6.17307167e+01] [ 4.61639154e-01 8.87058004e-01 -4.17000892e-03 1.28009194e+01] [ 9.51742296e-03 -2.52289208e-04 9.99954676e-01 5.24494135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.75, Y:12.82, Z:0.52 [[ 8.87214689e-01 -4.61277422e-01 -8.55781307e-03 6.17539748e+01] [ 4.61258617e-01 8.87255927e-01 -4.17238759e-03 1.28172667e+01] [ 9.51759855e-03 -2.45561467e-04 9.99954676e-01 5.22695085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.78, Y:12.83, Z:0.52 [[ 8.87302964e-01 -4.61107616e-01 -8.55662910e-03 6.17774669e+01] [ 4.61088779e-01 8.87344188e-01 -4.17481423e-03 1.28314273e+01] [ 9.51771374e-03 -2.41040625e-04 9.99954676e-01 5.21012291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.80, Y:12.85, Z:0.52 [[ 8.87100778e-01 -4.61496486e-01 -8.55582355e-03 6.18013876e+01] [ 4.61477652e-01 8.87142003e-01 -4.17646447e-03 1.28454491e+01] [ 9.51765412e-03 -2.43376478e-04 9.99954676e-01 5.19592408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.83, Y:12.86, Z:0.52 [[ 8.86698759e-01 -4.62268460e-01 -8.55465398e-03 6.18263421e+01] [ 4.62249638e-01 8.86739989e-01 -4.17885873e-03 1.28588757e+01] [ 9.51750837e-03 -2.48996864e-04 9.99954676e-01 5.18977243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.85, Y:12.87, Z:0.52 [[ 8.85159859e-01 -4.65208407e-01 -8.55348940e-03 6.18506459e+01] [ 4.65189699e-01 8.85201141e-01 -4.18124109e-03 1.28714842e+01] [ 9.51670708e-03 -2.77928390e-04 9.99954676e-01 5.19638792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.88, Y:12.88, Z:0.52 [[ 8.83991813e-01 -4.67424135e-01 -8.55298495e-03 6.18762019e+01] [ 4.67405521e-01 8.84033137e-01 -4.18227272e-03 1.28837862e+01] [ 9.51601732e-03 -3.00617544e-04 9.99954676e-01 5.20970039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.90, Y:12.90, Z:0.52 [[ 8.82420976e-01 -4.70382914e-01 -8.55184277e-03 6.19009927e+01] [ 4.70364416e-01 8.82462353e-01 -4.18460692e-03 1.28959389e+01] [ 9.51504689e-03 -3.29897610e-04 9.99954676e-01 5.21749745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.93, Y:12.91, Z:0.52 [[ 8.79661772e-01 -4.75522925e-01 -8.55070507e-03 6.19253434e+01] [ 4.75504646e-01 8.79703246e-01 -4.18693036e-03 1.29086969e+01] [ 9.51306438e-03 -3.82817404e-04 9.99954677e-01 5.22774882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.95, Y:12.92, Z:0.52 [[ 8.77284059e-01 -4.79895375e-01 -8.55035279e-03 6.19458264e+01] [ 4.79877295e-01 8.77325621e-01 -4.18764965e-03 1.29231278e+01] [ 9.51107727e-03 -4.29361887e-04 9.99954677e-01 5.22294574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.97, Y:12.94, Z:0.52 [[ 8.75831873e-01 -4.82541211e-01 -8.51523151e-03 6.19704715e+01] [ 4.82522561e-01 8.75873185e-01 -4.25929119e-03 1.29370949e+01] [ 9.51354647e-03 -3.78368341e-04 9.99954674e-01 5.23580774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.00, Y:12.95, Z:0.52 [[ 8.76272483e-01 -4.81740765e-01 -8.50706748e-03 6.20009391e+01] [ 4.81721916e-01 8.76313706e-01 -4.27593466e-03 1.29484017e+01] [ 9.51475187e-03 -3.51156962e-04 9.99954672e-01 5.24941895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.02, Y:12.96, Z:0.53 [[ 8.74813512e-01 -4.84384396e-01 -8.54845747e-03 6.20246046e+01] [ 4.84366492e-01 8.74855149e-01 -4.19152135e-03 1.29619747e+01] [ 9.50896957e-03 -4.73786848e-04 9.99954676e-01 5.25243596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.05, Y:12.98, Z:0.53 [[ 8.74475579e-01 -4.84994220e-01 -8.54798225e-03 6.20494309e+01] [ 4.84976336e-01 8.74517225e-01 -4.19249027e-03 1.29755019e+01] [ 9.50869126e-03 -4.79338757e-04 9.99954676e-01 5.25692043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.07, Y:12.99, Z:0.53 [[ 8.74590068e-01 -4.84787750e-01 -8.54690183e-03 6.20744605e+01] [ 4.84769835e-01 8.74631701e-01 -4.19469168e-03 1.29893584e+01] [ 9.50892643e-03 -4.74644510e-04 9.99954676e-01 5.25992339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.10, Y:13.00, Z:0.53 [[ 8.76063232e-01 -4.82120505e-01 -8.54589448e-03 6.20966576e+01] [ 4.82102443e-01 8.76104801e-01 -4.19674296e-03 1.30048982e+01] [ 9.51043502e-03 -4.43384407e-04 9.99954676e-01 5.25686180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.12, Y:13.02, Z:0.52 [[ 8.77162146e-01 -4.80118262e-01 -8.54542826e-03 6.21208350e+01] [ 4.80100095e-01 8.77203670e-01 -4.19769208e-03 1.30200740e+01] [ 9.51146965e-03 -4.20604328e-04 9.99954676e-01 5.24772048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.14, Y:13.04, Z:0.52 [[ 8.80527968e-01 -4.73917177e-01 -8.54436819e-03 6.21436485e+01] [ 4.73898698e-01 8.80569353e-01 -4.19984871e-03 1.30372340e+01] [ 9.51428922e-03 -3.51080705e-04 9.99954676e-01 5.21751679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.17, Y:13.05, Z:0.52 [[ 8.82132051e-01 -4.70924672e-01 -8.54387761e-03 6.21685058e+01] [ 4.70906042e-01 8.82173369e-01 -4.20084648e-03 1.30516265e+01] [ 9.51546355e-03 -3.17662261e-04 9.99954676e-01 5.20716283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.19, Y:13.07, Z:0.52 [[ 8.83696264e-01 -4.67982832e-01 -8.54295969e-03 6.21929774e+01] [ 4.67964047e-01 8.83737511e-01 -4.20271236e-03 1.30655504e+01] [ 9.51653117e-03 -2.83876777e-04 9.99954676e-01 5.20459749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.22, Y:13.08, Z:0.52 [[ 8.86910300e-01 -4.61862693e-01 -8.54246994e-03 6.22166019e+01] [ 4.61843613e-01 8.86951411e-01 -4.20370759e-03 1.30818907e+01] [ 9.51829148e-03 -2.16973621e-04 9.99954676e-01 5.20398512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.24, Y:13.10, Z:0.52 [[ 8.88345843e-01 -4.59095532e-01 -8.54141976e-03 6.22405534e+01] [ 4.59076304e-01 8.88386885e-01 -4.20584035e-03 1.30960380e+01] [ 9.51896781e-03 -1.84922622e-04 9.99954677e-01 5.23497500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.26, Y:13.11, Z:0.52 [[ 8.89800297e-01 -4.56270202e-01 -8.54019307e-03 6.22646830e+01] [ 4.56250819e-01 8.89841267e-01 -4.20832975e-03 1.31092938e+01] [ 9.51955168e-03 -1.51897019e-04 9.99954677e-01 5.23314040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.29, Y:13.12, Z:0.52 [[ 8.91198881e-01 -4.53532390e-01 -8.53966155e-03 6.22889320e+01] [ 4.53512872e-01 8.91239786e-01 -4.20940803e-03 1.31215450e+01] [ 9.51998902e-03 -1.21426707e-04 9.99954677e-01 5.23529179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.32, Y:13.13, Z:0.53 [[ 8.93046255e-01 -4.49883846e-01 -8.53885032e-03 6.23167373e+01] [ 4.49864144e-01 8.93087072e-01 -4.21105300e-03 1.31342273e+01] [ 9.52042155e-03 -8.06574826e-05 9.99954677e-01 5.26850129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.34, Y:13.15, Z:0.53 [[ 8.94781511e-01 -4.46422130e-01 -8.56328030e-03 6.23409712e+01] [ 4.46402744e-01 8.94822481e-01 -4.16152371e-03 1.31460213e+01] [ 9.52041200e-03 -9.90173547e-05 9.99954675e-01 5.26423160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.37, Y:13.16, Z:0.53 [[ 8.95753226e-01 -4.44469655e-01 -8.53719037e-03 6.23658611e+01] [ 4.44449675e-01 8.95793908e-01 -4.21437493e-03 1.31580197e+01] [ 9.52072489e-03 -1.93115507e-05 9.99954677e-01 5.26930639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.39, Y:13.17, Z:0.53 [[ 8.97319575e-01 -4.41298884e-01 -8.53663563e-03 6.23926914e+01] [ 4.41278750e-01 8.97360181e-01 -4.21549832e-03 1.31698371e+01] [ 9.52073159e-03 1.56132603e-05 9.99954677e-01 5.28532327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.42, Y:13.18, Z:0.53 [[ 8.98034127e-01 -4.39842984e-01 -8.53560699e-03 6.24186935e+01] [ 4.39822764e-01 8.98074690e-01 -4.21758009e-03 1.31812479e+01] [ 9.52068561e-03 3.33766032e-05 9.99954677e-01 5.29493277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.44, Y:13.20, Z:0.53 [[ 8.95991856e-01 -4.43988449e-01 -8.53523172e-03 6.24367259e+01] [ 4.43968410e-01 8.96032509e-01 -4.21833940e-03 1.31951233e+01] [ 9.52073906e-03 -9.77550151e-06 9.99954677e-01 5.25338464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.47, Y:13.20, Z:0.53 [[ 8.98750489e-01 -4.38378790e-01 -8.46142257e-03 6.24714361e+01] [ 4.38357087e-01 8.98790292e-01 -4.36741891e-03 1.32020136e+01] [ 9.51962829e-03 2.16095329e-04 9.99954664e-01 5.30809419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.50, Y:13.21, Z:0.53 [[ 8.98454448e-01 -4.38983796e-01 -8.53415693e-03 6.24984011e+01] [ 4.38963511e-01 8.98494978e-01 -4.22033946e-03 1.32093493e+01] [ 9.52055778e-03 4.55992719e-05 9.99954677e-01 5.31267779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.52, Y:13.22, Z:0.53 [[ 8.98069607e-01 -4.39770575e-01 -8.53362828e-03 6.25244877e+01] [ 4.39750315e-01 8.98110149e-01 -4.22140814e-03 1.32196237e+01] [ 9.52058925e-03 3.84526294e-05 9.99954677e-01 5.31249683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.55, Y:13.23, Z:0.53 [[ 8.97644519e-01 -4.40637623e-01 -8.53241061e-03 6.25494747e+01] [ 4.40617379e-01 8.97685069e-01 -4.22386789e-03 1.32295214e+01] [ 9.52061272e-03 3.20034539e-05 9.99954677e-01 5.30266042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.58, Y:13.24, Z:0.53 [[ 8.96577144e-01 -4.42805410e-01 -8.53188296e-03 6.25778836e+01] [ 4.42785254e-01 8.96617738e-01 -4.22493344e-03 1.32370497e+01] [ 9.52066098e-03 1.01867968e-05 9.99954677e-01 5.28171509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.60, Y:13.25, Z:0.53 [[ 8.95619985e-01 -4.44738200e-01 -8.53084441e-03 6.26046504e+01] [ 4.44718112e-01 8.95660613e-01 -4.22702940e-03 1.32464489e+01] [ 9.52066278e-03 -8.00899973e-06 9.99954677e-01 5.27497887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.63, Y:13.25, Z:0.53 [[ 8.93458736e-01 -4.49064285e-01 -8.52965374e-03 6.26341134e+01] [ 4.49044371e-01 8.93499449e-01 -4.22943068e-03 1.32513022e+01] [ 9.52052717e-03 -5.13712079e-05 9.99954677e-01 5.27052109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.66, Y:13.26, Z:0.53 [[ 8.92038731e-01 -4.51878486e-01 -8.52860114e-03 6.26604187e+01] [ 4.51858679e-01 8.92079496e-01 -4.23155216e-03 1.32591706e+01] [ 9.52033759e-03 -7.90140286e-05 9.99954677e-01 5.27082496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.69, Y:13.27, Z:0.53 [[ 8.90362573e-01 -4.55172233e-01 -8.52807990e-03 6.26878833e+01] [ 4.55152567e-01 8.90403406e-01 -4.23260238e-03 1.32679373e+01] [ 9.51999447e-03 -1.13026718e-04 9.99954677e-01 5.27906730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.72, Y:13.28, Z:0.53 [[ 8.88668576e-01 -4.58470777e-01 -8.52687767e-03 6.27150878e+01] [ 4.58451240e-01 8.88709472e-01 -4.23502298e-03 1.32771069e+01] [ 9.51955123e-03 -1.45625794e-04 9.99954677e-01 5.28407536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.74, Y:13.28, Z:0.53 [[ 8.85113064e-01 -4.65297945e-01 -8.52568343e-03 6.27443651e+01] [ 4.65278699e-01 8.85154097e-01 -4.23742578e-03 1.32835846e+01] [ 9.51820913e-03 -2.16217990e-04 9.99954677e-01 5.29035849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.77, Y:13.29, Z:0.53 [[ 8.83555753e-01 -4.68248398e-01 -8.52463761e-03 6.27706416e+01] [ 4.68229270e-01 8.83596841e-01 -4.23952867e-03 1.32920798e+01] [ 9.51749537e-03 -2.45624895e-04 9.99954677e-01 5.29424211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.80, Y:13.30, Z:0.53 [[ 8.80823522e-01 -4.73368000e-01 -8.52412020e-03 6.27987043e+01] [ 4.73349100e-01 8.80864716e-01 -4.24056872e-03 1.32975763e+01] [ 9.51594625e-03 -2.99691952e-04 9.99954677e-01 5.30299533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.83, Y:13.31, Z:0.53 [[ 8.79694258e-01 -4.75463309e-01 -8.52375880e-03 6.28254010e+01] [ 4.75444501e-01 8.79735493e-01 -4.24129504e-03 1.33067642e+01] [ 9.51523333e-03 -3.21531359e-04 9.99954677e-01 5.32033887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.85, Y:13.32, Z:0.53 [[ 8.78640568e-01 -4.77407706e-01 -8.52258464e-03 6.28520291e+01] [ 4.77388965e-01 8.78681835e-01 -4.24365311e-03 1.33165650e+01] [ 9.51459301e-03 -3.39942084e-04 9.99954677e-01 5.33470418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.88, Y:13.33, Z:0.53 [[ 8.77941787e-01 -4.78691555e-01 -8.52139468e-03 6.28782438e+01] [ 4.78672852e-01 8.77983070e-01 -4.24604125e-03 1.33268119e+01] [ 9.51418436e-03 -3.51183254e-04 9.99954677e-01 5.33753697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.90, Y:13.34, Z:0.53 [[ 8.77814171e-01 -4.78925540e-01 -8.52102624e-03 6.29038022e+01] [ 4.78906841e-01 8.77855457e-01 -4.24678051e-03 1.33396451e+01] [ 9.51412103e-03 -3.52893638e-04 9.99954677e-01 5.34025627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.93, Y:13.35, Z:0.54 [[ 8.77484409e-01 -4.79529482e-01 -8.51989371e-03 6.29305350e+01] [ 4.79510789e-01 8.77525697e-01 -4.24905139e-03 1.33508473e+01] [ 9.51397107e-03 -3.56904608e-04 9.99954677e-01 5.35636479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.96, Y:13.36, Z:0.54 [[ 8.78113158e-01 -4.78377163e-01 -8.51888855e-03 6.29557068e+01] [ 4.78358396e-01 8.78154413e-01 -4.25106566e-03 1.33636345e+01] [ 9.51451231e-03 -3.42165176e-04 9.99954677e-01 5.36145762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.98, Y:13.38, Z:0.54 [[ 8.79905498e-01 -4.75072361e-01 -8.51853197e-03 6.29803119e+01] [ 4.75053433e-01 8.79946679e-01 -4.25178008e-03 1.33750296e+01] [ 9.51575712e-03 -3.05593185e-04 9.99954677e-01 5.38055537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.01, Y:13.39, Z:0.54 [[ 8.80410997e-01 -4.74135162e-01 -8.50439339e-03 6.30070134e+01] [ 4.74115916e-01 8.80452031e-01 -4.28010448e-03 1.33882672e+01] [ 9.51705846e-03 -2.63817210e-04 9.99954677e-01 5.38835226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.03, Y:13.40, Z:0.54 [[ 8.81052671e-01 -4.72941463e-01 -8.51844882e-03 6.30320275e+01] [ 4.72922433e-01 8.81093805e-01 -4.25194549e-03 1.34012650e+01] [ 9.51647381e-03 -2.82377614e-04 9.99954677e-01 5.39444615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.06, Y:13.41, Z:0.54 [[ 8.82079643e-01 -4.71023311e-01 -8.51725566e-03 6.30567200e+01] [ 4.71004169e-01 8.82120725e-01 -4.25433423e-03 1.34149537e+01] [ 9.51713833e-03 -2.59001305e-04 9.99954677e-01 5.39612061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.08, Y:13.43, Z:0.54 [[ 8.82289908e-01 -4.70629361e-01 -8.51605496e-03 6.30803507e+01] [ 4.70610178e-01 8.82330970e-01 -4.25673635e-03 1.34281983e+01] [ 9.51732415e-03 -2.52066617e-04 9.99954677e-01 5.39182523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.10, Y:13.44, Z:0.54 [[ 8.82245632e-01 -4.70712370e-01 -8.51523858e-03 6.31046513e+01] [ 4.70693174e-01 8.82286689e-01 -4.25836882e-03 1.34422995e+01] [ 9.51734854e-03 -2.51137390e-04 9.99954677e-01 5.38636926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.13, Y:13.46, Z:0.54 [[ 8.82275133e-01 -4.70657095e-01 -8.51404898e-03 6.31290376e+01] [ 4.70637874e-01 8.82316178e-01 -4.26074594e-03 1.34561412e+01] [ 9.51743346e-03 -2.47883724e-04 9.99954677e-01 5.38376636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.15, Y:13.47, Z:0.54 [[ 8.82046391e-01 -4.71085656e-01 -8.51286789e-03 6.31537257e+01] [ 4.71066432e-01 8.82087435e-01 -4.26310444e-03 1.34690127e+01] [ 9.51738115e-03 -2.49870413e-04 9.99954677e-01 5.40251545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.18, Y:13.48, Z:0.54 [[ 8.81752136e-01 -4.71636218e-01 -8.51168954e-03 6.31788275e+01] [ 4.71616997e-01 8.81793181e-01 -4.26545583e-03 1.34817791e+01] [ 9.51729325e-03 -2.53182676e-04 9.99954677e-01 5.41545021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.20, Y:13.50, Z:0.54 [[ 8.81397792e-01 -4.72298109e-01 -8.51051393e-03 6.32034118e+01] [ 4.72278897e-01 8.81438841e-01 -4.26780013e-03 1.34950049e+01] [ 9.51717146e-03 -2.57706514e-04 9.99954677e-01 5.42756734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.23, Y:13.51, Z:0.54 [[ 8.80950832e-01 -4.73131296e-01 -8.50931560e-03 6.32278496e+01] [ 4.73112100e-01 8.80991888e-01 -4.27018808e-03 1.35097955e+01] [ 9.51699764e-03 -2.64034425e-04 9.99954677e-01 5.42806791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.25, Y:13.52, Z:0.54 [[ 8.80424069e-01 -4.74110822e-01 -8.50811205e-03 6.32521263e+01] [ 4.74091647e-01 8.80465136e-01 -4.27258474e-03 1.35230789e+01] [ 9.51677469e-03 -2.71938417e-04 9.99954677e-01 5.42449637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.28, Y:13.54, Z:0.54 [[ 8.79829869e-01 -4.75212619e-01 -8.50691208e-03 6.32769703e+01] [ 4.75193473e-01 8.79870949e-01 -4.27497260e-03 1.35363627e+01] [ 9.51650573e-03 -2.81180512e-04 9.99954678e-01 5.42207500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.30, Y:13.55, Z:0.54 [[ 8.78239648e-01 -4.78145085e-01 -8.50867183e-03 6.33012118e+01] [ 4.78126111e-01 8.78280808e-01 -4.27147214e-03 1.35497735e+01] [ 9.51538658e-03 -3.16841981e-04 9.99954677e-01 5.41579940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.33, Y:13.56, Z:0.54 [[ 8.77484759e-01 -4.79529100e-01 -8.50527255e-03 6.33263492e+01] [ 4.79510124e-01 8.77525918e-01 -4.27823003e-03 1.35624321e+01] [ 9.51513290e-03 -3.24282650e-04 9.99954678e-01 5.41586104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92762800000001 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:63.35, Y:13.58, Z:0.54 [[ 8.76557000e-01 -4.81222928e-01 -8.50406155e-03 6.33513194e+01] [ 4.81204009e-01 8.76598185e-01 -4.28063585e-03 1.35755074e+01] [ 9.51458503e-03 -3.39967198e-04 9.99954678e-01 5.38861317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.38, Y:13.59, Z:0.54 [[ 8.76211053e-01 -4.81852549e-01 -8.50368694e-03 6.33755074e+01] [ 4.81833652e-01 8.76252248e-01 -4.28137990e-03 1.35889919e+01] [ 9.51436861e-03 -3.45970146e-04 9.99954678e-01 5.41449006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.40, Y:13.60, Z:0.54 [[ 8.76308680e-01 -4.81674999e-01 -8.50250723e-03 6.34013905e+01] [ 4.81656072e-01 8.76349861e-01 -4.28372144e-03 1.36029264e+01] [ 9.51453254e-03 -3.41421952e-04 9.99954678e-01 5.42072465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.42, Y:13.62, Z:0.54 [[ 8.77410378e-01 -4.79665138e-01 -8.50785084e-03 6.34247449e+01] [ 4.79646219e-01 8.77451563e-01 -4.27312055e-03 1.36158172e+01] [ 9.51489398e-03 -3.31478170e-04 9.99954677e-01 5.40394888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.45, Y:13.63, Z:0.54 [[ 8.77874409e-01 -4.78815472e-01 -8.50093325e-03 6.34493848e+01] [ 4.78796380e-01 8.77915514e-01 -4.28683835e-03 1.36283010e+01] [ 9.51570571e-03 -3.06910375e-04 9.99954678e-01 5.41138179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.47, Y:13.64, Z:0.54 [[ 8.78703053e-01 -4.77293096e-01 -8.49974892e-03 6.34738744e+01] [ 4.77273910e-01 8.78744114e-01 -4.28918530e-03 1.36402987e+01] [ 9.51630287e-03 -2.87788178e-04 9.99954678e-01 5.40896281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.50, Y:13.65, Z:0.54 [[ 8.79342787e-01 -4.76113460e-01 -8.49923530e-03 6.34993190e+01] [ 4.76094209e-01 8.79383817e-01 -4.29020283e-03 1.36528591e+01] [ 9.51671330e-03 -2.73877799e-04 9.99954678e-01 5.41393933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.52, Y:13.66, Z:0.54 [[ 8.81217972e-01 -4.72633758e-01 -8.49802091e-03 6.35249203e+01] [ 4.72614322e-01 8.81258915e-01 -4.29260693e-03 1.36649622e+01] [ 9.51778764e-03 -2.33564018e-04 9.99954678e-01 5.40244977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.55, Y:13.68, Z:0.54 [[ 8.82212105e-01 -4.70775536e-01 -8.49681578e-03 6.35500266e+01] [ 4.70755991e-01 8.82252996e-01 -4.29499106e-03 1.36769348e+01] [ 9.51831790e-03 -2.10833829e-04 9.99954678e-01 5.40648885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.57, Y:13.69, Z:0.54 [[ 8.83415841e-01 -4.68512835e-01 -8.49559252e-03 6.35745537e+01] [ 4.68493162e-01 8.83456671e-01 -4.29740934e-03 1.36885561e+01] [ 9.51887932e-03 -1.83727511e-04 9.99954678e-01 5.39868024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.60, Y:13.70, Z:0.54 [[ 8.84651888e-01 -4.66174722e-01 -8.49506174e-03 6.36001401e+01] [ 4.66154931e-01 8.84692661e-01 -4.29845831e-03 1.37003691e+01] [ 9.51935138e-03 -1.57375661e-04 9.99954678e-01 5.40962792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.63, Y:13.71, Z:0.54 [[ 8.87463671e-01 -4.60799401e-01 -8.49386862e-03 6.36270362e+01] [ 4.60779340e-01 8.87504312e-01 -4.30081467e-03 1.37114604e+01] [ 9.52015784e-03 -9.69824034e-05 9.99954678e-01 5.42237550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.65, Y:13.72, Z:0.54 [[ 8.88807951e-01 -4.58201156e-01 -8.49280381e-03 6.36513311e+01] [ 4.58180956e-01 8.88848523e-01 -4.30291631e-03 1.37228891e+01] [ 9.52041735e-03 -6.67747415e-05 9.99954678e-01 5.42376881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.68, Y:13.73, Z:0.54 [[ 8.91429992e-01 -4.53078857e-01 -8.49227565e-03 6.36770724e+01] [ 4.53058414e-01 8.91470442e-01 -4.30395845e-03 1.37336695e+01] [ 9.52064530e-03 -1.08192910e-05 9.99954678e-01 5.41567933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.70, Y:13.75, Z:0.54 [[ 8.92396151e-01 -4.51172927e-01 -8.49107710e-03 6.37030597e+01] [ 4.51152376e-01 8.92436546e-01 -4.30632170e-03 1.37453238e+01] [ 9.52064329e-03 1.21753040e-05 9.99954678e-01 5.41410750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.73, Y:13.76, Z:0.54 [[ 8.93126135e-01 -4.49726170e-01 -8.48986707e-03 6.37278129e+01] [ 4.49705531e-01 8.93166485e-01 -4.30870595e-03 1.37561262e+01] [ 9.52060256e-03 3.02777151e-05 9.99954678e-01 5.41525188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.75, Y:13.77, Z:0.54 [[ 8.93620947e-01 -4.48742169e-01 -8.48933983e-03 6.37547259e+01] [ 4.48721475e-01 8.93661269e-01 -4.30974452e-03 1.37650550e+01] [ 9.52055830e-03 4.19288905e-05 9.99954678e-01 5.43175980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.78, Y:13.78, Z:0.54 [[ 8.93345139e-01 -4.49290997e-01 -8.48897075e-03 6.37812463e+01] [ 4.49270321e-01 8.93385470e-01 -4.31047136e-03 1.37762181e+01] [ 9.52057910e-03 3.68960268e-05 9.99954678e-01 5.44858808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.81, Y:13.79, Z:0.55 [[ 8.93230143e-01 -4.49519597e-01 -8.48790067e-03 6.38066425e+01] [ 4.49498911e-01 8.93270469e-01 -4.31257748e-03 1.37882131e+01] [ 9.52057910e-03 3.68220921e-05 9.99954678e-01 5.45814691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.83, Y:13.80, Z:0.55 [[ 8.93543700e-01 -4.48896000e-01 -8.48752158e-03 6.38310653e+01] [ 4.48875279e-01 8.93584008e-01 -4.31332342e-03 1.38021714e+01] [ 9.52054718e-03 4.43043490e-05 9.99954678e-01 5.46651863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.86, Y:13.82, Z:0.55 [[ 8.93321060e-01 -4.49338907e-01 -8.48711447e-03 6.38561974e+01] [ 4.49318198e-01 8.93361374e-01 -4.31412432e-03 1.38153499e+01] [ 9.52056415e-03 4.04831318e-05 9.99954678e-01 5.47495060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.88, Y:13.83, Z:0.55 [[ 8.92190887e-01 -4.51578798e-01 -8.48590062e-03 6.38806490e+01] [ 4.51558168e-01 8.92231242e-01 -4.31651066e-03 1.38287173e+01] [ 9.52063034e-03 1.92737368e-05 9.99954678e-01 5.47559585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.91, Y:13.84, Z:0.55 [[ 8.92063214e-01 -4.51830978e-01 -8.48468178e-03 6.39061109e+01] [ 4.51810336e-01 8.92103563e-01 -4.31890511e-03 1.38417606e+01] [ 9.52062997e-03 1.92694454e-05 9.99954678e-01 5.47830765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.93, Y:13.86, Z:0.55 [[ 8.89732600e-01 -4.56403255e-01 -8.48346032e-03 6.39300678e+01] [ 4.56382798e-01 8.89773043e-01 -4.32130305e-03 1.38554363e+01] [ 9.52061108e-03 -2.69011568e-05 9.99954678e-01 5.45303260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.96, Y:13.87, Z:0.55 [[ 8.87948669e-01 -4.59864327e-01 -8.48308235e-03 6.39554396e+01] [ 4.59844020e-01 8.87989188e-01 -4.32204492e-03 1.38683600e+01] [ 9.52043968e-03 -6.31406542e-05 9.99954678e-01 5.45985582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.98, Y:13.88, Z:0.55 [[ 8.85015998e-01 -4.65483342e-01 -8.48185503e-03 6.39791177e+01] [ 4.65463270e-01 8.85056633e-01 -4.32445215e-03 1.38812440e+01] [ 9.51988249e-03 -1.20782643e-04 9.99954678e-01 5.45850290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.00, Y:13.89, Z:0.55 [[ 8.83499568e-01 -4.68355186e-01 -8.48132378e-03 6.40033796e+01] [ 4.68335236e-01 8.83540264e-01 -4.32549381e-03 1.38942936e+01] [ 9.51945850e-03 -1.50530860e-04 9.99954678e-01 5.46251053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.03, Y:13.91, Z:0.55 [[ 8.79776801e-01 -4.75311326e-01 -8.48079734e-03 6.40281694e+01] [ 4.75291687e-01 8.79817648e-01 -4.32652572e-03 1.39076894e+01] [ 9.51800184e-03 -2.24475528e-04 9.99954678e-01 5.48081372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.05, Y:13.92, Z:0.55 [[ 8.77542140e-01 -4.79424540e-01 -8.47958386e-03 6.40527164e+01] [ 4.79405070e-01 8.77583067e-01 -4.32890272e-03 1.39206515e+01] [ 9.51692141e-03 -2.66360939e-04 9.99954678e-01 5.48839636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.08, Y:13.93, Z:0.55 [[ 8.75195895e-01 -4.83694391e-01 -8.47836348e-03 6.40767053e+01] [ 4.83675097e-01 8.75236905e-01 -4.33129159e-03 1.39334836e+01] [ 9.51559806e-03 -3.10044663e-04 9.99954678e-01 5.49118744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.10, Y:13.95, Z:0.55 [[ 8.72713803e-01 -4.88158523e-01 -8.47783493e-03 6.41018402e+01] [ 4.88139429e-01 8.72754907e-01 -4.33232588e-03 1.39469248e+01] [ 9.51393385e-03 -3.57484909e-04 9.99954678e-01 5.49409716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.12, Y:13.96, Z:0.55 [[ 8.68717120e-01 -4.95236017e-01 -8.47663776e-03 6.41247503e+01] [ 4.95217235e-01 8.68758367e-01 -4.33466702e-03 1.39605191e+01] [ 9.51083321e-03 -4.32177663e-04 9.99954678e-01 5.50059009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.15, Y:13.97, Z:0.55 [[ 8.66977359e-01 -4.98275447e-01 -8.47570840e-03 6.41494907e+01] [ 4.98256792e-01 8.67018664e-01 -4.33648346e-03 1.39741023e+01] [ 9.50936061e-03 -4.63446304e-04 9.99954678e-01 5.51080398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.17, Y:13.99, Z:0.55 [[ 8.65516059e-01 -5.00809479e-01 -8.47449831e-03 6.41743193e+01] [ 5.00790922e-01 8.65557408e-01 -4.33884696e-03 1.39874669e+01] [ 9.50810048e-03 -4.88610096e-04 9.99954678e-01 5.51982183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.20, Y:14.00, Z:0.55 [[ 8.63496040e-01 -5.04284436e-01 -8.47327677e-03 6.41981935e+01] [ 5.04266022e-01 8.63537453e-01 -4.34123119e-03 1.40021356e+01] [ 9.50620716e-03 -5.24149631e-04 9.99954678e-01 5.52768326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.22, Y:14.02, Z:0.55 [[ 8.62973988e-01 -5.05177316e-01 -8.47205529e-03 6.42217744e+01] [ 5.05158921e-01 8.63015410e-01 -4.34361363e-03 1.40162931e+01] [ 9.50580934e-03 -5.31308737e-04 9.99954678e-01 5.52570809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.25, Y:14.03, Z:0.55 [[ 8.62621550e-01 -5.05778900e-01 -8.47152639e-03 6.42453761e+01] [ 5.05760524e-01 8.62662980e-01 -4.34464493e-03 1.40309841e+01] [ 9.50550193e-03 -5.36779280e-04 9.99954678e-01 5.52164877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.27, Y:14.05, Z:0.55 [[ 8.63164804e-01 -5.04851240e-01 -8.47032839e-03 6.42672733e+01] [ 5.04832797e-01 8.63206204e-01 -4.34697930e-03 1.40474171e+01] [ 9.50621790e-03 -5.23940037e-04 9.99954678e-01 5.51381649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.29, Y:14.06, Z:0.55 [[ 8.63537290e-01 -5.04213854e-01 -8.46986655e-03 6.42897867e+01] [ 5.04195372e-01 8.63578672e-01 -4.34787898e-03 1.40616958e+01] [ 9.50665693e-03 -5.15911891e-04 9.99954678e-01 5.51528314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.31, Y:14.08, Z:0.55 [[ 8.63875848e-01 -5.03633588e-01 -8.46927968e-03 6.43134575e+01] [ 5.03615066e-01 8.63917213e-01 -4.34902185e-03 1.40765584e+01] [ 9.50706997e-03 -5.08241905e-04 9.99954678e-01 5.51823483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.127628 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:64.34, Y:14.09, Z:0.55 [[ 8.64339493e-01 -5.02837481e-01 -8.46811775e-03 6.43362840e+01] [ 5.02818899e-01 8.64380831e-01 -4.35128310e-03 1.40944146e+01] [ 9.50766689e-03 -4.96943815e-04 9.99954678e-01 5.49309190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.36, Y:14.11, Z:0.55 [[ 8.64918592e-01 -5.01840751e-01 -8.46693658e-03 6.43601994e+01] [ 5.01822100e-01 8.64959899e-01 -4.35358026e-03 1.41096161e+01] [ 9.50836460e-03 -4.83403387e-04 9.99954678e-01 5.52510905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.38, Y:14.12, Z:0.55 [[ 8.65418781e-01 -5.00977694e-01 -8.46657079e-03 6.43840842e+01] [ 5.00958994e-01 8.65460066e-01 -4.35429152e-03 1.41247671e+01] [ 9.50888184e-03 -4.73119131e-04 9.99954678e-01 5.53622474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.41, Y:14.14, Z:0.56 [[ 8.66619767e-01 -4.98897300e-01 -8.46540094e-03 6.44072951e+01] [ 4.98878479e-01 8.66660997e-01 -4.35656470e-03 1.41417032e+01] [ 9.51011118e-03 -4.47721256e-04 9.99954678e-01 5.56421888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.43, Y:14.16, Z:0.56 [[ 8.67361589e-01 -4.97606502e-01 -8.46417381e-03 6.44308198e+01] [ 4.97587596e-01 8.67402780e-01 -4.35894754e-03 1.41567650e+01] [ 9.51088853e-03 -4.30884237e-04 9.99954678e-01 5.57519461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.46, Y:14.17, Z:0.56 [[ 8.67221815e-01 -4.97850079e-01 -8.46295094e-03 6.44562096e+01] [ 4.97831162e-01 8.67263001e-01 -4.36132046e-03 1.41699235e+01] [ 9.51088796e-03 -4.30888451e-04 9.99954678e-01 5.57790647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.48, Y:14.19, Z:0.56 [[ 8.68162078e-01 -4.96208631e-01 -8.46172546e-03 6.44798617e+01] [ 4.96189613e-01 8.68203217e-01 -4.36369680e-03 1.41850999e+01] [ 9.51180129e-03 -4.10224194e-04 9.99954678e-01 5.58597431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.50, Y:14.20, Z:0.56 [[ 8.69436766e-01 -4.93971790e-01 -8.46050838e-03 6.45029453e+01] [ 4.93952643e-01 8.69477846e-01 -4.36605526e-03 1.42001827e+01] [ 9.51293273e-03 -3.83081514e-04 9.99954678e-01 5.59172852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.52, Y:14.22, Z:0.56 [[ 8.73008448e-01 -4.87631704e-01 -8.45998052e-03 6.45243057e+01] [ 4.87612248e-01 8.73049382e-01 -4.36707784e-03 1.42183576e+01] [ 9.51550637e-03 -3.12694271e-04 9.99954678e-01 5.58128925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.55, Y:14.23, Z:0.56 [[ 8.75174847e-01 -4.83732802e-01 -8.45948270e-03 6.45479143e+01] [ 4.83713155e-01 8.75215690e-01 -4.36804196e-03 1.42346901e+01] [ 9.51683716e-03 -2.69162608e-04 9.99954678e-01 5.57175504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.57, Y:14.25, Z:0.56 [[ 8.79869950e-01 -4.75139272e-01 -8.45828170e-03 6.45697945e+01] [ 4.75119204e-01 8.79910587e-01 -4.37036633e-03 1.42525336e+01] [ 9.51906430e-03 -1.73338070e-04 9.99954678e-01 5.55093218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.59, Y:14.27, Z:0.55 [[ 8.82165550e-01 -4.70863483e-01 -8.45707720e-03 6.45936865e+01] [ 4.70843195e-01 8.82206078e-01 -4.37269591e-03 1.42675201e+01] [ 9.51982774e-03 -1.24515554e-04 9.99954678e-01 5.54741176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.62, Y:14.28, Z:0.55 [[ 8.84286811e-01 -4.66867578e-01 -8.45585701e-03 6.46175094e+01] [ 4.66847084e-01 8.84327235e-01 -4.37505422e-03 1.42826334e+01] [ 9.52031562e-03 -7.87894483e-05 9.99954678e-01 5.54278759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.64, Y:14.30, Z:0.55 [[ 8.88373477e-01 -4.59043664e-01 -8.45461127e-03 6.46396354e+01] [ 4.59022791e-01 8.88413707e-01 -4.37746024e-03 1.42979865e+01] [ 9.52063793e-03 7.96030394e-06 9.99954678e-01 5.53317745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.66, Y:14.31, Z:0.55 [[ 8.90055320e-01 -4.55774128e-01 -8.45407056e-03 6.46639398e+01] [ 4.55753098e-01 8.90095468e-01 -4.37850425e-03 1.43115429e+01] [ 9.52053885e-03 4.41421482e-05 9.99954678e-01 5.53598043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.69, Y:14.32, Z:0.55 [[ 8.92663726e-01 -4.50644008e-01 -8.45280730e-03 6.46870365e+01] [ 4.50622725e-01 8.92703740e-01 -4.38094166e-03 1.43246969e+01] [ 9.52009780e-03 1.01680652e-04 9.99954678e-01 5.52763942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.71, Y:14.34, Z:0.55 [[ 8.93441572e-01 -4.49099896e-01 -8.45226026e-03 6.47116997e+01] [ 4.49078534e-01 8.93481544e-01 -4.38199682e-03 1.43371220e+01] [ 9.51989286e-03 1.19329489e-04 9.99954678e-01 5.53123491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.74, Y:14.35, Z:0.55 [[ 8.93648289e-01 -4.48688424e-01 -8.45187475e-03 6.47372845e+01] [ 4.48667036e-01 8.93688247e-01 -4.38274025e-03 1.43492203e+01] [ 9.51982594e-03 1.24550723e-04 9.99954678e-01 5.53928138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.76, Y:14.36, Z:0.55 [[ 8.93455981e-01 -4.49071259e-01 -8.45064820e-03 6.47628893e+01] [ 4.49049866e-01 8.93495937e-01 -4.38510397e-03 1.43606247e+01] [ 9.51984399e-03 1.23134933e-04 9.99954678e-01 5.54971301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.79, Y:14.37, Z:0.55 [[ 8.91633904e-01 -4.52678240e-01 -8.44940191e-03 6.47895062e+01] [ 4.52656986e-01 8.91673933e-01 -4.38750405e-03 1.43703881e+01] [ 9.52023905e-03 8.73665635e-05 9.99954678e-01 5.54377415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.82, Y:14.38, Z:0.55 [[ 8.90183030e-01 -4.55524753e-01 -8.44816441e-03 6.48153506e+01] [ 4.55503604e-01 8.90223116e-01 -4.38988558e-03 1.43813171e+01] [ 9.52045279e-03 5.96323140e-05 9.99954678e-01 5.54840623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.84, Y:14.39, Z:0.56 [[ 8.88694021e-01 -4.58422935e-01 -8.44691198e-03 6.48403315e+01] [ 4.58401894e-01 8.88734163e-01 -4.39229415e-03 1.43910284e+01] [ 9.52058762e-03 3.13251051e-05 9.99954678e-01 5.55349913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.87, Y:14.40, Z:0.56 [[ 8.85752602e-01 -4.64080799e-01 -8.44636944e-03 6.48682779e+01] [ 4.64060004e-01 8.85792872e-01 -4.39333721e-03 1.43977898e+01] [ 9.52059728e-03 -2.82123653e-05 9.99954678e-01 5.56699921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.89, Y:14.41, Z:0.56 [[ 8.84468962e-01 -4.66522598e-01 -8.44511602e-03 6.48938307e+01] [ 4.66501892e-01 8.84509278e-01 -4.39574527e-03 1.44077891e+01] [ 9.52049798e-03 -5.17623403e-05 9.99954678e-01 5.56828919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.92, Y:14.42, Z:0.56 [[ 8.82145086e-01 -4.70902045e-01 -8.44457479e-03 6.49211388e+01] [ 4.70881529e-01 8.82185499e-01 -4.39678477e-03 1.44160316e+01] [ 9.52013637e-03 -9.77922048e-05 9.99954678e-01 5.55648341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.95, Y:14.43, Z:0.55 [[ 8.81302602e-01 -4.72476914e-01 -8.44333331e-03 6.49471815e+01] [ 4.72456447e-01 8.81343040e-01 -4.39916756e-03 1.44261298e+01] [ 9.51997815e-03 -1.12109432e-04 9.99954678e-01 5.54855641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.97, Y:14.44, Z:0.55 [[ 8.80396276e-01 -4.74163609e-01 -8.44209676e-03 6.49734367e+01] [ 4.74143196e-01 8.80436742e-01 -4.40153924e-03 1.44362130e+01] [ 9.51978189e-03 -1.27663979e-04 9.99954678e-01 5.54459970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.00, Y:14.45, Z:0.55 [[ 8.79685546e-01 -4.75480907e-01 -8.44085195e-03 6.49994649e+01] [ 4.75460532e-01 8.79726030e-01 -4.40392514e-03 1.44460027e+01] [ 9.51961949e-03 -1.39222672e-04 9.99954678e-01 5.53383752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.967628 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:65.03, Y:14.45, Z:0.55 [[ 8.77571189e-01 -4.79372056e-01 -8.44046674e-03 6.50282584e+01] [ 4.79351853e-01 8.77611759e-01 -4.40466328e-03 1.44539314e+01] [ 9.51892536e-03 -1.80547786e-04 9.99954678e-01 5.52027129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.05, Y:14.46, Z:0.55 [[ 8.76315179e-01 -4.81664286e-01 -8.43935878e-03 6.50531858e+01] [ 4.81644170e-01 8.76355792e-01 -4.40678513e-03 1.44637473e+01] [ 9.51847196e-03 -2.03035250e-04 9.99954678e-01 5.53079770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.08, Y:14.47, Z:0.55 [[ 8.74708881e-01 -4.84575243e-01 -8.43849906e-03 6.50803308e+01] [ 4.84555246e-01 8.74749553e-01 -4.40843078e-03 1.44743068e+01] [ 9.51778969e-03 -2.32825433e-04 9.99954678e-01 5.54050088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.11, Y:14.48, Z:0.56 [[ 8.71234720e-01 -4.90794124e-01 -8.43741105e-03 6.51082032e+01] [ 4.90774397e-01 8.71275524e-01 -4.41051216e-03 1.44813140e+01] [ 9.51596319e-03 -2.98273991e-04 9.99954678e-01 5.55372317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.13, Y:14.49, Z:0.56 [[ 8.69242741e-01 -4.94313539e-01 -8.43702611e-03 6.51343570e+01] [ 4.94293970e-01 8.69283620e-01 -4.41124841e-03 1.44914777e+01] [ 9.51470841e-03 -3.35925466e-04 9.99954678e-01 5.56394724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.16, Y:14.50, Z:0.56 [[ 8.67125084e-01 -4.98019003e-01 -8.43579383e-03 6.51606635e+01] [ 4.97999585e-01 8.67166036e-01 -4.41360368e-03 1.45016883e+01] [ 9.51329240e-03 -3.73875364e-04 9.99954678e-01 5.57774722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.19, Y:14.51, Z:0.56 [[ 8.64217907e-01 -5.03046983e-01 -8.43453852e-03 6.51872853e+01] [ 5.03027781e-01 8.64258961e-01 -4.41600133e-03 1.45109471e+01] [ 9.51108164e-03 -4.26419763e-04 9.99954678e-01 5.60640014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.21, Y:14.53, Z:0.56 [[ 8.64028539e-01 -5.03372180e-01 -8.43395669e-03 6.52116899e+01] [ 5.03352982e-01 8.64069595e-01 -4.41711226e-03 1.45250030e+01] [ 9.51097697e-03 -4.28746192e-04 9.99954678e-01 5.62303796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.24, Y:14.54, Z:0.56 [[ 8.63799258e-01 -5.03765553e-01 -8.43269478e-03 6.52350170e+01] [ 5.03746350e-01 8.63840311e-01 -4.41952006e-03 1.45383585e+01] [ 9.51090364e-03 -4.30361067e-04 9.99954678e-01 5.62786235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.26, Y:14.55, Z:0.56 [[ 8.63668573e-01 -5.03989579e-01 -8.43214819e-03 6.52589218e+01] [ 5.03970377e-01 8.63709626e-01 -4.42056267e-03 1.45514359e+01] [ 9.51084508e-03 -4.31651853e-04 9.99954678e-01 5.62764334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.28, Y:14.56, Z:0.56 [[ 8.63543522e-01 -5.04203821e-01 -8.43161276e-03 6.52833436e+01] [ 5.04184619e-01 8.63584576e-01 -4.42158369e-03 1.45647372e+01] [ 9.51079012e-03 -4.32859517e-04 9.99954678e-01 5.62814804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.31, Y:14.58, Z:0.56 [[ 8.63821366e-01 -5.03727681e-01 -8.43039356e-03 6.53077457e+01] [ 5.03708433e-01 8.63862398e-01 -4.42390704e-03 1.45794204e+01] [ 9.51114444e-03 -4.24994907e-04 9.99954678e-01 5.61376209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.327628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:65.33, Y:14.59, Z:0.56 [[ 8.64027884e-01 -5.03373386e-01 -8.42913935e-03 6.53306617e+01] [ 5.03354099e-01 8.64068897e-01 -4.42629548e-03 1.45936821e+01] [ 9.51143649e-03 -4.18399121e-04 9.99954678e-01 5.59610128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.35, Y:14.61, Z:0.56 [[ 8.64728704e-01 -5.02168524e-01 -8.42859627e-03 6.53537620e+01] [ 5.02149169e-01 8.64769686e-01 -4.42732938e-03 1.46087926e+01] [ 9.51206001e-03 -4.03973817e-04 9.99954678e-01 5.59533814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.38, Y:14.62, Z:0.56 [[ 8.65195709e-01 -5.01363495e-01 -8.42806376e-03 6.53773019e+01] [ 5.01344092e-01 8.65236668e-01 -4.42834286e-03 1.46247062e+01] [ 9.51247925e-03 -3.93976733e-04 9.99954678e-01 5.59911378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.40, Y:14.64, Z:0.56 [[ 8.66433116e-01 -4.99222039e-01 -8.42681840e-03 6.53983597e+01] [ 4.99202512e-01 8.66474016e-01 -4.43071141e-03 1.46422868e+01] [ 9.51352797e-03 -3.67773816e-04 9.99954678e-01 5.59446274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.42, Y:14.66, Z:0.56 [[ 8.67101787e-01 -4.98059725e-01 -8.42627867e-03 6.54227629e+01] [ 4.98040133e-01 8.67142656e-01 -4.43173763e-03 1.46568608e+01] [ 9.51405569e-03 -3.53857334e-04 9.99954678e-01 5.60060488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.45, Y:14.67, Z:0.56 [[ 8.67895522e-01 -4.96675328e-01 -8.42504128e-03 6.54466127e+01] [ 4.96655648e-01 8.67936349e-01 -4.43408875e-03 1.46704467e+01] [ 9.51470205e-03 -3.36018563e-04 9.99954678e-01 5.61099520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.47, Y:14.69, Z:0.56 [[ 8.69468959e-01 -4.93915739e-01 -8.42450421e-03 6.54691916e+01] [ 4.93895921e-01 8.69509718e-01 -4.43510891e-03 1.46856625e+01] [ 9.51575838e-03 -3.04638735e-04 9.99954678e-01 5.62845587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.49, Y:14.70, Z:0.56 [[ 8.70325169e-01 -4.92405465e-01 -8.42366881e-03 6.54920920e+01] [ 4.92385560e-01 8.70365886e-01 -4.43669503e-03 1.47004358e+01] [ 9.51632685e-03 -2.86325536e-04 9.99954678e-01 5.63363013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.51, Y:14.72, Z:0.56 [[ 8.72349463e-01 -4.88810256e-01 -8.42314392e-03 6.55147584e+01] [ 4.88790173e-01 8.72390093e-01 -4.43769133e-03 1.47178308e+01] [ 9.51745634e-03 -2.45932332e-04 9.99954678e-01 5.62964150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.54, Y:14.73, Z:0.56 [[ 8.73656053e-01 -4.86471142e-01 -8.42191926e-03 6.55378544e+01] [ 4.86450928e-01 8.73696618e-01 -4.44001429e-03 1.47326145e+01] [ 9.51814120e-03 -2.17805085e-04 9.99954678e-01 5.62577619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.56, Y:14.75, Z:0.56 [[ 8.75153732e-01 -4.83771667e-01 -8.42138828e-03 6.55622590e+01] [ 4.83751318e-01 8.75194230e-01 -4.44102117e-03 1.47473871e+01] [ 9.51879064e-03 -1.87281429e-04 9.99954678e-01 5.62380854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.59, Y:14.76, Z:0.56 [[ 8.77005859e-01 -4.80405896e-01 -8.42018433e-03 6.55854892e+01] [ 4.80385370e-01 8.77046267e-01 -4.44330269e-03 1.47606305e+01] [ 9.51948004e-03 -1.48130875e-04 9.99954678e-01 5.62624240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.61, Y:14.78, Z:0.56 [[ 8.81127128e-01 -4.72804503e-01 -8.41936589e-03 6.56095657e+01] [ 4.72783614e-01 8.81167350e-01 -4.44485298e-03 1.47756658e+01] [ 9.52041682e-03 -6.40576884e-05 9.99954678e-01 5.62555377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.63, Y:14.79, Z:0.56 [[ 8.83301701e-01 -4.68729388e-01 -8.41818207e-03 6.56328527e+01] [ 4.68708292e-01 8.83341814e-01 -4.44709389e-03 1.47901233e+01] [ 9.52061582e-03 -1.75461382e-05 9.99954678e-01 5.61737031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.66, Y:14.81, Z:0.56 [[ 8.85353277e-01 -4.64842680e-01 -8.41766790e-03 6.56570137e+01] [ 4.64821399e-01 8.85393292e-01 -4.44806693e-03 1.48050979e+01] [ 9.52059805e-03 2.53984672e-05 9.99954678e-01 5.60232112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.68, Y:14.82, Z:0.56 [[ 8.88723512e-01 -4.58366319e-01 -8.41649247e-03 6.56801408e+01] [ 4.58344724e-01 8.88763359e-01 -4.45028993e-03 1.48191051e+01] [ 9.52013313e-03 9.74223695e-05 9.99954678e-01 5.57589944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.70, Y:14.83, Z:0.56 [[ 8.89853237e-01 -4.56169259e-01 -8.41569409e-03 6.57049938e+01] [ 4.56147553e-01 8.89893023e-01 -4.45179918e-03 1.48322588e+01] [ 9.51984139e-03 1.22649647e-04 9.99954678e-01 5.56893098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.73, Y:14.84, Z:0.56 [[ 8.90542261e-01 -4.54822687e-01 -8.41453169e-03 6.57305710e+01] [ 4.54800900e-01 8.90582003e-01 -4.45399521e-03 1.48449639e+01] [ 9.51960855e-03 1.39534385e-04 9.99954678e-01 5.57206320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.76, Y:14.85, Z:0.56 [[ 8.91196583e-01 -4.53539267e-01 -8.41325019e-03 6.57566923e+01] [ 4.53517400e-01 8.91236281e-01 -4.45641455e-03 1.48549494e+01] [ 9.51935280e-03 1.55986078e-04 9.99954678e-01 5.56701873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.78, Y:14.87, Z:0.56 [[ 8.90989657e-01 -4.53945652e-01 -8.41285350e-03 6.57818688e+01] [ 4.53923796e-01 8.91029361e-01 -4.45716329e-03 1.48664703e+01] [ 9.51940937e-03 1.52491995e-04 9.99954678e-01 5.57251889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.81, Y:14.88, Z:0.56 [[ 8.90270067e-01 -4.55355305e-01 -8.41157810e-03 6.58073192e+01] [ 4.55333488e-01 8.90309793e-01 -4.45956894e-03 1.48765827e+01] [ 9.51959873e-03 1.40147537e-04 9.99954678e-01 5.55915617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.83, Y:14.89, Z:0.56 [[ 8.89704939e-01 -4.56458521e-01 -8.41071236e-03 6.58330041e+01] [ 4.56436738e-01 8.89744683e-01 -4.46120112e-03 1.48876421e+01] [ 9.51973987e-03 1.30194560e-04 9.99954678e-01 5.55389532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.86, Y:14.90, Z:0.56 [[ 8.88957315e-01 -4.57912845e-01 -8.40946749e-03 6.58593920e+01] [ 4.57891105e-01 8.88997082e-01 -4.46354649e-03 1.48987561e+01] [ 9.51990734e-03 1.17281937e-04 9.99954678e-01 5.55305688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.89, Y:14.91, Z:0.55 [[ 8.87872495e-01 -4.60012756e-01 -8.40819374e-03 6.58865636e+01] [ 4.59991087e-01 8.87912301e-01 -4.46594462e-03 1.49063992e+01] [ 9.52013015e-03 9.74952103e-05 9.99954678e-01 5.54637650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.91, Y:14.92, Z:0.56 [[ 8.87307552e-01 -4.61101526e-01 -8.40779943e-03 6.59131941e+01] [ 4.61079899e-01 8.87347382e-01 -4.46668685e-03 1.49167012e+01] [ 9.52023493e-03 8.66576652e-05 9.99954678e-01 5.55629172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.94, Y:14.93, Z:0.56 [[ 8.86855170e-01 -4.61971035e-01 -8.40653760e-03 6.59386922e+01] [ 4.61949425e-01 8.86895009e-01 -4.46906043e-03 1.49262895e+01] [ 9.52029271e-03 8.00141413e-05 9.99954678e-01 5.55863839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.97, Y:14.93, Z:0.56 [[ 8.86218629e-01 -4.63190983e-01 -8.40568052e-03 6.59661805e+01] [ 4.63169412e-01 8.86258489e-01 -4.47067189e-03 1.49344365e+01] [ 9.52038062e-03 6.87386124e-05 9.99954678e-01 5.55194000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.99, Y:14.95, Z:0.56 [[ 8.85949223e-01 -4.63706080e-01 -8.40509827e-03 6.59919836e+01] [ 4.63684522e-01 8.85989090e-01 -4.47176628e-03 1.49454763e+01] [ 9.52041058e-03 6.44438852e-05 9.99954678e-01 5.56298558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.02, Y:14.95, Z:0.56 [[ 8.86110946e-01 -4.63396987e-01 -8.40382910e-03 6.60179981e+01] [ 4.63375393e-01 8.86150793e-01 -4.47415018e-03 1.49536399e+01] [ 9.52036753e-03 7.04658354e-05 9.99954678e-01 5.56510763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.04, Y:14.97, Z:0.56 [[ 8.85982872e-01 -4.63641824e-01 -8.40296687e-03 6.60432044e+01] [ 4.63620225e-01 8.86022716e-01 -4.47576896e-03 1.49671595e+01] [ 9.52037321e-03 6.96692462e-05 9.99954678e-01 5.56782281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.07, Y:14.98, Z:0.56 [[ 8.86544535e-01 -4.62566967e-01 -8.40172948e-03 6.60676300e+01] [ 4.62545298e-01 8.86584341e-01 -4.47809053e-03 1.49782347e+01] [ 9.52025855e-03 8.38462191e-05 9.99954678e-01 5.57556559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.09, Y:14.99, Z:0.56 [[ 8.87568115e-01 -4.60599893e-01 -8.40119324e-03 6.60919824e+01] [ 4.60578126e-01 8.87607868e-01 -4.47909632e-03 1.49915188e+01] [ 9.52003651e-03 1.06097231e-04 9.99954678e-01 5.59533570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.12, Y:15.01, Z:0.56 [[ 8.88271830e-01 -4.59241328e-01 -8.39993023e-03 6.61163594e+01] [ 4.59219478e-01 8.88311537e-01 -4.48146367e-03 1.50059827e+01] [ 9.51982827e-03 1.23346355e-04 9.99954678e-01 5.59959827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.14, Y:15.02, Z:0.56 [[ 8.88912893e-01 -4.57999270e-01 -8.39866346e-03 6.61395019e+01] [ 4.57977342e-01 8.88952557e-01 -4.48383646e-03 1.50224109e+01] [ 9.51960719e-03 1.39342468e-04 9.99954678e-01 5.59519980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.16, Y:15.04, Z:0.56 [[ 8.88662231e-01 -4.58485450e-01 -8.39827111e-03 6.61634370e+01] [ 4.58463537e-01 8.88701904e-01 -4.48457122e-03 1.50377391e+01] [ 9.51967018e-03 1.34967989e-04 9.99954678e-01 5.59415225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.19, Y:15.05, Z:0.56 [[ 8.88206909e-01 -4.59366931e-01 -8.39702891e-03 6.61871124e+01] [ 4.59345035e-01 8.88246591e-01 -4.48689593e-03 1.50526560e+01] [ 9.51976392e-03 1.28158429e-04 9.99954678e-01 5.59722414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.21, Y:15.07, Z:0.56 [[ 8.87199880e-01 -4.61308881e-01 -8.39577990e-03 6.62119375e+01] [ 4.61287050e-01 8.87239598e-01 -4.48923183e-03 1.50665486e+01] [ 9.51999090e-03 1.09981395e-04 9.99954678e-01 5.62195145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.24, Y:15.08, Z:0.56 [[ 8.86709882e-01 -4.62250056e-01 -8.39466772e-03 6.62366382e+01] [ 4.62228248e-01 8.86749612e-01 -4.49131060e-03 1.50788666e+01] [ 9.52007693e-03 1.02236942e-04 9.99954678e-01 5.63360032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.26, Y:15.09, Z:0.56 [[ 8.86195383e-01 -4.63235662e-01 -8.39427366e-03 6.62617471e+01] [ 4.63213891e-01 8.86235134e-01 -4.49204698e-03 1.50914075e+01] [ 9.52017660e-03 9.24871270e-05 9.99954678e-01 5.64705058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.29, Y:15.10, Z:0.57 [[ 8.85477192e-01 -4.64607037e-01 -8.39303757e-03 6.62866223e+01] [ 4.64585305e-01 8.85516965e-01 -4.49435533e-03 1.51035668e+01] [ 9.52028627e-03 8.03672204e-05 9.99954678e-01 5.66146222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.31, Y:15.12, Z:0.57 [[ 8.85139916e-01 -4.65249296e-01 -8.39175472e-03 6.63103744e+01] [ 4.65227571e-01 8.85179692e-01 -4.49674937e-03 1.51161962e+01] [ 9.52032033e-03 7.61766992e-05 9.99954678e-01 5.65621550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.34, Y:15.13, Z:0.56 [[ 8.84424721e-01 -4.66607437e-01 -8.39119928e-03 6.63358497e+01] [ 4.66585763e-01 8.84464525e-01 -4.49778562e-03 1.51297628e+01] [ 9.52041830e-03 6.27386738e-05 9.99954678e-01 5.64051879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.36, Y:15.14, Z:0.56 [[ 8.84024744e-01 -4.67364802e-01 -8.39009394e-03 6.63602979e+01] [ 4.67343142e-01 8.84064556e-01 -4.49984655e-03 1.51422542e+01] [ 9.52045456e-03 5.69228292e-05 9.99954678e-01 5.62895899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.38, Y:15.15, Z:0.56 [[ 8.83505312e-01 -4.68346000e-01 -8.38970296e-03 6.63847812e+01] [ 4.68324378e-01 8.83545144e-01 -4.50057538e-03 1.51545589e+01] [ 9.52050780e-03 4.71798369e-05 9.99954678e-01 5.63399528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.41, Y:15.17, Z:0.57 [[ 8.83004216e-01 -4.69290082e-01 -8.38887494e-03 6.64095180e+01] [ 4.69268487e-01 8.83044063e-01 -4.50211826e-03 1.51673001e+01] [ 9.52054566e-03 3.87547592e-05 9.99954678e-01 5.65645421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.44, Y:15.18, Z:0.57 [[ 8.82257627e-01 -4.70692180e-01 -8.38762200e-03 6.64350674e+01] [ 4.70670627e-01 8.82297496e-01 -4.50445133e-03 1.51809661e+01] [ 9.52058790e-03 2.62792346e-05 9.99954678e-01 5.67489406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.46, Y:15.19, Z:0.57 [[ 8.81968408e-01 -4.71233905e-01 -8.38651329e-03 6.64600758e+01] [ 4.71212357e-01 8.82008280e-01 -4.50651460e-03 1.51949135e+01] [ 9.52059664e-03 2.27748077e-05 9.99954678e-01 5.69195778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.48, Y:15.21, Z:0.57 [[ 8.81945735e-01 -4.71276359e-01 -8.38536740e-03 6.64844288e+01] [ 4.71254792e-01 8.81985597e-01 -4.50864578e-03 1.52082385e+01] [ 9.52059144e-03 2.47363471e-05 9.99954678e-01 5.69772393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.51, Y:15.22, Z:0.57 [[ 8.82041233e-01 -4.71097607e-01 -8.38496311e-03 6.65085937e+01] [ 4.71076025e-01 8.82081087e-01 -4.50939754e-03 1.52218055e+01] [ 9.52058376e-03 2.75194746e-05 9.99954678e-01 5.71049326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.53, Y:15.24, Z:0.57 [[ 8.81798776e-01 -4.71551289e-01 -8.38457058e-03 6.65332147e+01] [ 4.71529721e-01 8.81838637e-01 -4.51012726e-03 1.52351595e+01] [ 9.52059462e-03 2.34504771e-05 9.99954678e-01 5.71817495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.56, Y:15.25, Z:0.57 [[ 8.80911018e-01 -4.73207670e-01 -8.38329194e-03 6.65574268e+01] [ 4.73186154e-01 8.80950907e-01 -4.51250271e-03 1.52487435e+01] [ 9.52061954e-03 8.25568437e-06 9.99954678e-01 5.70505397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.58, Y:15.26, Z:0.57 [[ 8.80262276e-01 -4.74413393e-01 -8.38202092e-03 6.65818723e+01] [ 4.74391909e-01 8.80302183e-01 -4.51486242e-03 1.52616850e+01] [ 9.52062251e-03 -2.09983093e-06 9.99954678e-01 5.69733130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.61, Y:15.27, Z:0.57 [[ 8.79440387e-01 -4.75935256e-01 -8.38075634e-03 6.66068717e+01] [ 4.75913819e-01 8.79480319e-01 -4.51720858e-03 1.52746943e+01] [ 9.52060908e-03 -1.59020946e-05 9.99954678e-01 5.70007410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.63, Y:15.29, Z:0.57 [[ 8.78277215e-01 -4.78078360e-01 -8.37948119e-03 6.66323935e+01] [ 4.78056998e-01 8.78317187e-01 -4.51957277e-03 1.52883689e+01] [ 9.52055228e-03 -3.64318402e-05 9.99954678e-01 5.69834356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.66, Y:15.30, Z:0.57 [[ 8.77794644e-01 -4.78963847e-01 -8.37836577e-03 6.66559296e+01] [ 4.78942505e-01 8.77834626e-01 -4.52163958e-03 1.53015845e+01] [ 9.52052147e-03 -4.36844860e-05 9.99954678e-01 5.69326540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.68, Y:15.32, Z:0.57 [[ 8.77488824e-01 -4.79523905e-01 -8.37781327e-03 6.66802450e+01] [ 4.79502579e-01 8.77528815e-01 -4.52266304e-03 1.53155960e+01] [ 9.52049760e-03 -4.85967989e-05 9.99954678e-01 5.69650855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.70, Y:15.33, Z:0.57 [[ 8.77293355e-01 -4.79881447e-01 -8.37655492e-03 6.67041606e+01] [ 4.79860115e-01 8.77333343e-01 -4.52499246e-03 1.53292051e+01] [ 9.52049086e-03 -4.98288008e-05 9.99954678e-01 5.69314410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.73, Y:15.34, Z:0.57 [[ 8.77015257e-01 -4.80389516e-01 -8.37570057e-03 6.67279200e+01] [ 4.80368192e-01 8.77055249e-01 -4.52657330e-03 1.53431435e+01] [ 9.52047051e-03 -5.35462968e-05 9.99954678e-01 5.68385325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.75, Y:15.36, Z:0.57 [[ 8.76798236e-01 -4.80785511e-01 -8.37531645e-03 6.67523233e+01] [ 4.80764198e-01 8.76838234e-01 -4.52728391e-03 1.53568201e+01] [ 9.52045020e-03 -5.70377569e-05 9.99954678e-01 5.69325587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.78, Y:15.37, Z:0.57 [[ 8.76676339e-01 -4.81007768e-01 -8.37405955e-03 6.67772279e+01] [ 4.80986443e-01 8.76716331e-01 -4.52960759e-03 1.53713433e+01] [ 9.52045120e-03 -5.68093213e-05 9.99954678e-01 5.69644053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.80, Y:15.38, Z:0.57 [[ 8.76702493e-01 -4.80960115e-01 -8.37293990e-03 6.68002413e+01] [ 4.80938768e-01 8.76742474e-01 -4.53167631e-03 1.53846847e+01] [ 9.52046760e-03 -5.39394781e-05 9.99954678e-01 5.69015799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.82, Y:15.40, Z:0.57 [[ 8.76821693e-01 -4.80742786e-01 -8.37206976e-03 6.68236775e+01] [ 4.80721415e-01 8.76861660e-01 -4.53328328e-03 1.53981882e+01] [ 9.52049022e-03 -4.97520987e-05 9.99954678e-01 5.68740885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.85, Y:15.41, Z:0.57 [[ 8.77653048e-01 -4.79223382e-01 -8.37120664e-03 6.68488271e+01] [ 4.79201926e-01 8.77692970e-01 -4.53487657e-03 1.54126363e+01] [ 9.52056810e-03 -3.14501022e-05 9.99954678e-01 5.70732907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.87, Y:15.43, Z:0.57 [[ 8.78183789e-01 -4.78250116e-01 -8.37009593e-03 6.68726825e+01] [ 4.78228596e-01 8.78223677e-01 -4.53692571e-03 1.54262700e+01] [ 9.52060166e-03 -1.85646137e-05 9.99954678e-01 5.71190184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.90, Y:15.44, Z:0.57 [[ 8.78445924e-01 -4.77768469e-01 -8.36954518e-03 6.68969671e+01] [ 4.77746917e-01 8.78485794e-01 -4.53794148e-03 1.54403193e+01] [ 9.52061189e-03 -1.21882074e-05 9.99954678e-01 5.72001041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.92, Y:15.45, Z:0.57 [[ 8.78906804e-01 -4.76920122e-01 -8.36827646e-03 6.69219582e+01] [ 4.76898510e-01 8.78946641e-01 -4.54027988e-03 1.54547202e+01] [ 9.52061932e-03 -3.35697224e-07 9.99954678e-01 5.73559243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.95, Y:15.47, Z:0.57 [[ 8.78801746e-01 -4.77113699e-01 -8.36715694e-03 6.69466297e+01] [ 4.77092076e-01 8.78841578e-01 -4.54234207e-03 1.54682460e+01] [ 9.52061903e-03 -8.61268032e-08 9.99954678e-01 5.73868822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.97, Y:15.48, Z:0.57 [[ 8.78777624e-01 -4.77158149e-01 -8.36588018e-03 6.69721468e+01] [ 4.77136505e-01 8.78817445e-01 -4.54469234e-03 1.54805987e+01] [ 9.52061842e-03 2.10710625e-06 9.99954678e-01 5.74242786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.00, Y:15.49, Z:0.57 [[ 8.78743213e-01 -4.77221542e-01 -8.36460384e-03 6.69962689e+01] [ 4.77199879e-01 8.78783022e-01 -4.54704026e-03 1.54929381e+01] [ 9.52061740e-03 4.09282447e-06 9.99954678e-01 5.73999596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.02, Y:15.51, Z:0.58 [[ 8.78287736e-01 -4.78059301e-01 -8.36405039e-03 6.70211154e+01] [ 4.78037667e-01 8.78327561e-01 -4.54805806e-03 1.55055814e+01] [ 9.52061744e-03 -3.82751668e-06 9.99954678e-01 5.75064382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.05, Y:15.52, Z:0.58 [[ 8.77838872e-01 -4.78883053e-01 -8.36276385e-03 6.70462513e+01] [ 4.78861433e-01 8.77878706e-01 -4.55042247e-03 1.55182884e+01] [ 9.52061251e-03 -1.00673553e-05 9.99954678e-01 5.75240414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.07, Y:15.53, Z:0.57 [[ 8.76273424e-01 -4.81741602e-01 -8.36147792e-03 6.70671383e+01] [ 4.81720090e-01 8.76313316e-01 -4.55278417e-03 1.55321797e+01] [ 9.52053998e-03 -3.84081169e-05 9.99954678e-01 5.74027486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.10, Y:15.54, Z:0.58 [[ 8.76842197e-01 -4.80706192e-01 -8.32575283e-03 6.70968827e+01] [ 4.80684009e-01 8.76881722e-01 -4.61831275e-03 1.55436377e+01] [ 9.52075202e-03 4.74752500e-05 9.99954675e-01 5.75163925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.12, Y:15.55, Z:0.58 [[ 8.75944677e-01 -4.82339140e-01 -8.35929142e-03 6.71215228e+01] [ 4.82317616e-01 8.75984562e-01 -4.55678726e-03 1.55544779e+01] [ 9.52052708e-03 -4.03399662e-05 9.99954678e-01 5.76302666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.15, Y:15.57, Z:0.58 [[ 8.75605465e-01 -4.82954657e-01 -8.35876546e-03 6.71464250e+01] [ 4.82933152e-01 8.75645360e-01 -4.55775186e-03 1.55674560e+01] [ 9.52050167e-03 -4.59325198e-05 9.99954678e-01 5.77246247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.17, Y:15.58, Z:0.58 [[ 8.76426503e-01 -4.81463121e-01 -8.35754341e-03 6.71706674e+01] [ 4.81441527e-01 8.76466350e-01 -4.55999162e-03 1.55810464e+01] [ 9.52057336e-03 -2.71709455e-05 9.99954678e-01 5.78330021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.20, Y:15.59, Z:0.58 [[ 8.76755813e-01 -4.80863185e-01 -8.35716543e-03 6.71955384e+01] [ 4.80841557e-01 8.76795642e-01 -4.56068425e-03 1.55947895e+01] [ 9.52059137e-03 -1.98660062e-05 9.99954678e-01 5.78131596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.22, Y:15.61, Z:0.58 [[ 8.77272858e-01 -4.79919275e-01 -8.35596508e-03 6.72200747e+01] [ 4.79897584e-01 8.77312652e-01 -4.56288244e-03 1.56080609e+01] [ 9.52060911e-03 -7.11453884e-06 9.99954678e-01 5.79046819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.25, Y:15.62, Z:0.58 [[ 8.78449957e-01 -4.77761313e-01 -8.35471055e-03 6.72451565e+01] [ 4.77739502e-01 8.78489685e-01 -4.56517834e-03 1.56223575e+01] [ 9.52059264e-03 1.89054592e-05 9.99954678e-01 5.78284504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.27, Y:15.64, Z:0.58 [[ 8.79036748e-01 -4.76680829e-01 -8.35357931e-03 6.72701381e+01] [ 4.76658950e-01 8.79076439e-01 -4.56724740e-03 1.56362278e+01] [ 9.52055403e-03 3.29699620e-05 9.99954678e-01 5.77886295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.29, Y:15.65, Z:0.58 [[ 8.79473754e-01 -4.75874094e-01 -8.35245667e-03 6.72945307e+01] [ 4.75852158e-01 8.79513414e-01 -4.56929954e-03 1.56499592e+01] [ 9.52050895e-03 4.40444821e-05 9.99954678e-01 5.77762952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.32, Y:15.66, Z:0.58 [[ 8.80338043e-01 -4.74273326e-01 -8.35116618e-03 6.73188177e+01] [ 4.74251296e-01 8.80377651e-01 -4.57165690e-03 1.56645034e+01] [ 9.52039499e-03 6.40521001e-05 9.99954678e-01 5.77100271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.34, Y:15.68, Z:0.58 [[ 8.80449637e-01 -4.74066136e-01 -8.35076664e-03 6.73426663e+01] [ 4.74044090e-01 8.80489236e-01 -4.57238659e-03 1.56785711e+01] [ 9.52037379e-03 6.71245440e-05 9.99954678e-01 5.77394784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.37, Y:15.69, Z:0.58 [[ 8.80541765e-01 -4.73895016e-01 -8.34948144e-03 6.73665562e+01] [ 4.73872940e-01 8.80581347e-01 -4.57473226e-03 1.56926609e+01] [ 9.52034043e-03 7.16494984e-05 9.99954678e-01 5.77564738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.39, Y:15.71, Z:0.58 [[ 8.80531109e-01 -4.73914839e-01 -8.34820042e-03 6.73908511e+01] [ 4.73892741e-01 8.80570679e-01 -4.57706873e-03 1.57063448e+01] [ 9.52032130e-03 7.40998209e-05 9.99954678e-01 5.78243783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.42, Y:15.72, Z:0.58 [[ 8.80010637e-01 -4.74880625e-01 -8.34690743e-03 6.74154818e+01] [ 4.74858549e-01 8.80050219e-01 -4.57942547e-03 1.57197090e+01] [ 9.52037814e-03 6.63427738e-05 9.99954678e-01 5.80016024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.44, Y:15.73, Z:0.58 [[ 8.79050161e-01 -4.76656219e-01 -8.34650667e-03 6.74395625e+01] [ 4.76634215e-01 8.79089783e-01 -4.58015577e-03 1.57327198e+01] [ 9.52048847e-03 4.79560075e-05 9.99954678e-01 5.81265241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.47, Y:15.75, Z:0.58 [[ 8.77920738e-01 -4.78733247e-01 -8.34603205e-03 6.74651911e+01] [ 4.78711329e-01 8.77960408e-01 -4.58102048e-03 1.57456900e+01] [ 9.52057251e-03 2.64327816e-05 9.99954678e-01 5.83147745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.49, Y:15.76, Z:0.59 [[ 8.75337017e-01 -4.83441278e-01 -8.34489867e-03 6.74913410e+01] [ 4.83419554e-01 8.75376793e-01 -4.58308413e-03 1.57572040e+01] [ 9.52058269e-03 -2.23439998e-05 9.99954678e-01 5.86117608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.52, Y:15.77, Z:0.59 [[ 8.74315392e-01 -4.85286490e-01 -8.34376070e-03 6.75160356e+01] [ 4.85264830e-01 8.74355203e-01 -4.58515495e-03 1.57694378e+01] [ 9.52052433e-03 -4.00620718e-05 9.99954678e-01 5.87440323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.54, Y:15.78, Z:0.59 [[ 8.72712162e-01 -4.88163779e-01 -8.34315443e-03 6.75410110e+01] [ 4.88142240e-01 8.72752038e-01 -4.58625784e-03 1.57817791e+01] [ 9.52034999e-03 -7.01630995e-05 9.99954678e-01 5.89431780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.57, Y:15.80, Z:0.59 [[ 8.72316146e-01 -4.88871088e-01 -8.34275473e-03 6.75658619e+01] [ 4.88849574e-01 8.72356036e-01 -4.58698482e-03 1.57954673e+01] [ 9.52029670e-03 -7.70511723e-05 9.99954678e-01 5.90036571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.59, Y:15.81, Z:0.59 [[ 8.72179740e-01 -4.89114425e-01 -8.34147478e-03 6.75908885e+01] [ 4.89092900e-01 8.72219625e-01 -4.58931123e-03 1.58093221e+01] [ 9.52029633e-03 -7.70518175e-05 9.99954678e-01 5.90307749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.61, Y:15.82, Z:0.59 [[ 8.72156880e-01 -4.89155209e-01 -8.34019388e-03 6.76143411e+01] [ 4.89133663e-01 8.72196753e-01 -4.59163784e-03 1.58221729e+01] [ 9.52031359e-03 -7.48410534e-05 9.99954678e-01 5.90545958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.64, Y:15.84, Z:0.59 [[ 8.72394078e-01 -4.88732056e-01 -8.33963875e-03 6.76391331e+01] [ 4.88710481e-01 8.72433936e-01 -4.59264588e-03 1.58359710e+01] [ 9.52035713e-03 -6.90717960e-05 9.99954678e-01 5.91392842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.66, Y:15.85, Z:0.59 [[ 8.73427651e-01 -4.86882543e-01 -8.33836908e-03 6.76632338e+01] [ 4.86860862e-01 8.73467451e-01 -4.59494995e-03 1.58495097e+01] [ 9.52049489e-03 -4.62692191e-05 9.99954678e-01 5.90686021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.69, Y:15.86, Z:0.59 [[ 8.73706596e-01 -4.86381811e-01 -8.33780100e-03 6.76872476e+01] [ 4.86360098e-01 8.73746378e-01 -4.59598051e-03 1.58631829e+01] [ 9.52052475e-03 -3.96352224e-05 9.99954678e-01 5.90146806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.71, Y:15.88, Z:0.59 [[ 8.74283668e-01 -4.85343765e-01 -8.33654919e-03 6.77104779e+01] [ 4.85321983e-01 8.74323412e-01 -4.59825004e-03 1.58784638e+01] [ 9.52057212e-03 -2.57356760e-05 9.99954678e-01 5.87642715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.73, Y:15.89, Z:0.59 [[ 8.74475410e-01 -4.84998213e-01 -8.33616115e-03 6.77346133e+01] [ 4.84976408e-01 8.74515142e-01 -4.59895339e-03 1.58929147e+01] [ 9.52058333e-03 -2.11698416e-05 9.99954678e-01 5.86667705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.76, Y:15.91, Z:0.59 [[ 8.74492705e-01 -4.84967047e-01 -8.33492749e-03 6.77584847e+01] [ 4.84945220e-01 8.74532425e-01 -4.60118815e-03 1.59070530e+01] [ 9.52058898e-03 -1.82777723e-05 9.99954678e-01 5.87442008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.78, Y:15.92, Z:0.59 [[ 8.73733103e-01 -4.86334262e-01 -8.33363214e-03 6.77826825e+01] [ 4.86312475e-01 8.73772845e-01 -4.60353308e-03 1.59216184e+01] [ 9.52055732e-03 -3.04900247e-05 9.99954678e-01 5.88404928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.81, Y:15.94, Z:0.59 [[ 8.72880122e-01 -4.87863572e-01 -8.33233645e-03 6.78069355e+01] [ 4.87841832e-01 8.72919889e-01 -4.60587707e-03 1.59355354e+01] [ 9.52050185e-03 -4.44837387e-05 9.99954678e-01 5.89264752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.83, Y:15.95, Z:0.59 [[ 8.72183626e-01 -4.89107673e-01 -8.33103309e-03 6.78316031e+01] [ 4.89085967e-01 8.72223412e-01 -4.60823335e-03 1.59495175e+01] [ 9.52044440e-03 -5.53657020e-05 9.99954678e-01 5.89838253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.86, Y:15.96, Z:0.59 [[ 8.70440833e-01 -4.92202556e-01 -8.33062965e-03 6.78568042e+01] [ 4.92180985e-01 8.70480692e-01 -4.60896256e-03 1.59642191e+01] [ 9.52019542e-03 -8.83482908e-05 9.99954678e-01 5.90602702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.88, Y:15.98, Z:0.59 [[ 8.69456118e-01 -4.93939953e-01 -8.32949549e-03 6.78804912e+01] [ 4.93918442e-01 8.69496010e-01 -4.61101135e-03 1.59773757e+01] [ 9.52002583e-03 -1.05019401e-04 9.99954678e-01 5.90598176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.91, Y:15.99, Z:0.59 [[ 8.68453747e-01 -4.95700230e-01 -8.32893426e-03 6.79055249e+01] [ 4.95678790e-01 8.68493677e-01 -4.61202488e-03 1.59910132e+01] [ 9.51980854e-03 -1.23145762e-04 9.99954678e-01 5.92025806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.93, Y:16.00, Z:0.59 [[ 8.67528742e-01 -4.97317336e-01 -8.32765385e-03 6.79304353e+01] [ 4.97295947e-01 8.67568700e-01 -4.61433569e-03 1.60046172e+01] [ 9.51960095e-03 -1.38239676e-04 9.99954678e-01 5.93513858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53762800000001 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:67.95, Y:16.02, Z:0.59 [[ 8.66026752e-01 -4.99928332e-01 -8.32636551e-03 6.79547987e+01] [ 4.99907042e-01 8.66066762e-01 -4.61665927e-03 1.60181495e+01] [ 9.51918718e-03 -1.64258318e-04 9.99954678e-01 5.91927638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.98, Y:16.03, Z:0.59 [[ 8.65737751e-01 -5.00428656e-01 -8.32508072e-03 6.79790761e+01] [ 5.00407367e-01 8.65777761e-01 -4.61897494e-03 1.60320561e+01] [ 9.51913717e-03 -1.67110748e-04 9.99954678e-01 5.94829081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.00, Y:16.05, Z:0.59 [[ 8.65548010e-01 -5.00756784e-01 -8.32378321e-03 6.80034416e+01] [ 5.00735488e-01 8.65588017e-01 -4.62131197e-03 1.60464685e+01] [ 9.51912032e-03 -1.68046265e-04 9.99954678e-01 5.94615471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.03, Y:16.06, Z:0.59 [[ 8.65483336e-01 -5.00868576e-01 -8.32249370e-03 6.80278210e+01] [ 5.00847262e-01 8.65523334e-01 -4.62363308e-03 1.60608380e+01] [ 9.51914501e-03 -1.66620800e-04 9.99954678e-01 5.94782036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.657628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:68.05, Y:16.07, Z:0.59 [[ 8.65623232e-01 -5.00626785e-01 -8.32117723e-03 6.80523257e+01] [ 5.00605437e-01 8.65663212e-01 -4.62600113e-03 1.60748231e+01] [ 9.51923708e-03 -1.61252514e-04 9.99954678e-01 5.92230968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.08, Y:16.09, Z:0.60 [[ 8.66354324e-01 -4.99360542e-01 -8.32077077e-03 6.80767830e+01] [ 4.99339129e-01 8.66394268e-01 -4.62673211e-03 1.60878004e+01] [ 9.51947555e-03 -1.46497063e-04 9.99954678e-01 5.95369440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.10, Y:16.10, Z:0.60 [[ 8.66631894e-01 -4.98878689e-01 -8.31948209e-03 6.81008939e+01] [ 4.98857232e-01 8.66671815e-01 -4.62904816e-03 1.61013123e+01] [ 9.51959412e-03 -1.38553028e-04 9.99954678e-01 5.96147612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.12, Y:16.11, Z:0.60 [[ 8.66904899e-01 -4.98404144e-01 -8.31893932e-03 6.81249949e+01] [ 4.98382655e-01 8.66944803e-01 -4.63002337e-03 1.61149531e+01] [ 9.51968405e-03 -1.32225127e-04 9.99954678e-01 5.96810720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.15, Y:16.13, Z:0.60 [[ 8.67536286e-01 -4.97304327e-01 -8.31854091e-03 6.81485667e+01] [ 4.97282781e-01 8.67576159e-01 -4.63073908e-03 1.61295540e+01] [ 9.51985435e-03 -1.19332969e-04 9.99954678e-01 5.97741581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.17, Y:16.14, Z:0.60 [[ 8.67951687e-01 -4.96578990e-01 -8.31723516e-03 6.81717110e+01] [ 4.96557388e-01 8.67991529e-01 -4.63308313e-03 1.61434474e+01] [ 9.51998141e-03 -1.08692255e-04 9.99954678e-01 5.97723281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.20, Y:16.16, Z:0.60 [[ 8.68318906e-01 -4.95936605e-01 -8.31634772e-03 6.81970869e+01] [ 4.95914958e-01 8.68358724e-01 -4.63467554e-03 1.61581226e+01] [ 9.52007835e-03 -9.98248414e-05 9.99954678e-01 5.98921982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.22, Y:16.17, Z:0.60 [[ 8.69522974e-01 -4.93822376e-01 -8.32220333e-03 6.82205427e+01] [ 4.93800733e-01 8.69562794e-01 -4.62417347e-03 1.61713157e+01] [ 9.52019872e-03 -8.86850327e-05 9.99954678e-01 5.98048027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.25, Y:16.18, Z:0.60 [[ 8.69886254e-01 -4.93182291e-01 -8.31462110e-03 6.82450446e+01] [ 4.93160489e-01 8.69925987e-01 -4.63776696e-03 1.61848267e+01] [ 9.52036950e-03 -6.61128829e-05 9.99954678e-01 5.99004598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.27, Y:16.20, Z:0.60 [[ 8.71305940e-01 -4.90669794e-01 -8.31333107e-03 6.82699872e+01] [ 4.90647855e-01 8.71345598e-01 -4.64007823e-03 1.61986685e+01] [ 9.52053066e-03 -3.59903324e-05 9.99954678e-01 5.99719022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.29, Y:16.21, Z:0.60 [[ 8.72101522e-01 -4.89254376e-01 -8.31203804e-03 6.82933146e+01] [ 4.89232351e-01 8.72141132e-01 -4.64239334e-03 1.62119052e+01] [ 9.52058153e-03 -1.78796128e-05 9.99954678e-01 5.99898105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.32, Y:16.23, Z:0.60 [[ 8.72890463e-01 -4.87845426e-01 -8.31147820e-03 6.83173743e+01] [ 4.87823327e-01 8.72930032e-01 -4.64339543e-03 1.62259024e+01] [ 9.52059815e-03 -1.35736414e-06 9.99954678e-01 6.00617051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.34, Y:16.24, Z:0.60 [[ 8.75111680e-01 -4.83849654e-01 -8.31020155e-03 6.83402762e+01] [ 4.83827353e-01 8.75151136e-01 -4.64567911e-03 1.62395541e+01] [ 9.52049255e-03 4.47852278e-05 9.99954678e-01 6.01047906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.36, Y:16.25, Z:0.60 [[ 8.76108841e-01 -4.82041749e-01 -8.30966645e-03 6.83644427e+01] [ 4.82019357e-01 8.76148246e-01 -4.64663605e-03 1.62532840e+01] [ 9.52037224e-03 6.55388470e-05 9.99954678e-01 6.01446787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.39, Y:16.27, Z:0.60 [[ 8.77068950e-01 -4.80292649e-01 -8.30839693e-03 6.83883906e+01] [ 4.80270157e-01 8.77108297e-01 -4.64890489e-03 1.62667737e+01] [ 9.52019872e-03 8.71350281e-05 9.99954678e-01 6.01670250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.41, Y:16.28, Z:0.60 [[ 8.77760641e-01 -4.79027387e-01 -8.30784645e-03 6.84129155e+01] [ 4.79004829e-01 8.77799950e-01 -4.64988842e-03 1.62809527e+01] [ 9.52005110e-03 1.01990475e-04 9.99954678e-01 6.01716232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.44, Y:16.29, Z:0.60 [[ 8.77740049e-01 -4.79065140e-01 -8.30653819e-03 6.84368086e+01] [ 4.79042562e-01 8.77779346e-01 -4.65222432e-03 1.62948195e+01] [ 9.52002616e-03 1.04258261e-04 9.99954678e-01 6.01437118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.46, Y:16.31, Z:0.60 [[ 8.77387663e-01 -4.79710237e-01 -8.30522751e-03 6.84614285e+01] [ 4.79687666e-01 8.77426965e-01 -4.65456298e-03 1.63092513e+01] [ 9.52007208e-03 9.99409390e-05 9.99954678e-01 6.00731262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.49, Y:16.32, Z:0.60 [[ 8.76839140e-01 -4.80712146e-01 -8.30390257e-03 6.84858659e+01] [ 4.80689597e-01 8.76878455e-01 -4.65692552e-03 1.63226148e+01] [ 9.52015392e-03 9.17749898e-05 9.99954678e-01 6.01124063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.51, Y:16.34, Z:0.60 [[ 8.76204236e-01 -4.81868452e-01 -8.30258478e-03 6.85108439e+01] [ 4.81845932e-01 8.76243567e-01 -4.65927376e-03 1.63355900e+01] [ 9.52024354e-03 8.19086980e-05 9.99954678e-01 6.01793113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.54, Y:16.35, Z:0.60 [[ 8.74252964e-01 -4.85399675e-01 -8.30127946e-03 6.85364340e+01] [ 4.85377292e-01 8.74292373e-01 -4.66159824e-03 1.63483470e+01] [ 9.52048359e-03 4.61635300e-05 9.99954678e-01 6.02842429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.56, Y:16.36, Z:0.60 [[ 8.72954682e-01 -4.87730697e-01 -8.29996999e-03 6.85615280e+01] [ 4.87708398e-01 8.72994139e-01 -4.66392859e-03 1.63619637e+01] [ 9.52056630e-03 2.34332295e-05 9.99954678e-01 6.03215915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.59, Y:16.38, Z:0.60 [[ 8.71522561e-01 -4.90285181e-01 -8.29864058e-03 6.85865035e+01] [ 4.90262975e-01 8.71562070e-01 -4.66629284e-03 1.63751236e+01] [ 9.52059459e-03 -1.73673360e-06 9.99954678e-01 6.03535707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.61, Y:16.39, Z:0.60 [[ 8.70003416e-01 -4.92975873e-01 -8.29729988e-03 6.86102521e+01] [ 4.92953766e-01 8.70042981e-01 -4.66867557e-03 1.63872616e+01] [ 9.52055194e-03 -2.84215312e-05 9.99954678e-01 6.02894310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.64, Y:16.40, Z:0.60 [[ 8.66337778e-01 -4.99389646e-01 -8.29671930e-03 6.86354288e+01] [ 4.99367822e-01 8.66377500e-01 -4.66970710e-03 1.63993076e+01] [ 9.52009430e-03 -9.75709732e-05 9.99954678e-01 6.03416015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.66, Y:16.41, Z:0.60 [[ 8.64342292e-01 -5.02835549e-01 -8.29540258e-03 6.86604450e+01] [ 5.02813861e-01 8.64382087e-01 -4.67204499e-03 1.64124424e+01] [ 9.51966771e-03 -1.32797327e-04 9.99954678e-01 6.02953224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.69, Y:16.42, Z:0.60 [[ 8.60009539e-01 -5.10210545e-01 -8.29409640e-03 6.86853696e+01] [ 5.10189176e-01 8.60049507e-01 -4.67436266e-03 1.64245748e+01] [ 9.51824264e-03 -2.11561728e-04 9.99954678e-01 6.02389337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.71, Y:16.44, Z:0.60 [[ 8.57752635e-01 -5.13995765e-01 -8.29279035e-03 6.87089875e+01] [ 5.13974550e-01 8.57792685e-01 -4.67667857e-03 1.64369558e+01] [ 9.51728788e-03 -2.50849826e-04 9.99954678e-01 6.02388118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.73, Y:16.45, Z:0.60 [[ 8.55327536e-01 -5.18021278e-01 -8.29222442e-03 6.87334214e+01] [ 5.18000242e-01 8.55367680e-01 -4.67768179e-03 1.64501608e+01] [ 9.51603947e-03 -2.94424213e-04 9.99954678e-01 6.03461913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.76, Y:16.46, Z:0.61 [[ 8.50791420e-01 -5.25438122e-01 -8.29093466e-03 6.87589844e+01] [ 5.25417414e-01 8.50831734e-01 -4.67996672e-03 1.64635622e+01] [ 9.51322324e-03 -3.74525917e-04 9.99954678e-01 6.05814355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.78, Y:16.48, Z:0.61 [[ 8.48623339e-01 -5.28932612e-01 -8.28977890e-03 6.87830762e+01] [ 5.28912049e-01 8.48663728e-01 -4.68201305e-03 1.64773052e+01] [ 9.51170406e-03 -4.11298400e-04 9.99954678e-01 6.06836311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.81, Y:16.49, Z:0.61 [[ 8.46666734e-01 -5.32058954e-01 -8.28915880e-03 6.88076625e+01] [ 5.32038530e-01 8.46707193e-01 -4.68311063e-03 1.64915227e+01] [ 9.51018133e-03 -4.45117876e-04 9.99954678e-01 6.07705140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.83, Y:16.51, Z:0.61 [[ 8.45058445e-01 -5.34609704e-01 -8.28784714e-03 6.88309356e+01] [ 5.34589379e-01 8.45098954e-01 -4.68543079e-03 1.65058023e+01] [ 9.50892771e-03 -4.71132197e-04 9.99954678e-01 6.08051041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.85, Y:16.52, Z:0.61 [[ 8.43211199e-01 -5.37518558e-01 -8.28695613e-03 6.88543249e+01] [ 5.37498358e-01 8.43251770e-01 -4.68700615e-03 1.65218129e+01] [ 9.50734321e-03 -5.02089239e-04 9.99954678e-01 6.09021523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.88, Y:16.54, Z:0.61 [[ 8.43077340e-01 -5.37728507e-01 -8.28564751e-03 6.88770642e+01] [ 5.37708294e-01 8.43117904e-01 -4.68931837e-03 1.65367122e+01] [ 9.50735793e-03 -5.01803339e-04 9.99954678e-01 6.09454946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.90, Y:16.55, Z:0.61 [[ 8.44109594e-01 -5.36106660e-01 -8.28508029e-03 6.88994579e+01] [ 5.36086359e-01 8.44150115e-01 -4.69032032e-03 1.65549213e+01] [ 9.50836344e-03 -4.82374145e-04 9.99954678e-01 6.10124665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.92, Y:16.57, Z:0.61 [[ 8.45229310e-01 -5.34339586e-01 -8.28379244e-03 6.89212912e+01] [ 5.34319178e-01 8.45269777e-01 -4.69259375e-03 1.65707586e+01] [ 9.50947799e-03 -4.59871391e-04 9.99954678e-01 6.10267772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.94, Y:16.59, Z:0.61 [[ 8.46598064e-01 -5.32168306e-01 -8.28323462e-03 6.89440229e+01] [ 5.32147784e-01 8.46638474e-01 -4.69357819e-03 1.65878148e+01] [ 9.51067867e-03 -4.34330742e-04 9.99954678e-01 6.10669124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.96, Y:16.61, Z:0.61 [[ 8.49882676e-01 -5.26906866e-01 -8.28196880e-03 6.89645333e+01] [ 5.26886073e-01 8.49922947e-01 -4.69581070e-03 1.66072719e+01] [ 9.51329023e-03 -3.72765851e-04 9.99954678e-01 6.11395525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.99, Y:16.62, Z:0.61 [[ 8.51184805e-01 -5.24800768e-01 -8.28144130e-03 6.89876064e+01] [ 5.24779866e-01 8.51225019e-01 -4.69674082e-03 1.66238860e+01] [ 9.51422321e-03 -3.48139243e-04 9.99954678e-01 6.11992597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.01, Y:16.64, Z:0.61 [[ 8.54049550e-01 -5.20125760e-01 -8.28013345e-03 6.90090660e+01] [ 5.20104615e-01 8.54089637e-01 -4.69904536e-03 1.66436816e+01] [ 9.51607071e-03 -2.93318050e-04 9.99954678e-01 6.11723832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.03, Y:16.66, Z:0.61 [[ 8.55440379e-01 -5.17835127e-01 -8.27881491e-03 6.90308263e+01] [ 5.17813853e-01 8.55480398e-01 -4.70136722e-03 1.66607686e+01] [ 9.51689697e-03 -2.65145687e-04 9.99954678e-01 6.10233722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.05, Y:16.68, Z:0.61 [[ 8.56592154e-01 -5.15927666e-01 -8.27791765e-03 6.90528307e+01] [ 5.15906288e-01 8.56632117e-01 -4.70294655e-03 1.66780766e+01] [ 9.51751036e-03 -2.42122650e-04 9.99954678e-01 6.10019741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.07, Y:16.69, Z:0.61 [[ 8.57971425e-01 -5.13630736e-01 -8.27655178e-03 6.90747811e+01] [ 5.13609227e-01 8.58011318e-01 -4.70534907e-03 1.66942294e+01] [ 9.51818700e-03 -2.13858318e-04 9.99954678e-01 6.09198053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.10, Y:16.71, Z:0.61 [[ 8.60128716e-01 -5.10009902e-01 -8.27595996e-03 6.90966525e+01] [ 5.09988216e-01 8.60168512e-01 -4.70638975e-03 1.67127332e+01] [ 9.51902555e-03 -1.72541081e-04 9.99954678e-01 6.10614530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.12, Y:16.73, Z:0.61 [[ 8.59983854e-01 -5.10254154e-01 -8.27462391e-03 6.91214716e+01] [ 5.10232457e-01 8.60023644e-01 -4.70873758e-03 1.67269318e+01] [ 9.51902512e-03 -1.72543394e-04 9.99954678e-01 6.10885701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.14, Y:16.74, Z:0.61 [[ 8.60639296e-01 -5.09147872e-01 -8.27328604e-03 6.91440743e+01] [ 5.09126100e-01 8.60679046e-01 -4.71108705e-03 1.67431573e+01] [ 9.51928388e-03 -1.57599216e-04 9.99954678e-01 6.11901208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.17, Y:16.76, Z:0.61 [[ 8.61743699e-01 -5.07276426e-01 -8.27194469e-03 6.91652183e+01] [ 5.07254545e-01 8.61783389e-01 -4.71344108e-03 1.67620962e+01] [ 9.51964208e-03 -1.34203389e-04 9.99954678e-01 6.12932255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.19, Y:16.78, Z:0.61 [[ 8.61643282e-01 -5.07446980e-01 -8.27152909e-03 6.91882107e+01] [ 5.07425100e-01 8.61682972e-01 -4.71417030e-03 1.67787645e+01] [ 9.51962725e-03 -1.35248307e-04 9.99954678e-01 6.12912115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.21, Y:16.79, Z:0.61 [[ 8.61584201e-01 -5.07547306e-01 -8.27020905e-03 6.92105481e+01] [ 5.07525409e-01 8.61623882e-01 -4.71648495e-03 1.67944512e+01] [ 9.51964886e-03 -1.33692317e-04 9.99954678e-01 6.13129618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.23, Y:16.81, Z:0.61 [[ 8.60875446e-01 -5.08748543e-01 -8.26964432e-03 6.92333553e+01] [ 5.08726691e-01 8.60915152e-01 -4.71747492e-03 1.68120634e+01] [ 9.51947058e-03 -1.45830470e-04 9.99954678e-01 6.13623511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.26, Y:16.83, Z:0.61 [[ 8.60495310e-01 -5.09391260e-01 -8.26834281e-03 6.92570637e+01] [ 5.09369416e-01 8.60535021e-01 -4.71975497e-03 1.68272372e+01] [ 9.51940048e-03 -1.50313942e-04 9.99954678e-01 6.14280618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.28, Y:16.84, Z:0.61 [[ 8.59954158e-01 -5.10304322e-01 -8.26704858e-03 6.92802638e+01] [ 5.10282499e-01 8.59993880e-01 -4.72202083e-03 1.68426560e+01] [ 9.51927883e-03 -1.57808755e-04 9.99954678e-01 6.14817566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.30, Y:16.86, Z:0.62 [[ 8.59218563e-01 -5.11541922e-01 -8.26575742e-03 6.93018576e+01] [ 5.11520135e-01 8.59258304e-01 -4.72427989e-03 1.68595862e+01] [ 9.51908792e-03 -1.68912365e-04 9.99954678e-01 6.15490480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.33, Y:16.88, Z:0.62 [[ 8.59019140e-01 -5.11876746e-01 -8.26519801e-03 6.93256231e+01] [ 5.11854965e-01 8.59058885e-01 -4.72525838e-03 1.68753575e+01] [ 9.51904167e-03 -1.71495246e-04 9.99954678e-01 6.15625813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.35, Y:16.89, Z:0.62 [[ 8.59452293e-01 -5.11149159e-01 -8.26393957e-03 6.93485187e+01] [ 5.11127322e-01 8.59492008e-01 -4.72745824e-03 1.68916404e+01] [ 9.51922631e-03 -1.60900477e-04 9.99954678e-01 6.15746881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.37, Y:16.91, Z:0.62 [[ 8.59528281e-01 -5.11021391e-01 -8.26268011e-03 6.93722059e+01] [ 5.10999527e-01 8.59567981e-01 -4.72965851e-03 1.69066941e+01] [ 9.51929192e-03 -1.56950379e-04 9.99954678e-01 6.15626619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36762800000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.39, Y:16.93, Z:0.61 [[ 8.57179872e-01 -5.14950887e-01 -8.26142845e-03 6.93883225e+01] [ 5.14929184e-01 8.57219659e-01 -4.73184381e-03 1.69254907e+01] [ 9.51852605e-03 -1.98009345e-04 9.99954678e-01 6.10118669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39762800000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.41, Y:16.94, Z:0.61 [[ 8.57241534e-01 -5.14849408e-01 -8.18779350e-03 6.94121197e+01] [ 5.14826469e-01 8.57280634e-01 -4.86021004e-03 1.69391721e+01] [ 9.52151306e-03 -4.89189021e-05 9.99954668e-01 6.10327364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.44, Y:16.95, Z:0.61 [[ 8.59640233e-01 -5.10834280e-01 -8.18582862e-03 6.94430440e+01] [ 5.10811126e-01 8.59679207e-01 -4.86363507e-03 1.69531270e+01] [ 9.52169817e-03 -4.35943188e-07 9.99954668e-01 6.13909587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.47, Y:16.97, Z:0.61 [[ 8.59224553e-01 -5.11531950e-01 -8.26027349e-03 6.94663958e+01] [ 5.11510071e-01 8.59264243e-01 -4.73373034e-03 1.69681523e+01] [ 9.51921196e-03 -1.57875745e-04 9.99954679e-01 6.12643158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.49, Y:16.98, Z:0.61 [[ 8.58746729e-01 -5.12333710e-01 -8.25985923e-03 6.94909667e+01] [ 5.12311861e-01 8.58786436e-01 -4.73445306e-03 1.69826592e+01] [ 9.51907497e-03 -1.65927778e-04 9.99954679e-01 6.13087526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.52, Y:17.00, Z:0.61 [[ 8.58513610e-01 -5.12724271e-01 -8.25852280e-03 6.95152104e+01] [ 5.12702418e-01 8.58553314e-01 -4.73678312e-03 1.69962640e+01] [ 9.51904579e-03 -1.67571833e-04 9.99954679e-01 6.13214555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.54, Y:17.01, Z:0.61 [[ 8.58566033e-01 -5.12636504e-01 -8.25719676e-03 6.95395333e+01] [ 5.12614624e-01 8.58605723e-01 -4.73909356e-03 1.70098323e+01] [ 9.51910875e-03 -1.63935056e-04 9.99954679e-01 6.14819924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.56, Y:17.02, Z:0.62 [[ 8.58861807e-01 -5.12140837e-01 -8.25587792e-03 6.95634470e+01] [ 5.12118913e-01 8.58901472e-01 -4.74138997e-03 1.70240248e+01] [ 9.51924512e-03 -1.55792466e-04 9.99954679e-01 6.15678930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.59, Y:17.04, Z:0.62 [[ 8.59314526e-01 -5.11380869e-01 -8.25546958e-03 6.95876023e+01] [ 5.11358902e-01 8.59354168e-01 -4.74210083e-03 1.70385306e+01] [ 9.51939184e-03 -1.46551736e-04 9.99954679e-01 6.16960215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.61, Y:17.05, Z:0.62 [[ 8.60415095e-01 -5.09526971e-01 -8.25416441e-03 6.96126729e+01] [ 5.09504897e-01 8.60454677e-01 -4.74437154e-03 1.70536201e+01] [ 9.51971963e-03 -1.23408304e-04 9.99954679e-01 6.19101401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.64, Y:17.07, Z:0.62 [[ 8.60873917e-01 -5.08751400e-01 -8.25298535e-03 6.96370067e+01] [ 5.08729271e-01 8.60913468e-01 -4.74642168e-03 1.70676963e+01] [ 9.51985492e-03 -1.12464596e-04 9.99954679e-01 6.20152093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.66, Y:17.08, Z:0.62 [[ 8.61356573e-01 -5.07933819e-01 -8.25161118e-03 6.96608034e+01] [ 5.07911629e-01 8.61396091e-01 -4.74880946e-03 1.70819163e+01] [ 9.51998654e-03 -1.00671034e-04 9.99954679e-01 6.20749929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.68, Y:17.10, Z:0.62 [[ 8.61179476e-01 -5.08234029e-01 -8.25118598e-03 6.96849080e+01] [ 5.08211846e-01 8.61218997e-01 -4.74954813e-03 1.70957605e+01] [ 9.51996010e-03 -1.03137087e-04 9.99954679e-01 6.21321479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.71, Y:17.11, Z:0.62 [[ 8.60788844e-01 -5.08895379e-01 -8.24983469e-03 6.97094707e+01] [ 5.08873204e-01 8.60828369e-01 -4.75189412e-03 1.71092913e+01] [ 9.51990871e-03 -1.07742366e-04 9.99954679e-01 6.22209320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.73, Y:17.12, Z:0.62 [[ 8.60248476e-01 -5.09808319e-01 -8.24846873e-03 6.97345194e+01] [ 5.09786163e-01 8.60288013e-01 -4.75426402e-03 1.71226471e+01] [ 9.51982212e-03 -1.15106851e-04 9.99954679e-01 6.23002572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.76, Y:17.13, Z:0.62 [[ 8.58806346e-01 -5.12233975e-01 -8.24706513e-03 6.97586452e+01] [ 5.12211908e-01 8.58845932e-01 -4.75669755e-03 1.71343264e+01] [ 9.51950044e-03 -1.39162917e-04 9.99954679e-01 6.23515742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.78, Y:17.15, Z:0.62 [[ 8.57842767e-01 -5.13846076e-01 -8.24611254e-03 6.97832947e+01] [ 5.13824067e-01 8.57882385e-01 -4.75834837e-03 1.71471141e+01] [ 9.51925333e-03 -1.55136353e-04 9.99954679e-01 6.23570512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.81, Y:17.16, Z:0.62 [[ 8.56964456e-01 -5.15309562e-01 -8.24477445e-03 6.98084904e+01] [ 5.15287598e-01 8.57004100e-01 -4.76066575e-03 1.71600060e+01] [ 9.51902209e-03 -1.68708683e-04 9.99954679e-01 6.23405661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.83, Y:17.17, Z:0.62 [[ 8.55186576e-01 -5.18254731e-01 -8.24343928e-03 6.98343736e+01] [ 5.18232882e-01 8.55226283e-01 -4.76297656e-03 1.71715330e+01] [ 9.51844107e-03 -1.98787677e-04 9.99954679e-01 6.22065500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.86, Y:17.18, Z:0.62 [[ 8.54387634e-01 -5.19570823e-01 -8.24207795e-03 6.98586846e+01] [ 5.19549012e-01 8.54427361e-01 -4.76533111e-03 1.71840086e+01] [ 9.51818392e-03 -2.10723486e-04 9.99954679e-01 6.20884466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.89, Y:17.20, Z:0.62 [[ 8.53151814e-01 -5.21597604e-01 -8.24148855e-03 6.98850612e+01] [ 5.21575878e-01 8.53191588e-01 -4.76635024e-03 1.71959597e+01] [ 9.51768557e-03 -2.32141275e-04 9.99954679e-01 6.18570366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.91, Y:17.21, Z:0.62 [[ 8.52695807e-01 -5.22342759e-01 -8.24033632e-03 6.99097661e+01] [ 5.22321048e-01 8.52735589e-01 -4.76834145e-03 1.72084817e+01] [ 9.51753668e-03 -2.38156345e-04 9.99954679e-01 6.17771869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.94, Y:17.22, Z:0.62 [[ 8.52409719e-01 -5.22809516e-01 -8.23902221e-03 6.99352983e+01] [ 5.22787805e-01 8.52449501e-01 -4.77061098e-03 1.72211492e+01] [ 9.51747119e-03 -2.40745174e-04 9.99954679e-01 6.17957385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05762800000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:69.96, Y:17.23, Z:0.61 [[ 8.50486362e-01 -5.25932589e-01 -8.23769139e-03 6.99579513e+01] [ 5.25911002e-01 8.50526212e-01 -4.77290788e-03 1.72348124e+01] [ 9.51660025e-03 -2.72999477e-04 9.99954679e-01 6.11800218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.99, Y:17.25, Z:0.62 [[ 8.52475136e-01 -5.22703417e-01 -8.20250638e-03 6.99857524e+01] [ 5.22681094e-01 8.52514581e-01 -4.83357826e-03 1.72456429e+01] [ 9.51928416e-03 -1.66789722e-04 9.99954677e-01 6.18408566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.01, Y:17.26, Z:0.62 [[ 8.52753031e-01 -5.22249400e-01 -8.23610886e-03 7.00110547e+01] [ 5.22227614e-01 8.52792772e-01 -4.77562703e-03 1.72586278e+01] [ 9.51776245e-03 -2.28693055e-04 9.99954679e-01 6.18970316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.04, Y:17.27, Z:0.62 [[ 8.54424992e-01 -5.19509501e-01 -8.23478720e-03 7.00377676e+01] [ 5.19487567e-01 8.54464651e-01 -4.77790492e-03 1.72702829e+01] [ 9.51850158e-03 -1.95508188e-04 9.99954679e-01 6.20474307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.06, Y:17.28, Z:0.62 [[ 8.55552503e-01 -5.17650578e-01 -8.23362089e-03 7.00623624e+01] [ 5.17628538e-01 8.55592104e-01 -4.77991395e-03 1.72829214e+01] [ 9.51894624e-03 -1.72489796e-04 9.99954679e-01 6.21427123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.09, Y:17.30, Z:0.62 [[ 8.56979511e-01 -5.15284725e-01 -8.23224876e-03 7.00865150e+01] [ 5.15262553e-01 8.57019038e-01 -4.78227595e-03 1.72950989e+01] [ 9.51942766e-03 -1.43457012e-04 9.99954679e-01 6.21890526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.11, Y:17.31, Z:0.62 [[ 8.60601191e-01 -5.09212956e-01 -8.23131467e-03 7.01113727e+01] [ 5.09190490e-01 8.60640552e-01 -4.78388317e-03 1.73058632e+01] [ 9.52021849e-03 -7.42915924e-05 9.99954679e-01 6.22359971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.14, Y:17.32, Z:0.62 [[ 8.62554115e-01 -5.05897874e-01 -8.23038940e-03 7.01365453e+01] [ 5.05875241e-01 8.62593380e-01 -4.78547451e-03 1.73188486e+01] [ 9.52044080e-03 -3.58194903e-05 9.99954679e-01 6.22959399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.16, Y:17.33, Z:0.62 [[ 8.66306543e-01 -4.99444949e-01 -8.22903492e-03 7.01627984e+01] [ 4.99422001e-01 8.66345625e-01 -4.78780252e-03 1.73293261e+01] [ 9.52043219e-03 3.79435628e-05 9.99954679e-01 6.22796349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.19, Y:17.34, Z:0.62 [[ 8.67686087e-01 -4.97044425e-01 -8.22768426e-03 7.01880691e+01] [ 4.97021347e-01 8.67725092e-01 -4.79012248e-03 1.73411127e+01] [ 9.52027175e-03 6.69879154e-05 9.99954679e-01 6.23534649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.21, Y:17.35, Z:0.62 [[ 8.68979655e-01 -4.94779432e-01 -8.22631399e-03 7.02129860e+01] [ 4.94756230e-01 8.69018587e-01 -4.79247455e-03 1.73521646e+01] [ 9.52003759e-03 9.45427879e-05 9.99954679e-01 6.24288692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.24, Y:17.36, Z:0.62 [[ 8.70340769e-01 -4.92381239e-01 -8.22571938e-03 7.02404927e+01] [ 4.92357920e-01 8.70379630e-01 -4.79349491e-03 1.73610725e+01] [ 9.51972555e-03 1.21975964e-04 9.99954679e-01 6.24516622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.27, Y:17.37, Z:0.62 [[ 8.70385768e-01 -4.92301711e-01 -8.22437173e-03 7.02666449e+01] [ 4.92278367e-01 8.70424614e-01 -4.79580599e-03 1.73728694e+01] [ 9.51967909e-03 1.25520992e-04 9.99954679e-01 6.24143190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.29, Y:17.38, Z:0.62 [[ 8.69920879e-01 -4.93122750e-01 -8.22303097e-03 7.02941560e+01] [ 4.93099421e-01 8.69959734e-01 -4.79810380e-03 1.73819055e+01] [ 9.51975998e-03 1.19198869e-04 9.99954679e-01 6.22925682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.32, Y:17.39, Z:0.62 [[ 8.69326835e-01 -4.94169260e-01 -8.22167007e-03 7.03205482e+01] [ 4.94145956e-01 8.69365706e-01 -4.80043461e-03 1.73930899e+01] [ 9.51986522e-03 1.10441611e-04 9.99954679e-01 6.22736569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.35, Y:17.40, Z:0.62 [[ 8.68574637e-01 -4.95490188e-01 -8.22031469e-03 7.03468830e+01] [ 4.95466921e-01 8.68613530e-01 -4.80275446e-03 1.74038442e+01] [ 9.51999427e-03 9.86567028e-05 9.99954679e-01 6.22772115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.37, Y:17.41, Z:0.62 [[ 8.67654096e-01 -4.97100411e-01 -8.21895716e-03 7.03734319e+01] [ 4.97077194e-01 8.67693018e-01 -4.80507648e-03 1.74147796e+01] [ 9.52013724e-03 8.36881296e-05 9.99954679e-01 6.22705210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.40, Y:17.42, Z:0.62 [[ 8.65835906e-01 -5.00260587e-01 -8.21759379e-03 7.04005810e+01] [ 5.00237491e-01 8.65874900e-01 -4.80740698e-03 1.74217817e+01] [ 9.52036443e-03 5.16770806e-05 9.99954679e-01 6.21447176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.43, Y:17.43, Z:0.62 [[ 8.64743043e-01 -5.02147340e-01 -8.21700243e-03 7.04268055e+01] [ 5.02124319e-01 8.64782081e-01 -4.80841752e-03 1.74326497e+01] [ 9.52045054e-03 3.20888504e-05 9.99954679e-01 6.21332874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.45, Y:17.44, Z:0.62 [[ 8.62890503e-01 -5.05324136e-01 -8.21564263e-03 7.04546543e+01] [ 5.05301236e-01 8.62929613e-01 -4.81073976e-03 1.74400174e+01] [ 9.52050423e-03 -2.32725198e-07 9.99954679e-01 6.20709586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.48, Y:17.45, Z:0.62 [[ 8.62803622e-01 -5.05472488e-01 -8.21428251e-03 7.04792308e+01] [ 5.05449572e-01 8.62842723e-01 -4.81306104e-03 1.74516028e+01] [ 9.52050382e-03 8.20915255e-07 9.99954679e-01 6.21313613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.50, Y:17.47, Z:0.62 [[ 8.63982548e-01 -5.03454761e-01 -8.21335949e-03 7.05033024e+01] [ 5.03431740e-01 8.64021587e-01 -4.81463563e-03 1.74662269e+01] [ 9.52047113e-03 2.48953058e-05 9.99954679e-01 6.22177834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.53, Y:17.48, Z:0.62 [[ 8.66060087e-01 -4.99872472e-01 -8.21199525e-03 7.05283345e+01] [ 4.99849267e-01 8.66099017e-01 -4.81696139e-03 1.74800565e+01] [ 9.52026741e-03 6.70181865e-05 9.99954679e-01 6.22783464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.55, Y:17.49, Z:0.62 [[ 8.66488404e-01 -4.99129674e-01 -8.21064068e-03 7.05523626e+01] [ 4.99106414e-01 8.66527300e-01 -4.81926918e-03 1.74947790e+01] [ 9.52018456e-03 7.78574311e-05 9.99954679e-01 6.22818865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.58, Y:17.51, Z:0.62 [[ 8.66548560e-01 -4.99025251e-01 -8.20927446e-03 7.05761983e+01] [ 4.99001964e-01 8.66587441e-01 -4.82159532e-03 1.75095684e+01] [ 9.52015196e-03 8.17024016e-05 9.99954679e-01 6.21485559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.60, Y:17.52, Z:0.62 [[ 8.64777383e-01 -5.02088332e-01 -8.20885235e-03 7.06003723e+01] [ 5.02065176e-01 8.64816341e-01 -4.82231387e-03 1.75235389e+01] [ 9.52037718e-03 4.88490669e-05 9.99954679e-01 6.20248521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.62, Y:17.54, Z:0.62 [[ 8.63351219e-01 -5.04536727e-01 -8.20751889e-03 7.06244312e+01] [ 5.04513660e-01 8.63390231e-01 -4.82458232e-03 1.75372418e+01] [ 9.52047060e-03 2.45036311e-05 9.99954679e-01 6.21252939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.65, Y:17.55, Z:0.62 [[ 8.60280392e-01 -5.09755143e-01 -8.20618481e-03 7.06488661e+01] [ 5.09732291e-01 8.60319530e-01 -4.82685041e-03 1.75521561e+01] [ 9.52045288e-03 -3.05126285e-05 9.99954679e-01 6.24497912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.67, Y:17.57, Z:0.62 [[ 8.60135063e-01 -5.10000344e-01 -8.20498227e-03 7.06734867e+01] [ 5.09977484e-01 8.60174196e-01 -4.82889371e-03 1.75667291e+01] [ 9.52045148e-03 -3.08554179e-05 9.99954679e-01 6.24769241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.70, Y:17.58, Z:0.63 [[ 8.58006859e-01 -5.13572712e-01 -8.20360518e-03 7.06976139e+01] [ 5.13549992e-01 8.58046074e-01 -4.83123205e-03 1.75807624e+01] [ 9.52026016e-03 -6.77311373e-05 9.99954679e-01 6.26565217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.72, Y:17.60, Z:0.63 [[ 8.55686864e-01 -5.17428946e-01 -8.20223439e-03 7.07223064e+01] [ 5.17406380e-01 8.55726168e-01 -4.83355819e-03 1.75950483e+01] [ 9.51988952e-03 -1.07876159e-04 9.99954679e-01 6.28151908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.75, Y:17.61, Z:0.63 [[ 8.51357342e-01 -5.24522089e-01 -8.20086563e-03 7.07456500e+01] [ 5.24499829e-01 8.51396819e-01 -4.83587938e-03 1.76113074e+01] [ 9.51871647e-03 -1.84291204e-04 9.99954679e-01 6.28224067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.77, Y:17.63, Z:0.63 [[ 8.49483104e-01 -5.27552105e-01 -8.19948912e-03 7.07678415e+01] [ 5.27529963e-01 8.49522648e-01 -4.83821221e-03 1.76261805e+01] [ 9.51806075e-03 -2.15496661e-04 9.99954679e-01 6.27706803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.79, Y:17.64, Z:0.63 [[ 8.45713108e-01 -5.33574846e-01 -8.19889262e-03 7.07914831e+01] [ 5.33552976e-01 8.45752803e-01 -4.83922283e-03 1.76411721e+01] [ 9.51632399e-03 -2.81949374e-04 9.99954679e-01 6.27701433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.81, Y:17.66, Z:0.63 [[ 8.44227027e-01 -5.35923061e-01 -8.19751071e-03 7.08142037e+01] [ 5.35901278e-01 8.44266770e-01 -4.84156262e-03 1.76550149e+01] [ 9.51559095e-03 -3.05678443e-04 9.99954679e-01 6.28039419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.107628 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:70.84, Y:17.67, Z:0.63 [[ 8.43103590e-01 -5.37688708e-01 -8.19691194e-03 7.08377752e+01] [ 5.37666999e-01 8.43143373e-01 -4.84257614e-03 1.76699271e+01] [ 9.51497049e-03 -3.24415711e-04 9.99954679e-01 6.25479685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.86, Y:17.69, Z:0.63 [[ 8.43488882e-01 -5.37084108e-01 -8.19554950e-03 7.08609640e+01] [ 5.37062348e-01 8.43528637e-01 -4.84488082e-03 1.76864434e+01] [ 9.51528920e-03 -3.14917950e-04 9.99954679e-01 6.28330345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16762800000001 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:70.88, Y:17.70, Z:0.63 [[ 8.44466274e-01 -5.35546047e-01 -8.19418742e-03 7.08840248e+01] [ 5.35524192e-01 8.44505977e-01 -4.84718343e-03 1.77019392e+01] [ 9.51593018e-03 -2.94902673e-04 9.99954679e-01 6.25829932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.91, Y:17.72, Z:0.63 [[ 8.46426566e-01 -5.32442434e-01 -8.19283345e-03 7.09071653e+01] [ 5.32420411e-01 8.46466177e-01 -4.84947086e-03 1.77181062e+01] [ 9.51702048e-03 -2.57310783e-04 9.99954679e-01 6.28858704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.93, Y:17.74, Z:0.63 [[ 8.52165562e-01 -5.23208137e-01 -8.19147225e-03 7.09293065e+01] [ 5.23185663e-01 8.52204918e-01 -4.85176905e-03 1.77365596e+01] [ 9.51929798e-03 -1.51150337e-04 9.99954679e-01 6.28400720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25762800000001 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:70.95, Y:17.75, Z:0.63 [[ 8.55107547e-01 -5.18385962e-01 -8.19011006e-03 7.09530400e+01] [ 5.18363244e-01 8.55146762e-01 -4.85406742e-03 1.77525513e+01] [ 9.52002651e-03 -9.47023381e-05 9.99954679e-01 6.26518236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.98, Y:17.77, Z:0.63 [[ 8.60659102e-01 -5.09115758e-01 -8.18874473e-03 7.09761279e+01] [ 5.09092596e-01 8.60698057e-01 -4.85636963e-03 1.77679399e+01] [ 9.52049098e-03 1.08494095e-05 9.99954679e-01 6.28941687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.00, Y:17.78, Z:0.63 [[ 8.62599464e-01 -5.05821244e-01 -8.18737507e-03 7.09988553e+01] [ 5.05797911e-01 8.62638317e-01 -4.85867764e-03 1.77822768e+01] [ 9.52036583e-03 4.99355204e-05 9.99954679e-01 6.28947956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.02, Y:17.80, Z:0.63 [[ 8.64126544e-01 -5.03208001e-01 -8.18678006e-03 7.10228834e+01] [ 5.03184540e-01 8.64165321e-01 -4.85968002e-03 1.77971692e+01] [ 9.52016128e-03 7.99173416e-05 9.99954679e-01 6.29479518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.05, Y:17.81, Z:0.63 [[ 8.65847332e-01 -5.00241340e-01 -8.18539300e-03 7.10466881e+01] [ 5.00217724e-01 8.65886014e-01 -4.86201519e-03 1.78121391e+01] [ 9.51979831e-03 1.15284216e-04 9.99954679e-01 6.29556478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.07, Y:17.83, Z:0.63 [[ 8.65998659e-01 -4.99979345e-01 -8.18400647e-03 7.10712742e+01] [ 4.99955696e-01 8.66037320e-01 -4.86434795e-03 1.78261128e+01] [ 9.51972853e-03 1.20878148e-04 9.99954679e-01 6.30090735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.10, Y:17.84, Z:0.63 [[ 8.65842380e-01 -5.00249956e-01 -8.18261653e-03 7.10951080e+01] [ 5.00226297e-01 8.65881035e-01 -4.86668492e-03 1.78390169e+01] [ 9.51973139e-03 1.20622086e-04 9.99954679e-01 6.30964417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.12, Y:17.85, Z:0.63 [[ 8.65373400e-01 -5.01060808e-01 -8.18201541e-03 7.11198219e+01] [ 5.01037176e-01 8.65412072e-01 -4.86769534e-03 1.78517671e+01] [ 9.51982627e-03 1.12880168e-04 9.99954679e-01 6.31918621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.497628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:71.15, Y:17.86, Z:0.63 [[ 8.63383240e-01 -5.04482366e-01 -8.18065423e-03 7.11454404e+01] [ 5.04458865e-01 8.63421992e-01 -4.86998186e-03 1.78633481e+01] [ 9.52017675e-03 7.78571704e-05 9.99954679e-01 6.30240336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.17, Y:17.88, Z:0.63 [[ 8.62091113e-01 -5.06687293e-01 -8.17926044e-03 7.11705190e+01] [ 5.06663869e-01 8.62129911e-01 -4.87232166e-03 1.78764395e+01] [ 9.52032855e-03 5.62494614e-05 9.99954679e-01 6.33117488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.20, Y:17.89, Z:0.63 [[ 8.59024727e-01 -5.11868773e-01 -8.17787236e-03 7.11954482e+01] [ 5.11845561e-01 8.59063653e-01 -4.87465035e-03 1.78866303e+01] [ 9.52049419e-03 1.63751445e-06 9.99954679e-01 6.32598631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.22, Y:17.90, Z:0.63 [[ 8.57054317e-01 -5.15161168e-01 -8.17727162e-03 7.12208623e+01] [ 5.15138096e-01 8.57093326e-01 -4.87565788e-03 1.78992539e+01] [ 9.52043454e-03 -3.37205015e-05 9.99954679e-01 6.32523255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.25, Y:17.91, Z:0.63 [[ 8.53753642e-01 -5.20612979e-01 -8.17587845e-03 7.12460257e+01] [ 5.20590134e-01 8.53792784e-01 -4.87799293e-03 1.79091198e+01] [ 9.52005246e-03 -9.16774306e-05 9.99954679e-01 6.30885646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.27, Y:17.92, Z:0.63 [[ 8.52384413e-01 -5.22851774e-01 -8.17527650e-03 7.12714593e+01] [ 5.22829022e-01 8.52423609e-01 -4.87900157e-03 1.79222283e+01] [ 9.51979332e-03 -1.15486925e-04 9.99954679e-01 6.30732171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.29, Y:17.94, Z:0.63 [[ 8.52318390e-01 -5.22959414e-01 -8.17389743e-03 7.12949176e+01] [ 5.22936645e-01 8.52357577e-01 -4.88131086e-03 1.79363974e+01] [ 9.51981087e-03 -1.13999478e-04 9.99954679e-01 6.31007042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.32, Y:17.95, Z:0.63 [[ 8.53198882e-01 -5.21521688e-01 -8.17296246e-03 7.13181721e+01] [ 5.21498838e-01 8.53238021e-01 -4.88287582e-03 1.79513572e+01] [ 9.52000795e-03 -9.61262305e-05 9.99954679e-01 6.30773862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.34, Y:17.97, Z:0.63 [[ 8.53324812e-01 -5.21315634e-01 -8.17160462e-03 7.13422487e+01] [ 5.21292753e-01 8.53363932e-01 -4.88514714e-03 1.79665988e+01] [ 9.52005623e-03 -9.11810070e-05 9.99954679e-01 6.30535653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.37, Y:17.98, Z:0.63 [[ 8.53233778e-01 -5.21464637e-01 -8.17023239e-03 7.13652750e+01] [ 5.21441741e-01 8.53272889e-01 -4.88744106e-03 1.79811123e+01] [ 9.52006548e-03 -9.01704074e-05 9.99954679e-01 6.29999509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.39, Y:18.00, Z:0.63 [[ 8.51926793e-01 -5.23597169e-01 -8.16963704e-03 7.13891707e+01] [ 5.23574361e-01 8.51965957e-01 -4.88843602e-03 1.79957117e+01] [ 9.51982390e-03 -1.12822872e-04 9.99954679e-01 6.29086426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.41, Y:18.01, Z:0.63 [[ 8.50718367e-01 -5.25558312e-01 -8.16827552e-03 7.14134508e+01] [ 5.25535573e-01 8.50757570e-01 -4.89070998e-03 1.80102033e+01] [ 9.51957551e-03 -1.32102544e-04 9.99954679e-01 6.29555993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.44, Y:18.03, Z:0.63 [[ 8.49206492e-01 -5.27997761e-01 -8.16689955e-03 7.14374810e+01] [ 5.27975112e-01 8.49245747e-01 -4.89300661e-03 1.80250144e+01] [ 9.51920125e-03 -1.56746730e-04 9.99954679e-01 6.29977546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.46, Y:18.04, Z:0.63 [[ 8.45093855e-01 -5.34555610e-01 -8.16552512e-03 7.14610416e+01] [ 5.34533244e-01 8.45133272e-01 -4.89529921e-03 1.80399257e+01] [ 9.51776662e-03 -2.27757349e-04 9.99954679e-01 6.31243969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.48, Y:18.05, Z:0.63 [[ 8.42531182e-01 -5.38585697e-01 -8.16414551e-03 7.14845810e+01] [ 5.38563497e-01 8.42570693e-01 -4.89759897e-03 1.80544192e+01] [ 9.51664650e-03 -2.70530902e-04 9.99954679e-01 6.32382071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.51, Y:18.07, Z:0.63 [[ 8.38083410e-01 -5.45481043e-01 -8.16275367e-03 7.15082297e+01] [ 5.45459145e-01 8.38123089e-01 -4.89991763e-03 1.80687573e+01] [ 9.51420450e-03 -3.45908966e-04 9.99954679e-01 6.33939019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.53, Y:18.08, Z:0.64 [[ 8.35964589e-01 -5.48722682e-01 -8.16232315e-03 7.15320870e+01] [ 5.48700931e-01 8.36004350e-01 -4.90063469e-03 1.80837034e+01] [ 9.51282706e-03 -3.81917245e-04 9.99954679e-01 6.35143857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.56, Y:18.10, Z:0.64 [[ 8.34182223e-01 -5.51428525e-01 -8.16093728e-03 7.15560872e+01] [ 5.51406880e-01 8.34222041e-01 -4.90294146e-03 1.80990625e+01] [ 9.51165553e-03 -4.10050361e-04 9.99954679e-01 6.35933653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.58, Y:18.12, Z:0.64 [[ 8.32079813e-01 -5.54595894e-01 -8.15956108e-03 7.15791662e+01] [ 5.54574378e-01 8.32119702e-01 -4.90523069e-03 1.81153587e+01] [ 9.51015233e-03 -4.43540072e-04 9.99954679e-01 6.37340619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.60, Y:18.13, Z:0.64 [[ 8.31675704e-01 -5.55201735e-01 -8.15819306e-03 7.16020400e+01] [ 5.55180226e-01 8.31715596e-01 -4.90750487e-03 1.81309273e+01] [ 9.50995163e-03 -4.47814898e-04 9.99954679e-01 6.37696617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.62, Y:18.15, Z:0.64 [[ 8.32596702e-01 -5.53819644e-01 -8.15681373e-03 7.16243245e+01] [ 5.53798046e-01 8.32636546e-01 -4.90979641e-03 1.81485794e+01] [ 9.51080291e-03 -4.29347212e-04 9.99954679e-01 6.37174310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.65, Y:18.16, Z:0.64 [[ 8.33595558e-01 -5.52315068e-01 -8.15543375e-03 7.16470463e+01] [ 5.52293376e-01 8.33635351e-01 -4.91208755e-03 1.81644888e+01] [ 9.51167785e-03 -4.09497677e-04 9.99954679e-01 6.36772623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.67, Y:18.18, Z:0.64 [[ 8.35113606e-01 -5.50017070e-01 -8.15405949e-03 7.16696543e+01] [ 5.49995246e-01 8.35153326e-01 -4.91436776e-03 1.81800134e+01] [ 9.51287606e-03 -3.80638576e-04 9.99954679e-01 6.36714760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.69, Y:18.20, Z:0.64 [[ 8.38889791e-01 -5.44240241e-01 -8.15346269e-03 7.16916660e+01] [ 5.44218134e-01 8.38929355e-01 -4.91535772e-03 1.81977631e+01] [ 9.51531466e-03 -3.13818845e-04 9.99954679e-01 6.35613245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.71, Y:18.21, Z:0.63 [[ 8.40830806e-01 -5.41236639e-01 -8.15208636e-03 7.17147241e+01] [ 5.41214369e-01 8.40870278e-01 -4.91763930e-03 1.82142709e+01] [ 9.51645369e-03 -2.77123651e-04 9.99954679e-01 6.34787749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.74, Y:18.23, Z:0.63 [[ 8.44685906e-01 -5.35200230e-01 -8.15070350e-03 7.17374465e+01] [ 5.35177655e-01 8.44725205e-01 -4.91993025e-03 1.82318788e+01] [ 9.51825248e-03 -2.06278648e-04 9.99954679e-01 6.33005705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.76, Y:18.25, Z:0.63 [[ 8.46618399e-01 -5.32138022e-01 -8.14932705e-03 7.17609692e+01] [ 5.32115284e-01 8.46657603e-01 -4.92220913e-03 1.82473447e+01] [ 9.51898434e-03 -1.69148654e-04 9.99954679e-01 6.32497171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.78, Y:18.26, Z:0.63 [[ 8.48334331e-01 -5.29398219e-01 -8.14795029e-03 7.17835672e+01] [ 5.29375332e-01 8.48373448e-01 -4.92448708e-03 1.82621985e+01] [ 9.51951937e-03 -1.35712440e-04 9.99954679e-01 6.31893488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.81, Y:18.28, Z:0.63 [[ 8.50884160e-01 -5.25290175e-01 -8.14735336e-03 7.18070378e+01] [ 5.25267089e-01 8.50923160e-01 -4.92547448e-03 1.82769080e+01] [ 9.52007502e-03 -8.85283725e-05 9.99954679e-01 6.31905291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.83, Y:18.29, Z:0.63 [[ 8.51604145e-01 -5.24122147e-01 -8.14595705e-03 7.18302890e+01] [ 5.24098986e-01 8.51643100e-01 -4.92778268e-03 1.82905168e+01] [ 9.52020815e-03 -7.27676752e-05 9.99954679e-01 6.31893890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.86, Y:18.30, Z:0.63 [[ 8.51752061e-01 -5.23881742e-01 -8.14535140e-03 7.18550963e+01] [ 5.23858561e-01 8.51791005e-01 -4.92878358e-03 1.83045155e+01] [ 9.52023678e-03 -6.89104810e-05 9.99954679e-01 6.32211023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.88, Y:18.32, Z:0.63 [[ 8.51371311e-01 -5.24500301e-01 -8.14396878e-03 7.18785660e+01] [ 5.24477126e-01 8.51410259e-01 -4.93106707e-03 1.83179339e+01] [ 9.52020473e-03 -7.31563016e-05 9.99954679e-01 6.32213632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.90, Y:18.33, Z:0.63 [[ 8.50757947e-01 -5.25494630e-01 -8.14302882e-03 7.19032987e+01] [ 5.25471485e-01 8.50796913e-01 -4.93261879e-03 1.83314718e+01] [ 9.52012847e-03 -8.24648125e-05 9.99954679e-01 6.32788597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.93, Y:18.34, Z:0.64 [[ 8.48973401e-01 -5.28372859e-01 -8.14165616e-03 7.19289375e+01] [ 5.28349825e-01 8.49012432e-01 -4.93488344e-03 1.83425818e+01] [ 9.51982577e-03 -1.12057837e-04 9.99954679e-01 6.36124498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.95, Y:18.35, Z:0.64 [[ 8.47738709e-01 -5.30351583e-01 -8.14123169e-03 7.19531925e+01] [ 5.30328633e-01 8.47777790e-01 -4.93558361e-03 1.83547661e+01] [ 9.51954998e-03 -1.33442998e-04 9.99954679e-01 6.38217147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.98, Y:18.37, Z:0.64 [[ 8.46474823e-01 -5.32366518e-01 -8.14031191e-03 7.19785459e+01] [ 5.32343647e-01 8.46513949e-01 -4.93710014e-03 1.83679156e+01] [ 9.51923439e-03 -1.54312361e-04 9.99954679e-01 6.39988188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.00, Y:18.38, Z:0.64 [[ 8.44478465e-01 -5.35527665e-01 -8.13894049e-03 7.20040995e+01] [ 5.35504919e-01 8.44517664e-01 -4.93935993e-03 1.83805304e+01] [ 9.51864290e-03 -1.87259570e-04 9.99954679e-01 6.39895438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.03, Y:18.39, Z:0.64 [[ 8.43092525e-01 -5.37706959e-01 -8.13756512e-03 7.20291479e+01] [ 5.37684292e-01 8.43131770e-01 -4.94162479e-03 1.83941056e+01] [ 9.51818573e-03 -2.09194019e-04 9.99954679e-01 6.37338552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.05, Y:18.41, Z:0.64 [[ 8.42663035e-01 -5.38379804e-01 -8.13615696e-03 7.20533565e+01] [ 5.38357146e-01 8.42702285e-01 -4.94394218e-03 1.84075060e+01] [ 9.51807668e-03 -2.14080918e-04 9.99954679e-01 6.36124904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.08, Y:18.42, Z:0.63 [[ 8.42465471e-01 -5.38688923e-01 -8.13474587e-03 7.20770067e+01] [ 5.38666257e-01 8.42504717e-01 -4.94626290e-03 1.84201948e+01] [ 9.51805880e-03 -2.14857410e-04 9.99954679e-01 6.34622386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.10, Y:18.43, Z:0.63 [[ 8.42130723e-01 -5.39212098e-01 -8.13378686e-03 7.21016803e+01] [ 5.39189441e-01 8.42169974e-01 -4.94783941e-03 1.84332029e+01] [ 9.51796594e-03 -2.18924410e-04 9.99954679e-01 6.34090502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.13, Y:18.45, Z:0.63 [[ 8.42339976e-01 -5.38885172e-01 -8.13237885e-03 7.21264043e+01] [ 5.38862478e-01 8.42379206e-01 -4.95015258e-03 1.84468120e+01] [ 9.51811066e-03 -2.12522411e-04 9.99954679e-01 6.32661245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75762800000001 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:72.15, Y:18.46, Z:0.63 [[ 8.42802095e-01 -5.38162151e-01 -8.13194279e-03 7.21507054e+01] [ 5.38139416e-01 8.42841300e-01 -4.95086882e-03 1.84622947e+01] [ 9.51830745e-03 -2.03516332e-04 9.99954679e-01 6.29285967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.17, Y:18.48, Z:0.63 [[ 8.43326586e-01 -5.37339892e-01 -8.13072726e-03 7.21739228e+01] [ 5.37317100e-01 8.43365759e-01 -4.95286425e-03 1.84767305e+01] [ 9.51854851e-03 -1.91896694e-04 9.99954679e-01 6.31728516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.20, Y:18.49, Z:0.63 [[ 8.43177726e-01 -5.37573459e-01 -8.13012499e-03 7.21983114e+01] [ 5.37550668e-01 8.43216899e-01 -4.95385268e-03 1.84916772e+01] [ 9.51851851e-03 -1.93375880e-04 9.99954679e-01 6.32000339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.22, Y:18.51, Z:0.63 [[ 8.43152621e-01 -5.37612855e-01 -8.12875223e-03 7.22231901e+01] [ 5.37590044e-01 8.43191782e-01 -4.95610422e-03 1.85057131e+01] [ 9.51856242e-03 -1.91184011e-04 9.99954679e-01 6.32881963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.25, Y:18.52, Z:0.63 [[ 8.42858812e-01 -5.38073386e-01 -8.12738966e-03 7.22475333e+01] [ 5.38050575e-01 8.42897974e-01 -4.95833765e-03 1.85199480e+01] [ 9.51850980e-03 -1.93768093e-04 9.99954679e-01 6.34054800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.27, Y:18.53, Z:0.64 [[ 8.42036074e-01 -5.39360007e-01 -8.12602534e-03 7.22723284e+01] [ 5.39337234e-01 8.42075258e-01 -4.96057257e-03 1.85346697e+01] [ 9.51825935e-03 -2.05686980e-04 9.99954679e-01 6.36750596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.30, Y:18.55, Z:0.64 [[ 8.41427828e-01 -5.40308428e-01 -8.12482248e-03 7.22970371e+01] [ 5.40285681e-01 8.41467026e-01 -4.96254194e-03 1.85503961e+01] [ 9.51807345e-03 -2.14104356e-04 9.99954679e-01 6.37898864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.32, Y:18.57, Z:0.64 [[ 8.40721684e-01 -5.41406553e-01 -8.12362757e-03 7.23207570e+01] [ 5.41383838e-01 8.40760902e-01 -4.96449722e-03 1.85662789e+01] [ 9.51783977e-03 -2.24240210e-04 9.99954679e-01 6.38756902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.34, Y:18.58, Z:0.64 [[ 8.39402852e-01 -5.43449060e-01 -8.12226090e-03 7.23439971e+01] [ 5.43426419e-01 8.39442112e-01 -4.96673218e-03 1.85829777e+01] [ 9.51733378e-03 -2.44762002e-04 9.99954679e-01 6.40099399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.37, Y:18.60, Z:0.64 [[ 8.38583740e-01 -5.44712184e-01 -8.12086237e-03 7.23673179e+01] [ 5.44689579e-01 8.38623021e-01 -4.96901780e-03 1.85977638e+01] [ 9.51702667e-03 -2.56411576e-04 9.99954679e-01 6.40949860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.39, Y:18.61, Z:0.64 [[ 8.37776437e-01 -5.45953034e-01 -8.11946694e-03 7.23912201e+01] [ 5.45930466e-01 8.37815739e-01 -4.97129691e-03 1.86128188e+01] [ 9.51671183e-03 -2.67828956e-04 9.99954679e-01 6.41787996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.41, Y:18.63, Z:0.64 [[ 8.36446032e-01 -5.47989172e-01 -8.11807156e-03 7.24143861e+01] [ 5.47966677e-01 8.36485376e-01 -4.97357450e-03 1.86288814e+01] [ 9.51611312e-03 -2.88306038e-04 9.99954679e-01 6.43051154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.44, Y:18.65, Z:0.64 [[ 8.35508238e-01 -5.49417968e-01 -8.11667554e-03 7.24392874e+01] [ 5.49395518e-01 8.35547608e-01 -4.97585171e-03 1.86452378e+01] [ 9.51569117e-03 -3.01900070e-04 9.99954679e-01 6.43830459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.46, Y:18.66, Z:0.64 [[ 8.36146017e-01 -5.48446581e-01 -8.13544904e-03 7.24608006e+01] [ 5.48424383e-01 8.36185530e-01 -4.94523322e-03 1.86618653e+01] [ 9.51494102e-03 -3.26741557e-04 9.99954679e-01 6.42482273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.48, Y:18.68, Z:0.64 [[ 8.36348973e-01 -5.48137343e-01 -8.11471087e-03 7.24839231e+01] [ 5.48114802e-01 8.36388291e-01 -4.97903183e-03 1.86785460e+01] [ 9.51624243e-03 -2.83584988e-04 9.99954679e-01 6.40709243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.50, Y:18.70, Z:0.64 [[ 8.33842534e-01 -5.51942752e-01 -8.11332447e-03 7.24986449e+01] [ 5.51920369e-01 8.33881942e-01 -4.98128994e-03 1.86970062e+01] [ 9.51494164e-03 -3.24297605e-04 9.99954679e-01 6.37921642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.53, Y:18.71, Z:0.64 [[ 8.37933901e-01 -5.45712790e-01 -8.02049385e-03 7.25307379e+01] [ 5.45688661e-01 8.37972282e-01 -5.13226687e-03 1.87122604e+01] [ 9.52169520e-03 -7.61921501e-05 9.99954665e-01 6.37626248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.55, Y:18.73, Z:0.64 [[ 8.38283466e-01 -5.45174297e-01 -8.11272290e-03 7.25542067e+01] [ 5.45151588e-01 8.38322686e-01 -4.98208324e-03 1.87277821e+01] [ 9.51718338e-03 -2.46265767e-04 9.99954680e-01 6.37459437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.58, Y:18.74, Z:0.64 [[ 8.38958014e-01 -5.44135698e-01 -8.11132603e-03 7.25773975e+01] [ 5.44112918e-01 8.38997192e-01 -4.98435645e-03 1.87441807e+01] [ 9.51754604e-03 -2.31811480e-04 9.99954680e-01 6.37887121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.60, Y:18.76, Z:0.64 [[ 8.39127428e-01 -5.43874408e-01 -8.11089389e-03 7.26016260e+01] [ 5.43851610e-01 8.39166596e-01 -4.98505956e-03 1.87591889e+01] [ 9.51763753e-03 -2.28022488e-04 9.99954680e-01 6.38691735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.357628 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:72.63, Y:18.77, Z:0.64 [[ 8.39137876e-01 -5.43858309e-01 -8.10951580e-03 7.26259442e+01] [ 5.43835488e-01 8.39177031e-01 -4.98730038e-03 1.87742048e+01] [ 9.51770414e-03 -2.25209831e-04 9.99954680e-01 6.36388555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.65, Y:18.79, Z:0.64 [[ 8.40561714e-01 -5.41655116e-01 -8.10810923e-03 7.26505605e+01] [ 5.41632170e-01 8.40600795e-01 -4.98958605e-03 1.87887198e+01] [ 9.51831788e-03 -1.97557795e-04 9.99954680e-01 6.40835893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.67, Y:18.80, Z:0.64 [[ 8.41442231e-01 -5.40286267e-01 -8.10688639e-03 7.26735809e+01] [ 5.40263238e-01 8.41481264e-01 -4.99157209e-03 1.88027976e+01] [ 9.51867086e-03 -1.79733136e-04 9.99954680e-01 6.41145505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.70, Y:18.82, Z:0.64 [[ 8.43423833e-01 -5.37187614e-01 -8.10593491e-03 7.26981435e+01] [ 5.37164427e-01 8.43462772e-01 -4.99311674e-03 1.88173911e+01] [ 9.51929480e-03 -1.42906219e-04 9.99954680e-01 6.42198559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.72, Y:18.83, Z:0.64 [[ 8.44568187e-01 -5.35386677e-01 -8.10454206e-03 7.27214253e+01] [ 5.35363385e-01 8.44607064e-01 -4.99537652e-03 1.88311187e+01] [ 9.51961151e-03 -1.19938984e-04 9.99954680e-01 6.42536288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.75, Y:18.85, Z:0.64 [[ 8.45727091e-01 -5.33554134e-01 -8.10393863e-03 7.27457605e+01] [ 5.33530749e-01 8.45765911e-01 -4.99635527e-03 1.88455191e+01] [ 9.51986105e-03 -9.81474319e-05 9.99954680e-01 6.42516107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.77, Y:18.86, Z:0.64 [[ 8.47506426e-01 -5.30723286e-01 -8.10256467e-03 7.27702592e+01] [ 5.30699750e-01 8.47545155e-01 -4.99858242e-03 1.88590821e+01] [ 9.52015351e-03 -6.36983148e-05 9.99954680e-01 6.41708078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.80, Y:18.87, Z:0.64 [[ 8.47830140e-01 -5.30206021e-01 -8.10118284e-03 7.27951476e+01] [ 5.30182440e-01 8.47868841e-01 -5.00082094e-03 1.88730770e+01] [ 9.52020588e-03 -5.52581670e-05 9.99954680e-01 6.41234457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.82, Y:18.89, Z:0.64 [[ 8.47527685e-01 -5.30689378e-01 -8.09980684e-03 7.28193913e+01] [ 5.30665798e-01 8.47566387e-01 -5.00304865e-03 1.88867352e+01] [ 9.52018880e-03 -5.80682163e-05 9.99954680e-01 6.41268263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.84, Y:18.90, Z:0.64 [[ 8.45445495e-01 -5.34000310e-01 -8.09841711e-03 7.28433336e+01] [ 5.33976860e-01 8.45484275e-01 -5.00529719e-03 1.88986823e+01] [ 9.51991457e-03 -9.26613818e-05 9.99954680e-01 6.39650015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.87, Y:18.91, Z:0.64 [[ 8.43667494e-01 -5.36804978e-01 -8.09781510e-03 7.28680119e+01] [ 5.36781647e-01 8.43706347e-01 -5.00627096e-03 1.89115852e+01] [ 9.51956917e-03 -1.23130456e-04 9.99954680e-01 6.39550900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.89, Y:18.92, Z:0.64 [[ 8.39200842e-01 -5.43761339e-01 -8.09647193e-03 7.28946612e+01] [ 5.43738309e-01 8.39239874e-01 -5.00844229e-03 1.89220753e+01] [ 9.51827937e-03 -1.99272974e-04 9.99954680e-01 6.41793553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.92, Y:18.94, Z:0.64 [[ 8.37586787e-01 -5.46244309e-01 -8.09503781e-03 7.29188609e+01] [ 5.46221373e-01 8.37625874e-01 -5.01075915e-03 1.89359503e+01] [ 9.51771179e-03 -2.24737012e-04 9.99954680e-01 6.43213709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.94, Y:18.95, Z:0.64 [[ 8.36932008e-01 -5.47247025e-01 -8.09361541e-03 7.29424463e+01] [ 5.47224114e-01 8.36971110e-01 -5.01305562e-03 1.89512001e+01] [ 9.51750205e-03 -2.33434813e-04 9.99954680e-01 6.43936239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.97, Y:18.97, Z:0.64 [[ 8.36769510e-01 -5.47495482e-01 -8.09220454e-03 7.29657089e+01] [ 5.47472560e-01 8.36808606e-01 -5.01533206e-03 1.89669526e+01] [ 9.51749804e-03 -2.33582982e-04 9.99954680e-01 6.44102645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.99, Y:18.98, Z:0.64 [[ 8.36939801e-01 -5.47235149e-01 -8.09079457e-03 7.29882948e+01] [ 5.47212193e-01 8.36978877e-01 -5.01760560e-03 1.89814362e+01] [ 9.51763430e-03 -2.27947600e-04 9.99954680e-01 6.43720843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.01, Y:19.00, Z:0.64 [[ 8.37286761e-01 -5.46704150e-01 -8.09018387e-03 7.30112957e+01] [ 5.46681160e-01 8.37325817e-01 -5.01859008e-03 1.89968870e+01] [ 9.51780384e-03 -2.20752062e-04 9.99954680e-01 6.42902854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.03, Y:19.01, Z:0.64 [[ 8.37506390e-01 -5.46367659e-01 -8.08877039e-03 7.30341963e+01] [ 5.46344630e-01 8.37545423e-01 -5.02086724e-03 1.90119979e+01] [ 9.51795210e-03 -2.14247877e-04 9.99954680e-01 6.42276731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.06, Y:19.03, Z:0.64 [[ 8.37637492e-01 -5.46166654e-01 -8.08815716e-03 7.30577524e+01] [ 5.46143607e-01 8.37676513e-01 -5.02185490e-03 1.90277269e+01] [ 9.51802898e-03 -2.10801385e-04 9.99954680e-01 6.41986960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.08, Y:19.04, Z:0.64 [[ 8.38280048e-01 -5.45179938e-01 -8.08674432e-03 7.30790349e+01] [ 5.45156823e-01 8.38319030e-01 -5.02412899e-03 1.90444162e+01] [ 9.51832598e-03 -1.96916753e-04 9.99954680e-01 6.41095513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95762800000001 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:73.10, Y:19.06, Z:0.64 [[ 8.38289009e-01 -5.45166168e-01 -8.08613282e-03 7.31022340e+01] [ 5.45143043e-01 8.38327985e-01 -5.02511297e-03 1.90606568e+01] [ 9.51835302e-03 -1.95602078e-04 9.99954680e-01 6.40232336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.12, Y:19.08, Z:0.64 [[ 8.39480442e-01 -5.43329757e-01 -8.08471021e-03 7.31243705e+01] [ 5.43306525e-01 8.39519354e-01 -5.02740072e-03 1.90758846e+01] [ 9.51880710e-03 -1.72071228e-04 9.99954680e-01 6.41849349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.15, Y:19.09, Z:0.64 [[ 8.39967305e-01 -5.42576796e-01 -8.08374376e-03 7.31467556e+01] [ 5.42553513e-01 8.40006187e-01 -5.02895423e-03 1.90905843e+01] [ 9.51898864e-03 -1.61706442e-04 9.99954680e-01 6.41641833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.17, Y:19.11, Z:0.64 [[ 8.40524661e-01 -5.41712984e-01 -8.08314128e-03 7.31699100e+01] [ 5.41689653e-01 8.40563513e-01 -5.02992242e-03 1.91058242e+01] [ 9.51916792e-03 -1.50780152e-04 9.99954680e-01 6.42417860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.19, Y:19.12, Z:0.64 [[ 8.42084464e-01 -5.39285119e-01 -8.08176319e-03 7.31923844e+01] [ 5.39261654e-01 8.42123237e-01 -5.03213567e-03 1.91221678e+01] [ 9.51959646e-03 -1.20701715e-04 9.99954680e-01 6.41962015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.22, Y:19.14, Z:0.64 [[ 8.42792080e-01 -5.38178610e-01 -8.08038842e-03 7.32160260e+01] [ 5.38155073e-01 8.42830809e-01 -5.03434225e-03 1.91379977e+01] [ 9.51977562e-03 -1.05598248e-04 9.99954680e-01 6.42253790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.24, Y:19.15, Z:0.64 [[ 8.43561914e-01 -5.36971160e-01 -8.07900551e-03 7.32395986e+01] [ 5.36947546e-01 8.43600596e-01 -5.03656054e-03 1.91535052e+01] [ 9.51994162e-03 -8.93515267e-05 9.99954680e-01 6.42580091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.26, Y:19.17, Z:0.64 [[ 8.44985206e-01 -5.34728659e-01 -8.07857735e-03 7.32632244e+01] [ 5.34704937e-01 8.45023820e-01 -5.03724721e-03 1.91681802e+01] [ 9.52015074e-03 -6.32558245e-05 9.99954680e-01 6.44186213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.29, Y:19.18, Z:0.64 [[ 8.45658010e-01 -5.33664023e-01 -8.07722304e-03 7.32872403e+01] [ 5.33640231e-01 8.45696582e-01 -5.03941791e-03 1.91830262e+01] [ 9.52023595e-03 -4.87070435e-05 9.99954680e-01 6.44737247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.31, Y:19.20, Z:0.64 [[ 8.47038507e-01 -5.31470176e-01 -8.07587192e-03 7.33103048e+01] [ 5.31446263e-01 8.47077005e-01 -5.04158220e-03 1.91965024e+01] [ 9.52033598e-03 -2.14776999e-05 9.99954680e-01 6.44661908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.33, Y:19.21, Z:0.64 [[ 8.47554540e-01 -5.30646862e-01 -8.07528608e-03 7.33344692e+01] [ 5.30622903e-01 8.47593009e-01 -5.04252039e-03 1.92113457e+01] [ 9.52035364e-03 -1.11206916e-05 9.99954680e-01 6.44542224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.36, Y:19.23, Z:0.65 [[ 8.48170407e-01 -5.29661942e-01 -8.07395565e-03 7.33587205e+01] [ 5.29637918e-01 8.48208835e-01 -5.04464974e-03 1.92261338e+01] [ 9.52035949e-03 2.44955502e-06 9.99954680e-01 6.45172301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.38, Y:19.24, Z:0.65 [[ 8.49276045e-01 -5.27887331e-01 -8.07252487e-03 7.33832448e+01] [ 5.27863205e-01 8.49314409e-01 -5.04693826e-03 1.92400124e+01] [ 9.52032646e-03 2.50549152e-05 9.99954680e-01 6.45129541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.41, Y:19.25, Z:0.64 [[ 8.49661957e-01 -5.27265983e-01 -8.07105879e-03 7.34063576e+01] [ 5.27241807e-01 8.49700289e-01 -5.04928172e-03 1.92535952e+01] [ 9.52029548e-03 3.47829693e-05 9.99954680e-01 6.44096899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.43, Y:19.27, Z:0.64 [[ 8.50417355e-01 -5.26046757e-01 -8.07042433e-03 7.34312332e+01] [ 5.26022517e-01 8.50455646e-01 -5.05029560e-03 1.92674289e+01] [ 9.52022956e-03 4.96341073e-05 9.99954680e-01 6.43020393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.45, Y:19.28, Z:0.64 [[ 8.50907565e-01 -5.25253469e-01 -8.06898414e-03 7.34545900e+01] [ 5.25229171e-01 8.50945820e-01 -5.05259557e-03 1.92811959e+01] [ 9.52016169e-03 6.12259451e-05 9.99954680e-01 6.41381502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.48, Y:19.30, Z:0.64 [[ 8.51383778e-01 -5.24481239e-01 -8.06800573e-03 7.34785818e+01] [ 5.24456891e-01 8.51422002e-01 -5.05415743e-03 1.92950974e+01] [ 9.52008834e-03 7.17064470e-05 9.99954680e-01 6.42429059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.50, Y:19.31, Z:0.64 [[ 8.51991748e-01 -5.23493068e-01 -8.06656640e-03 7.35024177e+01] [ 5.23468654e-01 8.52029930e-01 -5.05645359e-03 1.93085154e+01] [ 9.51997440e-03 8.54620759e-05 9.99954680e-01 6.41754130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.53, Y:19.32, Z:0.64 [[ 8.51632002e-01 -5.24078117e-01 -8.06594191e-03 7.35266142e+01] [ 5.24053720e-01 8.51670195e-01 -5.05744957e-03 1.93225808e+01] [ 9.52002096e-03 8.00990378e-05 9.99954680e-01 6.42366341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.55, Y:19.33, Z:0.64 [[ 8.49505531e-01 -5.27518072e-01 -8.06450272e-03 7.35516481e+01] [ 5.27493808e-01 8.49543808e-01 -5.05974343e-03 1.93341608e+01] [ 9.52025445e-03 4.43047784e-05 9.99954680e-01 6.43220773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.58, Y:19.35, Z:0.64 [[ 8.47554477e-01 -5.30647135e-01 -8.06396733e-03 7.35770792e+01] [ 5.30623004e-01 8.47592838e-01 -5.06059657e-03 1.93473473e+01] [ 9.52035202e-03 1.02047129e-05 9.99954680e-01 6.44740591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.60, Y:19.36, Z:0.65 [[ 8.45288072e-01 -5.34250008e-01 -8.06256128e-03 7.36018662e+01] [ 5.34226019e-01 8.45326522e-01 -5.06283569e-03 1.93601635e+01] [ 9.52031689e-03 -2.76753956e-05 9.99954680e-01 6.46262624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.63, Y:19.37, Z:0.65 [[ 8.41331261e-01 -5.40459737e-01 -8.06115800e-03 7.36274167e+01] [ 5.40436011e-01 8.41369873e-01 -5.06506905e-03 1.93737826e+01] [ 9.51988137e-03 -9.51391424e-05 9.99954680e-01 6.50050749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.65, Y:19.39, Z:0.65 [[ 8.39653849e-01 -5.43062107e-01 -8.05989413e-03 7.36513526e+01] [ 5.43038481e-01 8.39692523e-01 -5.06707940e-03 1.93894023e+01] [ 9.51957165e-03 -1.22239940e-04 9.99954680e-01 6.51556516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.67, Y:19.40, Z:0.65 [[ 8.38080444e-01 -5.45487150e-01 -8.05845647e-03 7.36745535e+01] [ 5.45463613e-01 8.38119173e-01 -5.06936476e-03 1.94047738e+01] [ 9.51922021e-03 -1.47059311e-04 9.99954680e-01 6.51761594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.70, Y:19.42, Z:0.65 [[ 8.37924875e-01 -5.45726111e-01 -8.05701032e-03 7.36987313e+01] [ 5.45702563e-01 8.37963597e-01 -5.07166216e-03 1.94200706e+01] [ 9.51921982e-03 -1.47059305e-04 9.99954680e-01 6.52032765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.72, Y:19.44, Z:0.65 [[ 8.34338229e-01 -5.51194001e-01 -8.05556352e-03 7.37213913e+01] [ 5.51170685e-01 8.34377091e-01 -5.07395914e-03 1.94371606e+01] [ 9.51811350e-03 -2.06592381e-04 9.99954680e-01 6.50305899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.74, Y:19.45, Z:0.65 [[ 8.32589337e-01 -5.53832219e-01 -8.05411373e-03 7.37437958e+01] [ 5.53809004e-01 8.32628260e-01 -5.07625942e-03 1.94523977e+01] [ 9.51747871e-03 -2.34001239e-04 9.99954680e-01 6.49269136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.77, Y:19.47, Z:0.65 [[ 8.29515186e-01 -5.58426089e-01 -8.05348595e-03 7.37671093e+01] [ 5.58403080e-01 8.29554230e-01 -5.07725520e-03 1.94678150e+01] [ 9.51607510e-03 -2.85431066e-04 9.99954680e-01 6.49737269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.79, Y:19.48, Z:0.65 [[ 8.28387205e-01 -5.60098030e-01 -8.05208859e-03 7.37908637e+01] [ 5.60075078e-01 8.28426283e-01 -5.07947032e-03 1.94836610e+01] [ 9.51556314e-03 -3.02005930e-04 9.99954680e-01 6.51095267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.81, Y:19.50, Z:0.65 [[ 8.27574975e-01 -5.61297468e-01 -8.05064670e-03 7.38136513e+01] [ 5.61274551e-01 8.27614073e-01 -5.08175460e-03 1.94999830e+01] [ 9.51520450e-03 -3.13090176e-04 9.99954680e-01 6.51654737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.83, Y:19.52, Z:0.65 [[ 8.27695106e-01 -5.61120328e-01 -8.04921071e-03 7.38345775e+01] [ 5.61097380e-01 8.27734186e-01 -5.08402810e-03 1.95188462e+01] [ 9.51535839e-03 -3.08365868e-04 9.99954680e-01 6.51520017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.86, Y:19.54, Z:0.65 [[ 8.28156424e-01 -5.60439251e-01 -8.04876682e-03 7.38572835e+01] [ 5.60416265e-01 8.28195482e-01 -5.08473076e-03 1.95363693e+01] [ 9.51563501e-03 -2.99707385e-04 9.99954680e-01 6.51279302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.88, Y:19.55, Z:0.65 [[ 8.30566013e-01 -5.56862045e-01 -8.04735338e-03 7.38787910e+01] [ 5.56838869e-01 8.30604958e-01 -5.08696675e-03 1.95549183e+01] [ 9.51691033e-03 -2.56017458e-04 9.99954680e-01 6.52298915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.90, Y:19.57, Z:0.65 [[ 8.31950259e-01 -5.54791879e-01 -8.04593023e-03 7.39004810e+01] [ 5.54768584e-01 8.31989133e-01 -5.08921672e-03 1.95706755e+01] [ 9.51758263e-03 -2.29654148e-04 9.99954680e-01 6.53068615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.92, Y:19.59, Z:0.65 [[ 8.33557371e-01 -5.52374318e-01 -8.04496247e-03 7.39237547e+01] [ 5.52350896e-01 8.33596169e-01 -5.09074608e-03 1.95872484e+01] [ 9.51824729e-03 -2.00213309e-04 9.99954680e-01 6.54070298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.94, Y:19.61, Z:0.65 [[ 8.37050992e-01 -5.47065753e-01 -8.04354310e-03 7.39441662e+01] [ 5.47042062e-01 8.37089627e-01 -5.09298775e-03 1.96055683e+01] [ 9.51936567e-03 -1.37065954e-04 9.99954680e-01 6.53804374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.97, Y:19.62, Z:0.65 [[ 8.39011141e-01 -5.44054793e-01 -8.04292681e-03 7.39669206e+01] [ 5.44030954e-01 8.39049684e-01 -5.09396082e-03 1.96228552e+01] [ 9.51980899e-03 -1.01711274e-04 9.99954680e-01 6.53990076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.99, Y:19.64, Z:0.65 [[ 8.43252914e-01 -5.37456842e-01 -8.04156677e-03 7.39887601e+01] [ 5.37432681e-01 8.43291256e-01 -5.09610693e-03 1.96417587e+01] [ 9.52032048e-03 -2.44937723e-05 9.99954680e-01 6.54442355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.01, Y:19.66, Z:0.65 [[ 8.45240807e-01 -5.34325120e-01 -8.04014401e-03 7.40116562e+01] [ 5.34300796e-01 8.45279046e-01 -5.09835064e-03 1.96580857e+01] [ 9.52034208e-03 1.34786654e-05 9.99954680e-01 6.54866448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.03, Y:19.68, Z:0.66 [[ 8.48618387e-01 -5.28944432e-01 -8.03871767e-03 7.40343632e+01] [ 5.28919845e-01 8.48656457e-01 -5.10059860e-03 1.96752432e+01] [ 9.52004289e-03 7.66244478e-05 9.99954680e-01 6.56212947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.06, Y:19.69, Z:0.66 [[ 8.49671123e-01 -5.27251727e-01 -8.03729555e-03 7.40572491e+01] [ 5.27227043e-01 8.49709131e-01 -5.10283853e-03 1.96910195e+01] [ 9.51984384e-03 9.82549787e-05 9.99954680e-01 6.56742148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.08, Y:19.71, Z:0.66 [[ 8.50940983e-01 -5.25199837e-01 -8.03586952e-03 7.40799943e+01] [ 5.25175039e-01 8.50978916e-01 -5.10508324e-03 1.97069371e+01] [ 9.51954442e-03 1.23886457e-04 9.99954680e-01 6.56896398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.10, Y:19.72, Z:0.66 [[ 8.50982424e-01 -5.25132710e-01 -8.03442552e-03 7.41031894e+01] [ 5.25107888e-01 8.51020341e-01 -5.10735481e-03 1.97219486e+01] [ 9.51949861e-03 1.27328964e-04 9.99954680e-01 6.57370585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.13, Y:19.74, Z:0.66 [[ 8.50776171e-01 -5.25466819e-01 -8.03298741e-03 7.41270666e+01] [ 5.25441991e-01 8.50814084e-01 -5.10961570e-03 1.97375667e+01] [ 9.51951234e-03 1.26270383e-04 9.99954680e-01 6.57659887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.15, Y:19.75, Z:0.66 [[ 8.50433222e-01 -5.26021700e-01 -8.03155515e-03 7.41507573e+01] [ 5.25996876e-01 8.50471138e-01 -5.11186601e-03 1.97532655e+01] [ 9.51955829e-03 1.22727768e-04 9.99954680e-01 6.57591032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.17, Y:19.77, Z:0.66 [[ 8.49172130e-01 -5.28055120e-01 -8.03012417e-03 7.41743206e+01] [ 5.28030365e-01 8.49210091e-01 -5.11411291e-03 1.97692701e+01] [ 9.51979599e-03 1.02612758e-04 9.99954680e-01 6.55487085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.20, Y:19.78, Z:0.65 [[ 8.48156245e-01 -5.29685304e-01 -8.02888136e-03 7.41986727e+01] [ 5.29660603e-01 8.48194242e-01 -5.11606332e-03 1.97847534e+01] [ 9.51995449e-03 8.66389074e-05 9.99954680e-01 6.53942570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.22, Y:19.80, Z:0.65 [[ 8.45648785e-01 -5.33679389e-01 -8.02764000e-03 7.42227750e+01] [ 5.33654849e-01 8.45686885e-01 -5.11801041e-03 1.97981989e+01] [ 9.52024653e-03 4.40502715e-05 9.99954680e-01 6.51189195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.25, Y:19.81, Z:0.65 [[ 8.43780955e-01 -5.36627681e-01 -8.02698850e-03 7.42476670e+01] [ 5.36603265e-01 8.43819134e-01 -5.11903199e-03 1.98123140e+01] [ 9.52034076e-03 1.20334622e-05 9.99954680e-01 6.50623168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.27, Y:19.82, Z:0.65 [[ 8.39618461e-01 -5.43117324e-01 -8.02576184e-03 7.42742165e+01] [ 5.43093184e-01 8.39656816e-01 -5.12095446e-03 1.98242043e+01] [ 9.52016472e-03 -5.90886524e-05 9.99954680e-01 6.51785328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.30, Y:19.84, Z:0.65 [[ 8.37181865e-01 -5.46865735e-01 -8.02450962e-03 7.42987699e+01] [ 5.46841748e-01 8.37220316e-01 -5.12291594e-03 1.98377664e+01] [ 9.51982967e-03 -9.93245439e-05 9.99954680e-01 6.52877780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.32, Y:19.85, Z:0.65 [[ 8.32474360e-01 -5.54005480e-01 -8.02304548e-03 7.43239448e+01] [ 5.53981801e-01 8.32513001e-01 -5.12520792e-03 1.98495427e+01] [ 9.51868294e-03 -1.78017001e-04 9.99954680e-01 6.51542728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.35, Y:19.86, Z:0.65 [[ 8.29817246e-01 -5.57977577e-01 -8.02259255e-03 7.43483673e+01] [ 5.57954076e-01 8.29855996e-01 -5.12591680e-03 1.98633237e+01] [ 9.51774317e-03 -2.22664052e-04 9.99954680e-01 6.53717110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.37, Y:19.88, Z:0.65 [[ 8.27176526e-01 -5.61884914e-01 -8.02114069e-03 7.43726118e+01] [ 5.61861574e-01 8.27215373e-01 -5.12818769e-03 1.98770043e+01] [ 9.51666219e-03 -2.64854259e-04 9.99954680e-01 6.54395406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.40, Y:19.89, Z:0.66 [[ 8.21929897e-01 -5.69532202e-01 -8.01967904e-03 7.43986293e+01] [ 5.69509201e-01 8.21968946e-01 -5.13047247e-03 1.98898162e+01] [ 9.51389641e-03 -3.50392299e-04 9.99954680e-01 6.56000383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.42, Y:19.90, Z:0.66 [[ 8.19528461e-01 -5.72982380e-01 -8.01837880e-03 7.44232369e+01] [ 5.72959523e-01 8.19567594e-01 -5.13250379e-03 1.99033861e+01] [ 9.51243767e-03 -3.87973564e-04 9.99954680e-01 6.56701868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.45, Y:19.92, Z:0.66 [[ 8.17102455e-01 -5.76436719e-01 -8.01791984e-03 7.44480985e+01] [ 5.76414021e-01 8.17141681e-01 -5.13322068e-03 1.99177735e+01] [ 9.51075338e-03 -4.27274194e-04 9.99954680e-01 6.57817903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.47, Y:19.93, Z:0.66 [[ 8.13054741e-01 -5.82132048e-01 -8.01665477e-03 7.44725330e+01] [ 5.82109605e-01 8.13094113e-01 -5.13519561e-03 1.99323491e+01] [ 9.50765674e-03 -4.91376607e-04 9.99954680e-01 6.59327049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.50, Y:19.95, Z:0.66 [[ 8.11405225e-01 -5.84429051e-01 -8.01538722e-03 7.44957705e+01] [ 5.84406700e-01 8.11444649e-01 -5.13717332e-03 1.99476511e+01] [ 9.50635640e-03 -5.15916719e-04 9.99954680e-01 6.60221115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75762800000001 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:74.52, Y:19.96, Z:0.66 [[ 8.09507338e-01 -5.87055062e-01 -8.01394144e-03 7.45184824e+01] [ 5.87032817e-01 8.09546823e-01 -5.13942775e-03 1.99631670e+01] [ 9.50478790e-03 -5.44042142e-04 9.99954680e-01 6.59969289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.54, Y:19.98, Z:0.66 [[ 8.09328750e-01 -5.87301252e-01 -8.01331482e-03 7.45412495e+01] [ 5.87279009e-01 8.09368236e-01 -5.14040457e-03 1.99788710e+01] [ 9.50468852e-03 -5.45774385e-04 9.99954680e-01 6.62514082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.56, Y:20.00, Z:0.66 [[ 8.10263524e-01 -5.86010948e-01 -8.01190162e-03 7.45630197e+01] [ 5.85988621e-01 8.10302962e-01 -5.14260627e-03 1.99969046e+01] [ 9.50569118e-03 -5.28016903e-04 9.99954680e-01 6.63771774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.58, Y:20.01, Z:0.66 [[ 8.11372031e-01 -5.84475200e-01 -8.01049117e-03 7.45841902e+01] [ 5.84452777e-01 8.11411414e-01 -5.14480234e-03 2.00136278e+01] [ 9.50681335e-03 -5.07405082e-04 9.99954680e-01 6.63665927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.61, Y:20.03, Z:0.66 [[ 8.12846801e-01 -5.82422458e-01 -8.00987961e-03 7.46062432e+01] [ 5.82399926e-01 8.12886122e-01 -5.14575429e-03 2.00312756e+01] [ 9.50812284e-03 -4.82243374e-04 9.99954680e-01 6.63384144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.63, Y:20.05, Z:0.66 [[ 8.16629079e-01 -5.77107279e-01 -8.00850224e-03 7.46263808e+01] [ 5.77084470e-01 8.16668240e-01 -5.14789705e-03 2.00516308e+01] [ 9.51117829e-03 -4.17659847e-04 9.99954680e-01 6.64265782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.65, Y:20.07, Z:0.66 [[ 8.18680894e-01 -5.74192894e-01 -8.00710416e-03 7.46478150e+01] [ 5.74169924e-01 8.18719962e-01 -5.15007071e-03 2.00687563e+01] [ 9.51271002e-03 -3.81173889e-04 9.99954681e-01 6.64285802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.67, Y:20.09, Z:0.67 [[ 8.22802393e-01 -5.68271171e-01 -8.00615449e-03 7.46673196e+01] [ 5.68247906e-01 8.22841284e-01 -5.15154663e-03 2.00887388e+01] [ 9.51526988e-03 -3.10775627e-04 9.99954681e-01 6.65087007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.69, Y:20.11, Z:0.67 [[ 8.24716073e-01 -5.65490331e-01 -8.00523141e-03 7.46893706e+01] [ 5.65466921e-01 8.24754878e-01 -5.15298065e-03 2.01071920e+01] [ 9.51631439e-03 -2.76947583e-04 9.99954681e-01 6.65274233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.71, Y:20.13, Z:0.66 [[ 8.25415475e-01 -5.64468982e-01 -8.00389572e-03 7.47075890e+01] [ 5.64445503e-01 8.25454238e-01 -5.15505448e-03 2.01260738e+01] [ 9.51671800e-03 -2.62701200e-04 9.99954681e-01 6.64533826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05762800000001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:74.73, Y:20.15, Z:0.66 [[ 8.28695863e-01 -5.59642350e-01 -7.97539558e-03 7.47312024e+01] [ 5.59618219e-01 8.28734225e-01 -5.19927453e-03 2.01456122e+01] [ 9.51921749e-03 -1.54559380e-04 9.99954679e-01 6.64575396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.75, Y:20.16, Z:0.67 [[ 8.29964725e-01 -5.57758477e-01 -8.00229240e-03 7.47545063e+01] [ 5.57734661e-01 8.30003282e-01 -5.15754222e-03 2.01630278e+01] [ 9.51859185e-03 -1.82577734e-04 9.99954681e-01 6.68787959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.77, Y:20.18, Z:0.67 [[ 8.29835493e-01 -5.57950748e-01 -8.00103793e-03 7.47708048e+01] [ 5.57926922e-01 8.29874044e-01 -5.15948758e-03 2.01838145e+01] [ 9.51859366e-03 -1.82468546e-04 9.99954681e-01 6.66898595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.80, Y:20.20, Z:0.67 [[ 8.31563998e-01 -5.55371920e-01 -7.95913038e-03 7.47968317e+01] [ 5.55347352e-01 8.31602083e-01 -5.22432912e-03 2.02007782e+01] [ 9.52027510e-03 -7.57179745e-05 9.99954678e-01 6.66994908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.82, Y:20.22, Z:0.67 [[ 8.32064079e-01 -5.54621874e-01 -7.99656094e-03 7.48191976e+01] [ 5.54597827e-01 8.32102493e-01 -5.16639403e-03 2.02180753e+01] [ 9.51935343e-03 -1.36104434e-04 9.99954681e-01 6.66683380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.84, Y:20.24, Z:0.67 [[ 8.33378840e-01 -5.52644357e-01 -7.99526691e-03 7.48409876e+01] [ 5.52620200e-01 8.33417184e-01 -5.16839583e-03 2.02365238e+01] [ 9.51967762e-03 -1.11114281e-04 9.99954681e-01 6.69119158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.86, Y:20.25, Z:0.67 [[ 8.34411401e-01 -5.51084125e-01 -7.99381482e-03 7.48627781e+01] [ 5.51059875e-01 8.34449686e-01 -5.17064077e-03 2.02529860e+01] [ 9.51989431e-03 -9.06289861e-05 9.99954681e-01 6.69255372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.88, Y:20.27, Z:0.67 [[ 8.37315582e-01 -5.46661436e-01 -7.99318556e-03 7.48840146e+01] [ 5.46636974e-01 8.37353732e-01 -5.17161334e-03 2.02716570e+01] [ 9.52024534e-03 -3.90983333e-05 9.99954681e-01 6.69307691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.91, Y:20.29, Z:0.67 [[ 8.39052489e-01 -5.43991777e-01 -7.99170549e-03 7.49061053e+01] [ 5.43967172e-01 8.39090548e-01 -5.17389948e-03 2.02878644e+01] [ 9.52032331e-03 -6.05218957e-06 9.99954681e-01 6.68802286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.93, Y:20.30, Z:0.67 [[ 8.40712575e-01 -5.41422671e-01 -7.99106384e-03 7.49293872e+01] [ 5.41397940e-01 8.40750552e-01 -5.17489032e-03 2.03044779e+01] [ 9.52029427e-03 2.42498680e-05 9.99954681e-01 6.69420987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.95, Y:20.32, Z:0.67 [[ 8.41896636e-01 -5.39579670e-01 -7.98957394e-03 7.49485002e+01] [ 5.39554834e-01 8.41934545e-01 -5.17718957e-03 2.03219359e+01] [ 9.52020454e-03 4.78452361e-05 9.99954681e-01 6.69688894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.98, Y:20.34, Z:0.67 [[ 8.44204534e-01 -5.35962323e-01 -7.94315743e-03 7.49764542e+01] [ 5.35936649e-01 8.44241884e-01 -5.24875483e-03 2.03359815e+01] [ 9.51908102e-03 1.73993440e-04 9.99954677e-01 6.69990898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.00, Y:20.35, Z:0.67 [[ 8.44928586e-01 -5.34819473e-01 -7.98844682e-03 7.50011724e+01] [ 5.34794407e-01 8.44966343e-01 -5.17889602e-03 2.03500351e+01] [ 9.51974313e-03 1.03620609e-04 9.99954681e-01 6.70654541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.03, Y:20.36, Z:0.67 [[ 8.44985372e-01 -5.34729772e-01 -7.98696467e-03 7.50251955e+01] [ 5.34704681e-01 8.45023112e-01 -5.18118080e-03 2.03649412e+01] [ 9.51970136e-03 1.07354592e-04 9.99954681e-01 6.70615720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.05, Y:20.38, Z:0.67 [[ 8.44542680e-01 -5.35428686e-01 -7.98650641e-03 7.50498828e+01] [ 5.35403620e-01 8.44580435e-01 -5.18188709e-03 2.03796796e+01] [ 9.51977805e-03 1.00320364e-04 9.99954681e-01 6.69691295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.07, Y:20.39, Z:0.67 [[ 8.43862695e-01 -5.36499756e-01 -7.98521984e-03 7.50744304e+01] [ 5.36474719e-01 8.43900470e-01 -5.18386892e-03 2.03931831e+01] [ 9.51987518e-03 9.06050237e-05 9.99954681e-01 6.68271296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.10, Y:20.41, Z:0.67 [[ 8.43247831e-01 -5.37465663e-01 -7.98476442e-03 7.50984404e+01] [ 5.37440662e-01 8.43285631e-01 -5.18457031e-03 2.04068578e+01] [ 9.51996561e-03 8.05405915e-05 9.99954681e-01 6.67619704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.12, Y:20.42, Z:0.67 [[ 8.42359895e-01 -5.38856250e-01 -7.98431396e-03 7.51231532e+01] [ 5.38831305e-01 8.42397731e-01 -5.18526393e-03 2.04205131e+01] [ 9.52007984e-03 6.56600646e-05 9.99954681e-01 6.67878275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.15, Y:20.43, Z:0.67 [[ 8.40183650e-01 -5.42243219e-01 -7.98288502e-03 7.51493322e+01] [ 5.42218406e-01 8.40221572e-01 -5.18746289e-03 2.04322234e+01] [ 9.52025878e-03 2.99543166e-05 9.99954681e-01 6.69738295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.17, Y:20.45, Z:0.67 [[ 8.40031288e-01 -5.42479245e-01 -7.98142793e-03 7.51732576e+01] [ 5.42454422e-01 8.40069204e-01 -5.18970380e-03 2.04478679e+01] [ 9.52025841e-03 2.99527015e-05 9.99954681e-01 6.70009431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.20, Y:20.46, Z:0.67 [[ 8.37017881e-01 -5.47117342e-01 -7.97996933e-03 7.51988671e+01] [ 5.47092707e-01 8.37055920e-01 -5.19194566e-03 2.04592411e+01] [ 9.52028408e-03 -2.00316715e-05 9.99954681e-01 6.72073590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.23, Y:20.47, Z:0.68 [[ 8.33072407e-01 -5.53106405e-01 -7.97929436e-03 7.52256339e+01] [ 5.53082033e-01 8.33110615e-01 -5.19298278e-03 2.04711466e+01] [ 9.51990687e-03 -8.70736815e-05 9.99954681e-01 6.75599997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.25, Y:20.48, Z:0.68 [[ 8.30847545e-01 -5.56442907e-01 -7.97797677e-03 7.52509177e+01] [ 5.56418670e-01 8.30885838e-01 -5.19500621e-03 2.04846156e+01] [ 9.51951227e-03 -1.22837068e-04 9.99954681e-01 6.76808475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.28, Y:20.50, Z:0.68 [[ 8.28716452e-01 -5.59611844e-01 -7.97666019e-03 7.52759341e+01] [ 5.59587733e-01 8.28754825e-01 -5.19702696e-03 2.04975617e+01] [ 9.51901346e-03 -1.56779449e-04 9.99954681e-01 6.77503698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.30, Y:20.51, Z:0.68 [[ 8.24534909e-01 -5.65754863e-01 -7.97619443e-03 7.52951881e+01] [ 5.65731031e-01 8.24573456e-01 -5.19774170e-03 2.05121299e+01] [ 9.51760584e-03 -2.26661226e-04 9.99954681e-01 6.77503395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.33, Y:20.52, Z:0.68 [[ 8.25026813e-01 -5.65038224e-01 -7.90963246e-03 7.53255576e+01] [ 5.65013378e-01 8.25064722e-01 -5.29977640e-03 2.05236531e+01] [ 9.52053495e-03 -9.65905188e-05 9.99954674e-01 6.80430985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.35, Y:20.54, Z:0.68 [[ 8.23682442e-01 -5.66995270e-01 -7.97483385e-03 7.53494770e+01] [ 5.66971477e-01 8.23721013e-01 -5.19977796e-03 2.05364840e+01] [ 9.51728773e-03 -2.38537513e-04 9.99954681e-01 6.80253654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.37, Y:20.55, Z:0.68 [[ 8.20643192e-01 -5.71385303e-01 -7.97419160e-03 7.53693531e+01] [ 5.71361706e-01 8.20681883e-01 -5.20076271e-03 2.05519787e+01] [ 9.51591395e-03 -2.88177207e-04 9.99954681e-01 6.78540275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.40, Y:20.56, Z:0.68 [[ 8.21958267e-01 -5.69492663e-01 -7.91921970e-03 7.53987307e+01] [ 5.69468164e-01 8.21996399e-01 -5.28496295e-03 2.05648167e+01] [ 9.51931770e-03 -1.65724513e-04 9.99954677e-01 6.79078759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.42, Y:20.58, Z:0.68 [[ 8.21756414e-01 -5.69783144e-01 -7.97279002e-03 7.54241047e+01] [ 5.69759451e-01 8.21795046e-01 -5.20287283e-03 2.05789456e+01] [ 9.51650858e-03 -2.67078341e-04 9.99954681e-01 6.77793917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.45, Y:20.59, Z:0.68 [[ 8.21940921e-01 -5.69516968e-01 -7.97151777e-03 7.54495302e+01] [ 5.69493244e-01 8.21979534e-01 -5.20482136e-03 2.05935158e+01] [ 9.51665854e-03 -2.61669854e-04 9.99954681e-01 6.77725087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.48, Y:20.61, Z:0.68 [[ 8.22591767e-01 -5.68576521e-01 -7.97024816e-03 7.54753789e+01] [ 5.68552735e-01 8.22630341e-01 -5.20676482e-03 2.06063677e+01] [ 9.51701219e-03 -2.48464510e-04 9.99954681e-01 6.79465225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.017628 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:75.50, Y:20.62, Z:0.68 [[ 8.22526165e-01 -5.68671438e-01 -7.96893885e-03 7.54980957e+01] [ 5.68647636e-01 8.22564730e-01 -5.20876794e-03 2.06206356e+01] [ 9.51704559e-03 -2.47170320e-04 9.99954681e-01 6.77167432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.52, Y:20.64, Z:0.68 [[ 8.23184677e-01 -5.67717794e-01 -7.96829024e-03 7.55227246e+01] [ 5.67693938e-01 8.23223208e-01 -5.20975999e-03 2.06358860e+01] [ 9.51735490e-03 -2.34955475e-04 9.99954681e-01 6.79808252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.55, Y:20.65, Z:0.68 [[ 8.24142973e-01 -5.66325778e-01 -7.96703830e-03 7.55472546e+01] [ 5.66301838e-01 8.24181452e-01 -5.21167381e-03 2.06513169e+01] [ 9.51779042e-03 -2.16584088e-04 9.99954681e-01 6.81352782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.57, Y:20.67, Z:0.68 [[ 8.24895202e-01 -5.65229557e-01 -7.96573935e-03 7.55710104e+01] [ 5.65205547e-01 8.24933638e-01 -5.21365842e-03 2.06665334e+01] [ 9.51812019e-03 -2.01558247e-04 9.99954681e-01 6.81773985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.59, Y:20.68, Z:0.68 [[ 8.25712446e-01 -5.64035026e-01 -7.96527822e-03 7.55945704e+01] [ 5.64010954e-01 8.25750843e-01 -5.21436283e-03 2.06816748e+01] [ 9.51841848e-03 -1.86939876e-04 9.99954681e-01 6.82121421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.62, Y:20.70, Z:0.68 [[ 8.27782707e-01 -5.60992306e-01 -7.96379569e-03 7.56173659e+01] [ 5.60968071e-01 8.27821001e-01 -5.21662610e-03 2.06957717e+01] [ 9.51908442e-03 -1.49202230e-04 9.99954681e-01 6.82058534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.64, Y:20.71, Z:0.68 [[ 8.28742768e-01 -5.59573063e-01 -7.96315395e-03 7.56414376e+01] [ 5.59548753e-01 8.28781014e-01 -5.21760552e-03 2.07109247e+01] [ 9.51934231e-03 -1.31720020e-04 9.99954681e-01 6.82530592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.66, Y:20.73, Z:0.68 [[ 8.31437953e-01 -5.55560565e-01 -7.96170080e-03 7.56648096e+01] [ 5.55536049e-01 8.31476068e-01 -5.21982198e-03 2.07258711e+01] [ 9.51989093e-03 -8.30537090e-05 9.99954681e-01 6.82741402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.69, Y:20.74, Z:0.68 [[ 8.32856958e-01 -5.53431045e-01 -7.96022347e-03 7.56884313e+01] [ 5.53406410e-01 8.32894996e-01 -5.22207394e-03 2.07406971e+01] [ 9.52008814e-03 -5.59980744e-05 9.99954681e-01 6.82825593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.71, Y:20.76, Z:0.68 [[ 8.34307765e-01 -5.51241518e-01 -7.95874749e-03 7.57118395e+01] [ 5.51216762e-01 8.34345725e-01 -5.22432245e-03 2.07551322e+01] [ 9.52021038e-03 -2.83022291e-05 9.99954681e-01 6.82256835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.74, Y:20.77, Z:0.68 [[ 8.37114212e-01 -5.46970260e-01 -7.95810909e-03 7.57367856e+01] [ 5.46945301e-01 8.37152038e-01 -5.22529473e-03 2.07683459e+01] [ 9.52022806e-03 2.15181071e-05 9.99954681e-01 6.84397914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.76, Y:20.78, Z:0.68 [[ 8.37856684e-01 -5.45832272e-01 -7.95666045e-03 7.57609166e+01] [ 5.45807241e-01 8.37894462e-01 -5.22749967e-03 2.07826801e+01] [ 9.52017975e-03 3.70926491e-05 9.99954681e-01 6.84434128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.79, Y:20.80, Z:0.68 [[ 8.38190203e-01 -5.45319997e-01 -7.95519052e-03 7.57854321e+01] [ 5.45294921e-01 8.38227952e-01 -5.22973566e-03 2.07974270e+01] [ 9.52014248e-03 4.55882074e-05 9.99954681e-01 6.83748841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.81, Y:20.81, Z:0.68 [[ 8.37678482e-01 -5.46105759e-01 -7.95370233e-03 7.58099265e+01] [ 5.46080697e-01 8.37716240e-01 -5.23199800e-03 2.08097779e+01] [ 9.52016985e-03 3.93688301e-05 9.99954681e-01 6.81179645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.83, Y:20.82, Z:0.68 [[ 8.36677648e-01 -5.47637899e-01 -7.95269289e-03 7.58348142e+01] [ 5.47612892e-01 8.36715442e-01 -5.23353191e-03 2.08231098e+01] [ 9.52022137e-03 2.37820188e-05 9.99954681e-01 6.82340649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.467628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:75.86, Y:20.83, Z:0.68 [[ 8.33946757e-01 -5.51787627e-01 -7.95122984e-03 7.58620854e+01] [ 5.51762786e-01 8.33984661e-01 -5.23575377e-03 2.08336818e+01] [ 9.52022786e-03 -2.08528564e-05 9.99954681e-01 6.82165417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.89, Y:20.85, Z:0.69 [[ 8.32856816e-01 -5.53431407e-01 -7.94995832e-03 7.58880403e+01] [ 5.53406623e-01 8.32894757e-01 -5.23768373e-03 2.08472222e+01] [ 9.52017728e-03 -3.73189972e-05 9.99954681e-01 6.86070299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.91, Y:20.86, Z:0.69 [[ 8.30478454e-01 -5.56994036e-01 -7.94868942e-03 7.59141400e+01] [ 5.56969396e-01 8.30516489e-01 -5.23960870e-03 2.08586181e+01] [ 9.51994842e-03 -7.57946116e-05 9.99954681e-01 6.87795303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.94, Y:20.87, Z:0.69 [[ 8.29441721e-01 -5.58536710e-01 -7.94824032e-03 7.59391408e+01] [ 5.58512134e-01 8.29479798e-01 -5.24028986e-03 2.08725800e+01] [ 9.51979904e-03 -9.26736209e-05 9.99954681e-01 6.88708864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.96, Y:20.89, Z:0.69 [[ 8.28607942e-01 -5.59772925e-01 -7.94680413e-03 7.59641403e+01] [ 5.59748385e-01 8.28646041e-01 -5.24246692e-03 2.08865748e+01] [ 9.51967883e-03 -1.04261063e-04 9.99954681e-01 6.89507312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.99, Y:20.90, Z:0.69 [[ 8.29087888e-01 -5.59061843e-01 -7.94537937e-03 7.59882373e+01] [ 5.59037250e-01 8.29125954e-01 -5.24462536e-03 2.09019224e+01] [ 9.51979017e-03 -9.35076692e-05 9.99954681e-01 6.91528160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.01, Y:20.92, Z:0.69 [[ 8.29767834e-01 -5.58052181e-01 -7.94391569e-03 7.60117459e+01] [ 5.58027520e-01 8.29805855e-01 -5.24684143e-03 2.09178935e+01] [ 9.51991906e-03 -7.92633286e-05 9.99954681e-01 6.91666776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.03, Y:20.93, Z:0.69 [[ 8.31456295e-01 -5.55533389e-01 -7.94244266e-03 7.60342833e+01] [ 5.55508592e-01 8.31494228e-01 -5.24907030e-03 2.09339594e+01] [ 9.52012904e-03 -4.77225926e-05 9.99954681e-01 6.89521621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.06, Y:20.95, Z:0.69 [[ 8.31698569e-01 -5.55170618e-01 -7.94198679e-03 7.60578321e+01] [ 5.55145798e-01 8.31736487e-01 -5.24975996e-03 2.09509242e+01] [ 9.52015267e-03 -4.27427404e-05 9.99954681e-01 6.88636800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.08, Y:20.97, Z:0.69 [[ 8.31809194e-01 -5.55004874e-01 -7.94068514e-03 7.60816588e+01] [ 5.54980028e-01 8.31847094e-01 -5.25172807e-03 2.09674867e+01] [ 9.52017053e-03 -3.84859641e-05 9.99954681e-01 6.87220650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.10, Y:20.98, Z:0.69 [[ 8.31162667e-01 -5.55972649e-01 -7.93938563e-03 7.61043908e+01] [ 5.55947828e-01 8.31200584e-01 -5.25369189e-03 2.09830829e+01] [ 9.52013097e-03 -4.72116366e-05 9.99954681e-01 6.85495985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.13, Y:21.00, Z:0.69 [[ 8.29813689e-01 -5.57984064e-01 -7.93892673e-03 7.61273192e+01] [ 5.57959328e-01 8.29851661e-01 -5.25438524e-03 2.09988639e+01] [ 9.51999477e-03 -6.94374258e-05 9.99954681e-01 6.86317912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.15, Y:21.02, Z:0.69 [[ 8.25318449e-01 -5.64611773e-01 -7.93745873e-03 7.61508992e+01] [ 5.64587321e-01 8.25356605e-01 -5.25660192e-03 2.10150687e+01] [ 9.51917332e-03 -1.43018019e-04 9.99954681e-01 6.89040238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.18, Y:21.03, Z:0.69 [[ 8.22423862e-01 -5.68819838e-01 -7.93616674e-03 7.61750470e+01] [ 5.68795563e-01 8.22462130e-01 -5.25855178e-03 2.10309026e+01] [ 9.51836518e-03 -1.89297966e-04 9.99954681e-01 6.90976970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.887628 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:76.20, Y:21.05, Z:0.69 [[ 8.19017011e-01 -5.73714366e-01 -7.93486468e-03 7.61978906e+01] [ 5.73690300e-01 8.19055411e-01 -5.26051579e-03 2.10461340e+01] [ 9.51712733e-03 -2.43702979e-04 9.99954681e-01 6.89184864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.22, Y:21.06, Z:0.69 [[ 8.16418518e-01 -5.77406141e-01 -7.93417409e-03 7.62226960e+01] [ 5.77382238e-01 8.16457021e-01 -5.26155717e-03 2.10616921e+01] [ 9.51596756e-03 -2.85418489e-04 9.99954681e-01 6.94233694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.25, Y:21.08, Z:0.70 [[ 8.11403443e-01 -5.84432649e-01 -7.93288088e-03 7.62465442e+01] [ 5.84409061e-01 8.11442139e-01 -5.26350622e-03 2.10775113e+01] [ 9.51323872e-03 -3.65220399e-04 9.99954681e-01 6.96451018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.27, Y:21.09, Z:0.70 [[ 8.09515597e-01 -5.87044793e-01 -7.93159353e-03 7.62683357e+01] [ 5.87021310e-01 8.09554357e-01 -5.26544541e-03 2.10929718e+01] [ 9.51210841e-03 -3.93554243e-04 9.99954681e-01 6.96829696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.29, Y:21.11, Z:0.70 [[ 8.07042603e-01 -5.90439951e-01 -7.93096650e-03 7.62895141e+01] [ 5.90416622e-01 8.07081456e-01 -5.26638970e-03 2.11095825e+01] [ 9.51042287e-03 -4.32373595e-04 9.99954681e-01 6.96299871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.31, Y:21.13, Z:0.70 [[ 8.06353443e-01 -5.91380791e-01 -7.92998278e-03 7.63123795e+01] [ 5.91357493e-01 8.06392315e-01 -5.26787054e-03 2.11265065e+01] [ 9.50999462e-03 -4.41689191e-04 9.99954681e-01 6.96237693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.33, Y:21.14, Z:0.70 [[ 8.06267049e-01 -5.91498592e-01 -7.92856035e-03 7.63349552e+01] [ 5.91475279e-01 8.06305911e-01 -5.27001054e-03 2.11434145e+01] [ 9.51004889e-03 -4.40511599e-04 9.99954681e-01 6.96311017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.36, Y:21.16, Z:0.70 [[ 8.08419588e-01 -5.88553253e-01 -7.92709298e-03 7.63561222e+01] [ 5.88529776e-01 8.08458351e-01 -5.27221682e-03 2.11612499e+01] [ 9.51170488e-03 -4.03166910e-04 9.99954681e-01 6.95079790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.38, Y:21.18, Z:0.69 [[ 8.12457916e-01 -5.82965961e-01 -7.92609642e-03 7.63778485e+01] [ 5.82942204e-01 8.12496508e-01 -5.27371459e-03 2.11795499e+01] [ 9.51432176e-03 -3.35784950e-04 9.99954681e-01 6.94352394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.157628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:76.40, Y:21.20, Z:0.69 [[ 8.14620841e-01 -5.79939726e-01 -7.92461024e-03 7.63992432e+01] [ 5.79915803e-01 8.14659331e-01 -5.27594688e-03 2.11965615e+01] [ 9.51558886e-03 -2.97710421e-04 9.99954681e-01 6.91119531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.42, Y:21.21, Z:0.69 [[ 8.17678298e-01 -5.75620891e-01 -7.92405324e-03 7.64204976e+01] [ 5.75596757e-01 8.17716656e-01 -5.27678331e-03 2.12127789e+01] [ 9.51705703e-03 -2.46348149e-04 9.99954681e-01 6.93121716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.44, Y:21.23, Z:0.69 [[ 8.20314441e-01 -5.71857883e-01 -7.92341524e-03 7.64427877e+01] [ 5.71833563e-01 8.20352681e-01 -5.27774114e-03 2.12298265e+01] [ 9.51811281e-03 -2.01467502e-04 9.99954681e-01 6.93764973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.46, Y:21.25, Z:0.69 [[ 8.25597071e-01 -5.64204502e-01 -7.92194340e-03 7.64643399e+01] [ 5.64179806e-01 8.25635070e-01 -5.27994946e-03 2.12476407e+01] [ 9.51960554e-03 -1.10289687e-04 9.99954681e-01 6.92903914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.49, Y:21.26, Z:0.69 [[ 8.27971630e-01 -5.60714050e-01 -7.92047875e-03 7.64869421e+01] [ 5.60689174e-01 8.28009510e-01 -5.28214568e-03 2.12645167e+01] [ 9.52000503e-03 -6.74599219e-05 9.99954681e-01 6.92869884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.51, Y:21.28, Z:0.69 [[ 8.32594579e-01 -5.53826288e-01 -7.91899779e-03 7.65085777e+01] [ 5.53801077e-01 8.32632238e-01 -5.28436499e-03 2.12818703e+01] [ 9.52023310e-03 1.41841417e-05 9.99954681e-01 6.92636202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.53, Y:21.30, Z:0.69 [[ 8.34367722e-01 -5.51151341e-01 -7.91853904e-03 7.65320862e+01] [ 5.51126003e-01 8.34405296e-01 -5.28505233e-03 2.12978570e+01] [ 9.52013459e-03 4.55643087e-05 9.99954681e-01 6.93562921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.55, Y:21.31, Z:0.69 [[ 8.37038552e-01 -5.47086633e-01 -7.91703513e-03 7.65546568e+01] [ 5.47061091e-01 8.37075987e-01 -5.28730425e-03 2.13120301e+01] [ 9.51977347e-03 9.45756175e-05 9.99954681e-01 6.93812682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.58, Y:21.33, Z:0.69 [[ 8.37889615e-01 -5.45782304e-01 -7.91638389e-03 7.65777066e+01] [ 5.45756695e-01 8.37927004e-01 -5.28827913e-03 2.13266376e+01] [ 9.51960101e-03 1.10574666e-04 9.99954681e-01 6.94034107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.60, Y:21.34, Z:0.69 [[ 8.38655651e-01 -5.44604486e-01 -7.91538070e-03 7.66021376e+01] [ 5.44578810e-01 8.38692994e-01 -5.28978025e-03 2.13408241e+01] [ 9.51941240e-03 1.25755501e-04 9.99954681e-01 6.94029152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.63, Y:21.35, Z:0.69 [[ 8.38579011e-01 -5.44722509e-01 -7.91389959e-03 7.66266470e+01] [ 5.44696818e-01 8.38616343e-01 -5.29199518e-03 2.13545058e+01] [ 9.51939443e-03 1.27080158e-04 9.99954681e-01 6.93708314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.65, Y:21.37, Z:0.69 [[ 8.38427139e-01 -5.44956261e-01 -7.91242181e-03 7.66503747e+01] [ 5.44930559e-01 8.38464464e-01 -5.29420378e-03 2.13704761e+01] [ 9.51939401e-03 1.27083690e-04 9.99954681e-01 6.93979477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.67, Y:21.39, Z:0.69 [[ 8.38275201e-01 -5.45189970e-01 -7.91094539e-03 7.66740980e+01] [ 5.45164258e-01 8.38312519e-01 -5.29640904e-03 2.13864531e+01] [ 9.51939364e-03 1.27083685e-04 9.99954681e-01 6.94250642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.70, Y:21.40, Z:0.69 [[ 8.38043022e-01 -5.45546821e-01 -7.90946834e-03 7.66981092e+01] [ 5.45521104e-01 8.38080336e-01 -5.29861388e-03 2.14007094e+01] [ 9.51941185e-03 1.25684486e-04 9.99954681e-01 6.94278522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.72, Y:21.41, Z:0.69 [[ 8.37282504e-01 -5.46713337e-01 -7.90795233e-03 7.67239687e+01] [ 5.46687650e-01 8.37319840e-01 -5.30087550e-03 2.14132252e+01] [ 9.51954471e-03 1.15150433e-04 9.99954681e-01 6.94116726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.75, Y:21.43, Z:0.69 [[ 8.36618955e-01 -5.47728229e-01 -7.90643737e-03 7.67476437e+01] [ 5.47702566e-01 8.36656307e-01 -5.30313416e-03 2.14264070e+01] [ 9.51964697e-03 1.06326520e-04 9.99954681e-01 6.93733672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.77, Y:21.44, Z:0.69 [[ 8.35751459e-01 -5.49050997e-01 -7.90578003e-03 7.67722755e+01] [ 5.49025384e-01 8.35788845e-01 -5.30411392e-03 2.14397807e+01] [ 9.51979180e-03 9.24470245e-05 9.99954681e-01 6.94501138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.80, Y:21.45, Z:0.69 [[ 8.33749568e-01 -5.52086207e-01 -7.90427811e-03 7.67984020e+01] [ 5.52060709e-01 8.33787033e-01 -5.30635116e-03 2.14511647e+01] [ 9.52004788e-03 6.05266162e-05 9.99954681e-01 6.94945253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.82, Y:21.46, Z:0.69 [[ 8.32501861e-01 -5.53965882e-01 -7.90277924e-03 7.68218100e+01] [ 5.53940447e-01 8.32539369e-01 -5.30858250e-03 2.14641040e+01] [ 9.52014842e-03 4.17357478e-05 9.99954681e-01 6.94708694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.85, Y:21.48, Z:0.70 [[ 8.30528113e-01 -5.56920649e-01 -7.90213088e-03 7.68471384e+01] [ 5.56895339e-01 8.30565705e-01 -5.30954745e-03 2.14763442e+01] [ 9.52023552e-03 9.06857629e-06 9.99954681e-01 6.95283348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.87, Y:21.49, Z:0.70 [[ 8.30472782e-01 -5.57003176e-01 -7.90062704e-03 7.68699364e+01] [ 5.56977848e-01 8.30510362e-01 -5.31178422e-03 2.14923781e+01] [ 9.52023331e-03 1.08179722e-05 9.99954681e-01 6.96002358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.89, Y:21.51, Z:0.70 [[ 8.30528440e-01 -5.56920204e-01 -7.89912610e-03 7.68920045e+01] [ 5.56894851e-01 8.30566004e-01 -5.31401533e-03 2.15074144e+01] [ 9.52022809e-03 1.44582142e-05 9.99954681e-01 6.96274060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.92, Y:21.52, Z:0.70 [[ 8.29272079e-01 -5.58789257e-01 -7.89847500e-03 7.69155936e+01] [ 5.58763980e-01 8.29309693e-01 -5.31498290e-03 2.15230476e+01] [ 9.52023723e-03 -5.81640506e-06 9.99954681e-01 6.97304459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.94, Y:21.54, Z:0.70 [[ 8.28027143e-01 -5.60632400e-01 -7.89698919e-03 7.69378297e+01] [ 5.60607185e-01 8.28064799e-01 -5.31718960e-03 2.15380859e+01] [ 9.52020754e-03 -2.43315654e-05 9.99954682e-01 6.97215536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.96, Y:21.55, Z:0.70 [[ 8.26513521e-01 -5.62861481e-01 -7.89634493e-03 7.69613913e+01] [ 5.62836359e-01 8.26551239e-01 -5.31814620e-03 2.15538777e+01] [ 9.52011333e-03 -4.88302868e-05 9.99954682e-01 6.98154818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.99, Y:21.57, Z:0.70 [[ 8.22973564e-01 -5.68024810e-01 -7.89486613e-03 7.69857094e+01] [ 5.67999903e-01 8.23011424e-01 -5.32034059e-03 2.15701949e+01] [ 9.51965047e-03 -1.05783537e-04 9.99954682e-01 6.99823375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.01, Y:21.59, Z:0.70 [[ 8.21885040e-01 -5.69598442e-01 -7.91170578e-03 7.70077113e+01] [ 5.69573848e-01 8.21923105e-01 -5.29534938e-03 2.15858275e+01] [ 9.51903654e-03 -1.54132264e-04 9.99954681e-01 6.98553647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.03, Y:21.60, Z:0.70 [[ 8.18201023e-01 -5.74878061e-01 -7.89316771e-03 7.70295570e+01] [ 5.74853447e-01 8.18239074e-01 -5.32283925e-03 2.16033349e+01] [ 9.51848174e-03 -1.82262148e-04 9.99954682e-01 6.98286213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.05, Y:21.62, Z:0.70 [[ 8.16102590e-01 -5.77853169e-01 -7.89165753e-03 7.70513792e+01] [ 5.77828672e-01 8.16140716e-01 -5.32507731e-03 2.16192836e+01] [ 9.51781583e-03 -2.14216614e-04 9.99954682e-01 6.98648544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.07, Y:21.64, Z:0.70 [[ 8.13790898e-01 -5.81104218e-01 -7.89063139e-03 7.70744475e+01] [ 5.81079859e-01 8.13829113e-01 -5.32659739e-03 2.16355622e+01] [ 9.51693376e-03 -2.50350498e-04 9.99954682e-01 6.99557429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.10, Y:21.65, Z:0.70 [[ 8.08605070e-01 -5.88298906e-01 -7.88914827e-03 7.70982345e+01] [ 5.88274865e-01 8.08643486e-01 -5.32879312e-03 2.16529292e+01] [ 9.51443152e-03 -3.32098508e-04 9.99954682e-01 7.02551310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.12, Y:21.67, Z:0.70 [[ 8.06361051e-01 -5.91370835e-01 -7.89880215e-03 7.71200913e+01] [ 5.91347080e-01 8.06399645e-01 -5.31450312e-03 2.16689487e+01] [ 9.51243339e-03 -3.85525265e-04 9.99954681e-01 7.02324211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.14, Y:21.69, Z:0.70 [[ 8.02296484e-01 -5.96873642e-01 -7.88712855e-03 7.71413933e+01] [ 5.96849982e-01 8.02335136e-01 -5.33177152e-03 2.16853731e+01] [ 9.51051425e-03 -4.29770990e-04 9.99954682e-01 7.02187133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.16, Y:21.70, Z:0.70 [[ 8.00790263e-01 -5.98892944e-01 -7.88648729e-03 7.71637752e+01] [ 5.98869373e-01 8.00828968e-01 -5.33271987e-03 2.17017494e+01] [ 9.50945579e-03 -4.52585546e-04 9.99954682e-01 7.03404866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.19, Y:21.72, Z:0.70 [[ 7.99535785e-01 -6.00566695e-01 -7.88500211e-03 7.71863365e+01] [ 6.00543183e-01 7.99574527e-01 -5.33491498e-03 2.17189658e+01] [ 9.50861908e-03 -4.69828823e-04 9.99954682e-01 7.03887761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.21, Y:21.74, Z:0.70 [[ 7.99067515e-01 -6.01189618e-01 -7.88351072e-03 7.72059638e+01] [ 6.01166114e-01 7.99106262e-01 -5.33711791e-03 2.17376242e+01] [ 9.50838266e-03 -4.74581962e-04 9.99954682e-01 7.03169194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.23, Y:21.76, Z:0.70 [[ 7.99414900e-01 -6.00727624e-01 -7.88286602e-03 7.72276303e+01] [ 6.00704088e-01 7.99453628e-01 -5.33806997e-03 2.17555320e+01] [ 9.50871192e-03 -4.67937175e-04 9.99954682e-01 7.03026341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.25, Y:21.78, Z:0.70 [[ 8.01456219e-01 -5.98001516e-01 -7.88136939e-03 7.72475968e+01] [ 5.97977827e-01 8.01494853e-01 -5.34027874e-03 2.17756924e+01] [ 9.51037178e-03 -4.32884539e-04 9.99954682e-01 7.02718824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.297628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.27, Y:21.79, Z:0.70 [[ 8.02645959e-01 -5.96403700e-01 -7.87984771e-03 7.72687604e+01] [ 5.96379912e-01 8.02684532e-01 -5.34252312e-03 2.17936973e+01] [ 9.51133242e-03 -4.11228291e-04 9.99954682e-01 7.03041043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.29, Y:21.81, Z:0.70 [[ 8.03977537e-01 -5.94607478e-01 -7.87831246e-03 7.72895078e+01] [ 5.94583582e-01 8.04016043e-01 -5.34478609e-03 2.18114363e+01] [ 9.51233939e-03 -3.87227288e-04 9.99954682e-01 7.03856431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.31, Y:21.83, Z:0.71 [[ 8.06502092e-01 -5.91178753e-01 -7.87764755e-03 7.73091696e+01] [ 5.91154684e-01 8.06540490e-01 -5.34576593e-03 2.18323655e+01] [ 9.51394495e-03 -3.45536834e-04 9.99954682e-01 7.05008960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.33, Y:21.85, Z:0.71 [[ 8.07654324e-01 -5.89603645e-01 -7.87615998e-03 7.73306147e+01] [ 5.89579480e-01 8.07692662e-01 -5.34795673e-03 2.18506453e+01] [ 9.51469141e-03 -3.24321932e-04 9.99954682e-01 7.05573077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.35, Y:21.87, Z:0.71 [[ 8.10316806e-01 -5.85939129e-01 -7.87467254e-03 7.73505992e+01] [ 5.85914769e-01 8.10355021e-01 -5.35014604e-03 2.18716537e+01] [ 9.51614034e-03 -2.78573684e-04 9.99954682e-01 7.06798359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.37, Y:21.89, Z:0.71 [[ 8.11705847e-01 -5.84013383e-01 -7.87319127e-03 7.73713336e+01] [ 5.83988911e-01 8.11743990e-01 -5.35232497e-03 2.18899543e+01] [ 9.51684510e-03 -2.53342922e-04 9.99954682e-01 7.06916574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.39, Y:21.91, Z:0.71 [[ 8.12859387e-01 -5.82406765e-01 -7.87254896e-03 7.73922336e+01] [ 5.82382208e-01 8.12897476e-01 -5.35326955e-03 2.19083745e+01] [ 9.51735558e-03 -2.33377038e-04 9.99954682e-01 7.06958598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.41, Y:21.93, Z:0.71 [[ 8.15768886e-01 -5.78324452e-01 -7.87105172e-03 7.74111072e+01] [ 5.78299683e-01 8.15806837e-01 -5.35547008e-03 2.19285256e+01] [ 9.51845710e-03 -1.83000854e-04 9.99954682e-01 7.06296783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.43, Y:21.95, Z:0.71 [[ 8.17530032e-01 -5.75832188e-01 -7.87003335e-03 7.74327764e+01] [ 5.75807290e-01 8.17567898e-01 -5.35696618e-03 2.19465591e+01] [ 9.51900018e-03 -1.52141836e-04 9.99954682e-01 7.05985477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.45, Y:21.96, Z:0.71 [[ 8.19422263e-01 -5.73136320e-01 -7.86854699e-03 7.74549229e+01] [ 5.73111276e-01 8.19460032e-01 -5.35914853e-03 2.19648389e+01] [ 9.51948244e-03 -1.18147386e-04 9.99954682e-01 7.05496582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.48, Y:21.98, Z:0.70 [[ 8.23635894e-01 -5.67064391e-01 -7.86707174e-03 7.74758150e+01] [ 5.67039048e-01 8.23673463e-01 -5.36131327e-03 2.19844849e+01] [ 9.52010808e-03 -4.51668219e-05 9.99954682e-01 7.04493868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.50, Y:22.00, Z:0.70 [[ 8.25435284e-01 -5.64441958e-01 -7.86558542e-03 7.74968069e+01] [ 5.64416475e-01 8.25472759e-01 -5.36349297e-03 2.20016277e+01] [ 9.52020697e-03 -1.22496459e-05 9.99954682e-01 7.03973035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.52, Y:22.02, Z:0.70 [[ 8.27019395e-01 -5.62118376e-01 -7.86457403e-03 7.75187732e+01] [ 5.62092773e-01 8.27056788e-01 -5.36497558e-03 2.20190898e+01] [ 9.52020070e-03 1.63186334e-05 9.99954682e-01 7.03839651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.54, Y:22.04, Z:0.70 [[ 8.29135681e-01 -5.58992124e-01 -7.86309365e-03 7.75405932e+01] [ 5.58966360e-01 8.29172963e-01 -5.36714440e-03 2.20370655e+01] [ 9.52005611e-03 5.48860966e-05 9.99954682e-01 7.04592582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.56, Y:22.05, Z:0.71 [[ 8.29465647e-01 -5.58502405e-01 -7.86155306e-03 7.75630898e+01] [ 5.58476598e-01 8.29502899e-01 -5.36940004e-03 2.20526187e+01] [ 9.52000389e-03 6.32394661e-05 9.99954682e-01 7.05423791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.59, Y:22.07, Z:0.71 [[ 8.28793409e-01 -5.59499501e-01 -7.86088508e-03 7.75863468e+01] [ 5.59473729e-01 8.28830686e-01 -5.37037779e-03 2.20672970e+01] [ 9.52006647e-03 5.29750228e-05 9.99954682e-01 7.07026373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.61, Y:22.08, Z:0.71 [[ 8.27752215e-01 -5.61038758e-01 -7.86022450e-03 7.76100623e+01] [ 5.61013046e-01 8.27789533e-01 -5.37134446e-03 2.20830821e+01] [ 9.52014399e-03 3.64537875e-05 9.99954682e-01 7.07668209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.63, Y:22.10, Z:0.71 [[ 8.26483023e-01 -5.62906788e-01 -7.85877074e-03 7.76337405e+01] [ 5.62881140e-01 8.26520385e-01 -5.37347060e-03 2.20989108e+01] [ 9.52019730e-03 1.75283910e-05 9.99954682e-01 7.08426300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.66, Y:22.11, Z:0.71 [[ 8.23851887e-01 -5.66750678e-01 -7.85725978e-03 7.76565788e+01] [ 5.66725184e-01 8.23889354e-01 -5.37567907e-03 2.21137227e+01] [ 9.52018245e-03 -2.41436479e-05 9.99954682e-01 7.07559117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.68, Y:22.13, Z:0.71 [[ 8.22418235e-01 -5.68829078e-01 -7.85660524e-03 7.76799564e+01] [ 5.68803670e-01 8.22455760e-01 -5.37663551e-03 2.21288832e+01] [ 9.52009686e-03 -4.70228004e-05 9.99954682e-01 7.07261735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.70, Y:22.14, Z:0.71 [[ 8.19289292e-01 -5.73326568e-01 -7.85510982e-03 7.77044192e+01] [ 5.73301344e-01 8.19326942e-01 -5.37881939e-03 2.21428162e+01] [ 9.51972317e-03 -9.65358883e-05 9.99954682e-01 7.05450578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.73, Y:22.16, Z:0.71 [[ 8.17523224e-01 -5.75842064e-01 -7.85464740e-03 7.77286739e+01] [ 5.75816950e-01 8.17560947e-01 -5.37949458e-03 2.21573893e+01] [ 9.51939223e-03 -1.24977361e-04 9.99954682e-01 7.06108876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.75, Y:22.17, Z:0.71 [[ 8.14456668e-01 -5.80171237e-01 -7.85314610e-03 7.77496244e+01] [ 5.80146302e-01 8.14494510e-01 -5.38168532e-03 2.21725808e+01] [ 9.51864341e-03 -1.72824172e-04 9.99954682e-01 7.07069554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.78, Y:22.18, Z:0.71 [[ 8.12270173e-01 -5.83229057e-01 -7.81232991e-03 7.77780971e+01] [ 5.83203691e-01 8.12307730e-01 -5.44118961e-03 2.21849568e+01] [ 9.51947586e-03 -1.36463613e-04 9.99954679e-01 7.06212729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.80, Y:22.20, Z:0.71 [[ 8.10243173e-01 -5.86041259e-01 -7.85130395e-03 7.78011041e+01] [ 5.86016572e-01 8.10281177e-01 -5.38435891e-03 2.21984791e+01] [ 9.51722028e-03 -2.38354177e-04 9.99954682e-01 7.06148992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.83, Y:22.21, Z:0.71 [[ 8.08009903e-01 -5.89116596e-01 -7.85064782e-03 7.78255812e+01] [ 5.89092045e-01 8.08047994e-01 -5.38531542e-03 2.22127573e+01] [ 9.51627891e-03 -2.73365987e-04 9.99954682e-01 7.06676196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.077628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:77.85, Y:22.22, Z:0.71 [[ 8.03288927e-01 -5.95537816e-01 -7.84916023e-03 7.78512433e+01] [ 5.95513548e-01 8.03327199e-01 -5.38748273e-03 2.22245845e+01] [ 9.51389360e-03 -3.46576038e-04 9.99954682e-01 7.07020944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.88, Y:22.24, Z:0.71 [[ 8.01281140e-01 -5.98236534e-01 -7.84762604e-03 7.78760271e+01] [ 5.98212372e-01 8.01319480e-01 -5.38971657e-03 2.22384910e+01] [ 9.51278097e-03 -3.75868758e-04 9.99954682e-01 7.10019648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.90, Y:22.25, Z:0.71 [[ 7.97826105e-01 -6.02836569e-01 -7.84715126e-03 7.79018115e+01] [ 6.02812622e-01 7.97864579e-01 -5.39040772e-03 2.22518279e+01] [ 9.51049894e-03 -4.29753830e-04 9.99954682e-01 7.11655004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.93, Y:22.27, Z:0.71 [[ 7.96435131e-01 -6.04673073e-01 -7.84584394e-03 7.79251831e+01] [ 6.04649196e-01 7.96473649e-01 -5.39230989e-03 2.22667750e+01] [ 9.50959254e-03 -4.49358196e-04 9.99954682e-01 7.12498618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.95, Y:22.28, Z:0.71 [[ 7.95719064e-01 -6.05615090e-01 -7.84432285e-03 7.79489314e+01] [ 6.05591237e-01 7.95757597e-01 -5.39452174e-03 2.22820586e+01] [ 9.50918327e-03 -4.57929388e-04 9.99954682e-01 7.12691496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.97, Y:22.30, Z:0.71 [[ 7.96028748e-01 -6.05207999e-01 -7.84280431e-03 7.79718922e+01] [ 6.05184105e-01 7.96067255e-01 -5.39672856e-03 2.22974584e+01] [ 9.50954300e-03 -4.50389421e-04 9.99954682e-01 7.13005411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.99, Y:22.31, Z:0.71 [[ 7.97168844e-01 -6.03705515e-01 -7.84125697e-03 7.79943399e+01] [ 6.03681526e-01 7.97207292e-01 -5.39897586e-03 2.23132680e+01] [ 9.51049874e-03 -4.29726630e-04 9.99954682e-01 7.13232711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28762800000001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:78.02, Y:22.33, Z:0.71 [[ 8.00372551e-01 -5.99451670e-01 -7.84058685e-03 7.80165362e+01] [ 5.99427467e-01 8.00410865e-01 -5.39994886e-03 2.23298278e+01] [ 9.51269926e-03 -3.77892276e-04 9.99954682e-01 7.10741035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.04, Y:22.35, Z:0.71 [[ 8.02425455e-01 -5.96700864e-01 -7.84011328e-03 7.80395108e+01] [ 5.96676523e-01 8.02463682e-01 -5.40063633e-03 2.23458732e+01] [ 9.51397054e-03 -3.44403463e-04 9.99954682e-01 7.12893506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.06, Y:22.36, Z:0.71 [[ 8.06053315e-01 -5.91791019e-01 -7.83860317e-03 7.80618642e+01] [ 5.91766423e-01 8.06091378e-01 -5.40282726e-03 2.23628437e+01] [ 9.51597508e-03 -2.83655343e-04 9.99954682e-01 7.12912797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:22.38, Z:0.71 [[ 8.07954882e-01 -5.89192235e-01 -7.83710283e-03 7.80842491e+01] [ 5.89167496e-01 8.07992852e-01 -5.40500271e-03 2.23795288e+01] [ 9.51690869e-03 -2.50367923e-04 9.99954682e-01 7.13438200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.11, Y:22.40, Z:0.71 [[ 8.07785001e-01 -5.89425140e-01 -7.83554576e-03 7.81077538e+01] [ 5.89400390e-01 8.07822964e-01 -5.40725902e-03 2.23958199e+01] [ 9.51690821e-03 -2.50370994e-04 9.99954682e-01 7.13709360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.13, Y:22.41, Z:0.71 [[ 8.11807689e-01 -5.83872335e-01 -7.83398629e-03 7.81299019e+01] [ 5.83847304e-01 8.11845467e-01 -5.40951742e-03 2.24134659e+01] [ 9.51845383e-03 -1.82363938e-04 9.99954682e-01 7.13168592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.15, Y:22.43, Z:0.71 [[ 8.13771119e-01 -5.81132692e-01 -7.83325538e-03 7.81517896e+01] [ 5.81107523e-01 8.13808805e-01 -5.41057561e-03 2.24292844e+01] [ 9.51903458e-03 -1.48993466e-04 9.99954682e-01 7.13438449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.17, Y:22.45, Z:0.71 [[ 8.16978256e-01 -5.76615284e-01 -7.83220768e-03 7.81748083e+01] [ 5.76589892e-01 8.17015793e-01 -5.41209182e-03 2.24453926e+01] [ 9.51973222e-03 -9.44104427e-05 9.99954682e-01 7.14141344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.20, Y:22.46, Z:0.71 [[ 8.16815982e-01 -5.76845154e-01 -7.83068790e-03 7.81982884e+01] [ 5.76819752e-01 8.16853511e-01 -5.41428987e-03 2.24617142e+01] [ 9.51973179e-03 -9.44169609e-05 9.99954682e-01 7.14412512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.22, Y:22.48, Z:0.71 [[ 8.19189754e-01 -5.73469137e-01 -7.82916380e-03 7.82214829e+01] [ 5.73443559e-01 8.19227164e-01 -5.41649285e-03 2.24771562e+01] [ 9.52005514e-03 -5.24481109e-05 9.99954682e-01 7.14915498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.24, Y:22.49, Z:0.71 [[ 8.19801971e-01 -5.72593608e-01 -7.82869233e-03 7.82434360e+01] [ 5.72567984e-01 8.19839349e-01 -5.41717420e-03 2.24923619e+01] [ 9.52010935e-03 -4.14484969e-05 9.99954682e-01 7.14991461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.27, Y:22.51, Z:0.72 [[ 8.20161855e-01 -5.72078014e-01 -7.82803736e-03 7.82673674e+01] [ 5.72052357e-01 8.20199210e-01 -5.41812049e-03 2.25069665e+01] [ 9.52013768e-03 -3.43114735e-05 9.99954682e-01 7.15150069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:22.52, Z:0.72 [[ 8.19933691e-01 -5.72405004e-01 -7.82650224e-03 7.82910875e+01] [ 5.72379341e-01 8.19971042e-01 -5.42033707e-03 2.25217186e+01] [ 9.52013327e-03 -3.54112144e-05 9.99954682e-01 7.16043209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.31, Y:22.54, Z:0.72 [[ 8.19780448e-01 -5.72624473e-01 -7.82493743e-03 7.83140629e+01] [ 5.72598798e-01 8.19817792e-01 -5.42259514e-03 2.25357247e+01] [ 9.52013361e-03 -3.52122881e-05 9.99954682e-01 7.16331675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.34, Y:22.55, Z:0.72 [[ 8.19210140e-01 -5.73440082e-01 -7.82425979e-03 7.83389441e+01] [ 5.73414436e-01 8.19247502e-01 -5.42357273e-03 2.25491628e+01] [ 9.52009928e-03 -4.34977369e-05 9.99954682e-01 7.16543595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.36, Y:22.56, Z:0.72 [[ 8.19020146e-01 -5.73711430e-01 -7.82274968e-03 7.83624345e+01] [ 5.73685774e-01 8.19057503e-01 -5.42574997e-03 2.25636157e+01] [ 9.52009660e-03 -4.40016753e-05 9.99954682e-01 7.16425150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.39, Y:22.58, Z:0.72 [[ 8.18997587e-01 -5.73743648e-01 -7.82172412e-03 7.83870388e+01] [ 5.73717980e-01 8.19034935e-01 -5.42722802e-03 2.25774380e+01] [ 9.52010291e-03 -4.25771097e-05 9.99954682e-01 7.15797719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.41, Y:22.59, Z:0.72 [[ 8.19136158e-01 -5.73545812e-01 -7.82022496e-03 7.84098442e+01] [ 5.73520115e-01 8.19173486e-01 -5.42938734e-03 2.25915089e+01] [ 9.52012331e-03 -3.76488285e-05 9.99954682e-01 7.15101529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.43, Y:22.61, Z:0.71 [[ 8.19159515e-01 -5.73512461e-01 -7.81957543e-03 7.84342242e+01] [ 5.73486753e-01 8.19196836e-01 -5.43032265e-03 2.26064791e+01] [ 9.52012915e-03 -3.61224611e-05 9.99954682e-01 7.14598665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.46, Y:22.62, Z:0.71 [[ 8.19234630e-01 -5.73405179e-01 -7.81808576e-03 7.84601344e+01] [ 5.73379445e-01 8.19271933e-01 -5.43246649e-03 2.26192527e+01] [ 9.52014265e-03 -3.22650034e-05 9.99954682e-01 7.14945737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.48, Y:22.63, Z:0.72 [[ 8.19364555e-01 -5.73219528e-01 -7.81658479e-03 7.84835209e+01] [ 5.73193766e-01 8.19401838e-01 -5.43462533e-03 2.26329673e+01] [ 9.52015731e-03 -2.74783063e-05 9.99954682e-01 7.15420764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.51, Y:22.65, Z:0.72 [[ 8.19718487e-01 -5.72713291e-01 -7.81593431e-03 7.85082515e+01] [ 5.72687497e-01 8.19755748e-01 -5.43556067e-03 2.26461707e+01] [ 9.52017491e-03 -2.04582914e-05 9.99954682e-01 7.15884369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.53, Y:22.66, Z:0.72 [[ 8.20045113e-01 -5.72245531e-01 -7.81439727e-03 7.85320654e+01] [ 5.72219695e-01 8.20082344e-01 -5.43776949e-03 2.26607735e+01] [ 9.52018852e-03 -1.23357287e-05 9.99954682e-01 7.15539623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.56, Y:22.68, Z:0.72 [[ 8.20445283e-01 -5.71671668e-01 -7.81285450e-03 7.85563578e+01] [ 5.71645785e-01 8.20482482e-01 -5.43998520e-03 2.26755278e+01] [ 9.52019567e-03 -2.97514485e-06 9.99954682e-01 7.15616432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.58, Y:22.69, Z:0.71 [[ 8.21088085e-01 -5.70748052e-01 -7.81131828e-03 7.85812051e+01] [ 5.70722106e-01 8.21125240e-01 -5.44219017e-03 2.26876812e+01] [ 9.52019004e-03 1.04254853e-05 9.99954682e-01 7.14790893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.61, Y:22.70, Z:0.71 [[ 8.21208000e-01 -5.70575516e-01 -7.81027340e-03 7.86054389e+01] [ 5.70549548e-01 8.21245140e-01 -5.44368930e-03 2.27016435e+01] [ 9.52018491e-03 1.42532483e-05 9.99954682e-01 7.14355026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.63, Y:22.72, Z:0.71 [[ 8.21203399e-01 -5.70582160e-01 -7.80876135e-03 7.86296818e+01] [ 5.70556171e-01 8.21240524e-01 -5.44585741e-03 2.27153460e+01] [ 9.52018035e-03 1.68196442e-05 9.99954682e-01 7.14950091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.65, Y:22.73, Z:0.71 [[ 8.21114790e-01 -5.70709689e-01 -7.80721629e-03 7.86548797e+01] [ 5.70683685e-01 8.21151905e-01 -5.44807152e-03 2.27278121e+01] [ 9.52017773e-03 1.80411474e-05 9.99954682e-01 7.13907130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.68, Y:22.75, Z:0.71 [[ 8.22077477e-01 -5.69322120e-01 -7.80673870e-03 7.86774387e+01] [ 5.69296046e-01 8.22114544e-01 -5.44875579e-03 2.27450205e+01] [ 9.52013062e-03 3.49539397e-05 9.99954682e-01 7.14634173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.70, Y:22.76, Z:0.72 [[ 8.22784970e-01 -5.68299193e-01 -7.80522085e-03 7.87008864e+01] [ 5.68273052e-01 8.22821989e-01 -5.45092921e-03 2.27609924e+01] [ 9.52006601e-03 4.94459505e-05 9.99954682e-01 7.15693863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.72, Y:22.78, Z:0.72 [[ 8.22451369e-01 -5.68781898e-01 -7.80370037e-03 7.87242291e+01] [ 5.68755759e-01 8.22488389e-01 -5.45310511e-03 2.27770329e+01] [ 9.52008042e-03 4.65142282e-05 9.99954682e-01 7.16304466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.75, Y:22.79, Z:0.72 [[ 8.21747142e-01 -5.69798878e-01 -7.80217151e-03 7.87468406e+01] [ 5.69772764e-01 8.21784180e-01 -5.45529168e-03 2.27932047e+01] [ 9.52012019e-03 3.74055203e-05 9.99954682e-01 7.16679250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.77, Y:22.81, Z:0.72 [[ 8.19426498e-01 -5.73131192e-01 -7.80065221e-03 7.87693012e+01] [ 5.73105208e-01 8.19463627e-01 -5.45746330e-03 2.28089122e+01] [ 9.52019321e-03 1.39562781e-06 9.99954682e-01 7.17396667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.79, Y:22.82, Z:0.72 [[ 8.17937638e-01 -5.75254012e-01 -7.80018075e-03 7.87923633e+01] [ 5.75228118e-01 8.17974829e-01 -5.45813707e-03 2.28249690e+01] [ 9.52016676e-03 -2.24675501e-05 9.99954682e-01 7.18570209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.81, Y:22.84, Z:0.72 [[ 8.16361725e-01 -5.77488282e-01 -7.79863105e-03 7.88141852e+01] [ 5.77462469e-01 8.16398972e-01 -5.46035039e-03 2.28415282e+01] [ 9.52008274e-03 -4.57956748e-05 9.99954682e-01 7.19640029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.84, Y:22.86, Z:0.72 [[ 8.15845418e-01 -5.78217471e-01 -7.79805536e-03 7.88359153e+01] [ 5.78191683e-01 8.15882683e-01 -5.46117242e-03 2.28571181e+01] [ 9.52004364e-03 -5.32982568e-05 9.99954682e-01 7.20172807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.86, Y:22.87, Z:0.72 [[ 8.15025087e-01 -5.79373203e-01 -7.79739420e-03 7.88585514e+01] [ 5.79347458e-01 8.15062383e-01 -5.46211626e-03 2.28731444e+01] [ 9.51996649e-03 -6.56387334e-05 9.99954682e-01 7.21381792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.88, Y:22.89, Z:0.72 [[ 8.13628705e-01 -5.81332567e-01 -7.79587740e-03 7.88810365e+01] [ 5.81306892e-01 8.13666049e-01 -5.46428027e-03 2.28896851e+01] [ 9.51980484e-03 -8.59019856e-05 9.99954682e-01 7.22723037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.90, Y:22.91, Z:0.72 [[ 8.13260740e-01 -5.81847246e-01 -7.79434093e-03 7.89034147e+01] [ 5.81821573e-01 8.13298085e-01 -5.46647105e-03 2.29060472e+01] [ 9.51977367e-03 -8.92494130e-05 9.99954682e-01 7.22584430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.93, Y:22.92, Z:0.72 [[ 8.13844890e-01 -5.81029919e-01 -7.79280757e-03 7.89254342e+01] [ 5.81004188e-01 8.13882195e-01 -5.46865607e-03 2.29231883e+01] [ 9.51988012e-03 -7.70160392e-05 9.99954682e-01 7.20763091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.95, Y:22.94, Z:0.72 [[ 8.14543329e-01 -5.80050395e-01 -7.79128381e-03 7.89469033e+01] [ 5.80024598e-01 8.14580589e-01 -5.47082614e-03 2.29395821e+01] [ 9.51998341e-03 -6.29113223e-05 9.99954682e-01 7.19487099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.97, Y:22.96, Z:0.72 [[ 8.16691916e-01 -5.77021334e-01 -7.79062382e-03 7.89683178e+01] [ 5.76995390e-01 8.16729073e-01 -5.47176581e-03 2.29563790e+01] [ 9.52015459e-03 -2.64071256e-05 9.99954682e-01 7.18599527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.99, Y:22.97, Z:0.72 [[ 8.17757279e-01 -5.75510512e-01 -7.78998810e-03 7.89915128e+01] [ 5.75484491e-01 8.17794382e-01 -5.47267073e-03 2.29731135e+01] [ 9.52018803e-03 -7.70101091e-06 9.99954682e-01 7.18953558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.01, Y:22.99, Z:0.72 [[ 8.19129327e-01 -5.73555910e-01 -7.79514691e-03 7.90135492e+01] [ 5.73529870e-01 8.19166417e-01 -5.46532926e-03 2.29897693e+01] [ 9.52019446e-03 6.06188411e-06 9.99954682e-01 7.19404585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.04, Y:23.01, Z:0.72 [[ 8.21591967e-01 -5.70022790e-01 -7.78828293e-03 7.90357492e+01] [ 5.69996499e-01 8.21628879e-01 -5.47509324e-03 2.30065855e+01] [ 9.52000610e-03 5.89986265e-05 9.99954682e-01 7.18850099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.06, Y:23.02, Z:0.72 [[ 8.22492140e-01 -5.68723172e-01 -7.78676745e-03 7.90591903e+01] [ 5.68696802e-01 8.22528995e-01 -5.47724772e-03 2.30226871e+01] [ 9.51987971e-03 7.66834529e-05 9.99954682e-01 7.19128062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.08, Y:23.04, Z:0.72 [[ 8.23465704e-01 -5.67312633e-01 -7.78525611e-03 7.90826041e+01] [ 5.67286179e-01 8.23502500e-01 -5.47939508e-03 2.30374223e+01] [ 9.51970792e-03 9.56257335e-05 9.99954682e-01 7.19731720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.11, Y:23.05, Z:0.72 [[ 8.23283349e-01 -5.67577255e-01 -7.78370877e-03 7.91053538e+01] [ 5.67550792e-01 8.23320139e-01 -5.48159226e-03 2.30525896e+01] [ 9.51971127e-03 9.52535537e-05 9.99954682e-01 7.19533238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.13, Y:23.07, Z:0.72 [[ 8.22725452e-01 -5.68385663e-01 -7.78265760e-03 7.91287702e+01] [ 5.68359222e-01 8.22762257e-01 -5.48308428e-03 2.30680770e+01] [ 9.51978342e-03 8.77277741e-05 9.99954682e-01 7.19727261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.15, Y:23.08, Z:0.72 [[ 8.21738609e-01 -5.69811471e-01 -7.78112816e-03 7.91521275e+01] [ 5.69785074e-01 8.21775445e-01 -5.48525388e-03 2.30836183e+01] [ 9.51990064e-03 7.38742096e-05 9.99954682e-01 7.20351656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.17, Y:23.10, Z:0.72 [[ 8.20754338e-01 -5.71228322e-01 -7.77957575e-03 7.91748258e+01] [ 5.71201967e-01 8.20791204e-01 -5.48745473e-03 2.30984486e+01] [ 9.51999690e-03 6.01433097e-05 9.99954682e-01 7.20566659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.20, Y:23.11, Z:0.72 [[ 8.18086245e-01 -5.75042941e-01 -7.77890431e-03 7.91983380e+01] [ 5.75016749e-01 8.18123227e-01 -5.48840639e-03 2.31135805e+01] [ 9.52017165e-03 1.69895046e-05 9.99954682e-01 7.21437327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.22, Y:23.13, Z:0.72 [[ 8.15661089e-01 -5.78477744e-01 -7.77734985e-03 7.92217003e+01] [ 5.78451687e-01 8.15698167e-01 -5.49060825e-03 2.31299602e+01] [ 9.52016469e-03 -2.03456343e-05 9.99954682e-01 7.23120608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.24, Y:23.15, Z:0.72 [[ 8.14294857e-01 -5.80399365e-01 -7.77580143e-03 7.92446447e+01] [ 5.80373375e-01 8.14331981e-01 -5.49280025e-03 2.31460707e+01] [ 9.52010156e-03 -4.01091310e-05 9.99954682e-01 7.23932803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.907628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.27, Y:23.16, Z:0.72 [[ 8.12834326e-01 -5.82443061e-01 -7.77426444e-03 7.92676189e+01] [ 5.82417142e-01 8.12871501e-01 -5.49497478e-03 2.31621857e+01] [ 9.51998793e-03 -6.13607548e-05 9.99954682e-01 7.24648406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.29, Y:23.18, Z:0.73 [[ 8.11466208e-01 -5.84347652e-01 -7.77271764e-03 7.92892956e+01] [ 5.84321800e-01 8.11503429e-01 -5.49716188e-03 2.31778586e+01] [ 9.51984065e-03 -8.10072528e-05 9.99954682e-01 7.25256898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.31, Y:23.19, Z:0.73 [[ 8.08571810e-01 -5.88346176e-01 -7.77204714e-03 7.93106124e+01] [ 5.88320499e-01 8.08609152e-01 -5.49810968e-03 2.31940967e+01] [ 9.51934026e-03 -1.26838155e-04 9.99954682e-01 7.25352641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.33, Y:23.21, Z:0.73 [[ 8.07124186e-01 -5.90330547e-01 -7.77139444e-03 7.93333832e+01] [ 5.90304953e-01 8.07161584e-01 -5.49903209e-03 2.32113320e+01] [ 9.51901767e-03 -1.49090833e-04 9.99954682e-01 7.25980331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.35, Y:23.23, Z:0.72 [[ 8.04651194e-01 -5.93696964e-01 -7.76984195e-03 7.93540286e+01] [ 5.93671505e-01 8.04688685e-01 -5.50122481e-03 2.32283167e+01] [ 9.51836437e-03 -1.86166648e-04 9.99954682e-01 7.24710661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.38, Y:23.25, Z:0.72 [[ 8.03327929e-01 -5.95486254e-01 -7.76916979e-03 7.93765570e+01] [ 5.95460870e-01 8.03365470e-01 -5.50217392e-03 2.32452103e+01] [ 9.51795167e-03 -2.06186623e-04 9.99954682e-01 7.24996674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.40, Y:23.26, Z:0.72 [[ 8.01412182e-01 -5.98062020e-01 -7.76761259e-03 7.93981287e+01] [ 5.98036735e-01 8.01449790e-01 -5.50437139e-03 2.32625345e+01] [ 9.51730695e-03 -2.34047384e-04 9.99954682e-01 7.22624344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.42, Y:23.28, Z:0.72 [[ 8.00627401e-01 -5.99112207e-01 -7.76713116e-03 7.94204602e+01] [ 5.99086965e-01 8.00665038e-01 -5.50505065e-03 2.32795038e+01] [ 9.51701341e-03 -2.45692634e-04 9.99954682e-01 7.22069385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.44, Y:23.30, Z:0.72 [[ 8.00238439e-01 -5.99631666e-01 -7.76566364e-03 7.94432485e+01] [ 5.99606428e-01 8.00276079e-01 -5.50712001e-03 2.32966014e+01] [ 9.51691840e-03 -2.49332717e-04 9.99954682e-01 7.23110497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.46, Y:23.31, Z:0.72 [[ 8.00303691e-01 -5.99544594e-01 -7.76411720e-03 7.94637892e+01] [ 5.99519331e-01 8.00341315e-01 -5.50929937e-03 2.33140210e+01] [ 9.51701442e-03 -2.45625719e-04 9.99954682e-01 7.22337951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.49, Y:23.33, Z:0.72 [[ 8.00507482e-01 -5.99272475e-01 -7.76344673e-03 7.94860698e+01] [ 5.99247190e-01 8.00545091e-01 -5.51024400e-03 2.33316603e+01] [ 9.51712673e-03 -2.41232090e-04 9.99954682e-01 7.24279293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.51, Y:23.35, Z:0.72 [[ 8.01000311e-01 -5.98613611e-01 -7.76189355e-03 7.95070792e+01] [ 5.98588274e-01 8.01037884e-01 -5.51243099e-03 2.33492076e+01] [ 9.51738701e-03 -2.30719524e-04 9.99954682e-01 7.21954240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.26762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.53, Y:23.37, Z:0.72 [[ 8.01156645e-01 -5.98404378e-01 -7.76083902e-03 7.95292381e+01] [ 5.98379016e-01 8.01194202e-01 -5.51391524e-03 2.33657193e+01] [ 9.51749025e-03 -2.26413382e-04 9.99954682e-01 7.24187532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.55, Y:23.38, Z:0.72 [[ 8.00989365e-01 -5.98628291e-01 -7.75929725e-03 7.95525085e+01] [ 5.98602919e-01 8.01026914e-01 -5.51608400e-03 2.33823483e+01] [ 9.51748987e-03 -2.26413373e-04 9.99954682e-01 7.24458684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.58, Y:23.40, Z:0.73 [[ 8.01211264e-01 -5.98331287e-01 -7.75775488e-03 7.95754696e+01] [ 5.98305880e-01 8.01248790e-01 -5.51825232e-03 2.33992279e+01] [ 9.51763472e-03 -2.20224444e-04 9.99954682e-01 7.25133291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.60, Y:23.42, Z:0.73 [[ 8.02266847e-01 -5.96915193e-01 -7.75620493e-03 7.95975848e+01] [ 5.96889699e-01 8.02304314e-01 -5.52043000e-03 2.34159152e+01] [ 9.51806521e-03 -2.00740862e-04 9.99954682e-01 7.27384616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.62, Y:23.43, Z:0.73 [[ 8.03076805e-01 -5.95825053e-01 -7.75572466e-03 7.96208721e+01] [ 5.95799502e-01 8.03114233e-01 -5.52110465e-03 2.34329845e+01] [ 9.51834534e-03 -1.86985809e-04 9.99954682e-01 7.29192390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.64, Y:23.45, Z:0.73 [[ 8.05191342e-01 -5.92964395e-01 -7.75436952e-03 7.96424943e+01] [ 5.92938692e-01 8.05228666e-01 -5.52300729e-03 2.34508094e+01] [ 9.51898730e-03 -1.50788066e-04 9.99954682e-01 7.31536817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.66, Y:23.47, Z:0.73 [[ 8.06324272e-01 -5.91422899e-01 -7.75388922e-03 7.96646127e+01] [ 5.91397118e-01 8.06361543e-01 -5.52368151e-03 2.34671499e+01] [ 9.51926980e-03 -1.31749265e-04 9.99954682e-01 7.32518234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.69, Y:23.48, Z:0.73 [[ 8.07111453e-01 -5.90348194e-01 -7.75323606e-03 7.96877743e+01] [ 5.90322355e-01 8.07148682e-01 -5.52459816e-03 2.34838360e+01] [ 9.51945082e-03 -1.17942121e-04 9.99954682e-01 7.33238637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.71, Y:23.50, Z:0.73 [[ 8.09214460e-01 -5.87462228e-01 -7.75168755e-03 7.97096507e+01] [ 5.87436235e-01 8.09251583e-01 -5.52677006e-03 2.35002098e+01] [ 9.51983407e-03 -8.12799029e-05 9.99954682e-01 7.32552399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.73, Y:23.52, Z:0.73 [[ 8.10108921e-01 -5.86228163e-01 -7.75101496e-03 7.97321332e+01] [ 5.86202104e-01 8.10145997e-01 -5.52771317e-03 2.35172549e+01] [ 9.51995488e-03 -6.56115290e-05 9.99954682e-01 7.32451139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.75, Y:23.53, Z:0.73 [[ 8.11086859e-01 -5.84874389e-01 -7.74952885e-03 7.97536482e+01] [ 5.84848250e-01 8.11123879e-01 -5.52979581e-03 2.35337782e+01] [ 9.52006385e-03 -4.71536672e-05 9.99954682e-01 7.31653894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.78, Y:23.55, Z:0.73 [[ 8.11947995e-01 -5.83678343e-01 -7.74888579e-03 7.97759043e+01] [ 5.83652140e-01 8.11984969e-01 -5.53069679e-03 2.35506676e+01] [ 9.52012673e-03 -3.20156066e-05 9.99954682e-01 7.30912390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.80, Y:23.57, Z:0.73 [[ 8.13112321e-01 -5.82055264e-01 -7.74741773e-03 7.97983648e+01] [ 5.82028968e-01 8.13149229e-01 -5.53275249e-03 2.35680899e+01] [ 9.52017447e-03 -1.04723293e-05 9.99954682e-01 7.29631296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.657628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.82, Y:23.58, Z:0.73 [[ 8.13154656e-01 -5.81996139e-01 -7.74588188e-03 7.98211833e+01] [ 5.81969820e-01 8.13191548e-01 -5.53490186e-03 2.35842733e+01] [ 9.52017719e-03 -7.13825938e-06 9.99954682e-01 7.29546468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.84, Y:23.60, Z:0.73 [[ 8.12874246e-01 -5.82387744e-01 -7.74433874e-03 7.98444763e+01] [ 5.82361422e-01 8.12911136e-01 -5.53706015e-03 2.35993764e+01] [ 9.52017517e-03 -9.07052765e-06 9.99954682e-01 7.28805361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.87, Y:23.62, Z:0.73 [[ 8.12405479e-01 -5.83041483e-01 -7.74386147e-03 7.98664557e+01] [ 5.83015183e-01 8.12442385e-01 -5.53772756e-03 2.36150308e+01] [ 9.52016617e-03 -1.59086023e-05 9.99954682e-01 7.28070039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.89, Y:23.63, Z:0.73 [[ 8.12116596e-01 -5.83443808e-01 -7.74320124e-03 7.98881889e+01] [ 5.83417518e-01 8.12153509e-01 -5.53865058e-03 2.36303934e+01] [ 9.52015944e-03 -1.94891948e-05 9.99954682e-01 7.27485964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.91, Y:23.65, Z:0.73 [[ 8.11285660e-01 -5.84598692e-01 -7.74254686e-03 7.99117068e+01] [ 5.84572446e-01 8.11322605e-01 -5.53956519e-03 2.36450151e+01] [ 9.52012585e-03 -3.19097478e-05 9.99954682e-01 7.28091716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.94, Y:23.66, Z:0.73 [[ 8.10998396e-01 -5.84997160e-01 -7.74105268e-03 7.99364455e+01] [ 5.84970912e-01 8.11035339e-01 -5.54165239e-03 2.36604916e+01] [ 9.52011820e-03 -3.40194521e-05 9.99954682e-01 7.29479227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83762800000001 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:79.96, Y:23.67, Z:0.73 [[ 8.10527502e-01 -5.85649438e-01 -7.73975007e-03 7.99616047e+01] [ 5.85623203e-01 8.10564454e-01 -5.54347108e-03 2.36735789e+01] [ 9.52009701e-03 -3.94414544e-05 9.99954682e-01 7.29409274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.99, Y:23.69, Z:0.73 [[ 8.10740234e-01 -5.85354929e-01 -7.73821531e-03 7.99859312e+01] [ 5.85328660e-01 8.10777162e-01 -5.54561265e-03 2.36886252e+01] [ 9.52011994e-03 -3.33479000e-05 9.99954682e-01 7.33177331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.01, Y:23.70, Z:0.73 [[ 8.10819679e-01 -5.85244897e-01 -7.73684835e-03 8.00089740e+01] [ 5.85218605e-01 8.10856590e-01 -5.54751907e-03 2.37031763e+01] [ 9.52013170e-03 -2.97099619e-05 9.99954682e-01 7.33571805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.03, Y:23.72, Z:0.73 [[ 8.11016982e-01 -5.84971463e-01 -7.73578583e-03 8.00326332e+01] [ 5.84945144e-01 8.11053874e-01 -5.54900032e-03 2.37185855e+01] [ 9.52014591e-03 -2.46768613e-05 9.99954682e-01 7.34118430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95762800000001 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:80.06, Y:23.73, Z:0.73 [[ 8.11742536e-01 -5.83964243e-01 -7.73422896e-03 8.00572299e+01] [ 5.83937857e-01 8.11779381e-01 -5.55116945e-03 2.37327239e+01] [ 9.52017206e-03 -1.01887196e-05 9.99954682e-01 7.31333310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.08, Y:23.75, Z:0.73 [[ 8.12659994e-01 -5.82686828e-01 -7.73265404e-03 8.00797977e+01] [ 5.82660364e-01 8.12696782e-01 -5.55336242e-03 2.37471391e+01] [ 9.52017419e-03 7.48444966e-06 9.99954682e-01 7.33440264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.10, Y:23.76, Z:0.73 [[ 8.13827631e-01 -5.81054905e-01 -7.73197089e-03 8.01038201e+01] [ 5.81028359e-01 8.13864360e-01 -5.55431341e-03 2.37611907e+01] [ 9.52013659e-03 2.77593716e-05 9.99954682e-01 7.32862148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.13, Y:23.78, Z:0.73 [[ 8.14237174e-01 -5.80480891e-01 -7.73038961e-03 8.01274779e+01] [ 5.80454297e-01 8.14273869e-01 -5.55651333e-03 2.37767753e+01] [ 9.52010406e-03 3.71818401e-05 9.99954682e-01 7.32709977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.15, Y:23.79, Z:0.73 [[ 8.14598337e-01 -5.79973977e-01 -7.72881103e-03 8.01503730e+01] [ 5.79947340e-01 8.14635000e-01 -5.55870817e-03 2.37920089e+01] [ 9.52006607e-03 4.58110347e-05 9.99954682e-01 7.32914996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.17, Y:23.81, Z:0.73 [[ 8.15013153e-01 -5.79390924e-01 -7.72773728e-03 8.01734396e+01] [ 5.79364246e-01 8.15049786e-01 -5.56020051e-03 2.38079451e+01] [ 9.52002033e-03 5.44618633e-05 9.99954682e-01 7.33818611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.20, Y:23.82, Z:0.73 [[ 8.15622743e-01 -5.78532496e-01 -7.72614568e-03 8.01956796e+01] [ 5.78505759e-01 8.15659333e-01 -5.56241124e-03 2.38247645e+01] [ 9.51993848e-03 6.72093427e-05 9.99954682e-01 7.34527708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.22, Y:23.84, Z:0.73 [[ 8.15503983e-01 -5.78699895e-01 -7.72565432e-03 8.02182806e+01] [ 5.78673159e-01 8.15540573e-01 -5.56309360e-03 2.38418884e+01] [ 9.51994624e-03 6.60961943e-05 9.99954682e-01 7.34709222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.24, Y:23.86, Z:0.73 [[ 8.14884502e-01 -5.79571900e-01 -7.72407309e-03 8.02395926e+01] [ 5.79545183e-01 8.14921106e-01 -5.56528819e-03 2.38582149e+01] [ 9.51999484e-03 5.86177447e-05 9.99954682e-01 7.34364266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.26, Y:23.88, Z:0.73 [[ 8.13011539e-01 -5.82196353e-01 -7.72300068e-03 8.02618012e+01] [ 5.82169739e-01 8.13048219e-01 -5.56677599e-03 2.38753585e+01] [ 9.52012862e-03 2.97558176e-05 9.99954682e-01 7.34148389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.28, Y:23.89, Z:0.73 [[ 8.11551225e-01 -5.84230254e-01 -7.72143329e-03 8.02847879e+01] [ 5.84203711e-01 8.11587956e-01 -5.56894919e-03 2.38917140e+01] [ 9.52017086e-03 8.59754824e-06 9.99954682e-01 7.34653322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.31, Y:23.91, Z:0.73 [[ 8.09695602e-01 -5.86799315e-01 -7.71985119e-03 8.03072148e+01] [ 5.86772868e-01 8.09732403e-01 -5.57114149e-03 2.39071076e+01] [ 9.52015566e-03 -1.88704549e-05 9.99954682e-01 7.34564187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.33, Y:23.92, Z:0.74 [[ 8.05319996e-01 -5.92790113e-01 -7.71916768e-03 8.03308518e+01] [ 5.92763931e-01 8.05356985e-01 -5.57208837e-03 2.39216394e+01] [ 9.51976451e-03 -8.83299965e-05 9.99954682e-01 7.35229737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34762800000001 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:80.35, Y:23.94, Z:0.73 [[ 8.03084487e-01 -5.95815194e-01 -7.71763221e-03 8.03527156e+01] [ 5.95789130e-01 8.03121560e-01 -5.57421427e-03 2.39369755e+01] [ 9.51939838e-03 -1.21516374e-04 9.99954682e-01 7.34964811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37762800000002 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:80.37, Y:23.95, Z:0.74 [[ 7.98933909e-01 -6.01369319e-01 -7.71696623e-03 8.03746348e+01] [ 6.01343505e-01 7.98971155e-01 -5.57513610e-03 2.39539865e+01] [ 9.51834923e-03 -1.86382243e-04 9.99954682e-01 7.35329923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.407628 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:80.40, Y:23.97, Z:0.74 [[ 7.96692934e-01 -6.04335041e-01 -7.71545539e-03 8.03967303e+01] [ 6.04309345e-01 7.96730262e-01 -5.57722617e-03 2.39713100e+01] [ 9.51765000e-03 -2.19185113e-04 9.99954682e-01 7.36142911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.437628 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:80.42, Y:23.99, Z:0.74 [[ 7.94445897e-01 -6.07285939e-01 -7.71394399e-03 8.04180852e+01] [ 6.07260362e-01 7.94483307e-01 -5.57931583e-03 2.39884227e+01] [ 9.51683979e-03 -2.51907850e-04 9.99954682e-01 7.36344981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.467628 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:80.44, Y:24.01, Z:0.74 [[ 7.90082038e-01 -6.12952591e-01 -7.71328935e-03 8.04392916e+01] [ 6.12927273e-01 7.90119624e-01 -5.58022071e-03 2.40070669e+01] [ 9.51483202e-03 -3.18853260e-04 9.99954682e-01 7.37138883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.497628 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:80.46, Y:24.02, Z:0.74 [[ 7.88207815e-01 -6.15360844e-01 -7.71178615e-03 8.04608974e+01] [ 6.15335620e-01 7.88245465e-01 -5.58229734e-03 2.40241587e+01] [ 9.51390766e-03 -3.45326325e-04 9.99954682e-01 7.37419744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.527628 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:80.48, Y:24.04, Z:0.74 [[ 7.86659547e-01 -6.17338882e-01 -7.71113533e-03 8.04826849e+01] [ 6.17313744e-01 7.86697254e-01 -5.58319621e-03 2.40417769e+01] [ 9.51305310e-03 -3.68115227e-04 9.99954682e-01 7.38167538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55762800000001 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:80.50, Y:24.06, Z:0.74 [[ 7.85665513e-01 -6.18603479e-01 -7.70956505e-03 8.05034503e+01] [ 6.18578381e-01 7.85703246e-01 -5.58536369e-03 2.40592617e+01] [ 9.51255570e-03 -3.80742637e-04 9.99954682e-01 7.37769250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58762800000001 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:80.52, Y:24.08, Z:0.74 [[ 7.85354055e-01 -6.18998858e-01 -7.70849915e-03 8.05229326e+01] [ 6.18973765e-01 7.85391791e-01 -5.58683438e-03 2.40799758e+01] [ 9.51243606e-03 -3.83715699e-04 9.99954682e-01 7.38145028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61762800000001 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:80.54, Y:24.10, Z:0.74 [[ 7.86018269e-01 -6.18155226e-01 -7.70694979e-03 8.05430575e+01] [ 6.18130071e-01 7.86055964e-01 -5.58897088e-03 2.40985259e+01] [ 9.51294541e-03 -3.70864209e-04 9.99954682e-01 7.38189616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64762800000001 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:80.56, Y:24.12, Z:0.74 [[ 7.88312145e-01 -6.15227255e-01 -7.70627794e-03 8.05618724e+01] [ 6.15201951e-01 7.88349740e-01 -5.58989710e-03 2.41196177e+01] [ 9.51429926e-03 -3.34333458e-04 9.99954682e-01 7.38826542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67762800000001 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:80.58, Y:24.14, Z:0.74 [[ 7.90004338e-01 -6.13052839e-01 -7.70475126e-03 8.05831007e+01] [ 6.13027411e-01 7.90041849e-01 -5.59200059e-03 2.41382183e+01] [ 9.51526777e-03 -3.05518990e-04 9.99954682e-01 7.39133755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70762800000001 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:80.60, Y:24.16, Z:0.74 [[ 7.92024807e-01 -6.10440304e-01 -7.70322200e-03 8.06040867e+01] [ 6.10414732e-01 7.92062221e-01 -5.59410641e-03 2.41566005e+01] [ 9.51629914e-03 -2.71489141e-04 9.99954682e-01 7.39890132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73762800000002 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:80.62, Y:24.18, Z:0.74 [[ 7.97260405e-01 -6.03586390e-01 -7.70168488e-03 8.06227998e+01] [ 6.03560475e-01 7.97297582e-01 -5.59622184e-03 2.41768098e+01] [ 9.51833808e-03 -1.86786493e-04 9.99954682e-01 7.40345490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.76762800000002 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:80.64, Y:24.20, Z:0.74 [[ 8.00017833e-01 -5.99926796e-01 -7.70101855e-03 8.06439025e+01] [ 5.99900702e-01 8.00054885e-01 -5.59713864e-03 2.41956474e+01] [ 9.51911096e-03 -1.42035705e-04 9.99954682e-01 7.40595395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.797628 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:80.66, Y:24.21, Z:0.74 [[ 8.02572103e-01 -5.96505437e-01 -7.69953627e-03 8.06647165e+01] [ 5.96479166e-01 8.02609029e-01 -5.59917694e-03 2.42144975e+01] [ 9.51965682e-03 -9.88697571e-05 9.99954682e-01 7.40881261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.827628 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:80.68, Y:24.24, Z:0.74 [[ 8.06995078e-01 -5.90507989e-01 -7.69804851e-03 8.06848409e+01] [ 5.90481424e-01 8.07031793e-01 -5.60122166e-03 2.42351825e+01] [ 9.52013602e-03 -2.53963389e-05 9.99954682e-01 7.41110750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.857628 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:80.71, Y:24.25, Z:0.74 [[ 8.08707466e-01 -5.88160692e-01 -7.69645782e-03 8.07057701e+01] [ 5.88134000e-01 8.08744088e-01 -5.60340652e-03 2.42527126e+01] [ 9.52016822e-03 4.96817144e-06 9.99954682e-01 7.41294775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.887628 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:80.73, Y:24.27, Z:0.74 [[ 8.09993178e-01 -5.86388801e-01 -7.69576730e-03 8.07276707e+01] [ 5.86362020e-01 8.10029736e-01 -5.60435473e-03 2.42705237e+01] [ 9.52013120e-03 2.69834462e-05 9.99954682e-01 7.41193374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91762800000001 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:80.75, Y:24.29, Z:0.74 [[ 8.12441950e-01 -5.82991318e-01 -7.69424658e-03 8.07517104e+01] [ 5.82964364e-01 8.12478380e-01 -5.60644175e-03 2.42882993e+01] [ 9.51991586e-03 6.94369095e-05 9.99954682e-01 7.40031020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94762800000001 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:80.77, Y:24.31, Z:0.74 [[ 8.12108948e-01 -5.83454747e-01 -7.72108371e-03 8.07713780e+01] [ 5.83428163e-01 8.12145651e-01 -5.56961310e-03 2.43054179e+01] [ 9.52026175e-03 1.84349578e-05 9.99954681e-01 7.40263208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97762800000001 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:80.79, Y:24.32, Z:0.74 [[ 8.11302541e-01 -5.84575933e-01 -7.69197598e-03 8.07925461e+01] [ 5.84549020e-01 8.11339002e-01 -5.60952664e-03 2.43227909e+01] [ 9.51999438e-03 5.46861871e-05 9.99954682e-01 7.39411609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00762800000001 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:80.82, Y:24.34, Z:0.74 [[ 8.11830908e-01 -5.83842255e-01 -7.66797137e-03 8.08172428e+01] [ 5.83814999e-01 8.11867114e-01 -5.64241964e-03 2.43385728e+01] [ 9.51965679e-03 1.04013964e-04 9.99954682e-01 7.39712194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03762800000001 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:80.84, Y:24.35, Z:0.74 [[ 8.11473611e-01 -5.84338467e-01 -7.68991793e-03 8.08401398e+01] [ 5.84311517e-01 8.11510045e-01 -5.61234894e-03 2.43544897e+01] [ 9.51995702e-03 6.09654481e-05 9.99954682e-01 7.39930005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06762800000001 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:80.86, Y:24.37, Z:0.74 [[ 8.11211700e-01 -5.84702032e-01 -7.68835416e-03 8.08628154e+01] [ 5.84675078e-01 8.11248131e-01 -5.61449034e-03 2.43700412e+01] [ 9.51996685e-03 5.93511906e-05 9.99954682e-01 7.40305755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09762800000001 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:80.89, Y:24.38, Z:0.74 [[ 8.10814538e-01 -5.85252667e-01 -7.68767595e-03 8.08866097e+01] [ 5.85225730e-01 8.10850980e-01 -5.61541882e-03 2.43844192e+01] [ 9.51999843e-03 5.40374513e-05 9.99954682e-01 7.40985360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.12762800000002 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:80.91, Y:24.40, Z:0.74 [[ 8.10845504e-01 -5.85209785e-01 -7.68613058e-03 8.09093907e+01] [ 5.85182825e-01 8.10881930e-01 -5.61753327e-03 2.43997725e+01] [ 9.51997983e-03 5.71599838e-05 9.99954682e-01 7.41707702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.157628 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:80.93, Y:24.42, Z:0.74 [[ 8.11589449e-01 -5.84177628e-01 -7.68546084e-03 8.09323422e+01] [ 5.84150613e-01 8.11625834e-01 -5.61844940e-03 2.44151150e+01] [ 9.51989101e-03 7.04075935e-05 9.99954682e-01 7.41959420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.187628 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:80.96, Y:24.43, Z:0.74 [[ 8.11492799e-01 -5.84312073e-01 -7.67067327e-03 8.09559579e+01] [ 5.84284873e-01 8.11529046e-01 -5.63867007e-03 2.44316926e+01] [ 9.51971716e-03 9.38817958e-05 9.99954682e-01 7.41216105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.217628 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:80.98, Y:24.45, Z:0.74 [[ 8.11751047e-01 -5.83953075e-01 -7.68395038e-03 8.09782601e+01] [ 5.83926031e-01 8.11787411e-01 -5.62051861e-03 2.44473615e+01] [ 9.51985331e-03 7.56032184e-05 9.99954682e-01 7.40447834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.247628 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:81.00, Y:24.46, Z:0.74 [[ 8.11594218e-01 -5.84171030e-01 -7.68326456e-03 8.10012818e+01] [ 5.84143986e-01 8.11630583e-01 -5.62145597e-03 2.44643171e+01] [ 9.51986421e-03 7.42083737e-05 9.99954682e-01 7.40719571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.277628 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:81.02, Y:24.48, Z:0.74 [[ 8.11545207e-01 -5.84239136e-01 -7.68175450e-03 8.10245927e+01] [ 5.84212076e-01 8.11581558e-01 -5.62351872e-03 2.44804953e+01] [ 9.51985001e-03 7.59659145e-05 9.99954682e-01 7.40712008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30762800000001 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:81.05, Y:24.50, Z:0.74 [[ 8.11490425e-01 -5.84315246e-01 -7.68014698e-03 8.10471425e+01] [ 5.84288168e-01 8.11526763e-01 -5.62571329e-03 2.44952270e+01] [ 9.51983486e-03 7.77934535e-05 9.99954682e-01 7.40249263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33762800000001 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:81.07, Y:24.51, Z:0.74 [[ 8.10458005e-01 -5.85746408e-01 -7.67905496e-03 8.10709963e+01] [ 5.85719380e-01 8.10494381e-01 -5.62720349e-03 2.45080022e+01] [ 9.51994513e-03 6.28407979e-05 9.99954682e-01 7.39971848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36762800000001 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:81.09, Y:24.52, Z:0.74 [[ 8.08630225e-01 -5.88267124e-01 -7.67797063e-03 8.10941115e+01] [ 5.88240196e-01 8.08666674e-01 -5.62868261e-03 2.45232738e+01] [ 9.52008790e-03 3.50319358e-05 9.99954682e-01 7.40672427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39762800000001 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:81.12, Y:24.54, Z:0.74 [[ 8.07772952e-01 -5.89443747e-01 -7.67634474e-03 8.11178555e+01] [ 5.89416851e-01 8.07809426e-01 -5.63089910e-03 2.45373582e+01] [ 9.52012190e-03 2.39210410e-05 9.99954682e-01 7.41494787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42762800000001 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:81.14, Y:24.55, Z:0.74 [[ 8.06177560e-01 -5.91623890e-01 -7.67559025e-03 8.11404453e+01] [ 5.91597083e-01 8.06214098e-01 -5.63192737e-03 2.45517712e+01] [ 9.52015186e-03 -5.23344828e-07 9.99954682e-01 7.41947290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45762800000001 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:81.17, Y:24.56, Z:0.74 [[ 8.02803839e-01 -5.96193842e-01 -7.67450369e-03 8.11656839e+01] [ 5.96167229e-01 8.02840519e-01 -5.63340762e-03 2.45649763e+01] [ 9.52000546e-03 -5.27663318e-05 9.99954682e-01 7.43204414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48762800000002 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:81.19, Y:24.58, Z:0.74 [[ 8.00794529e-01 -5.98890014e-01 -7.67292470e-03 8.11891719e+01] [ 5.98863504e-01 8.00831283e-01 -5.63555745e-03 2.45795199e+01] [ 9.51979721e-03 -8.21109981e-05 9.99954682e-01 7.43231634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51762800000002 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:81.21, Y:24.59, Z:0.74 [[ 7.96497799e-01 -6.04592750e-01 -7.67224097e-03 8.12141072e+01] [ 6.04566494e-01 7.96534735e-01 -5.63648812e-03 2.45922105e+01] [ 9.51898628e-03 -1.48929437e-04 9.99954682e-01 7.44482886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.547628 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:81.24, Y:24.61, Z:0.74 [[ 7.94070420e-01 -6.07777368e-01 -7.67066168e-03 8.12365875e+01] [ 6.07751239e-01 7.94107447e-01 -5.63863655e-03 2.46065337e+01] [ 9.51836524e-03 -1.84379645e-04 9.99954682e-01 7.44407084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.577628 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:81.26, Y:24.62, Z:0.74 [[ 7.91213269e-01 -6.11492219e-01 -7.66997938e-03 8.12601755e+01] [ 6.11466256e-01 7.91250411e-01 -5.63956449e-03 2.46215864e+01] [ 9.51742415e-03 -2.27835317e-04 9.99954682e-01 7.44582992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.607628 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:81.29, Y:24.64, Z:0.75 [[ 7.85383049e-01 -6.18962569e-01 -7.66844875e-03 8.12856447e+01] [ 6.18936938e-01 7.85420422e-01 -5.64164501e-03 2.46350348e+01] [ 9.51492334e-03 -3.15433832e-04 9.99954682e-01 7.45153815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.637628 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:81.31, Y:24.65, Z:0.74 [[ 7.82577637e-01 -6.22505792e-01 -7.66686590e-03 8.13085924e+01] [ 6.22480309e-01 7.82615111e-01 -5.64379525e-03 2.46497881e+01] [ 9.51350034e-03 -3.55765111e-04 9.99954682e-01 7.44665491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66762800000001 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:81.33, Y:24.66, Z:0.75 [[ 7.78311196e-01 -6.27831914e-01 -7.66618173e-03 8.13323286e+01] [ 6.27806678e-01 7.78348837e-01 -5.64472443e-03 2.46641790e+01] [ 9.51090178e-03 -4.19527867e-04 9.99954682e-01 7.46539064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69762800000001 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:81.35, Y:24.68, Z:0.75 [[ 7.77559832e-01 -6.28762246e-01 -7.66463328e-03 8.13546339e+01] [ 6.28737034e-01 7.77597489e-01 -5.64682619e-03 2.46810580e+01] [ 9.51051071e-03 -4.28293578e-04 9.99954682e-01 7.48493470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72762800000001 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:81.38, Y:24.70, Z:0.75 [[ 7.77792607e-01 -6.28474294e-01 -7.66305226e-03 8.13761315e+01] [ 6.28449048e-01 7.77830241e-01 -5.64897091e-03 2.46973121e+01] [ 9.51078679e-03 -4.22110089e-04 9.99954682e-01 7.49686625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75762800000001 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:81.40, Y:24.71, Z:0.75 [[ 7.78314120e-01 -6.27828336e-01 -7.66236747e-03 8.13979482e+01] [ 6.27803049e-01 7.78351727e-01 -5.64989963e-03 2.47143098e+01] [ 9.51118403e-03 -4.13061001e-04 9.99954682e-01 7.50381635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78762800000001 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:81.42, Y:24.73, Z:0.75 [[ 7.80291541e-01 -6.25369030e-01 -7.66076296e-03 8.14188452e+01] [ 6.25343604e-01 7.80329053e-01 -5.65207436e-03 2.47324007e+01] [ 9.51254817e-03 -3.80343303e-04 9.99954682e-01 7.49671735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81762800000001 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:81.44, Y:24.75, Z:0.75 [[ 7.81127434e-01 -6.24324641e-01 -7.65998896e-03 8.14405474e+01] [ 6.24299154e-01 7.81164905e-01 -5.65312313e-03 2.47504149e+01] [ 9.51309862e-03 -3.66315060e-04 9.99954682e-01 7.49659342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84762800000001 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:81.46, Y:24.77, Z:0.75 [[ 7.82139365e-01 -6.23056469e-01 -7.65840289e-03 8.14621880e+01] [ 6.23030900e-01 7.82176780e-01 -5.65527099e-03 2.47684449e+01] [ 9.51377809e-03 -3.48211584e-04 9.99954682e-01 7.49594861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87762800000002 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:81.48, Y:24.79, Z:0.75 [[ 7.83215006e-01 -6.21703810e-01 -7.65680592e-03 8.14837672e+01] [ 6.21678156e-01 7.83252363e-01 -5.65743235e-03 2.47868522e+01] [ 9.51445858e-03 -3.29083071e-04 9.99954682e-01 7.49699778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.907628 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:81.50, Y:24.81, Z:0.75 [[ 7.85705824e-01 -6.18552953e-01 -7.65521380e-03 8.15034892e+01] [ 6.18527128e-01 7.85743063e-01 -5.65958586e-03 2.48074829e+01] [ 9.51578469e-03 -2.88187839e-04 9.99954682e-01 7.49949666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.937628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:81.52, Y:24.83, Z:0.75 [[ 7.87325207e-01 -6.16490423e-01 -7.65362205e-03 8.15236428e+01] [ 6.16464479e-01 7.87362363e-01 -5.66173762e-03 2.48251205e+01] [ 9.51658096e-03 -2.60557392e-04 9.99954682e-01 7.50183135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.967628 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:81.54, Y:24.85, Z:0.75 [[ 7.90425508e-01 -6.12510366e-01 -7.65295199e-03 8.15443505e+01] [ 6.12484227e-01 7.90462527e-01 -5.66264319e-03 2.48450270e+01] [ 9.51779942e-03 -2.11414766e-04 9.99954682e-01 7.51877236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.997628 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:81.56, Y:24.86, Z:0.75 [[ 7.91748052e-01 -6.10799868e-01 -7.65137745e-03 8.15649515e+01] [ 6.10773628e-01 7.91784999e-01 -5.66476991e-03 2.48625748e+01] [ 9.51828661e-03 -1.88189034e-04 9.99954682e-01 7.52531164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.027628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:81.59, Y:24.88, Z:0.75 [[ 7.93043712e-01 -6.09116692e-01 -7.65030673e-03 8.15863229e+01] [ 6.09090359e-01 7.93080594e-01 -5.66621556e-03 2.48806161e+01] [ 9.51869628e-03 -1.66171454e-04 9.99954682e-01 7.52688772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05762800000001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:81.61, Y:24.90, Z:0.75 [[ 7.94679589e-01 -6.06980929e-01 -7.64874980e-03 8.16062530e+01] [ 6.06954477e-01 7.94716385e-01 -5.66831645e-03 2.49003496e+01] [ 9.51914678e-03 -1.37947552e-04 9.99954682e-01 7.52648756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08762800000001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:81.63, Y:24.92, Z:0.75 [[ 7.95363850e-01 -6.06084042e-01 -7.64720097e-03 8.16268192e+01] [ 6.06057528e-01 7.95400603e-01 -5.67040523e-03 2.49178470e+01] [ 9.51933038e-03 -1.24608380e-04 9.99954682e-01 7.52699584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11762800000001 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:81.65, Y:24.94, Z:0.75 [[ 7.95594377e-01 -6.05781411e-01 -7.64652870e-03 8.16484384e+01] [ 6.05754875e-01 7.95631113e-01 -5.67131165e-03 2.49360572e+01] [ 9.51939131e-03 -1.19858383e-04 9.99954682e-01 7.53300193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14762800000001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:81.67, Y:24.95, Z:0.75 [[ 7.96293755e-01 -6.04861811e-01 -7.64493482e-03 8.16687472e+01] [ 6.04835212e-01 7.96330445e-01 -5.67345938e-03 2.49544798e+01] [ 9.51955327e-03 -1.06185502e-04 9.99954682e-01 7.52399765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17762800000001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:81.69, Y:24.97, Z:0.75 [[ 7.96531459e-01 -6.04548757e-01 -7.64424530e-03 8.16908913e+01] [ 6.04522135e-01 7.96568133e-01 -5.67438827e-03 2.49725625e+01] [ 9.51960658e-03 -1.01286722e-04 9.99954682e-01 7.53127113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20762800000001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:81.71, Y:24.99, Z:0.75 [[ 7.96932071e-01 -6.04020583e-01 -7.64264548e-03 8.17132162e+01] [ 6.03993916e-01 7.96968711e-01 -5.67654219e-03 2.49904511e+01] [ 9.51969765e-03 -9.22928520e-05 9.99954682e-01 7.52906653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23762800000002 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:81.73, Y:25.01, Z:0.75 [[ 7.98118419e-01 -6.02452158e-01 -7.64105710e-03 8.17333640e+01] [ 6.02425398e-01 7.98154992e-01 -5.67867947e-03 2.50080088e+01] [ 9.51988058e-03 -7.09081915e-05 9.99954682e-01 7.51238849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.26762800000002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:81.76, Y:25.03, Z:0.75 [[ 7.98747585e-01 -6.01617753e-01 -7.64036878e-03 8.17557093e+01] [ 6.01590946e-01 7.98784123e-01 -5.67960543e-03 2.50256671e+01] [ 9.51995673e-03 -5.98055638e-05 9.99954682e-01 7.51359955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.297628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:81.78, Y:25.04, Z:0.75 [[ 7.99703403e-01 -6.00346662e-01 -7.63884274e-03 8.17769750e+01] [ 6.00319778e-01 7.99739885e-01 -5.68165714e-03 2.50418100e+01] [ 9.52005111e-03 -4.21078298e-05 9.99954682e-01 7.50645266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.327628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:81.80, Y:25.06, Z:0.75 [[ 8.01992823e-01 -5.97284831e-01 -7.63818202e-03 8.17992708e+01] [ 5.97257799e-01 8.02029195e-01 -5.68254524e-03 2.50581774e+01] [ 9.52014306e-03 -4.60327830e-06 9.99954682e-01 7.50271551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.357628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:81.82, Y:25.07, Z:0.75 [[ 8.03031063e-01 -5.95888240e-01 -7.63665360e-03 8.18223124e+01] [ 5.95861124e-01 8.03067373e-01 -5.68459852e-03 2.50749979e+01] [ 9.52013275e-03 1.45241874e-05 9.99954682e-01 7.50429750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.387628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:81.85, Y:25.09, Z:0.75 [[ 8.03979389e-01 -5.94608143e-01 -7.63534780e-03 8.18450819e+01] [ 5.94580953e-01 8.04015644e-01 -5.68635186e-03 2.50918277e+01] [ 9.52009020e-03 3.18773223e-05 9.99954682e-01 7.50699528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41762800000001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:81.87, Y:25.11, Z:0.75 [[ 8.05994233e-01 -5.91874161e-01 -7.63370765e-03 8.18674399e+01] [ 5.91846828e-01 8.06030379e-01 -5.68855285e-03 2.51075655e+01] [ 9.51990772e-03 6.69551334e-05 9.99954682e-01 7.48967478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44762800000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:81.89, Y:25.12, Z:0.75 [[ 8.06683368e-01 -5.90934588e-01 -7.63261416e-03 8.18901636e+01] [ 5.90907199e-01 8.06719472e-01 -5.69001966e-03 2.51234691e+01] [ 9.51980789e-03 7.98775755e-05 9.99954682e-01 7.50316874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47762800000001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:81.91, Y:25.14, Z:0.75 [[ 8.07185713e-01 -5.90248246e-01 -7.63101931e-03 8.19130681e+01] [ 5.90220806e-01 8.07221779e-01 -5.69215775e-03 2.51390344e+01] [ 9.51971111e-03 9.06420468e-05 9.99954682e-01 7.50978258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50762800000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.94, Y:25.15, Z:0.75 [[ 8.07536512e-01 -5.89768237e-01 -7.62939620e-03 8.19363136e+01] [ 5.89740755e-01 8.07572546e-01 -5.69433242e-03 2.51526307e+01] [ 9.51962731e-03 9.90154716e-05 9.99954682e-01 7.51612917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53762800000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:81.96, Y:25.17, Z:0.75 [[ 8.07241183e-01 -5.90172417e-01 -7.62829357e-03 8.19598513e+01] [ 5.90144939e-01 8.07277219e-01 -5.69580916e-03 2.51680091e+01] [ 9.51965708e-03 9.60928720e-05 9.99954682e-01 7.52369788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56762800000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:81.98, Y:25.18, Z:0.75 [[ 8.06513618e-01 -5.91166320e-01 -7.62667902e-03 8.19833976e+01] [ 5.91138866e-01 8.06549673e-01 -5.69797021e-03 2.51839940e+01] [ 9.51974355e-03 8.70641854e-05 9.99954682e-01 7.53107870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59762800000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.01, Y:25.20, Z:0.75 [[ 8.05766691e-01 -5.92184007e-01 -7.62507216e-03 8.20064413e+01] [ 5.92156578e-01 8.05802765e-01 -5.70011971e-03 2.51996107e+01] [ 9.51982397e-03 7.77299598e-05 9.99954682e-01 7.54060771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.62762800000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.03, Y:25.21, Z:0.76 [[ 8.03470927e-01 -5.95295180e-01 -7.62346765e-03 8.20312673e+01] [ 5.95267870e-01 8.03507092e-01 -5.70226482e-03 2.52147783e+01] [ 9.52004109e-03 4.35986491e-05 9.99954682e-01 7.55575954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.657628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.05, Y:25.23, Z:0.76 [[ 8.02107772e-01 -5.97130661e-01 -7.62204650e-03 8.20537013e+01] [ 5.97103416e-01 8.02143985e-01 -5.70416380e-03 2.52291767e+01] [ 9.52010985e-03 2.42041189e-05 9.99954682e-01 7.55873895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.08, Y:25.24, Z:0.76 [[ 8.00664124e-01 -5.99065001e-01 -7.62134203e-03 8.20776277e+01] [ 5.99037835e-01 8.00700396e-01 -5.70510489e-03 2.52444911e+01] [ 9.52014025e-03 2.40057493e-06 9.99954682e-01 7.57022231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.717628 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:82.10, Y:25.26, Z:0.76 [[ 7.98057979e-01 -6.02532490e-01 -7.61970938e-03 8.21026234e+01] [ 6.02505460e-01 7.98094354e-01 -5.70728461e-03 2.52580498e+01] [ 9.52007144e-03 -3.61724830e-05 9.99954682e-01 7.57432316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.13, Y:25.27, Z:0.76 [[ 7.96795237e-01 -6.04201387e-01 -7.61805848e-03 8.21252607e+01] [ 6.04174412e-01 7.96831652e-01 -5.70948738e-03 2.52726521e+01] [ 9.51999031e-03 -5.33436500e-05 9.99954682e-01 7.56364133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.777628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.15, Y:25.29, Z:0.76 [[ 7.95759508e-01 -6.05564845e-01 -7.61734304e-03 8.21488263e+01] [ 6.05537924e-01 7.95795963e-01 -5.71044172e-03 2.52875480e+01] [ 9.51989359e-03 -6.84517941e-05 9.99954682e-01 7.56880701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80762800000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.17, Y:25.30, Z:0.76 [[ 7.94813153e-01 -6.06806437e-01 -7.61573169e-03 8.21715758e+01] [ 6.06779553e-01 7.94849634e-01 -5.71258989e-03 2.53021207e+01] [ 9.51979787e-03 -8.06286853e-05 9.99954682e-01 7.56838928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83762800000001 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:82.20, Y:25.32, Z:0.76 [[ 7.93482438e-01 -6.08545505e-01 -7.61503271e-03 8.21965768e+01] [ 6.08518691e-01 7.93518971e-01 -5.71352150e-03 2.53160592e+01] [ 9.51961075e-03 -1.00310772e-04 9.99954682e-01 7.57454128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86762800000001 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:82.22, Y:25.33, Z:0.76 [[ 7.93060262e-01 -6.09095606e-01 -7.61341176e-03 8.22194252e+01] [ 6.09068796e-01 7.93096799e-01 -5.71568065e-03 2.53306196e+01] [ 9.51956846e-03 -1.04212345e-04 9.99954682e-01 7.56004092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.24, Y:25.34, Z:0.76 [[ 7.93169761e-01 -6.08953017e-01 -7.61270994e-03 8.22435048e+01] [ 6.08926193e-01 7.93206286e-01 -5.71661524e-03 2.53445875e+01] [ 9.51959948e-03 -1.01332144e-04 9.99954682e-01 7.58876994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92762800000001 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:82.27, Y:25.36, Z:0.76 [[ 7.93830050e-01 -6.08092021e-01 -7.61221281e-03 8.22658759e+01] [ 6.08065150e-01 7.93866542e-01 -5.71727714e-03 2.53611523e+01] [ 9.51971167e-03 -9.01749356e-05 9.99954682e-01 7.59652283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95762800000001 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:82.29, Y:25.38, Z:0.76 [[ 7.94942080e-01 -6.06637592e-01 -7.61061943e-03 8.22883549e+01] [ 6.06610634e-01 7.94978507e-01 -5.71939740e-03 2.53781682e+01] [ 9.51988034e-03 -7.00930123e-05 9.99954682e-01 7.60330870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98762800000002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:82.31, Y:25.39, Z:0.76 [[ 7.97490997e-01 -6.03282863e-01 -7.60901732e-03 8.23096921e+01] [ 6.03255731e-01 7.97527295e-01 -5.72152804e-03 2.53944603e+01] [ 9.52009882e-03 -2.73162042e-05 9.99954682e-01 7.59901660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.33, Y:25.41, Z:0.76 [[ 7.98413139e-01 -6.02061940e-01 -7.60792807e-03 8.23320003e+01] [ 6.02034739e-01 7.98449385e-01 -5.72297605e-03 2.54116774e+01] [ 9.52013155e-03 -1.09377140e-05 9.99954682e-01 7.59651713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.047628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:82.35, Y:25.43, Z:0.76 [[ 7.99335904e-01 -6.00836297e-01 -7.60635142e-03 8.23534089e+01] [ 6.00809021e-01 7.99372093e-01 -5.72507080e-03 2.54277839e+01] [ 9.52013539e-03 6.29009028e-06 9.99954682e-01 7.59425603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.077628 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:82.38, Y:25.44, Z:0.76 [[ 7.99768856e-01 -6.00259886e-01 -7.60566735e-03 8.23756856e+01] [ 6.00232575e-01 7.99805019e-01 -5.72597942e-03 2.54443585e+01] [ 9.52012668e-03 1.42907079e-05 9.99954682e-01 7.60052796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.40, Y:25.46, Z:0.76 [[ 8.00308834e-01 -5.99539781e-01 -7.60410833e-03 8.23971126e+01] [ 5.99512417e-01 8.00344957e-01 -5.72804905e-03 2.54604957e+01] [ 9.52010303e-03 2.54508864e-05 9.99954682e-01 7.60258506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.42, Y:25.48, Z:0.76 [[ 8.00147651e-01 -5.99754892e-01 -7.60304966e-03 8.24199001e+01] [ 5.99727525e-01 8.00183772e-01 -5.72945393e-03 2.54777807e+01] [ 9.52010497e-03 2.46509497e-05 9.99954682e-01 7.60530024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.44, Y:25.49, Z:0.76 [[ 8.00038000e-01 -5.99901171e-01 -7.60150899e-03 8.24416654e+01] [ 5.99873791e-01 8.00074112e-01 -5.73149727e-03 2.54948739e+01] [ 9.52010247e-03 2.54695983e-05 9.99954682e-01 7.60838049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.46, Y:25.51, Z:0.76 [[ 7.99723800e-01 -6.00319985e-01 -7.59997404e-03 8.24624735e+01] [ 6.00292605e-01 7.99759911e-01 -5.73353189e-03 2.55117991e+01] [ 9.52010834e-03 2.30336962e-05 9.99954682e-01 7.61418904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.48, Y:25.53, Z:0.76 [[ 7.99514176e-01 -6.00599144e-01 -7.59933614e-03 8.24847895e+01] [ 6.00571769e-01 7.99550291e-01 -5.73437726e-03 2.55288503e+01] [ 9.52011349e-03 2.07691665e-05 9.99954682e-01 7.61883202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.51, Y:25.55, Z:0.76 [[ 7.99360700e-01 -6.00803415e-01 -7.59782743e-03 8.25069564e+01] [ 6.00776030e-01 7.99396808e-01 -5.73637554e-03 2.55459259e+01] [ 9.52011300e-03 2.08405719e-05 9.99954682e-01 7.62049218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.53, Y:25.56, Z:0.76 [[ 7.99129951e-01 -6.01110320e-01 -7.59632846e-03 8.25294519e+01] [ 6.01082930e-01 7.99166055e-01 -5.73835985e-03 2.55635593e+01] [ 9.52011517e-03 1.96718604e-05 9.99954682e-01 7.62209318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.55, Y:25.58, Z:0.76 [[ 7.99463769e-01 -6.00666298e-01 -7.59483709e-03 8.25504917e+01] [ 6.00638869e-01 7.99499843e-01 -5.74033302e-03 2.55804549e+01] [ 9.52009564e-03 2.74339089e-05 9.99954682e-01 7.62126997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.57, Y:25.60, Z:0.76 [[ 7.99507156e-01 -6.00608557e-01 -7.59401500e-03 8.25725218e+01] [ 6.00581115e-01 7.99543220e-01 -5.74142038e-03 2.55981396e+01] [ 9.52008941e-03 2.94846872e-05 9.99954682e-01 7.62683759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.59, Y:25.62, Z:0.76 [[ 7.99464860e-01 -6.00664875e-01 -7.59253453e-03 8.25945179e+01] [ 6.00637417e-01 7.99500911e-01 -5.74337750e-03 2.56162024e+01] [ 9.52008341e-03 3.12681579e-05 9.99954682e-01 7.62536401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.407628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.62, Y:25.63, Z:0.76 [[ 7.99065319e-01 -6.01196300e-01 -7.59105654e-03 8.26153610e+01] [ 6.01168848e-01 7.99101375e-01 -5.74533031e-03 2.56338799e+01] [ 9.52009505e-03 2.73874833e-05 9.99954682e-01 7.61106706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.64, Y:25.65, Z:0.76 [[ 7.98137613e-01 -6.02427372e-01 -7.59025273e-03 8.26366935e+01] [ 6.02399965e-01 7.98173704e-01 -5.74639204e-03 2.56501368e+01] [ 9.52012399e-03 1.40436526e-05 9.99954682e-01 7.60494558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.66, Y:25.67, Z:0.76 [[ 7.95030393e-01 -6.06522114e-01 -7.58945683e-03 8.26587646e+01] [ 6.06494883e-01 7.95066616e-01 -5.74744302e-03 2.56651976e+01] [ 9.52007505e-03 -3.35748523e-05 9.99954682e-01 7.61162186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.68, Y:25.68, Z:0.76 [[ 7.92705213e-01 -6.09557920e-01 -7.58865997e-03 8.26807734e+01] [ 6.09530817e-01 7.92741533e-01 -5.74849496e-03 2.56805715e+01] [ 9.51988657e-03 -6.86601886e-05 9.99954682e-01 7.61772591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.70, Y:25.70, Z:0.76 [[ 7.90325896e-01 -6.12639701e-01 -7.58787645e-03 8.27041069e+01] [ 6.12612730e-01 7.90362313e-01 -5.74952900e-03 2.56969423e+01] [ 9.51956131e-03 -1.04428050e-04 9.99954682e-01 7.62353538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.73, Y:25.71, Z:0.76 [[ 7.88414208e-01 -6.15097945e-01 -7.58646349e-03 8.27257620e+01] [ 6.15071070e-01 7.88450696e-01 -5.75139280e-03 2.57133729e+01] [ 9.51922231e-03 -1.31734414e-04 9.99954682e-01 7.62898297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.75, Y:25.73, Z:0.76 [[ 7.85806646e-01 -6.18425723e-01 -7.58550355e-03 8.27462629e+01] [ 6.18398990e-01 7.85843239e-01 -5.75265857e-03 2.57316832e+01] [ 9.51860872e-03 -1.70390396e-04 9.99954683e-01 7.62895456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.77, Y:25.75, Z:0.76 [[ 7.84188242e-01 -6.20476650e-01 -7.58471652e-03 8.27684263e+01] [ 6.20450003e-01 7.84224897e-01 -5.75369606e-03 2.57497084e+01] [ 9.51815759e-03 -1.93956589e-04 9.99954683e-01 7.62315433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.79, Y:25.77, Z:0.76 [[ 7.81399848e-01 -6.23984592e-01 -7.58333654e-03 8.27897396e+01] [ 6.23958091e-01 7.81436609e-01 -5.75551430e-03 2.57667854e+01] [ 9.51724903e-03 -2.34326194e-04 9.99954683e-01 7.61525550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.81, Y:25.78, Z:0.76 [[ 7.80117083e-01 -6.25587597e-01 -7.58259105e-03 8.28117787e+01] [ 6.25561163e-01 7.80153891e-01 -5.75649627e-03 2.57837246e+01] [ 9.51678059e-03 -2.52633398e-04 9.99954683e-01 7.61963147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.83, Y:25.80, Z:0.76 [[ 7.79212595e-01 -6.26713856e-01 -7.58123496e-03 8.28339347e+01] [ 6.26687457e-01 7.79249429e-01 -5.75828168e-03 2.58008522e+01] [ 9.51646793e-03 -2.64139256e-04 9.99954683e-01 7.62052413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.85, Y:25.82, Z:0.76 [[ 7.78596271e-01 -6.27479396e-01 -7.57987913e-03 8.28548604e+01] [ 6.27453017e-01 7.78633119e-01 -5.76006586e-03 2.58181201e+01] [ 9.51626758e-03 -2.71252234e-04 9.99954683e-01 7.62230685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.87, Y:25.84, Z:0.76 [[ 7.79186691e-01 -6.26746093e-01 -7.57866157e-03 8.28743747e+01] [ 6.26719663e-01 7.79223503e-01 -5.76166739e-03 2.58378962e+01] [ 9.51657374e-03 -2.60281675e-04 9.99954683e-01 7.61373306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.90, Y:25.86, Z:0.76 [[ 7.79922580e-01 -6.25830129e-01 -7.57745929e-03 8.28977771e+01] [ 6.25803641e-01 7.79959350e-01 -5.76324814e-03 2.58570371e+01] [ 9.51692455e-03 -2.47114251e-04 9.99954683e-01 7.60003219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.92, Y:25.88, Z:0.76 [[ 7.80698697e-01 -6.24861522e-01 -7.59097727e-03 8.29178383e+01] [ 6.24835161e-01 7.80735558e-01 -5.74547942e-03 2.58759587e+01] [ 9.51667490e-03 -2.57621208e-04 9.99954682e-01 7.61351837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.94, Y:25.89, Z:0.76 [[ 7.81563732e-01 -6.23779412e-01 -7.57486834e-03 8.29393731e+01] [ 6.23752794e-01 7.81600408e-01 -5.76663960e-03 2.58944629e+01] [ 9.51763124e-03 -2.17848929e-04 9.99954683e-01 7.61308112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.96, Y:25.91, Z:0.76 [[ 7.83454580e-01 -6.21402898e-01 -7.57354767e-03 8.29600323e+01] [ 6.21376153e-01 7.83491163e-01 -5.76837357e-03 2.59133828e+01] [ 9.51829172e-03 -1.86763219e-04 9.99954683e-01 7.62819783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.98, Y:25.93, Z:0.76 [[ 7.84222827e-01 -6.20433092e-01 -7.57197469e-03 8.29821494e+01] [ 6.20406281e-01 7.84259363e-01 -5.77043763e-03 2.59313740e+01] [ 9.51856251e-03 -1.72391748e-04 9.99954683e-01 7.62663720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.00, Y:25.95, Z:0.76 [[ 7.85092194e-01 -6.19332655e-01 -7.57035612e-03 8.30027805e+01] [ 6.19305772e-01 7.85128676e-01 -5.77256028e-03 2.59490152e+01] [ 9.51883876e-03 -1.56373233e-04 9.99954683e-01 7.61459936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.03, Y:25.97, Z:0.76 [[ 7.84949099e-01 -6.19514018e-01 -7.56925584e-03 8.30250340e+01] [ 6.19487130e-01 7.84985578e-01 -5.77400266e-03 2.59664253e+01] [ 9.51883226e-03 -1.56758387e-04 9.99954683e-01 7.61380802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.05, Y:25.98, Z:0.76 [[ 7.84415964e-01 -6.20188944e-01 -7.56765884e-03 8.30469995e+01] [ 6.20162067e-01 7.84452451e-01 -5.77609500e-03 2.59832834e+01] [ 9.51873878e-03 -1.62313819e-04 9.99954683e-01 7.61290138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.07, Y:26.00, Z:0.76 [[ 7.82859761e-01 -6.22152191e-01 -7.56607136e-03 8.30689562e+01] [ 6.22125385e-01 7.82896301e-01 -5.77817369e-03 2.59987079e+01] [ 9.51835270e-03 -1.83545383e-04 9.99954683e-01 7.61619454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.09, Y:26.01, Z:0.76 [[ 7.81575858e-01 -6.23764333e-01 -7.56538247e-03 8.30907108e+01] [ 6.23737594e-01 7.81612446e-01 -5.77907551e-03 2.60144515e+01] [ 9.51797828e-03 -2.02027561e-04 9.99954683e-01 7.62399491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.11, Y:26.03, Z:0.76 [[ 7.80045737e-01 -6.25676772e-01 -7.56470440e-03 8.31135734e+01] [ 6.25650114e-01 7.80082385e-01 -5.77996296e-03 2.60307272e+01] [ 9.51748121e-03 -2.24222704e-04 9.99954683e-01 7.63490024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.14, Y:26.05, Z:0.76 [[ 7.78419535e-01 -6.27698834e-01 -7.56310420e-03 8.31367996e+01] [ 6.27672252e-01 7.78456237e-01 -5.78205606e-03 2.60472714e+01] [ 9.51693549e-03 -2.46285248e-04 9.99954683e-01 7.64372151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.157628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.16, Y:26.06, Z:0.77 [[ 7.75834227e-01 -6.30891493e-01 -7.56151432e-03 8.31602955e+01] [ 6.30865041e-01 7.75871023e-01 -5.78413450e-03 2.60631375e+01] [ 9.51592109e-03 -2.82765527e-04 9.99954683e-01 7.67573792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.18, Y:26.08, Z:0.77 [[ 7.74886199e-01 -6.32055510e-01 -7.56376355e-03 8.31825942e+01] [ 6.32029142e-01 7.74923055e-01 -5.78119491e-03 2.60799297e+01] [ 9.51537086e-03 -3.00750833e-04 9.99954683e-01 7.68679958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.20, Y:26.10, Z:0.77 [[ 7.74529739e-01 -6.32492322e-01 -7.55945481e-03 8.32049276e+01] [ 6.32465920e-01 7.74566571e-01 -5.78682351e-03 2.60964484e+01] [ 9.51542243e-03 -2.99030637e-04 9.99954683e-01 7.70229905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.23, Y:26.11, Z:0.77 [[ 7.75107370e-01 -6.31784333e-01 -7.55789672e-03 8.32273258e+01] [ 6.31757877e-01 7.75144163e-01 -5.78885774e-03 2.61122928e+01] [ 9.51576916e-03 -2.87774486e-04 9.99954683e-01 7.73457944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.25, Y:26.13, Z:0.77 [[ 7.75865831e-01 -6.30852679e-01 -7.55709729e-03 8.32495954e+01] [ 6.30826168e-01 7.75902586e-01 -5.78990119e-03 2.61292002e+01] [ 9.51614600e-03 -2.75028229e-04 9.99954683e-01 7.74938252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.27, Y:26.15, Z:0.77 [[ 7.77014275e-01 -6.29437630e-01 -7.55556751e-03 8.32718706e+01] [ 6.29411034e-01 7.77050966e-01 -5.79189679e-03 2.61468754e+01] [ 9.51669883e-03 -2.55171073e-04 9.99954683e-01 7.74585773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.29, Y:26.16, Z:0.77 [[ 7.80956113e-01 -6.24540221e-01 -7.55396729e-03 8.32919899e+01] [ 6.24513374e-01 7.80992622e-01 -5.79398310e-03 2.61643965e+01] [ 9.51816820e-03 -1.92707080e-04 9.99954683e-01 7.73122768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.31, Y:26.18, Z:0.77 [[ 7.83169841e-01 -6.21761971e-01 -7.55327415e-03 8.33138288e+01] [ 6.21734986e-01 7.83206248e-01 -5.79488655e-03 2.61822167e+01] [ 9.51881159e-03 -1.57754420e-04 9.99954683e-01 7.72027802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.33, Y:26.20, Z:0.77 [[ 7.85788754e-01 -6.18448871e-01 -7.55166073e-03 8.33349559e+01] [ 6.18421712e-01 7.85825032e-01 -5.79698834e-03 2.61992621e+01] [ 9.51942493e-03 -1.14902707e-04 9.99954683e-01 7.71050299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.36, Y:26.22, Z:0.77 [[ 7.88354905e-01 -6.15174387e-01 -7.55096077e-03 8.33570054e+01] [ 6.15147069e-01 7.88391063e-01 -5.79789994e-03 2.62170518e+01] [ 9.51982953e-03 -7.41485224e-05 9.99954683e-01 7.69902797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.38, Y:26.23, Z:0.77 [[ 7.90793721e-01 -6.12036190e-01 -7.54936310e-03 8.33778423e+01] [ 6.12008709e-01 7.90829754e-01 -5.79997949e-03 2.62339471e+01] [ 9.52005832e-03 -3.36886053e-05 9.99954683e-01 7.68863771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.40, Y:26.25, Z:0.77 [[ 7.95293685e-01 -6.06177349e-01 -7.54827720e-03 8.33997587e+01] [ 6.06149588e-01 7.95329504e-01 -5.80139238e-03 2.62516411e+01] [ 9.52004021e-03 3.84256092e-05 9.99954683e-01 7.66755748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.42, Y:26.27, Z:0.77 [[ 7.97236310e-01 -6.03620174e-01 -7.54662827e-03 8.34209389e+01] [ 6.03592279e-01 7.97272024e-01 -5.80353656e-03 2.62681352e+01] [ 9.51984735e-03 7.17035133e-05 9.99954683e-01 7.65527595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.44, Y:26.29, Z:0.76 [[ 8.00115109e-01 -5.99799031e-01 -7.54550725e-03 8.34440473e+01] [ 5.99770952e-01 8.00150678e-01 -5.80499370e-03 2.62851280e+01] [ 9.51937234e-03 1.19087106e-04 9.99954683e-01 7.63769316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.47, Y:26.30, Z:0.76 [[ 8.00866370e-01 -5.98795578e-01 -7.54406443e-03 8.34664604e+01] [ 5.98767436e-01 8.00901891e-01 -5.80686816e-03 2.63005857e+01] [ 9.51918244e-03 1.33385318e-04 9.99954683e-01 7.63992017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.49, Y:26.32, Z:0.76 [[ 8.00929293e-01 -5.98711421e-01 -7.54334728e-03 8.34901273e+01] [ 5.98683266e-01 8.00964803e-01 -5.80779961e-03 2.63164325e+01] [ 9.51915163e-03 1.35561052e-04 9.99954683e-01 7.64864110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.51, Y:26.33, Z:0.77 [[ 8.00603998e-01 -5.99146360e-01 -7.54170242e-03 8.35121990e+01] [ 5.99118205e-01 8.00639508e-01 -5.80993476e-03 2.63312950e+01] [ 9.51918618e-03 1.33085785e-04 9.99954683e-01 7.65865650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.54, Y:26.35, Z:0.77 [[ 7.98006917e-01 -6.02601107e-01 -7.54099028e-03 8.35355818e+01] [ 6.02573097e-01 7.98042541e-01 -5.81085893e-03 2.63465839e+01] [ 9.51966107e-03 9.31077490e-05 9.99954683e-01 7.66730720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.56, Y:26.36, Z:0.77 [[ 7.96266416e-01 -6.04899113e-01 -7.54047697e-03 8.35579519e+01] [ 6.04871199e-01 7.96302115e-01 -5.81152495e-03 2.63632542e+01] [ 9.51988405e-03 6.65047911e-05 9.99954683e-01 7.68029922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.58, Y:26.38, Z:0.77 [[ 7.94802802e-01 -6.06820955e-01 -7.53887478e-03 8.35804375e+01] [ 6.06793108e-01 7.94838554e-01 -5.81360261e-03 2.63806751e+01] [ 9.52000422e-03 4.61303853e-05 9.99954683e-01 7.69545087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.60, Y:26.40, Z:0.77 [[ 7.93021143e-01 -6.09147484e-01 -7.53726140e-03 8.36015280e+01] [ 6.09119721e-01 7.93056961e-01 -5.81569358e-03 2.63997515e+01] [ 9.52009273e-03 2.08734052e-05 9.99954683e-01 7.71313042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.62, Y:26.42, Z:0.77 [[ 7.92618925e-01 -6.09670775e-01 -7.53562975e-03 8.36232327e+01] [ 6.09643016e-01 7.92654746e-01 -5.81780702e-03 2.64183381e+01] [ 9.52009960e-03 1.72598924e-05 9.99954683e-01 7.72470606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.64, Y:26.44, Z:0.77 [[ 7.92738644e-01 -6.09515120e-01 -7.53398369e-03 8.36438591e+01] [ 6.09487334e-01 7.92774443e-01 -5.81993787e-03 2.64374705e+01] [ 9.52008985e-03 2.18220162e-05 9.99954683e-01 7.73927158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.66, Y:26.46, Z:0.77 [[ 7.92907227e-01 -6.09295818e-01 -7.53233843e-03 8.36648660e+01] [ 6.09268002e-01 7.92943003e-01 -5.82206643e-03 2.64550128e+01] [ 9.52007578e-03 2.71457673e-05 9.99954683e-01 7.74421826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.69, Y:26.47, Z:0.77 [[ 7.92932773e-01 -6.09262580e-01 -7.53162547e-03 8.36864540e+01] [ 6.09234754e-01 7.92968541e-01 -5.82298860e-03 2.64723796e+01] [ 9.52007112e-03 2.87105092e-05 9.99954683e-01 7.74590465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.71, Y:26.49, Z:0.77 [[ 7.92745681e-01 -6.09506017e-01 -7.52999515e-03 8.37081860e+01] [ 6.09478181e-01 7.92781442e-01 -5.82509607e-03 2.64900150e+01] [ 9.52007152e-03 2.84520000e-05 9.99954683e-01 7.74092447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.73, Y:26.51, Z:0.77 [[ 7.91759492e-01 -6.10786567e-01 -7.52836465e-03 8.37300566e+01] [ 6.10758769e-01 7.91795283e-01 -5.82720258e-03 2.65081657e+01] [ 9.52010067e-03 1.57282274e-05 9.99954683e-01 7.72145591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.75, Y:26.53, Z:0.77 [[ 7.90754331e-01 -6.12087360e-01 -7.52674750e-03 8.37525191e+01] [ 6.12059601e-01 7.90790152e-01 -5.82929064e-03 2.65256675e+01] [ 9.52011291e-03 2.71874677e-06 9.99954683e-01 7.71104591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.78, Y:26.54, Z:0.77 [[ 7.89015447e-01 -6.14327272e-01 -7.52512075e-03 8.37754245e+01] [ 6.14299595e-01 7.89051331e-01 -5.83138987e-03 2.65433394e+01] [ 9.52008837e-03 -2.16219410e-05 9.99954683e-01 7.70554491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.80, Y:26.56, Z:0.77 [[ 7.84590786e-01 -6.19968230e-01 -7.52945541e-03 8.37976260e+01] [ 6.19940865e-01 7.84626908e-01 -5.82579840e-03 2.65601669e+01] [ 9.51962324e-03 -9.69493536e-05 9.99954683e-01 7.68179893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.82, Y:26.58, Z:0.77 [[ 7.84414852e-01 -6.20190895e-01 -7.52283612e-03 8.38201846e+01] [ 6.20163458e-01 7.84450920e-01 -5.83433337e-03 2.65777522e+01] [ 9.51969615e-03 -8.88503123e-05 9.99954683e-01 7.68447595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.84, Y:26.59, Z:0.77 [[ 7.81196078e-01 -6.24240434e-01 -7.52118009e-03 8.38426243e+01] [ 6.24213164e-01 7.81232271e-01 -5.83646742e-03 2.65943766e+01] [ 9.51914756e-03 -1.35394158e-04 9.99954683e-01 7.68140422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.86, Y:26.61, Z:0.77 [[ 7.77778020e-01 -6.28494080e-01 -7.51953379e-03 8.38644617e+01] [ 6.28466987e-01 7.77814346e-01 -5.83858770e-03 2.66099414e+01] [ 9.51831906e-03 -1.84653564e-04 9.99954683e-01 7.68365156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.89, Y:26.63, Z:0.77 [[ 7.73840019e-01 -6.33336476e-01 -7.51885677e-03 8.38872116e+01] [ 6.33309602e-01 7.73876508e-01 -5.83945942e-03 2.66263560e+01] [ 9.51700927e-03 -2.42956805e-04 9.99954683e-01 7.68678823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.91, Y:26.64, Z:0.77 [[ 7.67827770e-01 -6.40612213e-01 -7.51722798e-03 8.39095149e+01] [ 6.40585663e-01 7.67864496e-01 -5.84155543e-03 2.66442597e+01] [ 9.51438423e-03 -3.30119994e-04 9.99954683e-01 7.70491675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.93, Y:26.66, Z:0.77 [[ 7.65382075e-01 -6.43532278e-01 -7.51578748e-03 8.39305295e+01] [ 6.43505850e-01 7.65418889e-01 -5.84340821e-03 2.66616205e+01] [ 9.51314749e-03 -3.64013315e-04 9.99954683e-01 7.70940513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.95, Y:26.68, Z:0.77 [[ 7.61043976e-01 -6.48656759e-01 -7.51509150e-03 8.39516952e+01] [ 6.48630570e-01 7.61080960e-01 -5.84430315e-03 2.66798970e+01] [ 9.51053979e-03 -4.26746386e-04 9.99954683e-01 7.71917364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.26762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.97, Y:26.70, Z:0.77 [[ 7.59387784e-01 -6.50594903e-01 -7.51433450e-03 8.39724056e+01] [ 6.50568800e-01 7.59424828e-01 -5.84527631e-03 2.66971521e+01] [ 9.50947916e-03 -4.49760153e-04 9.99954683e-01 7.72900543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.99, Y:26.72, Z:0.77 [[ 7.58228322e-01 -6.51945823e-01 -7.51364363e-03 8.39939201e+01] [ 6.51919777e-01 7.58265406e-01 -5.84616424e-03 2.67155585e+01] [ 9.50871839e-03 -4.65565579e-04 9.99954683e-01 7.74096871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.01, Y:26.74, Z:0.78 [[ 7.57527308e-01 -6.52760253e-01 -7.51202240e-03 8.40137962e+01] [ 6.52734226e-01 7.57564405e-01 -5.84824669e-03 2.67363939e+01] [ 9.50834377e-03 -4.73147554e-04 9.99954683e-01 7.75523974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.03, Y:26.76, Z:0.78 [[ 7.57942291e-01 -6.52278375e-01 -7.51036832e-03 8.40339397e+01] [ 6.52252303e-01 7.57979357e-01 -5.85037010e-03 2.67558920e+01] [ 9.50877405e-03 -4.64412119e-04 9.99954683e-01 7.76511763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.05, Y:26.78, Z:0.78 [[ 7.58652570e-01 -6.51452145e-01 -7.50870466e-03 8.40536492e+01] [ 6.51426012e-01 7.58689593e-01 -5.85250456e-03 2.67755867e+01] [ 9.50940273e-03 -4.51347903e-04 9.99954683e-01 7.77295367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.07, Y:26.80, Z:0.78 [[ 7.59713244e-01 -6.50214912e-01 -7.50704613e-03 8.40730903e+01] [ 6.50188698e-01 7.59750209e-01 -5.85463119e-03 2.67956055e+01] [ 9.51024838e-03 -4.33155692e-04 9.99954683e-01 7.77699466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.09, Y:26.82, Z:0.78 [[ 7.63080108e-01 -6.46260333e-01 -7.50538577e-03 8.40903565e+01] [ 6.46233906e-01 7.63116923e-01 -5.85675894e-03 2.68176084e+01] [ 9.51247787e-03 -3.81058514e-04 9.99954683e-01 7.78021064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.11, Y:26.84, Z:0.78 [[ 7.64757401e-01 -6.44274629e-01 -7.50466634e-03 8.41112210e+01] [ 6.44248098e-01 7.64794140e-01 -5.85768064e-03 2.68372483e+01] [ 9.51347986e-03 -3.55162391e-04 9.99954683e-01 7.78257499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.13, Y:26.86, Z:0.78 [[ 7.67903285e-01 -6.40521858e-01 -7.50300676e-03 8.41282069e+01] [ 6.40495126e-01 7.67939878e-01 -5.85980560e-03 2.68587776e+01] [ 9.51519166e-03 -3.05875290e-04 9.99954683e-01 7.78054400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.15, Y:26.88, Z:0.78 [[ 7.69265498e-01 -6.38885208e-01 -7.50228725e-03 8.41481303e+01] [ 6.38858390e-01 7.69302028e-01 -5.86072663e-03 2.68793759e+01] [ 9.51585635e-03 -2.84444359e-04 9.99954683e-01 7.76771533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.17, Y:26.90, Z:0.78 [[ 7.70729054e-01 -6.37118879e-01 -7.50062373e-03 8.41672131e+01] [ 6.37091956e-01 7.70765507e-01 -5.86285485e-03 2.68992609e+01] [ 9.51655757e-03 -2.59914467e-04 9.99954683e-01 7.75318986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.19, Y:26.92, Z:0.77 [[ 7.72015527e-01 -6.35559421e-01 -7.49990259e-03 8.41863973e+01] [ 6.35532415e-01 7.72051919e-01 -5.86377721e-03 2.69186826e+01] [ 9.51709303e-03 -2.39504156e-04 9.99954683e-01 7.74029180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.21, Y:26.94, Z:0.77 [[ 7.74285468e-01 -6.32792048e-01 -7.49919270e-03 8.42061183e+01] [ 6.32764904e-01 7.74321756e-01 -5.86468495e-03 2.69400042e+01] [ 9.51791406e-03 -2.04285618e-04 9.99954683e-01 7.72974123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.23, Y:26.96, Z:0.77 [[ 7.74865325e-01 -6.32081856e-01 -7.50035813e-03 8.42272969e+01] [ 6.32054693e-01 7.74901599e-01 -5.86319503e-03 2.69582414e+01] [ 9.51805871e-03 -1.97450025e-04 9.99954683e-01 7.73133871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.25, Y:26.98, Z:0.77 [[ 7.75248212e-01 -6.31612134e-01 -7.50480689e-03 8.42487105e+01] [ 6.31585003e-01 7.75284511e-01 -5.85750863e-03 2.69771933e+01] [ 9.51803407e-03 -1.98900397e-04 9.99954683e-01 7.73130044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.27, Y:27.00, Z:0.77 [[ 7.75176058e-01 -6.31700776e-01 -7.49725370e-03 8.42702376e+01] [ 6.31673557e-01 7.75212290e-01 -5.86716035e-03 2.69957773e+01] [ 9.51825296e-03 -1.87734681e-04 9.99954683e-01 7.73440849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.29, Y:27.02, Z:0.77 [[ 7.75728934e-01 -6.31021740e-01 -7.49561897e-03 8.42906289e+01] [ 6.30994469e-01 7.75765127e-01 -5.86924807e-03 2.70160770e+01] [ 9.51846293e-03 -1.76748561e-04 9.99954683e-01 7.72850288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.31, Y:27.03, Z:0.77 [[ 7.76274402e-01 -6.30350611e-01 -7.49399621e-03 8.43114159e+01] [ 6.30323288e-01 7.76310557e-01 -5.87131931e-03 2.70346801e+01] [ 9.51865808e-03 -1.65885442e-04 9.99954683e-01 7.72712447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.33, Y:27.05, Z:0.77 [[ 7.76625330e-01 -6.29918218e-01 -7.49237620e-03 8.43323178e+01] [ 6.29890856e-01 7.76661454e-01 -5.87338588e-03 2.70539165e+01] [ 9.51879256e-03 -1.57959007e-04 9.99954683e-01 7.73629648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.35, Y:27.07, Z:0.77 [[ 7.80313862e-01 -6.25343423e-01 -7.47526972e-03 8.43529163e+01] [ 6.25315640e-01 7.80349664e-01 -5.89519781e-03 2.70723363e+01] [ 9.51984739e-03 -7.42984964e-05 9.99954682e-01 7.72910070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.37, Y:27.09, Z:0.77 [[ 7.82100805e-01 -6.23106910e-01 -7.49064054e-03 8.43739037e+01] [ 6.23079212e-01 7.82136672e-01 -5.87560199e-03 2.70903234e+01] [ 9.51983286e-03 -7.19493542e-05 9.99954683e-01 7.72756054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.40, Y:27.11, Z:0.77 [[ 7.83931734e-01 -6.20801862e-01 -7.48895997e-03 8.43951133e+01] [ 6.20774038e-01 7.83967503e-01 -5.87774324e-03 2.71090015e+01] [ 9.52001520e-03 -4.12024684e-05 9.99954683e-01 7.72071149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.41, Y:27.13, Z:0.77 [[ 7.87807447e-01 -6.15876098e-01 -7.48726361e-03 8.44144976e+01] [ 6.15848029e-01 7.87843025e-01 -5.87990332e-03 2.71278959e+01] [ 9.52008032e-03 2.12150812e-05 9.99954683e-01 7.69807502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.44, Y:27.15, Z:0.77 [[ 7.89511011e-01 -6.13690737e-01 -7.48611097e-03 8.44357641e+01] [ 6.13662556e-01 7.89546501e-01 -5.88137046e-03 2.71458821e+01] [ 9.51997530e-03 4.94607474e-05 9.99954683e-01 7.69076928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.46, Y:27.16, Z:0.77 [[ 7.91056159e-01 -6.11697750e-01 -7.48443622e-03 8.44570625e+01] [ 6.11669459e-01 7.91091560e-01 -5.88350092e-03 2.71634826e+01] [ 9.51979860e-03 7.61785777e-05 9.99954683e-01 7.68658635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.48, Y:27.18, Z:0.77 [[ 7.93273509e-01 -6.08819471e-01 -7.48275714e-03 8.44793630e+01] [ 6.08791032e-01 7.93308792e-01 -5.88563563e-03 2.71799919e+01] [ 9.51942660e-03 1.13483392e-04 9.99954683e-01 7.68426268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.50, Y:27.20, Z:0.77 [[ 7.93826554e-01 -6.08098212e-01 -7.48107098e-03 8.45018701e+01] [ 6.08069721e-01 7.93861794e-01 -5.88777809e-03 2.71961431e+01] [ 9.51928376e-03 1.24861849e-04 9.99954683e-01 7.68361361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.52, Y:27.21, Z:0.77 [[ 7.93880729e-01 -6.08027492e-01 -7.48042849e-03 8.45244705e+01] [ 6.07998990e-01 7.93915961e-01 -5.88859425e-03 2.72123181e+01] [ 9.51925877e-03 1.26748529e-04 9.99954683e-01 7.68830881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.55, Y:27.23, Z:0.77 [[ 7.93231049e-01 -6.08874840e-01 -7.47877014e-03 8.45478544e+01] [ 6.08846355e-01 7.93266295e-01 -5.89069968e-03 2.72277520e+01] [ 9.51935511e-03 1.19263944e-04 9.99954683e-01 7.68483194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.57, Y:27.24, Z:0.77 [[ 7.92599028e-01 -6.09697363e-01 -7.47711383e-03 8.45699178e+01] [ 6.09668895e-01 7.92634287e-01 -5.89280130e-03 2.72435767e+01] [ 9.51944220e-03 1.12064846e-04 9.99954683e-01 7.67732252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.59, Y:27.26, Z:0.77 [[ 7.91928331e-01 -6.10568278e-01 -7.47641966e-03 8.45929722e+01] [ 6.10539841e-01 7.91963615e-01 -5.89368190e-03 2.72596829e+01] [ 9.51954754e-03 1.02721602e-04 9.99954683e-01 7.67879416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.62, Y:27.27, Z:0.77 [[ 7.90929528e-01 -6.11861593e-01 -7.47478229e-03 8.46168687e+01] [ 6.11833194e-01 7.90964843e-01 -5.89575778e-03 2.72724874e+01] [ 9.51967775e-03 8.98089944e-05 9.99954683e-01 7.68355056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.64, Y:27.29, Z:0.77 [[ 7.89994033e-01 -6.13068974e-01 -7.47407328e-03 8.46406269e+01] [ 6.13040620e-01 7.90029384e-01 -5.89665646e-03 2.72880126e+01] [ 9.51979464e-03 7.64128971e-05 9.99954683e-01 7.69289857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.66, Y:27.30, Z:0.77 [[ 7.88894516e-01 -6.14483202e-01 -7.47244198e-03 8.46643759e+01] [ 6.14454893e-01 7.88929902e-01 -5.89872297e-03 2.73036715e+01] [ 9.51989910e-03 6.19916665e-05 9.99954683e-01 7.69884326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.69, Y:27.32, Z:0.77 [[ 7.87647892e-01 -6.16080340e-01 -7.47081148e-03 8.46870956e+01] [ 6.16052082e-01 7.87683320e-01 -5.90078731e-03 2.73186801e+01] [ 9.51999264e-03 4.53337239e-05 9.99954683e-01 7.70424910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.71, Y:27.33, Z:0.77 [[ 7.85146281e-01 -6.19265307e-01 -7.46970277e-03 8.47124130e+01] [ 6.19237180e-01 7.85181813e-01 -5.90219047e-03 2.73318129e+01] [ 9.52009656e-03 8.56521759e-06 9.99954683e-01 7.71321548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.74, Y:27.35, Z:0.77 [[ 7.83561311e-01 -6.21269573e-01 -7.46920279e-03 8.47364328e+01] [ 6.21241531e-01 7.83596910e-01 -5.90282312e-03 2.73472615e+01] [ 9.52008863e-03 -1.49551472e-05 9.99954683e-01 7.72472262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.76, Y:27.36, Z:0.77 [[ 7.81971339e-01 -6.23269652e-01 -7.46763492e-03 8.47604499e+01] [ 6.23241682e-01 7.82006995e-01 -5.90480596e-03 2.73623575e+01] [ 9.52002910e-03 -3.67523178e-05 9.99954683e-01 7.74166834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.79, Y:27.37, Z:0.78 [[ 7.78844635e-01 -6.27172459e-01 -7.46603026e-03 8.47865824e+01] [ 6.27144648e-01 7.78880414e-01 -5.90683419e-03 2.73747983e+01] [ 9.51974847e-03 -8.17748048e-05 9.99954683e-01 7.76264681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.81, Y:27.39, Z:0.78 [[ 7.77353741e-01 -6.29019417e-01 -7.46553331e-03 8.48103456e+01] [ 6.28991685e-01 7.77389582e-01 -5.90746222e-03 2.73899777e+01] [ 9.51953626e-03 -1.03570512e-04 9.99954683e-01 7.77739034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.83, Y:27.41, Z:0.78 [[ 7.75739463e-01 -6.31009171e-01 -7.46396692e-03 8.48335004e+01] [ 6.30981512e-01 7.75775361e-01 -5.90944066e-03 2.74054660e+01] [ 9.51927288e-03 -1.25438805e-04 9.99954683e-01 7.78877396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.86, Y:27.42, Z:0.78 [[ 7.74372513e-01 -6.32685961e-01 -7.46230716e-03 8.48558332e+01] [ 6.32658360e-01 7.74408454e-01 -5.91153582e-03 2.74207817e+01] [ 9.51901948e-03 -1.43360163e-04 9.99954683e-01 7.78314767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.88, Y:27.44, Z:0.78 [[ 7.72204056e-01 -6.35330801e-01 -7.46118040e-03 8.48799805e+01] [ 6.35303309e-01 7.72240081e-01 -5.91295761e-03 2.74350887e+01] [ 9.51850665e-03 -1.74102743e-04 9.99954683e-01 7.78923280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.90, Y:27.45, Z:0.78 [[ 7.71173334e-01 -6.36581530e-01 -7.45951601e-03 8.49032637e+01] [ 6.36554075e-01 7.71209389e-01 -5.91505658e-03 2.74510061e+01] [ 9.51826455e-03 -1.86851409e-04 9.99954683e-01 7.78636205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.93, Y:27.47, Z:0.78 [[ 7.69285443e-01 -6.38861712e-01 -7.45791549e-03 8.49287851e+01] [ 6.38834345e-01 7.69321564e-01 -5.91707453e-03 2.74656606e+01] [ 9.51772757e-03 -2.12453253e-04 9.99954683e-01 7.79144732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.95, Y:27.48, Z:0.78 [[ 7.67923068e-01 -6.40498661e-01 -7.45833393e-03 8.49516540e+01] [ 6.40471376e-01 7.67959251e-01 -5.91654705e-03 2.74817440e+01] [ 9.51723700e-03 -2.33396427e-04 9.99954683e-01 7.79406089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.97, Y:27.50, Z:0.78 [[ 7.66509084e-01 -6.42190177e-01 -7.45666853e-03 8.49737956e+01] [ 6.42162951e-01 7.66545311e-01 -5.91864522e-03 2.74973763e+01] [ 9.51677012e-03 -2.51700947e-04 9.99954683e-01 7.78665107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.00, Y:27.51, Z:0.78 [[ 7.63703691e-01 -6.45523886e-01 -7.45553769e-03 8.49975653e+01] [ 6.45496804e-01 7.63740027e-01 -5.92006936e-03 2.75118518e+01] [ 9.51563873e-03 -2.91346930e-04 9.99954683e-01 7.80048070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.02, Y:27.53, Z:0.78 [[ 7.62363836e-01 -6.47105726e-01 -7.45388021e-03 8.50204815e+01] [ 6.47078700e-01 7.62400213e-01 -5.92215554e-03 2.75279801e+01] [ 9.51510062e-03 -3.08409902e-04 9.99954683e-01 7.81162522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.04, Y:27.54, Z:0.78 [[ 7.61438141e-01 -6.48194741e-01 -7.45220298e-03 8.50424792e+01] [ 6.48167746e-01 7.61474541e-01 -5.92426535e-03 2.75433961e+01] [ 9.51474048e-03 -3.19316016e-04 9.99954683e-01 7.81549881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.07, Y:27.56, Z:0.78 [[ 7.60611507e-01 -6.49164548e-01 -7.45147617e-03 8.50656222e+01] [ 6.49137591e-01 7.60647935e-01 -5.92517939e-03 2.75592525e+01] [ 9.51436635e-03 -3.30273660e-04 9.99954683e-01 7.82048442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.09, Y:27.58, Z:0.78 [[ 7.60834164e-01 -6.48903595e-01 -7.44983086e-03 8.50866982e+01] [ 6.48876605e-01 7.60870567e-01 -5.92724734e-03 2.75759358e+01] [ 9.51456913e-03 -3.24368681e-04 9.99954683e-01 7.81665464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.11, Y:27.59, Z:0.78 [[ 7.61465838e-01 -6.48162239e-01 -7.44911742e-03 8.51085276e+01] [ 6.48135205e-01 7.61502208e-01 -5.92814383e-03 2.75935241e+01] [ 9.51491834e-03 -3.13956235e-04 9.99954683e-01 7.82829139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.13, Y:27.61, Z:0.78 [[ 7.64247716e-01 -6.44879806e-01 -7.44743890e-03 8.51298257e+01] [ 6.44852595e-01 7.64283954e-01 -5.93025177e-03 2.76114443e+01] [ 9.51625766e-03 -2.70318937e-04 9.99954683e-01 7.83449037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.15, Y:27.63, Z:0.78 [[ 7.65906805e-01 -6.42908479e-01 -7.44665417e-03 8.51512113e+01] [ 6.42881166e-01 7.65942966e-01 -5.93123700e-03 2.76289824e+01] [ 9.51695494e-03 -2.44538927e-04 9.99954683e-01 7.84167661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.17, Y:27.65, Z:0.78 [[ 7.67732968e-01 -6.40726667e-01 -7.44500936e-03 8.51716839e+01] [ 6.40699230e-01 7.67769036e-01 -5.93330088e-03 2.76459613e+01] [ 9.51767175e-03 -2.14821070e-04 9.99954683e-01 7.84278619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.19, Y:27.66, Z:0.78 [[ 7.67560050e-01 -6.40933813e-01 -7.44429677e-03 8.51939935e+01] [ 6.40906377e-01 7.67596118e-01 -5.93419480e-03 2.76638514e+01] [ 9.51763941e-03 -2.16246417e-04 9.99954683e-01 7.84550386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.22, Y:27.68, Z:0.79 [[ 7.69344722e-01 -6.38790502e-01 -7.44269491e-03 8.52151793e+01] [ 6.38762946e-01 7.69380699e-01 -5.93620319e-03 2.76817209e+01] [ 9.51825602e-03 -1.87131134e-04 9.99954683e-01 7.85501247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.24, Y:27.70, Z:0.79 [[ 7.72269668e-01 -6.35251282e-01 -7.44102049e-03 8.52359373e+01] [ 6.35223541e-01 7.72305503e-01 -5.93830132e-03 2.77010004e+01] [ 9.51905460e-03 -1.40741394e-04 9.99954683e-01 7.85094864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.26, Y:27.72, Z:0.78 [[ 7.73288981e-01 -6.34010101e-01 -7.43935446e-03 8.52572509e+01] [ 6.33982283e-01 7.73324755e-01 -5.94038775e-03 2.77189451e+01] [ 9.51930281e-03 -1.22782532e-04 9.99954683e-01 7.84986781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.28, Y:27.74, Z:0.78 [[ 7.74001108e-01 -6.33140558e-01 -7.43768337e-03 8.52787562e+01] [ 6.33112680e-01 7.74036835e-01 -5.94247932e-03 2.77368912e+01] [ 9.51946556e-03 -1.09406072e-04 9.99954683e-01 7.84475950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.30, Y:27.75, Z:0.78 [[ 7.74877298e-01 -6.32067938e-01 -7.43601393e-03 8.53006349e+01] [ 6.32039991e-01 7.74912971e-01 -5.94456761e-03 2.77546701e+01] [ 9.51963423e-03 -9.35476873e-05 9.99954683e-01 7.83655861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.32, Y:27.77, Z:0.78 [[ 7.74540346e-01 -6.32480817e-01 -7.43432016e-03 8.53221354e+01] [ 6.32452868e-01 7.74576018e-01 -5.94668509e-03 2.77724585e+01] [ 9.51961035e-03 -9.59095737e-05 9.99954683e-01 7.83535779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.34, Y:27.79, Z:0.78 [[ 7.73982174e-01 -6.33163763e-01 -7.43260820e-03 8.53436816e+01] [ 6.33135825e-01 7.74017854e-01 -5.94882405e-03 2.77896936e+01] [ 9.51955127e-03 -1.01566751e-04 9.99954683e-01 7.82583935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.37, Y:27.81, Z:0.78 [[ 7.72848401e-01 -6.34547174e-01 -7.43188064e-03 8.53655289e+01] [ 6.34519291e-01 7.72884124e-01 -5.94973286e-03 2.78068905e+01] [ 9.51936873e-03 -1.17430106e-04 9.99954683e-01 7.82381169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.39, Y:27.82, Z:0.78 [[ 7.69892947e-01 -6.38129800e-01 -7.43020957e-03 8.53880293e+01] [ 6.38102063e-01 7.69928784e-01 -5.95181901e-03 2.78228006e+01] [ 9.51876530e-03 -1.58968582e-04 9.99954683e-01 7.82408408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.41, Y:27.84, Z:0.78 [[ 7.67771576e-01 -6.40680576e-01 -7.43012963e-03 8.54113505e+01] [ 6.40652958e-01 7.67807504e-01 -5.95191879e-03 2.78398643e+01] [ 9.51818804e-03 -1.90420455e-04 9.99954683e-01 7.83381345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.43, Y:27.86, Z:0.78 [[ 7.65398481e-01 -6.43513781e-01 -7.42823939e-03 8.54345090e+01] [ 6.43486272e-01 7.65434494e-01 -5.95427695e-03 2.78567187e+01] [ 9.51748993e-03 -2.22575534e-04 9.99954683e-01 7.84380856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.46, Y:27.87, Z:0.79 [[ 7.63019993e-01 -6.46332215e-01 -7.42679888e-03 8.54569212e+01] [ 6.46304822e-01 7.63056094e-01 -5.95607316e-03 2.78730296e+01] [ 9.51666610e-03 -2.55373023e-04 9.99954683e-01 7.85358235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.48, Y:27.89, Z:0.79 [[ 7.58831664e-01 -6.51244480e-01 -7.42514500e-03 8.54796239e+01] [ 6.51217300e-01 7.58867925e-01 -5.95813426e-03 2.78883174e+01] [ 9.51490643e-03 -3.14161945e-04 9.99954683e-01 7.85809863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.50, Y:27.91, Z:0.79 [[ 7.56914016e-01 -6.53472302e-01 -7.42442943e-03 8.55021709e+01] [ 6.53445220e-01 7.56950351e-01 -5.95902580e-03 2.79058174e+01] [ 9.51398277e-03 -3.40987776e-04 9.99954683e-01 7.86885908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.52, Y:27.92, Z:0.79 [[ 7.55262357e-01 -6.55380558e-01 -7.42275310e-03 8.55233993e+01] [ 6.55353547e-01 7.55298744e-01 -5.96111316e-03 2.79226495e+01] [ 9.51319376e-03 -3.62323197e-04 9.99954683e-01 7.86271230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.55, Y:27.94, Z:0.79 [[ 7.53361532e-01 -6.57564690e-01 -7.42161552e-03 8.55454625e+01] [ 6.57537771e-01 7.53397987e-01 -5.96252912e-03 2.79403468e+01] [ 9.51217881e-03 -3.88052458e-04 9.99954683e-01 7.86907669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.57, Y:27.96, Z:0.79 [[ 7.53003237e-01 -6.57974976e-01 -7.41999690e-03 8.55667395e+01] [ 6.57948057e-01 7.53039692e-01 -5.96454271e-03 2.79584826e+01] [ 9.51207203e-03 -3.90652580e-04 9.99954683e-01 7.87579193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.59, Y:27.98, Z:0.79 [[ 7.53141782e-01 -6.57816407e-01 -7.41831901e-03 8.55867048e+01] [ 6.57789460e-01 7.53178216e-01 -5.96662883e-03 2.79762337e+01] [ 9.51226262e-03 -3.85974594e-04 9.99954683e-01 7.86452137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51762800000002 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:85.61, Y:28.00, Z:0.78 [[ 7.53308268e-01 -6.57625754e-01 -7.41759194e-03 8.56085839e+01] [ 6.57598789e-01 7.53344689e-01 -5.96753257e-03 2.79958123e+01] [ 9.51240661e-03 -3.82407855e-04 9.99954683e-01 7.83903146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.63, Y:28.02, Z:0.79 [[ 7.56028747e-01 -6.54496398e-01 -7.41615895e-03 8.56287457e+01] [ 6.54469264e-01 7.56065043e-01 -5.96931289e-03 2.80160338e+01] [ 9.51399232e-03 -3.40675952e-04 9.99954683e-01 7.86450745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.65, Y:28.03, Z:0.79 [[ 7.57703605e-01 -6.52556720e-01 -7.41448505e-03 8.56488441e+01] [ 6.52529473e-01 7.57739816e-01 -5.97139132e-03 2.80346557e+01] [ 9.51492207e-03 -3.13625289e-04 9.99954683e-01 7.85606307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.67, Y:28.05, Z:0.79 [[ 7.59386392e-01 -6.50597682e-01 -7.41375926e-03 8.56692159e+01] [ 6.50570334e-01 7.59422526e-01 -5.97229229e-03 2.80534042e+01] [ 9.51573530e-03 -2.87894339e-04 9.99954683e-01 7.87324982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.69, Y:28.07, Z:0.79 [[ 7.61474176e-01 -6.48152869e-01 -7.41208757e-03 8.56890403e+01] [ 6.48125384e-01 7.61510206e-01 -5.97436626e-03 2.80711853e+01] [ 9.51668297e-03 -2.54636479e-04 9.99954683e-01 7.87749324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.71, Y:28.09, Z:0.79 [[ 7.66056044e-01 -6.42731055e-01 -7.41136437e-03 8.57093945e+01] [ 6.42703307e-01 7.66091872e-01 -5.97526328e-03 2.80922759e+01] [ 9.51827328e-03 -1.85921837e-04 9.99954683e-01 7.89777344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.73, Y:28.11, Z:0.79 [[ 7.68365974e-01 -6.39967831e-01 -7.40989387e-03 8.57293929e+01] [ 6.39939935e-01 7.68401688e-01 -5.97708628e-03 2.81111006e+01] [ 9.51891790e-03 -1.49297285e-04 9.99954683e-01 7.90287619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.75, Y:28.13, Z:0.79 [[ 7.73001698e-01 -6.34360685e-01 -7.40916448e-03 8.57494233e+01] [ 6.34332522e-01 7.73037201e-01 -5.97799029e-03 2.81315365e+01] [ 9.51976179e-03 -7.88773491e-05 9.99954683e-01 7.92060560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.77, Y:28.15, Z:0.79 [[ 7.75268275e-01 -6.31588657e-01 -7.40746351e-03 8.57698300e+01] [ 6.31560347e-01 7.75303661e-01 -5.98009726e-03 2.81500043e+01] [ 9.51999518e-03 -4.20805418e-05 9.99954683e-01 7.92304468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.79, Y:28.17, Z:0.79 [[ 7.77466679e-01 -6.28880514e-01 -7.40693745e-03 8.57898474e+01] [ 6.28852074e-01 7.77501961e-01 -5.98074877e-03 2.81680551e+01] [ 9.52008475e-03 -8.03509251e-06 9.99954683e-01 7.92980557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.81, Y:28.19, Z:0.79 [[ 7.79360432e-01 -6.26532093e-01 -7.40626203e-03 8.58119324e+01] [ 6.26503539e-01 7.79395622e-01 -5.98158506e-03 2.81872949e+01] [ 9.52006321e-03 2.17613415e-05 9.99954683e-01 7.94366169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.83, Y:28.21, Z:0.80 [[ 7.81103388e-01 -6.24357804e-01 -7.40478568e-03 8.58332914e+01] [ 6.24329135e-01 7.81138483e-01 -5.98341211e-03 2.82056396e+01] [ 9.51995311e-03 5.06400323e-05 9.99954683e-01 7.95442278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.85, Y:28.22, Z:0.80 [[ 7.84271453e-01 -6.20373664e-01 -7.40309008e-03 8.58543478e+01] [ 6.20344797e-01 7.84306386e-01 -5.98550930e-03 2.82240806e+01] [ 9.51954316e-03 1.01795658e-04 9.99954683e-01 7.96672378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.88, Y:28.24, Z:0.80 [[ 7.85052853e-01 -6.19384550e-01 -7.40256539e-03 8.58758067e+01] [ 6.19355632e-01 7.85087744e-01 -5.98615814e-03 2.82421236e+01] [ 9.51939723e-03 1.14629958e-04 9.99954683e-01 7.97489376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.90, Y:28.26, Z:0.80 [[ 7.85740260e-01 -6.18512305e-01 -7.40082951e-03 8.58963274e+01] [ 6.18483329e-01 7.85775103e-01 -5.98830348e-03 2.82590192e+01] [ 9.51922696e-03 1.27961460e-04 9.99954683e-01 7.97726709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.92, Y:28.28, Z:0.80 [[ 7.85638056e-01 -6.18642129e-01 -7.40007773e-03 8.59183537e+01] [ 6.18613150e-01 7.85672896e-01 -5.98923235e-03 2.82767899e+01] [ 9.51923195e-03 1.27583471e-04 9.99954683e-01 7.98026266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.94, Y:28.29, Z:0.80 [[ 7.85151178e-01 -6.19259954e-01 -7.39841122e-03 8.59408417e+01] [ 6.19230983e-01 7.85186025e-01 -5.99129026e-03 2.82940597e+01] [ 9.51929523e-03 1.22743159e-04 9.99954683e-01 7.98525864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.96, Y:28.31, Z:0.80 [[ 7.84503520e-01 -6.20080250e-01 -7.39668966e-03 8.59634628e+01] [ 6.20051295e-01 7.84538381e-01 -5.99341489e-03 2.83113712e+01] [ 9.51938513e-03 1.15528079e-04 9.99954683e-01 7.98475747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.99, Y:28.33, Z:0.80 [[ 7.83382451e-01 -6.21495977e-01 -7.39497880e-03 8.59862573e+01] [ 6.21467065e-01 7.83417347e-01 -5.99552510e-03 2.83269540e+01] [ 9.51954941e-03 1.01053371e-04 9.99954683e-01 7.98520084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.01, Y:28.34, Z:0.80 [[ 7.82728055e-01 -6.22319948e-01 -7.39423767e-03 8.60081070e+01] [ 6.22291064e-01 7.82762974e-01 -5.99643899e-03 2.83433444e+01] [ 9.51963907e-03 9.22129914e-05 9.99954683e-01 7.99047001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.03, Y:28.36, Z:0.80 [[ 7.81838923e-01 -6.23436633e-01 -7.39350434e-03 8.60304996e+01] [ 6.23407791e-01 7.81873876e-01 -5.99734303e-03 2.83604740e+01] [ 9.51975125e-03 7.97880057e-05 9.99954683e-01 7.99134872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.05, Y:28.38, Z:0.80 [[ 7.80674038e-01 -6.24894716e-01 -7.39183073e-03 8.60528457e+01] [ 6.24865920e-01 7.80709030e-01 -5.99940509e-03 2.83778581e+01] [ 9.51986553e-03 6.46766913e-05 9.99954683e-01 7.98978630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.08, Y:28.39, Z:0.80 [[ 7.78427102e-01 -6.27691511e-01 -7.39013518e-03 8.60759836e+01] [ 6.27662820e-01 7.78462180e-01 -6.00149295e-03 2.83941404e+01] [ 9.52002692e-03 3.32116755e-05 9.99954683e-01 7.97785339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.10, Y:28.41, Z:0.80 [[ 7.77008074e-01 -6.29447268e-01 -7.38844175e-03 8.60976308e+01] [ 6.29418637e-01 7.77043201e-01 -6.00357701e-03 2.84097394e+01] [ 9.52007358e-03 1.44048752e-05 9.99954683e-01 7.97190438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.12, Y:28.43, Z:0.80 [[ 7.75315596e-01 -6.31530803e-01 -7.38729192e-03 8.61206677e+01] [ 6.31502253e-01 7.75350788e-01 -6.00499153e-03 2.84260058e+01] [ 9.52007973e-03 -9.32790742e-06 9.99954683e-01 7.97192485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.26762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.14, Y:28.44, Z:0.80 [[ 7.73411598e-01 -6.33861147e-01 -7.38558431e-03 8.61434251e+01] [ 6.33832683e-01 7.73446860e-01 -6.00709099e-03 2.84418295e+01] [ 9.52001858e-03 -3.52708799e-05 9.99954683e-01 7.97314807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.17, Y:28.46, Z:0.80 [[ 7.69262100e-01 -6.38890679e-01 -7.38387549e-03 8.61672004e+01] [ 6.38862425e-01 7.69297531e-01 -6.00919073e-03 2.84555388e+01] [ 9.51961313e-03 -9.46379173e-05 9.99954683e-01 7.97742226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.19, Y:28.47, Z:0.80 [[ 7.67030198e-01 -6.41568520e-01 -7.38313567e-03 8.61902267e+01] [ 6.41540381e-01 7.67065720e-01 -6.01009957e-03 2.84717253e+01] [ 9.51924096e-03 -1.26651805e-04 9.99954683e-01 7.98506560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.21, Y:28.49, Z:0.80 [[ 7.64966795e-01 -6.44027420e-01 -7.38146638e-03 8.62121829e+01] [ 6.43999375e-01 7.65002391e-01 -6.01214904e-03 2.84875655e+01] [ 9.51882827e-03 -1.54565358e-04 9.99954683e-01 7.98550130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.24, Y:28.50, Z:0.80 [[ 7.61580879e-01 -6.48027846e-01 -7.38074338e-03 8.62350572e+01] [ 6.47999980e-01 7.61616615e-01 -6.01303650e-03 2.85028457e+01] [ 9.51791189e-03 -2.03307947e-04 9.99954683e-01 7.99451028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.26, Y:28.52, Z:0.80 [[ 7.59770705e-01 -6.50149225e-01 -7.37983366e-03 8.62575929e+01] [ 6.50121447e-01 7.59806511e-01 -6.01415280e-03 2.85201554e+01] [ 9.51734244e-03 -2.28411031e-04 9.99954683e-01 8.00454635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.28, Y:28.54, Z:0.80 [[ 7.58175384e-01 -6.52008933e-01 -7.37816244e-03 8.62789709e+01] [ 6.51981224e-01 7.58211243e-01 -6.01620235e-03 2.85364017e+01] [ 9.51682339e-03 -2.49086850e-04 9.99954683e-01 8.01053710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.30, Y:28.55, Z:0.80 [[ 7.56295025e-01 -6.54189122e-01 -7.37743800e-03 8.63013002e+01] [ 6.54161508e-01 7.56330957e-01 -6.01709057e-03 2.85539225e+01] [ 9.51609994e-03 -2.75340301e-04 9.99954683e-01 8.01565129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.32, Y:28.57, Z:0.80 [[ 7.52564774e-01 -6.58476923e-01 -7.37580497e-03 8.63236245e+01] [ 6.58449493e-01 7.52600847e-01 -6.01909169e-03 2.85713636e+01] [ 9.51447004e-03 -3.26838661e-04 9.99954683e-01 8.02853099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.35, Y:28.59, Z:0.80 [[ 7.50841794e-01 -6.60440930e-01 -7.37414817e-03 8.63451912e+01] [ 6.60413575e-01 7.50877923e-01 -6.02112080e-03 2.85890669e+01] [ 9.51367968e-03 -3.49078414e-04 9.99954683e-01 8.03705643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.37, Y:28.61, Z:0.80 [[ 7.49349304e-01 -6.62133874e-01 -7.37245065e-03 8.63669190e+01] [ 6.62106580e-01 7.49385480e-01 -6.02319857e-03 2.86070851e+01] [ 9.51297128e-03 -3.67868428e-04 9.99954683e-01 8.04549368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.39, Y:28.63, Z:0.81 [[ 7.47597175e-01 -6.64111538e-01 -7.37076615e-03 8.63876181e+01] [ 6.64084320e-01 7.47633408e-01 -6.02525924e-03 2.86256656e+01] [ 9.51207520e-03 -3.90343445e-04 9.99954683e-01 8.06002589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.41, Y:28.64, Z:0.81 [[ 7.47318677e-01 -6.64424934e-01 -7.36906934e-03 8.64078708e+01] [ 6.64397710e-01 7.47354905e-01 -6.02733378e-03 2.86435990e+01] [ 9.51202096e-03 -3.91653688e-04 9.99954683e-01 8.06401320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.43, Y:28.66, Z:0.81 [[ 7.47515913e-01 -6.64203032e-01 -7.36833450e-03 8.64290782e+01] [ 6.64175789e-01 7.47552127e-01 -6.02823198e-03 2.86628193e+01] [ 9.51218408e-03 -3.87670044e-04 9.99954683e-01 8.07042824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.45, Y:28.68, Z:0.81 [[ 7.50137972e-01 -6.61240316e-01 -7.36663227e-03 8.64475267e+01] [ 6.61212910e-01 7.50174062e-01 -6.03031143e-03 2.86833959e+01] [ 9.51374149e-03 -3.47346773e-04 9.99954683e-01 8.07559907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.47, Y:28.70, Z:0.81 [[ 7.52104441e-01 -6.59002772e-01 -7.36589510e-03 8.64672170e+01] [ 6.58975249e-01 7.52140443e-01 -6.03121172e-03 2.87034734e+01] [ 9.51477285e-03 -3.17841436e-04 9.99954683e-01 8.07334743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.49, Y:28.72, Z:0.81 [[ 7.54572411e-01 -6.56175468e-01 -7.36418237e-03 8.64859538e+01] [ 6.56147790e-01 7.54608294e-01 -6.03330227e-03 2.87227516e+01] [ 9.51597803e-03 -2.79428546e-04 9.99954683e-01 8.06901637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.50, Y:28.75, Z:0.81 [[ 7.60329923e-01 -6.49495339e-01 -7.36301840e-03 8.65044000e+01] [ 6.49467331e-01 7.60365549e-01 -6.03472244e-03 2.87450963e+01] [ 9.51810962e-03 -1.93659862e-04 9.99954683e-01 8.06183091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.52, Y:28.77, Z:0.81 [[ 7.63145042e-01 -6.46185311e-01 -7.36132759e-03 8.65246504e+01] [ 6.46157129e-01 7.63180530e-01 -6.03678422e-03 2.87651265e+01] [ 9.51890319e-03 -1.49632356e-04 9.99954683e-01 8.05645579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.54, Y:28.78, Z:0.81 [[ 7.65803073e-01 -6.43033038e-01 -7.35962711e-03 8.65437505e+01] [ 6.43004691e-01 7.65838429e-01 -6.03885662e-03 2.87844435e+01] [ 9.51946959e-03 -1.07699797e-04 9.99954683e-01 8.05657532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.57, Y:28.80, Z:0.81 [[ 7.65623669e-01 -6.43246644e-01 -7.35888928e-03 8.65658085e+01] [ 6.43218298e-01 7.65659025e-01 -6.03975560e-03 2.88026425e+01] [ 9.51945252e-03 -1.09192393e-04 9.99954683e-01 8.05929308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.59, Y:28.82, Z:0.81 [[ 7.68261243e-01 -6.40094161e-01 -7.35720383e-03 8.65855318e+01] [ 6.40065649e-01 7.68296467e-01 -6.04180800e-03 2.88222125e+01] [ 9.51983973e-03 -6.74065281e-05 9.99954683e-01 8.05530462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.60, Y:28.84, Z:0.80 [[ 7.72933466e-01 -6.34444445e-01 -7.35551229e-03 8.66035197e+01] [ 6.34415657e-01 7.72968464e-01 -6.04386664e-03 2.88441322e+01] [ 9.52007665e-03 5.05463086e-06 9.99954683e-01 8.04357366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.62, Y:28.86, Z:0.80 [[ 7.74839701e-01 -6.32114989e-01 -7.35381563e-03 8.66233887e+01] [ 6.32086076e-01 7.74874596e-01 -6.04593033e-03 2.88637346e+01] [ 9.52000810e-03 3.63823723e-05 9.99954683e-01 8.04391419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.64, Y:28.88, Z:0.80 [[ 7.76308079e-01 -6.30310807e-01 -7.35209491e-03 8.66437104e+01] [ 6.30281793e-01 7.76342890e-01 -6.04802207e-03 2.88834608e+01] [ 9.51988028e-03 6.12368333e-05 9.99954683e-01 8.03956580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.66, Y:28.90, Z:0.80 [[ 7.78289372e-01 -6.27862744e-01 -7.35038606e-03 8.66639453e+01] [ 6.27833601e-01 7.78324075e-01 -6.05009819e-03 2.89032658e+01] [ 9.51961368e-03 9.39077662e-05 9.99954683e-01 8.04457473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.69, Y:28.92, Z:0.81 [[ 7.78846643e-01 -6.27171351e-01 -7.34868807e-03 8.66851547e+01] [ 6.27142158e-01 7.78881304e-01 -6.05215993e-03 2.89211388e+01] [ 9.51949707e-03 1.05032344e-04 9.99954683e-01 8.05817591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.71, Y:28.94, Z:0.81 [[ 7.79025780e-01 -6.26948846e-01 -7.34696940e-03 8.67054653e+01] [ 6.26919623e-01 7.79060416e-01 -6.05424558e-03 2.89386673e+01] [ 9.51943532e-03 1.10454101e-04 9.99954683e-01 8.06711828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.73, Y:28.96, Z:0.81 [[ 7.78695789e-01 -6.27358670e-01 -7.34624618e-03 8.67259125e+01] [ 6.27329457e-01 7.78730433e-01 -6.05512301e-03 2.89581573e+01] [ 9.51947939e-03 1.06582158e-04 9.99954683e-01 8.08066698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.75, Y:28.98, Z:0.81 [[ 7.78601838e-01 -6.27475417e-01 -7.33344982e-03 8.67475551e+01] [ 6.27446063e-01 7.78636363e-01 -6.07063786e-03 2.89765771e+01] [ 9.51926672e-03 1.25265580e-04 9.99954683e-01 8.08179725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.77, Y:28.99, Z:0.81 [[ 7.78336499e-01 -6.27804397e-01 -7.34392830e-03 8.67693010e+01] [ 6.27775177e-01 7.78371138e-01 -6.05793500e-03 2.89944489e+01] [ 9.51950005e-03 1.04776027e-04 9.99954683e-01 8.08442831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.79, Y:29.01, Z:0.81 [[ 7.77918082e-01 -6.28322807e-01 -7.34222083e-03 8.67909173e+01] [ 6.28293591e-01 7.77952724e-01 -6.06000374e-03 2.90120843e+01] [ 9.51953925e-03 1.01116200e-04 9.99954683e-01 8.08475626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.81, Y:29.03, Z:0.81 [[ 7.77267110e-01 -6.29127934e-01 -7.34050775e-03 8.68133489e+01] [ 6.29098734e-01 7.77301765e-01 -6.06207810e-03 2.90294906e+01] [ 9.51961230e-03 9.39497954e-05 9.99954683e-01 8.08215168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.84, Y:29.05, Z:0.81 [[ 7.77294168e-01 -6.29094694e-01 -7.32401309e-03 8.68355968e+01] [ 6.29065305e-01 7.77328663e-01 -6.08204197e-03 2.90467341e+01] [ 9.51934564e-03 1.20253225e-04 9.99954683e-01 8.07634319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.86, Y:29.06, Z:0.81 [[ 7.76869131e-01 -6.29619331e-01 -7.33833769e-03 8.68566331e+01] [ 6.29590129e-01 7.76903784e-01 -6.06470911e-03 2.90637135e+01] [ 9.51964042e-03 9.13403228e-05 9.99954683e-01 8.07079151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.88, Y:29.08, Z:0.81 [[ 7.75428253e-01 -6.31393050e-01 -7.33761103e-03 8.68783913e+01] [ 6.31363918e-01 7.75462966e-01 -6.06558817e-03 2.90814079e+01] [ 9.51981582e-03 7.07255915e-05 9.99954683e-01 8.05564592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.90, Y:29.10, Z:0.81 [[ 7.74059658e-01 -6.33070149e-01 -7.33706451e-03 8.68993017e+01] [ 6.33041086e-01 7.74094428e-01 -6.06624918e-03 2.90985594e+01] [ 9.51994203e-03 5.09754759e-05 9.99954683e-01 8.05000712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.92, Y:29.12, Z:0.81 [[ 7.71925580e-01 -6.35670572e-01 -7.33633271e-03 8.69212587e+01] [ 6.35641618e-01 7.71960441e-01 -6.06713406e-03 2.91158995e+01] [ 9.52005722e-03 2.00975820e-05 9.99954683e-01 8.05084014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.40762800000002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.94, Y:29.13, Z:0.81 [[ 7.69575220e-01 -6.38514043e-01 -7.33465870e-03 8.69435880e+01] [ 6.38485199e-01 7.69610172e-01 -6.06915713e-03 2.91325068e+01] [ 9.52007000e-03 -1.23980883e-05 9.99954683e-01 8.05652914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.97, Y:29.15, Z:0.81 [[ 7.63398198e-01 -6.45886537e-01 -7.33295453e-03 8.69677887e+01] [ 6.45858010e-01 7.63433410e-01 -6.07121546e-03 2.91477441e+01] [ 9.51953881e-03 -1.01292475e-04 9.99954683e-01 8.06182565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.99, Y:29.16, Z:0.81 [[ 7.59777582e-01 -6.50141738e-01 -7.33123870e-03 8.69905888e+01] [ 6.50113388e-01 7.59812936e-01 -6.07328669e-03 2.91643190e+01] [ 9.51886716e-03 -1.51789365e-04 9.99954683e-01 8.06457355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.01, Y:29.18, Z:0.81 [[ 7.56147595e-01 -6.54360063e-01 -7.32953338e-03 8.70131908e+01] [ 6.54331890e-01 7.56183091e-01 -6.07534406e-03 2.91810441e+01] [ 9.51793173e-03 -2.02090627e-04 9.99954683e-01 8.06988854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.03, Y:29.20, Z:0.81 [[ 7.48714520e-01 -6.62852073e-01 -7.32783800e-03 8.70343325e+01] [ 6.62824283e-01 7.48750316e-01 -6.07738826e-03 2.91975765e+01] [ 9.51513043e-03 -3.06840136e-04 9.99954683e-01 8.08735310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.06, Y:29.21, Z:0.81 [[ 7.47042485e-01 -6.64736265e-01 -7.29553237e-03 8.70579959e+01] [ 6.64708185e-01 7.47078055e-01 -6.11630959e-03 2.92143203e+01] [ 9.51606492e-03 -2.80256961e-04 9.99954682e-01 8.08606288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.08, Y:29.23, Z:0.81 [[ 7.44940196e-01 -6.67091025e-01 -7.32581793e-03 8.70787731e+01] [ 6.67063415e-01 7.44976131e-01 -6.07981731e-03 2.92310128e+01] [ 9.51335106e-03 -3.57684821e-04 9.99954683e-01 8.09289199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.10, Y:29.25, Z:0.81 [[ 7.42553980e-01 -6.69746168e-01 -7.32507896e-03 8.71013386e+01] [ 6.69718677e-01 7.42590007e-01 -6.08070751e-03 2.92498195e+01] [ 9.51206098e-03 -3.90488629e-04 9.99954683e-01 8.11235496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.12, Y:29.27, Z:0.81 [[ 7.41714320e-01 -6.70675952e-01 -7.32357410e-03 8.71227106e+01] [ 6.70648488e-01 7.41750368e-01 -6.08251940e-03 2.92684961e+01] [ 9.51166327e-03 -4.00052158e-04 9.99954683e-01 8.12552948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.15, Y:29.29, Z:0.81 [[ 7.42466129e-01 -6.69843723e-01 -7.30989826e-03 8.71450691e+01] [ 6.69816058e-01 7.42502021e-01 -6.09897659e-03 2.92871253e+01] [ 9.51297541e-03 -3.68003696e-04 9.99954683e-01 8.12413981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.17, Y:29.31, Z:0.81 [[ 7.42919015e-01 -6.69341266e-01 -7.32164765e-03 8.71658646e+01] [ 6.69313715e-01 7.42954995e-01 -6.08483901e-03 2.93055340e+01] [ 9.51248854e-03 -3.79936583e-04 9.99954683e-01 8.13005839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.19, Y:29.33, Z:0.81 [[ 7.44964942e-01 -6.67063456e-01 -7.31992565e-03 8.71868800e+01] [ 6.67035775e-01 7.45000822e-01 -6.08690983e-03 2.93258350e+01] [ 9.51370573e-03 -3.48117843e-04 9.99954683e-01 8.14083171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.21, Y:29.35, Z:0.81 [[ 7.46518800e-01 -6.65324093e-01 -7.31655324e-03 8.72081576e+01] [ 6.65296289e-01 7.46554585e-01 -6.09096369e-03 2.93455798e+01] [ 9.51467126e-03 -3.20656810e-04 9.99954683e-01 8.14170800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.23, Y:29.37, Z:0.81 [[ 7.48074701e-01 -6.63574162e-01 -7.31941930e-03 8.72282430e+01] [ 6.63546307e-01 7.48110447e-01 -6.08751941e-03 2.93659498e+01] [ 9.51525463e-03 -3.02854384e-04 9.99954683e-01 8.13602344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.25, Y:29.39, Z:0.81 [[ 7.51642162e-01 -6.59530531e-01 -7.31706326e-03 8.72473989e+01] [ 6.59502456e-01 7.51677735e-01 -6.09035001e-03 2.93870034e+01] [ 9.51684531e-03 -2.47857346e-04 9.99954683e-01 8.13438715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.27, Y:29.41, Z:0.81 [[ 7.53290598e-01 -6.57647140e-01 -7.31534160e-03 8.72672724e+01] [ 6.57618956e-01 7.53326085e-01 -6.09241725e-03 2.94059359e+01] [ 9.51749843e-03 -2.21346672e-04 9.99954683e-01 8.13267628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.29, Y:29.42, Z:0.81 [[ 7.54783228e-01 -6.55933514e-01 -7.31459424e-03 8.72868387e+01] [ 6.55905242e-01 7.54818644e-01 -6.09331441e-03 2.94241393e+01] [ 9.51800124e-03 -1.98549178e-04 9.99954683e-01 8.13182134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.31, Y:29.44, Z:0.81 [[ 7.57077831e-01 -6.53283761e-01 -7.31343284e-03 8.73065965e+01] [ 6.53255351e-01 7.57113136e-01 -6.09470805e-03 2.94446681e+01] [ 9.51866987e-03 -1.63370787e-04 9.99954683e-01 8.13347134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.33, Y:29.46, Z:0.81 [[ 7.57586281e-01 -6.52694083e-01 -7.31173021e-03 8.73267498e+01] [ 6.52665626e-01 7.57621548e-01 -6.09674998e-03 2.94639086e+01] [ 9.51883700e-03 -1.53300834e-04 9.99954683e-01 8.13629926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.35, Y:29.48, Z:0.81 [[ 7.57920820e-01 -6.52305599e-01 -7.31002432e-03 8.73465794e+01] [ 6.52277104e-01 7.57956057e-01 -6.09879466e-03 2.94829233e+01] [ 9.51895511e-03 -1.45758043e-04 9.99954683e-01 8.13498820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.37, Y:29.50, Z:0.81 [[ 7.58365973e-01 -6.51788022e-01 -7.30928508e-03 8.73664497e+01] [ 6.51759495e-01 7.58401183e-01 -6.09968050e-03 2.95027340e+01] [ 9.51906914e-03 -1.38105819e-04 9.99954683e-01 8.14544168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03762800000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:87.39, Y:29.52, Z:0.82 [[ 7.58408937e-01 -6.51738048e-01 -7.30762868e-03 8.73873627e+01] [ 6.51709499e-01 7.58444130e-01 -6.10166428e-03 2.95218238e+01] [ 9.51911484e-03 -1.34894308e-04 9.99954683e-01 8.15369275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.40, Y:29.54, Z:0.82 [[ 7.56787788e-01 -6.53619818e-01 -7.30590572e-03 8.74023435e+01] [ 6.53591337e-01 7.56823037e-01 -6.10372658e-03 2.95412516e+01] [ 9.51879442e-03 -1.55850947e-04 9.99954683e-01 8.15595387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.42, Y:29.56, Z:0.81 [[ 7.55788765e-01 -6.54775524e-01 -7.23570587e-03 8.74167819e+01] [ 6.54746288e-01 7.55823398e-01 -6.18780173e-03 2.95617439e+01] [ 9.52053692e-03 -6.08805325e-05 9.99954677e-01 8.12242611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.12762800000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.45, Y:29.58, Z:0.81 [[ 7.60588283e-01 -6.49194988e-01 -7.16463765e-03 8.74485427e+01] [ 6.49164692e-01 7.60622018e-01 -6.27283799e-03 2.95797018e+01] [ 9.52187612e-03 1.20017276e-04 9.99954659e-01 8.14604083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15762800000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:87.47, Y:29.60, Z:0.82 [[ 7.61340195e-01 -6.48311409e-01 -7.30920767e-03 8.74699572e+01] [ 6.48282722e-01 7.61375274e-01 -6.09959872e-03 2.95985485e+01] [ 9.51948943e-03 -9.45633662e-05 9.99954684e-01 8.15142093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.187628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.48, Y:29.62, Z:0.81 [[ 7.60043021e-01 -6.49831675e-01 -7.30752067e-03 8.74818258e+01] [ 6.49803039e-01 7.60078142e-01 -6.10161914e-03 2.96183005e+01] [ 9.51931211e-03 -1.10956094e-04 9.99954684e-01 8.12171316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.217628 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:87.51, Y:29.64, Z:0.81 [[ 7.63674920e-01 -6.45560907e-01 -7.19246352e-03 8.75125521e+01] [ 6.45530768e-01 7.63708780e-01 -6.23917497e-03 2.96364332e+01] [ 9.52071499e-03 1.21744950e-04 9.99954670e-01 8.14923310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.247628 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:87.53, Y:29.65, Z:0.82 [[ 7.64578053e-01 -6.44489745e-01 -7.30544980e-03 8.75343231e+01] [ 6.44460841e-01 7.64612952e-01 -6.10394870e-03 2.96547514e+01] [ 9.51977388e-03 -4.11311056e-05 9.99954685e-01 8.15560668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.277628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.55, Y:29.67, Z:0.81 [[ 7.62542842e-01 -6.46896490e-01 -7.30376744e-03 8.75466858e+01] [ 6.46867676e-01 7.62577817e-01 -6.10596108e-03 2.96734979e+01] [ 9.51961582e-03 -6.85141515e-05 9.99954685e-01 8.13017168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30762800000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:87.57, Y:29.69, Z:0.81 [[ 7.65532296e-01 -6.43357179e-01 -7.20027575e-03 8.75672868e+01] [ 6.43327031e-01 7.65566145e-01 -6.22974329e-03 2.96915234e+01] [ 9.52023741e-03 1.36937659e-04 9.99954672e-01 8.12122867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33762800000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.60, Y:29.71, Z:0.82 [[ 7.69905412e-01 -6.38117480e-01 -7.19290741e-03 8.75972894e+01] [ 6.38087019e-01 7.69938982e-01 -6.23855116e-03 2.97089369e+01] [ 9.51902836e-03 2.13393451e-04 9.99954670e-01 8.15162940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.62, Y:29.73, Z:0.82 [[ 7.70883417e-01 -6.36934380e-01 -7.30432295e-03 8.76188960e+01] [ 6.36905121e-01 7.70918019e-01 -6.10525388e-03 2.97262243e+01] [ 9.51968028e-03 5.42782789e-05 9.99954685e-01 8.15289766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.64, Y:29.74, Z:0.82 [[ 7.71960400e-01 -6.35628676e-01 -7.30257435e-03 8.76403473e+01] [ 6.35599339e-01 7.71994936e-01 -6.10734470e-03 2.97426682e+01] [ 9.51955384e-03 7.31168248e-05 9.99954685e-01 8.15480913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.66, Y:29.76, Z:0.82 [[ 7.73866807e-01 -6.33306283e-01 -7.30181665e-03 8.76628939e+01] [ 6.33276833e-01 7.73901248e-01 -6.10825045e-03 2.97584028e+01] [ 9.51927841e-03 1.02900952e-04 9.99954685e-01 8.15221021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.69, Y:29.78, Z:0.82 [[ 7.74382459e-01 -6.32675666e-01 -7.30128219e-03 8.76854597e+01] [ 6.32646183e-01 7.74416870e-01 -6.10888924e-03 2.97757984e+01] [ 9.51918167e-03 1.11488364e-04 9.99954685e-01 8.15883156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48762800000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.71, Y:29.79, Z:0.82 [[ 7.74882972e-01 -6.32062573e-01 -7.29958814e-03 8.77080198e+01] [ 6.32033043e-01 7.74917344e-01 -6.11091280e-03 2.97931019e+01] [ 9.51905672e-03 1.21661368e-04 9.99954685e-01 8.16861821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.73, Y:29.81, Z:0.82 [[ 7.75168783e-01 -6.31712039e-01 -7.29783179e-03 8.77308105e+01] [ 6.31682474e-01 7.75203124e-01 -6.11300957e-03 2.98084675e+01] [ 9.51896374e-03 1.28701746e-04 9.99954685e-01 8.16607473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.75, Y:29.82, Z:0.82 [[ 7.74576473e-01 -6.32438171e-01 -7.29707062e-03 8.77528310e+01] [ 6.32408629e-01 7.74610835e-01 -6.11391804e-03 2.98247181e+01] [ 9.51906511e-03 1.20966650e-04 9.99954685e-01 8.16842215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.577628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.78, Y:29.84, Z:0.82 [[ 7.73406468e-01 -6.33868440e-01 -7.29631822e-03 8.77755490e+01] [ 6.33838953e-01 7.73440877e-01 -6.11481582e-03 2.98407146e+01] [ 9.51925952e-03 1.04547408e-04 9.99954685e-01 8.17377747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.80, Y:29.86, Z:0.82 [[ 7.71775124e-01 -6.35853715e-01 -7.29458922e-03 8.77987866e+01] [ 6.35824297e-01 7.71809592e-01 -6.11687771e-03 2.98566080e+01] [ 9.51947335e-03 8.27769929e-05 9.99954685e-01 8.18500076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.82, Y:29.87, Z:0.82 [[ 7.67707199e-01 -6.40759293e-01 -7.29285581e-03 8.78236986e+01] [ 6.40730076e-01 7.67741837e-01 -6.11894367e-03 2.98700340e+01] [ 9.51980054e-03 2.48050441e-05 9.99954685e-01 8.19851792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66762800000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.85, Y:29.89, Z:0.82 [[ 7.64875551e-01 -6.44136798e-01 -7.29231965e-03 8.78469064e+01] [ 6.44107728e-01 7.64910312e-01 -6.11958258e-03 2.98864417e+01] [ 9.51981883e-03 -1.63203396e-05 9.99954685e-01 8.20825001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.87, Y:29.90, Z:0.82 [[ 7.62049886e-01 -6.47477273e-01 -7.29057948e-03 8.78691160e+01] [ 6.47448336e-01 7.62084758e-01 -6.12165504e-03 2.99021211e+01] [ 9.51967201e-03 -5.52670245e-05 9.99954685e-01 8.20915407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72762800000001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:87.89, Y:29.92, Z:0.82 [[ 7.57121887e-01 -6.53232965e-01 -7.28982651e-03 8.78936945e+01] [ 6.53204284e-01 7.57156970e-01 -6.12255156e-03 2.99160696e+01] [ 9.51899546e-03 -1.26228117e-04 9.99954685e-01 8.21015291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75762800000001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:87.92, Y:29.93, Z:0.82 [[ 7.56938012e-01 -6.53446042e-01 -7.28810084e-03 8.79155416e+01] [ 6.53417351e-01 7.56973087e-01 -6.12460506e-03 2.99345206e+01] [ 9.51899512e-03 -1.26225169e-04 9.99954685e-01 8.21286443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78762800000001 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:87.94, Y:29.95, Z:0.82 [[ 7.54533503e-01 -6.56221076e-01 -7.28637649e-03 8.79387299e+01] [ 6.56192495e-01 7.54568667e-01 -6.12665582e-03 2.99509503e+01] [ 9.51851207e-03 -1.58498485e-04 9.99954685e-01 8.21487889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81762800000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.96, Y:29.97, Z:0.82 [[ 7.52695337e-01 -6.58328689e-01 -7.28466162e-03 8.79607127e+01] [ 6.58300186e-01 7.52730565e-01 -6.12869413e-03 2.99665320e+01] [ 9.51808263e-03 -1.82454605e-04 9.99954685e-01 8.22074905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.98, Y:29.98, Z:0.82 [[ 7.47080204e-01 -6.64694000e-01 -7.28391876e-03 8.79778252e+01] [ 6.64665789e-01 7.47115666e-01 -6.12957689e-03 2.99825810e+01] [ 9.51622279e-03 -2.62086051e-04 9.99954685e-01 8.19865133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.01, Y:30.00, Z:0.82 [[ 7.49269689e-01 -6.62225869e-01 -7.19945705e-03 8.80068487e+01] [ 6.62196572e-01 7.49304270e-01 -6.22982434e-03 2.99987806e+01] [ 9.52013474e-03 -9.96372388e-05 9.99954678e-01 8.22213861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.90762800000002 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:88.03, Y:30.02, Z:0.82 [[ 7.48624627e-01 -6.62954097e-01 -7.28247887e-03 8.80293852e+01] [ 6.62925787e-01 7.48660009e-01 -6.13121354e-03 3.00164143e+01] [ 9.51681383e-03 -2.37765585e-04 9.99954686e-01 8.21864932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.937628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:88.05, Y:30.03, Z:0.82 [[ 7.48033077e-01 -6.63621507e-01 -7.28086323e-03 8.80516408e+01] [ 6.63593210e-01 7.48068470e-01 -6.13313152e-03 3.00322944e+01] [ 9.51666220e-03 -2.43746163e-04 9.99954686e-01 8.20282980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:30.05, Z:0.82 [[ 7.48030256e-01 -6.63624694e-01 -7.28014492e-03 8.80742416e+01] [ 6.63596389e-01 7.48065643e-01 -6.13398404e-03 3.00494499e+01] [ 9.51668958e-03 -2.42672230e-04 9.99954686e-01 8.20684753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.997628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:88.10, Y:30.07, Z:0.82 [[ 7.48826180e-01 -6.62726472e-01 -7.27842759e-03 8.80959517e+01] [ 6.62698104e-01 7.48861517e-01 -6.13602111e-03 3.00656936e+01] [ 9.51703795e-03 -2.28586916e-04 9.99954686e-01 8.20270413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.12, Y:30.08, Z:0.82 [[ 7.49503825e-01 -6.61960007e-01 -7.27768346e-03 8.81168315e+01] [ 6.61931595e-01 7.49539126e-01 -6.13690356e-03 3.00825916e+01] [ 9.51729323e-03 -2.17695928e-04 9.99954686e-01 8.19933183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.14, Y:30.10, Z:0.82 [[ 7.50374326e-01 -6.60973086e-01 -7.27675625e-03 8.81388888e+01] [ 6.60944617e-01 7.50409580e-01 -6.13800279e-03 3.00998241e+01] [ 9.51760225e-03 -2.03733168e-04 9.99954686e-01 8.20101243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.16, Y:30.12, Z:0.82 [[ 7.51472101e-01 -6.59724756e-01 -7.27510540e-03 8.81615739e+01] [ 6.59696210e-01 7.51507293e-01 -6.13995886e-03 3.01170813e+01] [ 9.51797763e-03 -1.85351675e-04 9.99954686e-01 8.21185292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.18, Y:30.13, Z:0.82 [[ 7.54333375e-01 -6.56451261e-01 -7.27338911e-03 8.81841289e+01] [ 6.56422542e-01 7.54368426e-01 -6.14199130e-03 3.01335302e+01] [ 9.51873303e-03 -1.41307537e-04 9.99954686e-01 8.20604687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.21, Y:30.15, Z:0.82 [[ 7.56079762e-01 -6.54439085e-01 -7.27167286e-03 8.82060303e+01] [ 6.54410254e-01 7.56114721e-01 -6.14402254e-03 3.01513805e+01] [ 9.51910739e-03 -1.13286175e-04 9.99954686e-01 8.20236589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.23, Y:30.17, Z:0.82 [[ 7.59009803e-01 -6.51038606e-01 -7.26994914e-03 8.82263362e+01] [ 6.51009599e-01 7.59044615e-01 -6.14606146e-03 3.01699403e+01] [ 9.51953904e-03 -6.78857755e-05 9.99954686e-01 8.20061453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:30.19, Z:0.82 [[ 7.62003350e-01 -6.47532281e-01 -7.26913810e-03 8.82468842e+01] [ 6.47503104e-01 7.62038020e-01 -6.14702055e-03 3.01884480e+01] [ 9.51975385e-03 -2.27392321e-05 9.99954686e-01 8.20053189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.27, Y:30.21, Z:0.82 [[ 7.66728736e-01 -6.41930082e-01 -7.26741712e-03 8.82681672e+01] [ 6.41900632e-01 7.66763176e-01 -6.14905454e-03 3.02056099e+01] [ 9.51965092e-03 4.96971721e-05 9.99954686e-01 8.20415210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.26762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.29, Y:30.22, Z:0.82 [[ 7.68020633e-01 -6.40383871e-01 -7.26668987e-03 8.82903973e+01] [ 6.40354344e-01 7.68055006e-01 -6.14991386e-03 3.02236029e+01] [ 9.51952318e-03 7.00043120e-05 9.99954686e-01 8.21346871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.31, Y:30.24, Z:0.82 [[ 7.69471724e-01 -6.38639559e-01 -7.26494238e-03 8.83117290e+01] [ 6.38609935e-01 7.69506013e-01 -6.15197749e-03 3.02407578e+01] [ 9.51931304e-03 9.43083460e-05 9.99954686e-01 8.21775270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.33, Y:30.26, Z:0.82 [[ 7.71591148e-01 -6.36077300e-01 -7.26418529e-03 8.83331942e+01] [ 6.36047553e-01 7.71625332e-01 -6.15287132e-03 3.02581815e+01] [ 9.51893116e-03 1.27133763e-04 9.99954686e-01 8.22668771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.36, Y:30.28, Z:0.82 [[ 7.72484290e-01 -6.34992384e-01 -7.25904500e-03 8.83554314e+01] [ 6.34962533e-01 7.72518381e-01 -6.15893782e-03 3.02767730e+01] [ 9.51862431e-03 1.48461109e-04 9.99954686e-01 8.22570729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.38, Y:30.29, Z:0.82 [[ 7.73605743e-01 -6.33625610e-01 -7.26228052e-03 8.83762885e+01] [ 6.33595733e-01 7.73639814e-01 -6.15512031e-03 3.02942922e+01] [ 9.51843120e-03 1.60286468e-04 9.99954686e-01 8.20750913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.40, Y:30.31, Z:0.82 [[ 7.73704088e-01 -6.33505529e-01 -7.26155421e-03 8.83974567e+01] [ 6.33475639e-01 7.73738146e-01 -6.15597706e-03 3.03123804e+01] [ 9.51838699e-03 1.62886923e-04 9.99954686e-01 8.20077632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.42, Y:30.33, Z:0.82 [[ 7.73732805e-01 -6.33470472e-01 -7.25992065e-03 8.84192589e+01] [ 6.33440563e-01 7.73766847e-01 -6.15790296e-03 3.03306059e+01] [ 9.51833561e-03 1.65843305e-04 9.99954686e-01 8.19835919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.44, Y:30.35, Z:0.82 [[ 7.73512157e-01 -6.33739900e-01 -7.25822566e-03 8.84419306e+01] [ 6.33709984e-01 7.73546192e-01 -6.15990017e-03 3.03488537e+01] [ 9.51834734e-03 1.65147591e-04 9.99954686e-01 8.18239486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50762800000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.46, Y:30.37, Z:0.82 [[ 7.73259220e-01 -6.34048515e-01 -7.25668388e-03 8.84630674e+01] [ 6.34018595e-01 7.73293252e-01 -6.16171594e-03 3.03665320e+01] [ 9.51837151e-03 1.63731141e-04 9.99954686e-01 8.17305843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.48, Y:30.38, Z:0.82 [[ 7.73102872e-01 -6.34239149e-01 -7.25613863e-03 8.84839880e+01] [ 6.34209231e-01 7.73136907e-01 -6.16235796e-03 3.03835008e+01] [ 9.51839724e-03 1.62226540e-04 9.99954686e-01 8.17115978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.51, Y:30.40, Z:0.82 [[ 7.72934532e-01 -6.34444299e-01 -7.25540489e-03 8.85059845e+01] [ 6.34414382e-01 7.72968567e-01 -6.16322173e-03 3.04017223e+01] [ 9.51842081e-03 1.60833687e-04 9.99954686e-01 8.18065305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.53, Y:30.42, Z:0.82 [[ 7.72558139e-01 -6.34902596e-01 -7.25366648e-03 8.85270531e+01] [ 6.34872681e-01 7.72592175e-01 -6.16526703e-03 3.04206854e+01] [ 9.51847000e-03 1.57872538e-04 9.99954686e-01 8.18386971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.55, Y:30.44, Z:0.82 [[ 7.71964535e-01 -6.35624234e-01 -7.25191850e-03 8.85481835e+01] [ 6.35594331e-01 7.71998582e-01 -6.16732241e-03 3.04400473e+01] [ 9.51857038e-03 1.51675888e-04 9.99954686e-01 8.15780733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65762800000002 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:88.57, Y:30.46, Z:0.82 [[ 7.71775390e-01 -6.35853674e-01 -7.27001783e-03 8.85691122e+01] [ 6.35823981e-01 7.71809621e-01 -6.14604113e-03 3.04593560e+01] [ 9.51905254e-03 1.20911605e-04 9.99954685e-01 8.19040924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.59, Y:30.48, Z:0.82 [[ 7.69738226e-01 -6.38318501e-01 -7.24947662e-03 8.85905999e+01] [ 6.38288691e-01 7.69772354e-01 -6.17017546e-03 3.04785619e+01] [ 9.51898384e-03 1.22160970e-04 9.99954686e-01 8.20477991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.61, Y:30.50, Z:0.82 [[ 7.68043436e-01 -6.40356734e-01 -7.24796596e-03 8.86120330e+01] [ 6.40326998e-01 7.68077628e-01 -6.17194949e-03 3.04963676e+01] [ 9.51924993e-03 9.92570133e-05 9.99954686e-01 8.21511422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.63, Y:30.51, Z:0.82 [[ 7.66022402e-01 -6.42773032e-01 -7.24623716e-03 8.86339835e+01] [ 6.42743384e-01 7.66056671e-01 -6.17397855e-03 3.05141702e+01] [ 9.51949523e-03 7.19348841e-05 9.99954686e-01 8.21988375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.66, Y:30.53, Z:0.82 [[ 7.63704692e-01 -6.45525105e-01 -7.24450082e-03 8.86561445e+01] [ 6.45495561e-01 7.63739051e-01 -6.17601528e-03 3.05315480e+01] [ 9.51968109e-03 4.03587302e-05 9.99954686e-01 8.22713280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.68, Y:30.55, Z:0.82 [[ 7.60017648e-01 -6.49862075e-01 -7.24277318e-03 8.86794411e+01] [ 6.49832708e-01 7.60052158e-01 -6.17804066e-03 3.05489139e+01] [ 9.51975971e-03 -1.11709798e-05 9.99954686e-01 8.24276736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.70, Y:30.57, Z:0.83 [[ 7.58677515e-01 -6.51426122e-01 -7.24125042e-03 8.87009054e+01] [ 6.51396809e-01 7.58712071e-01 -6.17982496e-03 3.05671541e+01] [ 9.51972352e-03 -2.84331710e-05 9.99954686e-01 8.25213359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.72, Y:30.59, Z:0.83 [[ 7.57602191e-01 -6.52676420e-01 -7.23950670e-03 8.87224435e+01] [ 6.52647145e-01 7.57636779e-01 -6.18186701e-03 3.05857073e+01] [ 9.51967537e-03 -4.14473918e-05 9.99954686e-01 8.25682582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.74, Y:30.60, Z:0.83 [[ 7.56411169e-01 -6.54056387e-01 -7.23777091e-03 8.87432561e+01] [ 6.54027155e-01 7.56445794e-01 -6.18389863e-03 3.06038472e+01] [ 9.51959975e-03 -5.61287249e-05 9.99954686e-01 8.27352919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.76, Y:30.62, Z:0.83 [[ 7.55979918e-01 -6.54554814e-01 -7.23601809e-03 8.87642791e+01] [ 6.54525585e-01 7.56014545e-01 -6.18594899e-03 3.06226022e+01] [ 9.51957761e-03 -5.97057652e-05 9.99954686e-01 8.28038147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.79, Y:30.64, Z:0.83 [[ 7.56435405e-01 -6.54028396e-01 -7.23426985e-03 8.87850939e+01] [ 6.53999124e-01 7.56469996e-01 -6.18799282e-03 3.06419889e+01] [ 9.51963110e-03 -5.03892942e-05 9.99954686e-01 8.29131149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.81, Y:30.66, Z:0.83 [[ 7.57062102e-01 -6.53302889e-01 -7.23251500e-03 8.88050925e+01] [ 6.53273564e-01 7.57096647e-01 -6.19004320e-03 3.06597513e+01] [ 9.51968597e-03 -3.85637391e-05 9.99954686e-01 8.29444756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.83, Y:30.68, Z:0.83 [[ 7.57701386e-01 -6.52561352e-01 -7.23132226e-03 8.88264492e+01] [ 6.52531980e-01 7.57735892e-01 -6.19143628e-03 3.06787457e+01] [ 9.51972444e-03 -2.74091766e-05 9.99954686e-01 8.29724749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.04762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.85, Y:30.70, Z:0.83 [[ 7.59385601e-01 -6.50600678e-01 -7.22957632e-03 8.88466578e+01] [ 6.50571198e-01 7.59420014e-01 -6.19347429e-03 3.06972512e+01] [ 9.51976352e-03 -1.18929545e-07 9.99954686e-01 8.29519992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.87, Y:30.72, Z:0.83 [[ 7.60106289e-01 -6.49758555e-01 -7.22839013e-03 8.88672980e+01] [ 6.49729024e-01 7.60140658e-01 -6.19485838e-03 3.07156380e+01] [ 9.51975546e-03 1.22559508e-05 9.99954686e-01 8.29184325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.89, Y:30.73, Z:0.83 [[ 7.60855773e-01 -6.48880781e-01 -7.22666956e-03 8.88889139e+01] [ 6.48851191e-01 7.60890092e-01 -6.19686488e-03 3.07343396e+01] [ 9.51972779e-03 2.58872657e-05 9.99954686e-01 8.28711100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.91, Y:30.75, Z:0.83 [[ 7.61522059e-01 -6.48098720e-01 -7.22516077e-03 8.89090959e+01] [ 6.48069078e-01 7.61556332e-01 -6.19862354e-03 3.07519277e+01] [ 9.51968692e-03 3.79852826e-05 9.99954686e-01 8.28025046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.93, Y:30.77, Z:0.83 [[ 7.62355030e-01 -6.47118703e-01 -7.22444509e-03 8.89302344e+01] [ 6.47089009e-01 7.62389258e-01 -6.19945754e-03 3.07700472e+01] [ 9.51962426e-03 5.13286225e-05 9.99954686e-01 8.28472476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.95, Y:30.79, Z:0.83 [[ 7.62236261e-01 -6.47258615e-01 -7.22268874e-03 8.89520795e+01] [ 6.47228907e-01 7.62270479e-01 -6.20150311e-03 3.07883415e+01] [ 9.51961871e-03 5.22776084e-05 9.99954686e-01 8.28450637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.97, Y:30.81, Z:0.83 [[ 7.61966904e-01 -6.47575706e-01 -7.22092332e-03 8.89728950e+01] [ 6.47545994e-01 7.62001117e-01 -6.20355805e-03 3.08054335e+01] [ 9.51962512e-03 5.10259513e-05 9.99954686e-01 8.28395315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.99, Y:30.82, Z:0.83 [[ 7.61344435e-01 -6.48307428e-01 -7.22015680e-03 8.89947610e+01] [ 6.48277739e-01 7.61378669e-01 -6.20445005e-03 3.08231000e+01] [ 9.51966443e-03 4.30565861e-05 9.99954686e-01 8.29319705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.02, Y:30.84, Z:0.83 [[ 7.59678786e-01 -6.50258439e-01 -7.21838903e-03 8.90170443e+01] [ 6.50228819e-01 7.59713079e-01 -6.20650603e-03 3.08400223e+01] [ 9.51973748e-03 2.13463900e-05 9.99954686e-01 8.31295959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.04, Y:30.86, Z:0.83 [[ 7.58511502e-01 -6.51619678e-01 -7.21784277e-03 8.90389107e+01] [ 6.51590113e-01 7.58545843e-01 -6.20714124e-03 3.08579598e+01] [ 9.51976000e-03 5.11302906e-06 9.99954686e-01 8.32346772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.06, Y:30.88, Z:0.83 [[ 7.56248457e-01 -6.54244741e-01 -7.21730277e-03 8.90617329e+01] [ 6.54215290e-01 7.56282896e-01 -6.20776905e-03 3.08754983e+01] [ 9.51972290e-03 -2.70540543e-05 9.99954686e-01 8.34867570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.08, Y:30.89, Z:0.84 [[ 7.55074544e-01 -6.55599241e-01 -7.21582375e-03 8.90832032e+01] [ 6.55569835e-01 7.55109021e-01 -6.20948777e-03 3.08932312e+01] [ 9.51966908e-03 -4.18502357e-05 9.99954686e-01 8.35816475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.11, Y:30.91, Z:0.84 [[ 7.53881144e-01 -6.56971215e-01 -7.21410924e-03 8.91050377e+01] [ 6.56941852e-01 7.53915658e-01 -6.21147903e-03 3.09116524e+01] [ 9.51959284e-03 -5.65333671e-05 9.99954686e-01 8.36179223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.13, Y:30.93, Z:0.84 [[ 7.52592248e-01 -6.58447333e-01 -7.21238280e-03 8.91263854e+01] [ 6.58418019e-01 7.52626803e-01 -6.21348302e-03 3.09300855e+01] [ 9.51948393e-03 -7.25436445e-05 9.99954686e-01 8.36380120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.15, Y:30.95, Z:0.84 [[ 7.49912508e-01 -6.61497723e-01 -7.21065477e-03 8.91473173e+01] [ 6.61468531e-01 7.49947165e-01 -6.21548773e-03 3.09488074e+01] [ 9.51914108e-03 -1.08549229e-04 9.99954686e-01 8.35497538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.17, Y:30.97, Z:0.84 [[ 7.48348123e-01 -6.63267003e-01 -7.20892431e-03 8.91686306e+01] [ 6.63237874e-01 7.48382834e-01 -6.21749413e-03 3.09678405e+01] [ 9.51889390e-03 -1.28381569e-04 9.99954686e-01 8.35546114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.19, Y:30.99, Z:0.84 [[ 7.47094821e-01 -6.64678407e-01 -7.20717703e-03 8.91891500e+01] [ 6.64649323e-01 7.47129570e-01 -6.21951887e-03 3.09861353e+01] [ 9.51867497e-03 -1.43674992e-04 9.99954686e-01 8.35298794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.21, Y:31.01, Z:0.84 [[ 7.45152270e-01 -6.66855431e-01 -7.20624537e-03 8.92108627e+01] [ 6.66826438e-01 7.45187095e-01 -6.22059815e-03 3.10053929e+01] [ 9.51824071e-03 -1.70022098e-04 9.99954686e-01 8.35956447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.23, Y:31.02, Z:0.84 [[ 7.44588829e-01 -6.67484507e-01 -7.20470314e-03 8.92320642e+01] [ 6.67455527e-01 7.44623664e-01 -6.22238385e-03 3.10243653e+01] [ 9.51813727e-03 -1.75701425e-04 9.99954686e-01 8.35821182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.25, Y:31.04, Z:0.83 [[ 7.44269667e-01 -6.67840385e-01 -7.20293375e-03 8.92516604e+01] [ 6.67811402e-01 7.44304500e-01 -6.22443139e-03 3.10427509e+01] [ 9.51810266e-03 -1.77545805e-04 9.99954686e-01 8.34409694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.27, Y:31.06, Z:0.83 [[ 7.44803066e-01 -6.67245473e-01 -7.20218529e-03 8.92714466e+01] [ 6.67216453e-01 7.44837868e-01 -6.22529731e-03 3.10629562e+01] [ 9.51826179e-03 -1.68796004e-04 9.99954686e-01 8.33724089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.29, Y:31.08, Z:0.83 [[ 7.44626994e-01 -6.67441968e-01 -7.20131838e-03 8.92930167e+01] [ 6.67412948e-01 7.44661796e-01 -6.22629997e-03 3.10817276e+01] [ 9.51824059e-03 -1.69982096e-04 9.99954686e-01 8.33995740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.31, Y:31.10, Z:0.84 [[ 7.44859178e-01 -6.67182860e-01 -7.19967506e-03 8.93134946e+01] [ 6.67153810e-01 7.44893955e-01 -6.22819962e-03 3.11012890e+01] [ 9.51834246e-03 -1.64158988e-04 9.99954686e-01 8.35558070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.33, Y:31.12, Z:0.84 [[ 7.45208455e-01 -6.66792732e-01 -7.19792198e-03 8.93339091e+01] [ 6.66763644e-01 7.45243200e-01 -6.23022499e-03 3.11205430e+01] [ 9.51847116e-03 -1.56496350e-04 9.99954686e-01 8.36259998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.35, Y:31.14, Z:0.84 [[ 7.46056631e-01 -6.65843615e-01 -7.19617539e-03 8.93545289e+01] [ 6.65814462e-01 7.46091322e-01 -6.23224173e-03 3.11413772e+01] [ 9.51870237e-03 -1.41712379e-04 9.99954686e-01 8.37514672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.37, Y:31.16, Z:0.84 [[ 7.46512751e-01 -6.65332210e-01 -7.19464613e-03 8.93741654e+01] [ 6.65303017e-01 7.46547408e-01 -6.23400664e-03 3.11596417e+01] [ 9.51882983e-03 -1.32854321e-04 9.99954686e-01 8.37815017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.39, Y:31.18, Z:0.84 [[ 7.47274137e-01 -6.64476949e-01 -7.19365658e-03 8.93946752e+01] [ 6.64447706e-01 7.47308751e-01 -6.23514830e-03 3.11784714e+01] [ 9.51899484e-03 -1.20443547e-04 9.99954686e-01 8.38588988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.42, Y:31.20, Z:0.84 [[ 7.49206246e-01 -6.62297726e-01 -7.19193952e-03 8.94151333e+01] [ 6.62268363e-01 7.49240759e-01 -6.23712822e-03 3.11983800e+01] [ 9.51933006e-03 -9.00985901e-05 9.99954686e-01 8.39135274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.44, Y:31.22, Z:0.84 [[ 7.50489990e-01 -6.60842702e-01 -7.19022499e-03 8.94355695e+01] [ 6.60813252e-01 7.50524429e-01 -6.23910412e-03 3.12172553e+01] [ 9.51950593e-03 -6.90107734e-05 9.99954686e-01 8.40308365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.45, Y:31.24, Z:0.84 [[ 7.49877726e-01 -6.61537392e-01 -7.18850397e-03 8.94505263e+01] [ 6.61507956e-01 7.49912177e-01 -6.24108640e-03 3.12370866e+01] [ 9.51945868e-03 -7.52008855e-05 9.99954686e-01 8.39738748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.48, Y:31.26, Z:0.84 [[ 7.54337438e-01 -6.56448365e-01 -7.11151431e-03 8.94767627e+01] [ 6.56417857e-01 7.54370952e-01 -6.32967739e-03 3.12553868e+01] [ 9.51982619e-03 1.06587649e-04 9.99954680e-01 8.40726691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.50, Y:31.28, Z:0.84 [[ 7.58914454e-01 -6.51150676e-01 -7.18667520e-03 8.94965404e+01] [ 6.51120749e-01 7.58948479e-01 -6.24315766e-03 3.12760403e+01] [ 9.51955254e-03 5.86292427e-05 9.99954686e-01 8.41326556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.52, Y:31.29, Z:0.84 [[ 7.61344752e-01 -6.48307447e-01 -7.18493008e-03 8.95164314e+01] [ 6.48277374e-01 7.61378647e-01 -6.24516538e-03 3.12943760e+01] [ 9.51923957e-03 9.68962851e-05 9.99954686e-01 8.41388767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.54, Y:31.31, Z:0.84 [[ 7.65230195e-01 -6.43716663e-01 -7.18374261e-03 8.95371008e+01] [ 6.43686374e-01 7.65263898e-01 -6.24653102e-03 3.13131402e+01] [ 9.51845497e-03 1.55956924e-04 9.99954686e-01 8.42534309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.56, Y:31.33, Z:0.84 [[ 7.66566813e-01 -6.42124396e-01 -7.18194191e-03 8.95575529e+01] [ 6.42094018e-01 7.66600435e-01 -6.24860069e-03 3.13309989e+01] [ 9.51805874e-03 1.78487982e-04 9.99954686e-01 8.41919643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.58, Y:31.35, Z:0.84 [[ 7.67268496e-01 -6.41285812e-01 -7.18071702e-03 8.95790343e+01] [ 6.41255383e-01 7.67302073e-01 -6.25000798e-03 3.13493403e+01] [ 9.51782050e-03 1.90760777e-04 9.99954686e-01 8.44059184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.60, Y:31.37, Z:0.85 [[ 7.68026736e-01 -6.40377542e-01 -7.17892943e-03 8.96004116e+01] [ 6.40347054e-01 7.68060259e-01 -6.25206058e-03 3.13671374e+01] [ 9.51752959e-03 2.04743371e-04 9.99954686e-01 8.45013770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.62, Y:31.39, Z:0.85 [[ 7.67768614e-01 -6.40687009e-01 -7.17716208e-03 8.96216790e+01] [ 6.40656516e-01 7.67802133e-01 -6.25408878e-03 3.13854882e+01] [ 9.51755379e-03 2.03597422e-04 9.99954686e-01 8.45572821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.64, Y:31.40, Z:0.85 [[ 7.67571834e-01 -6.40922767e-01 -7.17540452e-03 8.96427482e+01] [ 6.40892266e-01 7.67605345e-01 -6.25610460e-03 3.14032357e+01] [ 9.51755874e-03 2.03348419e-04 9.99954686e-01 8.45640748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.66, Y:31.42, Z:0.85 [[ 7.66129917e-01 -6.42645683e-01 -7.17464180e-03 8.96649171e+01] [ 6.42615249e-01 7.66163489e-01 -6.25697919e-03 3.14205239e+01] [ 9.51796926e-03 1.83124727e-04 9.99954686e-01 8.45830619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.69, Y:31.44, Z:0.85 [[ 7.64870613e-01 -6.44144001e-01 -7.17289048e-03 8.96866317e+01] [ 6.44113614e-01 7.64904228e-01 -6.25898623e-03 3.14378798e+01] [ 9.51826269e-03 1.67158229e-04 9.99954686e-01 8.46030077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.71, Y:31.45, Z:0.85 [[ 7.63390064e-01 -6.45897969e-01 -7.17111442e-03 8.97077903e+01] [ 6.45867639e-01 7.63423731e-01 -6.26102045e-03 3.14546929e+01] [ 9.51857931e-03 1.48010056e-04 9.99954686e-01 8.46100393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.73, Y:31.47, Z:0.85 [[ 7.61525714e-01 -6.48095033e-01 -7.17034535e-03 8.97288570e+01] [ 6.48064793e-01 7.61559461e-01 -6.26190109e-03 3.14716431e+01] [ 9.51895134e-03 1.21750328e-04 9.99954686e-01 8.45955694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.75, Y:31.49, Z:0.85 [[ 7.56651105e-01 -6.53779552e-01 -7.16958697e-03 8.97519882e+01] [ 6.53749557e-01 7.56685070e-01 -6.26276929e-03 3.14880951e+01] [ 9.51958991e-03 5.16169990e-05 9.99954686e-01 8.46067818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.77, Y:31.50, Z:0.85 [[ 7.53668114e-01 -6.57216096e-01 -7.16778946e-03 8.97736869e+01] [ 6.57186236e-01 7.53702198e-01 -6.26482587e-03 3.15048689e+01] [ 9.51972307e-03 1.10269218e-05 9.99954686e-01 8.45554405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.80, Y:31.52, Z:0.85 [[ 7.50787065e-01 -6.60505431e-01 -7.16656745e-03 8.97960558e+01] [ 6.60475707e-01 7.50821267e-01 -6.26622347e-03 3.15217506e+01] [ 9.51968588e-03 -2.87441734e-05 9.99954686e-01 8.46020266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.82, Y:31.54, Z:0.85 [[ 7.44664003e-01 -6.67401070e-01 -7.16480411e-03 8.98201456e+01] [ 6.67371643e-01 7.44698462e-01 -6.26823902e-03 3.15379670e+01] [ 9.51904803e-03 -1.13855136e-04 9.99954686e-01 8.46820381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.84, Y:31.56, Z:0.85 [[ 7.41560349e-01 -6.70847923e-01 -7.16325531e-03 8.98424855e+01] [ 6.70818640e-01 7.41594929e-01 -6.27000847e-03 3.15556984e+01] [ 9.51845598e-03 -1.55655516e-04 9.99954686e-01 8.46885676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.86, Y:31.57, Z:0.85 [[ 7.35596032e-01 -6.77382603e-01 -7.16149713e-03 8.98646454e+01] [ 6.77353607e-01 7.35630854e-01 -6.27201598e-03 3.15724417e+01] [ 9.51677276e-03 -2.37195846e-04 9.99954686e-01 8.46906944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.89, Y:31.59, Z:0.85 [[ 7.32794132e-01 -6.80412741e-01 -7.15971210e-03 8.98864272e+01] [ 6.80383870e-01 7.32829057e-01 -6.27405299e-03 3.15907077e+01] [ 9.51579066e-03 -2.73763410e-04 9.99954686e-01 8.46928782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.54762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.91, Y:31.61, Z:0.85 [[ 7.30528878e-01 -6.82844288e-01 -7.15794006e-03 8.99080090e+01] [ 6.82815513e-01 7.30563882e-01 -6.27607403e-03 3.16087997e+01] [ 9.51491379e-03 -3.02699194e-04 9.99954686e-01 8.47819503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.93, Y:31.63, Z:0.85 [[ 7.27896477e-01 -6.85649698e-01 -7.15615586e-03 8.99301318e+01] [ 6.85621038e-01 7.27931575e-01 -6.27810777e-03 3.16274095e+01] [ 9.51377450e-03 -3.36598481e-04 9.99954686e-01 8.50171436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.95, Y:31.65, Z:0.85 [[ 7.27192342e-01 -6.86396466e-01 -7.15460358e-03 8.99512026e+01] [ 6.86367824e-01 7.27227456e-01 -6.27987626e-03 3.16464321e+01] [ 9.51350904e-03 -3.44011763e-04 9.99954686e-01 8.51478525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.97, Y:31.66, Z:0.85 [[ 7.26778975e-01 -6.86834157e-01 -7.15283228e-03 8.99708315e+01] [ 6.86805516e-01 7.26814090e-01 -6.28189314e-03 3.16645216e+01] [ 9.51339806e-03 -3.47056811e-04 9.99954686e-01 8.52396829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.99, Y:31.69, Z:0.85 [[ 7.26284412e-01 -6.87357115e-01 -7.15182584e-03 8.99903925e+01] [ 6.87328489e-01 7.26319539e-01 -6.28303874e-03 3.16851693e+01] [ 9.51320223e-03 -3.52380548e-04 9.99954686e-01 8.53903422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.01, Y:31.70, Z:0.85 [[ 7.26412066e-01 -6.87222225e-01 -7.15006347e-03 9.00098465e+01] [ 6.87193573e-01 7.26447171e-01 -6.28504368e-03 3.17042970e+01] [ 9.51336508e-03 -3.47946100e-04 9.99954686e-01 8.54242785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.03, Y:31.72, Z:0.85 [[ 7.26536271e-01 -6.87090924e-01 -7.14907901e-03 9.00300858e+01] [ 6.87062254e-01 7.26571362e-01 -6.28616327e-03 3.17245702e+01] [ 9.51348180e-03 -3.44736719e-04 9.99954686e-01 8.54568369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.05, Y:31.74, Z:0.85 [[ 7.27048179e-01 -6.86549242e-01 -7.14732761e-03 9.00488672e+01] [ 6.86520526e-01 7.27083232e-01 -6.28815398e-03 3.17438997e+01] [ 9.51382940e-03 -3.34996205e-04 9.99954686e-01 8.54889107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.07, Y:31.76, Z:0.85 [[ 7.27735293e-01 -6.85820875e-01 -7.14636923e-03 9.00680833e+01] [ 6.85792114e-01 7.27770309e-01 -6.28924297e-03 3.17641643e+01] [ 9.51420946e-03 -3.24019584e-04 9.99954686e-01 8.54978329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.08, Y:31.79, Z:0.85 [[ 7.29265360e-01 -6.84193678e-01 -7.14464532e-03 9.00849208e+01] [ 6.84164819e-01 7.29300295e-01 -6.29120073e-03 3.17869282e+01] [ 9.51499171e-03 -3.00160213e-04 9.99954686e-01 8.54360672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:31.81, Z:0.85 [[ 7.30141157e-01 -6.83259006e-01 -7.14289990e-03 9.01033344e+01] [ 6.83230084e-01 7.30176040e-01 -6.29318182e-03 3.18069085e+01] [ 9.51544752e-03 -2.85333039e-04 9.99954686e-01 8.54310719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.12, Y:31.83, Z:0.85 [[ 7.31560579e-01 -6.81739035e-01 -7.14195796e-03 9.01205217e+01] [ 6.81710029e-01 7.31595393e-01 -6.29425063e-03 3.18296124e+01] [ 9.51605989e-03 -2.64118733e-04 9.99954686e-01 8.54699781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.14, Y:31.85, Z:0.85 [[ 7.32208816e-01 -6.81042779e-01 -7.14020091e-03 9.01393788e+01] [ 6.81013721e-01 7.32243586e-01 -6.29624320e-03 3.18497189e+01] [ 9.51637728e-03 -2.52410009e-04 9.99954686e-01 8.54353640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.16, Y:31.87, Z:0.86 [[ 7.31102098e-01 -6.82230718e-01 -7.13925173e-03 9.01552795e+01] [ 6.82201706e-01 7.31136906e-01 -6.29731928e-03 3.18705591e+01] [ 9.51599508e-03 -2.66426373e-04 9.99954686e-01 8.55239990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.18, Y:31.89, Z:0.86 [[ 7.33409183e-01 -6.79750462e-01 -7.09089994e-03 9.01786874e+01] [ 6.79720801e-01 7.33443443e-01 -6.35209864e-03 3.18899238e+01] [ 9.51861605e-03 -1.61144717e-04 9.99954684e-01 8.55996547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:31.91, Z:0.86 [[ 7.34308387e-01 -6.78778495e-01 -7.13779545e-03 9.01951422e+01] [ 6.78749303e-01 7.34343045e-01 -6.29895805e-03 3.19115025e+01] [ 9.51718771e-03 -2.19395959e-04 9.99954686e-01 8.56058878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:31.93, Z:0.86 [[ 7.34641383e-01 -6.78418089e-01 -7.13685789e-03 9.02137343e+01] [ 6.78388870e-01 7.34676018e-01 -6.30002015e-03 3.19319380e+01] [ 9.51732597e-03 -2.13309437e-04 9.99954686e-01 8.55669814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:31.95, Z:0.86 [[ 7.35636696e-01 -6.77338715e-01 -7.13568118e-03 9.02303690e+01] [ 6.77309432e-01 7.35671276e-01 -6.30135267e-03 3.19533430e+01] [ 9.51766580e-03 -1.97557912e-04 9.99954686e-01 8.55342783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:31.97, Z:0.86 [[ 7.35935649e-01 -6.77013898e-01 -7.13451386e-03 9.02488075e+01] [ 6.76984587e-01 7.35970206e-01 -6.30267405e-03 3.19726082e+01] [ 9.51778757e-03 -1.91593398e-04 9.99954686e-01 8.55936231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:31.99, Z:0.86 [[ 7.36063246e-01 -6.76875183e-01 -7.13335712e-03 9.02686807e+01] [ 6.76845853e-01 7.36097787e-01 -6.30398298e-03 3.19931753e+01] [ 9.51785802e-03 -1.88053005e-04 9.99954686e-01 8.56116277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:32.02, Z:0.86 [[ 7.36695319e-01 -6.76187212e-01 -7.13167967e-03 9.02863158e+01] [ 6.76157831e-01 7.36729817e-01 -6.30588010e-03 3.20151571e+01] [ 9.51807654e-03 -1.76628702e-04 9.99954686e-01 8.57262600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:32.04, Z:0.86 [[ 7.36922517e-01 -6.75939608e-01 -7.13094085e-03 9.03055968e+01] [ 6.75910207e-01 7.36956998e-01 -6.30671548e-03 3.20354220e+01] [ 9.51815555e-03 -1.72315057e-04 9.99954686e-01 8.57809186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:32.06, Z:0.86 [[ 7.37050436e-01 -6.75800140e-01 -7.12928088e-03 9.03245846e+01] [ 6.75770715e-01 7.37084895e-01 -6.30859140e-03 3.20558812e+01] [ 9.51823220e-03 -1.68009195e-04 9.99954686e-01 8.57836228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.34, Y:32.08, Z:0.86 [[ 7.37432893e-01 -6.75382800e-01 -7.12762703e-03 9.03440799e+01] [ 6.75353337e-01 7.37467320e-01 -6.31045941e-03 3.20766193e+01] [ 9.51836775e-03 -1.60126367e-04 9.99954686e-01 8.57690446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.26762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.36, Y:32.10, Z:0.86 [[ 7.39245463e-01 -6.73398371e-01 -7.12598465e-03 9.03619781e+01] [ 6.73368798e-01 7.39279796e-01 -6.31231349e-03 3.20975886e+01] [ 9.51879810e-03 -1.32066616e-04 9.99954686e-01 8.57603225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:32.12, Z:0.86 [[ 7.40256977e-01 -6.72286279e-01 -7.12510720e-03 9.03817560e+01] [ 6.72256645e-01 7.40291257e-01 -6.31330377e-03 3.21174264e+01] [ 9.51900207e-03 -1.16433492e-04 9.99954686e-01 8.58329626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:32.14, Z:0.86 [[ 7.43270965e-01 -6.68952561e-01 -7.12347624e-03 9.03998867e+01] [ 6.68922755e-01 7.43305096e-01 -6.31514349e-03 3.21384703e+01] [ 9.51944760e-03 -7.11925561e-05 9.99954686e-01 8.60118818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:32.16, Z:0.86 [[ 7.44535400e-01 -6.67544984e-01 -7.12270529e-03 9.04184729e+01] [ 6.67515106e-01 7.44569467e-01 -6.31601291e-03 3.21578950e+01] [ 9.51957162e-03 -5.20181861e-05 9.99954686e-01 8.58833080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.44, Y:32.18, Z:0.86 [[ 7.45533286e-01 -6.66430339e-01 -7.12193973e-03 9.04380459e+01] [ 6.66400402e-01 7.45567302e-01 -6.31687604e-03 3.21779509e+01] [ 9.51964323e-03 -3.66221451e-05 9.99954686e-01 8.58487423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:32.20, Z:0.86 [[ 7.44775978e-01 -6.67276587e-01 -7.12034172e-03 9.04522487e+01] [ 6.67246671e-01 7.44810012e-01 -6.31867679e-03 3.21995048e+01] [ 9.51960689e-03 -4.50256323e-05 9.99954687e-01 8.59298667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44762800000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.47, Y:32.22, Z:0.86 [[ 7.44877167e-01 -6.67164227e-01 -7.06406683e-03 9.04722489e+01] [ 6.67133703e-01 7.44910661e-01 -6.38204046e-03 3.22195710e+01] [ 9.51996778e-03 4.11591564e-05 9.99954683e-01 8.58930058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:32.24, Z:0.86 [[ 7.47126831e-01 -6.64644124e-01 -7.04885882e-03 9.04981759e+01] [ 6.64613325e-01 7.47160076e-01 -6.39915639e-03 3.22389765e+01] [ 9.51978759e-03 9.62159322e-05 9.99954681e-01 8.59224092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.52, Y:32.26, Z:0.86 [[ 7.46639950e-01 -6.65190291e-01 -7.11772117e-03 9.05174578e+01] [ 6.65160252e-01 7.46673876e-01 -6.32162209e-03 3.22579232e+01] [ 9.51969809e-03 -1.44496107e-05 9.99954687e-01 8.59404554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.54, Y:32.28, Z:0.86 [[ 7.45844003e-01 -6.66082631e-01 -7.11693690e-03 9.05380620e+01] [ 6.66052624e-01 7.45877958e-01 -6.32250491e-03 3.22770677e+01] [ 9.51967707e-03 -2.46521234e-05 9.99954687e-01 8.60246814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.56, Y:32.30, Z:0.86 [[ 7.45655453e-01 -6.66293720e-01 -7.11514526e-03 9.05593786e+01] [ 6.66263703e-01 7.45689398e-01 -6.32452052e-03 3.22961081e+01] [ 9.51967669e-03 -2.46498139e-05 9.99954687e-01 8.60517954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:32.31, Z:0.86 [[ 7.44822127e-01 -6.67225149e-01 -7.11335458e-03 9.05791610e+01] [ 6.67195156e-01 7.44856093e-01 -6.32653390e-03 3.23148453e+01] [ 9.51964803e-03 -3.38532845e-05 9.99954687e-01 8.60694379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:32.34, Z:0.86 [[ 7.43411469e-01 -6.68796530e-01 -7.11257883e-03 9.05989975e+01] [ 6.68766600e-01 7.43445491e-01 -6.32740592e-03 3.23354113e+01] [ 9.51956179e-03 -5.27890271e-05 9.99954687e-01 8.61913400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.62, Y:32.35, Z:0.86 [[ 7.42854168e-01 -6.69415508e-01 -7.11075871e-03 9.06186187e+01] [ 6.69385586e-01 7.42888198e-01 -6.32945072e-03 3.23542736e+01] [ 9.51953119e-03 -5.79805406e-05 9.99954687e-01 8.61819689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:32.37, Z:0.86 [[ 7.42292548e-01 -6.70038224e-01 -7.10998681e-03 9.06392197e+01] [ 6.70008323e-01 7.42326595e-01 -6.33031768e-03 3.23734844e+01] [ 9.51948712e-03 -6.48027026e-05 9.99954687e-01 8.62745913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.66, Y:32.39, Z:0.86 [[ 7.41429261e-01 -6.70993387e-01 -7.10818185e-03 9.06596842e+01] [ 6.70963510e-01 7.41463330e-01 -6.33234379e-03 3.23927305e+01] [ 9.51941699e-03 -7.43456675e-05 9.99954687e-01 8.63463128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:32.41, Z:0.86 [[ 7.41006938e-01 -6.71459755e-01 -7.10734011e-03 9.06805236e+01] [ 6.71429891e-01 7.41041018e-01 -6.33328840e-03 3.24120636e+01] [ 9.51937884e-03 -7.90699497e-05 9.99954687e-01 8.64459126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.70, Y:32.43, Z:0.86 [[ 7.41187026e-01 -6.71260980e-01 -7.10551943e-03 9.06993060e+01] [ 6.71231087e-01 7.41221081e-01 -6.33533043e-03 3.24313059e+01] [ 9.51942091e-03 -7.37808125e-05 9.99954687e-01 8.64030990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:32.45, Z:0.86 [[ 7.41434404e-01 -6.70987740e-01 -7.10477271e-03 9.07191240e+01] [ 6.70957827e-01 7.41468440e-01 -6.33616773e-03 3.24501162e+01] [ 9.51945560e-03 -6.91501171e-05 9.99954687e-01 8.64292989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.74, Y:32.47, Z:0.86 [[ 7.41661464e-01 -6.70736763e-01 -7.10400259e-03 9.07400447e+01] [ 6.70706830e-01 7.41695484e-01 -6.33703105e-03 3.24693780e+01] [ 9.51948633e-03 -6.47713254e-05 9.99954687e-01 8.64708753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.75, Y:32.49, Z:0.86 [[ 7.39352186e-01 -6.73281444e-01 -7.10225917e-03 9.07522923e+01] [ 6.73251609e-01 7.39386292e-01 -6.33898440e-03 3.24902529e+01] [ 9.51923364e-03 -9.48654367e-05 9.99954687e-01 8.63049109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.77, Y:32.51, Z:0.86 [[ 7.40169513e-01 -6.72383894e-01 -6.99936142e-03 9.07735814e+01] [ 6.72352920e-01 7.40202603e-01 -6.45419628e-03 3.25099953e+01] [ 9.52064317e-03 7.11582274e-05 9.99954675e-01 8.62719201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.79, Y:32.53, Z:0.86 [[ 7.41020567e-01 -6.71445720e-01 -7.01173700e-03 9.07937644e+01] [ 6.71414836e-01 7.41053737e-01 -6.44032573e-03 3.25286575e+01] [ 9.52040306e-03 6.46295758e-05 9.99954678e-01 8.63228617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.82, Y:32.55, Z:0.87 [[ 7.44319120e-01 -6.67787367e-01 -7.00572734e-03 9.08214262e+01] [ 6.67756256e-01 7.44352079e-01 -6.44705901e-03 3.25470205e+01] [ 9.51999227e-03 1.20551028e-04 9.99954677e-01 8.65327946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:32.57, Z:0.87 [[ 7.42325017e-01 -6.70002304e-01 -7.10505438e-03 9.08365954e+01] [ 6.69972350e-01 7.42359017e-01 -6.33567017e-03 3.25660066e+01] [ 9.51941479e-03 -5.70635074e-05 9.99954688e-01 8.65178241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.86, Y:32.58, Z:0.87 [[ 7.44013600e-01 -6.68127538e-01 -7.02539071e-03 9.08628879e+01] [ 6.68096651e-01 7.44046763e-01 -6.42490913e-03 3.25839601e+01] [ 9.51987793e-03 8.65797703e-05 9.99954681e-01 8.65073524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.04762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.88, Y:32.60, Z:0.87 [[ 7.43420762e-01 -6.68786296e-01 -7.10355427e-03 9.08842679e+01] [ 6.68756271e-01 7.43454698e-01 -6.33729470e-03 3.26027735e+01] [ 9.51946665e-03 -3.92700120e-05 9.99954688e-01 8.65686385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:32.62, Z:0.87 [[ 7.42436554e-01 -6.69878741e-01 -7.10176482e-03 9.09056733e+01] [ 6.69848747e-01 7.42470518e-01 -6.33929938e-03 3.26216376e+01] [ 9.51941289e-03 -5.05806745e-05 9.99954688e-01 8.65983378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.93, Y:32.64, Z:0.87 [[ 7.41987675e-01 -6.70375924e-01 -7.09998809e-03 9.09269034e+01] [ 6.70345934e-01 7.42021642e-01 -6.34128868e-03 3.26409866e+01] [ 9.51939208e-03 -5.42901028e-05 9.99954688e-01 8.66790284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.95, Y:32.66, Z:0.87 [[ 7.42187498e-01 -6.70154706e-01 -7.09841914e-03 9.09471246e+01] [ 6.70124689e-01 7.42221441e-01 -6.34304448e-03 3.26587435e+01] [ 9.51941999e-03 -4.90976057e-05 9.99954688e-01 8.67067897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.97, Y:32.68, Z:0.87 [[ 7.43275457e-01 -6.68947845e-01 -7.09764136e-03 9.09679442e+01] [ 6.68917764e-01 7.43309343e-01 -6.34391467e-03 3.26770064e+01] [ 9.51949118e-03 -3.24623119e-05 9.99954688e-01 8.68624814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.99, Y:32.70, Z:0.87 [[ 7.44308891e-01 -6.67797816e-01 -7.09583987e-03 9.09886385e+01] [ 6.67767664e-01 7.44342714e-01 -6.34592903e-03 3.26953245e+01] [ 9.51953426e-03 -1.50410129e-05 9.99954688e-01 8.69089596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.00, Y:32.71, Z:0.87 [[ 7.43430778e-01 -6.68775264e-01 -7.09401489e-03 9.10039271e+01] [ 6.68745136e-01 7.43464623e-01 -6.34796850e-03 3.27143913e+01] [ 9.51951342e-03 -2.48127953e-05 9.99954688e-01 8.67336830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.03, Y:32.73, Z:0.87 [[ 7.49530549e-01 -6.61932566e-01 -7.01665297e-03 9.10294349e+01] [ 6.61901317e-01 7.49563370e-01 -6.43431855e-03 3.27333520e+01] [ 9.51851104e-03 1.78386472e-04 9.99954682e-01 8.66896034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.05, Y:32.75, Z:0.87 [[ 7.51691280e-01 -6.59477005e-01 -7.09217437e-03 9.10502224e+01] [ 6.59446440e-01 7.51724731e-01 -6.34997007e-03 3.27528076e+01] [ 9.51902211e-03 9.63079941e-05 9.99954688e-01 8.66224268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.07, Y:32.77, Z:0.87 [[ 7.53687606e-01 -6.57194583e-01 -7.09036380e-03 9.10710646e+01] [ 6.57163897e-01 7.53720946e-01 -6.35199110e-03 3.27718684e+01] [ 9.51864985e-03 1.27885854e-04 9.99954688e-01 8.66409246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.09, Y:32.79, Z:0.87 [[ 7.56980455e-01 -6.53399069e-01 -7.08852143e-03 9.10915962e+01] [ 6.53368197e-01 7.57013623e-01 -6.35404643e-03 3.27893236e+01] [ 9.51783531e-03 1.78474489e-04 9.99954688e-01 8.66822818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.11, Y:32.81, Z:0.87 [[ 7.57796662e-01 -6.52452284e-01 -7.08772198e-03 9.11126255e+01] [ 6.52421363e-01 7.57829783e-01 -6.35493807e-03 3.28076329e+01] [ 9.51758067e-03 1.91569626e-04 9.99954688e-01 8.67167237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.13, Y:32.83, Z:0.87 [[ 7.58241368e-01 -6.51935440e-01 -7.08588891e-03 9.11334590e+01] [ 6.51904477e-01 7.58274450e-01 -6.35698132e-03 3.28254634e+01] [ 9.51738993e-03 2.00803516e-04 9.99954688e-01 8.67379664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.16, Y:32.84, Z:0.87 [[ 7.57524062e-01 -6.52768793e-01 -7.08509520e-03 9.11559497e+01] [ 6.52737858e-01 7.57557170e-01 -6.35786581e-03 3.28431529e+01] [ 9.51758107e-03 1.91526462e-04 9.99954688e-01 8.68063640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.18, Y:32.86, Z:0.87 [[ 7.56453079e-01 -6.54009607e-01 -7.08327587e-03 9.11767830e+01] [ 6.53978707e-01 7.56486221e-01 -6.35989208e-03 3.28602636e+01] [ 9.51783111e-03 1.78648356e-04 9.99954688e-01 8.68034742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.20, Y:32.88, Z:0.87 [[ 7.55095149e-01 -6.55576963e-01 -7.08248865e-03 9.11991482e+01] [ 6.55546124e-01 7.55128347e-01 -6.36076862e-03 3.28778404e+01] [ 9.51816132e-03 1.60087556e-04 9.99954688e-01 8.69067038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.22, Y:32.89, Z:0.87 [[ 7.52746300e-01 -6.58272643e-01 -7.08065137e-03 9.12224932e+01] [ 6.58241904e-01 7.52779590e-01 -6.36281318e-03 3.28921360e+01] [ 9.51863568e-03 1.28802643e-04 9.99954688e-01 8.71000842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.24, Y:32.91, Z:0.87 [[ 7.51475794e-01 -6.59722674e-01 -7.07986771e-03 9.12441727e+01] [ 6.59691991e-01 7.51509136e-01 -6.36368503e-03 3.29089888e+01] [ 9.51885257e-03 1.11623236e-04 9.99954688e-01 8.71960783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.27, Y:32.93, Z:0.87 [[ 7.50330266e-01 -6.61025248e-01 -7.07907929e-03 9.12661730e+01] [ 6.60994614e-01 7.50363654e-01 -6.36456197e-03 3.29263352e+01] [ 9.51901995e-03 9.62901994e-05 9.99954688e-01 8.72404576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.29, Y:32.94, Z:0.87 [[ 7.49051235e-01 -6.62474271e-01 -7.07728347e-03 9.12890837e+01] [ 6.62443683e-01 7.49084664e-01 -6.36655826e-03 3.29426219e+01] [ 9.51916555e-03 8.05766032e-05 9.99954688e-01 8.71939525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.31, Y:32.96, Z:0.87 [[ 7.48812928e-01 -6.62743643e-01 -7.07549059e-03 9.13113458e+01] [ 6.62713048e-01 7.48846351e-01 -6.36855016e-03 3.29605010e+01] [ 9.51917144e-03 7.98327470e-05 9.99954688e-01 8.71414672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.33, Y:32.98, Z:0.87 [[ 7.48797051e-01 -6.62761601e-01 -7.07371151e-03 9.13332871e+01] [ 6.62730988e-01 7.48830457e-01 -6.37052562e-03 3.29776857e+01] [ 9.51915038e-03 8.22629753e-05 9.99954688e-01 8.70634585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.36, Y:32.99, Z:0.87 [[ 7.49548753e-01 -6.61911365e-01 -7.07193618e-03 9.13581859e+01] [ 6.61880696e-01 7.49582108e-01 -6.37249581e-03 3.29939393e+01] [ 9.51902422e-03 9.57182505e-05 9.99954688e-01 8.69660002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.38, Y:33.01, Z:0.87 [[ 7.49645214e-01 -6.61802125e-01 -7.07109439e-03 9.13800126e+01] [ 6.61771442e-01 7.49678556e-01 -6.37342975e-03 3.30109822e+01] [ 9.51899718e-03 9.83627728e-05 9.99954688e-01 8.69452037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.40, Y:33.03, Z:0.87 [[ 7.49671537e-01 -6.61772326e-01 -7.06932808e-03 9.14012335e+01] [ 6.61741624e-01 7.49704861e-01 -6.37538831e-03 3.30277258e+01] [ 9.51896517e-03 1.01378514e-04 9.99954688e-01 8.68697266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.43, Y:33.04, Z:0.87 [[ 7.49500554e-01 -6.61965977e-01 -7.06859139e-03 9.14250491e+01] [ 6.61935275e-01 7.49533879e-01 -6.37620499e-03 3.30424718e+01] [ 9.51897949e-03 1.00019182e-04 9.99954688e-01 8.67824371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.45, Y:33.06, Z:0.87 [[ 7.48897630e-01 -6.62648008e-01 -7.06805013e-03 9.14481543e+01] [ 6.62617331e-01 7.48930977e-01 -6.37680492e-03 3.30591417e+01] [ 9.51905878e-03 9.21615745e-05 9.99954688e-01 8.68089796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.47, Y:33.07, Z:0.87 [[ 7.47806856e-01 -6.63878734e-01 -7.06632664e-03 9.14732115e+01] [ 6.63848094e-01 7.47840237e-01 -6.37871421e-03 3.30710251e+01] [ 9.51917610e-03 7.90787460e-05 9.99954688e-01 8.69593146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.50, Y:33.09, Z:0.87 [[ 7.46943444e-01 -6.64850038e-01 -7.06535738e-03 9.14956565e+01] [ 6.64819431e-01 7.46976856e-01 -6.37978762e-03 3.30859153e+01] [ 9.51926048e-03 6.81536627e-05 9.99954688e-01 8.70799770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.52, Y:33.10, Z:0.87 [[ 7.45882067e-01 -6.66040568e-01 -7.06419458e-03 9.15192592e+01] [ 6.66010003e-01 7.45915517e-01 -6.38107491e-03 3.31020934e+01] [ 9.51934711e-03 5.47050929e-05 9.99954688e-01 8.72236808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.54, Y:33.12, Z:0.87 [[ 7.44887878e-01 -6.67152284e-01 -7.06250132e-03 9.15426155e+01] [ 6.67121750e-01 7.44921357e-01 -6.38294843e-03 3.31185612e+01] [ 9.51940669e-03 4.30326697e-05 9.99954688e-01 8.72887034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.57, Y:33.13, Z:0.87 [[ 7.43315076e-01 -6.68904210e-01 -7.06081320e-03 9.15690385e+01] [ 6.68873738e-01 7.43348611e-01 -6.38481528e-03 3.31328509e+01] [ 9.51947551e-03 2.31369432e-05 9.99954688e-01 8.74453791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.59, Y:33.15, Z:0.88 [[ 7.42731583e-01 -6.69552061e-01 -7.05926484e-03 9.15931956e+01] [ 6.69521602e-01 7.42765129e-01 -6.38652675e-03 3.31483710e+01] [ 9.51948791e-03 1.71448176e-05 9.99954689e-01 8.75737276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.62, Y:33.16, Z:0.88 [[ 7.41859867e-01 -6.70517807e-01 -7.05749150e-03 9.16201150e+01] [ 6.70487372e-01 7.41893436e-01 -6.38848579e-03 3.31598606e+01] [ 9.51950010e-03 7.40229392e-06 9.99954689e-01 8.77758855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.64, Y:33.18, Z:0.88 [[ 7.41711126e-01 -6.70682355e-01 -7.05572379e-03 9.16434162e+01] [ 6.70651910e-01 7.41744685e-01 -6.39043754e-03 3.31757674e+01] [ 9.51949932e-03 7.92399293e-06 9.99954689e-01 8.77728545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.67, Y:33.19, Z:0.88 [[ 7.41807695e-01 -6.70575562e-01 -7.05396398e-03 9.16657464e+01] [ 6.70545093e-01 7.41841233e-01 -6.39237947e-03 3.31916610e+01] [ 9.51949480e-03 1.19153510e-05 9.99954689e-01 8.77290393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.69, Y:33.21, Z:0.88 [[ 7.43099969e-01 -6.69143251e-01 -7.05300136e-03 9.16913626e+01] [ 6.69112708e-01 7.43133439e-01 -6.39344141e-03 3.32058331e+01] [ 9.51944932e-03 3.17132770e-05 9.99954689e-01 8.76288034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.71, Y:33.22, Z:0.88 [[ 7.43952244e-01 -6.68195582e-01 -7.05145281e-03 9.17138863e+01] [ 6.68164979e-01 7.43985660e-01 -6.39514887e-03 3.32219800e+01] [ 9.51938999e-03 4.61515362e-05 9.99954689e-01 8.75623168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.74, Y:33.24, Z:0.88 [[ 7.47052795e-01 -6.64727320e-01 -7.05057127e-03 9.17386493e+01] [ 6.64696554e-01 7.47086060e-01 -6.39612061e-03 3.32374943e+01] [ 9.51905963e-03 9.17493578e-05 9.99954689e-01 8.77131388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.76, Y:33.26, Z:0.88 [[ 7.49079898e-01 -6.62442162e-01 -7.04898447e-03 9.17590541e+01] [ 6.62411277e-01 7.49113053e-01 -6.39786890e-03 3.32558244e+01] [ 9.51870439e-03 1.23188180e-04 9.99954689e-01 8.77496428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.78, Y:33.28, Z:0.88 [[ 7.50166281e-01 -6.61211675e-01 -7.04775019e-03 9.17795293e+01] [ 6.61180724e-01 7.50199374e-01 -6.39922827e-03 3.32762104e+01] [ 9.51846222e-03 1.40648700e-04 9.99954689e-01 8.77790220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.80, Y:33.30, Z:0.88 [[ 7.50704989e-01 -6.60600009e-01 -7.04613277e-03 9.17985336e+01] [ 6.60569013e-01 7.50738041e-01 -6.40100870e-03 3.32951294e+01] [ 9.51830631e-03 1.50812195e-04 9.99954689e-01 8.77314990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.82, Y:33.32, Z:0.88 [[ 7.49576299e-01 -6.61880456e-01 -7.04514869e-03 9.18177960e+01] [ 6.61849507e-01 7.49609394e-01 -6.40209162e-03 3.33161027e+01] [ 9.51852896e-03 1.36027957e-04 9.99954689e-01 8.77774868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.84, Y:33.33, Z:0.88 [[ 7.48100253e-01 -6.63548329e-01 -7.04458241e-03 9.18382911e+01] [ 6.63517448e-01 7.48133412e-01 -6.40271467e-03 3.33349458e+01] [ 9.51879810e-03 1.15669120e-04 9.99954689e-01 8.78526034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.86, Y:33.35, Z:0.88 [[ 7.45928168e-01 -6.65989154e-01 -7.04375950e-03 9.18596263e+01] [ 6.65958373e-01 7.45961420e-01 -6.40361985e-03 3.33534238e+01] [ 9.51911420e-03 8.57898088e-05 9.99954689e-01 8.80137427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.88, Y:33.37, Z:0.88 [[ 7.41264452e-01 -6.71176149e-01 -7.04195466e-03 9.18823034e+01] [ 6.71145581e-01 7.41297900e-01 -6.40560399e-03 3.33697201e+01] [ 9.51947482e-03 2.20697807e-05 9.99954689e-01 8.81939744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.90, Y:33.39, Z:0.88 [[ 7.38955723e-01 -6.73717198e-01 -7.04102648e-03 9.19038922e+01] [ 6.73686736e-01 7.38989267e-01 -6.40662408e-03 3.33876975e+01] [ 9.51949582e-03 -9.23462283e-06 9.99954689e-01 8.82833512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.92, Y:33.41, Z:0.88 [[ 7.37545632e-01 -6.75260609e-01 -7.03922079e-03 9.19240977e+01] [ 6.75230199e-01 7.37579222e-01 -6.40860745e-03 3.34065905e+01] [ 9.51946316e-03 -2.64540217e-05 9.99954689e-01 8.83852215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.95, Y:33.43, Z:0.88 [[ 7.37354578e-01 -6.75469245e-01 -7.03740877e-03 9.19451978e+01] [ 6.75438825e-01 7.37388160e-01 -6.41059664e-03 3.34259085e+01] [ 9.51946278e-03 -2.64563228e-05 9.99954689e-01 8.84123353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.97, Y:33.45, Z:0.88 [[ 7.35170773e-01 -6.77845436e-01 -7.03559463e-03 9.19651933e+01] [ 6.77815105e-01 7.35204436e-01 -6.41258703e-03 3.34460570e+01] [ 9.51934323e-03 -5.44857526e-05 9.99954689e-01 8.83740710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.54762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.99, Y:33.47, Z:0.88 [[ 7.34240133e-01 -6.78853411e-01 -7.03378438e-03 9.19856059e+01] [ 6.78823107e-01 7.34273820e-01 -6.41457203e-03 3.34653223e+01] [ 9.51927783e-03 -6.48591516e-05 9.99954689e-01 8.82790147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.01, Y:33.49, Z:0.88 [[ 7.33011395e-01 -6.80180001e-01 -7.03284647e-03 9.20068491e+01] [ 6.80149748e-01 7.33045128e-01 -6.41560018e-03 3.34855957e+01] [ 9.51915678e-03 -8.06807120e-05 9.99954689e-01 8.82312103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.03, Y:33.51, Z:0.88 [[ 7.30701835e-01 -6.82660523e-01 -7.03127330e-03 9.20277794e+01] [ 6.82630368e-01 7.30735655e-01 -6.41732386e-03 3.35055473e+01] [ 9.51885576e-03 -1.10610364e-04 9.99954689e-01 8.81865441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.05, Y:33.52, Z:0.88 [[ 7.29438775e-01 -6.84009983e-01 -7.02970654e-03 9.20476520e+01] [ 6.83979875e-01 7.29472636e-01 -6.41903966e-03 3.35239947e+01] [ 9.51866577e-03 -1.25881374e-04 9.99954689e-01 8.81309771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.07, Y:33.54, Z:0.88 [[ 7.28266440e-01 -6.85258046e-01 -7.02871066e-03 9.20685958e+01] [ 6.85227985e-01 7.28300343e-01 -6.42012995e-03 3.35432862e+01] [ 9.51845809e-03 -1.40704060e-04 9.99954689e-01 8.82486305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.09, Y:33.56, Z:0.88 [[ 7.26153495e-01 -6.87496708e-01 -7.02691237e-03 9.20887479e+01] [ 6.87466733e-01 7.26187475e-01 -6.42209759e-03 3.35628228e+01] [ 9.51802670e-03 -1.67339878e-04 9.99954689e-01 8.81493151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.11, Y:33.58, Z:0.88 [[ 7.25615145e-01 -6.88064892e-01 -7.02611461e-03 9.21088559e+01] [ 6.88034935e-01 7.25649140e-01 -6.42297027e-03 3.35816460e+01] [ 9.51791437e-03 -1.73607804e-04 9.99954689e-01 8.83521479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:33.60, Z:0.88 [[ 7.25197097e-01 -6.88505497e-01 -7.02507775e-03 9.21294419e+01] [ 6.88475549e-01 7.25231100e-01 -6.42410413e-03 3.36010694e+01] [ 9.51783587e-03 -1.77852600e-04 9.99954689e-01 8.82948884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.15, Y:33.62, Z:0.88 [[ 7.25118711e-01 -6.88588060e-01 -7.02413054e-03 9.21499849e+01] [ 6.88558106e-01 7.25152709e-01 -6.42513964e-03 3.36204691e+01] [ 9.51784173e-03 -1.77533050e-04 9.99954689e-01 8.84130222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.17, Y:33.64, Z:0.88 [[ 7.25393546e-01 -6.88298547e-01 -7.02235418e-03 9.21702360e+01] [ 6.88268561e-01 7.25427516e-01 -6.42708053e-03 3.36404767e+01] [ 9.51795914e-03 -1.71102872e-04 9.99954689e-01 8.84962873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.19, Y:33.66, Z:0.89 [[ 7.25368020e-01 -6.88325466e-01 -7.02053829e-03 9.21904462e+01] [ 6.88295462e-01 7.25401974e-01 -6.42906348e-03 3.36595095e+01] [ 9.51800045e-03 -1.68767590e-04 9.99954689e-01 8.85300614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.21, Y:33.68, Z:0.89 [[ 7.25353492e-01 -6.88340794e-01 -7.01872249e-03 9.22111829e+01] [ 6.88310771e-01 7.25387430e-01 -6.43104521e-03 3.36787114e+01] [ 9.51804383e-03 -1.66281186e-04 9.99954689e-01 8.85601930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.90762800000002 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:92.23, Y:33.70, Z:0.88 [[ 7.25100690e-01 -6.88607110e-01 -7.01690547e-03 9.22315297e+01] [ 6.88577081e-01 7.25134622e-01 -6.43302714e-03 3.36967038e+01] [ 9.51802933e-03 -1.67087869e-04 9.99954689e-01 8.83720540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.25, Y:33.72, Z:0.89 [[ 7.24947315e-01 -6.88768588e-01 -7.01591347e-03 9.22522305e+01] [ 6.88738556e-01 7.24981244e-01 -6.43410884e-03 3.37150717e+01] [ 9.51801774e-03 -1.67740186e-04 9.99954689e-01 8.86918586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.27, Y:33.73, Z:0.89 [[ 7.24170756e-01 -6.89585034e-01 -7.01412886e-03 9.22727678e+01] [ 6.89555021e-01 7.24204702e-01 -6.43605375e-03 3.37340184e+01] [ 9.51787144e-03 -1.75825867e-04 9.99954689e-01 8.87750413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.29, Y:33.75, Z:0.89 [[ 7.23657962e-01 -6.90123164e-01 -7.01229377e-03 9.22924343e+01] [ 6.90093157e-01 7.23691914e-01 -6.43805252e-03 3.37523848e+01] [ 9.51778947e-03 -1.80187974e-04 9.99954689e-01 8.87349640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.31, Y:33.77, Z:0.89 [[ 7.22755797e-01 -6.91067942e-01 -7.01127523e-03 9.23130768e+01] [ 6.91037968e-01 7.22789778e-01 -6.43916156e-03 3.37714951e+01] [ 9.51757619e-03 -1.91116044e-04 9.99954689e-01 8.87418046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05762800000001 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:92.33, Y:33.79, Z:0.89 [[ 7.21176587e-01 -6.92715813e-01 -7.00946037e-03 9.23346190e+01] [ 6.92685899e-01 7.21210619e-01 -6.44113655e-03 3.37902629e+01] [ 9.51717440e-03 -2.10157487e-04 9.99954689e-01 8.85194660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.36, Y:33.81, Z:0.89 [[ 7.20919865e-01 -6.92983002e-01 -7.00763559e-03 9.23550308e+01] [ 6.92953080e-01 7.20953892e-01 -6.44312121e-03 3.38084826e+01] [ 9.51715563e-03 -2.10988589e-04 9.99954689e-01 8.87813848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.38, Y:33.83, Z:0.89 [[ 7.20476466e-01 -6.93443994e-01 -7.00639711e-03 9.23754866e+01] [ 6.93414081e-01 7.20510500e-01 -6.44446768e-03 3.38270922e+01] [ 9.51706009e-03 -2.15247112e-04 9.99954689e-01 8.88395109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.40, Y:33.85, Z:0.89 [[ 7.20261195e-01 -6.93667605e-01 -7.00461242e-03 9.23953841e+01] [ 6.93637684e-01 7.20295222e-01 -6.44640691e-03 3.38453175e+01] [ 9.51705250e-03 -2.15566390e-04 9.99954689e-01 8.88972223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.42, Y:33.87, Z:0.89 [[ 7.20491679e-01 -6.93428216e-01 -7.00359238e-03 9.24168817e+01] [ 6.93398272e-01 7.20525687e-01 -6.44751492e-03 3.38650624e+01] [ 9.51715698e-03 -2.10898002e-04 9.99954689e-01 8.90529101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.44, Y:33.88, Z:0.89 [[ 7.20362073e-01 -6.93562871e-01 -7.00202985e-03 9.24373781e+01] [ 6.93532918e-01 7.20396072e-01 -6.44921138e-03 3.38837475e+01] [ 9.51716836e-03 -2.10370915e-04 9.99954689e-01 8.91117370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.46, Y:33.90, Z:0.89 [[ 7.20227368e-01 -6.93702772e-01 -7.00021992e-03 9.24575276e+01] [ 6.93672806e-01 7.20261356e-01 -6.45117535e-03 3.39021019e+01] [ 9.51718612e-03 -2.09549149e-04 9.99954689e-01 8.91119233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.26762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.48, Y:33.92, Z:0.89 [[ 7.19706940e-01 -6.94242704e-01 -6.99920432e-03 9.24781896e+01] [ 6.94212753e-01 7.19740940e-01 -6.45227705e-03 3.39201062e+01] [ 9.51706016e-03 -2.15188332e-04 9.99954689e-01 8.91037843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.50, Y:33.94, Z:0.89 [[ 7.19205394e-01 -6.94762280e-01 -6.99822896e-03 9.24991775e+01] [ 6.94732343e-01 7.19239408e-01 -6.45333476e-03 3.39389736e+01] [ 9.51693562e-03 -2.20622836e-04 9.99954689e-01 8.90957266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.52, Y:33.96, Z:0.89 [[ 7.18768725e-01 -6.95214046e-01 -6.99648397e-03 9.25200234e+01] [ 6.95184112e-01 7.18802741e-01 -6.45522606e-03 3.39576006e+01] [ 9.51685568e-03 -2.24029889e-04 9.99954689e-01 8.91115218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.54, Y:33.98, Z:0.89 [[ 7.18932821e-01 -6.95044368e-01 -6.99467300e-03 9.25397356e+01] [ 6.95014407e-01 7.18966814e-01 -6.45718778e-03 3.39758749e+01] [ 9.51696975e-03 -2.19114275e-04 9.99954689e-01 8.91047811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.56, Y:33.99, Z:0.89 [[ 7.19002844e-01 -6.94971940e-01 -6.99368716e-03 9.25595978e+01] [ 6.94941966e-01 7.19036825e-01 -6.45825535e-03 3.39945342e+01] [ 9.51702486e-03 -2.16702733e-04 9.99954689e-01 8.90498594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.58, Y:34.01, Z:0.89 [[ 7.18875289e-01 -6.95103892e-01 -6.99272140e-03 9.25800003e+01] [ 6.95073914e-01 7.18909265e-01 -6.45930086e-03 3.40138339e+01] [ 9.51701738e-03 -2.17026458e-04 9.99954689e-01 8.92494679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.60, Y:34.03, Z:0.89 [[ 7.18513851e-01 -6.95477515e-01 -6.99087052e-03 9.25993726e+01] [ 6.95447535e-01 7.18547826e-01 -6.46130343e-03 3.40324214e+01] [ 9.51696607e-03 -2.19247659e-04 9.99954689e-01 8.92834532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.62, Y:34.05, Z:0.89 [[ 7.17730674e-01 -6.96285734e-01 -6.98980362e-03 9.26195906e+01] [ 6.96255780e-01 7.17764672e-01 -6.46245740e-03 3.40521244e+01] [ 9.51675100e-03 -2.28387272e-04 9.99954689e-01 8.93205398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.64, Y:34.07, Z:0.89 [[ 7.16649275e-01 -6.97398727e-01 -6.98799107e-03 9.26398139e+01] [ 6.97368807e-01 7.16683304e-01 -6.46441676e-03 3.40716545e+01] [ 9.51645254e-03 -2.40487410e-04 9.99954689e-01 8.93523156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.66, Y:34.09, Z:0.89 [[ 7.14954806e-01 -6.99135766e-01 -6.98617841e-03 9.26605867e+01] [ 6.99105910e-01 7.14988890e-01 -6.46637513e-03 3.40912124e+01] [ 9.51591407e-03 -2.60912634e-04 9.99954689e-01 8.94858304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.68, Y:34.11, Z:0.90 [[ 7.13996363e-01 -7.00114571e-01 -6.98435253e-03 9.26800860e+01] [ 7.00084742e-01 7.14030471e-01 -6.46834667e-03 3.41100998e+01] [ 9.51562428e-03 -2.71262642e-04 9.99954689e-01 8.95315664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.70, Y:34.13, Z:0.90 [[ 7.12933282e-01 -7.01197099e-01 -6.98311371e-03 9.27002248e+01] [ 7.01167309e-01 7.12967424e-01 -6.46968379e-03 3.41299768e+01] [ 9.51525610e-03 -2.83878155e-04 9.99954689e-01 8.96004154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.72, Y:34.15, Z:0.90 [[ 7.10993734e-01 -7.03163687e-01 -6.98131837e-03 9.27201757e+01] [ 7.03133973e-01 7.11027942e-01 -6.47162054e-03 3.41502198e+01] [ 9.51452099e-03 -3.07520466e-04 9.99954689e-01 8.97247388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.74, Y:34.17, Z:0.90 [[ 7.09911325e-01 -7.04256486e-01 -6.97950369e-03 9.27403890e+01] [ 7.04226805e-01 7.09945562e-01 -6.47357704e-03 3.41702848e+01] [ 9.51412628e-03 -3.19487926e-04 9.99954689e-01 8.97898009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.76, Y:34.19, Z:0.90 [[ 7.09238919e-01 -7.04933662e-01 -6.97769242e-03 9.27593618e+01] [ 7.04903995e-01 7.09273167e-01 -6.47552877e-03 3.41890947e+01] [ 9.51390821e-03 -3.25906240e-04 9.99954689e-01 8.98286453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.78, Y:34.21, Z:0.90 [[ 7.08827097e-01 -7.05347767e-01 -6.97668769e-03 9.27788014e+01] [ 7.05318109e-01 7.08861353e-01 -6.47661107e-03 3.42097755e+01] [ 9.51376744e-03 -3.29986748e-04 9.99954689e-01 8.98106024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.80, Y:34.23, Z:0.90 [[ 7.08898353e-01 -7.05276171e-01 -6.97486184e-03 9.27987679e+01] [ 7.05246490e-01 7.08932590e-01 -6.47857680e-03 3.42292473e+01] [ 9.51389270e-03 -3.26344411e-04 9.99954689e-01 8.97860516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.82, Y:34.25, Z:0.90 [[ 7.09344963e-01 -7.04827001e-01 -6.97302147e-03 9.28186721e+01] [ 7.04797279e-01 7.09379164e-01 -6.48055701e-03 3.42486989e+01] [ 9.51418770e-03 -3.17616087e-04 9.99954689e-01 8.97735562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.84, Y:34.27, Z:0.90 [[ 7.10481937e-01 -7.03680908e-01 -6.97116911e-03 9.28369260e+01] [ 7.03651112e-01 7.10516073e-01 -6.48254899e-03 3.42686939e+01] [ 9.51477366e-03 -2.99536934e-04 9.99954689e-01 8.96537029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.86, Y:34.29, Z:0.90 [[ 7.10994156e-01 -7.03163371e-01 -6.97016016e-03 9.28571073e+01] [ 7.03133539e-01 7.11028261e-01 -6.48363366e-03 3.42884711e+01] [ 9.51503456e-03 -2.91127743e-04 9.99954689e-01 8.95957479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.88, Y:34.31, Z:0.89 [[ 7.11670866e-01 -7.02478485e-01 -6.96831698e-03 9.28766430e+01] [ 7.02448601e-01 7.11704925e-01 -6.48561401e-03 3.43075384e+01] [ 9.51538982e-03 -2.79261975e-04 9.99954689e-01 8.94945459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.90, Y:34.33, Z:0.90 [[ 7.11674339e-01 -7.02474975e-01 -6.96733178e-03 9.28972210e+01] [ 7.02445081e-01 7.11708390e-01 -6.48667223e-03 3.43266606e+01] [ 9.51543339e-03 -2.77769761e-04 9.99954689e-01 8.95411825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.92, Y:34.35, Z:0.90 [[ 7.11607966e-01 -7.02542230e-01 -6.96550152e-03 9.29168254e+01] [ 7.02512319e-01 7.11642002e-01 -6.48863699e-03 3.43452544e+01] [ 9.51548495e-03 -2.75984859e-04 9.99954689e-01 8.95398367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.94, Y:34.36, Z:0.90 [[ 7.11278023e-01 -7.02876283e-01 -6.96449825e-03 9.29372480e+01] [ 7.02846378e-01 7.11312065e-01 -6.48971366e-03 3.43645933e+01] [ 9.51539744e-03 -2.78981663e-04 9.99954689e-01 8.95702476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.96, Y:34.38, Z:0.90 [[ 7.10986198e-01 -7.03171492e-01 -6.96269822e-03 9.29576511e+01] [ 7.03141582e-01 7.11020234e-01 -6.49164430e-03 3.43835687e+01] [ 9.51535854e-03 -2.80293148e-04 9.99954689e-01 8.96271708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.98, Y:34.40, Z:0.90 [[ 7.10912599e-01 -7.03245919e-01 -6.96090672e-03 9.29777517e+01] [ 7.03215994e-01 7.10946622e-01 -6.49356474e-03 3.44027350e+01] [ 9.51540602e-03 -2.78663948e-04 9.99954689e-01 8.96539986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.04762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.00, Y:34.42, Z:0.90 [[ 7.11105140e-01 -7.03051243e-01 -6.95910040e-03 9.29979359e+01] [ 7.03021290e-01 7.11139139e-01 -6.49549998e-03 3.44215948e+01] [ 9.51555800e-03 -2.73412314e-04 9.99954689e-01 8.96829461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.02, Y:34.44, Z:0.90 [[ 7.11556807e-01 -7.02594127e-01 -6.95730028e-03 9.30181403e+01] [ 7.02564133e-01 7.11590769e-01 -6.49742751e-03 3.44402648e+01] [ 9.51580507e-03 -2.64660861e-04 9.99954689e-01 8.96791348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.107628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:93.04, Y:34.46, Z:0.90 [[ 7.13303277e-01 -7.00820979e-01 -6.95630125e-03 9.30390773e+01] [ 7.00790890e-01 7.13337156e-01 -6.49849692e-03 3.44596251e+01] [ 9.51647112e-03 -2.39513395e-04 9.99954689e-01 8.96130169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.06, Y:34.48, Z:0.90 [[ 7.14846901e-01 -6.99246410e-01 -6.95454405e-03 9.30593388e+01] [ 6.99216228e-01 7.14880697e-01 -6.50037689e-03 3.44784053e+01] [ 9.51703451e-03 -2.15955783e-04 9.99954689e-01 8.97523670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.08, Y:34.50, Z:0.90 [[ 7.16795168e-01 -6.97249128e-01 -6.95279027e-03 9.30792235e+01] [ 6.97218834e-01 7.16828863e-01 -6.50225219e-03 3.44969412e+01] [ 9.51765041e-03 -1.86833372e-04 9.99954689e-01 8.97910487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.10, Y:34.52, Z:0.90 [[ 7.21619245e-01 -6.92255254e-01 -6.95180657e-03 9.30999836e+01] [ 6.92224717e-01 7.21652720e-01 -6.50330374e-03 3.45163368e+01] [ 9.51873630e-03 -1.19303197e-04 9.99954689e-01 8.99467226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.12, Y:34.54, Z:0.90 [[ 7.24516290e-01 -6.89222636e-01 -6.94997811e-03 9.31198438e+01] [ 6.89191940e-01 7.24549620e-01 -6.50525719e-03 3.45350549e+01] [ 9.51917451e-03 -7.67040899e-05 9.99954689e-01 8.99827220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.14, Y:34.55, Z:0.90 [[ 7.29824805e-01 -6.83598907e-01 -6.94896395e-03 9.31403897e+01] [ 6.83567943e-01 7.29857887e-01 -6.50634035e-03 3.45544744e+01] [ 9.51948329e-03 -1.60041249e-06 9.99954689e-01 9.00151103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.16, Y:34.57, Z:0.90 [[ 7.32063470e-01 -6.81201008e-01 -6.94715735e-03 9.31600242e+01] [ 6.81169917e-01 7.32096432e-01 -6.50826877e-03 3.45725367e+01] [ 9.51942836e-03 3.22712190e-05 9.99954689e-01 8.99894454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.18, Y:34.59, Z:0.90 [[ 7.35516339e-01 -6.77471376e-01 -6.94615968e-03 9.31813010e+01] [ 6.77440109e-01 7.35549133e-01 -6.50933340e-03 3.45905473e+01] [ 9.51912879e-03 8.21139045e-05 9.99954689e-01 8.99873280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.20, Y:34.61, Z:0.90 [[ 7.36724736e-01 -6.76157111e-01 -6.94437653e-03 9.32015002e+01] [ 6.76125767e-01 7.36757457e-01 -6.51123517e-03 3.46087249e+01] [ 9.51893915e-03 1.01716103e-04 9.99954689e-01 8.99011352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.22, Y:34.63, Z:0.90 [[ 7.36541032e-01 -6.76357226e-01 -6.94341472e-03 9.32223010e+01] [ 6.76325881e-01 7.36573752e-01 -6.51226065e-03 3.46283548e+01] [ 9.51895158e-03 1.00536096e-04 9.99954689e-01 8.99283014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.24, Y:34.65, Z:0.90 [[ 7.37409980e-01 -6.75409754e-01 -6.94164508e-03 9.32437130e+01] [ 6.75378349e-01 7.37442643e-01 -6.51414642e-03 3.46469845e+01] [ 9.51878313e-03 1.15359782e-04 9.99954689e-01 8.98649067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.27, Y:34.67, Z:0.90 [[ 7.37941632e-01 -6.74828857e-01 -6.93985488e-03 9.32656729e+01] [ 6.74797409e-01 7.37974253e-01 -6.51605306e-03 3.46651967e+01] [ 9.51865486e-03 1.25470738e-04 9.99954689e-01 8.98106358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.29, Y:34.68, Z:0.90 [[ 7.37915061e-01 -6.74857931e-01 -6.93802038e-03 9.32871829e+01] [ 6.74826466e-01 7.37947665e-01 -6.51800577e-03 3.46829704e+01] [ 9.51862383e-03 1.27774855e-04 9.99954689e-01 8.97502583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.31, Y:34.70, Z:0.90 [[ 7.36866098e-01 -6.76003138e-01 -6.93617246e-03 9.33100668e+01] [ 6.75971705e-01 7.36898734e-01 -6.51997166e-03 3.46995252e+01] [ 9.51877800e-03 1.15689755e-04 9.99954689e-01 8.95626447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.33, Y:34.72, Z:0.90 [[ 7.33538070e-01 -6.79612980e-01 -6.93521043e-03 9.33265941e+01] [ 6.79581698e-01 7.33570851e-01 -6.52099479e-03 3.47174899e+01] [ 9.51922092e-03 7.03558602e-05 9.99954689e-01 8.95533789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.35, Y:34.73, Z:0.90 [[ 7.34657338e-01 -6.78403791e-01 -6.84777012e-03 9.33546744e+01] [ 6.78371584e-01 7.34689221e-01 -6.61386318e-03 3.47343833e+01] [ 9.51785274e-03 2.13590454e-04 9.99954681e-01 8.96641500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.38, Y:34.75, Z:0.90 [[ 7.33901809e-01 -6.79220196e-01 -6.93252780e-03 9.33762228e+01] [ 6.79188870e-01 7.33934547e-01 -6.52379532e-03 3.47533073e+01] [ 9.51911518e-03 7.93294757e-05 9.99954689e-01 8.99592591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.40, Y:34.77, Z:0.90 [[ 7.33525558e-01 -6.79626528e-01 -6.93092989e-03 9.33959407e+01] [ 6.79595204e-01 7.33558298e-01 -6.52549251e-03 3.47731155e+01] [ 9.51913895e-03 7.63888210e-05 9.99954689e-01 9.00656999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.41, Y:34.79, Z:0.90 [[ 7.32330072e-01 -6.80914571e-01 -6.92907688e-03 9.34137177e+01] [ 6.80883286e-01 7.32362849e-01 -6.52745953e-03 3.47947033e+01] [ 9.51924079e-03 6.23622778e-05 9.99954689e-01 9.01692096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.43, Y:34.81, Z:0.90 [[ 7.31074388e-01 -6.82262588e-01 -6.92824875e-03 9.34329233e+01] [ 6.82231355e-01 7.31107214e-01 -6.52833839e-03 3.48149932e+01] [ 9.51933369e-03 4.60324603e-05 9.99954689e-01 9.02905946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.45, Y:34.83, Z:0.90 [[ 7.29413864e-01 -6.84037601e-01 -6.92639927e-03 9.34524458e+01] [ 6.84006430e-01 7.29446749e-01 -6.53030005e-03 3.48347989e+01] [ 9.51941021e-03 2.55897552e-05 9.99954689e-01 9.03958485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.47, Y:34.85, Z:0.91 [[ 7.24866271e-01 -6.88854803e-01 -6.92456031e-03 9.34736275e+01] [ 6.88823831e-01 7.24899345e-01 -6.53224945e-03 3.48534905e+01] [ 9.51938064e-03 -3.47948546e-05 9.99954689e-01 9.06704326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.50, Y:34.87, Z:0.91 [[ 7.21996323e-01 -6.91862259e-01 -6.92272819e-03 9.34953783e+01] [ 6.91831407e-01 7.22029507e-01 -6.53419052e-03 3.48718839e+01] [ 9.51917384e-03 -7.16992576e-05 9.99954689e-01 9.07980878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.52, Y:34.89, Z:0.91 [[ 7.19017339e-01 -6.94957673e-01 -6.92089753e-03 9.35168736e+01] [ 6.94926944e-01 7.19050639e-01 -6.53612894e-03 3.48902122e+01] [ 9.51880875e-03 -1.09928129e-04 9.99954689e-01 9.08377115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.54, Y:34.91, Z:0.91 [[ 7.14326910e-01 -6.99777959e-01 -6.91907607e-03 9.35369518e+01] [ 6.99747437e-01 7.14360398e-01 -6.53805655e-03 3.49086377e+01] [ 9.51790181e-03 -1.71296014e-04 9.99954689e-01 9.06690319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.56, Y:34.93, Z:0.91 [[ 7.12905633e-01 -7.01225854e-01 -6.91809441e-03 9.35564004e+01] [ 7.01195390e-01 7.12939174e-01 -6.53909511e-03 3.49295388e+01] [ 9.51756307e-03 -1.89178164e-04 9.99954689e-01 9.05132521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.57, Y:34.95, Z:0.90 [[ 7.11809173e-01 -7.02338855e-01 -6.91626860e-03 9.35743901e+01] [ 7.02308424e-01 7.11842744e-01 -6.54102566e-03 3.49495785e+01] [ 9.51731209e-03 -2.01391638e-04 9.99954689e-01 9.02759588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91762800000001 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:93.59, Y:34.97, Z:0.90 [[ 7.09585177e-01 -7.04585733e-01 -6.91530902e-03 9.35937849e+01] [ 7.04555399e-01 7.09618836e-01 -6.54204000e-03 3.49713402e+01] [ 9.51666158e-03 -2.30083692e-04 9.99954689e-01 8.97942807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.61, Y:34.99, Z:0.90 [[ 7.08659282e-01 -7.05516990e-01 -6.91373263e-03 9.36144023e+01] [ 7.05486684e-01 7.08692965e-01 -6.54370552e-03 3.49906112e+01] [ 9.51640910e-03 -2.40288647e-04 9.99954689e-01 9.01221138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97762800000001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:93.64, Y:35.01, Z:0.90 [[ 7.07243937e-01 -7.06935809e-01 -6.91191631e-03 9.36351960e+01] [ 7.06905552e-01 7.07277665e-01 -6.54562348e-03 3.50094548e+01] [ 9.51597966e-03 -2.56719490e-04 9.99954689e-01 9.03322088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.66, Y:35.03, Z:0.91 [[ 7.07003780e-01 -7.07176008e-01 -6.91004583e-03 9.36553364e+01] [ 7.07145743e-01 7.07037500e-01 -6.54759750e-03 3.50292059e+01] [ 9.51596540e-03 -2.57233314e-04 9.99954689e-01 9.05415544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.67, Y:35.05, Z:0.91 [[ 7.06939101e-01 -7.07240684e-01 -6.90816030e-03 9.36738568e+01] [ 7.07210402e-01 7.06972807e-01 -6.54958627e-03 3.50489682e+01] [ 9.51601535e-03 -2.55364200e-04 9.99954689e-01 9.05806963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06762800000001 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:93.69, Y:35.07, Z:0.90 [[ 7.07385666e-01 -7.06794038e-01 -6.90708455e-03 9.36921399e+01] [ 7.06763724e-01 7.07419343e-01 -6.55072054e-03 3.50690508e+01] [ 9.51621543e-03 -2.47790986e-04 9.99954689e-01 9.03858155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.71, Y:35.09, Z:0.91 [[ 7.10276279e-01 -7.03889134e-01 -6.90606430e-03 9.37104225e+01] [ 7.03858672e-01 7.10309822e-01 -6.55179595e-03 3.50912746e+01] [ 9.51718329e-03 -2.07307995e-04 9.99954689e-01 9.06393203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.73, Y:35.11, Z:0.91 [[ 7.11798202e-01 -7.02350090e-01 -6.90443263e-03 9.37286616e+01] [ 7.02319539e-01 7.11831663e-01 -6.55351499e-03 3.51106298e+01] [ 9.51765561e-03 -1.84337759e-04 9.99954689e-01 9.06891526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.75, Y:35.13, Z:0.91 [[ 7.13507965e-01 -7.00613107e-01 -6.90350762e-03 9.37482088e+01] [ 7.00582465e-01 7.13541343e-01 -6.55448926e-03 3.51306015e+01] [ 9.51809919e-03 -1.59796089e-04 9.99954689e-01 9.07849645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.77, Y:35.15, Z:0.91 [[ 7.16999805e-01 -6.97039201e-01 -6.90166185e-03 9.37676041e+01] [ 6.97008373e-01 7.17033012e-01 -6.55643222e-03 3.51506179e+01] [ 9.51880966e-03 -1.09555476e-04 9.99954689e-01 9.09271538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.79, Y:35.17, Z:0.91 [[ 7.18571810e-01 -6.95418540e-01 -6.89982184e-03 9.37876168e+01] [ 6.95387620e-01 7.18604931e-01 -6.55836802e-03 3.51705929e+01] [ 9.51905671e-03 -8.53923040e-05 9.99954689e-01 9.10265601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.81, Y:35.19, Z:0.91 [[ 7.22070983e-01 -6.91784586e-01 -6.89798776e-03 9.38056073e+01] [ 6.91753480e-01 7.22103930e-01 -6.56029651e-03 3.51910912e+01] [ 9.51937608e-03 -3.47072837e-05 9.99954689e-01 9.10643854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.82, Y:35.21, Z:0.91 [[ 7.23360249e-01 -6.90436371e-01 -6.89695454e-03 9.38247492e+01] [ 6.90405193e-01 7.23393128e-01 -6.56138258e-03 3.52115391e+01] [ 9.51942669e-03 -1.54498867e-05 9.99954689e-01 9.10157387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.84, Y:35.23, Z:0.91 [[ 7.24514226e-01 -6.89225357e-01 -6.89514379e-03 9.38445454e+01] [ 6.89194107e-01 7.24547036e-01 -6.56328488e-03 3.52319360e+01] [ 9.51943836e-03 3.10079872e-06 9.99954689e-01 9.08916233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.86, Y:35.25, Z:0.91 [[ 7.25342368e-01 -6.88353784e-01 -6.89333340e-03 9.38640197e+01] [ 6.88322476e-01 7.25375122e-01 -6.56518576e-03 3.52512064e+01] [ 9.51942302e-03 1.71710736e-05 9.99954689e-01 9.05587664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.88, Y:35.27, Z:0.91 [[ 7.24745123e-01 -6.88982587e-01 -6.89220914e-03 9.38849285e+01] [ 6.88951296e-01 7.24777894e-01 -6.56636581e-03 3.52706014e+01] [ 9.51943253e-03 1.05451790e-05 9.99954689e-01 9.05104511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.90, Y:35.29, Z:0.90 [[ 7.23778712e-01 -6.89997753e-01 -6.89036453e-03 9.39049903e+01] [ 6.89966489e-01 7.23811509e-01 -6.56830086e-03 3.52890983e+01] [ 9.51943799e-03 -1.24287263e-07 9.99954689e-01 9.04328699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.93, Y:35.31, Z:0.90 [[ 7.22669332e-01 -6.91159585e-01 -6.88937188e-03 9.39252569e+01] [ 6.91128365e-01 7.22702171e-01 -6.56934187e-03 3.53073341e+01] [ 9.51942762e-03 -1.39784151e-05 9.99954689e-01 9.03429269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.95, Y:35.33, Z:0.90 [[ 7.20142660e-01 -6.93791827e-01 -6.88838675e-03 9.39469522e+01] [ 6.93760716e-01 7.20175603e-01 -6.57037469e-03 3.53254360e+01] [ 9.51932034e-03 -4.72850216e-05 9.99954689e-01 9.03879846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.97, Y:35.34, Z:0.90 [[ 7.18904191e-01 -6.95075060e-01 -6.88660407e-03 9.39677792e+01] [ 6.95043990e-01 7.18937172e-01 -6.57224264e-03 3.53435229e+01] [ 9.51923760e-03 -6.16799914e-05 9.99954689e-01 9.04885847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:35.36, Z:0.91 [[ 7.17706393e-01 -6.96311800e-01 -6.88553856e-03 9.39892158e+01] [ 6.96280777e-01 7.17739417e-01 -6.57335875e-03 3.53618238e+01] [ 9.51912970e-03 -7.65265397e-05 9.99954689e-01 9.05203192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.54762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.01, Y:35.38, Z:0.91 [[ 7.16142547e-01 -6.97920101e-01 -6.88366063e-03 9.40114015e+01] [ 6.97889133e-01 7.16175623e-01 -6.57532474e-03 3.53779167e+01] [ 9.51896125e-03 -9.51621382e-05 9.99954689e-01 9.05122514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.03, Y:35.39, Z:0.91 [[ 7.15646181e-01 -6.98429075e-01 -6.88263106e-03 9.40321279e+01] [ 6.98398120e-01 7.15679269e-01 -6.57640225e-03 3.53949819e+01] [ 9.51890691e-03 -1.00439444e-04 9.99954689e-01 9.05445143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.06, Y:35.41, Z:0.91 [[ 7.15752669e-01 -6.98319955e-01 -6.88161586e-03 9.40550793e+01] [ 6.98288985e-01 7.15785743e-01 -6.57746440e-03 3.54118404e+01] [ 9.51893717e-03 -9.75188551e-05 9.99954689e-01 9.05427308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.08, Y:35.43, Z:0.91 [[ 7.16300737e-01 -6.97757782e-01 -6.87979106e-03 9.40762959e+01] [ 6.97726767e-01 7.16333770e-01 -6.57937252e-03 3.54302702e+01] [ 9.51903504e-03 -8.74049953e-05 9.99954689e-01 9.05025482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.10, Y:35.45, Z:0.90 [[ 7.17230611e-01 -6.96801941e-01 -6.87793829e-03 9.40970751e+01] [ 6.96770864e-01 7.17263585e-01 -6.58130879e-03 3.54490264e+01] [ 9.51916342e-03 -7.20308796e-05 9.99954689e-01 9.04606983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.12, Y:35.47, Z:0.90 [[ 7.21096775e-01 -6.92800231e-01 -6.87607701e-03 9.41169098e+01] [ 6.92768952e-01 7.21129558e-01 -6.58325287e-03 3.54681047e+01] [ 9.51942148e-03 -1.63702488e-05 9.99954689e-01 9.03511503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.14, Y:35.49, Z:0.90 [[ 7.22632031e-01 -6.91198730e-01 -6.87481007e-03 9.41372388e+01] [ 6.91167366e-01 7.22664732e-01 -6.58457565e-03 3.54875248e+01] [ 9.51943311e-03 6.58091101e-06 9.99954689e-01 9.03771535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.16, Y:35.51, Z:0.90 [[ 7.23961283e-01 -6.89806366e-01 -6.87298374e-03 9.41574593e+01] [ 6.89774921e-01 7.23993907e-01 -6.58648142e-03 3.55064190e+01] [ 9.51939516e-03 2.75457261e-05 9.99954689e-01 9.03885391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.18, Y:35.52, Z:0.90 [[ 7.25250803e-01 -6.88450478e-01 -6.87114761e-03 9.41770286e+01] [ 6.88418953e-01 7.25283350e-01 -6.58839636e-03 3.55249233e+01] [ 9.51931357e-03 4.80115031e-05 9.99954689e-01 9.03755315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.20, Y:35.54, Z:0.90 [[ 7.26801899e-01 -6.86812784e-01 -6.87015839e-03 9.41963426e+01] [ 6.86781177e-01 7.26834365e-01 -6.58942772e-03 3.55437859e+01] [ 9.51917041e-03 7.09131180e-05 9.99954689e-01 9.04158532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.22, Y:35.56, Z:0.91 [[ 7.26864257e-01 -6.86746800e-01 -6.86916435e-03 9.42164382e+01] [ 6.86715180e-01 7.26896711e-01 -6.59046380e-03 3.55629458e+01] [ 9.51915289e-03 7.32131410e-05 9.99954689e-01 9.05406868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.24, Y:35.58, Z:0.91 [[ 7.26532508e-01 -6.87097777e-01 -6.86733441e-03 9.42370903e+01] [ 6.87066154e-01 7.26564959e-01 -6.59237006e-03 3.55824237e+01] [ 9.51916736e-03 7.12581052e-05 9.99954689e-01 9.06378165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.26, Y:35.60, Z:0.91 [[ 7.25426510e-01 -6.88265387e-01 -6.86551228e-03 9.42573686e+01] [ 6.88233799e-01 7.25458995e-01 -6.59426714e-03 3.56020165e+01] [ 9.51925346e-03 5.85785930e-05 9.99954689e-01 9.07096579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.28, Y:35.62, Z:0.91 [[ 7.24439595e-01 -6.89304105e-01 -6.86469810e-03 9.42772820e+01] [ 6.89272555e-01 7.24472118e-01 -6.59511460e-03 3.56210708e+01] [ 9.51932193e-03 4.61141468e-05 9.99954689e-01 9.08236265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.30, Y:35.64, Z:0.91 [[ 7.21629548e-01 -6.92245395e-01 -6.86365675e-03 9.42978323e+01] [ 6.92213967e-01 7.21662188e-01 -6.59619818e-03 3.56401635e+01] [ 9.51942936e-03 8.89243742e-06 9.99954689e-01 9.10354440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.32, Y:35.66, Z:0.91 [[ 7.20204144e-01 -6.93728266e-01 -6.86181456e-03 9.43183492e+01] [ 6.93696888e-01 7.20236831e-01 -6.59811399e-03 3.56591946e+01] [ 9.51942975e-03 -8.03036303e-06 9.99954689e-01 9.10463830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.34, Y:35.68, Z:0.91 [[ 7.19023531e-01 -6.94951871e-01 -6.85996104e-03 9.43378337e+01] [ 6.94920530e-01 7.19056254e-01 -6.60004051e-03 3.56780606e+01] [ 9.51940839e-03 -2.15433291e-05 9.99954689e-01 9.10871820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.36, Y:35.70, Z:0.91 [[ 7.17994370e-01 -6.96015114e-01 -6.85892993e-03 9.43579528e+01] [ 6.95983811e-01 7.18027130e-01 -6.60111189e-03 3.56976199e+01] [ 9.51937142e-03 -3.41430215e-05 9.99954689e-01 9.11172888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.38, Y:35.72, Z:0.91 [[ 7.16690588e-01 -6.97357570e-01 -6.85709327e-03 9.43783745e+01] [ 6.97326311e-01 7.16723389e-01 -6.60301922e-03 3.57167942e+01] [ 9.51930457e-03 -4.93098158e-05 9.99954689e-01 9.11251871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.40, Y:35.74, Z:0.91 [[ 7.16073117e-01 -6.97991616e-01 -6.85525851e-03 9.43985303e+01] [ 6.97960367e-01 7.16105928e-01 -6.60492352e-03 3.57361921e+01] [ 9.51927250e-03 -5.50905738e-05 9.99954689e-01 9.11122422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.42, Y:35.76, Z:0.91 [[ 7.15545603e-01 -6.98532405e-01 -6.85341343e-03 9.44171737e+01] [ 6.98501162e-01 7.15578421e-01 -6.60683746e-03 3.57554302e+01] [ 9.51924482e-03 -5.96237498e-05 9.99954689e-01 9.10323892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.44, Y:35.78, Z:0.91 [[ 7.15279137e-01 -6.98805266e-01 -6.85241681e-03 9.44365981e+01] [ 6.98774027e-01 7.15311957e-01 -6.60787097e-03 3.57750939e+01] [ 9.51923071e-03 -6.18186393e-05 9.99954689e-01 9.10375528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20762800000001 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:94.46, Y:35.79, Z:0.91 [[ 7.14822174e-01 -6.99272715e-01 -6.85056055e-03 9.44561439e+01] [ 6.99241478e-01 7.14854996e-01 -6.60979484e-03 3.57947577e+01] [ 9.51920662e-03 -6.53681693e-05 9.99954689e-01 9.07530091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.48, Y:35.81, Z:0.91 [[ 7.15010116e-01 -6.99080560e-01 -6.84871300e-03 9.44752706e+01] [ 6.99049296e-01 7.15042912e-01 -6.61170862e-03 3.58143020e+01] [ 9.51924065e-03 -6.01494618e-05 9.99954689e-01 9.09711507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.26762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.49, Y:35.83, Z:0.91 [[ 7.14775427e-01 -6.99320526e-01 -6.84767940e-03 9.44947130e+01] [ 6.99289263e-01 7.14808225e-01 -6.61277893e-03 3.58335157e+01] [ 9.51922960e-03 -6.18567928e-05 9.99954689e-01 9.09529588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.52, Y:35.85, Z:0.91 [[ 7.14589574e-01 -6.99510446e-01 -6.84667053e-03 9.45152196e+01] [ 6.99479181e-01 7.14622370e-01 -6.61382332e-03 3.58534522e+01] [ 9.51922242e-03 -6.29343124e-05 9.99954689e-01 9.09801211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.54, Y:35.87, Z:0.91 [[ 7.13456254e-01 -7.00666340e-01 -6.84491251e-03 9.45353854e+01] [ 7.00635112e-01 7.13489084e-01 -6.61564227e-03 3.58725284e+01] [ 9.51912822e-03 -7.58146853e-05 9.99954689e-01 9.10880535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.56, Y:35.89, Z:0.91 [[ 7.12294132e-01 -7.01847733e-01 -6.84316107e-03 9.45554549e+01] [ 7.01816542e-01 7.12326997e-01 -6.61745344e-03 3.58915767e+01] [ 9.51901308e-03 -8.90703839e-05 9.99954689e-01 9.12102594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.58, Y:35.91, Z:0.91 [[ 7.10966760e-01 -7.03192337e-01 -6.84131876e-03 9.45754176e+01] [ 7.03161189e-01 7.10999667e-01 -6.61935753e-03 3.59106981e+01] [ 9.51885685e-03 -1.04406654e-04 9.99954689e-01 9.13032071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.60, Y:35.93, Z:0.91 [[ 7.09366040e-01 -7.04807096e-01 -6.83945565e-03 9.45958686e+01] [ 7.04776005e-01 7.09399001e-01 -6.62128203e-03 3.59302979e+01] [ 9.51862956e-03 -1.23371616e-04 9.99954689e-01 9.13647514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.62, Y:35.95, Z:0.91 [[ 7.06632321e-01 -7.07547885e-01 -6.83759812e-03 9.46166213e+01] [ 7.07516903e-01 7.06665384e-01 -6.62319969e-03 3.59499168e+01] [ 9.51812484e-03 -1.57549275e-04 9.99954689e-01 9.14747629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.64, Y:35.97, Z:0.92 [[ 7.05536809e-01 -7.08640307e-01 -6.83572293e-03 9.46365337e+01] [ 7.08609357e-01 7.05569902e-01 -6.62513449e-03 3.59691157e+01] [ 9.51791769e-03 -1.69580986e-04 9.99954689e-01 9.15472490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.66, Y:35.99, Z:0.92 [[ 7.04594499e-01 -7.09577262e-01 -6.83386274e-03 9.46564257e+01] [ 7.09546337e-01 7.04627616e-01 -6.62705273e-03 3.59883096e+01] [ 9.51773434e-03 -1.79557377e-04 9.99954689e-01 9.15618880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.68, Y:36.01, Z:0.92 [[ 7.04388070e-01 -7.09782200e-01 -6.83200541e-03 9.46763856e+01] [ 7.09751266e-01 7.04421179e-01 -6.62896694e-03 3.60079166e+01] [ 9.51773204e-03 -1.79659264e-04 9.99954689e-01 9.15272678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.70, Y:36.03, Z:0.92 [[ 7.04752347e-01 -7.09420523e-01 -6.83015317e-03 9.46954159e+01] [ 7.09389554e-01 7.04785422e-01 -6.63087485e-03 3.60269775e+01] [ 9.51787109e-03 -1.72114700e-04 9.99954689e-01 9.15044492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.71, Y:36.05, Z:0.91 [[ 7.06233779e-01 -7.07945769e-01 -6.82913169e-03 9.47144249e+01] [ 7.07914721e-01 7.06266780e-01 -6.63192671e-03 3.60476560e+01] [ 9.51823330e-03 -1.50752191e-04 9.99954689e-01 9.14392952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.73, Y:36.07, Z:0.91 [[ 7.07253909e-01 -7.06926655e-01 -6.82729996e-03 9.47346465e+01] [ 7.06895542e-01 7.07286848e-01 -6.63381186e-03 3.60677853e+01] [ 9.51847790e-03 -1.34398529e-04 9.99954689e-01 9.14977774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.75, Y:36.09, Z:0.92 [[ 7.08257391e-01 -7.05921300e-01 -6.82544322e-03 9.47539971e+01] [ 7.05890121e-01 7.08290269e-01 -6.63572168e-03 3.60872024e+01] [ 9.51869229e-03 -1.18214014e-04 9.99954689e-01 9.15612242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.77, Y:36.11, Z:0.92 [[ 7.10199595e-01 -7.03967303e-01 -6.82441655e-03 9.47729983e+01] [ 7.03936023e-01 7.10232376e-01 -6.63677739e-03 3.61071287e+01] [ 9.51899586e-03 -9.05160339e-05 9.99954689e-01 9.16065517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.79, Y:36.13, Z:0.92 [[ 7.10891417e-01 -7.03268679e-01 -6.82342697e-03 9.47929417e+01] [ 7.03237357e-01 7.10924159e-01 -6.63779463e-03 3.61266776e+01] [ 9.51909214e-03 -7.97375168e-05 9.99954689e-01 9.16255188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.81, Y:36.15, Z:0.92 [[ 7.12146544e-01 -7.01997695e-01 -6.82165440e-03 9.48130771e+01] [ 7.01966298e-01 7.12179213e-01 -6.63961580e-03 3.61455911e+01] [ 9.51923546e-03 -6.01920383e-05 9.99954689e-01 9.15304644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.83, Y:36.16, Z:0.91 [[ 7.12535400e-01 -7.01603017e-01 -6.81986496e-03 9.48330877e+01] [ 7.01571584e-01 7.12568035e-01 -6.64145332e-03 3.61648276e+01] [ 9.51928145e-03 -5.23528603e-05 9.99954689e-01 9.14910413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.85, Y:36.18, Z:0.91 [[ 7.13066267e-01 -7.01063487e-01 -6.81806680e-03 9.48536096e+01] [ 7.01032011e-01 7.13098861e-01 -6.64329878e-03 3.61843243e+01] [ 9.51932988e-03 -4.25708209e-05 9.99954689e-01 9.14127382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.87, Y:36.20, Z:0.91 [[ 7.14215227e-01 -6.99892955e-01 -6.81625109e-03 9.48735124e+01] [ 6.99861408e-01 7.14247752e-01 -6.64516124e-03 3.62025922e+01] [ 9.51939355e-03 -2.43557440e-05 9.99954689e-01 9.12913308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.89, Y:36.22, Z:0.91 [[ 7.14653612e-01 -6.99445328e-01 -6.81533941e-03 9.48938732e+01] [ 6.99413752e-01 7.14686108e-01 -6.64609614e-03 3.62219629e+01] [ 9.51940929e-03 -1.70854958e-05 9.99954689e-01 9.12640992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.91, Y:36.24, Z:0.91 [[ 7.15522366e-01 -6.98556597e-01 -6.81358697e-03 9.49139932e+01] [ 6.98524963e-01 7.15554807e-01 -6.64789226e-03 3.62409684e+01] [ 9.51942389e-03 -2.74498809e-06 9.99954689e-01 9.12587530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.93, Y:36.26, Z:0.91 [[ 7.16184312e-01 -6.97877948e-01 -6.81181314e-03 9.49343208e+01] [ 6.97846267e-01 7.16216705e-01 -6.64970933e-03 3.62600411e+01] [ 9.51941987e-03 8.81913081e-06 9.99954689e-01 9.12854173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:36.28, Z:0.91 [[ 7.18081434e-01 -6.95925770e-01 -6.81004699e-03 9.49552283e+01] [ 6.95893983e-01 7.18113725e-01 -6.65151757e-03 3.62775855e+01] [ 9.51935069e-03 3.72605428e-05 9.99954689e-01 9.13964296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.98, Y:36.30, Z:0.92 [[ 7.18874784e-01 -6.95106240e-01 -6.80884574e-03 9.49757852e+01] [ 6.95074405e-01 7.18907027e-01 -6.65274701e-03 3.62965366e+01] [ 9.51929300e-03 4.98376684e-05 9.99954689e-01 9.15130288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.00, Y:36.31, Z:0.92 [[ 7.20538373e-01 -6.93381654e-01 -6.80699316e-03 9.49969077e+01] [ 6.93349724e-01 7.20570522e-01 -6.65464200e-03 3.63144431e+01] [ 9.51912529e-03 7.52980969e-05 9.99954689e-01 9.16827200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.04762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.02, Y:36.33, Z:0.92 [[ 7.20890939e-01 -6.93015112e-01 -6.80510605e-03 9.50178211e+01] [ 6.92983147e-01 7.20923053e-01 -6.65657122e-03 3.63333013e+01] [ 9.51906227e-03 8.28380696e-05 9.99954689e-01 9.17592546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.04, Y:36.35, Z:0.92 [[ 7.21209767e-01 -6.92683325e-01 -6.80320176e-03 9.50379475e+01] [ 6.92651327e-01 7.21241848e-01 -6.65851688e-03 3.63514744e+01] [ 9.51899743e-03 8.99406822e-05 9.99954689e-01 9.18018765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.06, Y:36.37, Z:0.92 [[ 7.22063032e-01 -6.91793834e-01 -6.80215137e-03 9.50581723e+01] [ 6.91761786e-01 7.22095064e-01 -6.65958976e-03 3.63703043e+01] [ 9.51886306e-03 1.03175191e-04 9.99954689e-01 9.18254421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.08, Y:36.39, Z:0.92 [[ 7.22680683e-01 -6.91148600e-01 -6.80027236e-03 9.50774105e+01] [ 6.91116506e-01 7.22712667e-01 -6.66150791e-03 3.63900500e+01] [ 9.51873484e-03 1.14362611e-04 9.99954689e-01 9.17784640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.10, Y:36.41, Z:0.92 [[ 7.22855978e-01 -6.90965271e-01 -6.79923724e-03 9.50971072e+01] [ 6.90933159e-01 7.22887945e-01 -6.66256426e-03 3.64103956e+01] [ 9.51868716e-03 1.18255940e-04 9.99954689e-01 9.17959858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.12, Y:36.43, Z:0.92 [[ 7.23124880e-01 -6.90683867e-01 -6.79735853e-03 9.51162884e+01] [ 6.90651724e-01 7.23156816e-01 -6.66448043e-03 3.64314834e+01] [ 9.51860527e-03 1.24644221e-04 9.99954689e-01 9.17581161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.14, Y:36.45, Z:0.92 [[ 7.22672503e-01 -6.91157200e-01 -6.79547974e-03 9.51354679e+01] [ 6.91125060e-01 7.22704442e-01 -6.66639560e-03 3.64525242e+01] [ 9.51865071e-03 1.21094447e-04 9.99954689e-01 9.17326077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.15, Y:36.47, Z:0.92 [[ 7.22413432e-01 -6.91428001e-01 -6.79359534e-03 9.51537610e+01] [ 6.91395855e-01 7.22445365e-01 -6.66831541e-03 3.64722019e+01] [ 9.51866146e-03 1.20216961e-04 9.99954689e-01 9.17134475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.17, Y:36.49, Z:0.92 [[ 7.21962168e-01 -6.91899190e-01 -6.79255594e-03 9.51729891e+01] [ 6.91867055e-01 7.21994112e-01 -6.66937401e-03 3.64922802e+01] [ 9.51871987e-03 1.15490054e-04 9.99954689e-01 9.17727339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.19, Y:36.51, Z:0.92 [[ 7.20959558e-01 -6.92943867e-01 -6.79062642e-03 9.51915198e+01] [ 6.92911760e-01 7.20991530e-01 -6.67133803e-03 3.65117249e+01] [ 9.51884690e-03 1.04460007e-04 9.99954689e-01 9.16981500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.21, Y:36.53, Z:0.92 [[ 7.20458116e-01 -6.93465215e-01 -6.78960789e-03 9.52116104e+01] [ 6.93433122e-01 7.20490101e-01 -6.67237446e-03 3.65312910e+01] [ 9.51890486e-03 9.90273384e-05 9.99954689e-01 9.17552459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.23, Y:36.55, Z:0.92 [[ 7.19680207e-01 -6.94272516e-01 -6.78771831e-03 9.52313824e+01] [ 6.94240440e-01 7.19712210e-01 -6.67429614e-03 3.65503764e+01] [ 9.51898412e-03 9.10502849e-05 9.99954689e-01 9.16830923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:36.57, Z:0.92 [[ 7.17558817e-01 -6.96464848e-01 -6.78669862e-03 9.52522105e+01] [ 6.96432860e-01 7.17590908e-01 -6.67533284e-03 3.65689225e+01] [ 9.51920790e-03 6.34640067e-05 9.99954689e-01 9.16906189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.27, Y:36.59, Z:0.92 [[ 7.16076742e-01 -6.97988585e-01 -6.78486655e-03 9.52731670e+01] [ 6.97956647e-01 7.16108884e-01 -6.67719446e-03 3.65883831e+01] [ 9.51930872e-03 4.58409444e-05 9.99954689e-01 9.17660621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.29, Y:36.61, Z:0.92 [[ 7.13137503e-01 -7.00991364e-01 -6.78301255e-03 9.52932096e+01] [ 7.00959544e-01 7.13169760e-01 -6.67907731e-03 3.66060698e+01] [ 9.51941495e-03 8.48312985e-06 9.99954689e-01 9.18205222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.31, Y:36.63, Z:0.92 [[ 7.11697112e-01 -7.02453717e-01 -6.78200986e-03 9.53132997e+01] [ 7.02421954e-01 7.11729425e-01 -6.68009530e-03 3.66255368e+01] [ 9.51941375e-03 -9.62808330e-06 9.99954689e-01 9.18484961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.33, Y:36.64, Z:0.92 [[ 7.10682280e-01 -7.03480437e-01 -6.78017888e-03 9.53328621e+01] [ 7.03448703e-01 7.10714622e-01 -6.68195319e-03 3.66445344e+01] [ 9.51939562e-03 -2.07623045e-05 9.99954689e-01 9.18687063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.35, Y:36.66, Z:0.92 [[ 7.09730619e-01 -7.04440554e-01 -6.77893380e-03 9.53526061e+01] [ 7.04408852e-01 7.09762992e-01 -6.68321611e-03 3.66640663e+01] [ 9.51936479e-03 -3.18578687e-05 9.99954689e-01 9.19460162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.37, Y:36.68, Z:0.92 [[ 7.08567247e-01 -7.05610747e-01 -6.77713133e-03 9.53716111e+01] [ 7.05579080e-01 7.08599655e-01 -6.68504340e-03 3.66840947e+01] [ 9.51931140e-03 -4.49992901e-05 9.99954689e-01 9.20559748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.39, Y:36.70, Z:0.92 [[ 7.07987865e-01 -7.06192087e-01 -6.77633770e-03 9.53914566e+01] [ 7.06160439e-01 7.08020292e-01 -6.68584777e-03 3.67040865e+01] [ 9.51927739e-03 -5.16825170e-05 9.99954689e-01 9.21160915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.41, Y:36.72, Z:0.92 [[ 7.07386731e-01 -7.06794254e-01 -6.77456586e-03 9.54108062e+01] [ 7.06762617e-01 7.07419168e-01 -6.68764264e-03 3.67233595e+01] [ 9.51924514e-03 -5.72602296e-05 9.99954689e-01 9.22000163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.43, Y:36.74, Z:0.92 [[ 7.07147358e-01 -7.07033758e-01 -6.77335946e-03 9.54309882e+01] [ 7.07002120e-01 7.07179794e-01 -6.68886428e-03 3.67434534e+01] [ 9.51923580e-03 -5.87667929e-05 9.99954689e-01 9.22517464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.45, Y:36.76, Z:0.92 [[ 7.07055327e-01 -7.07125809e-01 -6.77159634e-03 9.54496728e+01] [ 7.07094158e-01 7.07087751e-01 -6.69064873e-03 3.67624116e+01] [ 9.51924322e-03 -5.74973834e-05 9.99954689e-01 9.22761204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:36.78, Z:0.92 [[ 7.06946518e-01 -7.07234605e-01 -6.77001410e-03 9.54688249e+01] [ 7.07202944e-01 7.06978932e-01 -6.69224936e-03 3.67820079e+01] [ 9.51924767e-03 -5.67115203e-05 9.99954689e-01 9.23078353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.49, Y:36.80, Z:0.92 [[ 7.07471914e-01 -7.06709048e-01 -6.76844112e-03 9.54879988e+01] [ 7.06677348e-01 7.07504289e-01 -6.69383987e-03 3.68022010e+01] [ 9.51929833e-03 -4.74003133e-05 9.99954689e-01 9.24266984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:36.82, Z:0.92 [[ 7.07753268e-01 -7.06427296e-01 -6.76661700e-03 9.55067218e+01] [ 7.06395565e-01 7.07785613e-01 -6.69568332e-03 3.68221140e+01] [ 9.51932762e-03 -4.10164854e-05 9.99954689e-01 9.22868257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.53, Y:36.84, Z:0.92 [[ 7.07959590e-01 -7.06220536e-01 -6.76563964e-03 9.55262274e+01] [ 7.06188786e-01 7.07991916e-01 -6.69667074e-03 3.68429519e+01] [ 9.51934457e-03 -3.68465678e-05 9.99954689e-01 9.23799796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:36.86, Z:0.92 [[ 7.08109674e-01 -7.06070068e-01 -6.76382271e-03 9.55442256e+01] [ 7.06038293e-01 7.08141976e-01 -6.69850539e-03 3.68628482e+01] [ 9.51936093e-03 -3.22413694e-05 9.99954689e-01 9.22861067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.56, Y:36.88, Z:0.92 [[ 7.07801424e-01 -7.06379083e-01 -6.76280761e-03 9.55641873e+01] [ 7.06347313e-01 7.07833730e-01 -6.69953008e-03 3.68826074e+01] [ 9.51935125e-03 -3.49540488e-05 9.99954689e-01 9.23377839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:36.90, Z:0.92 [[ 7.07374618e-01 -7.06806507e-01 -6.76101314e-03 9.55838259e+01] [ 7.06774740e-01 7.07406927e-01 -6.70134052e-03 3.69021014e+01] [ 9.51933862e-03 -3.81551133e-05 9.99954689e-01 9.24832689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.60, Y:36.92, Z:0.93 [[ 7.06466086e-01 -7.07714620e-01 -6.75911584e-03 9.56044166e+01] [ 7.07682875e-01 7.06498418e-01 -6.70325364e-03 3.69212858e+01] [ 9.51929525e-03 -4.76891710e-05 9.99954689e-01 9.25261887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:36.94, Z:0.93 [[ 7.05897429e-01 -7.08281836e-01 -6.75722913e-03 9.56246929e+01] [ 7.08250099e-01 7.05929768e-01 -6.70515500e-03 3.69403425e+01] [ 9.51926869e-03 -5.26565296e-05 9.99954689e-01 9.26181734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:36.96, Z:0.93 [[ 7.05218488e-01 -7.08957862e-01 -6.75533472e-03 9.56448164e+01] [ 7.08926138e-01 7.05250839e-01 -6.70706305e-03 3.69596454e+01] [ 9.51923056e-03 -5.90884967e-05 9.99954689e-01 9.27427772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.67, Y:36.98, Z:0.93 [[ 7.04791744e-01 -7.09382118e-01 -6.75345246e-03 9.56650762e+01] [ 7.09350395e-01 7.04824097e-01 -6.70895779e-03 3.69794840e+01] [ 9.51921071e-03 -6.21461172e-05 9.99954689e-01 9.27718448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.68, Y:37.00, Z:0.93 [[ 7.04570297e-01 -7.09602081e-01 -6.75158333e-03 9.56847967e+01] [ 7.09570350e-01 7.04602642e-01 -6.71083827e-03 3.69990398e+01] [ 9.51920825e-03 -6.24660331e-05 9.99954689e-01 9.28175475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.71, Y:37.02, Z:0.93 [[ 7.04594686e-01 -7.09577882e-01 -6.74971660e-03 9.57051605e+01] [ 7.09546132e-01 7.04627012e-01 -6.71271528e-03 3.70184787e+01] [ 9.51922693e-03 -5.94917911e-05 9.99954689e-01 9.28770506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:37.04, Z:0.93 [[ 7.05548325e-01 -7.08629683e-01 -6.74783939e-03 9.57247826e+01] [ 7.08597872e-01 7.05580591e-01 -6.71460179e-03 3.70372698e+01] [ 9.51931064e-03 -4.40285753e-05 9.99954689e-01 9.29136633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:37.06, Z:0.93 [[ 7.06086022e-01 -7.08093928e-01 -6.74678730e-03 9.57449821e+01] [ 7.08062082e-01 7.06118253e-01 -6.71565876e-03 3.70575134e+01] [ 9.51934685e-03 -3.53114896e-05 9.99954689e-01 9.29377327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.77, Y:37.08, Z:0.93 [[ 7.05885951e-01 -7.08293393e-01 -6.74488547e-03 9.57652029e+01] [ 7.08261538e-01 7.05918174e-01 -6.71756832e-03 3.70777525e+01] [ 9.51934649e-03 -3.53058538e-05 9.99954689e-01 9.29648464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.78, Y:37.10, Z:0.93 [[ 7.06644185e-01 -7.07536945e-01 -6.74298709e-03 9.57839334e+01] [ 7.07505037e-01 7.06676355e-01 -6.71947335e-03 3.70968120e+01] [ 9.51938518e-03 -2.24205604e-05 9.99954689e-01 9.28770548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:37.12, Z:0.93 [[ 7.07332649e-01 -7.06848690e-01 -6.74195324e-03 9.58036739e+01] [ 7.06816741e-01 7.07364778e-01 -6.72051050e-03 3.71166191e+01] [ 9.51940430e-03 -1.16889238e-05 9.99954689e-01 9.28482214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.82, Y:37.14, Z:0.93 [[ 7.09087059e-01 -7.05088727e-01 -6.74010833e-03 9.58234965e+01] [ 7.05056681e-01 7.09119092e-01 -6.72236027e-03 3.71365216e+01] [ 9.51939995e-03 1.45802725e-05 9.99954689e-01 9.29233144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:37.16, Z:0.93 [[ 7.10090631e-01 -7.04078044e-01 -6.73822039e-03 9.58426016e+01] [ 7.04045934e-01 7.10122600e-01 -6.72425213e-03 3.71556197e+01] [ 9.51936087e-03 3.08117740e-05 9.99954689e-01 9.29520445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:37.17, Z:0.93 [[ 7.11050245e-01 -7.03108924e-01 -6.73717453e-03 9.58617733e+01] [ 7.03076761e-01 7.11082161e-01 -6.72529984e-03 3.71741648e+01] [ 9.51930296e-03 4.52752617e-05 9.99954689e-01 9.29914221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.88, Y:37.19, Z:0.93 [[ 7.12745349e-01 -7.01390541e-01 -6.73616901e-03 9.58823707e+01] [ 7.01358291e-01 7.12777177e-01 -6.72630684e-03 3.71937359e+01] [ 9.51915552e-03 6.96759366e-05 9.99954689e-01 9.30951778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.90, Y:37.21, Z:0.93 [[ 7.13420289e-01 -7.00704032e-01 -6.73427233e-03 9.59012152e+01] [ 7.00671734e-01 7.13452068e-01 -6.72820523e-03 3.72130537e+01] [ 9.51906105e-03 8.15238510e-05 9.99954689e-01 9.30178554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:37.23, Z:0.93 [[ 7.13942624e-01 -7.00171831e-01 -6.73325404e-03 9.59206903e+01] [ 7.00139499e-01 7.13974369e-01 -6.72922412e-03 3.72328264e+01] [ 9.51898398e-03 9.00628197e-05 9.99954689e-01 9.29515377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:37.25, Z:0.93 [[ 7.14066098e-01 -7.00045924e-01 -6.73143726e-03 9.59399943e+01] [ 7.00013570e-01 7.14097819e-01 -6.73104101e-03 3.72527119e+01] [ 9.51894249e-03 9.43107548e-05 9.99954689e-01 9.29382614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.96, Y:37.27, Z:0.93 [[ 7.13988975e-01 -7.00124601e-01 -6.72956447e-03 9.59600395e+01] [ 7.00092233e-01 7.14020682e-01 -6.73291287e-03 3.72728631e+01] [ 9.51892615e-03 9.59097454e-05 9.99954689e-01 9.29190898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.98, Y:37.29, Z:0.93 [[ 7.13470376e-01 -7.00653096e-01 -6.72770441e-03 9.59801626e+01] [ 7.00620734e-01 7.13502089e-01 -6.73477098e-03 3.72923898e+01] [ 9.51896929e-03 9.14903766e-05 9.99954689e-01 9.30394863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.54762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.00, Y:37.31, Z:0.93 [[ 7.12463877e-01 -7.01676555e-01 -6.72579907e-03 9.59994198e+01] [ 7.01644220e-01 7.12495618e-01 -6.73667325e-03 3.73110267e+01] [ 9.51906804e-03 8.05182939e-05 9.99954689e-01 9.31126312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.02, Y:37.33, Z:0.93 [[ 7.09946988e-01 -7.04223013e-01 -6.72471427e-03 9.60206279e+01] [ 7.04190782e-01 7.09978835e-01 -6.73775594e-03 3.73308341e+01] [ 9.51928759e-03 4.79677414e-05 9.99954689e-01 9.33751689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.04, Y:37.35, Z:0.93 [[ 7.07853556e-01 -7.06327221e-01 -6.72308000e-03 9.60408456e+01] [ 7.06295069e-01 7.07885482e-01 -6.73938626e-03 3.73504826e+01] [ 9.51938270e-03 2.20202777e-05 9.99954689e-01 9.34924571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.06, Y:37.37, Z:0.94 [[ 7.05741888e-01 -7.08437162e-01 -6.72121726e-03 9.60612282e+01] [ 7.08405087e-01 7.05773893e-01 -6.74124347e-03 3.73701459e+01] [ 9.51940706e-03 -3.76660272e-06 9.99954689e-01 9.35845653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.08, Y:37.39, Z:0.94 [[ 7.01488021e-01 -7.12649568e-01 -6.71934005e-03 9.60810362e+01] [ 7.12617668e-01 7.01520199e-01 -6.74311406e-03 3.73885216e+01] [ 9.51923009e-03 -5.81066954e-05 9.99954689e-01 9.36461681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.10, Y:37.41, Z:0.94 [[ 6.99744653e-01 -7.14361452e-01 -6.71828834e-03 9.61006639e+01] [ 7.14329621e-01 6.99776899e-01 -6.74416173e-03 3.74085451e+01] [ 9.51907216e-03 -7.98812521e-05 9.99954689e-01 9.37187654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.12, Y:37.43, Z:0.94 [[ 6.98332281e-01 -7.15742213e-01 -6.71646412e-03 9.61192300e+01] [ 7.15710427e-01 6.98364572e-01 -6.74597797e-03 3.74281412e+01] [ 9.51892179e-03 -9.61092298e-05 9.99954689e-01 9.37748164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.14, Y:37.45, Z:0.94 [[ 6.96875179e-01 -7.17160991e-01 -6.71543654e-03 9.61385057e+01] [ 7.17129262e-01 6.96907526e-01 -6.74700075e-03 3.74483163e+01] [ 9.51872401e-03 -1.14018696e-04 9.99954689e-01 9.38298173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:37.47, Z:0.94 [[ 6.95122962e-01 -7.18859510e-01 -6.71363356e-03 9.61581252e+01] [ 7.18827843e-01 6.95155369e-01 -6.74879433e-03 3.74684996e+01] [ 9.51845340e-03 -1.34704821e-04 9.99954689e-01 9.38406000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.18, Y:37.49, Z:0.94 [[ 6.90997566e-01 -7.22825923e-01 -6.71183094e-03 9.61777345e+01] [ 7.22794424e-01 6.91030137e-01 -6.75058660e-03 3.74887609e+01] [ 9.51757645e-03 -1.86635069e-04 9.99954689e-01 9.38890855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.20, Y:37.51, Z:0.94 [[ 6.89263498e-01 -7.24479680e-01 -6.70995363e-03 9.61963232e+01] [ 7.24448241e-01 6.89296127e-01 -6.75245210e-03 3.75081420e+01] [ 9.51715938e-03 -2.06795344e-04 9.99954689e-01 9.38758097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.22, Y:37.53, Z:0.94 [[ 6.87470931e-01 -7.26180907e-01 -6.70891620e-03 9.62153451e+01] [ 7.26149538e-01 6.87503628e-01 -6.75348268e-03 3.75282447e+01] [ 9.51665440e-03 -2.28853381e-04 9.99954689e-01 9.39756588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.23, Y:37.55, Z:0.94 [[ 6.84885608e-01 -7.28619735e-01 -6.70714579e-03 9.62331008e+01] [ 7.28588466e-01 6.84918399e-01 -6.75524049e-03 3.75481540e+01] [ 9.51584909e-03 -2.60182078e-04 9.99954689e-01 9.41126632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.25, Y:37.57, Z:0.94 [[ 6.84022204e-01 -7.29430363e-01 -6.70594228e-03 9.62520332e+01] [ 7.29399121e-01 6.84055022e-01 -6.75643501e-03 3.75687777e+01] [ 9.51558233e-03 -2.69756840e-04 9.99954689e-01 9.41671909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.27, Y:37.59, Z:0.94 [[ 6.83622182e-01 -7.29805293e-01 -6.70421012e-03 9.62705994e+01] [ 7.29774052e-01 6.83655001e-01 -6.75815334e-03 3.75895179e+01] [ 9.51550285e-03 -2.72535045e-04 9.99954689e-01 9.41620870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.29, Y:37.61, Z:0.94 [[ 6.84810419e-01 -7.28690447e-01 -6.70248557e-03 9.62877278e+01] [ 7.28659136e-01 6.84843170e-01 -6.75986325e-03 3.76115960e+01] [ 9.51599924e-03 -2.54602564e-04 9.99954689e-01 9.41205051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.31, Y:37.63, Z:0.94 [[ 6.85903687e-01 -7.27661483e-01 -6.70066989e-03 9.63063141e+01] [ 7.27630105e-01 6.85936375e-01 -6.76166255e-03 3.76334034e+01] [ 9.51643461e-03 -2.37759860e-04 9.99954689e-01 9.41360777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.32, Y:37.66, Z:0.94 [[ 6.87434191e-01 -7.26215780e-01 -6.69875292e-03 9.63244800e+01] [ 7.26184315e-01 6.87466795e-01 -6.76356115e-03 3.76554524e+01] [ 9.51697504e-03 -2.15026117e-04 9.99954689e-01 9.40970487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:37.68, Z:0.94 [[ 6.89159016e-01 -7.24579190e-01 -6.69684716e-03 9.63414578e+01] [ 7.24547630e-01 6.89191527e-01 -6.76544759e-03 3.76763480e+01] [ 9.51751286e-03 -1.89715536e-04 9.99954689e-01 9.41014170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.36, Y:37.70, Z:0.94 [[ 6.92826047e-01 -7.21073668e-01 -6.69577428e-03 9.63576495e+01] [ 7.21041933e-01 6.92858387e-01 -6.76650926e-03 3.76992107e+01] [ 9.51837502e-03 -1.39920167e-04 9.99954689e-01 9.41892036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.38, Y:37.72, Z:0.94 [[ 6.94587284e-01 -7.19377290e-01 -6.69479135e-03 9.63759320e+01] [ 7.19345466e-01 6.94619537e-01 -6.76748163e-03 3.77201097e+01] [ 9.51870546e-03 -1.15261122e-04 9.99954689e-01 9.43418414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.39, Y:37.74, Z:0.94 [[ 6.95719681e-01 -7.18282208e-01 -6.69289469e-03 9.63943925e+01] [ 7.18250316e-01 6.95751866e-01 -6.76935686e-03 3.77415329e+01] [ 9.51890257e-03 -9.75989269e-05 9.99954689e-01 9.44404054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.41, Y:37.76, Z:0.95 [[ 6.98167853e-01 -7.15902842e-01 -6.69097814e-03 9.64116374e+01] [ 7.15870822e-01 6.98199911e-01 -6.77125069e-03 3.77631446e+01] [ 9.51919796e-03 -6.24064629e-05 9.99954689e-01 9.45464207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.43, Y:37.78, Z:0.95 [[ 6.98852351e-01 -7.15234675e-01 -6.68967503e-03 9.64294824e+01] [ 7.15202612e-01 6.98884366e-01 -6.77253786e-03 3.77835395e+01] [ 9.51926321e-03 -5.14690503e-05 9.99954689e-01 9.45795758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.26762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.45, Y:37.80, Z:0.95 [[ 6.99232949e-01 -7.14862608e-01 -6.68839194e-03 9.64473558e+01] [ 7.14830516e-01 6.99264935e-01 -6.77380477e-03 3.78038329e+01] [ 9.51929770e-03 -4.45991789e-05 9.99954689e-01 9.46205436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.47, Y:37.82, Z:0.95 [[ 6.99350247e-01 -7.14747866e-01 -6.68735522e-03 9.64664984e+01] [ 7.14715758e-01 6.99382218e-01 -6.77482810e-03 3.78246517e+01] [ 9.51931125e-03 -4.15804509e-05 9.99954689e-01 9.46827340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.49, Y:37.85, Z:0.95 [[ 6.99189723e-01 -7.14904914e-01 -6.68544885e-03 9.64852924e+01] [ 7.14872796e-01 6.99221683e-01 -6.77670880e-03 3.78461090e+01] [ 9.51931322e-03 -4.10403588e-05 9.99954689e-01 9.47161364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.50, Y:37.87, Z:0.95 [[ 6.98865329e-01 -7.15222051e-01 -6.68355833e-03 9.65043328e+01] [ 7.15189929e-01 6.98897286e-01 -6.77857282e-03 3.78663771e+01] [ 9.51930553e-03 -4.27040913e-05 9.99954689e-01 9.46952629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.52, Y:37.89, Z:0.95 [[ 6.98606849e-01 -7.15474546e-01 -6.68164530e-03 9.65227349e+01] [ 7.15442418e-01 6.98638800e-01 -6.78045798e-03 3.78855710e+01] [ 9.51930174e-03 -4.34580781e-05 9.99954689e-01 9.46268961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.54, Y:37.91, Z:0.95 [[ 6.98106879e-01 -7.15962400e-01 -6.68034673e-03 9.65422007e+01] [ 7.15930282e-01 6.98138839e-01 -6.78173713e-03 3.79055448e+01] [ 9.51927831e-03 -4.82851794e-05 9.99954689e-01 9.45877685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.56, Y:37.93, Z:0.94 [[ 6.97070542e-01 -7.16971448e-01 -6.67844468e-03 9.65617497e+01] [ 7.16939358e-01 6.97102531e-01 -6.78360969e-03 3.79264296e+01] [ 9.51921516e-03 -5.93853535e-05 9.99954689e-01 9.44429240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.58, Y:37.95, Z:0.94 [[ 6.96371563e-01 -7.17650380e-01 -6.67667621e-03 9.65811487e+01] [ 7.17618305e-01 6.96403567e-01 -6.78534984e-03 3.79465093e+01] [ 9.51917002e-03 -6.61803942e-05 9.99954689e-01 9.43691098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.60, Y:37.97, Z:0.94 [[ 6.95731428e-01 -7.18270998e-01 -6.67480077e-03 9.66007850e+01] [ 7.18238934e-01 6.95763443e-01 -6.78719422e-03 3.79663391e+01] [ 9.51912713e-03 -7.20374596e-05 9.99954689e-01 9.43532647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.62, Y:37.99, Z:0.94 [[ 6.95200290e-01 -7.18785107e-01 -6.67291487e-03 9.66204642e+01] [ 7.18753048e-01 6.95232310e-01 -6.78904786e-03 3.79853054e+01] [ 9.51909251e-03 -7.64298609e-05 9.99954689e-01 9.42243370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:38.01, Z:0.94 [[ 6.94738889e-01 -7.19231090e-01 -6.67192893e-03 9.66406887e+01] [ 7.19199043e-01 6.94770921e-01 -6.79001665e-03 3.80050113e+01] [ 9.51905329e-03 -8.11562745e-05 9.99954689e-01 9.42442609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.66, Y:38.02, Z:0.94 [[ 6.94565634e-01 -7.19398423e-01 -6.67008474e-03 9.66599183e+01] [ 7.19366366e-01 6.94597655e-01 -6.79182779e-03 3.80236210e+01] [ 9.51905542e-03 -8.08644413e-05 9.99954689e-01 9.42427007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.68, Y:38.04, Z:0.94 [[ 6.94527519e-01 -7.19435232e-01 -6.66883245e-03 9.66798167e+01] [ 7.19403164e-01 6.94559530e-01 -6.79305718e-03 3.80430028e+01] [ 9.51906580e-03 -7.96140222e-05 9.99954689e-01 9.43107887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:38.06, Z:0.94 [[ 6.95088584e-01 -7.18893185e-01 -6.66699220e-03 9.67009544e+01] [ 7.18861075e-01 6.95120554e-01 -6.79486280e-03 3.80630999e+01] [ 9.51914386e-03 -6.96096212e-05 9.99954690e-01 9.44802928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.72, Y:38.08, Z:0.95 [[ 6.95335615e-01 -7.18654267e-01 -6.66535692e-03 9.67206128e+01] [ 7.18622131e-01 6.95367558e-01 -6.79646653e-03 3.80833432e+01] [ 9.51918264e-03 -6.40477674e-05 9.99954690e-01 9.45167756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.74, Y:38.10, Z:0.95 [[ 6.95884093e-01 -7.18123198e-01 -6.66348582e-03 9.67394232e+01] [ 7.18091020e-01 6.95915993e-01 -6.79830052e-03 3.81023346e+01] [ 9.51924367e-03 -5.41601381e-05 9.99954690e-01 9.45053944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.76, Y:38.12, Z:0.94 [[ 6.96693451e-01 -7.17338028e-01 -6.66244597e-03 9.67588036e+01] [ 7.17305805e-01 6.96725306e-01 -6.79931945e-03 3.81208136e+01] [ 9.51930511e-03 -4.19698315e-05 9.99954690e-01 9.44687733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.78, Y:38.14, Z:0.95 [[ 6.96728422e-01 -7.17304072e-01 -6.66142558e-03 9.67785812e+01] [ 7.17271837e-01 6.96760265e-01 -6.80031899e-03 3.81400749e+01] [ 9.51931315e-03 -4.00774410e-05 9.99954690e-01 9.46049308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.80, Y:38.16, Z:0.95 [[ 6.96580126e-01 -7.17448103e-01 -6.65949649e-03 9.67986489e+01] [ 7.17415857e-01 6.96611957e-01 -6.80220761e-03 3.81590718e+01] [ 9.51931582e-03 -3.93457436e-05 9.99954690e-01 9.46658441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.82, Y:38.18, Z:0.95 [[ 6.96099869e-01 -7.17914096e-01 -6.65754692e-03 9.68185501e+01] [ 7.17881853e-01 6.96131704e-01 -6.80411518e-03 3.81778868e+01] [ 9.51929968e-03 -4.29884364e-05 9.99954690e-01 9.47266888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86762800000001 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:96.84, Y:38.20, Z:0.95 [[ 6.94406428e-01 -7.19552224e-01 -6.65647089e-03 9.68402520e+01] [ 7.19520046e-01 6.94438329e-01 -6.80516770e-03 3.81966403e+01] [ 9.51918208e-03 -6.39120504e-05 9.99954690e-01 9.45117917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.86, Y:38.22, Z:0.95 [[ 6.93937567e-01 -7.20004424e-01 -6.65454160e-03 9.68605143e+01] [ 7.19972249e-01 6.93969470e-01 -6.80705376e-03 3.82151734e+01] [ 9.51915753e-03 -6.74149595e-05 9.99954690e-01 9.48239782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.88, Y:38.23, Z:0.95 [[ 6.92818365e-01 -7.21081441e-01 -6.65343487e-03 9.68808821e+01] [ 7.21049305e-01 6.92850307e-01 -6.80813535e-03 3.82342542e+01] [ 9.51905444e-03 -8.06533866e-05 9.99954690e-01 9.48976511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.90, Y:38.25, Z:0.95 [[ 6.91678822e-01 -7.22174608e-01 -6.65151865e-03 9.69004794e+01] [ 7.22142505e-01 6.91710797e-01 -6.81000697e-03 3.82527527e+01] [ 9.51894138e-03 -9.30067489e-05 9.99954690e-01 9.49214399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.92, Y:38.27, Z:0.95 [[ 6.89419387e-01 -7.24331885e-01 -6.65046015e-03 9.69213650e+01] [ 7.24299872e-01 6.89451453e-01 -6.81104052e-03 3.82697825e+01] [ 9.51862323e-03 -1.21264051e-04 9.99954690e-01 9.49122537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.94, Y:38.29, Z:0.95 [[ 6.87797997e-01 -7.25871683e-01 -6.64941939e-03 9.69417390e+01] [ 7.25839732e-01 6.87830124e-01 -6.81205643e-03 3.82885225e+01] [ 9.51834983e-03 -1.41094018e-04 9.99954690e-01 9.49943424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.04762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.96, Y:38.31, Z:0.95 [[ 6.84497962e-01 -7.28984466e-01 -6.64747860e-03 9.69625296e+01] [ 7.28952642e-01 6.84530216e-01 -6.81394980e-03 3.83055868e+01] [ 9.51766351e-03 -1.81562332e-04 9.99954690e-01 9.48995014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.98, Y:38.32, Z:0.95 [[ 6.82316769e-01 -7.31026437e-01 -6.64637559e-03 9.69833650e+01] [ 7.30994700e-01 6.82349108e-01 -6.81502551e-03 3.83248099e+01] [ 9.51711228e-03 -2.08459137e-04 9.99954690e-01 9.50568169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.00, Y:38.35, Z:0.95 [[ 6.82115167e-01 -7.31214572e-01 -6.64449398e-03 9.70032756e+01] [ 7.31182825e-01 6.82147496e-01 -6.81685955e-03 3.83453478e+01] [ 9.51711197e-03 -2.08456594e-04 9.99954690e-01 9.50839307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.02, Y:38.36, Z:0.95 [[ 6.80072332e-01 -7.33114929e-01 -6.64261369e-03 9.70237264e+01] [ 7.33083255e-01 6.80104732e-01 -6.81869129e-03 3.83641088e+01] [ 9.51655738e-03 -2.32385579e-04 9.99954690e-01 9.51702856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.04, Y:38.38, Z:0.95 [[ 6.78250822e-01 -7.34800465e-01 -6.64070080e-03 9.70441989e+01] [ 7.34768853e-01 6.78283283e-01 -6.82055373e-03 3.83828450e+01] [ 9.51602240e-03 -2.53333940e-04 9.99954690e-01 9.52376051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.06, Y:38.40, Z:0.95 [[ 6.76732433e-01 -7.36199117e-01 -6.63879251e-03 9.70648436e+01] [ 7.36167554e-01 6.76764942e-01 -6.82241066e-03 3.84020056e+01] [ 9.51555474e-03 -2.70317076e-04 9.99954690e-01 9.53314702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.08, Y:38.42, Z:0.95 [[ 6.76575463e-01 -7.36343394e-01 -6.63686970e-03 9.70836995e+01] [ 7.36311820e-01 6.76607961e-01 -6.82428067e-03 3.84213995e+01] [ 9.51557287e-03 -2.69664752e-04 9.99954690e-01 9.53976911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.10, Y:38.44, Z:0.95 [[ 6.77044701e-01 -7.35911978e-01 -6.63578191e-03 9.71027414e+01] [ 7.35880372e-01 6.77077169e-01 -6.82533825e-03 3.84420023e+01] [ 9.51578460e-03 -2.62082566e-04 9.99954690e-01 9.53949486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.12, Y:38.46, Z:0.95 [[ 6.77881835e-01 -7.35140945e-01 -6.63388930e-03 9.71211469e+01] [ 7.35109285e-01 6.77914249e-01 -6.82717727e-03 3.84614038e+01] [ 9.51614564e-03 -2.48614160e-04 9.99954690e-01 9.53198778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.14, Y:38.48, Z:0.95 [[ 6.80163220e-01 -7.33030695e-01 -6.63286104e-03 9.71392611e+01] [ 7.32998924e-01 6.80195526e-01 -6.82817612e-03 3.84815507e+01] [ 9.51690509e-03 -2.17605749e-04 9.99954690e-01 9.51890772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.16, Y:38.50, Z:0.95 [[ 6.80930500e-01 -7.32318016e-01 -6.63160837e-03 9.71580930e+01] [ 7.32286200e-01 6.80962760e-01 -6.82939252e-03 3.85019246e+01] [ 9.51716552e-03 -2.05893629e-04 9.99954690e-01 9.51116106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.18, Y:38.52, Z:0.95 [[ 6.81830084e-01 -7.31480541e-01 -6.62978105e-03 9.71764540e+01] [ 7.31448668e-01 6.81862289e-01 -6.83116597e-03 3.85218022e+01] [ 9.51746266e-03 -1.91650048e-04 9.99954690e-01 9.50824266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.19, Y:38.54, Z:0.95 [[ 6.82820586e-01 -7.30556031e-01 -6.62815040e-03 9.71947903e+01] [ 7.30524099e-01 6.82852733e-01 -6.83274779e-03 3.85431045e+01] [ 9.51775572e-03 -1.76482744e-04 9.99954690e-01 9.51426277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.21, Y:38.56, Z:0.95 [[ 6.82902406e-01 -7.30479566e-01 -6.62620900e-03 9.72133103e+01] [ 7.30447612e-01 6.82934531e-01 -6.83462999e-03 3.85634558e+01] [ 9.51782448e-03 -1.72713277e-04 9.99954690e-01 9.51483607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.23, Y:38.58, Z:0.95 [[ 6.82810241e-01 -7.30565730e-01 -6.62489049e-03 9.72327214e+01] [ 7.30533768e-01 6.82842357e-01 -6.83590779e-03 3.85844665e+01] [ 9.51783581e-03 -1.72078370e-04 9.99954690e-01 9.52084899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.497628 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:97.25, Y:38.61, Z:0.95 [[ 6.82313972e-01 -7.31029261e-01 -6.62294194e-03 9.72516077e+01] [ 7.30997302e-01 6.82346092e-01 -6.83779511e-03 3.86050149e+01] [ 9.51776686e-03 -1.75829546e-04 9.99954690e-01 9.49732596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.27, Y:38.63, Z:0.95 [[ 6.81982348e-01 -7.31338662e-01 -6.62099020e-03 9.72704255e+01] [ 7.31306700e-01 6.82014464e-01 -6.83968445e-03 3.86255863e+01] [ 9.51773676e-03 -1.77430427e-04 9.99954690e-01 9.53681395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.29, Y:38.65, Z:0.95 [[ 6.81899827e-01 -7.31415615e-01 -6.61998849e-03 9.72893438e+01] [ 7.31383647e-01 6.81931937e-01 -6.84065385e-03 3.86452897e+01] [ 9.51774262e-03 -1.77110641e-04 9.99954690e-01 9.53697082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.31, Y:38.67, Z:0.95 [[ 6.81644767e-01 -7.31653334e-01 -6.61891324e-03 9.73085436e+01] [ 7.31621367e-01 6.81676878e-01 -6.84169409e-03 3.86653808e+01] [ 9.51770841e-03 -1.78933382e-04 9.99954690e-01 9.54527316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.33, Y:38.69, Z:0.96 [[ 6.81667595e-01 -7.31632083e-01 -6.61701677e-03 9.73280043e+01] [ 7.31600097e-01 6.81699688e-01 -6.84352778e-03 3.86853974e+01] [ 9.51776276e-03 -1.75998982e-04 9.99954690e-01 9.55067432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:38.71, Z:0.96 [[ 6.81978865e-01 -7.31341964e-01 -6.61511016e-03 9.73470995e+01] [ 7.31309947e-01 6.82010926e-01 -6.84537026e-03 3.87056633e+01] [ 9.51788394e-03 -1.69298026e-04 9.99954690e-01 9.55924220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:38.73, Z:0.96 [[ 6.82220221e-01 -7.31116842e-01 -6.61318912e-03 9.73654396e+01] [ 7.31084796e-01 6.82252253e-01 -6.84722565e-03 3.87252555e+01] [ 9.51798516e-03 -1.63486223e-04 9.99954690e-01 9.56166354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.38, Y:38.75, Z:0.96 [[ 6.82509366e-01 -7.30846937e-01 -6.61211663e-03 9.73844168e+01] [ 7.30814868e-01 6.82541376e-01 -6.84826115e-03 3.87456489e+01] [ 9.51807387e-03 -1.58230771e-04 9.99954690e-01 9.56305210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.40, Y:38.77, Z:0.96 [[ 6.83798636e-01 -7.29640823e-01 -6.61022971e-03 9.74036289e+01] [ 7.29608680e-01 6.83830572e-01 -6.85008200e-03 3.87662707e+01] [ 9.51837663e-03 -1.38804238e-04 9.99954690e-01 9.56113292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:38.79, Z:0.96 [[ 6.84376568e-01 -7.29098788e-01 -6.60831106e-03 9.74221903e+01] [ 7.29066602e-01 6.84408460e-01 -6.85193243e-03 3.87855736e+01] [ 9.51851963e-03 -1.28596894e-04 9.99954690e-01 9.55796013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:38.80, Z:0.96 [[ 6.84933229e-01 -7.28575882e-01 -6.60725566e-03 9.74413223e+01] [ 7.28543662e-01 6.84965086e-01 -6.85295000e-03 3.88046325e+01] [ 9.51863353e-03 -1.19861061e-04 9.99954690e-01 9.55903397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.46, Y:38.82, Z:0.96 [[ 6.85125656e-01 -7.28394946e-01 -6.60596506e-03 9.74616376e+01] [ 7.28362705e-01 6.85157493e-01 -6.85419386e-03 3.88245388e+01] [ 9.51868662e-03 -1.15554518e-04 9.99954690e-01 9.56435582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.48, Y:38.84, Z:0.96 [[ 6.85468680e-01 -7.28072164e-01 -6.60408503e-03 9.74810995e+01] [ 7.28039891e-01 6.85500483e-01 -6.85600480e-03 3.88432540e+01] [ 9.51876973e-03 -1.08460788e-04 9.99954690e-01 9.56523786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:38.86, Z:0.96 [[ 6.85539275e-01 -7.28005704e-01 -6.60280753e-03 9.75005589e+01] [ 7.27973416e-01 6.85571064e-01 -6.85723490e-03 3.88631615e+01] [ 9.51879991e-03 -1.05764517e-04 9.99954690e-01 9.56499878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.52, Y:38.88, Z:0.96 [[ 6.85566946e-01 -7.27979663e-01 -6.60095753e-03 9.75202927e+01] [ 7.27947357e-01 6.85598716e-01 -6.85901531e-03 3.88833330e+01] [ 9.51883166e-03 -1.02835407e-04 9.99954690e-01 9.56601489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:38.90, Z:0.96 [[ 6.86021179e-01 -7.27551644e-01 -6.59906128e-03 9.75402868e+01] [ 7.27519300e-01 6.86052911e-01 -6.86083920e-03 3.89022712e+01] [ 9.51892004e-03 -9.42634406e-05 9.99954690e-01 9.55344768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:38.92, Z:0.96 [[ 6.85901447e-01 -7.27664532e-01 -6.59803038e-03 9.75603592e+01] [ 7.27632184e-01 6.85933175e-01 -6.86183046e-03 3.89216612e+01] [ 9.51891858e-03 -9.43998146e-05 9.99954690e-01 9.55625627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.58, Y:38.94, Z:0.96 [[ 6.85665298e-01 -7.27887072e-01 -6.59612375e-03 9.75809723e+01] [ 7.27854717e-01 6.85697018e-01 -6.86366278e-03 3.89411319e+01] [ 9.51891379e-03 -9.48444016e-05 9.99954690e-01 9.55604779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:38.96, Z:0.96 [[ 6.85233715e-01 -7.28293397e-01 -6.59422872e-03 9.76006300e+01] [ 7.28261043e-01 6.85265437e-01 -6.86548294e-03 3.89594372e+01] [ 9.51888291e-03 -9.78595043e-05 9.99954690e-01 9.55839549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.62, Y:38.98, Z:0.96 [[ 6.84658709e-01 -7.28833988e-01 -6.59320458e-03 9.76216709e+01] [ 7.28801650e-01 6.84690446e-01 -6.86646632e-03 3.89767117e+01] [ 9.51881822e-03 -1.03952406e-04 9.99954690e-01 9.56414323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:39.00, Z:0.96 [[ 6.84417223e-01 -7.29060771e-01 -6.59218433e-03 9.76408185e+01] [ 7.29028434e-01 6.84448962e-01 -6.86744568e-03 3.89961430e+01] [ 9.51879896e-03 -1.05691718e-04 9.99954690e-01 9.56571830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.66, Y:39.02, Z:0.96 [[ 6.84761712e-01 -7.28737239e-01 -6.59050674e-03 9.76601663e+01] [ 7.28704871e-01 6.84793419e-01 -6.86905524e-03 3.90168326e+01] [ 9.51887199e-03 -9.88683372e-05 9.99954690e-01 9.57574034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.68, Y:39.04, Z:0.96 [[ 6.86893105e-01 -7.26728596e-01 -6.58859949e-03 9.76795611e+01] [ 7.26696118e-01 6.86924699e-01 -6.87088413e-03 3.90376961e+01] [ 9.51913970e-03 -6.83467389e-05 9.99954690e-01 9.58848135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.70, Y:39.06, Z:0.96 [[ 6.87742977e-01 -7.25924386e-01 -6.58665373e-03 9.76983744e+01] [ 7.25891853e-01 6.87774515e-01 -6.87274889e-03 3.90570449e+01] [ 9.51922859e-03 -5.45135005e-05 9.99954690e-01 9.59252417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.72, Y:39.08, Z:0.96 [[ 6.88247592e-01 -7.25445989e-01 -6.58557775e-03 9.77177808e+01] [ 7.25413424e-01 6.88279097e-01 -6.87377975e-03 3.90768303e+01] [ 9.51927146e-03 -4.64041480e-05 9.99954690e-01 9.59588084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.74, Y:39.10, Z:0.96 [[ 6.88059815e-01 -7.25624108e-01 -6.58364355e-03 9.77373369e+01] [ 7.25591534e-01 6.88091310e-01 -6.87563182e-03 3.90966926e+01] [ 9.51927212e-03 -4.61900726e-05 9.99954690e-01 9.60044736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:39.12, Z:0.96 [[ 6.87232570e-01 -7.26407652e-01 -6.58171000e-03 9.77573261e+01] [ 7.26375096e-01 6.87264084e-01 -6.87748221e-03 3.91163001e+01] [ 9.51922860e-03 -5.43604572e-05 9.99954690e-01 9.60969566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.78, Y:39.14, Z:0.96 [[ 6.86952695e-01 -7.26672349e-01 -6.57975542e-03 9.77758585e+01] [ 7.26639787e-01 6.86984203e-01 -6.87935168e-03 3.91359655e+01] [ 9.51922267e-03 -5.53229013e-05 9.99954690e-01 9.61783642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:39.16, Z:0.96 [[ 6.86575479e-01 -7.27028770e-01 -6.57866696e-03 9.77948407e+01] [ 7.26996215e-01 6.86606994e-01 -6.88039240e-03 3.91565662e+01] [ 9.51920197e-03 -5.87572747e-05 9.99954690e-01 9.61907245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.81, Y:39.18, Z:0.96 [[ 6.86154280e-01 -7.27426320e-01 -6.57673207e-03 9.78138914e+01] [ 7.27393765e-01 6.86185795e-01 -6.88224140e-03 3.91772823e+01] [ 9.51918366e-03 -6.15945114e-05 9.99954690e-01 9.62212928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.83, Y:39.20, Z:0.96 [[ 6.85009845e-01 -7.28504142e-01 -6.57480279e-03 9.78331518e+01] [ 7.28471619e-01 6.85041393e-01 -6.88408400e-03 3.91976782e+01] [ 9.51909577e-03 -7.38919198e-05 9.99954690e-01 9.62520346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.85, Y:39.22, Z:0.96 [[ 6.84154264e-01 -7.29307713e-01 -6.57288697e-03 9.78526470e+01] [ 7.29275210e-01 6.84185832e-01 -6.88591273e-03 3.92179786e+01] [ 9.51902541e-03 -8.24169723e-05 9.99954690e-01 9.62813365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:39.24, Z:0.96 [[ 6.82554246e-01 -7.30805393e-01 -6.57096695e-03 9.78719351e+01] [ 7.30772942e-01 6.82585868e-01 -6.88774445e-03 3.92380822e+01] [ 9.51884997e-03 -1.00625621e-04 9.99954690e-01 9.62738174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.89, Y:39.26, Z:0.96 [[ 6.82004996e-01 -7.31318010e-01 -6.56905405e-03 9.78911651e+01] [ 7.31285565e-01 6.82036624e-01 -6.88956836e-03 3.92580519e+01] [ 9.51880087e-03 -1.05134358e-04 9.99954690e-01 9.63080616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:39.28, Z:0.96 [[ 6.81581044e-01 -7.31713163e-01 -6.56709070e-03 9.79095234e+01] [ 7.31680718e-01 6.81612672e-01 -6.89143930e-03 3.92776857e+01] [ 9.51876909e-03 -1.07939243e-04 9.99954690e-01 9.62958094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.54762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.93, Y:39.30, Z:0.96 [[ 6.81396657e-01 -7.31884886e-01 -6.56575800e-03 9.79282051e+01] [ 7.31852437e-01 6.81428281e-01 -6.89270879e-03 3.92981572e+01] [ 9.51876257e-03 -1.08497261e-04 9.99954690e-01 9.63022927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:39.32, Z:0.96 [[ 6.82156334e-01 -7.31176895e-01 -6.56389798e-03 9.79470975e+01] [ 7.31144396e-01 6.82187906e-01 -6.89447962e-03 3.93193074e+01] [ 9.51889602e-03 -9.60442873e-05 9.99954690e-01 9.62971526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:39.34, Z:0.96 [[ 6.82545901e-01 -7.30813268e-01 -6.56200873e-03 9.79658242e+01] [ 7.30780734e-01 6.82577439e-01 -6.89627730e-03 3.93399117e+01] [ 9.51897006e-03 -8.83637518e-05 9.99954690e-01 9.63338979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:39.36, Z:0.96 [[ 6.82969441e-01 -7.30417488e-01 -6.56010059e-03 9.79850190e+01] [ 7.30384919e-01 6.83000942e-01 -6.89809194e-03 3.93611329e+01] [ 9.51904187e-03 -8.02125370e-05 9.99954690e-01 9.63418192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.00, Y:39.38, Z:0.96 [[ 6.83336985e-01 -7.30073664e-01 -6.55818019e-03 9.80038972e+01] [ 7.30041061e-01 6.83368451e-01 -6.89991723e-03 3.93817205e+01] [ 9.51910129e-03 -7.27721911e-05 9.99954690e-01 9.63359893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:39.40, Z:0.96 [[ 6.83897100e-01 -7.29549020e-01 -6.55625065e-03 9.80226655e+01] [ 7.29516375e-01 6.83928523e-01 -6.90175017e-03 3.94017307e+01] [ 9.51917190e-03 -6.28052826e-05 9.99954690e-01 9.62782253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.04, Y:39.42, Z:0.96 [[ 6.83736007e-01 -7.29700009e-01 -6.55520365e-03 9.80411690e+01] [ 7.29667362e-01 6.83767427e-01 -6.90274446e-03 3.94213054e+01] [ 9.51916742e-03 -6.34632171e-05 9.99954690e-01 9.62871208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.06, Y:39.44, Z:0.96 [[ 6.83585037e-01 -7.29841450e-01 -6.55392646e-03 9.80606728e+01] [ 7.29808798e-01 6.83616452e-01 -6.90395690e-03 3.94411932e+01] [ 9.51916587e-03 -6.36715615e-05 9.99954690e-01 9.63386059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.08, Y:39.46, Z:0.96 [[ 6.82633422e-01 -7.30731608e-01 -6.55201160e-03 9.80805133e+01] [ 7.30698979e-01 6.82664861e-01 -6.90577366e-03 3.94607804e+01] [ 9.51909518e-03 -7.34362812e-05 9.99954690e-01 9.64560916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:39.48, Z:0.96 [[ 6.82137523e-01 -7.31194568e-01 -6.55007361e-03 9.80997913e+01] [ 7.31161943e-01 6.82168966e-01 -6.90761134e-03 3.94804380e+01] [ 9.51906483e-03 -7.72236571e-05 9.99954690e-01 9.64890804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:39.50, Z:0.97 [[ 6.81647613e-01 -7.31651312e-01 -6.54899370e-03 9.81192260e+01] [ 7.31618698e-01 6.81679068e-01 -6.90863504e-03 3.95007509e+01] [ 9.51902381e-03 -8.21116522e-05 9.99954690e-01 9.65168705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:39.52, Z:0.97 [[ 6.81131917e-01 -7.32131440e-01 -6.54716389e-03 9.81383178e+01] [ 7.32098832e-01 6.81163377e-01 -6.91036868e-03 3.95208043e+01] [ 9.51898644e-03 -8.62983721e-05 9.99954690e-01 9.65850442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:39.54, Z:0.97 [[ 6.80249406e-01 -7.32951503e-01 -6.54520360e-03 9.81581574e+01] [ 7.32918915e-01 6.80280887e-01 -6.91222488e-03 3.95409858e+01] [ 9.51890252e-03 -9.50666455e-05 9.99954690e-01 9.65352868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.18, Y:39.56, Z:0.96 [[ 6.79721493e-01 -7.33441121e-01 -6.54325286e-03 9.81770507e+01] [ 7.33408538e-01 6.79752979e-01 -6.91407099e-03 3.95606389e+01] [ 9.51885960e-03 -9.92348498e-05 9.99954690e-01 9.64769137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:39.58, Z:0.97 [[ 6.79280568e-01 -7.33849514e-01 -6.54218918e-03 9.81962531e+01] [ 7.33816940e-01 6.79312064e-01 -6.91507732e-03 3.95813002e+01] [ 9.51881416e-03 -1.03491594e-04 9.99954690e-01 9.65064343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:39.60, Z:0.97 [[ 6.79087546e-01 -7.34028153e-01 -6.54036876e-03 9.82158353e+01] [ 7.33995570e-01 6.79119033e-01 -6.91679867e-03 3.96021475e+01] [ 9.51881385e-03 -1.03489860e-04 9.99954690e-01 9.65335484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:39.62, Z:0.97 [[ 6.78902869e-01 -7.34198980e-01 -6.53854914e-03 9.82341881e+01] [ 7.34166389e-01 6.78934347e-01 -6.91851836e-03 3.96229128e+01] [ 9.51881471e-03 -1.03381052e-04 9.99954690e-01 9.66410467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.25, Y:39.64, Z:0.97 [[ 6.79020440e-01 -7.34090264e-01 -6.53662049e-03 9.82530378e+01] [ 7.34057650e-01 6.79051894e-01 -6.92034006e-03 3.96432311e+01] [ 9.51885879e-03 -9.92039301e-05 9.99954690e-01 9.67063481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:39.66, Z:0.97 [[ 6.78808298e-01 -7.34286451e-01 -6.53469391e-03 9.82712758e+01] [ 7.34253829e-01 6.78839744e-01 -6.92215881e-03 3.96630981e+01] [ 9.51885736e-03 -9.93051870e-05 9.99954690e-01 9.67650477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:39.68, Z:0.97 [[ 6.78468981e-01 -7.34599998e-01 -6.53338248e-03 9.82897668e+01] [ 7.34567379e-01 6.78500429e-01 -6.92339635e-03 3.96843092e+01] [ 9.51882977e-03 -1.01899974e-04 9.99954690e-01 9.67976515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.31, Y:39.70, Z:0.97 [[ 6.77986399e-01 -7.35045430e-01 -6.53142018e-03 9.83082537e+01] [ 7.35012813e-01 6.78017850e-01 -6.92524706e-03 3.97044871e+01] [ 9.51879067e-03 -1.05454201e-04 9.99954690e-01 9.66933198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:39.72, Z:0.97 [[ 6.77218177e-01 -7.35753284e-01 -6.53040649e-03 9.83273760e+01] [ 7.35720691e-01 6.77249653e-01 -6.92620283e-03 3.97248917e+01] [ 9.51869200e-03 -1.14004723e-04 9.99954690e-01 9.66229828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.35, Y:39.75, Z:0.96 [[ 6.75971799e-01 -7.36898572e-01 -6.52851214e-03 9.83466688e+01] [ 7.36866015e-01 6.76003313e-01 -6.92798795e-03 3.97465578e+01] [ 9.51852026e-03 -1.27514243e-04 9.99954690e-01 9.64996173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.37, Y:39.77, Z:0.97 [[ 6.75717922e-01 -7.37131393e-01 -6.52684133e-03 9.83652257e+01] [ 7.37098832e-01 6.75749430e-01 -6.92956166e-03 3.97677514e+01] [ 9.51850675e-03 -1.28498120e-04 9.99954690e-01 9.65137147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.26762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.38, Y:39.79, Z:0.97 [[ 6.75209753e-01 -7.37596919e-01 -6.52491937e-03 9.83835244e+01] [ 7.37564363e-01 6.75241266e-01 -6.93137091e-03 3.97884543e+01] [ 9.51845265e-03 -1.32418757e-04 9.99954690e-01 9.65397330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:39.81, Z:0.97 [[ 6.73967313e-01 -7.38732368e-01 -6.52300817e-03 9.84029656e+01] [ 7.38699847e-01 6.73998863e-01 -6.93316904e-03 3.98094200e+01] [ 9.51825648e-03 -1.45815825e-04 9.99954690e-01 9.66645195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.32762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:39.83, Z:0.97 [[ 6.72843890e-01 -7.39755754e-01 -6.52106059e-03 9.84215018e+01] [ 7.39723264e-01 6.72875471e-01 -6.93500038e-03 3.98286595e+01] [ 9.51806815e-03 -1.57607590e-04 9.99954690e-01 9.68055346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.44, Y:39.85, Z:0.97 [[ 6.71388369e-01 -7.41077019e-01 -6.51994141e-03 9.84411918e+01] [ 7.41044580e-01 6.71420003e-01 -6.93605241e-03 3.98488522e+01] [ 9.51776813e-03 -1.74782332e-04 9.99954690e-01 9.69378963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:39.87, Z:0.97 [[ 6.68241856e-01 -7.43915535e-01 -6.51903243e-03 9.84614749e+01] [ 7.43883222e-01 6.68273620e-01 -6.93690664e-03 3.98694057e+01] [ 9.51697001e-03 -2.13867483e-04 9.99954690e-01 9.72811248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:39.89, Z:0.97 [[ 6.66257149e-01 -7.45693593e-01 -6.51732922e-03 9.84803621e+01] [ 7.45661350e-01 6.66288983e-01 -6.93850646e-03 3.98903878e+01] [ 9.51642447e-03 -2.36890963e-04 9.99954690e-01 9.73581745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:39.91, Z:0.97 [[ 6.64356976e-01 -7.47387021e-01 -6.51534011e-03 9.84986514e+01] [ 7.47354840e-01 6.64388873e-01 -6.94037376e-03 3.99107916e+01] [ 9.51586474e-03 -2.58385249e-04 9.99954690e-01 9.72999336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:39.93, Z:0.97 [[ 6.62292588e-01 -7.49216989e-01 -6.51398971e-03 9.85164293e+01] [ 7.49184883e-01 6.62324561e-01 -6.94164097e-03 3.99309872e+01] [ 9.51517071e-03 -2.82785260e-04 9.99954690e-01 9.72486121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:39.95, Z:0.97 [[ 6.55634316e-01 -7.55050484e-01 -6.51230501e-03 9.85272023e+01] [ 7.55018648e-01 6.55666556e-01 -6.94322111e-03 3.99521882e+01] [ 9.51238306e-03 -3.64697699e-04 9.99954690e-01 9.71846204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:39.97, Z:0.97 [[ 6.57449526e-01 -7.53471226e-01 -6.42128775e-03 9.85537712e+01] [ 7.53438474e-01 6.57480848e-01 -7.02858374e-03 3.99735814e+01] [ 9.51770932e-03 -2.17106201e-04 9.99954682e-01 9.73466609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:39.99, Z:0.97 [[ 6.56162507e-01 -7.54591497e-01 -6.51438817e-03 9.85719993e+01] [ 7.54559658e-01 6.56194745e-01 -6.94120824e-03 3.99936493e+01] [ 9.51248400e-03 -3.60933906e-04 9.99954690e-01 9.73792933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:40.01, Z:0.97 [[ 6.55219850e-01 -7.55410173e-01 -6.51304421e-03 9.85903088e+01] [ 7.55378361e-01 6.55252114e-01 -6.94246907e-03 4.00140547e+01] [ 9.51209775e-03 -3.70969117e-04 9.99954690e-01 9.73890330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:40.04, Z:0.98 [[ 6.55106026e-01 -7.55508894e-01 -6.51197805e-03 9.86084919e+01] [ 7.55477078e-01 6.55138286e-01 -6.94346897e-03 4.00359098e+01] [ 9.51209870e-03 -3.70941782e-04 9.99954690e-01 9.75183287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.63, Y:40.06, Z:0.98 [[ 6.55774268e-01 -7.54928956e-01 -6.51007401e-03 9.86264140e+01] [ 7.54897093e-01 6.55806482e-01 -6.94525371e-03 4.00574409e+01] [ 9.51252187e-03 -3.59917277e-04 9.99954690e-01 9.75426787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.64, Y:40.08, Z:0.98 [[ 6.56649500e-01 -7.54167805e-01 -6.50812825e-03 9.86439266e+01] [ 7.54135887e-01 6.56681660e-01 -6.94707653e-03 4.00789937e+01] [ 9.51302992e-03 -3.46218735e-04 9.99954690e-01 9.75077007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:40.10, Z:0.97 [[ 6.57742288e-01 -7.53214945e-01 -6.50615657e-03 9.86614098e+01] [ 7.53182962e-01 6.57774383e-01 -6.94892258e-03 4.01003002e+01] [ 9.51361546e-03 -3.29726040e-04 9.99954690e-01 9.74084534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.68, Y:40.12, Z:0.97 [[ 6.60095288e-01 -7.51153709e-01 -6.50509782e-03 9.86792392e+01] [ 7.51121616e-01 6.60127273e-01 -6.94991356e-03 4.01225437e+01] [ 9.51464584e-03 -2.98514397e-04 9.99954690e-01 9.73588795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:40.14, Z:0.97 [[ 6.61215875e-01 -7.50167498e-01 -6.50315949e-03 9.86971746e+01] [ 7.50135340e-01 6.61247794e-01 -6.95172682e-03 4.01434281e+01] [ 9.51515939e-03 -2.81657618e-04 9.99954690e-01 9.73033718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:40.16, Z:0.97 [[ 6.62251773e-01 -7.49253169e-01 -6.50215110e-03 9.87160599e+01] [ 7.49220958e-01 6.62283638e-01 -6.95266987e-03 4.01648518e+01] [ 9.51557822e-03 -2.67129920e-04 9.99954690e-01 9.73316571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.73, Y:40.19, Z:0.97 [[ 6.63907685e-01 -7.47786288e-01 -6.50020256e-03 9.87335792e+01] [ 7.47753988e-01 6.63939461e-01 -6.95449112e-03 4.01852493e+01] [ 9.51621409e-03 -2.43412286e-04 9.99954690e-01 9.73538508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.75, Y:40.21, Z:0.97 [[ 6.64180659e-01 -7.47543853e-01 -6.49916601e-03 9.87523290e+01] [ 7.47511532e-01 6.64212414e-01 -6.95545967e-03 4.02057024e+01] [ 9.51633787e-03 -2.38519752e-04 9.99954690e-01 9.74779745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.77, Y:40.23, Z:0.97 [[ 6.64287058e-01 -7.47449323e-01 -6.49720884e-03 9.87707452e+01] [ 7.47416980e-01 6.64318790e-01 -6.95728742e-03 4.02260635e+01] [ 9.51643769e-03 -2.34488214e-04 9.99954690e-01 9.74264440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.79, Y:40.25, Z:0.98 [[ 6.64037439e-01 -7.47671106e-01 -6.49587803e-03 9.87895918e+01] [ 7.47638761e-01 6.64069169e-01 -6.95852975e-03 4.02468874e+01] [ 9.51640396e-03 -2.35845931e-04 9.99954690e-01 9.75468774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:40.27, Z:0.98 [[ 6.63128968e-01 -7.48476987e-01 -6.49400509e-03 9.88082574e+01] [ 7.48444663e-01 6.63160720e-01 -6.96027722e-03 4.02676067e+01] [ 9.51617641e-03 -2.44842008e-04 9.99954690e-01 9.76470337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.83, Y:40.29, Z:0.98 [[ 6.62345710e-01 -7.49170217e-01 -6.49205299e-03 9.88277547e+01] [ 7.49137909e-01 6.62377477e-01 -6.96209752e-03 4.02881404e+01] [ 9.51598580e-03 -2.52127579e-04 9.99954690e-01 9.76781498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.85, Y:40.31, Z:0.98 [[ 6.61431415e-01 -7.49977574e-01 -6.49011642e-03 9.88469452e+01] [ 7.49945288e-01 6.61463204e-01 -6.96390234e-03 4.03084536e+01] [ 9.51574379e-03 -2.61088447e-04 9.99954690e-01 9.77179588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.04762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.87, Y:40.33, Z:0.98 [[ 6.60688288e-01 -7.50632327e-01 -6.48819004e-03 9.88663574e+01] [ 7.50600054e-01 6.60720091e-01 -6.96569666e-03 4.03290235e+01] [ 9.51555461e-03 -2.67881595e-04 9.99954690e-01 9.78236879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:40.35, Z:0.98 [[ 6.60037137e-01 -7.51204970e-01 -6.48621089e-03 9.88856789e+01] [ 7.51172707e-01 6.60068950e-01 -6.96753909e-03 4.03480338e+01] [ 9.51539640e-03 -2.73430042e-04 9.99954690e-01 9.79421618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.90, Y:40.37, Z:0.98 [[ 6.60102138e-01 -7.51147863e-01 -6.48509684e-03 9.89047905e+01] [ 7.51115586e-01 6.60133937e-01 -6.96857585e-03 4.03676779e+01] [ 9.51546337e-03 -2.71085506e-04 9.99954690e-01 9.79886730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:40.39, Z:0.98 [[ 6.60124346e-01 -7.51128357e-01 -6.48376709e-03 9.89241255e+01] [ 7.51096067e-01 6.60156132e-01 -6.96981287e-03 4.03881376e+01] [ 9.51552269e-03 -2.68988798e-04 9.99954690e-01 9.80873069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.94, Y:40.41, Z:0.98 [[ 6.60395977e-01 -7.50889566e-01 -6.48182532e-03 9.89422678e+01] [ 7.50857247e-01 6.60427733e-01 -6.97161822e-03 4.04077352e+01] [ 9.51569258e-03 -2.62896889e-04 9.99954690e-01 9.80229612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:40.43, Z:0.98 [[ 6.61251281e-01 -7.50136483e-01 -6.48075442e-03 9.89610621e+01] [ 7.50104118e-01 6.61282991e-01 -6.97261358e-03 4.04287010e+01] [ 9.51602449e-03 -2.50590918e-04 9.99954690e-01 9.78618026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:40.45, Z:0.98 [[ 6.61712973e-01 -7.49729262e-01 -6.47884829e-03 9.89804215e+01] [ 7.49696861e-01 6.61744645e-01 -6.97438427e-03 4.04493727e+01] [ 9.51624314e-03 -2.42131680e-04 9.99954690e-01 9.78263868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:40.47, Z:0.98 [[ 6.61780121e-01 -7.49670008e-01 -6.47694463e-03 9.89989395e+01] [ 7.49637587e-01 6.61811772e-01 -6.97615171e-03 4.04690345e+01] [ 9.51632991e-03 -2.38682619e-04 9.99954690e-01 9.77852547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.02, Y:40.49, Z:0.98 [[ 6.61494273e-01 -7.49922261e-01 -6.47524135e-03 9.90190327e+01] [ 7.49889837e-01 6.61525921e-01 -6.97773233e-03 4.04893492e+01] [ 9.51629681e-03 -2.39987707e-04 9.99954690e-01 9.77078703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:40.51, Z:0.98 [[ 6.60834646e-01 -7.50503608e-01 -6.47338223e-03 9.90377031e+01] [ 7.50471194e-01 6.60866306e-01 -6.97945665e-03 4.05084040e+01] [ 9.51614760e-03 -2.45820131e-04 9.99954690e-01 9.76217309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:40.53, Z:0.98 [[ 6.59566059e-01 -7.51618740e-01 -6.47177175e-03 9.90565510e+01] [ 7.51586365e-01 6.59597758e-01 -6.98094967e-03 4.05280405e+01] [ 9.51577873e-03 -2.59697943e-04 9.99954690e-01 9.76048296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:40.55, Z:0.98 [[ 6.58132139e-01 -7.52874641e-01 -6.47015518e-03 9.90762147e+01] [ 7.52842312e-01 6.58163885e-01 -6.98244763e-03 4.05481686e+01] [ 9.51533022e-03 -2.75633389e-04 9.99954690e-01 9.76425068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:40.57, Z:0.98 [[ 6.54855822e-01 -7.55726150e-01 -6.46832519e-03 9.90956069e+01] [ 7.55693942e-01 6.54887691e-01 -6.98414246e-03 4.05669610e+01] [ 9.51412564e-03 -3.14467816e-04 9.99954690e-01 9.78831500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.12, Y:40.59, Z:0.98 [[ 6.52766722e-01 -7.57531378e-01 -6.46669271e-03 9.91151611e+01] [ 7.57499243e-01 6.52798665e-01 -6.98565367e-03 4.05874291e+01] [ 9.51330022e-03 -3.38512582e-04 9.99954690e-01 9.81350038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:40.61, Z:0.98 [[ 6.50592087e-01 -7.59399857e-01 -6.46476147e-03 9.91348313e+01] [ 7.59367797e-01 6.50624104e-01 -6.98744045e-03 4.06080501e+01] [ 9.51239092e-03 -3.63158209e-04 9.99954690e-01 9.82806636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.15, Y:40.63, Z:0.98 [[ 6.46218977e-01 -7.63124673e-01 -6.46277074e-03 9.91546564e+01] [ 7.63092779e-01 6.46251160e-01 -6.98928121e-03 4.06276909e+01] [ 9.51026602e-03 -4.15087531e-04 9.99954690e-01 9.83056187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:40.65, Z:0.99 [[ 6.43857001e-01 -7.65118557e-01 -6.46189219e-03 9.91736860e+01] [ 7.65086754e-01 6.43889274e-01 -6.99009337e-03 4.06477543e+01] [ 9.50899323e-03 -4.43287568e-04 9.99954690e-01 9.85543407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.19, Y:40.67, Z:0.99 [[ 6.41827727e-01 -7.66821647e-01 -6.45993697e-03 9.91920270e+01] [ 7.66789911e-01 6.41860067e-01 -6.99189983e-03 4.06675508e+01] [ 9.50791572e-03 -4.65819319e-04 9.99954690e-01 9.86334170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.21, Y:40.69, Z:0.99 [[ 6.39912408e-01 -7.68420714e-01 -6.45882515e-03 9.92108002e+01] [ 7.68389049e-01 6.39944817e-01 -6.99292674e-03 4.06882128e+01] [ 9.50680143e-03 -4.88029930e-04 9.99954690e-01 9.87575796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:40.71, Z:0.99 [[ 6.37916553e-01 -7.70078425e-01 -6.45684364e-03 9.92286795e+01] [ 7.70046826e-01 6.37949026e-01 -6.99475586e-03 4.07096563e+01] [ 9.50564769e-03 -5.10001404e-04 9.99954690e-01 9.88862737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.25, Y:40.73, Z:0.99 [[ 6.37837391e-01 -7.70144010e-01 -6.45487494e-03 9.92463174e+01] [ 7.70112396e-01 6.37869849e-01 -6.99657214e-03 4.07305634e+01] [ 9.50573823e-03 -5.08303882e-04 9.99954690e-01 9.89064382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.26, Y:40.75, Z:0.99 [[ 6.38279973e-01 -7.69777257e-01 -6.45378744e-03 9.92642234e+01] [ 7.69745614e-01 6.38312403e-01 -6.99757513e-03 4.07518743e+01] [ 9.50610676e-03 -5.01362514e-04 9.99954690e-01 9.89006169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:40.77, Z:0.99 [[ 6.40179824e-01 -7.68198000e-01 -6.45183889e-03 9.92802865e+01] [ 7.68166259e-01 6.40212158e-01 -6.99937126e-03 4.07740707e+01] [ 9.50744870e-03 -4.75228683e-04 9.99954690e-01 9.87450053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.30, Y:40.80, Z:0.99 [[ 6.41070878e-01 -7.67454569e-01 -6.45081172e-03 9.92976594e+01] [ 7.67422782e-01 6.41103166e-01 -7.00031780e-03 4.07960866e+01] [ 9.50806170e-03 -4.62799992e-04 9.99954690e-01 9.86418459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.31, Y:40.82, Z:0.99 [[ 6.41861519e-01 -7.66793455e-01 -6.44885768e-03 9.93149477e+01] [ 7.66761616e-01 6.41893757e-01 -7.00211744e-03 4.08181061e+01] [ 9.50865930e-03 -4.50346801e-04 9.99954690e-01 9.85399733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.33, Y:40.84, Z:0.98 [[ 6.42426177e-01 -7.66320458e-01 -6.44690054e-03 9.93327501e+01] [ 7.66288577e-01 6.42458373e-01 -7.00391893e-03 4.08404091e+01] [ 9.50911160e-03 -4.40685375e-04 9.99954690e-01 9.84965643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.82762800000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.35, Y:40.86, Z:0.99 [[ 6.43407933e-01 -7.65496372e-01 -6.44491444e-03 9.93495176e+01] [ 7.65464432e-01 6.43440070e-01 -7.00574604e-03 4.08629090e+01] [ 9.50978937e-03 -4.25800196e-04 9.99954690e-01 9.85815231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.37, Y:40.88, Z:0.99 [[ 6.43814243e-01 -7.65154696e-01 -6.44292832e-03 9.93663796e+01] [ 7.65122721e-01 6.43846345e-01 -7.00757212e-03 4.08836823e+01] [ 9.51013257e-03 -4.18056099e-04 9.99954690e-01 9.86342845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.38, Y:40.91, Z:0.99 [[ 6.44148941e-01 -7.64872960e-01 -6.44181360e-03 9.93838877e+01] [ 7.64840961e-01 6.44181018e-01 -7.00859669e-03 4.09053223e+01] [ 9.51038015e-03 -4.12382769e-04 9.99954690e-01 9.87738851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.40, Y:40.93, Z:0.99 [[ 6.43935656e-01 -7.65052546e-01 -6.43985986e-03 9.94031864e+01] [ 7.65020538e-01 6.43967725e-01 -7.01039143e-03 4.09264308e+01] [ 9.51037972e-03 -4.12384047e-04 9.99954690e-01 9.88009992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.42, Y:40.95, Z:0.99 [[ 6.45343201e-01 -7.63865634e-01 -6.43790467e-03 9.94193741e+01] [ 7.63833548e-01 6.45375193e-01 -7.01218650e-03 4.09487760e+01] [ 9.51123225e-03 -3.92220687e-04 9.99954690e-01 9.89009621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:40.97, Z:0.99 [[ 6.46151259e-01 -7.63182231e-01 -6.43679150e-03 9.94371001e+01] [ 7.63150102e-01 6.46183207e-01 -7.01320817e-03 4.09705943e+01] [ 9.51170244e-03 -3.80644806e-04 9.99954690e-01 9.89891128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.45, Y:40.99, Z:0.99 [[ 6.47047429e-01 -7.62422597e-01 -6.43488040e-03 9.94547079e+01] [ 7.62390413e-01 6.47079322e-01 -7.01496124e-03 4.09923751e+01] [ 9.51224301e-03 -3.66878492e-04 9.99954690e-01 9.90901444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.47, Y:41.02, Z:0.99 [[ 6.49859733e-01 -7.60026937e-01 -6.43294617e-03 9.94715505e+01] [ 7.59994618e-01 6.49891488e-01 -7.01673454e-03 4.10156563e+01] [ 9.51362423e-03 -3.29111229e-04 9.99954690e-01 9.91390081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:41.04, Z:0.99 [[ 6.51630723e-01 -7.58509092e-01 -6.43098873e-03 9.94888840e+01] [ 7.58476681e-01 6.51662385e-01 -7.01852812e-03 4.10374566e+01] [ 9.51445085e-03 -3.04266435e-04 9.99954690e-01 9.91223783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.51, Y:41.06, Z:0.99 [[ 6.53770276e-01 -7.56665774e-01 -6.42901285e-03 9.95059243e+01] [ 7.56633256e-01 6.53801829e-01 -7.02033757e-03 4.10586751e+01] [ 9.51534952e-03 -2.74716889e-04 9.99954690e-01 9.90713770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.52, Y:41.08, Z:0.99 [[ 6.56181613e-01 -7.54575624e-01 -6.42792401e-03 9.95242780e+01] [ 7.54542996e-01 6.56213051e-01 -7.02133439e-03 4.10804497e+01] [ 9.51621541e-03 -2.42874515e-04 9.99954690e-01 9.90621362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.54, Y:41.10, Z:0.99 [[ 6.61498577e-01 -7.49918888e-01 -6.42597777e-03 9.95418307e+01] [ 7.49886021e-01 6.61529766e-01 -7.02311515e-03 4.11028979e+01] [ 9.51774228e-03 -1.72970228e-04 9.99954690e-01 9.90776257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.56, Y:41.12, Z:0.99 [[ 6.64388845e-01 -7.47359482e-01 -6.42400158e-03 9.95589997e+01] [ 7.47326477e-01 6.64419888e-01 -7.02492230e-03 4.11239833e+01] [ 9.51837670e-03 -1.33546453e-04 9.99954690e-01 9.89982349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.58, Y:41.15, Z:0.99 [[ 6.67198276e-01 -7.44852473e-01 -6.42292393e-03 9.95767837e+01] [ 7.44819342e-01 6.67229185e-01 -7.02590746e-03 4.11455851e+01] [ 9.51882684e-03 -9.62446219e-05 9.99954690e-01 9.89196784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.60, Y:41.17, Z:0.99 [[ 6.69688426e-01 -7.42614424e-01 -6.42097173e-03 9.95952511e+01] [ 7.42581173e-01 6.69719205e-01 -7.02769112e-03 4.11672585e+01] [ 9.51911288e-03 -6.17293125e-05 9.99954690e-01 9.88499060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.61, Y:41.19, Z:0.99 [[ 6.74133924e-01 -7.38581241e-01 -6.41898208e-03 9.96139345e+01] [ 7.38547788e-01 6.74164483e-01 -7.02950796e-03 4.11871610e+01] [ 9.51931245e-03 -1.89523774e-06 9.99954690e-01 9.88275668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.63, Y:41.21, Z:0.99 [[ 6.75395316e-01 -7.37427947e-01 -6.41796849e-03 9.96327441e+01] [ 7.37394433e-01 6.75425809e-01 -7.03043325e-03 4.12070635e+01] [ 9.51929952e-03 1.57474515e-05 9.99954690e-01 9.88150546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.65, Y:41.23, Z:0.99 [[ 6.76290596e-01 -7.36606987e-01 -6.41689962e-03 9.96522274e+01] [ 7.36573427e-01 6.76321038e-01 -7.03140871e-03 4.12270798e+01] [ 9.51926900e-03 2.87578439e-05 9.99954690e-01 9.88281670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:41.25, Z:0.99 [[ 6.77027130e-01 -7.35930102e-01 -6.41491794e-03 9.96738484e+01] [ 7.35896494e-01 6.77057519e-01 -7.03321618e-03 4.12454123e+01] [ 9.51922392e-03 4.09625435e-05 9.99954690e-01 9.88176268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.69, Y:41.26, Z:0.99 [[ 6.76846593e-01 -7.36096165e-01 -6.41294226e-03 9.96949218e+01] [ 7.36062548e-01 6.76876971e-01 -7.03501716e-03 4.12646904e+01] [ 9.51922209e-03 4.13007723e-05 9.99954690e-01 9.89299542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.72, Y:41.28, Z:0.99 [[ 6.76568542e-01 -7.36351756e-01 -6.41094393e-03 9.97155801e+01] [ 7.36318133e-01 6.76598914e-01 -7.03683775e-03 4.12838562e+01] [ 9.51922553e-03 4.04087985e-05 9.99954690e-01 9.90147475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.74, Y:41.30, Z:0.99 [[ 6.75868748e-01 -7.36994139e-01 -6.40895853e-03 9.97383620e+01] [ 7.36960527e-01 6.75899133e-01 -7.03864553e-03 4.13020767e+01] [ 9.51925002e-03 3.40510809e-05 9.99954690e-01 9.90693688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.76, Y:41.32, Z:0.99 [[ 6.75190993e-01 -7.37615123e-01 -6.40721831e-03 9.97583943e+01] [ 7.37581525e-01 6.75221393e-01 -7.04022928e-03 4.13204152e+01] [ 9.51927046e-03 2.76535538e-05 9.99954690e-01 9.90816154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.78, Y:41.34, Z:0.99 [[ 6.74688031e-01 -7.38075215e-01 -6.40609054e-03 9.97791781e+01] [ 7.38041628e-01 6.74718442e-01 -7.04125532e-03 4.13391808e+01] [ 9.51928347e-03 2.26891900e-05 9.99954690e-01 9.91287834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.54762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.80, Y:41.36, Z:0.99 [[ 6.74080533e-01 -7.38630098e-01 -6.40409975e-03 9.97998708e+01] [ 7.38596519e-01 6.74110953e-01 -7.04306550e-03 4.13578003e+01] [ 9.51929395e-03 1.75475669e-05 9.99954690e-01 9.90981545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.82, Y:41.37, Z:0.99 [[ 6.73357363e-01 -7.39289439e-01 -6.40212011e-03 9.98233175e+01] [ 7.39255872e-01 6.73387797e-01 -7.04486452e-03 4.13738048e+01] [ 9.51930350e-03 1.09065065e-05 9.99954690e-01 9.91334702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.84, Y:41.39, Z:0.99 [[ 6.72840089e-01 -7.39760268e-01 -6.40011798e-03 9.98449589e+01] [ 7.39726705e-01 6.72870527e-01 -7.04668295e-03 4.13927248e+01] [ 9.51930683e-03 6.95259301e-06 9.99954690e-01 9.91657519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:41.41, Z:0.99 [[ 6.72525001e-01 -7.40046746e-01 -6.39812395e-03 9.98657775e+01] [ 7.40013179e-01 6.72555435e-01 -7.04849299e-03 4.14108986e+01] [ 9.51930734e-03 5.59171286e-06 9.99954690e-01 9.91880254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:41.43, Z:0.99 [[ 6.72088339e-01 -7.40443344e-01 -6.39676916e-03 9.98870269e+01] [ 7.40409784e-01 6.72118780e-01 -7.04972230e-03 4.14302298e+01] [ 9.51930864e-03 1.80568700e-06 9.99954690e-01 9.92401812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:41.45, Z:0.99 [[ 6.71161450e-01 -7.41283625e-01 -6.39491616e-03 9.99104441e+01] [ 7.41250086e-01 6.71191916e-01 -7.05140278e-03 4.14472789e+01] [ 9.51930544e-03 -7.60243551e-06 9.99954690e-01 9.93174609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.93, Y:41.47, Z:0.99 [[ 6.70547996e-01 -7.41838605e-01 -6.39293321e-03 9.99311025e+01] [ 7.41805074e-01 6.70578470e-01 -7.05320011e-03 4.14653908e+01] [ 9.51929950e-03 -1.28010936e-05 9.99954690e-01 9.93265276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:41.48, Z:0.99 [[ 6.69706017e-01 -7.42598811e-01 -6.39184807e-03 9.99521256e+01] [ 7.42565306e-01 6.69736519e-01 -7.05418336e-03 4.14844421e+01] [ 9.51928225e-03 -2.21355725e-05 9.99954690e-01 9.93308100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.97, Y:41.51, Z:0.99 [[ 6.70726557e-01 -7.41677190e-01 -6.38992876e-03 9.99709566e+01] [ 7.41643626e-01 6.70756995e-01 -7.05592151e-03 4.15051090e+01] [ 9.51930545e-03 -6.45599395e-06 9.99954690e-01 9.94455476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.99, Y:41.53, Z:0.99 [[ 6.70774944e-01 -7.41633446e-01 -6.38797999e-03 9.99896875e+01] [ 7.41599863e-01 6.70805361e-01 -7.05768536e-03 4.15261283e+01] [ 9.51930674e-03 -3.20658697e-06 9.99954690e-01 9.94545619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.01, Y:41.55, Z:0.99 [[ 6.70349728e-01 -7.42017831e-01 -6.38603586e-03 1.00008080e+02] [ 7.41984249e-01 6.70380145e-01 -7.05944403e-03 4.15463398e+01] [ 9.51930500e-03 -6.04163569e-06 9.99954690e-01 9.94638290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.03, Y:41.57, Z:1.00 [[ 6.69242180e-01 -7.43016922e-01 -6.38429901e-03 1.00026577e+02] [ 7.42983370e-01 6.69272631e-01 -7.06101444e-03 4.15672007e+01] [ 9.51928980e-03 -1.78992987e-05 9.99954690e-01 9.95176269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.04, Y:41.59, Z:1.00 [[ 6.65408268e-01 -7.46452344e-01 -6.38236021e-03 1.00044956e+02] [ 7.46418933e-01 6.65438873e-01 -7.06276645e-03 4.15873071e+01] [ 9.51908916e-03 -6.42913050e-05 9.99954690e-01 9.96288353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.06, Y:41.61, Z:1.00 [[ 6.62732591e-01 -7.48828952e-01 -6.38060930e-03 1.00064092e+02] [ 7.48795636e-01 6.62763299e-01 -7.06434790e-03 4.16081984e+01] [ 9.51882191e-03 -9.59988022e-05 9.99954690e-01 9.97523437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.08, Y:41.63, Z:1.00 [[ 6.60197405e-01 -7.51065043e-01 -6.37872003e-03 1.00082172e+02] [ 7.51031814e-01 6.60228207e-01 -7.06605339e-03 4.16289048e+01] [ 9.51847659e-03 -1.25631560e-04 9.99954690e-01 9.98439913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.10, Y:41.65, Z:1.00 [[ 6.53909042e-01 -7.56546296e-01 -6.37701027e-03 1.00099732e+02] [ 7.56513310e-01 6.53940105e-01 -7.06759609e-03 4.16509147e+01] [ 9.51714641e-03 -2.02728157e-04 9.99954690e-01 9.98133445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.12, Y:41.67, Z:1.00 [[ 6.49740756e-01 -7.60129139e-01 -6.37515143e-03 1.00118079e+02] [ 7.60096308e-01 6.49771982e-01 -7.06927241e-03 4.16728512e+01] [ 9.51595473e-03 -2.52534663e-04 9.99954690e-01 9.97774781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.14, Y:41.69, Z:1.00 [[ 6.45160634e-01 -7.64020378e-01 -6.37328512e-03 1.00135925e+02] [ 7.63987718e-01 6.45192039e-01 -7.07095458e-03 4.16940809e+01] [ 9.51434622e-03 -3.07210015e-04 9.99954690e-01 9.97664246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.15, Y:41.72, Z:1.00 [[ 6.36225877e-01 -7.71476532e-01 -6.37142368e-03 1.00153177e+02] [ 7.71444223e-01 6.36257643e-01 -7.07263147e-03 4.17165319e+01] [ 9.51023621e-03 -4.15406834e-04 9.99954690e-01 9.98808276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.17, Y:41.74, Z:1.00 [[ 6.32038184e-01 -7.74911068e-01 -6.36952403e-03 1.00171169e+02] [ 7.74878915e-01 6.32070107e-01 -7.07434186e-03 4.17375734e+01] [ 9.50797154e-03 -4.64355697e-04 9.99954690e-01 1.00008570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.19, Y:41.76, Z:1.00 [[ 6.28261061e-01 -7.77976538e-01 -6.36753512e-03 1.00189178e+02] [ 7.77944523e-01 6.28293123e-01 -7.07613160e-03 4.17586601e+01] [ 9.50574289e-03 -5.07931124e-04 9.99954690e-01 1.00099976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.21, Y:41.78, Z:1.00 [[ 6.24864104e-01 -7.80707584e-01 -6.36551263e-03 1.00207124e+02] [ 7.80675691e-01 6.24896286e-01 -7.07795051e-03 4.17803460e+01] [ 9.50359485e-03 -5.46643765e-04 9.99954690e-01 1.00131649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.22, Y:41.80, Z:1.00 [[ 6.20950346e-01 -7.83824071e-01 -6.36350160e-03 1.00222745e+02] [ 7.83792320e-01 6.20982670e-01 -7.07975809e-03 4.18035296e+01] [ 9.50090902e-03 -5.91485454e-04 9.99954690e-01 1.00035825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.23, Y:41.83, Z:1.00 [[ 6.17239972e-01 -7.86749229e-01 -6.36147633e-03 1.00234134e+02] [ 7.86717612e-01 6.17272427e-01 -7.08157742e-03 4.18256819e+01] [ 9.49818951e-03 -6.33652818e-04 9.99954690e-01 9.98475886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.26762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:41.85, Z:1.00 [[ 6.20547342e-01 -7.84143852e-01 -6.27816912e-03 1.00256957e+02] [ 7.84111344e-01 6.20578913e-01 -7.15632650e-03 4.18478809e+01] [ 9.50768880e-03 -4.81944239e-04 9.99954685e-01 9.99669838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.27, Y:41.87, Z:1.00 [[ 6.21709974e-01 -7.83221724e-01 -6.35916186e-03 1.00274157e+02] [ 7.83189903e-01 6.21742228e-01 -7.08361713e-03 4.18705575e+01] [ 9.50180228e-03 -5.76475938e-04 9.99954691e-01 9.99444793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.32762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:41.89, Z:1.00 [[ 6.26723155e-01 -7.79216063e-01 -6.35716498e-03 1.00288051e+02] [ 7.79184017e-01 6.26755187e-01 -7.08540877e-03 4.18941129e+01] [ 9.50545045e-03 -5.12811608e-04 9.99954691e-01 9.99087850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:41.92, Z:1.00 [[ 6.30242638e-01 -7.76372216e-01 -6.35606111e-03 1.00305136e+02] [ 7.76340016e-01 6.30274514e-01 -7.08639887e-03 4.19164654e+01] [ 9.50774652e-03 -4.68313873e-04 9.99954691e-01 9.99933985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:41.94, Z:1.00 [[ 6.38152123e-01 -7.69884078e-01 -6.35409164e-03 1.00319303e+02] [ 7.69851536e-01 6.38183650e-01 -7.08816437e-03 4.19399709e+01] [ 9.51214229e-03 -3.68380060e-04 9.99954691e-01 1.00080380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.34, Y:41.96, Z:1.00 [[ 6.42071829e-01 -7.66618162e-01 -6.35297008e-03 1.00336193e+02] [ 7.66585449e-01 6.42103179e-01 -7.08916946e-03 4.19630596e+01] [ 9.51394835e-03 -3.18338421e-04 9.99954691e-01 1.00128770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:41.99, Z:1.00 [[ 6.45767647e-01 -7.63507571e-01 -6.35101729e-03 1.00352636e+02] [ 7.63474690e-01 6.45798820e-01 -7.09091849e-03 4.19863684e+01] [ 9.51544942e-03 -2.69755209e-04 9.99954691e-01 1.00133751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.37, Y:42.01, Z:1.00 [[ 6.49381089e-01 -7.60436645e-01 -6.34906820e-03 1.00368264e+02] [ 7.60403600e-01 6.49412088e-01 -7.09266324e-03 4.20083003e+01] [ 9.51668267e-03 -2.22012935e-04 9.99954691e-01 1.00146928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:42.03, Z:1.00 [[ 6.52382042e-01 -7.57863691e-01 -6.34797488e-03 1.00384544e+02] [ 7.57830514e-01 6.52412900e-01 -7.09364163e-03 4.20304561e+01] [ 9.51751413e-03 -1.82924656e-04 9.99954691e-01 1.00125329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.40, Y:42.05, Z:1.00 [[ 6.57012233e-01 -7.53853203e-01 -6.34623551e-03 1.00399757e+02] [ 7.53819822e-01 6.57042870e-01 -7.09519739e-03 4.20533912e+01] [ 9.51848608e-03 -1.22286650e-04 9.99954691e-01 1.00072291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.42, Y:42.08, Z:1.00 [[ 6.58236277e-01 -7.52784664e-01 -6.34451009e-03 1.00417387e+02] [ 7.52751219e-01 6.58266845e-01 -7.09673993e-03 4.20758491e+01] [ 9.51869762e-03 -1.04506034e-04 9.99954691e-01 1.00057620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.43, Y:42.10, Z:1.00 [[ 6.59256116e-01 -7.51891711e-01 -6.34253394e-03 1.00434736e+02] [ 7.51858208e-01 6.59286620e-01 -7.09850562e-03 4.20971085e+01] [ 9.51885530e-03 -8.89529521e-05 9.99954691e-01 1.00108009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.45, Y:42.12, Z:1.00 [[ 6.58862062e-01 -7.52237166e-01 -6.32685909e-03 1.00453189e+02] [ 7.52203544e-01 6.58892435e-01 -7.11250459e-03 4.21188776e+01] [ 9.51900989e-03 -7.29263882e-05 9.99954691e-01 1.00011058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.47, Y:42.14, Z:1.00 [[ 6.57959156e-01 -7.53026924e-01 -6.34037578e-03 1.00472122e+02] [ 7.52993455e-01 6.57989697e-01 -7.10043479e-03 4.21398397e+01] [ 9.51872050e-03 -1.02465382e-04 9.99954691e-01 1.00038405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:42.16, Z:1.00 [[ 6.56415213e-01 -7.54373179e-01 -6.33838390e-03 1.00490189e+02] [ 7.54339755e-01 6.56445804e-01 -7.10221244e-03 4.21600955e+01] [ 9.51852409e-03 -1.19294663e-04 9.99954691e-01 9.99573004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.51, Y:42.18, Z:1.00 [[ 6.52522949e-01 -7.57742463e-01 -6.33729663e-03 1.00509756e+02] [ 7.57709187e-01 6.52553701e-01 -7.10318248e-03 4.21797818e+01] [ 9.51780935e-03 -1.66838305e-04 9.99954691e-01 9.99654263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.53, Y:42.20, Z:1.00 [[ 6.50043455e-01 -7.59870627e-01 -6.33532963e-03 1.00529195e+02] [ 7.59837435e-01 6.50074297e-01 -7.10493641e-03 4.21996083e+01] [ 9.51726745e-03 -1.95303207e-04 9.99954691e-01 1.00002535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:42.22, Z:1.00 [[ 6.47559763e-01 -7.61988348e-01 -6.33334447e-03 1.00548611e+02] [ 7.61955240e-01 6.47590695e-01 -7.10670555e-03 4.22194128e+01] [ 9.51664176e-03 -2.23708447e-04 9.99954691e-01 1.00068109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:42.24, Z:1.00 [[ 6.47343726e-01 -7.62171906e-01 -6.33133024e-03 1.00567583e+02] [ 7.62138789e-01 6.47374648e-01 -7.10849956e-03 4.22408132e+01] [ 9.51664135e-03 -2.23709776e-04 9.99954691e-01 1.00095224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.59, Y:42.26, Z:1.00 [[ 6.45101585e-01 -7.64070602e-01 -6.32931451e-03 1.00587845e+02] [ 7.64037558e-01 6.45132586e-01 -7.11029389e-03 4.22609802e+01] [ 9.51601357e-03 -2.48972139e-04 9.99954691e-01 1.00113185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:42.28, Z:1.00 [[ 6.39537070e-01 -7.68734221e-01 -6.32730371e-03 1.00608983e+02] [ 7.68701385e-01 6.39568291e-01 -7.11208281e-03 4.22804203e+01] [ 9.51404425e-03 -3.15366525e-04 9.99954691e-01 1.00151829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89762800000001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:100.63, Y:42.30, Z:1.00 [[ 6.36611951e-01 -7.71158359e-01 -6.32527648e-03 1.00628495e+02] [ 7.71125625e-01 6.36643278e-01 -7.11388531e-03 4.22994704e+01] [ 9.51287688e-03 -3.48798374e-04 9.99954691e-01 1.00152640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:42.32, Z:1.00 [[ 6.33343268e-01 -7.73845146e-01 -6.32417130e-03 1.00648333e+02] [ 7.73812535e-01 6.33374723e-01 -7.11486767e-03 4.23190899e+01] [ 9.51137606e-03 -3.87569483e-04 9.99954691e-01 1.00187305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95762800000001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:100.67, Y:42.34, Z:1.00 [[ 6.29648390e-01 -7.76854513e-01 -6.32219536e-03 1.00668251e+02] [ 7.76822034e-01 6.29679983e-01 -7.11662303e-03 4.23393485e+01] [ 9.50954059e-03 -4.30250425e-04 9.99954691e-01 1.00124955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98762800000002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:100.69, Y:42.36, Z:1.00 [[ 6.23938892e-01 -7.81447576e-01 -6.32020840e-03 1.00688317e+02] [ 7.81415312e-01 6.23970703e-01 -7.11838720e-03 4.23573866e+01] [ 9.50627130e-03 -4.97268997e-04 9.99954691e-01 1.00296264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:42.38, Z:1.00 [[ 6.21790636e-01 -7.83158013e-01 -6.31910712e-03 1.00708516e+02] [ 7.83125827e-01 6.21822526e-01 -7.11936469e-03 4.23779204e+01] [ 9.50495066e-03 -5.21901688e-04 9.99954691e-01 1.00399064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.04762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:42.40, Z:1.00 [[ 6.19764151e-01 -7.84762660e-01 -6.32168902e-03 1.00727509e+02] [ 7.84730580e-01 6.19796148e-01 -7.11707344e-03 4.23982397e+01] [ 9.50337199e-03 -5.49915709e-04 9.99954691e-01 1.00416515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:42.42, Z:1.01 [[ 6.17264926e-01 -7.86730012e-01 -6.31659794e-03 1.00746737e+02] [ 7.86697988e-01 6.17296978e-01 -7.12158906e-03 4.24186102e+01] [ 9.50198467e-03 -5.73347745e-04 9.99954691e-01 1.00523034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.77, Y:42.44, Z:1.01 [[ 6.16817051e-01 -7.87081223e-01 -6.31460378e-03 1.00765228e+02] [ 7.87049198e-01 6.16849104e-01 -7.12335681e-03 4.24399117e+01] [ 9.50181807e-03 -5.76095902e-04 9.99954691e-01 1.00527159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:42.46, Z:1.01 [[ 6.16790740e-01 -7.87101858e-01 -6.31262500e-03 1.00783565e+02] [ 7.87069817e-01 6.16822776e-01 -7.12510994e-03 4.24614704e+01] [ 9.50195815e-03 -5.73774773e-04 9.99954691e-01 1.00556834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16762800000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.80, Y:42.48, Z:1.01 [[ 6.17402191e-01 -7.86622343e-01 -6.31060656e-03 1.00800981e+02] [ 7.86590259e-01 6.17434184e-01 -7.12689720e-03 4.24817919e+01] [ 9.50256079e-03 -5.63699710e-04 9.99954691e-01 1.00561347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19762800000001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:100.82, Y:42.50, Z:1.01 [[ 6.18679199e-01 -7.85618380e-01 -6.30950789e-03 1.00818810e+02] [ 7.85586234e-01 6.18711130e-01 -7.12786973e-03 4.25036020e+01] [ 9.50354823e-03 -5.46797802e-04 9.99954691e-01 1.00596967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.84, Y:42.52, Z:1.01 [[ 6.20034186e-01 -7.84549440e-01 -6.30751366e-03 1.00836099e+02] [ 7.84517222e-01 6.20066043e-01 -7.12963400e-03 4.25242638e+01] [ 9.50462540e-03 -5.27736282e-04 9.99954691e-01 1.00841533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.85, Y:42.55, Z:1.01 [[ 6.21117403e-01 -7.83692160e-01 -6.30637057e-03 1.00853888e+02] [ 7.83659887e-01 6.21149205e-01 -7.13064496e-03 4.25462782e+01] [ 9.50542762e-03 -5.13081968e-04 9.99954691e-01 1.00995521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:42.57, Z:1.01 [[ 6.24371322e-01 -7.81102239e-01 -6.30434307e-03 1.00869316e+02] [ 7.81069816e-01 6.24402971e-01 -7.13243706e-03 4.25681143e+01] [ 9.50761310e-03 -4.70842923e-04 9.99954691e-01 1.01128553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.89, Y:42.59, Z:1.01 [[ 6.26130637e-01 -7.79692693e-01 -6.30318603e-03 1.00886742e+02] [ 7.79660189e-01 6.26162202e-01 -7.13345943e-03 4.25907120e+01] [ 9.50872304e-03 -4.47865718e-04 9.99954691e-01 1.01176092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.90, Y:42.61, Z:1.01 [[ 6.28333234e-01 -7.77918789e-01 -6.30118953e-03 1.00903935e+02] [ 7.77886178e-01 6.28364689e-01 -7.13522256e-03 4.26128164e+01] [ 9.51006870e-03 -4.18310778e-04 9.99954691e-01 1.01213089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.92, Y:42.64, Z:1.01 [[ 6.31510075e-01 -7.75342082e-01 -6.29920698e-03 1.00923978e+02] [ 7.75309326e-01 6.31541379e-01 -7.13697239e-03 4.26355229e+01] [ 9.51180490e-03 -3.76763939e-04 9.99954691e-01 1.01278607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.94, Y:42.66, Z:1.01 [[ 6.35521804e-01 -7.72056956e-01 -6.33187619e-03 1.00937666e+02] [ 7.72024323e-01 6.35553238e-01 -7.10814430e-03 4.26581016e+01] [ 9.51213667e-03 -3.70981737e-04 9.99954690e-01 1.01383115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.95, Y:42.68, Z:1.01 [[ 6.37813852e-01 -7.70164817e-01 -6.29643129e-03 1.00954963e+02] [ 7.70131781e-01 6.37844862e-01 -7.13940412e-03 4.26802856e+01] [ 9.51466421e-03 -2.95471000e-04 9.99954691e-01 1.01416833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.97, Y:42.70, Z:1.01 [[ 6.40047923e-01 -7.68309206e-01 -6.29444494e-03 1.00971758e+02] [ 7.68276064e-01 6.40078819e-01 -7.14115495e-03 4.27019479e+01] [ 9.51555597e-03 -2.65189983e-04 9.99954691e-01 1.01370377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.99, Y:42.72, Z:1.01 [[ 6.44679676e-01 -7.64426917e-01 -6.29309204e-03 1.00987803e+02] [ 7.64393577e-01 6.44710358e-01 -7.14234698e-03 4.27246377e+01] [ 9.51702391e-03 -2.05873194e-04 9.99954691e-01 1.01332860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.01, Y:42.75, Z:1.01 [[ 6.48917839e-01 -7.60832478e-01 -6.29109158e-03 1.01012218e+02] [ 7.60798951e-01 6.48948316e-01 -7.14410858e-03 4.27477894e+01] [ 9.51806313e-03 -1.50316376e-04 9.99954691e-01 1.01266304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.02, Y:42.77, Z:1.01 [[ 6.48736613e-01 -7.60986193e-01 -6.38913987e-03 1.01023787e+02] [ 7.60953517e-01 6.48768013e-01 -7.05771019e-03 4.27685206e+01] [ 9.51588958e-03 -2.83243449e-04 9.99954683e-01 1.01324846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.04, Y:42.79, Z:1.01 [[ 6.51717651e-01 -7.58435601e-01 -6.28836733e-03 1.01040986e+02] [ 7.58401939e-01 6.51747978e-01 -7.14638379e-03 4.27900727e+01] [ 9.51850258e-03 -1.11685531e-04 9.99954692e-01 1.01314876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:42.81, Z:1.01 [[ 6.54158357e-01 -7.56331484e-01 -6.28727891e-03 1.01064165e+02] [ 7.56297716e-01 6.54188566e-01 -7.14734123e-03 4.28128348e+01] [ 9.51882518e-03 -7.95616828e-05 9.99954692e-01 1.01360320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:42.83, Z:1.01 [[ 6.54051467e-01 -7.56423246e-01 -6.36797176e-03 1.01077413e+02] [ 7.56390169e-01 6.54082439e-01 -7.07634095e-03 4.28336210e+01] [ 9.51788729e-03 -1.88380058e-04 9.99954686e-01 1.01388605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.10, Y:42.85, Z:1.01 [[ 6.55716607e-01 -7.54980953e-01 -6.28424924e-03 1.01095737e+02] [ 7.54947099e-01 6.55746717e-01 -7.14992685e-03 4.28546283e+01] [ 9.51893439e-03 -5.59499580e-05 9.99954692e-01 1.01431954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.11, Y:42.87, Z:1.01 [[ 6.56120642e-01 -7.54629867e-01 -6.28222002e-03 1.01113994e+02] [ 7.54595979e-01 6.56150715e-01 -7.15170936e-03 4.28749091e+01] [ 9.51897664e-03 -4.81538328e-05 9.99954692e-01 1.01450440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.13, Y:42.90, Z:1.01 [[ 6.55935922e-01 -7.54790446e-01 -6.28084037e-03 1.01133408e+02] [ 7.54756553e-01 6.55965991e-01 -7.15292080e-03 4.28958290e+01] [ 9.51897395e-03 -4.86477266e-05 9.99954692e-01 1.01497764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:42.92, Z:1.02 [[ 6.53994168e-01 -7.56473532e-01 -6.27882767e-03 1.01153248e+02] [ 7.56439700e-01 6.54024304e-01 -7.15468711e-03 4.29153124e+01] [ 9.51883733e-03 -7.04308690e-05 9.99954692e-01 1.01550957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.17, Y:42.94, Z:1.02 [[ 6.52193773e-01 -7.58026309e-01 -6.27679384e-03 1.01172912e+02] [ 7.57992532e-01 6.52223970e-01 -7.15647094e-03 4.29350930e+01] [ 9.51866865e-03 -9.03570684e-05 9.99954692e-01 1.01592154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.82762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.19, Y:42.96, Z:1.02 [[ 6.49679693e-01 -7.60182165e-01 -6.27477149e-03 1.01192742e+02] [ 7.60148471e-01 6.49709983e-01 -7.15824369e-03 4.29550025e+01] [ 9.51835086e-03 -1.19192388e-04 9.99954692e-01 1.01645064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.21, Y:42.97, Z:1.02 [[ 6.46806772e-01 -7.62628122e-01 -6.27275580e-03 1.01212598e+02] [ 7.62594525e-01 6.46837170e-01 -7.16000960e-03 4.29748345e+01] [ 9.51787628e-03 -1.52426535e-04 9.99954692e-01 1.01683353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:42.99, Z:1.02 [[ 6.40491780e-01 -7.67939423e-01 -6.27072698e-03 1.01233678e+02] [ 7.67906061e-01 6.40522435e-01 -7.16178600e-03 4.29920816e+01] [ 9.51635913e-03 -2.28264192e-04 9.99954692e-01 1.01612726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.25, Y:43.01, Z:1.02 [[ 6.36974011e-01 -7.70859780e-01 -6.26974515e-03 1.01254144e+02] [ 7.70826550e-01 6.37004809e-01 -7.16264543e-03 4.30116319e+01] [ 9.51525309e-03 -2.70467036e-04 9.99954692e-01 1.01647311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.27, Y:43.03, Z:1.02 [[ 6.33170044e-01 -7.73987346e-01 -6.26774268e-03 1.01274363e+02] [ 7.73954250e-01 6.33200987e-01 -7.16439729e-03 4.30313689e+01] [ 9.51389369e-03 -3.14664338e-04 9.99954692e-01 1.01680981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:43.05, Z:1.02 [[ 6.26550669e-01 -7.79355503e-01 -6.26570434e-03 1.01295928e+02] [ 7.79322655e-01 6.26581874e-01 -7.16617950e-03 4.30489740e+01] [ 9.51097820e-03 -3.93030780e-04 9.99954692e-01 1.01690539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:43.07, Z:1.02 [[ 6.23385033e-01 -7.81889921e-01 -6.26507480e-03 1.01316106e+02] [ 7.81857194e-01 6.23416366e-01 -7.16672983e-03 4.30686480e+01] [ 9.50934399e-03 -4.30761691e-04 9.99954692e-01 1.01711059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.33, Y:43.09, Z:1.02 [[ 6.20583996e-01 -7.84114964e-01 -6.26307917e-03 1.01334997e+02] [ 7.84082332e-01 6.20615428e-01 -7.16847341e-03 4.30874233e+01] [ 9.50787083e-03 -4.62129850e-04 9.99954692e-01 1.01735976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.36, Y:43.11, Z:1.02 [[ 6.18464778e-01 -7.85787571e-01 -6.26199516e-03 1.01355123e+02] [ 7.85755014e-01 6.18496287e-01 -7.16942022e-03 4.31077348e+01] [ 9.50666205e-03 -4.86360215e-04 9.99954692e-01 1.01823707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.38, Y:43.13, Z:1.02 [[ 6.15398188e-01 -7.88191526e-01 -6.26002144e-03 1.01376863e+02] [ 7.88159075e-01 6.15429806e-01 -7.17114317e-03 4.31284867e+01] [ 9.50483806e-03 -5.20784196e-04 9.99954692e-01 1.01763861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.12762800000002 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:101.40, Y:43.15, Z:1.02 [[ 6.15051678e-01 -7.88461727e-01 -6.28797496e-03 1.01395208e+02] [ 7.88429537e-01 6.15083563e-01 -7.14674784e-03 4.31483260e+01] [ 9.50256719e-03 -5.62005931e-04 9.99954692e-01 1.01873194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:43.17, Z:1.02 [[ 6.15422385e-01 -7.88172661e-01 -6.25647077e-03 1.01413979e+02] [ 7.88140178e-01 6.15453970e-01 -7.17422192e-03 4.31686449e+01] [ 9.50509536e-03 -5.15799217e-04 9.99954693e-01 1.02118068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.43, Y:43.19, Z:1.02 [[ 6.16363916e-01 -7.87436595e-01 -6.25557970e-03 1.01432322e+02] [ 7.87404066e-01 6.16395454e-01 -7.17499881e-03 4.31896293e+01] [ 9.50576752e-03 -5.03258532e-04 9.99954693e-01 1.02192970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.217628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.45, Y:43.21, Z:1.02 [[ 6.16975417e-01 -7.86957577e-01 -6.25357547e-03 1.01450138e+02] [ 7.86925006e-01 6.17006911e-01 -7.17674523e-03 4.32108750e+01] [ 9.50629332e-03 -4.93219539e-04 9.99954693e-01 1.02236199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.47, Y:43.23, Z:1.02 [[ 6.18363450e-01 -7.85867395e-01 -6.25155063e-03 1.01468098e+02] [ 7.85834751e-01 6.18394868e-01 -7.17850860e-03 4.32323313e+01] [ 9.50728268e-03 -4.73758386e-04 9.99954693e-01 1.02277433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.277628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.48, Y:43.25, Z:1.02 [[ 6.21869802e-01 -7.83095711e-01 -6.24952428e-03 1.01484725e+02] [ 7.83062910e-01 6.21901056e-01 -7.18027228e-03 4.32542972e+01] [ 9.50942618e-03 -4.28576172e-04 9.99954693e-01 1.02215671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.50, Y:43.28, Z:1.02 [[ 6.23456483e-01 -7.81833083e-01 -6.24844056e-03 1.01502394e+02] [ 7.81800209e-01 6.23487661e-01 -7.18121524e-03 4.32762192e+01] [ 9.51033724e-03 -4.07856936e-04 9.99954693e-01 1.02213179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.52, Y:43.30, Z:1.02 [[ 6.25431332e-01 -7.80254209e-01 -6.24642801e-03 1.01519346e+02] [ 7.80221239e-01 6.25462408e-01 -7.18296538e-03 4.32974181e+01] [ 9.51144488e-03 -3.81144194e-04 9.99954693e-01 1.02207500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.54, Y:43.32, Z:1.02 [[ 6.27187523e-01 -7.78843249e-01 -6.24533615e-03 1.01535809e+02] [ 7.78810200e-01 6.27218514e-01 -7.18391460e-03 4.33184187e+01] [ 9.51233385e-03 -3.58269892e-04 9.99954693e-01 1.02138397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:43.34, Z:1.02 [[ 6.30367555e-01 -7.76271707e-01 -6.24355819e-03 1.01552968e+02] [ 7.76238515e-01 6.30398395e-01 -7.18545949e-03 4.33411073e+01] [ 9.51379797e-03 -3.17009804e-04 9.99954693e-01 1.02175822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.57, Y:43.36, Z:1.02 [[ 6.31253758e-01 -7.75551246e-01 -6.24155735e-03 1.01570622e+02] [ 7.75518002e-01 6.31284541e-01 -7.18719708e-03 4.33627188e+01] [ 9.51423832e-03 -3.03494918e-04 9.99954693e-01 1.02227803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:43.38, Z:1.02 [[ 6.32056297e-01 -7.74897352e-01 -6.23953772e-03 1.01588684e+02] [ 7.74864058e-01 6.32087027e-01 -7.18894998e-03 4.33844843e+01] [ 9.51462915e-03 -2.90972413e-04 9.99954693e-01 1.02249152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.61, Y:43.41, Z:1.02 [[ 6.33160362e-01 -7.73995510e-01 -6.23753008e-03 1.01605515e+02] [ 7.73962156e-01 6.33191026e-01 -7.19069150e-03 4.34064635e+01] [ 9.51511100e-03 -2.74751396e-04 9.99954693e-01 1.02272477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.62, Y:43.43, Z:1.02 [[ 6.33669412e-01 -7.73578823e-01 -6.23550203e-03 1.01623681e+02] [ 7.73545431e-01 6.33700035e-01 -7.19244972e-03 4.34281866e+01] [ 9.51536464e-03 -2.65808728e-04 9.99954693e-01 1.02339033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.54762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.64, Y:43.45, Z:1.02 [[ 6.34369466e-01 -7.73004867e-01 -6.23348364e-03 1.01642114e+02] [ 7.72971431e-01 6.34400040e-01 -7.19419858e-03 4.34498944e+01] [ 9.51567278e-03 -2.54524862e-04 9.99954693e-01 1.02400306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:43.47, Z:1.02 [[ 6.35172567e-01 -7.72345117e-01 -6.23147404e-03 1.01659987e+02] [ 7.72311631e-01 6.35203087e-01 -7.19593883e-03 4.34714805e+01] [ 9.51599976e-03 -2.41976950e-04 9.99954693e-01 1.02481931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.68, Y:43.49, Z:1.03 [[ 6.37615149e-01 -7.70329874e-01 -6.22947414e-03 1.01677607e+02] [ 7.70296276e-01 6.37645545e-01 -7.19766971e-03 4.34943201e+01] [ 9.51677644e-03 -2.09197488e-04 9.99954693e-01 1.02552292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.70, Y:43.52, Z:1.03 [[ 6.38947248e-01 -7.69225344e-01 -6.22771070e-03 1.01695186e+02] [ 7.69191678e-01 6.38977569e-01 -7.19919519e-03 4.35159797e+01] [ 9.51717084e-03 -1.90397291e-04 9.99954693e-01 1.02546214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:43.54, Z:1.03 [[ 6.40601182e-01 -7.67848531e-01 -6.22569752e-03 1.01713158e+02] [ 7.67814783e-01 6.40631412e-01 -7.20093572e-03 4.35381549e+01] [ 9.51760530e-03 -1.67254650e-04 9.99954693e-01 1.02535496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.73, Y:43.56, Z:1.03 [[ 6.42419785e-01 -7.66327663e-01 -6.22367846e-03 1.01731165e+02] [ 7.66293826e-01 6.42449915e-01 -7.20268035e-03 4.35596081e+01] [ 9.51801489e-03 -1.42022019e-04 9.99954693e-01 1.02529979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.75, Y:43.58, Z:1.03 [[ 6.42204085e-01 -7.66508450e-01 -6.22165348e-03 1.01749805e+02] [ 7.66474605e-01 6.42234206e-01 -7.20442909e-03 4.35813000e+01] [ 9.51801446e-03 -1.42025609e-04 9.99954693e-01 1.02557092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:43.60, Z:1.02 [[ 6.46723620e-01 -7.62699073e-01 -6.21962530e-03 1.01767337e+02] [ 7.62665033e-01 6.46753522e-01 -7.20617961e-03 4.36016698e+01] [ 9.51871107e-03 -8.30841711e-05 9.99954693e-01 1.02469072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:43.62, Z:1.02 [[ 6.45500247e-01 -7.63734745e-01 -6.21853988e-03 1.01778291e+02] [ 7.63700745e-01 6.45530193e-01 -7.20711615e-03 4.36218964e+01] [ 9.51858026e-03 -9.69082806e-05 9.99954693e-01 1.02125405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81762800000001 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:101.80, Y:43.64, Z:1.02 [[ 6.50828169e-01 -7.59200482e-01 -6.10932870e-03 1.01803924e+02] [ 7.59165381e-01 6.50856832e-01 -7.30124840e-03 4.36435948e+01] [ 9.51940963e-03 1.13867274e-04 9.99954683e-01 1.02139866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:43.66, Z:1.02 [[ 6.54613227e-01 -7.55938398e-01 -6.21784340e-03 1.01822982e+02] [ 7.55904036e-01 6.54642757e-01 -7.20763567e-03 4.36648548e+01] [ 9.51899470e-03 1.81207338e-05 9.99954693e-01 1.02316107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:43.69, Z:1.02 [[ 6.56059592e-01 -7.54683492e-01 -6.21607476e-03 1.01841913e+02] [ 7.54649059e-01 6.56089038e-01 -7.20916068e-03 4.36855257e+01] [ 9.51893306e-03 3.86840406e-05 9.99954693e-01 1.02279218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:43.71, Z:1.02 [[ 6.57134361e-01 -7.53747847e-01 -6.21404424e-03 1.01860247e+02] [ 7.53713356e-01 6.57163739e-01 -7.21091049e-03 4.37053637e+01] [ 9.51885280e-03 5.49289211e-05 9.99954693e-01 1.02255611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:43.73, Z:1.02 [[ 6.57520488e-01 -7.53411048e-01 -6.21294123e-03 1.01879562e+02] [ 7.53376533e-01 6.57549838e-01 -7.21186072e-03 4.37259550e+01] [ 9.51881404e-03 6.12620647e-05 9.99954693e-01 1.02301530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.967628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:43.75, Z:1.02 [[ 6.57165434e-01 -7.53720782e-01 -6.21090222e-03 1.01900914e+02] [ 7.53686264e-01 6.57194780e-01 -7.21361630e-03 4.37451056e+01] [ 9.51882504e-03 5.94675917e-05 9.99954693e-01 1.02414707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:43.76, Z:1.03 [[ 6.56235644e-01 -7.54530470e-01 -6.20887862e-03 1.01920498e+02] [ 7.54495971e-01 6.56265013e-01 -7.21535763e-03 4.37648481e+01] [ 9.51887699e-03 5.04009552e-05 9.99954693e-01 1.02501795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.027628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:43.78, Z:1.03 [[ 6.55243164e-01 -7.55392528e-01 -6.20686141e-03 1.01940219e+02] [ 7.55358052e-01 6.55272559e-01 -7.21709247e-03 4.37845090e+01] [ 9.51892369e-03 4.05477630e-05 9.99954693e-01 1.02634792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:43.80, Z:1.03 [[ 6.52595579e-01 -7.57681009e-01 -6.20481490e-03 1.01962038e+02] [ 7.57646619e-01 6.52625076e-01 -7.21885151e-03 4.38020597e+01] [ 9.51900448e-03 9.93355243e-06 9.99954693e-01 1.02774804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:43.82, Z:1.03 [[ 6.50714105e-01 -7.59297482e-01 -6.20390138e-03 1.01982358e+02] [ 7.59263158e-01 6.50743678e-01 -7.21963651e-03 4.38212670e+01] [ 9.51900142e-03 -1.24744455e-05 9.99954693e-01 1.02853034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.00, Y:43.84, Z:1.03 [[ 6.46251537e-01 -7.63099264e-01 -6.20187978e-03 1.01997793e+02] [ 7.63065098e-01 6.46281292e-01 -7.22137270e-03 4.38407543e+01] [ 9.51878307e-03 -6.56147930e-05 9.99954693e-01 1.02850593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.03, Y:43.86, Z:1.03 [[ 6.43497857e-01 -7.65423379e-01 -6.12848516e-03 1.02025401e+02] [ 7.65388717e-01 6.43527039e-01 -7.28435863e-03 4.38584773e+01] [ 9.51946431e-03 -3.20422231e-06 9.99954689e-01 1.02839453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.05, Y:43.88, Z:1.03 [[ 6.40515614e-01 -7.67920111e-01 -6.20095626e-03 1.02045306e+02] [ 7.67886161e-01 6.40545615e-01 -7.22213468e-03 4.38766263e+01] [ 9.51801781e-03 -1.35738467e-04 9.99954693e-01 1.02811755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.07, Y:43.90, Z:1.03 [[ 6.37775207e-01 -7.70197608e-01 -6.19917097e-03 1.02066165e+02] [ 7.70163751e-01 6.37805312e-01 -7.22366678e-03 4.38963103e+01] [ 9.51751505e-03 -1.67301190e-04 9.99954693e-01 1.02914697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.08, Y:43.92, Z:1.03 [[ 6.37664924e-01 -7.70288933e-01 -6.19711069e-03 1.02084330e+02] [ 7.70255062e-01 6.37695015e-01 -7.22543384e-03 4.39173475e+01] [ 9.51753831e-03 -1.65950157e-04 9.99954693e-01 1.02999608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.26762800000002 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:102.10, Y:43.94, Z:1.03 [[ 6.37376462e-01 -7.70527647e-01 -6.19603932e-03 1.02102953e+02] [ 7.70493779e-01 6.37406555e-01 -7.22635245e-03 4.39386268e+01] [ 9.51750043e-03 -1.68102797e-04 9.99954693e-01 1.02767714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.12, Y:43.96, Z:1.03 [[ 6.37359856e-01 -7.70541399e-01 -6.19401634e-03 1.02122313e+02] [ 7.70507515e-01 6.37389931e-01 -7.22808602e-03 4.39595224e+01] [ 9.51754317e-03 -1.65644276e-04 9.99954693e-01 1.03019546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.32762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.14, Y:43.98, Z:1.03 [[ 6.36412357e-01 -7.71324167e-01 -6.19198150e-03 1.02140668e+02] [ 7.71290303e-01 6.36442455e-01 -7.22982876e-03 4.39799058e+01] [ 9.51738155e-03 -1.74662929e-04 9.99954693e-01 1.03010685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.16, Y:44.00, Z:1.03 [[ 6.35241781e-01 -7.72288519e-01 -6.19060025e-03 1.02158692e+02] [ 7.72254688e-01 6.35271917e-01 -7.23101127e-03 4.40009898e+01] [ 9.51714147e-03 -1.87279589e-04 9.99954693e-01 1.03112694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.18, Y:44.02, Z:1.03 [[ 6.33773644e-01 -7.73493808e-01 -6.18855081e-03 1.02176095e+02] [ 7.73460018e-01 6.33803825e-01 -7.23276483e-03 4.40218766e+01] [ 9.51682598e-03 -2.02660900e-04 9.99954693e-01 1.03117889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.19, Y:44.04, Z:1.03 [[ 6.30451117e-01 -7.76204295e-01 -6.18716229e-03 1.02192449e+02] [ 7.76170623e-01 6.30481430e-01 -7.23395242e-03 4.40442711e+01] [ 9.51591587e-03 -2.41640231e-04 9.99954693e-01 1.03146397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.21, Y:44.07, Z:1.03 [[ 6.27946504e-01 -7.78231926e-01 -6.18534037e-03 1.02210344e+02] [ 7.78198336e-01 6.27976908e-01 -7.23550990e-03 4.40663398e+01] [ 9.51515573e-03 -2.69908440e-04 9.99954693e-01 1.03232763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47762800000001 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:102.23, Y:44.09, Z:1.03 [[ 6.25064823e-01 -7.80548354e-01 -6.18332292e-03 1.02228296e+02] [ 7.80514860e-01 6.25095333e-01 -7.23723357e-03 4.40876474e+01] [ 9.51417705e-03 -3.02435307e-04 9.99954693e-01 1.03062060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.25, Y:44.11, Z:1.03 [[ 6.23083812e-01 -7.82130651e-01 -6.18126336e-03 1.02245908e+02] [ 7.82097217e-01 6.23114388e-01 -7.23899220e-03 4.41080375e+01] [ 9.51347181e-03 -3.23850015e-04 9.99954693e-01 1.03477227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.26, Y:44.13, Z:1.04 [[ 6.18544104e-01 -7.85725778e-01 -6.18007144e-03 1.02263440e+02] [ 7.85692512e-01 6.18574862e-01 -7.24000962e-03 4.41297071e+01] [ 9.51149903e-03 -3.77370584e-04 9.99954693e-01 1.03659633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.28, Y:44.15, Z:1.04 [[ 6.16568664e-01 -7.87276898e-01 -6.17805322e-03 1.02280363e+02] [ 7.87243692e-01 6.16599487e-01 -7.24173140e-03 4.41509882e+01] [ 9.51063228e-03 -3.98608778e-04 9.99954693e-01 1.03723323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.30, Y:44.17, Z:1.04 [[ 6.15116751e-01 -7.88411844e-01 -6.17623037e-03 1.02297465e+02] [ 7.88378680e-01 6.15147618e-01 -7.24328572e-03 4.41728673e+01] [ 9.50998565e-03 -4.13741962e-04 9.99954693e-01 1.03793617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.31, Y:44.19, Z:1.04 [[ 6.14402578e-01 -7.88968536e-01 -6.17424463e-03 1.02314535e+02] [ 7.88935382e-01 6.14433457e-01 -7.24497798e-03 4.41949897e+01] [ 9.50972214e-03 -4.19746902e-04 9.99954693e-01 1.03772960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.33, Y:44.22, Z:1.04 [[ 6.15146450e-01 -7.88388703e-01 -6.17226972e-03 1.02329679e+02] [ 7.88355504e-01 6.15177280e-01 -7.24666009e-03 4.42182851e+01] [ 9.51022505e-03 -4.08185571e-04 9.99954693e-01 1.03643660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.35, Y:44.24, Z:1.04 [[ 6.16184773e-01 -7.87577456e-01 -6.17050231e-03 1.02346681e+02] [ 7.87544201e-01 6.16215543e-01 -7.24816472e-03 4.42407667e+01] [ 9.51085057e-03 -3.93334577e-04 9.99954693e-01 1.03586838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.717628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.36, Y:44.26, Z:1.03 [[ 6.18102825e-01 -7.86073055e-01 -6.16850740e-03 1.02363209e+02] [ 7.86039708e-01 6.18133495e-01 -7.24986208e-03 4.42620006e+01] [ 9.51188227e-03 -3.67531530e-04 9.99954693e-01 1.03437687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.38, Y:44.29, Z:1.03 [[ 6.21735139e-01 -7.83203289e-01 -6.16644705e-03 1.02378959e+02] [ 7.83169783e-01 6.21765636e-01 -7.25161411e-03 4.42855621e+01] [ 9.51357289e-03 -3.20791686e-04 9.99954693e-01 1.03391834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.777628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.39, Y:44.31, Z:1.03 [[ 6.24037959e-01 -7.81369711e-01 -6.16439404e-03 1.02394930e+02] [ 7.81336098e-01 6.24068338e-01 -7.25335889e-03 4.43074479e+01] [ 9.51455809e-03 -2.90092309e-04 9.99954693e-01 1.03320055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.41, Y:44.33, Z:1.03 [[ 6.26242805e-01 -7.79603727e-01 -6.16264828e-03 1.02410968e+02] [ 7.79570014e-01 6.26273072e-01 -7.25484184e-03 4.43292449e+01] [ 9.51540240e-03 -2.60923299e-04 9.99954693e-01 1.03254655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.43, Y:44.35, Z:1.03 [[ 6.30039183e-01 -7.76538905e-01 -6.16091755e-03 1.02427585e+02] [ 7.76505031e-01 6.30069269e-01 -7.25631130e-03 4.43525812e+01] [ 9.51661285e-03 -2.12223029e-04 9.99954693e-01 1.03272835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.44, Y:44.37, Z:1.03 [[ 6.31231360e-01 -7.75570137e-01 -6.15899327e-03 1.02444615e+02] [ 7.75536200e-01 6.31261376e-01 -7.25794422e-03 4.43741152e+01] [ 9.51697936e-03 -1.95080242e-04 9.99954693e-01 1.03267500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.46, Y:44.40, Z:1.03 [[ 6.31687808e-01 -7.75198427e-01 -6.15726297e-03 1.02462511e+02] [ 7.75164459e-01 6.31717787e-01 -7.25941182e-03 4.43963947e+01] [ 9.51713717e-03 -1.87209479e-04 9.99954694e-01 1.03298232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.48, Y:44.42, Z:1.03 [[ 6.32618063e-01 -7.74439473e-01 -6.15535434e-03 1.02479802e+02] [ 7.74405453e-01 6.32647985e-01 -7.26102981e-03 4.44170917e+01] [ 9.51740062e-03 -1.73281353e-04 9.99954694e-01 1.03398903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.50, Y:44.44, Z:1.03 [[ 6.31656520e-01 -7.75224126e-01 -6.13147694e-03 1.02499243e+02] [ 7.75189946e-01 6.31686260e-01 -7.28126055e-03 4.44385161e+01] [ 9.51777858e-03 -1.53803579e-04 9.99954693e-01 1.03390281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.98762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.52, Y:44.46, Z:1.03 [[ 6.31114190e-01 -7.75665532e-01 -6.15319012e-03 1.02517320e+02] [ 7.75631551e-01 6.31144157e-01 -7.26286487e-03 4.44597319e+01] [ 9.51710393e-03 -1.88911325e-04 9.99954693e-01 1.03495848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.53, Y:44.48, Z:1.03 [[ 6.30824191e-01 -7.75901413e-01 -6.15113620e-03 1.02534679e+02] [ 7.75867427e-01 6.30854152e-01 -7.26460398e-03 4.44803629e+01] [ 9.51708630e-03 -1.89778292e-04 9.99954694e-01 1.03446380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.04762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.55, Y:44.50, Z:1.04 [[ 6.30625873e-01 -7.76062618e-01 -6.15000753e-03 1.02553665e+02] [ 7.76028630e-01 6.30655831e-01 -7.26555935e-03 4.45014888e+01] [ 9.51706712e-03 -1.90732213e-04 9.99954694e-01 1.03563480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.57, Y:44.52, Z:1.03 [[ 6.30625000e-01 -7.76063343e-01 -6.14796489e-03 1.02571182e+02] [ 7.76029338e-01 6.30654939e-01 -7.26728738e-03 4.45215109e+01] [ 9.51711976e-03 -1.88068024e-04 9.99954694e-01 1.03438702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.59, Y:44.54, Z:1.04 [[ 6.30966459e-01 -7.75785759e-01 -6.14682876e-03 1.02590176e+02] [ 7.75751732e-01 6.30996373e-01 -7.26824822e-03 4.45427847e+01] [ 9.51723011e-03 -1.82392224e-04 9.99954694e-01 1.03518838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.61, Y:44.56, Z:1.04 [[ 6.31312067e-01 -7.75504554e-01 -6.14498617e-03 1.02608409e+02] [ 7.75470498e-01 6.31341949e-01 -7.26980571e-03 4.45635124e+01] [ 9.51735498e-03 -1.75739413e-04 9.99954694e-01 1.03658806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.63, Y:44.58, Z:1.04 [[ 6.32922954e-01 -7.74190415e-01 -6.14296624e-03 1.02627269e+02] [ 7.74156281e-01 6.32952745e-01 -7.27151215e-03 4.45838072e+01] [ 9.51774235e-03 -1.53308956e-04 9.99954694e-01 1.03716025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.64, Y:44.60, Z:1.04 [[ 6.33826203e-01 -7.73451120e-01 -6.14090584e-03 1.02644994e+02] [ 7.73416934e-01 6.33855935e-01 -7.27325177e-03 4.46047061e+01] [ 9.51795434e-03 -1.39503018e-04 9.99954694e-01 1.03685449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.66, Y:44.63, Z:1.04 [[ 6.34824066e-01 -7.72632325e-01 -6.13975833e-03 1.02663040e+02] [ 7.72598091e-01 6.34853743e-01 -7.27422032e-03 4.46259417e+01] [ 9.51814631e-03 -1.25715453e-04 9.99954694e-01 1.03667099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.68, Y:44.65, Z:1.04 [[ 6.35831585e-01 -7.71803423e-01 -6.13769054e-03 1.02680938e+02] [ 7.71769134e-01 6.35861198e-01 -7.27596462e-03 4.46465069e+01] [ 9.51833366e-03 -1.10592006e-04 9.99954694e-01 1.03563570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.70, Y:44.67, Z:1.03 [[ 6.37268381e-01 -7.70617514e-01 -6.13658153e-03 1.02701603e+02] [ 7.70583161e-01 6.37297920e-01 -7.27689985e-03 4.46670196e+01] [ 9.51853711e-03 -9.14082033e-05 9.99954694e-01 1.03452028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.72, Y:44.69, Z:1.03 [[ 6.37429379e-01 -7.70484361e-01 -6.13480479e-03 1.02721511e+02] [ 7.70449988e-01 6.37458894e-01 -7.27839742e-03 4.46884831e+01] [ 9.51857726e-03 -8.70959279e-05 9.99954694e-01 1.03447764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.74, Y:44.71, Z:1.03 [[ 6.37658537e-01 -7.70294734e-01 -6.13301400e-03 1.02742057e+02] [ 7.70260337e-01 6.37688025e-01 -7.27990608e-03 4.47083637e+01] [ 9.51862290e-03 -8.19231693e-05 9.99954694e-01 1.03409693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.76, Y:44.73, Z:1.03 [[ 6.37574149e-01 -7.70364599e-01 -6.13098797e-03 1.02760457e+02] [ 7.70330189e-01 6.37603621e-01 -7.28161197e-03 4.47278992e+01] [ 9.51863622e-03 -8.03175733e-05 9.99954694e-01 1.03463004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.78, Y:44.75, Z:1.04 [[ 6.37491162e-01 -7.70433289e-01 -6.12915373e-03 1.02779626e+02] [ 7.70398867e-01 6.37520621e-01 -7.28315558e-03 4.47481677e+01] [ 9.51864739e-03 -7.89457745e-05 9.99954694e-01 1.03550939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.80, Y:44.77, Z:1.04 [[ 6.37278347e-01 -7.70609347e-01 -6.12718544e-03 1.02799015e+02] [ 7.70574918e-01 6.37307797e-01 -7.28481108e-03 4.47685807e+01] [ 9.51864657e-03 -7.90030501e-05 9.99954694e-01 1.03698824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.467628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.82, Y:44.79, Z:1.04 [[ 6.36902194e-01 -7.70920280e-01 -6.12517469e-03 1.02818487e+02] [ 7.70885848e-01 6.36931642e-01 -7.28650136e-03 4.47889501e+01] [ 9.51862924e-03 -8.10217771e-05 9.99954694e-01 1.03844179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.84, Y:44.81, Z:1.04 [[ 6.36714863e-01 -7.71075022e-01 -6.12320628e-03 1.02839342e+02] [ 7.71040582e-01 6.36744300e-01 -7.28815513e-03 4.48087569e+01] [ 9.51863108e-03 -8.07638381e-05 9.99954694e-01 1.04153319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.527628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.86, Y:44.83, Z:1.04 [[ 6.37430103e-01 -7.70483869e-01 -6.12137600e-03 1.02856810e+02] [ 7.70449387e-01 6.37459491e-01 -7.28969208e-03 4.48293025e+01] [ 9.51871939e-03 -6.95412063e-05 9.99954694e-01 1.04168272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.87, Y:44.85, Z:1.04 [[ 6.39975034e-01 -7.68371331e-01 -6.11995590e-03 1.02874741e+02] [ 7.68336740e-01 6.40004294e-01 -7.29088411e-03 4.48509898e+01] [ 9.51890438e-03 -3.62031624e-05 9.99954694e-01 1.04252151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.89, Y:44.87, Z:1.04 [[ 6.41212892e-01 -7.67338647e-01 -6.11789559e-03 1.02891986e+02] [ 7.67303992e-01 6.41242077e-01 -7.29261254e-03 4.48722928e+01] [ 9.51895551e-03 -1.81685364e-05 9.99954694e-01 1.04243641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.91, Y:44.89, Z:1.04 [[ 6.41004029e-01 -7.67513146e-01 -6.11605397e-03 1.02910300e+02] [ 7.67478485e-01 6.41033206e-01 -7.29415671e-03 4.48942685e+01] [ 9.51895485e-03 -1.83559923e-05 9.99954694e-01 1.04270762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.93, Y:44.92, Z:1.04 [[ 6.41678373e-01 -7.66949466e-01 -6.11406824e-03 1.02927739e+02] [ 7.66914764e-01 6.41707500e-01 -7.29582080e-03 4.49159137e+01] [ 9.51896932e-03 -7.39878541e-06 9.99954694e-01 1.04341494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.94, Y:44.94, Z:1.04 [[ 6.41173070e-01 -7.67371968e-01 -6.11203619e-03 1.02944941e+02] [ 7.67337268e-01 6.41202201e-01 -7.29752274e-03 4.49385601e+01] [ 9.51896545e-03 -1.10180965e-05 9.99954694e-01 1.04378968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.96, Y:44.96, Z:1.04 [[ 6.39877902e-01 -7.68452301e-01 -6.10997679e-03 1.02962480e+02] [ 7.68417634e-01 6.39907072e-01 -7.29924661e-03 4.49597621e+01] [ 9.51894020e-03 -2.43872998e-05 9.99954694e-01 1.04424096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.98, Y:44.98, Z:1.04 [[ 6.37572933e-01 -7.70365787e-01 -6.10811888e-03 1.02980244e+02] [ 7.70331193e-01 6.37602189e-01 -7.30080100e-03 4.49819263e+01] [ 9.51883728e-03 -5.04814009e-05 9.99954694e-01 1.04498233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.76762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.00, Y:45.00, Z:1.05 [[ 6.31724054e-01 -7.75169295e-01 -6.10608174e-03 1.02997901e+02] [ 7.75134906e-01 6.31753552e-01 -7.30250438e-03 4.50043344e+01] [ 9.51821600e-03 -1.19869430e-04 9.99954694e-01 1.04581978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.01, Y:45.03, Z:1.05 [[ 6.28077320e-01 -7.78126996e-01 -6.10400413e-03 1.03014941e+02] [ 7.78092730e-01 6.28106959e-01 -7.30424059e-03 4.50252014e+01] [ 9.51759426e-03 -1.61853383e-04 9.99954694e-01 1.04608059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.82762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.03, Y:45.05, Z:1.05 [[ 6.24098145e-01 -7.81322124e-01 -6.10283737e-03 1.03032575e+02] [ 7.81288000e-01 6.24127948e-01 -7.30521532e-03 4.50464868e+01] [ 9.51667771e-03 -2.08902271e-04 9.99954694e-01 1.04682590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.05, Y:45.07, Z:1.05 [[ 6.19890708e-01 -7.84664445e-01 -6.10075176e-03 1.03049793e+02] [ 7.84630465e-01 6.19920674e-01 -7.30695664e-03 4.50675216e+01] [ 9.51549122e-03 -2.57321169e-04 9.99954694e-01 1.04629687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.07, Y:45.09, Z:1.05 [[ 6.11716543e-01 -7.91053517e-01 -6.09962057e-03 1.03065601e+02] [ 7.91019840e-01 6.11746850e-01 -7.30790080e-03 4.50901872e+01] [ 9.51236430e-03 -3.54557078e-04 9.99954694e-01 1.04513053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.08, Y:45.11, Z:1.05 [[ 6.07833683e-01 -7.94040950e-01 -6.09778321e-03 1.03082529e+02] [ 7.94007407e-01 6.07864138e-01 -7.30943359e-03 4.51122461e+01] [ 9.51061333e-03 -3.98765099e-04 9.99954694e-01 1.04529975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.10, Y:45.13, Z:1.05 [[ 6.03798961e-01 -7.97113328e-01 -6.09572373e-03 1.03099506e+02] [ 7.97079922e-01 6.03829566e-01 -7.31115070e-03 4.51343293e+01] [ 9.50859388e-03 -4.44313801e-04 9.99954694e-01 1.04536303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.12, Y:45.16, Z:1.05 [[ 6.00080483e-01 -7.99916421e-01 -6.09367479e-03 1.03116988e+02] [ 7.99883141e-01 6.00111225e-01 -7.31285804e-03 4.51569276e+01] [ 9.50655788e-03 -4.85924346e-04 9.99954694e-01 1.04570474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.13, Y:45.18, Z:1.05 [[ 5.94350914e-01 -8.04182742e-01 -6.09162212e-03 1.03132802e+02] [ 8.04149665e-01 5.94381875e-01 -7.31456752e-03 4.51798604e+01] [ 9.50299874e-03 -5.51155992e-04 9.99954694e-01 1.04640914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.15, Y:45.20, Z:1.05 [[ 5.92417285e-01 -8.05608266e-01 -6.08954108e-03 1.03149297e+02] [ 8.05575245e-01 5.92448307e-01 -7.31629962e-03 4.52015602e+01] [ 9.50180975e-03 -5.71281187e-04 9.99954694e-01 1.04662234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.17, Y:45.22, Z:1.05 [[ 5.90949796e-01 -8.06685366e-01 -6.08767224e-03 1.03166134e+02] [ 8.06652386e-01 5.90980861e-01 -7.31785430e-03 4.52242621e+01] [ 9.50090375e-03 -5.86150826e-04 9.99954694e-01 1.04683647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.18, Y:45.25, Z:1.05 [[ 5.90523292e-01 -8.06997650e-01 -6.08561715e-03 1.03182517e+02] [ 8.06964669e-01 5.90554355e-01 -7.31956293e-03 4.52471013e+01] [ 9.50075780e-03 -5.88505636e-04 9.99954694e-01 1.04673941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:45.27, Z:1.05 [[ 5.92682665e-01 -8.05413092e-01 -6.08357256e-03 1.03196154e+02] [ 8.05380011e-01 5.92713621e-01 -7.32126188e-03 4.52712742e+01] [ 9.50245649e-03 -5.60402739e-04 9.99954694e-01 1.04548289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.21, Y:45.29, Z:1.05 [[ 5.94690886e-01 -8.03931442e-01 -6.08174669e-03 1.03211910e+02] [ 8.03898268e-01 5.94721743e-01 -7.32277831e-03 4.52946746e+01] [ 9.50395872e-03 -5.34316116e-04 9.99954694e-01 1.04553081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.18762800000002 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:103.23, Y:45.32, Z:1.04 [[ 5.97211222e-01 -8.02060966e-01 -6.07970220e-03 1.03227553e+02] [ 8.02027679e-01 5.97241956e-01 -7.32447534e-03 4.53178942e+01] [ 9.50572901e-03 -5.01830578e-04 9.99954694e-01 1.04397641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.24, Y:45.34, Z:1.05 [[ 6.00616985e-01 -7.99513789e-01 -6.07764075e-03 1.03243449e+02] [ 7.99480354e-01 6.00647559e-01 -7.32618548e-03 4.53413738e+01] [ 9.50790639e-03 -4.58722944e-04 9.99954694e-01 1.04561745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.247628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:103.26, Y:45.37, Z:1.04 [[ 6.07203463e-01 -7.94523154e-01 -6.07558659e-03 1.03256670e+02] [ 7.94489450e-01 6.07233741e-01 -7.32788859e-03 4.53669165e+01] [ 9.51147833e-03 -3.77470114e-04 9.99954694e-01 1.04248820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.277628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:103.27, Y:45.39, Z:1.04 [[ 6.10582415e-01 -7.91929433e-01 -6.07354190e-03 1.03272092e+02] [ 7.91895584e-01 6.10612529e-01 -7.32958289e-03 4.53898662e+01] [ 9.51309321e-03 -3.34296587e-04 9.99954694e-01 1.04346013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30762800000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:103.29, Y:45.41, Z:1.04 [[ 6.13695223e-01 -7.89519669e-01 -6.07167562e-03 1.03287367e+02] [ 7.89485686e-01 6.13725187e-01 -7.33112856e-03 4.54132754e+01] [ 9.51441045e-03 -2.94422414e-04 9.99954694e-01 1.04380807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.30, Y:45.44, Z:1.05 [[ 6.16988493e-01 -7.86948766e-01 -6.06961455e-03 1.03302681e+02] [ 7.86914641e-01 6.17018295e-01 -7.33283456e-03 4.54359602e+01] [ 9.51562833e-03 -2.51994013e-04 9.99954694e-01 1.04535890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.32, Y:45.46, Z:1.05 [[ 6.23317965e-01 -7.81944940e-01 -6.06843915e-03 1.03317707e+02] [ 7.81910566e-01 6.23347480e-01 -7.33380716e-03 4.54605138e+01] [ 9.51737965e-03 -1.73682940e-04 9.99954694e-01 1.04570121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.33, Y:45.48, Z:1.05 [[ 6.26166668e-01 -7.79665635e-01 -6.06637406e-03 1.03333638e+02] [ 7.79631138e-01 6.26196038e-01 -7.33551497e-03 4.54825440e+01] [ 9.51798834e-03 -1.36279146e-04 9.99954694e-01 1.04612311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.35, Y:45.50, Z:1.05 [[ 6.28657780e-01 -7.77658414e-01 -6.06521931e-03 1.03350034e+02] [ 7.77623814e-01 6.28687028e-01 -7.33646962e-03 4.55048053e+01] [ 9.51839204e-03 -1.04330279e-04 9.99954694e-01 1.04734309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.37, Y:45.53, Z:1.05 [[ 6.33492208e-01 -7.73725314e-01 -6.06317545e-03 1.03365048e+02] [ 7.73690516e-01 6.33521221e-01 -7.33815837e-03 4.55271325e+01] [ 9.51886920e-03 -4.23552015e-05 9.99954694e-01 1.04816268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.38, Y:45.55, Z:1.05 [[ 6.35437972e-01 -7.72128121e-01 -6.06204265e-03 1.03381549e+02] [ 7.72093242e-01 6.35466887e-01 -7.33909406e-03 4.55495515e+01] [ 9.51894827e-03 -1.69231158e-05 9.99954694e-01 1.04820446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.40, Y:45.57, Z:1.05 [[ 6.37114019e-01 -7.70745744e-01 -6.06007744e-03 1.03398179e+02] [ 7.70710786e-01 6.37142839e-01 -7.34071642e-03 4.55716449e+01] [ 9.51896089e-03 6.30629542e-06 9.99954694e-01 1.04882623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.54762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:45.59, Z:1.05 [[ 6.38401850e-01 -7.69679400e-01 -6.05797468e-03 1.03415293e+02] [ 7.69644378e-01 6.38430591e-01 -7.34245133e-03 4.55940083e+01] [ 9.51892989e-03 2.49483560e-05 9.99954694e-01 1.04873716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.57762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.43, Y:45.62, Z:1.05 [[ 6.40278439e-01 -7.68119032e-01 -6.05587377e-03 1.03432012e+02] [ 7.68083923e-01 6.40307075e-01 -7.34418369e-03 4.56156600e+01] [ 9.51882609e-03 5.09031868e-05 9.99954694e-01 1.04812424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.45, Y:45.64, Z:1.05 [[ 6.40727835e-01 -7.67744216e-01 -6.05471210e-03 1.03449652e+02] [ 7.67709082e-01 6.40756440e-01 -7.34514128e-03 4.56369978e+01] [ 9.51878550e-03 5.79790031e-05 9.99954694e-01 1.04835997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.47, Y:45.66, Z:1.05 [[ 6.40750459e-01 -7.67725351e-01 -6.05263315e-03 1.03467335e+02] [ 7.67690199e-01 6.40779043e-01 -7.34685400e-03 4.56581993e+01] [ 9.51876654e-03 6.09529282e-05 9.99954694e-01 1.04829437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.48, Y:45.68, Z:1.05 [[ 6.40357149e-01 -7.68053457e-01 -6.05051759e-03 1.03484760e+02] [ 7.68018303e-01 6.40385731e-01 -7.34859586e-03 4.56786751e+01] [ 9.51877958e-03 5.88176481e-05 9.99954694e-01 1.04830262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.50, Y:45.70, Z:1.05 [[ 6.38841578e-01 -7.69314530e-01 -6.04908072e-03 1.03503650e+02] [ 7.69279422e-01 6.38870215e-01 -7.34977845e-03 4.56980539e+01] [ 9.51886885e-03 4.19107429e-05 9.99954694e-01 1.04770697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.52, Y:45.72, Z:1.05 [[ 6.37474543e-01 -7.70447681e-01 -6.04796086e-03 1.03522372e+02] [ 7.70412614e-01 6.37503232e-01 -7.35069984e-03 4.57186374e+01] [ 9.51892424e-03 2.64586834e-05 9.99954694e-01 1.04778810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.54, Y:45.74, Z:1.05 [[ 6.35875127e-01 -7.71768275e-01 -6.04589808e-03 1.03540807e+02] [ 7.71733252e-01 6.35903869e-01 -7.35239607e-03 4.57382708e+01] [ 9.51895601e-03 9.38519351e-06 9.99954694e-01 1.04746539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.56, Y:45.76, Z:1.05 [[ 6.31371171e-01 -7.75457223e-01 -6.04477551e-03 1.03561444e+02] [ 7.75422360e-01 6.31400105e-01 -7.35331887e-03 4.57576732e+01] [ 9.51885613e-03 -4.45805475e-05 9.99954694e-01 1.04704834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.58, Y:45.78, Z:1.05 [[ 6.28573235e-01 -7.77726927e-01 -6.04273928e-03 1.03581311e+02] [ 7.77692152e-01 6.28602276e-01 -7.35499180e-03 4.57781053e+01] [ 9.51865484e-03 -7.62399232e-05 9.99954694e-01 1.04681512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.60, Y:45.80, Z:1.05 [[ 6.25815765e-01 -7.79947523e-01 -6.04071597e-03 1.03601199e+02] [ 7.79912834e-01 6.25844909e-01 -7.35665320e-03 4.57980924e+01] [ 9.51835477e-03 -1.07322365e-04 9.99954694e-01 1.04745811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.62, Y:45.82, Z:1.05 [[ 6.22604501e-01 -7.82513368e-01 -6.03863657e-03 1.03620780e+02] [ 7.82478783e-01 6.22633768e-01 -7.35835966e-03 4.58180317e+01] [ 9.51787383e-03 -1.43757150e-04 9.99954694e-01 1.04778772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.90762800000002 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:103.64, Y:45.84, Z:1.05 [[ 6.16364414e-01 -7.87437914e-01 -6.03656609e-03 1.03642643e+02] [ 7.87403547e-01 6.16393936e-01 -7.36005782e-03 4.58370874e+01] [ 9.51649131e-03 -2.16735828e-04 9.99954694e-01 1.04605811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.66, Y:45.86, Z:1.05 [[ 6.13670807e-01 -7.89538932e-01 -6.03449463e-03 1.03663388e+02] [ 7.89504649e-01 6.13700427e-01 -7.36175581e-03 4.58579562e+01] [ 9.51576475e-03 -2.46566934e-04 9.99954694e-01 1.04930246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:45.88, Z:1.05 [[ 6.10365487e-01 -7.92096951e-01 -6.03268981e-03 1.03682852e+02] [ 7.92062777e-01 6.10395233e-01 -7.36323450e-03 4.58779530e+01] [ 9.51472069e-03 -2.84004834e-04 9.99954694e-01 1.04948999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:45.90, Z:1.05 [[ 6.04979018e-01 -7.96218575e-01 -6.03062628e-03 1.03698278e+02] [ 7.96184587e-01 6.05008976e-01 -7.36492418e-03 4.58982404e+01] [ 9.51267247e-03 -3.45867098e-04 9.99954694e-01 1.04947053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.02762800000002 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:103.72, Y:45.92, Z:1.05 [[ 6.01526329e-01 -7.98830716e-01 -5.96352401e-03 1.03723427e+02] [ 7.98796313e-01 6.01555814e-01 -7.41982055e-03 4.59183203e+01] [ 9.51457310e-03 -3.00423573e-04 9.99954690e-01 1.04839450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:45.94, Z:1.05 [[ 5.99616698e-01 -8.00264626e-01 -6.02854678e-03 1.03742224e+02] [ 8.00230823e-01 5.99646865e-01 -7.36660848e-03 4.59381462e+01] [ 9.51023535e-03 -4.07087500e-04 9.99954694e-01 1.05109499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:45.96, Z:1.05 [[ 5.97836843e-01 -8.01595153e-01 -6.02665894e-03 1.03761346e+02] [ 8.01561402e-01 5.97867067e-01 -7.36815261e-03 4.59588264e+01] [ 9.50941632e-03 -4.25784094e-04 9.99954694e-01 1.05227353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:45.98, Z:1.05 [[ 5.96705158e-01 -8.02437947e-01 -6.02457526e-03 1.03780103e+02] [ 8.02404222e-01 5.96735411e-01 -7.36985593e-03 4.59793921e+01] [ 9.50892946e-03 -4.36513570e-04 9.99954694e-01 1.05346172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:46.00, Z:1.05 [[ 5.95831635e-01 -8.03086790e-01 -6.02249034e-03 1.03798331e+02] [ 8.03053080e-01 5.95861906e-01 -7.37155929e-03 4.59996769e+01] [ 9.50857446e-03 -4.44171195e-04 9.99954694e-01 1.05427186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.82, Y:46.02, Z:1.05 [[ 5.96082232e-01 -8.02900819e-01 -6.02060916e-03 1.03816395e+02] [ 8.02867084e-01 5.96112475e-01 -7.37309539e-03 4.60213783e+01] [ 9.50882456e-03 -4.38777769e-04 9.99954694e-01 1.05446424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:46.04, Z:1.05 [[ 5.96748573e-01 -8.02405707e-01 -6.01851561e-03 1.03833575e+02] [ 8.02371930e-01 5.96778768e-01 -7.37480393e-03 4.60420786e+01] [ 9.50930709e-03 -4.28184264e-04 9.99954694e-01 1.05423902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.85, Y:46.06, Z:1.05 [[ 5.97588065e-01 -8.01780708e-01 -6.01663703e-03 1.03851131e+02] [ 8.01746884e-01 5.97618208e-01 -7.37633622e-03 4.60635762e+01] [ 9.50985592e-03 -4.15809507e-04 9.99954694e-01 1.05459576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.87, Y:46.09, Z:1.05 [[ 6.00758342e-01 -7.99408056e-01 -6.01455540e-03 1.03868034e+02] [ 7.99374096e-01 6.00788331e-01 -7.37803316e-03 4.60854670e+01] [ 9.51153385e-03 -3.75464815e-04 9.99954694e-01 1.05493879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:46.11, Z:1.06 [[ 6.02715820e-01 -7.97933262e-01 -6.01246610e-03 1.03885561e+02] [ 7.97899212e-01 6.02745707e-01 -7.37973537e-03 4.61078071e+01] [ 9.51252445e-03 -3.49458716e-04 9.99954694e-01 1.05532963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.90, Y:46.13, Z:1.06 [[ 6.04823807e-01 -7.96336636e-01 -6.01037840e-03 1.03903261e+02] [ 7.96302490e-01 6.04853585e-01 -7.38143529e-03 4.61298994e+01] [ 9.51350627e-03 -3.21611485e-04 9.99954694e-01 1.05556645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.92, Y:46.15, Z:1.06 [[ 6.07076159e-01 -7.94620940e-01 -6.00829864e-03 1.03920315e+02] [ 7.94586693e-01 6.07105820e-01 -7.38312778e-03 4.61516275e+01] [ 9.51446100e-03 -2.91993297e-04 9.99954694e-01 1.05595614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.94, Y:46.18, Z:1.06 [[ 6.11572223e-01 -7.91165812e-01 -6.00622120e-03 1.03936492e+02] [ 7.91131381e-01 6.11601670e-01 -7.38481740e-03 4.61751320e+01] [ 9.51602997e-03 -2.35360877e-04 9.99954694e-01 1.05509227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:46.20, Z:1.05 [[ 6.13923218e-01 -7.89342912e-01 -6.00409125e-03 1.03952796e+02] [ 7.89308377e-01 6.13952543e-01 -7.38654871e-03 4.61967215e+01] [ 9.51674696e-03 -2.04305765e-04 9.99954694e-01 1.05420996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.97, Y:46.22, Z:1.05 [[ 6.15947415e-01 -7.87764398e-01 -6.00292077e-03 1.03969891e+02] [ 7.87729778e-01 6.15976640e-01 -7.38749982e-03 4.62190236e+01] [ 9.51726831e-03 -1.78368035e-04 9.99954694e-01 1.05389741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.99, Y:46.24, Z:1.05 [[ 6.18111085e-01 -7.86067857e-01 -6.00085496e-03 1.03986359e+02] [ 7.86033141e-01 6.18140196e-01 -7.38917749e-03 4.62400024e+01] [ 9.51776458e-03 -1.49538355e-04 9.99954694e-01 1.05356963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.00, Y:46.26, Z:1.05 [[ 6.22467036e-01 -7.82623026e-01 -5.99901016e-03 1.04003321e+02] [ 7.82588134e-01 6.22495936e-01 -7.39067491e-03 4.62626396e+01] [ 9.51847181e-03 -9.43026604e-05 9.99954694e-01 1.05270133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.02, Y:46.28, Z:1.05 [[ 6.22253357e-01 -7.82792946e-01 -5.99699412e-03 1.04021276e+02] [ 7.82758046e-01 6.22282247e-01 -7.39231042e-03 4.62849024e+01] [ 9.51847143e-03 -9.43054203e-05 9.99954694e-01 1.05297246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.04, Y:46.31, Z:1.05 [[ 6.24182758e-01 -7.81255365e-01 -5.99497548e-03 1.04038802e+02] [ 7.81220378e-01 6.24211543e-01 -7.39394713e-03 4.63067294e+01] [ 9.51869375e-03 -6.82226964e-05 9.99954694e-01 1.05380423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.06, Y:46.33, Z:1.05 [[ 6.25870399e-01 -7.79904052e-01 -5.99286273e-03 1.04055478e+02] [ 7.79868987e-01 6.25899088e-01 -7.39565913e-03 4.63276572e+01] [ 9.51883184e-03 -4.49236553e-05 9.99954694e-01 1.05318378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:46.35, Z:1.05 [[ 6.28469589e-01 -7.77811079e-01 -5.99170628e-03 1.04073504e+02] [ 7.77775910e-01 6.28498150e-01 -7.39659593e-03 4.63495624e+01] [ 9.51893058e-03 -1.16692015e-05 9.99954694e-01 1.05371531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:46.37, Z:1.05 [[ 6.29133095e-01 -7.77274516e-01 -5.98961098e-03 1.04091365e+02] [ 7.77239306e-01 6.29161606e-01 -7.39829227e-03 4.63713429e+01] [ 9.51893731e-03 -8.50570306e-07 9.99954694e-01 1.05405769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:46.39, Z:1.05 [[ 6.29940112e-01 -7.76620631e-01 -5.98751184e-03 1.04108800e+02] [ 7.76585375e-01 6.29968566e-01 -7.39999074e-03 4.63922246e+01] [ 9.51892973e-03 1.17368667e-05 9.99954694e-01 1.05346570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.13, Y:46.41, Z:1.05 [[ 6.30484740e-01 -7.76178560e-01 -5.98633820e-03 1.04127126e+02] [ 7.76143275e-01 6.30513158e-01 -7.40094005e-03 4.64134442e+01] [ 9.51891599e-03 1.99236217e-05 9.99954694e-01 1.05464812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.15, Y:46.43, Z:1.06 [[ 6.31772591e-01 -7.75130687e-01 -5.98425192e-03 1.04146626e+02] [ 7.75095339e-01 6.31800931e-01 -7.40262659e-03 4.64333916e+01] [ 9.51885897e-03 3.84108112e-05 9.99954694e-01 1.05582617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.17, Y:46.45, Z:1.06 [[ 6.32255690e-01 -7.74736701e-01 -5.98214922e-03 1.04165375e+02] [ 7.74701320e-01 6.32283988e-01 -7.40432541e-03 4.64547012e+01] [ 9.51881981e-03 4.70479773e-05 9.99954694e-01 1.05640919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:46.48, Z:1.06 [[ 6.33006535e-01 -7.74123353e-01 -5.98005121e-03 1.04183511e+02] [ 7.74087928e-01 6.33034779e-01 -7.40601947e-03 4.64752875e+01] [ 9.51875302e-03 5.89732740e-05 9.99954694e-01 1.05652733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:46.50, Z:1.06 [[ 6.33515838e-01 -7.73706627e-01 -5.97818217e-03 1.04202205e+02] [ 7.73671169e-01 6.33544040e-01 -7.40752786e-03 4.64968401e+01] [ 9.51869508e-03 6.76390255e-05 9.99954694e-01 1.05670014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.22, Y:46.52, Z:1.05 [[ 6.34490787e-01 -7.72907322e-01 -5.97606896e-03 1.04221703e+02] [ 7.72871812e-01 6.34518924e-01 -7.40923232e-03 4.65166058e+01] [ 9.51857875e-03 8.23543959e-05 9.99954694e-01 1.05456396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.24, Y:46.54, Z:1.05 [[ 6.34737588e-01 -7.72704661e-01 -5.97497683e-03 1.04241352e+02] [ 7.72669135e-01 6.34765704e-01 -7.41011293e-03 4.65382586e+01] [ 9.51853918e-03 8.67970387e-05 9.99954694e-01 1.05426273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:46.56, Z:1.05 [[ 6.34753516e-01 -7.72691592e-01 -5.97315260e-03 1.04261105e+02] [ 7.72656051e-01 6.34781613e-01 -7.41158312e-03 4.65598276e+01] [ 9.51851540e-03 8.93359446e-05 9.99954694e-01 1.05361726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.957628 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:104.28, Y:46.58, Z:1.05 [[ 6.34326120e-01 -7.73042506e-01 -5.97130190e-03 1.04280032e+02] [ 7.73006967e-01 6.34354220e-01 -7.41307388e-03 4.65804624e+01] [ 9.51854176e-03 8.64484258e-05 9.99954694e-01 1.05077454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:46.60, Z:1.05 [[ 6.34076731e-01 -7.73247082e-01 -5.97064804e-03 1.04299103e+02] [ 7.73211547e-01 6.34104836e-01 -7.41360047e-03 4.66017766e+01] [ 9.51856173e-03 8.42175430e-05 9.99954694e-01 1.05293939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.32, Y:46.62, Z:1.05 [[ 6.33524477e-01 -7.73699627e-01 -5.96856660e-03 1.04316177e+02] [ 7.73664096e-01 6.33552587e-01 -7.41527582e-03 4.66238480e+01] [ 9.51859695e-03 8.00930598e-05 9.99954694e-01 1.05358645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:46.65, Z:1.05 [[ 6.32337154e-01 -7.74670333e-01 -5.96651069e-03 1.04333345e+02] [ 7.74634829e-01 6.32365299e-01 -7.41692969e-03 4.66460055e+01] [ 9.51868970e-03 6.81332249e-05 9.99954694e-01 1.05445584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:46.67, Z:1.06 [[ 6.28505464e-01 -7.77782301e-01 -5.96443286e-03 1.04350706e+02] [ 7.77746921e-01 6.28533763e-01 -7.41860023e-03 4.66678665e+01] [ 9.51890339e-03 2.38114839e-05 9.99954694e-01 1.05690007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:46.69, Z:1.06 [[ 6.25517735e-01 -7.80187157e-01 -5.96351134e-03 1.04368799e+02] [ 7.80151878e-01 6.25546162e-01 -7.41934093e-03 4.66898389e+01] [ 9.51892613e-03 -1.15152364e-05 9.99954694e-01 1.05916566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.137628 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:104.39, Y:46.71, Z:1.06 [[ 6.21619652e-01 -7.83296540e-01 -5.96148740e-03 1.04385954e+02] [ 7.83261388e-01 6.21648235e-01 -7.42096682e-03 4.67114622e+01] [ 9.51876575e-03 -5.63840798e-05 9.99954694e-01 1.05892673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.167628 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:104.40, Y:46.73, Z:1.06 [[ 6.17850938e-01 -7.86272663e-01 -5.95959494e-03 1.04403110e+02] [ 7.86237635e-01 6.17879672e-01 -7.42248630e-03 4.67330471e+01] [ 9.51841064e-03 -9.96677052e-05 9.99954694e-01 1.05862606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.42, Y:46.76, Z:1.06 [[ 6.14164021e-01 -7.89155917e-01 -5.95772411e-03 1.04420846e+02] [ 7.89121008e-01 6.14192900e-01 -7.42398763e-03 4.67555867e+01] [ 9.51787562e-03 -1.41819163e-04 9.99954694e-01 1.06249143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.44, Y:46.78, Z:1.06 [[ 6.05503868e-01 -7.95820076e-01 -5.95591830e-03 1.04438235e+02] [ 7.95785471e-01 6.05533110e-01 -7.42543607e-03 4.67779546e+01] [ 9.51581683e-03 -2.43502991e-04 9.99954694e-01 1.06379210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.45, Y:46.80, Z:1.06 [[ 6.00991108e-01 -7.99233533e-01 -5.95385471e-03 1.04454741e+02] [ 7.99199077e-01 6.01020527e-01 -7.42709033e-03 4.68001293e+01] [ 9.51436853e-03 -2.94699945e-04 9.99954694e-01 1.06435123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.47, Y:46.82, Z:1.06 [[ 5.96571323e-01 -8.02537995e-01 -5.95176158e-03 1.04470855e+02] [ 8.02503685e-01 5.96600912e-01 -7.42876730e-03 4.68217274e+01] [ 9.51269439e-03 -3.44521065e-04 9.99954694e-01 1.06430843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.49, Y:46.84, Z:1.07 [[ 5.92057805e-01 -8.05873535e-01 -5.94987186e-03 1.04487530e+02] [ 8.05839377e-01 5.92087569e-01 -7.43028050e-03 4.68439232e+01] [ 9.51071158e-03 -3.95485469e-04 9.99954694e-01 1.06516176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.34762800000001 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:104.50, Y:46.87, Z:1.06 [[ 5.83788135e-01 -8.11884252e-01 -5.94772718e-03 1.04503135e+02] [ 8.11850382e-01 5.83818227e-01 -7.43199686e-03 4.68673636e+01] [ 9.50631275e-03 -4.89953002e-04 9.99954694e-01 1.06111016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.52, Y:46.89, Z:1.06 [[ 5.81007135e-01 -8.13876739e-01 -5.94661852e-03 1.04519850e+02] [ 8.13842964e-01 5.81037332e-01 -7.43288384e-03 4.68902023e+01] [ 9.50465862e-03 -5.21055104e-04 9.99954694e-01 1.06294785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.54, Y:46.91, Z:1.06 [[ 5.78792298e-01 -8.15453333e-01 -5.94449572e-03 1.04535680e+02] [ 8.15419623e-01 5.78822568e-01 -7.43458118e-03 4.69116749e+01] [ 9.50336228e-03 -5.44180128e-04 9.99954694e-01 1.06255350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.55, Y:46.93, Z:1.06 [[ 5.77121115e-01 -8.16636947e-01 -5.94265641e-03 1.04552009e+02] [ 8.16603284e-01 5.77151437e-01 -7.43605109e-03 4.69346713e+01] [ 9.50236675e-03 -5.61290639e-04 9.99954694e-01 1.06283595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.46762800000002 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:104.57, Y:46.96, Z:1.06 [[ 5.76487342e-01 -8.17084484e-01 -5.94056586e-03 1.04565661e+02] [ 8.17050828e-01 5.76517672e-01 -7.43772083e-03 4.69599914e+01] [ 9.50208748e-03 -5.65992343e-04 9.99954694e-01 1.05983347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.58, Y:46.98, Z:1.06 [[ 5.78247371e-01 -8.15839882e-01 -5.93849257e-03 1.04580833e+02] [ 8.15806143e-01 5.78277609e-01 -7.43937584e-03 4.69836770e+01] [ 9.50343679e-03 -5.42859198e-04 9.99954694e-01 1.06271916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.60, Y:47.01, Z:1.06 [[ 5.80473885e-01 -8.14257225e-01 -5.93644182e-03 1.04595384e+02] [ 8.14223387e-01 5.80504012e-01 -7.44101193e-03 4.70070349e+01] [ 9.50502601e-03 -5.14276663e-04 9.99954694e-01 1.06303610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.61, Y:47.03, Z:1.06 [[ 5.86946229e-01 -8.09604163e-01 -5.93504200e-03 1.04608223e+02] [ 8.09570074e-01 5.86976072e-01 -7.44212827e-03 4.70334644e+01] [ 9.50890567e-03 -4.36703274e-04 9.99954694e-01 1.06472561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.62, Y:47.06, Z:1.07 [[ 5.90524254e-01 -8.06998082e-01 -5.93304966e-03 1.04622969e+02] [ 8.06963846e-01 5.90553928e-01 -7.44371628e-03 4.70573705e+01] [ 9.51085054e-03 -3.92061567e-04 9.99954694e-01 1.06601139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.64, Y:47.08, Z:1.07 [[ 5.94058283e-01 -8.04400137e-01 -5.93098568e-03 1.04638127e+02] [ 8.04365755e-01 5.94087788e-01 -7.44536045e-03 4.70816365e+01] [ 9.51257512e-03 -3.47703726e-04 9.99954694e-01 1.06742699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.65, Y:47.11, Z:1.07 [[ 5.97694753e-01 -8.01701834e-01 -5.92887448e-03 1.04653338e+02] [ 8.01667302e-01 5.97724082e-01 -7.44704126e-03 4.71055285e+01] [ 9.51413769e-03 -3.01927324e-04 9.99954694e-01 1.06815946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.67, Y:47.13, Z:1.07 [[ 6.01420090e-01 -7.98910977e-01 -5.92677006e-03 1.04668087e+02] [ 7.98876293e-01 6.01449238e-01 -7.44871569e-03 4.71282494e+01] [ 9.51551207e-03 -2.54948836e-04 9.99954694e-01 1.06897721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:47.15, Z:1.07 [[ 6.08437285e-01 -7.93579837e-01 -5.92558560e-03 1.04681174e+02] [ 7.93544888e-01 6.08466115e-01 -7.44965783e-03 4.71533164e+01] [ 9.51741630e-03 -1.69568579e-04 9.99954694e-01 1.06945482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.70, Y:47.18, Z:1.07 [[ 6.11366482e-01 -7.91325430e-01 -5.92351573e-03 1.04696439e+02] [ 7.91290359e-01 6.11395164e-01 -7.45130330e-03 4.71776727e+01] [ 9.51801466e-03 -1.31743798e-04 9.99954694e-01 1.06922744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.71, Y:47.20, Z:1.07 [[ 6.14160760e-01 -7.89158728e-01 -5.92145683e-03 1.04711518e+02] [ 7.89123539e-01 6.14189298e-01 -7.45293913e-03 4.72010144e+01] [ 9.51844737e-03 -9.54582157e-05 9.99954694e-01 1.06898647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.73, Y:47.22, Z:1.07 [[ 6.16631624e-01 -7.87229574e-01 -5.91937653e-03 1.04727046e+02] [ 7.87194280e-01 6.16660032e-01 -7.45459101e-03 4.72244769e+01] [ 9.51871742e-03 -6.29627843e-05 9.99954694e-01 1.06868187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.74, Y:47.25, Z:1.07 [[ 6.20409232e-01 -7.84255935e-01 -5.91726323e-03 1.04741575e+02] [ 7.84220489e-01 6.20437449e-01 -7.45626811e-03 4.72484532e+01] [ 9.51891422e-03 -1.45014966e-05 9.99954694e-01 1.06865642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.76, Y:47.27, Z:1.07 [[ 6.21567916e-01 -7.83337946e-01 -5.91513084e-03 1.04757916e+02] [ 7.83302442e-01 6.21596061e-01 -7.45795937e-03 4.72709097e+01] [ 9.51892460e-03 2.29182829e-06 9.99954694e-01 1.06918556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.77, Y:47.29, Z:1.07 [[ 6.22592234e-01 -7.82524087e-01 -5.91300378e-03 1.04773980e+02] [ 7.82488530e-01 6.22620312e-01 -7.45964542e-03 4.72923748e+01] [ 9.51890848e-03 1.74596666e-05 9.99954694e-01 1.06897178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.79, Y:47.31, Z:1.07 [[ 6.23231513e-01 -7.82015046e-01 -5.91181533e-03 1.04790813e+02] [ 7.81979457e-01 6.23259551e-01 -7.46058715e-03 4.73140468e+01] [ 9.51888677e-03 2.67548710e-05 9.99954694e-01 1.06893832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.81, Y:47.34, Z:1.07 [[ 6.23267776e-01 -7.81986153e-01 -5.91065531e-03 1.04808211e+02] [ 7.81950555e-01 6.23295801e-01 -7.46150607e-03 4.73357602e+01] [ 9.51888106e-03 2.86760987e-05 9.99954694e-01 1.06880317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.83, Y:47.36, Z:1.07 [[ 6.22856048e-01 -7.82314152e-01 -5.90855864e-03 1.04825152e+02] [ 7.82278553e-01 6.22884071e-01 -7.46316599e-03 4.73565272e+01] [ 9.51888744e-03 2.63393644e-05 9.99954694e-01 1.06852615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:47.38, Z:1.07 [[ 6.21926120e-01 -7.83053641e-01 -5.90740487e-03 1.04843526e+02] [ 7.83018066e-01 6.21954175e-01 -7.46407914e-03 4.73783293e+01] [ 9.51890946e-03 1.65010393e-05 9.99954694e-01 1.06869944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.86, Y:47.40, Z:1.07 [[ 6.19182167e-01 -7.85225173e-01 -5.90531766e-03 1.04863899e+02] [ 7.85189681e-01 6.19210326e-01 -7.46573010e-03 4.73985684e+01] [ 9.51891288e-03 -1.41475485e-05 9.99954694e-01 1.06991767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:47.42, Z:1.07 [[ 6.17284975e-01 -7.86717492e-01 -5.90322337e-03 1.04882845e+02] [ 7.86682052e-01 6.17313200e-01 -7.46738571e-03 4.74198680e+01] [ 9.51886066e-03 -3.44548690e-05 9.99954694e-01 1.07070354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:47.44, Z:1.07 [[ 6.15560905e-01 -7.88067224e-01 -5.90113067e-03 1.04901326e+02] [ 7.88031830e-01 6.15589188e-01 -7.46903911e-03 4.74403736e+01] [ 9.51877715e-03 -5.26303294e-05 9.99954694e-01 1.07164168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:47.46, Z:1.07 [[ 6.13306010e-01 -7.89823353e-01 -5.89996029e-03 1.04919707e+02] [ 7.89788032e-01 6.13334382e-01 -7.46996350e-03 4.74609944e+01] [ 9.51860012e-03 -7.83445142e-05 9.99954694e-01 1.07208958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:47.48, Z:1.07 [[ 6.09452713e-01 -7.92800481e-01 -5.89808460e-03 1.04940146e+02] [ 7.92765284e-01 6.09481240e-01 -7.47144421e-03 4.74812088e+01] [ 9.51813648e-03 -1.22304765e-04 9.99954694e-01 1.07256160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.96, Y:47.50, Z:1.07 [[ 6.07889692e-01 -7.93999597e-01 -5.89597666e-03 1.04958093e+02] [ 7.93964440e-01 6.07918268e-01 -7.47310728e-03 4.75015998e+01] [ 9.51791609e-03 -1.38370923e-04 9.99954694e-01 1.07217051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.98, Y:47.52, Z:1.07 [[ 6.06109890e-01 -7.95359072e-01 -5.89482641e-03 1.04976272e+02] [ 7.95323970e-01 6.06138534e-01 -7.47401450e-03 4.75225954e+01] [ 9.51760667e-03 -1.58222637e-04 9.99954694e-01 1.07187919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.99, Y:47.54, Z:1.07 [[ 6.04743628e-01 -7.96398406e-01 -5.89269844e-03 1.04994487e+02] [ 7.96363337e-01 6.04772312e-01 -7.47569186e-03 4.75427815e+01] [ 9.51736994e-03 -1.71851975e-04 9.99954694e-01 1.07163618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.01, Y:47.56, Z:1.07 [[ 6.01669144e-01 -7.98723689e-01 -5.89154342e-03 1.05014762e+02] [ 7.98688722e-01 6.01697952e-01 -7.47660201e-03 4.75626153e+01] [ 9.51666875e-03 -2.07068557e-04 9.99954694e-01 1.07192473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.03, Y:47.58, Z:1.07 [[ 6.00533377e-01 -7.99578000e-01 -5.88940230e-03 1.05032246e+02] [ 7.99543057e-01 6.00562216e-01 -7.47828822e-03 4.75827036e+01] [ 9.51642723e-03 -2.17869044e-04 9.99954694e-01 1.07238833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.05, Y:47.60, Z:1.07 [[ 5.99684729e-01 -8.00214693e-01 -5.88822233e-03 1.05049884e+02] [ 8.00179771e-01 5.99713594e-01 -7.47921718e-03 4.76029699e+01] [ 9.51622645e-03 -2.26464065e-04 9.99954694e-01 1.07271746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.07, Y:47.62, Z:1.07 [[ 5.98580181e-01 -8.01041271e-01 -5.88633326e-03 1.05068472e+02] [ 8.01006375e-01 5.98609076e-01 -7.48070364e-03 4.76225939e+01] [ 9.51596486e-03 -2.37189529e-04 9.99954694e-01 1.07335517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.09, Y:47.64, Z:1.07 [[ 5.97952284e-01 -8.01510096e-01 -5.88492616e-03 1.05086618e+02] [ 8.01475212e-01 5.97981193e-01 -7.48181041e-03 4.76438037e+01] [ 9.51582174e-03 -2.42856820e-04 9.99954694e-01 1.07383099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.10, Y:47.67, Z:1.07 [[ 5.97733838e-01 -8.01673032e-01 -5.88288478e-03 1.05104229e+02] [ 8.01638140e-01 5.97762737e-01 -7.48341519e-03 4.76663351e+01] [ 9.51582145e-03 -2.42854334e-04 9.99954694e-01 1.07410211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.12, Y:47.69, Z:1.07 [[ 5.97179351e-01 -8.02086179e-01 -5.88084491e-03 1.05122552e+02] [ 8.02051291e-01 5.97208256e-01 -7.48501788e-03 4.76878380e+01] [ 9.51571852e-03 -2.46841135e-04 9.99954694e-01 1.07478317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.14, Y:47.71, Z:1.07 [[ 5.96794854e-01 -8.02372322e-01 -5.87878114e-03 1.05139882e+02] [ 8.02337432e-01 5.96823756e-01 -7.48663842e-03 4.77083244e+01] [ 9.51566769e-03 -2.48778885e-04 9.99954694e-01 1.07496112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.16, Y:47.73, Z:1.08 [[ 5.96682334e-01 -8.02456014e-01 -5.87691915e-03 1.05157544e+02] [ 8.02421114e-01 5.96711224e-01 -7.48809978e-03 4.77295736e+01] [ 9.51569431e-03 -2.47747160e-04 9.99954694e-01 1.07613762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.18, Y:47.75, Z:1.08 [[ 5.98076958e-01 -8.01417144e-01 -5.87483584e-03 1.05175332e+02] [ 8.01382178e-01 5.98105767e-01 -7.48973389e-03 4.77496460e+01] [ 9.51617434e-03 -2.28551481e-04 9.99954694e-01 1.07681852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.19, Y:47.77, Z:1.08 [[ 5.99004790e-01 -8.00723903e-01 -5.87295555e-03 1.05192807e+02] [ 8.00688889e-01 5.99033542e-01 -7.49120800e-03 4.77711165e+01] [ 9.51648668e-03 -2.15140779e-04 9.99954694e-01 1.07710599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.21, Y:47.79, Z:1.08 [[ 6.00272048e-01 -7.99774344e-01 -5.87085412e-03 1.05209953e+02] [ 7.99739268e-01 6.00300725e-01 -7.49285453e-03 4.77926954e+01] [ 9.51687080e-03 -1.97401436e-04 9.99954694e-01 1.07682147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.23, Y:47.81, Z:1.08 [[ 6.01966298e-01 -7.98499925e-01 -5.86897024e-03 1.05227116e+02] [ 7.98464775e-01 6.01994883e-01 -7.49432983e-03 4.78138152e+01] [ 9.51731187e-03 -1.74832014e-04 9.99954694e-01 1.07638987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.25, Y:47.84, Z:1.08 [[ 6.05402279e-01 -7.95898020e-01 -5.86710661e-03 1.05245232e+02] [ 7.95862732e-01 6.05430694e-01 -7.49578854e-03 4.78357566e+01] [ 9.51800968e-03 -1.31444032e-04 9.99954694e-01 1.07641191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.26, Y:47.86, Z:1.08 [[ 6.07333904e-01 -7.94425031e-01 -5.86499697e-03 1.05263085e+02] [ 7.94389659e-01 6.07362214e-01 -7.49743884e-03 4.78573388e+01] [ 9.51833063e-03 -1.05644132e-04 9.99954694e-01 1.07623298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.28, Y:47.88, Z:1.08 [[ 6.09127028e-01 -7.93051001e-01 -5.86288246e-03 1.05281152e+02] [ 7.93015549e-01 6.09155237e-01 -7.49909199e-03 4.78793122e+01] [ 9.51856797e-03 -8.14573304e-05 9.99954694e-01 1.07614023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.30, Y:47.90, Z:1.08 [[ 6.10662711e-01 -7.91869121e-01 -5.86078036e-03 1.05298236e+02] [ 7.91833598e-01 6.10690832e-01 -7.50073449e-03 4.78998287e+01] [ 9.51872486e-03 -6.03439390e-05 9.99954694e-01 1.07622247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.32, Y:47.92, Z:1.08 [[ 6.13348620e-01 -7.89790566e-01 -5.85935082e-03 1.05316831e+02] [ 7.89754938e-01 6.13376606e-01 -7.50185104e-03 4.79208628e+01] [ 9.51887990e-03 -2.62012603e-05 9.99954694e-01 1.07698622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.33, Y:47.94, Z:1.08 [[ 6.14452763e-01 -7.88931869e-01 -5.85729374e-03 1.05334740e+02] [ 7.88896186e-01 6.14480680e-01 -7.50345682e-03 4.79427364e+01] [ 9.51891005e-03 -1.02769189e-05 9.99954694e-01 1.07736560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.35, Y:47.96, Z:1.08 [[ 6.15524675e-01 -7.88095864e-01 -5.85518812e-03 1.05351983e+02] [ 7.88060128e-01 6.15552523e-01 -7.50509954e-03 4.79631367e+01] [ 9.51891373e-03 5.33365699e-06 9.99954694e-01 1.07680900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.37, Y:47.98, Z:1.08 [[ 6.16408804e-01 -7.87404547e-01 -5.85375603e-03 1.05370446e+02] [ 7.87368768e-01 6.16436598e-01 -7.50621637e-03 4.79848584e+01] [ 9.51889835e-03 1.78331803e-05 9.99954694e-01 1.07723981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.39, Y:48.01, Z:1.08 [[ 6.17992498e-01 -7.86162217e-01 -5.85167045e-03 1.05389669e+02] [ 7.86126367e-01 6.18020200e-01 -7.50784188e-03 4.80056230e+01] [ 9.51883216e-03 3.96375243e-05 9.99954694e-01 1.07638208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.41, Y:48.03, Z:1.08 [[ 6.18514452e-01 -7.85751650e-01 -5.84956205e-03 1.05407991e+02] [ 7.85715767e-01 6.18542110e-01 -7.50948424e-03 4.80272992e+01] [ 9.51879008e-03 4.86313952e-05 9.99954694e-01 1.07646527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.43, Y:48.05, Z:1.08 [[ 6.18952985e-01 -7.85406271e-01 -5.84744414e-03 1.05426270e+02] [ 7.85370356e-01 6.18980603e-01 -7.51113303e-03 4.80486405e+01] [ 9.51874548e-03 5.66289243e-05 9.99954694e-01 1.07689063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.45, Y:48.07, Z:1.08 [[ 6.19527318e-01 -7.84953333e-01 -5.84533816e-03 1.05445691e+02] [ 7.84917382e-01 6.19554890e-01 -7.51277160e-03 4.80680242e+01] [ 9.51868294e-03 6.62597181e-05 9.99954694e-01 1.07760946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.46, Y:48.09, Z:1.08 [[ 6.19684056e-01 -7.84829616e-01 -5.84343440e-03 1.05464645e+02] [ 7.84793646e-01 6.19711602e-01 -7.51425205e-03 4.80891508e+01] [ 9.51865164e-03 7.05719980e-05 9.99954694e-01 1.07858571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.48, Y:48.11, Z:1.08 [[ 6.19479600e-01 -7.84991022e-01 -5.84131282e-03 1.05483374e+02] [ 7.84955043e-01 6.19507136e-01 -7.51590093e-03 4.81106797e+01] [ 9.51864972e-03 7.07793478e-05 9.99954694e-01 1.07897331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.50, Y:48.13, Z:1.08 [[ 6.19756751e-01 -7.84772243e-01 -5.83917637e-03 1.05503200e+02] [ 7.84736240e-01 6.19784253e-01 -7.51756039e-03 4.81296052e+01] [ 9.51860230e-03 7.68454938e-05 9.99954694e-01 1.07937526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.52, Y:48.15, Z:1.08 [[ 6.20249897e-01 -7.84382555e-01 -5.83726358e-03 1.05520895e+02] [ 7.84346520e-01 6.20277358e-01 -7.51904535e-03 4.81518358e+01] [ 9.51853043e-03 8.52497256e-05 9.99954694e-01 1.07998076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.54, Y:48.17, Z:1.08 [[ 6.20086526e-01 -7.84511728e-01 -5.83522941e-03 1.05537967e+02] [ 7.84475684e-01 6.20113975e-01 -7.52062366e-03 4.81742752e+01] [ 9.51852476e-03 8.58418210e-05 9.99954694e-01 1.08002568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.56, Y:48.20, Z:1.08 [[ 6.19585818e-01 -7.84907249e-01 -5.83311562e-03 1.05555063e+02] [ 7.84871207e-01 6.19613270e-01 -7.52226279e-03 4.81970172e+01] [ 9.51855443e-03 8.24428448e-05 9.99954694e-01 1.07950078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.57, Y:48.22, Z:1.08 [[ 6.19035381e-01 -7.85341453e-01 -5.83099230e-03 1.05571803e+02] [ 7.85305414e-01 6.19062838e-01 -7.52390835e-03 4.82202358e+01] [ 9.51858775e-03 7.84556451e-05 9.99954694e-01 1.07897790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.59, Y:48.24, Z:1.08 [[ 6.18798420e-01 -7.85528192e-01 -5.82884430e-03 1.05588434e+02] [ 7.85492147e-01 6.18825867e-01 -7.52557206e-03 4.82434884e+01] [ 9.51858864e-03 7.83006805e-05 9.99954694e-01 1.07795953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.60, Y:48.27, Z:1.08 [[ 6.17907666e-01 -7.86229080e-01 -5.82671718e-03 1.05604584e+02] [ 7.86193050e-01 6.17935134e-01 -7.52721864e-03 4.82663103e+01] [ 9.51865144e-03 7.02015527e-05 9.99954694e-01 1.07682131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:48.29, Z:1.08 [[ 6.17439405e-01 -7.86596882e-01 -5.82459012e-03 1.05621878e+02] [ 7.86560853e-01 6.17466874e-01 -7.52886420e-03 4.82884566e+01] [ 9.51867256e-03 6.72228607e-05 9.99954694e-01 1.07721383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.64, Y:48.31, Z:1.08 [[ 6.16729299e-01 -7.87153778e-01 -5.82247865e-03 1.05638233e+02] [ 7.87117759e-01 6.16756780e-01 -7.53049676e-03 4.83096476e+01] [ 9.51871216e-03 6.13016492e-05 9.99954694e-01 1.07759324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.66, Y:48.33, Z:1.08 [[ 6.16384304e-01 -7.87423971e-01 -5.82058376e-03 1.05655548e+02] [ 7.87387950e-01 6.16411783e-01 -7.53196110e-03 4.83322433e+01] [ 9.51872314e-03 5.95250854e-05 9.99954694e-01 1.07826693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.67, Y:48.35, Z:1.08 [[ 6.15600065e-01 -7.88037248e-01 -5.81849257e-03 1.05672399e+02] [ 7.88001239e-01 6.15627560e-01 -7.53357622e-03 4.83549589e+01] [ 9.51876305e-03 5.26906603e-05 9.99954694e-01 1.07943815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.69, Y:48.38, Z:1.08 [[ 6.13654079e-01 -7.89553571e-01 -5.81636213e-03 1.05688789e+02] [ 7.89517614e-01 6.13681642e-01 -7.53522068e-03 4.83761350e+01] [ 9.51885506e-03 3.18985586e-05 9.99954694e-01 1.08115772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:48.40, Z:1.08 [[ 6.11890887e-01 -7.90920814e-01 -5.81445467e-03 1.05705877e+02] [ 7.90884905e-01 6.11918512e-01 -7.53669226e-03 4.83981023e+01] [ 9.51889923e-03 1.30688790e-05 9.99954694e-01 1.08232594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:48.42, Z:1.08 [[ 6.07209258e-01 -7.94520694e-01 -5.81236114e-03 1.05723285e+02] [ 7.94484933e-01 6.07237075e-01 -7.53830646e-03 4.84201647e+01] [ 9.51882166e-03 -4.05038785e-05 9.99954694e-01 1.08364407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:48.44, Z:1.08 [[ 6.04290345e-01 -7.96743007e-01 -5.81025370e-03 1.05740947e+02] [ 7.96707333e-01 6.04318273e-01 -7.53993045e-03 4.84420978e+01] [ 9.51862935e-03 -7.27645546e-05 9.99954694e-01 1.08441121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.76, Y:48.46, Z:1.09 [[ 6.00647903e-01 -7.99492566e-01 -5.80809873e-03 1.05758145e+02] [ 7.99457003e-01 6.00675973e-01 -7.54159009e-03 4.84637097e+01] [ 9.51823056e-03 -1.13484933e-04 9.99954694e-01 1.08562803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.78, Y:48.49, Z:1.09 [[ 5.97881186e-01 -8.01563854e-01 -5.78572659e-03 1.05777062e+02] [ 8.01528222e-01 5.97909168e-01 -7.55881199e-03 4.84860197e+01] [ 9.51820945e-03 -1.18151668e-04 9.99954694e-01 1.08583434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.79, Y:48.51, Z:1.09 [[ 5.91262288e-01 -8.06458427e-01 -5.80627171e-03 1.05793885e+02] [ 8.06423181e-01 5.91290755e-01 -7.54299725e-03 4.85074831e+01] [ 9.51630848e-03 -2.22422287e-04 9.99954694e-01 1.08597480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:48.53, Z:1.09 [[ 5.88123977e-01 -8.08749960e-01 -5.80435993e-03 1.05809960e+02] [ 8.08714810e-01 5.88152562e-01 -7.54446809e-03 4.85305091e+01] [ 9.51543743e-03 -2.56989262e-04 9.99954694e-01 1.08558384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:48.55, Z:1.09 [[ 5.85081258e-01 -8.10953917e-01 -5.80228251e-03 1.05826433e+02] [ 8.10918859e-01 5.85109956e-01 -7.54606544e-03 4.85538402e+01] [ 9.51448460e-03 -2.90118855e-04 9.99954694e-01 1.08526955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:48.58, Z:1.08 [[ 5.81824285e-01 -8.13293833e-01 -5.80012980e-03 1.05842849e+02] [ 8.13258875e-01 5.81853104e-01 -7.54771972e-03 4.85757997e+01] [ 9.51333743e-03 -3.25560405e-04 9.99954694e-01 1.08454290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.86, Y:48.60, Z:1.09 [[ 5.75302143e-01 -8.17920427e-01 -5.79820954e-03 1.05859700e+02] [ 8.17885685e-01 5.75331223e-01 -7.54919459e-03 4.85985909e+01] [ 9.51053145e-03 -3.99204750e-04 9.99954694e-01 1.08508154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.88, Y:48.62, Z:1.09 [[ 5.72433225e-01 -8.19930856e-01 -5.79607233e-03 1.05876813e+02] [ 8.19896200e-01 5.72462406e-01 -7.55083513e-03 4.86214966e+01] [ 9.50919622e-03 -4.29828777e-04 9.99954694e-01 1.08563799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.89, Y:48.64, Z:1.09 [[ 5.69858188e-01 -8.21722627e-01 -5.79392940e-03 1.05892977e+02] [ 8.21688046e-01 5.69887459e-01 -7.55247909e-03 4.86433638e+01] [ 9.50793066e-03 -4.56960475e-04 9.99954694e-01 1.08601312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.91, Y:48.67, Z:1.09 [[ 5.67682666e-01 -8.23227091e-01 -5.79200897e-03 1.05909547e+02] [ 8.23192573e-01 5.67712010e-01 -7.55395158e-03 4.86666787e+01] [ 9.50681064e-03 -4.79691395e-04 9.99954694e-01 1.08619373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.92, Y:48.69, Z:1.09 [[ 5.66181489e-01 -8.24260273e-01 -5.78990786e-03 1.05924870e+02] [ 8.24225792e-01 5.66210877e-01 -7.55556168e-03 4.86903335e+01] [ 9.50605815e-03 -4.94372230e-04 9.99954694e-01 1.08634911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.94, Y:48.72, Z:1.09 [[ 5.65855587e-01 -8.24484055e-01 -5.78780174e-03 1.05938622e+02] [ 8.24449569e-01 5.65884969e-01 -7.55717470e-03 4.87158165e+01] [ 9.50600004e-03 -4.95481124e-04 9.99954694e-01 1.08571915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.95, Y:48.74, Z:1.09 [[ 5.66695044e-01 -8.23907309e-01 -5.78569974e-03 1.05954207e+02] [ 8.23872776e-01 5.66724372e-01 -7.55878363e-03 4.87396822e+01] [ 9.50663412e-03 -4.83155285e-04 9.99954694e-01 1.08652403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.97, Y:48.76, Z:1.09 [[ 5.68307831e-01 -8.22795697e-01 -5.78358271e-03 1.05969500e+02] [ 8.22761091e-01 5.68337072e-01 -7.56040312e-03 4.87627845e+01] [ 9.50769162e-03 -4.61870526e-04 9.99954694e-01 1.08756843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.98, Y:48.79, Z:1.09 [[ 5.70433777e-01 -8.21323250e-01 -5.78145045e-03 1.05984679e+02] [ 8.21288552e-01 5.70462909e-01 -7.56203331e-03 4.87865425e+01] [ 9.50897681e-03 -4.34599845e-04 9.99954694e-01 1.08837747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.00, Y:48.81, Z:1.09 [[ 5.75952851e-01 -8.17462484e-01 -5.77931198e-03 1.05996968e+02] [ 8.17427574e-01 5.75981729e-01 -7.56366729e-03 4.88115682e+01] [ 9.51179236e-03 -3.67853225e-04 9.99954694e-01 1.08851530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.01, Y:48.84, Z:1.09 [[ 5.79465645e-01 -8.14976189e-01 -5.77738357e-03 1.06012343e+02] [ 8.14941140e-01 5.79494354e-01 -7.56513999e-03 4.88355802e+01] [ 9.51337012e-03 -3.24488833e-04 9.99954694e-01 1.08897887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.03, Y:48.86, Z:1.09 [[ 5.83077475e-01 -8.12396027e-01 -5.77525960e-03 1.06027427e+02] [ 8.12360835e-01 5.83106009e-01 -7.56676108e-03 4.88594389e+01] [ 9.51479522e-03 -2.79586771e-04 9.99954694e-01 1.08921805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.04, Y:48.88, Z:1.09 [[ 5.87049224e-01 -8.09530654e-01 -5.77306649e-03 1.06041734e+02] [ 8.09495307e-01 5.87077564e-01 -7.56843395e-03 4.88824468e+01] [ 9.51611710e-03 -2.30226952e-04 9.99954694e-01 1.08871381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.05, Y:48.91, Z:1.09 [[ 5.95323366e-01 -8.03465478e-01 -5.77186153e-03 1.06054781e+02] [ 8.03429833e-01 5.95351331e-01 -7.56935277e-03 4.89077539e+01] [ 9.51799909e-03 -1.31073171e-04 9.99954694e-01 1.08833077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.07, Y:48.93, Z:1.09 [[ 5.99217774e-01 -8.00565281e-01 -5.76974823e-03 1.06070270e+02] [ 8.00529486e-01 5.99245545e-01 -7.57096329e-03 4.89317106e+01] [ 9.51854628e-03 -8.21978172e-05 9.99954694e-01 1.08790883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.09, Y:48.96, Z:1.09 [[ 6.02701302e-01 -7.97946035e-01 -5.76762159e-03 1.06085640e+02] [ 7.97910103e-01 6.02728897e-01 -7.57258304e-03 4.89552590e+01] [ 9.51882481e-03 -3.80378782e-05 9.99954694e-01 1.08745074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.10, Y:48.98, Z:1.09 [[ 6.08616586e-01 -7.93443515e-01 -5.76548695e-03 1.06100348e+02] [ 7.93407363e-01 6.08643893e-01 -7.57420793e-03 4.89795231e+01] [ 9.51883458e-03 3.54087678e-05 9.99954694e-01 1.08660802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.12, Y:49.00, Z:1.09 [[ 6.10625500e-01 -7.91898531e-01 -5.76334083e-03 1.06115837e+02] [ 7.91862294e-01 6.10652695e-01 -7.57584059e-03 4.90016070e+01] [ 9.51869664e-03 6.22291521e-05 9.99954694e-01 1.08649922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.13, Y:49.02, Z:1.09 [[ 6.12111999e-01 -7.90750086e-01 -5.76212757e-03 1.06132452e+02] [ 7.90713790e-01 6.12139114e-01 -7.57676328e-03 4.90239146e+01] [ 9.51854988e-03 8.16339848e-05 9.99954694e-01 1.08724360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.15, Y:49.05, Z:1.09 [[ 6.12650503e-01 -7.90332957e-01 -5.76000655e-03 1.06149436e+02] [ 7.90296628e-01 6.12677573e-01 -7.57837537e-03 4.90465481e+01] [ 9.51846666e-03 9.07817356e-05 9.99954694e-01 1.08784085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.17, Y:49.07, Z:1.09 [[ 6.12930505e-01 -7.90115842e-01 -5.75784595e-03 1.06166119e+02] [ 7.90079487e-01 6.12957541e-01 -7.58001658e-03 4.90680731e+01] [ 9.51840628e-03 9.68674146e-05 9.99954694e-01 1.08853885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.18, Y:49.09, Z:1.09 [[ 6.12709005e-01 -7.90287631e-01 -5.75637656e-03 1.06183353e+02] [ 7.90251273e-01 6.12736037e-01 -7.58113230e-03 4.90908952e+01] [ 9.51841445e-03 9.60441284e-05 9.99954694e-01 1.08881032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.20, Y:49.11, Z:1.09 [[ 6.11067486e-01 -7.91557589e-01 -5.75425095e-03 1.06201504e+02] [ 7.91521272e-01 6.11094573e-01 -7.58274534e-03 4.91123799e+01] [ 9.51857115e-03 7.89570940e-05 9.99954694e-01 1.08895887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.22, Y:49.13, Z:1.09 [[ 6.09451160e-01 -7.92802748e-01 -5.75213571e-03 1.06218768e+02] [ 7.92766471e-01 6.09478301e-01 -7.58434959e-03 4.91330613e+01] [ 9.51869509e-03 6.21903236e-05 9.99954694e-01 1.08864210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.24, Y:49.15, Z:1.09 [[ 6.07435535e-01 -7.94348164e-01 -5.75023665e-03 1.06236665e+02] [ 7.94311943e-01 6.07462750e-01 -7.58578913e-03 4.91546976e+01] [ 9.51881223e-03 4.03962310e-05 9.99954694e-01 1.08860284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.25, Y:49.18, Z:1.09 [[ 6.05491378e-01 -7.95831106e-01 -5.74814337e-03 1.06254114e+02] [ 7.95794937e-01 6.05518662e-01 -7.58737498e-03 4.91750833e+01] [ 9.51887711e-03 1.97467386e-05 9.99954694e-01 1.08838380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.27, Y:49.20, Z:1.09 [[ 6.01994502e-01 -7.98479555e-01 -5.74626712e-03 1.06273998e+02] [ 7.98443492e-01 6.02021926e-01 -7.58879569e-03 4.91959022e+01] [ 9.51887700e-03 -1.96563006e-05 9.99954694e-01 1.08759364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.29, Y:49.22, Z:1.09 [[ 6.00094097e-01 -7.99908793e-01 -5.74433208e-03 1.06292317e+02] [ 7.99872782e-01 6.00121588e-01 -7.59026013e-03 4.92173983e+01] [ 9.51881351e-03 -3.98645899e-05 9.99954694e-01 1.08736352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.31, Y:49.24, Z:1.09 [[ 5.98150104e-01 -8.01363513e-01 -5.74226799e-03 1.06309958e+02] [ 8.01327553e-01 5.98177663e-01 -7.59182136e-03 4.92377509e+01] [ 9.51870508e-03 -6.03888257e-05 9.99954694e-01 1.08737469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.33, Y:49.26, Z:1.09 [[ 5.96089224e-01 -8.02897680e-01 -5.74042445e-03 1.06328196e+02] [ 8.02861778e-01 5.96116858e-01 -7.59321506e-03 4.92588332e+01] [ 9.51853854e-03 -8.25337060e-05 9.99954694e-01 1.08723125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.35, Y:49.28, Z:1.09 [[ 5.91776525e-01 -8.06081643e-01 -5.73839240e-03 1.06347179e+02] [ 8.06045875e-01 5.91804332e-01 -7.59475043e-03 4.92778903e+01] [ 9.51799438e-03 -1.31012501e-04 9.99954694e-01 1.08710240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.37, Y:49.30, Z:1.09 [[ 5.89222219e-01 -8.07950659e-01 -5.73657667e-03 1.06365376e+02] [ 8.07914966e-01 5.89250123e-01 -7.59612166e-03 4.92991271e+01] [ 9.51757001e-03 -1.58862486e-04 9.99954694e-01 1.08772805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.38, Y:49.32, Z:1.09 [[ 5.86364456e-01 -8.10027062e-01 -5.73445770e-03 1.06384187e+02] [ 8.09991452e-01 5.86392465e-01 -7.59772098e-03 4.93203922e+01] [ 9.51700238e-03 -1.89828191e-04 9.99954694e-01 1.08791934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.40, Y:49.34, Z:1.09 [[ 5.80051241e-01 -8.14559819e-01 -5.73230439e-03 1.06404829e+02] [ 8.14524412e-01 5.80079506e-01 -7.59934525e-03 4.93405727e+01] [ 9.51531359e-03 -2.61092217e-04 9.99954694e-01 1.08770203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.42, Y:49.36, Z:1.09 [[ 5.76801234e-01 -8.16864433e-01 -5.73016404e-03 1.06423735e+02] [ 8.16829123e-01 5.76829620e-01 -7.60095881e-03 4.93618380e+01] [ 9.51428125e-03 -2.96322445e-04 9.99954694e-01 1.08839779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.44, Y:49.38, Z:1.09 [[ 5.73631609e-01 -8.19093381e-01 -5.72797535e-03 1.06441367e+02] [ 8.19058165e-01 5.73660111e-01 -7.60260781e-03 4.93819257e+01] [ 9.51315672e-03 -3.30448826e-04 9.99954694e-01 1.08688130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.46, Y:49.40, Z:1.09 [[ 5.71017809e-01 -8.20917700e-01 -5.72648884e-03 1.06459021e+02] [ 8.20882563e-01 5.71046409e-01 -7.60372733e-03 4.94033152e+01] [ 9.51212524e-03 -3.58911117e-04 9.99954694e-01 1.08940882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.48, Y:49.43, Z:1.09 [[ 5.68946198e-01 -8.22354823e-01 -5.72432023e-03 1.06476113e+02] [ 8.22319742e-01 5.68974868e-01 -7.60535958e-03 4.94257706e+01] [ 9.51129847e-03 -3.80181117e-04 9.99954694e-01 1.09009247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.49, Y:49.45, Z:1.09 [[ 5.65887778e-01 -8.24462419e-01 -5.72218073e-03 1.06493392e+02] [ 8.24427428e-01 5.65916557e-01 -7.60696897e-03 4.94482111e+01] [ 9.50993685e-03 -4.12831977e-04 9.99954694e-01 1.09140341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.51, Y:49.47, Z:1.09 [[ 5.64452641e-01 -8.25445636e-01 -5.72007349e-03 1.06510223e+02] [ 8.25410679e-01 5.64481462e-01 -7.60855318e-03 4.94706272e+01] [ 9.50932246e-03 -4.26741811e-04 9.99954694e-01 1.09236638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.53, Y:49.49, Z:1.09 [[ 5.63341121e-01 -8.26204627e-01 -5.71792477e-03 1.06526527e+02] [ 8.26169694e-01 5.63369970e-01 -7.61016763e-03 4.94925597e+01] [ 9.50886281e-03 -4.36855786e-04 9.99954694e-01 1.09286890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.54, Y:49.52, Z:1.09 [[ 5.61990803e-01 -8.27123730e-01 -5.71598901e-03 1.06542888e+02] [ 8.27088829e-01 5.62019691e-01 -7.61162130e-03 4.95158788e+01] [ 9.50825098e-03 -4.49969482e-04 9.99954694e-01 1.09365729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.56, Y:49.54, Z:1.09 [[ 5.61166961e-01 -8.27682906e-01 -5.71384966e-03 1.06558703e+02] [ 8.27648017e-01 5.61195864e-01 -7.61322692e-03 4.95389202e+01] [ 9.50792658e-03 -4.56764926e-04 9.99954694e-01 1.09363778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.57, Y:49.56, Z:1.09 [[ 5.60599757e-01 -8.28067201e-01 -5.71170357e-03 1.06573494e+02] [ 8.28032315e-01 5.60628664e-01 -7.61483664e-03 4.95617750e+01] [ 9.50774121e-03 -4.60599561e-04 9.99954694e-01 1.09353841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.59, Y:49.59, Z:1.09 [[ 5.60089727e-01 -8.28412271e-01 -5.71024703e-03 1.06588739e+02] [ 8.28377392e-01 5.60118642e-01 -7.61592872e-03 4.95852753e+01] [ 9.50754462e-03 -4.64636108e-04 9.99954694e-01 1.09342153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.60, Y:49.61, Z:1.09 [[ 5.59418509e-01 -8.28865701e-01 -5.70809546e-03 1.06601425e+02] [ 8.28830829e-01 5.59447432e-01 -7.61754098e-03 4.96098977e+01] [ 9.50729779e-03 -4.69652077e-04 9.99954694e-01 1.09248234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.62, Y:49.63, Z:1.09 [[ 5.59063415e-01 -8.29105263e-01 -5.70616206e-03 1.06616263e+02] [ 8.29070390e-01 5.59092336e-01 -7.61898897e-03 4.96332083e+01] [ 9.50721533e-03 -4.71312010e-04 9.99954694e-01 1.09269282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.63, Y:49.66, Z:1.09 [[ 5.58761068e-01 -8.29309068e-01 -5.70427256e-03 1.06631282e+02] [ 8.29274190e-01 5.58789984e-01 -7.62040336e-03 4.96565639e+01] [ 9.50715998e-03 -4.72421287e-04 9.99954694e-01 1.09326936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.64, Y:49.68, Z:1.09 [[ 5.56391089e-01 -8.30900981e-01 -5.70222587e-03 1.06643066e+02] [ 8.30866171e-01 5.56420086e-01 -7.62193456e-03 4.96801300e+01] [ 9.50590592e-03 -4.97010102e-04 9.99954694e-01 1.09383438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.66, Y:49.70, Z:1.09 [[ 5.58030905e-01 -8.29800983e-01 -5.64253162e-03 1.06659578e+02] [ 8.29765665e-01 5.58059285e-01 -7.66655970e-03 4.97049087e+01] [ 9.51058594e-03 -4.03801759e-04 9.99954692e-01 1.09424811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.67, Y:49.73, Z:1.09 [[ 5.57379808e-01 -8.30238077e-01 -5.69967027e-03 1.06674340e+02] [ 8.30203212e-01 5.57408740e-01 -7.62384223e-03 4.97292593e+01] [ 9.50665013e-03 -4.82508849e-04 9.99954694e-01 1.09444311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.69, Y:49.75, Z:1.09 [[ 5.57116448e-01 -8.30414837e-01 -5.69754640e-03 1.06688174e+02] [ 8.30379966e-01 5.57145372e-01 -7.62542914e-03 4.97524003e+01] [ 9.50663110e-03 -4.82876387e-04 9.99954694e-01 1.09388109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.70, Y:49.78, Z:1.09 [[ 5.56983455e-01 -8.30504058e-01 -5.69564122e-03 1.06702599e+02] [ 8.30469177e-01 5.57012367e-01 -7.62685191e-03 4.97765129e+01] [ 9.50667406e-03 -4.82024145e-04 9.99954694e-01 1.09336340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.71, Y:49.80, Z:1.09 [[ 5.57977145e-01 -8.29836785e-01 -5.69350514e-03 1.06714821e+02] [ 8.29801853e-01 5.58005995e-01 -7.62844617e-03 4.98007075e+01] [ 9.50737525e-03 -4.67982504e-04 9.99954694e-01 1.09288785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.73, Y:49.82, Z:1.09 [[ 5.59158785e-01 -8.29041048e-01 -5.69159488e-03 1.06730039e+02] [ 8.29006060e-01 5.59187569e-01 -7.62987115e-03 4.98244409e+01] [ 9.50814548e-03 -4.52057166e-04 9.99954694e-01 1.09296837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.74, Y:49.85, Z:1.09 [[ 5.60547485e-01 -8.28102739e-01 -5.68948109e-03 1.06744611e+02] [ 8.28067688e-01 5.60576190e-01 -7.63144705e-03 4.98485388e+01] [ 9.50900984e-03 -4.33487004e-04 9.99954694e-01 1.09305935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.76, Y:49.87, Z:1.09 [[ 5.62468486e-01 -8.26799163e-01 -5.68733617e-03 1.06758823e+02] [ 8.26764029e-01 5.62497090e-01 -7.63304521e-03 4.98725493e+01] [ 9.51010544e-03 -4.08737589e-04 9.99954694e-01 1.09272781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.77, Y:49.90, Z:1.09 [[ 5.67799250e-01 -8.23147429e-01 -5.68518793e-03 1.06771608e+02] [ 8.23112095e-01 5.67827607e-01 -7.63464492e-03 4.98984691e+01] [ 9.51264499e-03 -3.44601281e-04 9.99954694e-01 1.09201076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.79, Y:49.92, Z:1.09 [[ 5.70940665e-01 -8.20971656e-01 -5.68302176e-03 1.06786286e+02] [ 8.20936198e-01 5.70968866e-01 -7.63625701e-03 4.99219233e+01] [ 9.51397906e-03 -3.05548620e-04 9.99954694e-01 1.09186354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.80, Y:49.95, Z:1.09 [[ 5.74071650e-01 -8.18785360e-01 -5.68107373e-03 1.06800933e+02] [ 8.18749781e-01 5.74099697e-01 -7.63770600e-03 4.99456012e+01] [ 9.51514457e-03 -2.66787392e-04 9.99954694e-01 1.09153414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.82, Y:49.97, Z:1.09 [[ 5.77594572e-01 -8.16304024e-01 -5.67894032e-03 1.06816207e+02] [ 8.16268308e-01 5.77622446e-01 -7.63929194e-03 4.99694558e+01] [ 9.51626816e-03 -2.23125450e-04 9.99954694e-01 1.09209572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.83, Y:49.99, Z:1.09 [[ 5.86485904e-01 -8.09939540e-01 -5.67677230e-03 1.06829544e+02] [ 8.09903506e-01 5.86513365e-01 -7.64090266e-03 4.99934802e+01] [ 9.51817202e-03 -1.16356084e-04 9.99954694e-01 1.09228152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.84, Y:50.02, Z:1.09 [[ 5.90926075e-01 -8.06705752e-01 -5.67483697e-03 1.06844799e+02] [ 8.06669553e-01 5.90953320e-01 -7.64233974e-03 5.00175536e+01] [ 9.51868318e-03 -6.16603755e-05 9.99954694e-01 1.09196192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.86, Y:50.04, Z:1.09 [[ 5.95244464e-01 -8.03524641e-01 -5.67269761e-03 1.06859132e+02] [ 8.03488282e-01 5.95271494e-01 -7.64392741e-03 5.00400348e+01] [ 9.51887920e-03 -7.94058195e-06 9.99954694e-01 1.09200546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.87, Y:50.06, Z:1.09 [[ 6.03015794e-01 -7.97709091e-01 -5.67077841e-03 1.06873683e+02] [ 7.97672458e-01 6.03042452e-01 -7.64535093e-03 5.00636279e+01] [ 9.51848606e-03 8.68436113e-05 9.99954694e-01 1.09240014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.89, Y:50.09, Z:1.09 [[ 6.05989762e-01 -7.95452246e-01 -5.66860465e-03 1.06889208e+02] [ 7.95415498e-01 6.06016262e-01 -7.64696232e-03 5.00858356e+01] [ 9.51805994e-03 1.25084889e-04 9.99954694e-01 1.09272426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.91, Y:50.11, Z:1.09 [[ 6.07793056e-01 -7.94075237e-01 -5.66741764e-03 1.06905578e+02] [ 7.94038421e-01 6.07819461e-01 -7.64784195e-03 5.01088016e+01] [ 9.51772864e-03 1.48157878e-04 9.99954694e-01 1.09319290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.92, Y:50.13, Z:1.09 [[ 6.08679414e-01 -7.93396039e-01 -5.66527100e-03 1.06922976e+02] [ 7.93359179e-01 6.08705757e-01 -7.64943178e-03 5.01308096e+01] [ 9.51751195e-03 1.61456908e-04 9.99954694e-01 1.09341280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.94, Y:50.15, Z:1.09 [[ 6.07741741e-01 -7.94114542e-01 -5.66310650e-03 1.06940690e+02] [ 7.94077698e-01 6.07768106e-01 -7.65103388e-03 5.01532522e+01] [ 9.51765278e-03 1.52906076e-04 9.99954694e-01 1.09319296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.96, Y:50.18, Z:1.09 [[ 6.06313763e-01 -7.95205367e-01 -5.66095661e-03 1.06958673e+02] [ 7.95168555e-01 6.06340173e-01 -7.65262425e-03 5.01754448e+01] [ 9.51787328e-03 1.38476708e-04 9.99954694e-01 1.09332276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.98, Y:50.20, Z:1.09 [[ 6.04622155e-01 -7.96492328e-01 -5.65874169e-03 1.06976020e+02] [ 7.96455558e-01 6.04648622e-01 -7.65426172e-03 5.01958733e+01] [ 9.51811111e-03 1.20999942e-04 9.99954694e-01 1.09286044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.99, Y:50.22, Z:1.09 [[ 6.02473807e-01 -7.98118603e-01 -5.65753041e-03 1.06994792e+02] [ 7.98081896e-01 6.02500362e-01 -7.65515692e-03 5.02170940e+01] [ 9.51838726e-03 9.68589321e-05 9.99954694e-01 1.09329803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.02, Y:50.24, Z:1.09 [[ 5.97612833e-01 -8.01764877e-01 -5.65541242e-03 1.07015817e+02] [ 8.01728317e-01 5.97639590e-01 -7.65672131e-03 5.02367124e+01] [ 9.51878858e-03 4.16506250e-05 9.99954694e-01 1.09306013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.03, Y:50.26, Z:1.09 [[ 5.95108543e-01 -8.03625449e-01 -5.65330009e-03 1.07034476e+02] [ 8.03588958e-01 5.95135394e-01 -7.65828062e-03 5.02577787e+01] [ 9.51886818e-03 1.45786874e-05 9.99954694e-01 1.09310852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.05, Y:50.28, Z:1.09 [[ 5.92486170e-01 -8.05560800e-01 -5.65111241e-03 1.07052723e+02] [ 8.05524382e-01 5.92513119e-01 -7.65989459e-03 5.02782689e+01] [ 9.51886906e-03 -1.37272180e-05 9.99954694e-01 1.09273645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.07, Y:50.30, Z:1.09 [[ 5.89686143e-01 -8.07612735e-01 -5.65009097e-03 1.07071796e+02] [ 8.07576403e-01 5.89713208e-01 -7.66064795e-03 5.02987887e+01] [ 9.51877011e-03 -4.55022036e-05 9.99954694e-01 1.09252688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.09, Y:50.32, Z:1.09 [[ 5.86963613e-01 -8.09593613e-01 -5.64792037e-03 1.07091143e+02] [ 8.09557357e-01 5.86990780e-01 -7.66224792e-03 5.03189489e+01] [ 9.51858416e-03 -7.48547711e-05 9.99954694e-01 1.09275325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.11, Y:50.34, Z:1.09 [[ 5.81647787e-01 -8.13421156e-01 -5.64576154e-03 1.07113846e+02] [ 8.13385063e-01 5.81675171e-01 -7.66383827e-03 5.03371246e+01] [ 9.51792750e-03 -1.34523534e-04 9.99954694e-01 1.09415397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.13, Y:50.36, Z:1.09 [[ 5.78856772e-01 -8.15409705e-01 -5.64359429e-03 1.07132989e+02] [ 8.15373690e-01 5.78884260e-01 -7.66543389e-03 5.03572007e+01] [ 9.51745709e-03 -1.64449984e-04 9.99954694e-01 1.09476290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.15, Y:50.38, Z:1.10 [[ 5.76136115e-01 -8.17334295e-01 -5.64163818e-03 1.07151786e+02] [ 8.17298358e-01 5.76163703e-01 -7.66687329e-03 5.03770089e+01] [ 9.51690562e-03 -1.93739036e-04 9.99954694e-01 1.09560343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.17, Y:50.40, Z:1.10 [[ 5.71472620e-01 -8.20601754e-01 -5.63969833e-03 1.07173369e+02] [ 8.20565960e-01 5.71500395e-01 -7.66829996e-03 5.03958290e+01] [ 9.51571022e-03 -2.45521001e-04 9.99954694e-01 1.09661163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.19, Y:50.42, Z:1.10 [[ 5.69023365e-01 -8.22302030e-01 -5.63756606e-03 1.07191931e+02] [ 8.22266304e-01 5.69051226e-01 -7.66986724e-03 5.04154781e+01] [ 9.51501128e-03 -2.71246940e-04 9.99954694e-01 1.09649633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.21, Y:50.44, Z:1.10 [[ 5.66511244e-01 -8.24034739e-01 -5.63561795e-03 1.07211268e+02] [ 8.23999084e-01 5.66539196e-01 -7.67129839e-03 5.04359475e+01] [ 9.51421483e-03 -2.97867239e-04 9.99954694e-01 1.09782355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.23, Y:50.46, Z:1.10 [[ 5.66275885e-01 -8.24196510e-01 -5.63342491e-03 1.07228148e+02] [ 8.24160847e-01 5.66303827e-01 -7.67290852e-03 5.04590419e+01] [ 9.51421450e-03 -2.97865188e-04 9.99954694e-01 1.09809467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.25, Y:50.48, Z:1.10 [[ 5.63629063e-01 -8.26008819e-01 -5.63123305e-03 1.07247045e+02] [ 8.25973230e-01 5.63657099e-01 -7.67451681e-03 5.04791603e+01] [ 9.51330305e-03 -3.25667029e-04 9.99954694e-01 1.09841670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.27, Y:50.50, Z:1.10 [[ 5.59499002e-01 -8.28811908e-01 -5.62927383e-03 1.07268588e+02] [ 8.28776445e-01 5.59527197e-01 -7.67595363e-03 5.04977254e+01] [ 9.51165358e-03 -3.70721159e-04 9.99954694e-01 1.09914261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:50.52, Z:1.10 [[ 5.58549957e-01 -8.29451795e-01 -5.62710076e-03 1.07286338e+02] [ 8.29416349e-01 5.58578173e-01 -7.67754634e-03 5.05198452e+01] [ 9.51133026e-03 -3.78916190e-04 9.99954694e-01 1.10006036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.30, Y:50.54, Z:1.10 [[ 5.59283318e-01 -8.28957497e-01 -5.62489555e-03 1.07302518e+02] [ 8.28922009e-01 5.59311482e-01 -7.67916163e-03 5.05420475e+01] [ 9.51176726e-03 -3.67772722e-04 9.99954694e-01 1.10054237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.32, Y:50.56, Z:1.10 [[ 5.60304077e-01 -8.28267906e-01 -5.62289765e-03 1.07318437e+02] [ 8.28232369e-01 5.60332178e-01 -7.68062427e-03 5.05649285e+01] [ 9.51230507e-03 -3.53580757e-04 9.99954694e-01 1.10121952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.33, Y:50.59, Z:1.10 [[ 5.63938923e-01 -8.25797371e-01 -5.62073364e-03 1.07334128e+02] [ 8.25761695e-01 5.63966849e-01 -7.68220758e-03 5.05866819e+01] [ 9.51385426e-03 -3.09090674e-04 9.99954694e-01 1.10114968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.35, Y:50.61, Z:1.10 [[ 5.65732066e-01 -8.24569984e-01 -5.61880850e-03 1.07350887e+02] [ 8.24534233e-01 5.65759896e-01 -7.68361538e-03 5.06096524e+01] [ 9.51457512e-03 -2.86032353e-04 9.99954694e-01 1.10118433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.37, Y:50.63, Z:1.10 [[ 5.67503285e-01 -8.23351975e-01 -5.61666566e-03 1.07367198e+02] [ 8.23316150e-01 5.67531017e-01 -7.68518146e-03 5.06322620e+01] [ 9.51524131e-03 -2.62925819e-04 9.99954695e-01 1.10132715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.38, Y:50.66, Z:1.10 [[ 5.69227702e-01 -8.22160751e-01 -5.61450907e-03 1.07383615e+02] [ 8.22124852e-01 5.69255340e-01 -7.68675666e-03 5.06554539e+01] [ 9.51583890e-03 -2.40312601e-04 9.99954695e-01 1.10151304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.40, Y:50.68, Z:1.10 [[ 5.70540183e-01 -8.21250511e-01 -5.61234915e-03 1.07398655e+02] [ 8.21214552e-01 5.70567743e-01 -7.68833337e-03 5.06778642e+01] [ 9.51627309e-03 -2.22439661e-04 9.99954695e-01 1.10044645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.41, Y:50.70, Z:1.10 [[ 5.72884962e-01 -8.19616583e-01 -5.61040093e-03 1.07412811e+02] [ 8.19580532e-01 5.72912401e-01 -7.68975478e-03 5.07025441e+01] [ 9.51691880e-03 -1.92830505e-04 9.99954695e-01 1.10219391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.43, Y:50.73, Z:1.10 [[ 5.73591772e-01 -8.19122107e-01 -5.60833816e-03 1.07428223e+02] [ 8.19086017e-01 5.73619160e-01 -7.69125892e-03 5.07258407e+01] [ 9.51713043e-03 -1.82068537e-04 9.99954695e-01 1.10332606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.44, Y:50.75, Z:1.10 [[ 5.74566649e-01 -8.18438597e-01 -5.60612349e-03 1.07443209e+02] [ 8.18402459e-01 5.74593974e-01 -7.69287284e-03 5.07480577e+01] [ 9.51738883e-03 -1.67997078e-04 9.99954695e-01 1.10343571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.46, Y:50.77, Z:1.10 [[ 5.75782265e-01 -8.17583866e-01 -5.60411490e-03 1.07459567e+02] [ 8.17547673e-01 5.75809517e-01 -7.69433578e-03 5.07710488e+01] [ 9.51766748e-03 -1.51369008e-04 9.99954695e-01 1.10431753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.48, Y:50.79, Z:1.11 [[ 5.78513182e-01 -8.15653796e-01 -5.60201058e-03 1.07476021e+02] [ 8.15617498e-01 5.78540293e-01 -7.69586756e-03 5.07932480e+01] [ 9.51815244e-03 -1.16937019e-04 9.99954695e-01 1.10597347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.49, Y:50.82, Z:1.11 [[ 5.79825707e-01 -8.14721297e-01 -5.59984994e-03 1.07492204e+02] [ 8.14684940e-01 5.79852739e-01 -7.69743942e-03 5.08155634e+01] [ 9.51835615e-03 -9.89401568e-05 9.99954695e-01 1.10574750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:50.84, Z:1.11 [[ 5.80938047e-01 -8.13928528e-01 -5.59791431e-03 1.07508160e+02] [ 8.13892120e-01 5.80965011e-01 -7.69884684e-03 5.08383846e+01] [ 9.51850343e-03 -8.35452991e-05 9.99954695e-01 1.10529547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.52, Y:50.86, Z:1.10 [[ 5.82358900e-01 -8.12912541e-01 -5.59574595e-03 1.07524359e+02] [ 8.12876071e-01 5.82385780e-01 -7.70042254e-03 5.08611558e+01] [ 9.51865293e-03 -6.42383765e-05 9.99954695e-01 1.10431666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.54, Y:50.88, Z:1.10 [[ 5.85292692e-01 -8.10802797e-01 -5.59357237e-03 1.07540222e+02] [ 8.10766215e-01 5.85319420e-01 -7.70200110e-03 5.08831605e+01] [ 9.51883057e-03 -2.71545421e-05 9.99954695e-01 1.10190551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.56, Y:50.91, Z:1.10 [[ 5.86537795e-01 -8.09902554e-01 -5.59171178e-03 1.07556732e+02] [ 8.09865918e-01 5.86564449e-01 -7.70335167e-03 5.09050790e+01] [ 9.51886353e-03 -1.02298962e-05 9.99954695e-01 1.10113963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.57, Y:50.93, Z:1.10 [[ 5.87776350e-01 -8.09004151e-01 -5.58980760e-03 1.07574064e+02] [ 8.08967462e-01 5.87802929e-01 -7.70473316e-03 5.09278112e+01] [ 9.51886639e-03 6.68746308e-06 9.99954695e-01 1.10268533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.59, Y:50.95, Z:1.10 [[ 5.90198681e-01 -8.07238685e-01 -5.58763972e-03 1.07591809e+02] [ 8.07201901e-01 5.90225130e-01 -7.70630503e-03 5.09484503e+01] [ 9.51879292e-03 3.78976596e-05 9.99954695e-01 1.10337407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.61, Y:50.97, Z:1.10 [[ 5.91304001e-01 -8.06429401e-01 -5.58568760e-03 1.07608324e+02] [ 8.06392568e-01 5.91330380e-01 -7.70771971e-03 5.09695088e+01] [ 9.51871856e-03 5.33485334e-05 9.99954695e-01 1.10367408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.63, Y:50.99, Z:1.11 [[ 5.92333099e-01 -8.05673830e-01 -5.58378520e-03 1.07625420e+02] [ 8.05636950e-01 5.92359413e-01 -7.70909764e-03 5.09917193e+01] [ 9.51862595e-03 6.78500200e-05 9.99954695e-01 1.10518682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.64, Y:51.01, Z:1.11 [[ 5.93390177e-01 -8.04895610e-01 -5.58157532e-03 1.07642212e+02] [ 8.04858681e-01 5.93416422e-01 -7.71069732e-03 5.10140393e+01] [ 9.51850487e-03 8.30726997e-05 9.99954695e-01 1.10559056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.66, Y:51.04, Z:1.11 [[ 5.96234803e-01 -8.02790714e-01 -5.57935393e-03 1.07657600e+02] [ 8.02753676e-01 5.96260895e-01 -7.71230434e-03 5.10359953e+01] [ 9.51811688e-03 1.19497379e-04 9.99954695e-01 1.10572688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.67, Y:51.06, Z:1.11 [[ 5.97597932e-01 -8.01776531e-01 -5.57735357e-03 1.07673668e+02] [ 8.01739436e-01 5.97623942e-01 -7.71375069e-03 5.10585540e+01] [ 9.51786429e-03 1.38137150e-04 9.99954695e-01 1.10604464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.69, Y:51.08, Z:1.11 [[ 5.98438288e-01 -8.01149507e-01 -5.57515794e-03 1.07689936e+02] [ 8.01112370e-01 5.98464238e-01 -7.71533727e-03 5.10814960e+01] [ 9.51767130e-03 1.50825241e-04 9.99954695e-01 1.10628146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.71, Y:51.10, Z:1.11 [[ 5.99079413e-01 -8.00670219e-01 -5.57295587e-03 1.07705997e+02] [ 8.00633046e-01 5.99105312e-01 -7.71692754e-03 5.11035403e+01] [ 9.51750153e-03 1.61159792e-04 9.99954695e-01 1.10581265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.72, Y:51.13, Z:1.11 [[ 5.98478525e-01 -8.01119476e-01 -5.57146177e-03 1.07722646e+02] [ 8.01082312e-01 5.98504437e-01 -7.71800610e-03 5.11260606e+01] [ 9.51758959e-03 1.55861433e-04 9.99954695e-01 1.10627988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.74, Y:51.15, Z:1.11 [[ 5.97546379e-01 -8.01815008e-01 -5.56928323e-03 1.07739035e+02] [ 8.01777861e-01 5.97572314e-01 -7.71957781e-03 5.11484093e+01] [ 9.51772281e-03 1.47477777e-04 9.99954695e-01 1.10664465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.75, Y:51.17, Z:1.11 [[ 5.96392961e-01 -8.02673310e-01 -5.56708892e-03 1.07754774e+02] [ 8.02636185e-01 5.96418929e-01 -7.72115994e-03 5.11703584e+01] [ 9.51788622e-03 1.36498434e-04 9.99954695e-01 1.10604812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.77, Y:51.19, Z:1.11 [[ 5.92999026e-01 -8.05183944e-01 -5.56514474e-03 1.07771099e+02] [ 8.05146916e-01 5.93025131e-01 -7.72256098e-03 5.11931000e+01] [ 9.51835280e-03 9.87120163e-05 9.99954695e-01 1.10611437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.79, Y:51.22, Z:1.11 [[ 5.90645665e-01 -8.06911861e-01 -5.56298423e-03 1.07787641e+02] [ 8.06874894e-01 5.90671858e-01 -7.72411700e-03 5.12163531e+01] [ 9.51857985e-03 7.35839123e-05 9.99954695e-01 1.10642019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.80, Y:51.24, Z:1.11 [[ 5.88493996e-01 -8.08482463e-01 -5.56084255e-03 1.07802961e+02] [ 8.08445552e-01 5.88520266e-01 -7.72565856e-03 5.12389748e+01] [ 9.51872800e-03 5.08652494e-05 9.99954695e-01 1.10671362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.82, Y:51.26, Z:1.11 [[ 5.85832232e-01 -8.10413286e-01 -5.55889889e-03 1.07818965e+02] [ 8.10376448e-01 5.85858605e-01 -7.72705685e-03 5.12618998e+01] [ 9.51883828e-03 2.19582251e-05 9.99954695e-01 1.10867037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.83, Y:51.28, Z:1.11 [[ 5.82423886e-01 -8.12866249e-01 -5.55675487e-03 1.07834523e+02] [ 8.12829507e-01 5.82450393e-01 -7.72859836e-03 5.12840156e+01] [ 9.51885082e-03 -1.53740342e-05 9.99954695e-01 1.10978882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.85, Y:51.31, Z:1.11 [[ 5.73211743e-01 -8.19388456e-01 -5.55481107e-03 1.07850574e+02] [ 8.19352002e-01 5.73238645e-01 -7.72999519e-03 5.13053246e+01] [ 9.51810119e-03 -1.20421548e-04 9.99954695e-01 1.11026469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.86, Y:51.33, Z:1.11 [[ 5.64886661e-01 -8.25149820e-01 -5.55290889e-03 1.07861894e+02] [ 8.25113627e-01 5.64913913e-01 -7.73136140e-03 5.13270264e+01] [ 9.51644695e-03 -2.14437871e-04 9.99954695e-01 1.11074042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.88, Y:51.35, Z:1.11 [[ 5.58417223e-01 -8.29542318e-01 -5.45419274e-03 1.07877962e+02] [ 8.29505642e-01 5.58443834e-01 -7.80219726e-03 5.13505140e+01] [ 9.51811310e-03 -1.67402327e-04 9.99954688e-01 1.11183139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.43762800000002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:107.90, Y:51.37, Z:1.11 [[ 5.55567766e-01 -8.31453462e-01 -5.44035139e-03 1.07900810e+02] [ 8.31416781e-01 5.55594372e-01 -7.81212767e-03 5.13740757e+01] [ 9.51804922e-03 -1.83033130e-04 9.99954686e-01 1.11328922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:51.40, Z:1.11 [[ 5.49999962e-01 -8.35146230e-01 -5.55126409e-03 1.07915771e+02] [ 8.35110520e-01 5.50027843e-01 -7.73250211e-03 5.13964023e+01] [ 9.51111980e-03 -3.83043177e-04 9.99954695e-01 1.11385474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.93, Y:51.42, Z:1.12 [[ 5.41477730e-01 -8.40696778e-01 -5.54929322e-03 1.07929537e+02] [ 8.40661339e-01 5.41505955e-01 -7.73391626e-03 5.14205944e+01] [ 9.50685381e-03 -4.77332853e-04 9.99954695e-01 1.11598417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.94, Y:51.44, Z:1.12 [[ 5.38425182e-01 -8.42655062e-01 -5.54710430e-03 1.07944756e+02] [ 8.42619710e-01 5.38453515e-01 -7.73548593e-03 5.14444631e+01] [ 9.50520418e-03 -5.09118991e-04 9.99954695e-01 1.11628422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.96, Y:51.47, Z:1.12 [[ 5.35680616e-01 -8.44402470e-01 -5.54490899e-03 1.07959151e+02] [ 8.44367194e-01 5.35709044e-01 -7.73705924e-03 5.14684890e+01] [ 9.50364983e-03 -5.37346589e-04 9.99954695e-01 1.11627621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.97, Y:51.49, Z:1.12 [[ 5.35750578e-01 -8.44358098e-01 -5.54271972e-03 1.07974144e+02] [ 8.44322803e-01 5.35778983e-01 -7.73862729e-03 5.14922012e+01] [ 9.50384534e-03 -5.33870610e-04 9.99954695e-01 1.11595993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.99, Y:51.52, Z:1.12 [[ 5.36585733e-01 -8.43827621e-01 -5.54053830e-03 1.07988357e+02] [ 8.43792282e-01 5.36614083e-01 -7.74018878e-03 5.15158544e+01] [ 9.50451596e-03 -5.21788590e-04 9.99954695e-01 1.11538784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.99, Y:51.54, Z:1.11 [[ 5.33852736e-01 -8.45559329e-01 -5.53862919e-03 1.07994570e+02] [ 8.45524069e-01 5.33881183e-01 -7.74155463e-03 5.15389714e+01] [ 9.50291365e-03 -5.50194168e-04 9.99954695e-01 1.11368126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.01, Y:51.57, Z:1.11 [[ 5.41269978e-01 -8.40831450e-01 -5.41145407e-03 1.08012433e+02] [ 8.40795026e-01 5.41296940e-01 -7.83243379e-03 5.15667750e+01] [ 9.51496018e-03 -3.10462405e-04 9.99954684e-01 1.11388043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.03, Y:51.59, Z:1.11 [[ 5.42863611e-01 -8.39802621e-01 -5.53687905e-03 1.08026011e+02] [ 8.39767046e-01 5.42891663e-01 -7.74274180e-03 5.15909520e+01] [ 9.50830034e-03 -4.46435794e-04 9.99954695e-01 1.11402799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.04, Y:51.62, Z:1.11 [[ 5.44535641e-01 -8.38719441e-01 -5.53491064e-03 1.08040893e+02] [ 8.38683796e-01 5.44563604e-01 -7.74414867e-03 5.16153816e+01] [ 9.50927893e-03 -4.25074904e-04 9.99954695e-01 1.11467593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.05, Y:51.64, Z:1.12 [[ 5.43549835e-01 -8.39358663e-01 -5.53276983e-03 1.08051380e+02] [ 8.39323035e-01 5.43577821e-01 -7.74567786e-03 5.16389944e+01] [ 9.50889278e-03 -4.33619242e-04 9.99954695e-01 1.11658734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.07, Y:51.66, Z:1.12 [[ 5.48203655e-01 -8.36327111e-01 -5.45130241e-03 1.08069195e+02] [ 8.36290748e-01 5.48230686e-01 -7.80379789e-03 5.16638045e+01] [ 9.51509900e-03 -2.80803254e-04 9.99954691e-01 1.12016997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.08, Y:51.69, Z:1.12 [[ 5.49208591e-01 -8.35667006e-01 -5.52982198e-03 1.08083204e+02] [ 8.35631169e-01 5.49236308e-01 -7.74775600e-03 5.16871955e+01] [ 9.51172307e-03 -3.65757450e-04 9.99954696e-01 1.12062177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.10, Y:51.71, Z:1.12 [[ 5.49972175e-01 -8.35164681e-01 -5.52831083e-03 1.08097417e+02] [ 8.35128808e-01 5.49999845e-01 -7.74883412e-03 5.17117488e+01] [ 9.51212267e-03 -3.55208477e-04 9.99954696e-01 1.12167248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.11, Y:51.74, Z:1.12 [[ 5.50773510e-01 -8.34636449e-01 -5.52613055e-03 1.08111047e+02] [ 8.34600534e-01 5.50801125e-01 -7.75038869e-03 5.17353838e+01] [ 9.51255582e-03 -3.43402727e-04 9.99954696e-01 1.12210154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.12, Y:51.76, Z:1.12 [[ 5.52239556e-01 -8.33667174e-01 -5.52416405e-03 1.08123932e+02] [ 8.33631196e-01 5.52267090e-01 -7.75179007e-03 5.17612948e+01] [ 9.51322693e-03 -3.24270379e-04 9.99954696e-01 1.12273423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.14, Y:51.79, Z:1.12 [[ 5.52958193e-01 -8.33190701e-01 -5.52201314e-03 1.08138911e+02] [ 8.33154685e-01 5.52985676e-01 -7.75332198e-03 5.17852189e+01] [ 9.51358994e-03 -3.13428197e-04 9.99954696e-01 1.12326576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.15, Y:51.81, Z:1.12 [[ 5.53973175e-01 -8.32516217e-01 -5.51986620e-03 1.08153616e+02] [ 8.32480152e-01 5.54000594e-01 -7.75485016e-03 5.18088519e+01] [ 9.51404768e-03 -2.99200091e-04 9.99954696e-01 1.12365744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:51.83, Z:1.12 [[ 5.56840670e-01 -8.30601001e-01 -5.51771316e-03 1.08166622e+02] [ 8.30564827e-01 5.56867944e-01 -7.75638179e-03 5.18339457e+01] [ 9.51509606e-03 -2.63749641e-04 9.99954696e-01 1.12267809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.18, Y:51.86, Z:1.12 [[ 5.56966003e-01 -8.30516978e-01 -5.51552674e-03 1.08178519e+02] [ 8.30480784e-01 5.56993251e-01 -7.75793623e-03 5.18578945e+01] [ 9.51520892e-03 -2.59632243e-04 9.99954696e-01 1.12199824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.20, Y:51.88, Z:1.12 [[ 5.60225338e-01 -8.28322215e-01 -5.46616155e-03 1.08196326e+02] [ 8.28285571e-01 5.60251981e-01 -7.79300883e-03 5.18825150e+01] [ 9.51755017e-03 -1.61701738e-04 9.99954694e-01 1.12223592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.21, Y:51.91, Z:1.12 [[ 5.61817693e-01 -8.27242702e-01 -5.51292928e-03 1.08211013e+02] [ 8.27206331e-01 5.61844705e-01 -7.75978276e-03 5.19065903e+01] [ 9.51663378e-03 -2.00746754e-04 9.99954696e-01 1.12235575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.23, Y:51.93, Z:1.12 [[ 5.65061951e-01 -8.25030074e-01 -5.51075653e-03 1.08225287e+02] [ 8.24993582e-01 5.65088799e-01 -7.76132548e-03 5.19312134e+01] [ 9.51739372e-03 -1.60709057e-04 9.99954696e-01 1.12275896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.24, Y:51.95, Z:1.12 [[ 5.64830159e-01 -8.25188795e-01 -5.50857752e-03 1.08241776e+02] [ 8.25152296e-01 5.64856997e-01 -7.76287171e-03 5.19545703e+01] [ 9.51739331e-03 -1.60711321e-04 9.99954696e-01 1.12303008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:51.98, Z:1.12 [[ 5.65987485e-01 -8.24395443e-01 -5.50639622e-03 1.08257192e+02] [ 8.24358891e-01 5.66014251e-01 -7.76441865e-03 5.19780702e+01] [ 9.51765009e-03 -1.44682896e-04 9.99954696e-01 1.12338253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:52.00, Z:1.12 [[ 5.67276224e-01 -8.23509192e-01 -5.50421527e-03 1.08272035e+02] [ 8.23472583e-01 5.67302912e-01 -7.76596443e-03 5.20003673e+01] [ 9.51790045e-03 -1.27123395e-04 9.99954696e-01 1.12310025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:52.02, Z:1.12 [[ 5.68290876e-01 -8.22809338e-01 -5.50225615e-03 1.08287581e+02] [ 8.22772682e-01 5.68317500e-01 -7.76735224e-03 5.20242156e+01] [ 9.51807841e-03 -1.12990645e-04 9.99954696e-01 1.12295589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:52.05, Z:1.12 [[ 5.70163180e-01 -8.21513054e-01 -5.50009963e-03 1.08302358e+02] [ 8.21476323e-01 5.70189701e-01 -7.76887898e-03 5.20479291e+01] [ 9.51833565e-03 -8.86728814e-05 9.99954696e-01 1.12232975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:52.07, Z:1.12 [[ 5.70645221e-01 -8.21178303e-01 -5.49791796e-03 1.08318509e+02] [ 8.21141542e-01 5.70671700e-01 -7.77042260e-03 5.20713241e+01] [ 9.51840863e-03 -8.04143111e-05 9.99954696e-01 1.12212409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.33, Y:52.09, Z:1.12 [[ 5.70770334e-01 -8.21091361e-01 -5.49574910e-03 1.08334431e+02] [ 8.21054581e-01 5.70796786e-01 -7.77195626e-03 5.20940331e+01] [ 9.51844207e-03 -7.63079026e-05 9.99954696e-01 1.12207308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.35, Y:52.12, Z:1.12 [[ 5.71115175e-01 -8.20851556e-01 -5.49359259e-03 1.08351154e+02] [ 8.20814751e-01 5.71141592e-01 -7.77348029e-03 5.21166821e+01] [ 9.51849261e-03 -6.96692750e-05 9.99954696e-01 1.12234543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.37, Y:52.14, Z:1.12 [[ 5.71008418e-01 -8.20925838e-01 -5.49140376e-03 1.08367153e+02] [ 8.20889021e-01 5.71034819e-01 -7.77502623e-03 5.21385681e+01] [ 9.51850267e-03 -6.82276329e-05 9.99954696e-01 1.12217990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.38, Y:52.16, Z:1.12 [[ 5.70872753e-01 -8.21020198e-01 -5.48943966e-03 1.08383364e+02] [ 8.20983373e-01 5.70899141e-01 -7.77641271e-03 5.21604466e+01] [ 9.51850829e-03 -6.73965525e-05 9.99954696e-01 1.12235872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.40, Y:52.18, Z:1.12 [[ 5.70841127e-01 -8.21042201e-01 -5.48752000e-03 1.08399906e+02] [ 8.21005363e-01 5.70867498e-01 -7.77776710e-03 5.21826515e+01] [ 9.51852183e-03 -6.54140142e-05 9.99954696e-01 1.12235468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.42, Y:52.21, Z:1.12 [[ 5.71210983e-01 -8.20784944e-01 -5.48539339e-03 1.08417253e+02] [ 8.20748080e-01 5.71237318e-01 -7.77926664e-03 5.22052097e+01] [ 9.51856634e-03 -5.85235503e-05 9.99954696e-01 1.12302791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.43, Y:52.23, Z:1.12 [[ 5.71309860e-01 -8.20716138e-01 -5.48315113e-03 1.08433263e+02] [ 8.20679255e-01 5.71336169e-01 -7.78084675e-03 5.22270461e+01] [ 9.51858906e-03 -5.46339178e-05 9.99954696e-01 1.12266856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.45, Y:52.25, Z:1.12 [[ 5.71606845e-01 -8.20509331e-01 -5.48195233e-03 1.08450260e+02] [ 8.20472431e-01 5.71633129e-01 -7.78169127e-03 5.22491822e+01] [ 9.51861587e-03 -4.97227588e-05 9.99954696e-01 1.12259528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.47, Y:52.27, Z:1.12 [[ 5.72415300e-01 -8.19945544e-01 -5.47978844e-03 1.08469014e+02] [ 8.19908604e-01 5.72441528e-01 -7.78321476e-03 5.22702635e+01] [ 9.51867073e-03 -3.76944729e-05 9.99954696e-01 1.12356433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.49, Y:52.29, Z:1.12 [[ 5.72682066e-01 -8.19759262e-01 -5.47760728e-03 1.08486503e+02] [ 8.19722298e-01 5.72708261e-01 -7.78474950e-03 5.22924774e+01] [ 9.51869144e-03 -3.19304042e-05 9.99954696e-01 1.12428615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.50, Y:52.31, Z:1.13 [[ 5.73031164e-01 -8.19515286e-01 -5.47542808e-03 1.08503978e+02] [ 8.19478297e-01 5.73057322e-01 -7.78628195e-03 5.23149035e+01] [ 9.51871123e-03 -2.52122680e-05 9.99954696e-01 1.12510426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.52, Y:52.34, Z:1.12 [[ 5.73061695e-01 -8.19493952e-01 -5.47323511e-03 1.08520539e+02] [ 8.19456947e-01 5.73087831e-01 -7.78782315e-03 5.23366821e+01] [ 9.51871841e-03 -2.21773920e-05 9.99954696e-01 1.12496179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.54, Y:52.36, Z:1.13 [[ 5.73349639e-01 -8.19292534e-01 -5.47126759e-03 1.08538964e+02] [ 8.19255506e-01 5.73375744e-01 -7.78920517e-03 5.23578615e+01] [ 9.51872977e-03 -1.64281274e-05 9.99954696e-01 1.12535618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.56, Y:52.38, Z:1.13 [[ 5.73252705e-01 -8.19360376e-01 -5.46908076e-03 1.08556557e+02] [ 8.19323336e-01 5.73278793e-01 -7.79074032e-03 5.23798274e+01] [ 9.51873193e-03 -1.48825290e-05 9.99954696e-01 1.12580744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.57, Y:52.40, Z:1.13 [[ 5.73259469e-01 -8.19355658e-01 -5.46688707e-03 1.08574011e+02] [ 8.19318604e-01 5.73285536e-01 -7.79227936e-03 5.24004951e+01] [ 9.51873547e-03 -1.21243588e-05 9.99954696e-01 1.12618790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.59, Y:52.42, Z:1.13 [[ 5.73358895e-01 -8.19286099e-01 -5.46489678e-03 1.08593186e+02] [ 8.19249029e-01 5.73384938e-01 -7.79367495e-03 5.24197080e+01] [ 9.51873905e-03 -8.53851784e-06 9.99954696e-01 1.12718864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.61, Y:52.44, Z:1.13 [[ 5.73292934e-01 -8.19332266e-01 -5.46344804e-03 1.08611079e+02] [ 8.19295188e-01 5.73318966e-01 -7.79469040e-03 5.24411120e+01] [ 9.51873973e-03 -7.53575908e-06 9.99954696e-01 1.12843521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.63, Y:52.46, Z:1.13 [[ 5.73064088e-01 -8.19492358e-01 -5.46129715e-03 1.08628475e+02] [ 8.19455273e-01 5.73090111e-01 -7.79619711e-03 5.24624940e+01] [ 9.51873934e-03 -7.56815276e-06 9.99954696e-01 1.12840633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.65, Y:52.48, Z:1.13 [[ 5.72123780e-01 -8.20149118e-01 -5.45936234e-03 1.08647864e+02] [ 8.20112050e-01 5.72149826e-01 -7.79755175e-03 5.24832056e+01] [ 9.51872840e-03 -1.61240613e-05 9.99954696e-01 1.12773633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.66, Y:52.50, Z:1.13 [[ 5.71153560e-01 -8.20825091e-01 -5.45724913e-03 1.08664683e+02] [ 8.20788039e-01 5.71179630e-01 -7.79903043e-03 5.25039703e+01] [ 9.51870940e-03 -2.48008129e-05 9.99954696e-01 1.12720385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.68, Y:52.53, Z:1.13 [[ 5.69974889e-01 -8.21643998e-01 -5.45581288e-03 1.08682553e+02] [ 8.21606974e-01 5.70000999e-01 -7.80003503e-03 5.25254540e+01] [ 9.51867076e-03 -3.67098088e-05 9.99954696e-01 1.12716274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.70, Y:52.55, Z:1.13 [[ 5.68456684e-01 -8.22695117e-01 -5.45372600e-03 1.08700428e+02] [ 8.22658128e-01 5.68482842e-01 -7.80149389e-03 5.25464833e+01] [ 9.51860059e-03 -5.17406768e-05 9.99954696e-01 1.12707355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.72, Y:52.57, Z:1.13 [[ 5.66533881e-01 -8.24020412e-01 -5.45184764e-03 1.08718771e+02] [ 8.23983471e-01 5.66560108e-01 -7.80280631e-03 5.25679534e+01] [ 9.51847105e-03 -7.16782013e-05 9.99954696e-01 1.12850298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.74, Y:52.59, Z:1.13 [[ 5.61774230e-01 -8.27272637e-01 -5.44969347e-03 1.08739134e+02] [ 8.27235833e-01 5.61800649e-01 -7.80431055e-03 5.25880414e+01] [ 9.51793389e-03 -1.23921177e-04 9.99954696e-01 1.12996517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.76, Y:52.61, Z:1.13 [[ 5.58914670e-01 -8.29207282e-01 -5.44745320e-03 1.08757169e+02] [ 8.29170555e-01 5.58941195e-01 -7.80587396e-03 5.26087549e+01] [ 9.51749353e-03 -1.54050320e-04 9.99954696e-01 1.12949675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.78, Y:52.63, Z:1.13 [[ 5.55755085e-01 -8.31328234e-01 -5.44541607e-03 1.08775219e+02] [ 8.31291594e-01 5.55781731e-01 -7.80729481e-03 5.26298414e+01] [ 9.51688737e-03 -1.87784807e-04 9.99954696e-01 1.13091053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.79, Y:52.65, Z:1.13 [[ 5.52899405e-01 -8.33230232e-01 -5.44321718e-03 1.08792998e+02] [ 8.33193669e-01 5.52926155e-01 -7.80882757e-03 5.26499480e+01] [ 9.51624835e-03 -2.17757977e-04 9.99954696e-01 1.13101642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.81, Y:52.67, Z:1.13 [[ 5.48568852e-01 -8.36087679e-01 -5.44122501e-03 1.08813790e+02] [ 8.36051241e-01 5.48595773e-01 -7.81021547e-03 5.26701041e+01] [ 9.51505797e-03 -2.64701985e-04 9.99954696e-01 1.13351811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.83, Y:52.69, Z:1.13 [[ 5.46869115e-01 -8.37200446e-01 -5.43908608e-03 1.08831651e+02] [ 8.37164048e-01 5.46896090e-01 -7.81170476e-03 5.26915643e+01] [ 9.51457762e-03 -2.81427251e-04 9.99954696e-01 1.13414886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.85, Y:52.71, Z:1.13 [[ 5.45874135e-01 -8.37849550e-01 -5.43690118e-03 1.08849624e+02] [ 8.37813169e-01 5.45901133e-01 -7.81322514e-03 5.27136331e+01] [ 9.51431768e-03 -2.90069897e-04 9.99954696e-01 1.13417480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.87, Y:52.74, Z:1.13 [[ 5.45681527e-01 -8.37975021e-01 -5.43469280e-03 1.08866823e+02] [ 8.37938631e-01 5.45708512e-01 -7.81476093e-03 5.27351643e+01] [ 9.51433258e-03 -2.89568375e-04 9.99954696e-01 1.13437840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.88, Y:52.76, Z:1.13 [[ 5.48107145e-01 -8.36390485e-01 -5.43271757e-03 1.08884539e+02] [ 8.36354003e-01 5.48134007e-01 -7.81613384e-03 5.27569250e+01] [ 9.51519722e-03 -2.59596286e-04 9.99954696e-01 1.13339620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.90, Y:52.78, Z:1.13 [[ 5.50644261e-01 -8.34722354e-01 -5.43054175e-03 1.08900206e+02] [ 8.34685776e-01 5.50670991e-01 -7.81764528e-03 5.27795905e+01] [ 9.51600507e-03 -2.28054452e-04 9.99954696e-01 1.13333034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.92, Y:52.80, Z:1.13 [[ 5.53513198e-01 -8.32822712e-01 -5.42858450e-03 1.08916142e+02] [ 8.32786029e-01 5.53539785e-01 -7.81900416e-03 5.28028413e+01] [ 9.51678175e-03 -1.92927332e-04 9.99954696e-01 1.13351443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.93, Y:52.83, Z:1.13 [[ 5.57133280e-01 -8.30405360e-01 -5.42641835e-03 1.08931780e+02] [ 8.30368547e-01 5.57159686e-01 -7.82050719e-03 5.28251914e+01] [ 9.51757263e-03 -1.48862292e-04 9.99954696e-01 1.13332112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.95, Y:52.85, Z:1.13 [[ 5.63527768e-01 -8.26079309e-01 -5.42494561e-03 1.08948004e+02] [ 8.26042283e-01 5.63553875e-01 -7.82152867e-03 5.28483489e+01] [ 9.51845212e-03 -7.35858619e-05 9.99954696e-01 1.13329940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.96, Y:52.87, Z:1.13 [[ 5.66114051e-01 -8.24309089e-01 -5.42275504e-03 1.08964285e+02] [ 8.24271968e-01 5.66140021e-01 -7.82304712e-03 5.28718441e+01] [ 9.51864750e-03 -4.10880678e-05 9.99954696e-01 1.13295674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.98, Y:52.89, Z:1.13 [[ 5.68349389e-01 -8.22769463e-01 -5.42055226e-03 1.08979742e+02] [ 8.22732256e-01 5.68375238e-01 -7.82457312e-03 5.28940375e+01] [ 9.51872750e-03 -1.25718395e-05 9.99954696e-01 1.13288100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.99, Y:52.92, Z:1.13 [[ 5.70563642e-01 -8.21235514e-01 -5.41857019e-03 1.08994490e+02] [ 8.21198225e-01 5.70589371e-01 -7.82594548e-03 5.29182598e+01] [ 9.51872291e-03 1.54797360e-05 9.99954696e-01 1.13246610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.01, Y:52.94, Z:1.13 [[ 5.70912003e-01 -8.20993390e-01 -5.41654266e-03 1.09009571e+02] [ 8.20956076e-01 5.70937697e-01 -7.82734853e-03 5.29421916e+01] [ 9.51870979e-03 2.19836161e-05 9.99954696e-01 1.13207143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.02, Y:52.97, Z:1.13 [[ 5.71256535e-01 -8.20753712e-01 -5.41437367e-03 1.09024933e+02] [ 8.20716374e-01 5.71282192e-01 -7.82884859e-03 5.29659896e+01] [ 9.51869180e-03 2.86157925e-05 9.99954696e-01 1.13179891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.04, Y:52.99, Z:1.13 [[ 5.71320469e-01 -8.20709224e-01 -5.41222083e-03 1.09039667e+02] [ 8.20671869e-01 5.71346103e-01 -7.83033660e-03 5.29894709e+01] [ 9.51868075e-03 3.19741971e-05 9.99954696e-01 1.13123675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.05, Y:53.01, Z:1.13 [[ 5.71715448e-01 -8.20434139e-01 -5.41009323e-03 1.09053730e+02] [ 8.20396759e-01 5.71741044e-01 -7.83180631e-03 5.30120868e+01] [ 9.51865363e-03 3.91417066e-05 9.99954696e-01 1.13110263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.07, Y:53.04, Z:1.13 [[ 5.71792687e-01 -8.20380320e-01 -5.40864759e-03 1.09069707e+02] [ 8.20342928e-01 5.71818265e-01 -7.83280455e-03 5.30356000e+01] [ 9.51864219e-03 4.17945568e-05 9.99954696e-01 1.13142348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.08, Y:53.06, Z:1.13 [[ 5.71990745e-01 -8.20242255e-01 -5.40655244e-03 1.09084520e+02] [ 8.20204843e-01 5.72016294e-01 -7.83425045e-03 5.30577043e+01] [ 9.51861934e-03 4.66382557e-05 9.99954696e-01 1.13182659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.10, Y:53.08, Z:1.13 [[ 5.71993036e-01 -8.20240670e-01 -5.40466571e-03 1.09099659e+02] [ 8.20203245e-01 5.72018567e-01 -7.83555184e-03 5.30809707e+01] [ 9.51860743e-03 4.89567380e-05 9.99954696e-01 1.13212316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.11, Y:53.10, Z:1.13 [[ 5.71825978e-01 -8.20357155e-01 -5.40259934e-03 1.09114498e+02] [ 8.20319722e-01 5.71851497e-01 -7.83697634e-03 5.31044371e+01] [ 9.51860414e-03 4.95278756e-05 9.99954696e-01 1.13174391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.13, Y:53.13, Z:1.13 [[ 5.71317364e-01 -8.20711462e-01 -5.40054549e-03 1.09129707e+02] [ 8.20674031e-01 5.71342887e-01 -7.83839141e-03 5.31267169e+01] [ 9.51862093e-03 4.61216770e-05 9.99954696e-01 1.13159648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.15, Y:53.15, Z:1.13 [[ 5.70636245e-01 -8.21185201e-01 -5.39837319e-03 1.09145440e+02] [ 8.21147777e-01 5.70661778e-01 -7.83988721e-03 5.31496718e+01] [ 9.51864460e-03 4.08616558e-05 9.99954696e-01 1.13162491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.16, Y:53.17, Z:1.13 [[ 5.69994709e-01 -8.21630642e-01 -5.39634489e-03 1.09161639e+02] [ 8.21593225e-01 5.70020252e-01 -7.84128308e-03 5.31728045e+01] [ 9.51866432e-03 3.58894639e-05 9.99954696e-01 1.13171581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.18, Y:53.20, Z:1.13 [[ 5.69066772e-01 -8.22273622e-01 -5.39432869e-03 1.09177416e+02] [ 8.22236221e-01 5.69092338e-01 -7.84266986e-03 5.31955274e+01] [ 9.51869168e-03 2.75903866e-05 9.99954696e-01 1.13158803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.19, Y:53.22, Z:1.13 [[ 5.67520392e-01 -8.23341683e-01 -5.39231908e-03 1.09193325e+02] [ 8.23304317e-01 5.67546009e-01 -7.84405135e-03 5.32174129e+01] [ 9.51872362e-03 1.21395214e-05 9.99954696e-01 1.13133008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.21, Y:53.24, Z:1.13 [[ 5.66595606e-01 -8.23978372e-01 -5.39085145e-03 1.09208968e+02] [ 8.23941025e-01 5.66621251e-01 -7.84505986e-03 5.32400467e+01] [ 9.51873064e-03 3.23277535e-06 9.99954696e-01 1.13106567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.22, Y:53.26, Z:1.13 [[ 5.65487596e-01 -8.24739195e-01 -5.38875308e-03 1.09224474e+02] [ 8.24701869e-01 5.65513271e-01 -7.84650095e-03 5.32632743e+01] [ 9.51872826e-03 -7.01577896e-06 9.99954696e-01 1.13083828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.24, Y:53.29, Z:1.13 [[ 5.63150334e-01 -8.26336907e-01 -5.38679243e-03 1.09238796e+02] [ 8.26299640e-01 5.63176096e-01 -7.84784675e-03 5.32862831e+01] [ 9.51867814e-03 -3.15871210e-05 9.99954696e-01 1.13029892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.25, Y:53.31, Z:1.13 [[ 5.61474867e-01 -8.27476271e-01 -5.38472118e-03 1.09253885e+02] [ 8.27439043e-01 5.61500685e-01 -7.84926766e-03 5.33100519e+01] [ 9.51860736e-03 -4.83620225e-05 9.99954696e-01 1.13070203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.27, Y:53.33, Z:1.13 [[ 5.61271089e-01 -8.27614518e-01 -5.38278835e-03 1.09269955e+02] [ 8.27577284e-01 5.61296898e-01 -7.85059292e-03 5.33337008e+01] [ 9.51860707e-03 -4.83625257e-05 9.99954696e-01 1.13097315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.29, Y:53.36, Z:1.13 [[ 5.59347103e-01 -8.28916078e-01 -5.38085477e-03 1.09285147e+02] [ 8.28878892e-01 5.59372980e-01 -7.85191798e-03 5.33574096e+01] [ 9.51848583e-03 -6.81293701e-05 9.99954696e-01 1.13179763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.30, Y:53.38, Z:1.13 [[ 5.56751920e-01 -8.30661403e-01 -5.37893443e-03 1.09300725e+02] [ 8.30624285e-01 5.56777894e-01 -7.85323329e-03 5.33811394e+01] [ 9.51824957e-03 -9.55708537e-05 9.99954696e-01 1.13280527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.32, Y:53.40, Z:1.13 [[ 5.49815478e-01 -8.35268836e-01 -5.37702350e-03 1.09315755e+02] [ 8.35231922e-01 5.49841743e-01 -7.85454146e-03 5.34032191e+01] [ 9.51716567e-03 -1.72513204e-04 9.99954696e-01 1.13424273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.33, Y:53.43, Z:1.14 [[ 5.45353700e-01 -8.38188792e-01 -5.37500830e-03 1.09332114e+02] [ 8.38152005e-01 5.45380143e-01 -7.85592025e-03 5.34263484e+01] [ 9.51616710e-03 -2.20818806e-04 9.99954696e-01 1.13555156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.35, Y:53.45, Z:1.14 [[ 5.41117330e-01 -8.40929941e-01 -5.37304529e-03 1.09347407e+02] [ 8.40893275e-01 5.41143939e-01 -7.85726262e-03 5.34488253e+01] [ 9.51499829e-03 -2.66456686e-04 9.99954696e-01 1.13611084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.36, Y:53.47, Z:1.14 [[ 5.37149535e-01 -8.43469934e-01 -5.37097448e-03 1.09361993e+02] [ 8.43433380e-01 5.37176298e-01 -7.85867791e-03 5.34717672e+01] [ 9.51371872e-03 -3.08773977e-04 9.99954696e-01 1.13663942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.37, Y:53.49, Z:1.14 [[ 5.30190041e-01 -8.47861837e-01 -5.36888770e-03 1.09374721e+02] [ 8.47825490e-01 5.30217085e-01 -7.86010329e-03 5.34947815e+01] [ 9.51095761e-03 -3.84531361e-04 9.99954696e-01 1.13629178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.39, Y:53.52, Z:1.14 [[ 5.26956607e-01 -8.49875245e-01 -5.36670469e-03 1.09388491e+02] [ 8.49838987e-01 5.26983769e-01 -7.86159352e-03 5.35174182e+01] [ 9.50953999e-03 -4.18116225e-04 9.99954696e-01 1.13578433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.40, Y:53.54, Z:1.14 [[ 5.24159944e-01 -8.51602944e-01 -5.36454727e-03 1.09403156e+02] [ 8.51566760e-01 5.24187205e-01 -7.86306541e-03 5.35411621e+01] [ 9.50823670e-03 -4.46766212e-04 9.99954696e-01 1.13756072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.42, Y:53.57, Z:1.14 [[ 5.20941810e-01 -8.53575349e-01 -5.36231936e-03 1.09416042e+02] [ 8.53539252e-01 5.20969187e-01 -7.86458448e-03 5.35658824e+01] [ 9.50661859e-03 -4.79959181e-04 9.99954696e-01 1.13776660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.43, Y:53.59, Z:1.14 [[ 5.20437335e-01 -8.53883042e-01 -5.36006719e-03 1.09429852e+02] [ 8.53846946e-01 5.20464712e-01 -7.86611913e-03 5.35891892e+01] [ 9.50647156e-03 -4.82854931e-04 9.99954696e-01 1.13558109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.44, Y:53.61, Z:1.14 [[ 5.20282505e-01 -8.53977401e-01 -5.35853862e-03 1.09444023e+02] [ 8.53941299e-01 5.20309875e-01 -7.86716028e-03 5.36133012e+01] [ 9.50647765e-03 -4.82731565e-04 9.99954696e-01 1.13905110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.46, Y:53.64, Z:1.14 [[ 5.20937664e-01 -8.53577917e-01 -5.35633876e-03 1.09458508e+02] [ 8.53541779e-01 5.20964986e-01 -7.86865777e-03 5.36377433e+01] [ 9.50697745e-03 -4.72778717e-04 9.99954696e-01 1.14000191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.47, Y:53.66, Z:1.14 [[ 5.23405347e-01 -8.52067002e-01 -5.35409295e-03 1.09471301e+02] [ 8.52030770e-01 5.23432544e-01 -7.87018559e-03 5.36633388e+01] [ 9.50843194e-03 -4.42554720e-04 9.99954696e-01 1.14117481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.48, Y:53.69, Z:1.14 [[ 5.24827700e-01 -8.51191660e-01 -5.35185833e-03 1.09484657e+02] [ 8.51155367e-01 5.24854816e-01 -7.87170487e-03 5.36867731e+01] [ 9.50927816e-03 -4.23974177e-04 9.99954696e-01 1.14150891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.50, Y:53.71, Z:1.14 [[ 5.26393219e-01 -8.50224416e-01 -5.34984601e-03 1.09498684e+02] [ 8.50188059e-01 5.26420249e-01 -7.87307227e-03 5.37110804e+01] [ 9.51014555e-03 -4.04043334e-04 9.99954696e-01 1.14188615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.51, Y:53.74, Z:1.14 [[ 5.27686332e-01 -8.49422473e-01 -5.34768668e-03 1.09512233e+02] [ 8.49386060e-01 5.27713287e-01 -7.87453870e-03 5.37352898e+01] [ 9.51085545e-03 -3.86964082e-04 9.99954696e-01 1.14247406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.52, Y:53.76, Z:1.14 [[ 5.30626345e-01 -8.47588997e-01 -5.34542941e-03 1.09523831e+02] [ 8.47552476e-01 5.30653153e-01 -7.87607069e-03 5.37607324e+01] [ 9.51223983e-03 -3.51281322e-04 9.99954696e-01 1.14265685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.54, Y:53.79, Z:1.14 [[ 5.31634245e-01 -8.46957188e-01 -5.34339806e-03 1.09537652e+02] [ 8.46920621e-01 5.31660990e-01 -7.87744859e-03 5.37854352e+01] [ 9.51273800e-03 -3.37512566e-04 9.99954696e-01 1.14365228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.55, Y:53.81, Z:1.14 [[ 5.32464783e-01 -8.46435305e-01 -5.34119772e-03 1.09550830e+02] [ 8.46398697e-01 5.32491472e-01 -7.87894022e-03 5.38088614e+01] [ 9.51315540e-03 -3.25524599e-04 9.99954696e-01 1.14434951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.57, Y:53.83, Z:1.15 [[ 5.33167846e-01 -8.45992636e-01 -5.33920838e-03 1.09565094e+02] [ 8.45955993e-01 5.33194486e-01 -7.88028807e-03 5.38336232e+01] [ 9.51350215e-03 -3.15219108e-04 9.99954696e-01 1.14573632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.58, Y:53.86, Z:1.15 [[ 5.33641699e-01 -8.45693830e-01 -5.33697201e-03 1.09578859e+02] [ 8.45657156e-01 5.33668298e-01 -7.88180238e-03 5.38576647e+01] [ 9.51376440e-03 -3.07190154e-04 9.99954696e-01 1.14643774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.59, Y:53.88, Z:1.15 [[ 5.34038072e-01 -8.45443598e-01 -5.33474481e-03 1.09592391e+02] [ 8.45406897e-01 5.34064633e-01 -7.88330955e-03 5.38813673e+01] [ 9.51399212e-03 -3.00042619e-04 9.99954696e-01 1.14706992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.60, Y:53.91, Z:1.15 [[ 5.34802241e-01 -8.44960425e-01 -5.33322962e-03 1.09604796e+02] [ 8.44923689e-01 5.34828755e-01 -7.88433448e-03 5.39065171e+01] [ 9.51431517e-03 -2.89612297e-04 9.99954696e-01 1.14666659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.62, Y:53.93, Z:1.15 [[ 5.35228926e-01 -8.44690226e-01 -5.33102147e-03 1.09618738e+02] [ 8.44653462e-01 5.35255400e-01 -7.88582724e-03 5.39308715e+01] [ 9.51453922e-03 -2.82142899e-04 9.99954696e-01 1.14609479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.63, Y:53.95, Z:1.15 [[ 5.36063592e-01 -8.44160784e-01 -5.32879505e-03 1.09632361e+02] [ 8.44123979e-01 5.36090009e-01 -7.88733145e-03 5.39548273e+01] [ 9.51488969e-03 -2.70052449e-04 9.99954696e-01 1.14524565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.64, Y:53.98, Z:1.14 [[ 5.37834463e-01 -8.43033636e-01 -5.32728093e-03 1.09644550e+02] [ 8.42996765e-01 5.37860788e-01 -7.88835399e-03 5.39809665e+01] [ 9.51548326e-03 -2.48251962e-04 9.99954696e-01 1.14380819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.857628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:109.66, Y:54.00, Z:1.14 [[ 5.37885098e-01 -8.43001431e-01 -5.31123537e-03 1.09656846e+02] [ 8.42964452e-01 5.37911271e-01 -7.89918323e-03 5.40048825e+01] [ 9.51599614e-03 -2.28329673e-04 9.99954696e-01 1.13875414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.67, Y:54.03, Z:1.14 [[ 5.40926313e-01 -8.41053442e-01 -5.27552869e-03 1.09672681e+02] [ 8.41016134e-01 5.40952017e-01 -7.92327648e-03 5.40295172e+01] [ 9.51770684e-03 -1.50896006e-04 9.99954694e-01 1.14346637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.69, Y:54.05, Z:1.14 [[ 5.44013383e-01 -8.39059851e-01 -5.29206220e-03 1.09685932e+02] [ 8.39022556e-01 5.44039106e-01 -7.91212194e-03 5.40530767e+01] [ 9.51783264e-03 -1.35859327e-04 9.99954695e-01 1.14268593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.70, Y:54.08, Z:1.14 [[ 5.47578446e-01 -8.36737680e-01 -5.28206453e-03 1.09703747e+02] [ 8.36700211e-01 5.47603915e-01 -7.91886351e-03 5.40763071e+01] [ 9.51849070e-03 -8.33055284e-05 9.99954695e-01 1.14265972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.72, Y:54.10, Z:1.14 [[ 5.48838397e-01 -8.35911532e-01 -5.32211527e-03 1.09718624e+02] [ 8.35874286e-01 5.48864189e-01 -7.89185408e-03 5.40984745e+01] [ 9.51801031e-03 -1.17266755e-04 9.99954696e-01 1.14266325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.73, Y:54.12, Z:1.14 [[ 5.49999117e-01 -8.35148291e-01 -5.32019550e-03 1.09734687e+02] [ 8.35110996e-01 5.50024838e-01 -7.89314805e-03 5.41217480e+01] [ 9.51818877e-03 -1.01729310e-04 9.99954696e-01 1.14409304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.75, Y:54.14, Z:1.15 [[ 5.52961087e-01 -8.33190107e-01 -5.31797409e-03 1.09751283e+02] [ 8.33152707e-01 5.52986655e-01 -7.89464443e-03 5.41446552e+01] [ 9.51850835e-03 -6.52533455e-05 9.99954696e-01 1.14546423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.77, Y:54.17, Z:1.15 [[ 5.54262560e-01 -8.32324911e-01 -5.31573365e-03 1.09767271e+02] [ 8.32287457e-01 5.54288048e-01 -7.89615271e-03 5.41681154e+01] [ 9.51861223e-03 -4.76766214e-05 9.99954696e-01 1.14569322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.78, Y:54.19, Z:1.15 [[ 5.55459695e-01 -8.31526484e-01 -5.31350376e-03 1.09782661e+02] [ 8.31488979e-01 5.55485108e-01 -7.89765297e-03 5.41903308e+01] [ 9.51867982e-03 -3.12919050e-05 9.99954696e-01 1.14602314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.80, Y:54.21, Z:1.15 [[ 5.56222872e-01 -8.31016188e-01 -5.31148695e-03 1.09799081e+02] [ 8.30978646e-01 5.56248231e-01 -7.89900912e-03 5.42135445e+01] [ 9.51870967e-03 -2.01226994e-05 9.99954696e-01 1.14687237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.82, Y:54.24, Z:1.15 [[ 5.56817434e-01 -8.30617937e-01 -5.30928515e-03 1.09815116e+02] [ 8.30580363e-01 5.56842746e-01 -7.90048878e-03 5.42352417e+01] [ 9.51872461e-03 -1.06580960e-05 9.99954696e-01 1.14731857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.83, Y:54.26, Z:1.15 [[ 5.56967276e-01 -8.30517481e-01 -5.30728812e-03 1.09831507e+02] [ 8.30479890e-01 5.56992561e-01 -7.90183009e-03 5.42575910e+01] [ 9.51872803e-03 -6.53527948e-06 9.99954696e-01 1.14870191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.85, Y:54.28, Z:1.15 [[ 5.56393980e-01 -8.30901677e-01 -5.30500601e-03 1.09849852e+02] [ 8.30864088e-01 5.56419269e-01 -7.90336192e-03 5.42791043e+01] [ 9.51872424e-03 -1.03559885e-05 9.99954696e-01 1.14938670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.87, Y:54.30, Z:1.15 [[ 5.55291238e-01 -8.31639058e-01 -5.30273597e-03 1.09866287e+02] [ 8.31601488e-01 5.55316556e-01 -7.90488470e-03 5.43008620e+01] [ 9.51870794e-03 -2.02499121e-05 9.99954696e-01 1.14895662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.88, Y:54.32, Z:1.15 [[ 5.53755579e-01 -8.32662393e-01 -5.30070459e-03 1.09883423e+02] [ 8.32624858e-01 5.53780947e-01 -7.90624663e-03 5.43237145e+01] [ 9.51866345e-03 -3.53702240e-05 9.99954696e-01 1.14885789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.90, Y:54.35, Z:1.15 [[ 5.51671403e-01 -8.34044717e-01 -5.29851900e-03 1.09899991e+02] [ 8.34007231e-01 5.51696844e-01 -7.90771107e-03 5.43461961e+01] [ 9.51856085e-03 -5.65450961e-05 9.99954696e-01 1.14925140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.92, Y:54.37, Z:1.15 [[ 5.46610110e-01 -8.37370490e-01 -5.29625082e-03 1.09917757e+02] [ 8.37333144e-01 5.46635757e-01 -7.90922991e-03 5.43673233e+01] [ 9.51807580e-03 -1.11461317e-04 9.99954696e-01 1.14873954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.94, Y:54.39, Z:1.15 [[ 5.43702802e-01 -8.39261124e-01 -5.29421035e-03 1.09935295e+02] [ 8.39223854e-01 5.43728558e-01 -7.91059551e-03 5.43899299e+01] [ 9.51766864e-03 -1.42014676e-04 9.99954696e-01 1.14954983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.95, Y:54.41, Z:1.15 [[ 5.37943701e-01 -8.42964156e-01 -5.29207706e-03 1.09954186e+02] [ 8.42927049e-01 5.37969692e-01 -7.91202239e-03 5.44113126e+01] [ 9.51652835e-03 -2.04612295e-04 9.99954696e-01 1.15199197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.97, Y:54.43, Z:1.15 [[ 5.35138015e-01 -8.44748082e-01 -5.28987163e-03 1.09971512e+02] [ 8.44711047e-01 5.35164109e-01 -7.91349664e-03 5.44341086e+01] [ 9.51586054e-03 -2.33600126e-04 9.99954696e-01 1.15286905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.99, Y:54.46, Z:1.15 [[ 5.32623813e-01 -8.46335580e-01 -5.28765181e-03 1.09987772e+02] [ 8.46298609e-01 5.32649996e-01 -7.91497960e-03 5.44555411e+01] [ 9.51519657e-03 -2.59225756e-04 9.99954696e-01 1.15355236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.00, Y:54.48, Z:1.15 [[ 5.30355433e-01 -8.47758914e-01 -5.28565259e-03 1.10004375e+02] [ 8.47722000e-01 5.30381696e-01 -7.91631446e-03 5.44780099e+01] [ 9.51453954e-03 -2.82303601e-04 9.99954696e-01 1.15396315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.02, Y:54.50, Z:1.15 [[ 5.28476903e-01 -8.48931239e-01 -5.28347961e-03 1.10020639e+02] [ 8.48894368e-01 5.28503228e-01 -7.91776448e-03 5.45005749e+01] [ 9.51397364e-03 -3.00760432e-04 9.99954696e-01 1.15426645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.04, Y:54.52, Z:1.15 [[ 5.25925199e-01 -8.50514428e-01 -5.28130443e-03 1.10037244e+02] [ 8.50477622e-01 5.25951614e-01 -7.91921510e-03 5.45222396e+01] [ 9.51311730e-03 -3.26716451e-04 9.99954696e-01 1.15377066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.05, Y:54.54, Z:1.15 [[ 5.24592609e-01 -8.51337021e-01 -5.27934655e-03 1.10053358e+02] [ 8.51300243e-01 5.24619063e-01 -7.92052011e-03 5.45448386e+01] [ 9.51267784e-03 -3.39262689e-04 9.99954696e-01 1.15447968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.07, Y:54.57, Z:1.16 [[ 5.23414612e-01 -8.52061791e-01 -5.27717758e-03 1.10069908e+02] [ 8.52025035e-01 5.23441097e-01 -7.92196496e-03 5.45675722e+01] [ 9.51229527e-03 -3.49815198e-04 9.99954696e-01 1.15526857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.09, Y:54.59, Z:1.16 [[ 5.22383554e-01 -8.52694316e-01 -5.27494341e-03 1.10085340e+02] [ 8.52657578e-01 5.22410063e-01 -7.92345233e-03 5.45893463e+01] [ 9.51196629e-03 -3.58639279e-04 9.99954696e-01 1.15563197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.10, Y:54.61, Z:1.16 [[ 5.20953427e-01 -8.53568812e-01 -5.27342604e-03 1.10101037e+02] [ 8.53532108e-01 5.20979984e-01 -7.92446208e-03 5.46131991e+01] [ 9.51142310e-03 -3.72762760e-04 9.99954696e-01 1.15516688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.12, Y:54.64, Z:1.16 [[ 5.20518026e-01 -8.53834409e-01 -5.27121016e-03 1.10116691e+02] [ 8.53797704e-01 5.20544581e-01 -7.92593577e-03 5.46370900e+01] [ 9.51133657e-03 -3.74954689e-04 9.99954696e-01 1.15514016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.13, Y:54.66, Z:1.16 [[ 5.19963455e-01 -8.54172256e-01 -5.26897543e-03 1.10131936e+02] [ 8.54135553e-01 5.19990013e-01 -7.92742109e-03 5.46603499e+01] [ 9.51119776e-03 -3.78449981e-04 9.99954696e-01 1.15510699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.15, Y:54.68, Z:1.16 [[ 5.19289225e-01 -8.54582332e-01 -5.26673973e-03 1.10147420e+02] [ 8.54545634e-01 5.19315791e-01 -7.92890615e-03 5.46837835e+01] [ 9.51100421e-03 -3.83273911e-04 9.99954696e-01 1.15575262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.16, Y:54.71, Z:1.16 [[ 5.18648967e-01 -8.54971072e-01 -5.26449261e-03 1.10162928e+02] [ 8.54934380e-01 5.18675540e-01 -7.93039787e-03 5.47074717e+01] [ 9.51082431e-03 -3.87703060e-04 9.99954696e-01 1.15602463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.18, Y:54.73, Z:1.16 [[ 5.16998184e-01 -8.55970319e-01 -5.26224451e-03 1.10177502e+02] [ 8.55933663e-01 5.17024806e-01 -7.93188932e-03 5.47309730e+01] [ 9.51017278e-03 -4.03359848e-04 9.99954696e-01 1.15728411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.19, Y:54.76, Z:1.16 [[ 5.15861632e-01 -8.56655771e-01 -5.25997815e-03 1.10192279e+02] [ 8.56619135e-01 5.15888282e-01 -7.93339196e-03 5.47553710e+01] [ 9.50974709e-03 -4.13265410e-04 9.99954696e-01 1.15813815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.21, Y:54.78, Z:1.16 [[ 5.14909497e-01 -8.57228421e-01 -5.25772172e-03 1.10207158e+02] [ 8.57191799e-01 5.14936168e-01 -7.93488709e-03 5.47796903e+01] [ 9.50940180e-03 -4.21127219e-04 9.99954696e-01 1.15906209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.22, Y:54.80, Z:1.16 [[ 5.12580560e-01 -8.58623055e-01 -5.25547098e-03 1.10220345e+02] [ 8.58586490e-01 5.12607308e-01 -7.93637753e-03 5.48038538e+01] [ 9.50834955e-03 -4.44243549e-04 9.99954696e-01 1.15973148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.24, Y:54.83, Z:1.16 [[ 5.11288581e-01 -8.59393035e-01 -5.25342889e-03 1.10235186e+02] [ 8.59356497e-01 5.11315366e-01 -7.93772904e-03 5.48275799e+01] [ 9.50778797e-03 -4.56098033e-04 9.99954696e-01 1.16073793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.25, Y:54.85, Z:1.16 [[ 5.11050018e-01 -8.59534935e-01 -5.25122349e-03 1.10250905e+02] [ 8.59498389e-01 5.11076793e-01 -7.93918776e-03 5.48514701e+01] [ 9.50778769e-03 -4.56096090e-04 9.99954696e-01 1.16100906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.26, Y:54.87, Z:1.16 [[ 5.06262244e-01 -8.62363606e-01 -5.24901930e-03 1.10259163e+02] [ 8.62327195e-01 5.06289201e-01 -7.94064480e-03 5.48735257e+01] [ 9.50524487e-03 -5.06323434e-04 9.99954696e-01 1.16004149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.28, Y:54.90, Z:1.16 [[ 5.08578964e-01 -8.61000054e-01 -5.13274174e-03 1.10280543e+02] [ 8.60962793e-01 5.08604749e-01 -8.01742818e-03 5.48993902e+01] [ 9.51354292e-03 -3.41604344e-04 9.99954687e-01 1.16163324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.29, Y:54.92, Z:1.16 [[ 5.06725962e-01 -8.62091213e-01 -5.24788870e-03 1.10292691e+02] [ 8.62054780e-01 5.06752890e-01 -7.94133549e-03 5.49246873e+01] [ 9.50553831e-03 -4.99886673e-04 9.99954696e-01 1.16090750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.31, Y:54.95, Z:1.16 [[ 5.06208963e-01 -8.62394903e-01 -5.24572765e-03 1.10305767e+02] [ 8.62358472e-01 5.06235893e-01 -7.94276274e-03 5.49488799e+01] [ 9.50537372e-03 -5.02999983e-04 9.99954696e-01 1.16005240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.32, Y:54.97, Z:1.16 [[ 5.05922651e-01 -8.62562910e-01 -5.24379122e-03 1.10318931e+02] [ 8.62526475e-01 5.05949574e-01 -7.94404096e-03 5.49738025e+01] [ 9.50532903e-03 -5.03838502e-04 9.99954696e-01 1.15934020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.33, Y:55.00, Z:1.16 [[ 5.05956202e-01 -8.62543243e-01 -5.24166189e-03 1.10332206e+02] [ 8.62506793e-01 5.05983105e-01 -7.94544569e-03 5.49985045e+01] [ 9.50548286e-03 -5.00921463e-04 9.99954696e-01 1.15901961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.34, Y:55.02, Z:1.16 [[ 5.06809129e-01 -8.62042375e-01 -5.23938545e-03 1.10343243e+02] [ 8.62005882e-01 5.06835975e-01 -7.94694654e-03 5.50232417e+01] [ 9.50611370e-03 -4.88796024e-04 9.99954696e-01 1.15780042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.36, Y:55.05, Z:1.16 [[ 5.07425624e-01 -8.61679642e-01 -5.23735050e-03 1.10357482e+02] [ 8.61643117e-01 5.07452425e-01 -7.94828742e-03 5.50479633e+01] [ 9.50658368e-03 -4.79562306e-04 9.99954696e-01 1.15769503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.37, Y:55.07, Z:1.16 [[ 5.07760431e-01 -8.61482406e-01 -5.23526537e-03 1.10371334e+02] [ 8.61445856e-01 5.07787199e-01 -7.94966059e-03 5.50730249e+01] [ 9.50689347e-03 -4.73374576e-04 9.99954696e-01 1.15743090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.38, Y:55.10, Z:1.16 [[ 5.09692058e-01 -8.60340990e-01 -5.23319286e-03 1.10382336e+02] [ 8.60304366e-01 5.09718725e-01 -7.95102467e-03 5.50987521e+01] [ 9.50804883e-03 -4.49564540e-04 9.99954696e-01 1.15570502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.40, Y:55.12, Z:1.16 [[ 5.10883097e-01 -8.59634281e-01 -5.23100841e-03 1.10395699e+02] [ 8.59597606e-01 5.10909693e-01 -7.95246157e-03 5.51238635e+01] [ 9.50878149e-03 -4.33784108e-04 9.99954696e-01 1.15640548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.41, Y:55.15, Z:1.16 [[ 5.12313107e-01 -8.58782825e-01 -5.22880238e-03 1.10409319e+02] [ 8.58746090e-01 5.12339622e-01 -7.95391179e-03 5.51482381e+01] [ 9.50960546e-03 -4.15320340e-04 9.99954696e-01 1.15688143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.42, Y:55.17, Z:1.16 [[ 5.16076105e-01 -8.56526787e-01 -5.22652351e-03 1.10421203e+02] [ 8.56489922e-01 5.16102437e-01 -7.95540895e-03 5.51724097e+01] [ 9.51144239e-03 -3.70868244e-04 9.99954696e-01 1.15800294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.44, Y:55.20, Z:1.16 [[ 5.18302447e-01 -8.55181430e-01 -5.22446040e-03 1.10435121e+02] [ 8.55144483e-01 5.18328664e-01 -7.95676360e-03 5.51970156e+01] [ 9.51246406e-03 -3.43658438e-04 9.99954696e-01 1.15875884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.45, Y:55.22, Z:1.16 [[ 5.20763219e-01 -8.53685187e-01 -5.22226876e-03 1.10448465e+02] [ 8.53648150e-01 5.20789308e-01 -7.95820178e-03 5.52216203e+01] [ 9.51350071e-03 -3.13641288e-04 9.99954696e-01 1.15926946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.46, Y:55.25, Z:1.16 [[ 5.23511258e-01 -8.52002766e-01 -5.22003695e-03 1.10461627e+02] [ 8.51965631e-01 5.23537208e-01 -7.95966543e-03 5.52462678e+01] [ 9.51454053e-03 -2.80317612e-04 9.99954696e-01 1.15954594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.47, Y:55.27, Z:1.16 [[ 5.30108996e-01 -8.47913455e-01 -5.21781609e-03 1.10472916e+02] [ 8.47876105e-01 5.30134635e-01 -7.96112101e-03 5.52730117e+01] [ 9.51648665e-03 -2.03799717e-04 9.99954696e-01 1.15982972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.49, Y:55.30, Z:1.16 [[ 5.33566132e-01 -8.45742266e-01 -5.21559051e-03 1.10486295e+02] [ 8.45704797e-01 5.33591598e-01 -7.96257879e-03 5.52973467e+01] [ 9.51728471e-03 -1.62287546e-04 9.99954696e-01 1.15993786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.50, Y:55.32, Z:1.16 [[ 5.36911338e-01 -8.43622567e-01 -5.21337768e-03 1.10499927e+02] [ 8.43584984e-01 5.36936634e-01 -7.96402735e-03 5.53215301e+01] [ 9.51788666e-03 -1.21950544e-04 9.99954696e-01 1.16032882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.51, Y:55.34, Z:1.16 [[ 5.40097389e-01 -8.41586392e-01 -5.21115372e-03 1.10513558e+02] [ 8.41548699e-01 5.40122522e-01 -7.96548230e-03 5.53448720e+01] [ 9.51830299e-03 -8.33034413e-05 9.99954696e-01 1.16075302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.53, Y:55.37, Z:1.16 [[ 5.46003836e-01 -8.37766480e-01 -5.20915400e-03 1.10526663e+02] [ 8.37728599e-01 5.46028684e-01 -7.96678983e-03 5.53693372e+01] [ 9.51865698e-03 -1.39594739e-05 9.99954696e-01 1.16023829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.54, Y:55.39, Z:1.16 [[ 5.48487033e-01 -8.36142848e-01 -5.20695565e-03 1.10540978e+02] [ 8.36104880e-01 5.48511747e-01 -7.96822638e-03 5.53930976e+01] [ 9.51865184e-03 1.69078126e-05 9.99954696e-01 1.15962026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.56, Y:55.42, Z:1.16 [[ 5.50526185e-01 -8.34801671e-01 -5.20474232e-03 1.10555501e+02] [ 8.34763629e-01 5.50550786e-01 -7.96967183e-03 5.54166892e+01] [ 9.51857034e-03 4.27834425e-05 9.99954696e-01 1.15904962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.57, Y:55.44, Z:1.16 [[ 5.52149389e-01 -8.33728965e-01 -5.20247137e-03 1.10570275e+02] [ 8.33690861e-01 5.52173894e-01 -7.97115400e-03 5.54399368e+01] [ 9.51845085e-03 6.40149816e-05 9.99954696e-01 1.15814457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.59, Y:55.46, Z:1.16 [[ 5.53281965e-01 -8.32977804e-01 -5.20043816e-03 1.10585956e+02] [ 8.32939655e-01 5.53306399e-01 -7.97248026e-03 5.54634191e+01] [ 9.51833481e-03 7.93783809e-05 9.99954696e-01 1.15817671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.60, Y:55.49, Z:1.16 [[ 5.54042645e-01 -8.32472058e-01 -5.19814771e-03 1.10601265e+02] [ 8.32433872e-01 5.54067022e-01 -7.97397338e-03 5.54853584e+01] [ 9.51823225e-03 9.08070757e-05 9.99954696e-01 1.15829806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.62, Y:55.51, Z:1.16 [[ 5.54692129e-01 -8.32039443e-01 -5.19687087e-03 1.10619486e+02] [ 8.32001230e-01 5.54716464e-01 -7.97480544e-03 5.55068026e+01] [ 9.51814251e-03 9.97588431e-05 9.99954696e-01 1.15842828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.64, Y:55.53, Z:1.16 [[ 5.54588373e-01 -8.32108618e-01 -5.19463006e-03 1.10636512e+02] [ 8.32070395e-01 5.54612691e-01 -7.97626480e-03 5.55287659e+01] [ 9.51812644e-03 1.01245826e-04 9.99954696e-01 1.15830691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.65, Y:55.55, Z:1.16 [[ 5.54222470e-01 -8.32352385e-01 -5.19238774e-03 1.10653907e+02] [ 8.32314159e-01 5.54246783e-01 -7.97772424e-03 5.55509458e+01] [ 9.51814200e-03 9.97361951e-05 9.99954696e-01 1.15830750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.67, Y:55.57, Z:1.16 [[ 5.53253638e-01 -8.32996684e-01 -5.19013178e-03 1.10673289e+02] [ 8.32958472e-01 5.53277974e-01 -7.97919164e-03 5.55717205e+01] [ 9.51822577e-03 9.13525681e-05 9.99954696e-01 1.15759530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.69, Y:55.59, Z:1.16 [[ 5.52620226e-01 -8.33417045e-01 -5.18788204e-03 1.10690945e+02] [ 8.33378838e-01 5.52644570e-01 -7.98065410e-03 5.55941208e+01] [ 9.51826800e-03 8.67997704e-05 9.99954696e-01 1.15718191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.71, Y:55.62, Z:1.16 [[ 5.51679095e-01 -8.34040338e-01 -5.18564748e-03 1.10708519e+02] [ 8.34002145e-01 5.51703461e-01 -7.98210581e-03 5.56157781e+01] [ 9.51833788e-03 7.87197875e-05 9.99954697e-01 1.15741462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.73, Y:55.64, Z:1.16 [[ 5.49997288e-01 -8.35150355e-01 -5.18340707e-03 1.10729098e+02] [ 8.35112197e-01 5.50021709e-01 -7.98356041e-03 5.56356381e+01] [ 9.51845973e-03 6.22101041e-05 9.99954697e-01 1.15805189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.75, Y:55.66, Z:1.16 [[ 5.48745844e-01 -8.35973178e-01 -5.18117414e-03 1.10747244e+02] [ 8.35935043e-01 5.48770301e-01 -7.98500928e-03 5.56574432e+01] [ 9.51852807e-03 5.06156309e-05 9.99954697e-01 1.15881495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.77, Y:55.68, Z:1.16 [[ 5.47421790e-01 -8.36840823e-01 -5.17894620e-03 1.10765457e+02] [ 8.36802713e-01 5.47446286e-01 -7.98645402e-03 5.56786510e+01] [ 9.51858562e-03 3.82027216e-05 9.99954697e-01 1.15973574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.78, Y:55.70, Z:1.16 [[ 5.45943953e-01 -8.37805707e-01 -5.17670758e-03 1.10783307e+02] [ 8.37767627e-01 5.45968495e-01 -7.98790480e-03 5.56999082e+01] [ 9.51863147e-03 2.40703046e-05 9.99954697e-01 1.16072929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.80, Y:55.72, Z:1.16 [[ 5.44490616e-01 -8.38750971e-01 -5.17467995e-03 1.10801429e+02] [ 8.38712921e-01 5.44515205e-01 -7.98921811e-03 5.57216527e+01] [ 9.51865636e-03 9.98335895e-06 9.99954697e-01 1.16108732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.82, Y:55.74, Z:1.16 [[ 5.41120194e-01 -8.40929356e-01 -5.17244896e-03 1.10821855e+02] [ 8.40891391e-01 5.41144914e-01 -7.99066226e-03 5.57411567e+01] [ 9.51862691e-03 -2.55590876e-05 9.99954697e-01 1.16050483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.84, Y:55.76, Z:1.16 [[ 5.38833630e-01 -8.42396332e-01 -5.17093156e-03 1.10840108e+02] [ 8.42358425e-01 5.38858439e-01 -7.99164408e-03 5.57624728e+01] [ 9.51853177e-03 -4.96111732e-05 9.99954697e-01 1.16098217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.86, Y:55.78, Z:1.16 [[ 5.36680115e-01 -8.43769956e-01 -5.16873504e-03 1.10858537e+02] [ 8.43732099e-01 5.36704999e-01 -7.99306447e-03 5.57832720e+01] [ 9.51839359e-03 -7.13089037e-05 9.99954697e-01 1.16122688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.88, Y:55.80, Z:1.16 [[ 5.34156020e-01 -8.45370127e-01 -5.16676364e-03 1.10877132e+02] [ 8.45332332e-01 5.34180999e-01 -7.99433859e-03 5.58047097e+01] [ 9.51816199e-03 -9.74082766e-05 9.99954697e-01 1.16198270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.90, Y:55.82, Z:1.16 [[ 5.28970439e-01 -8.48624535e-01 -5.16457500e-03 1.10898352e+02] [ 8.48586880e-01 5.28995628e-01 -7.99575226e-03 5.58233847e+01] [ 9.51742915e-03 -1.53073998e-04 9.99954697e-01 1.16123121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.92, Y:55.84, Z:1.16 [[ 5.26006041e-01 -8.50465162e-01 -5.16266978e-03 1.10916150e+02] [ 8.50427583e-01 5.26031343e-01 -7.99698223e-03 5.58438809e+01] [ 9.51688091e-03 -1.84015823e-04 9.99954697e-01 1.16094760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.93, Y:55.87, Z:1.16 [[ 5.22537242e-01 -8.52600845e-01 -5.16042277e-03 1.10934182e+02] [ 8.52563355e-01 5.22562676e-01 -7.99843196e-03 5.58652505e+01] [ 9.51611418e-03 -2.20108773e-04 9.99954697e-01 1.16126724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.95, Y:55.89, Z:1.16 [[ 5.19073569e-01 -8.54714000e-01 -5.15829025e-03 1.10952356e+02] [ 8.54676600e-01 5.19099135e-01 -7.99980700e-03 5.58868374e+01] [ 9.51521106e-03 -2.56181607e-04 9.99954697e-01 1.16121788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.97, Y:55.91, Z:1.16 [[ 5.11409829e-01 -8.59321477e-01 -5.15615738e-03 1.10973496e+02] [ 8.59284293e-01 5.11435709e-01 -8.00118148e-03 5.59060066e+01] [ 9.51263009e-03 -3.38722193e-04 9.99954697e-01 1.16103397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.99, Y:55.93, Z:1.16 [[ 5.09407712e-01 -8.60509861e-01 -5.15390919e-03 1.10989815e+02] [ 8.60472723e-01 5.09433658e-01 -8.00262938e-03 5.59292697e+01] [ 9.51191630e-03 -3.58197146e-04 9.99954697e-01 1.16250284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.00, Y:55.95, Z:1.16 [[ 5.08342932e-01 -8.61139316e-01 -5.15182287e-03 1.11004870e+02] [ 8.61102197e-01 5.08368904e-01 -8.00397225e-03 5.59533005e+01] [ 9.51156174e-03 -3.67483275e-04 9.99954697e-01 1.16338348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.02, Y:55.98, Z:1.16 [[ 5.07259792e-01 -8.61777804e-01 -5.14973881e-03 1.11019658e+02] [ 8.61740704e-01 5.07285791e-01 -8.00531291e-03 5.59757433e+01] [ 9.51119031e-03 -3.76966185e-04 9.99954697e-01 1.16380838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.03, Y:56.00, Z:1.16 [[ 5.05466059e-01 -8.62831134e-01 -5.14754216e-03 1.11033978e+02] [ 8.62794074e-01 5.05492115e-01 -8.00672514e-03 5.59986122e+01] [ 9.51049371e-03 -3.94141063e-04 9.99954697e-01 1.16405158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.49762800000002 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:111.05, Y:56.02, Z:1.16 [[ 5.03847821e-01 -8.63777107e-01 -5.14603693e-03 1.11048848e+02] [ 8.63740086e-01 5.03873933e-01 -8.00769246e-03 5.60230198e+01] [ 9.50981529e-03 -4.10179983e-04 9.99954697e-01 1.16453355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.06, Y:56.05, Z:1.16 [[ 5.03024568e-01 -8.64256742e-01 -5.15436009e-03 1.11062582e+02] [ 8.64219800e-01 5.03050792e-01 -8.00234584e-03 5.60464464e+01] [ 9.50898627e-03 -4.29123487e-04 9.99954696e-01 1.16441981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.08, Y:56.07, Z:1.17 [[ 5.01316089e-01 -8.65248940e-01 -5.14305606e-03 1.11077290e+02] [ 8.65211976e-01 5.01342282e-01 -8.00960428e-03 5.60703239e+01] [ 9.50873307e-03 -4.34490202e-04 9.99954697e-01 1.16616219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.09, Y:56.09, Z:1.16 [[ 4.97962085e-01 -8.67183564e-01 -5.14078803e-03 1.11089812e+02] [ 8.67146687e-01 4.97988400e-01 -8.01105970e-03 5.60947975e+01] [ 9.50711211e-03 -4.68613316e-04 9.99954697e-01 1.16441714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.10, Y:56.12, Z:1.17 [[ 4.96222556e-01 -8.68180147e-01 -5.13875538e-03 1.11103162e+02] [ 8.68143309e-01 4.96248926e-01 -8.01236335e-03 5.61193635e+01] [ 9.50627663e-03 -4.85260675e-04 9.99954697e-01 1.16531408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.12, Y:56.14, Z:1.17 [[ 4.94798929e-01 -8.68992311e-01 -5.13648657e-03 1.11116096e+02] [ 8.68955501e-01 4.94825339e-01 -8.01381755e-03 5.61435951e+01] [ 9.50560954e-03 -4.98149915e-04 9.99954697e-01 1.16535876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.13, Y:56.17, Z:1.17 [[ 4.94255970e-01 -8.69301256e-01 -5.13445658e-03 1.11128236e+02] [ 8.69264450e-01 4.94282383e-01 -8.01511796e-03 5.61688829e+01] [ 9.50542354e-03 -5.01680679e-04 9.99954697e-01 1.16586161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.14, Y:56.19, Z:1.17 [[ 4.94905155e-01 -8.68931843e-01 -5.13218812e-03 1.11142210e+02] [ 8.68895002e-01 4.94931520e-01 -8.01657022e-03 5.61928246e+01] [ 9.50593481e-03 -4.91890680e-04 9.99954697e-01 1.16717335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.16, Y:56.22, Z:1.17 [[ 4.96196656e-01 -8.68195003e-01 -5.12991561e-03 1.11155727e+02] [ 8.68158108e-01 4.96222945e-01 -8.01802417e-03 5.62160746e+01] [ 9.50679035e-03 -4.75061051e-04 9.99954697e-01 1.16802439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.17, Y:56.24, Z:1.17 [[ 4.97572549e-01 -8.67407207e-01 -5.12786630e-03 1.11169513e+02] [ 8.67370257e-01 4.97598762e-01 -8.01933458e-03 5.62404893e+01] [ 9.50764853e-03 -4.57557959e-04 9.99954697e-01 1.16862281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.18, Y:56.27, Z:1.17 [[ 5.00982331e-01 -8.65442333e-01 -5.12559664e-03 1.11180316e+02] [ 8.65405265e-01 5.01008377e-01 -8.02078498e-03 5.62662164e+01] [ 9.50949372e-03 -4.17446761e-04 9.99954697e-01 1.16737805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.19, Y:56.29, Z:1.17 [[ 5.01950377e-01 -8.64881245e-01 -5.12354966e-03 1.11192944e+02] [ 8.64844135e-01 5.01976362e-01 -8.02209234e-03 5.62913125e+01] [ 9.51005803e-03 -4.04379609e-04 9.99954697e-01 1.16699924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.21, Y:56.32, Z:1.17 [[ 5.01707717e-01 -8.65022045e-01 -5.12129804e-03 1.11208277e+02] [ 8.64984928e-01 5.01733692e-01 -8.02352952e-03 5.63154569e+01] [ 9.51005769e-03 -4.04378938e-04 9.99954697e-01 1.16727035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.22, Y:56.34, Z:1.17 [[ 5.02062743e-01 -8.64816048e-01 -5.11904657e-03 1.11221473e+02] [ 8.64778906e-01 5.02088682e-01 -8.02496571e-03 5.63402467e+01] [ 9.51033447e-03 -3.97807192e-04 9.99954697e-01 1.16690741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.24, Y:56.36, Z:1.17 [[ 5.01726662e-01 -8.65011084e-01 -5.11679906e-03 1.11235274e+02] [ 8.64973937e-01 5.01752594e-01 -8.02639849e-03 5.63647756e+01] [ 9.51029086e-03 -3.98839703e-04 9.99954697e-01 1.16694704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.25, Y:56.39, Z:1.17 [[ 5.01642210e-01 -8.65060076e-01 -5.11456177e-03 1.11249406e+02] [ 8.65022917e-01 5.01668125e-01 -8.02782388e-03 5.63876336e+01] [ 9.51036254e-03 -3.97117830e-04 9.99954697e-01 1.16744418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.26, Y:56.41, Z:1.17 [[ 5.01717191e-01 -8.65016599e-01 -5.11304096e-03 1.11264024e+02] [ 8.64979428e-01 5.01743089e-01 -8.02879238e-03 5.64115996e+01] [ 9.51047165e-03 -3.94492080e-04 9.99954697e-01 1.16820287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.28, Y:56.44, Z:1.17 [[ 5.02052486e-01 -8.64822052e-01 -5.11074322e-03 1.11278067e+02] [ 8.64784856e-01 5.02078349e-01 -8.03025475e-03 5.64355938e+01] [ 9.51073490e-03 -3.88083972e-04 9.99954697e-01 1.16825027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.29, Y:56.46, Z:1.17 [[ 5.04391943e-01 -8.63459710e-01 -5.10845698e-03 1.11290547e+02] [ 8.63422430e-01 5.04417684e-01 -8.03170888e-03 5.64598074e+01] [ 9.51185306e-03 -3.59627086e-04 9.99954697e-01 1.16666223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.30, Y:56.48, Z:1.17 [[ 5.05519958e-01 -8.62799798e-01 -5.10690386e-03 1.11304459e+02] [ 8.62762474e-01 5.05545635e-01 -8.03269630e-03 5.64847140e+01] [ 9.51238170e-03 -3.45356706e-04 9.99954697e-01 1.16709218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.32, Y:56.51, Z:1.17 [[ 5.06875816e-01 -8.62003973e-01 -5.10463236e-03 1.11318033e+02] [ 8.61966594e-01 5.06901413e-01 -8.03413953e-03 5.65084885e+01] [ 9.51300556e-03 -3.27711542e-04 9.99954697e-01 1.16691819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.33, Y:56.53, Z:1.17 [[ 5.09536300e-01 -8.60434032e-01 -5.10259086e-03 1.11331776e+02] [ 8.60396561e-01 5.09561763e-01 -8.03543591e-03 5.65329741e+01] [ 9.51404771e-03 -2.95905343e-04 9.99954697e-01 1.16722047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.35, Y:56.56, Z:1.17 [[ 5.10910499e-01 -8.59618781e-01 -5.10027077e-03 1.11345914e+02] [ 8.59581255e-01 5.10935880e-01 -8.03690826e-03 5.65560346e+01] [ 9.51458861e-03 -2.77956336e-04 9.99954697e-01 1.16708109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.36, Y:56.58, Z:1.17 [[ 5.12365563e-01 -8.58752315e-01 -5.09819598e-03 1.11359896e+02] [ 8.58714733e-01 5.12390861e-01 -8.03822417e-03 5.65793568e+01] [ 9.51511265e-03 -2.59386752e-04 9.99954697e-01 1.16708309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.37, Y:56.60, Z:1.17 [[ 5.16192471e-01 -8.56457449e-01 -5.09617110e-03 1.11373710e+02] [ 8.56419742e-01 5.16217582e-01 -8.03950773e-03 5.66042631e+01] [ 9.51622940e-03 -2.14528179e-04 9.99954697e-01 1.16656789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.39, Y:56.63, Z:1.17 [[ 5.17995519e-01 -8.55368163e-01 -5.09391101e-03 1.11388288e+02] [ 8.55330389e-01 5.18020529e-01 -8.04093949e-03 5.66285388e+01] [ 9.51671412e-03 -1.91806262e-04 9.99954697e-01 1.16656610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.40, Y:56.65, Z:1.17 [[ 5.19709057e-01 -8.54328140e-01 -5.09165601e-03 1.11402953e+02] [ 8.54290302e-01 5.19733971e-01 -8.04236714e-03 5.66522749e+01] [ 9.51712716e-03 -1.70061310e-04 9.99954697e-01 1.16697683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.42, Y:56.68, Z:1.17 [[ 5.21127826e-01 -8.53463466e-01 -5.08941074e-03 1.11417990e+02] [ 8.53425572e-01 5.21152655e-01 -8.04378775e-03 5.66758014e+01] [ 9.51743889e-03 -1.51591650e-04 9.99954697e-01 1.16806006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.43, Y:56.70, Z:1.17 [[ 5.22096177e-01 -8.52871446e-01 -5.08714447e-03 1.11432390e+02] [ 8.52833511e-01 5.22120942e-01 -8.04522075e-03 5.66985426e+01] [ 9.51764372e-03 -1.38108285e-04 9.99954697e-01 1.16912816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.45, Y:56.72, Z:1.17 [[ 5.23800497e-01 -8.51825792e-01 -5.08510251e-03 1.11448428e+02] [ 8.51787795e-01 5.23825167e-01 -8.04651120e-03 5.67221734e+01] [ 9.51793045e-03 -1.16661680e-04 9.99954697e-01 1.17096032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.46, Y:56.75, Z:1.17 [[ 5.23853888e-01 -8.51792973e-01 -5.08285410e-03 1.11463733e+02] [ 8.51754960e-01 5.23878534e-01 -8.04793124e-03 5.67455601e+01] [ 9.51796943e-03 -1.13406123e-04 9.99954697e-01 1.17100440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.48, Y:56.77, Z:1.17 [[ 5.23679951e-01 -8.51899933e-01 -5.08059356e-03 1.11478627e+02] [ 8.51861912e-01 5.23704584e-01 -8.04935804e-03 5.67686026e+01] [ 9.51797772e-03 -1.12676717e-04 9.99954697e-01 1.17002376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.49, Y:56.79, Z:1.17 [[ 5.23205461e-01 -8.52191442e-01 -5.07856429e-03 1.11494127e+02] [ 8.52153422e-01 5.23230095e-01 -8.05063817e-03 5.67923792e+01] [ 9.51794262e-03 -1.15578085e-04 9.99954697e-01 1.16965140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.487628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:111.51, Y:56.82, Z:1.17 [[ 5.21846829e-01 -8.53024101e-01 -5.07632268e-03 1.11509739e+02] [ 8.52986107e-01 5.21871503e-01 -8.05205136e-03 5.68153308e+01] [ 9.51778202e-03 -1.28095246e-04 9.99954697e-01 1.16742603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.53, Y:56.84, Z:1.17 [[ 5.20745120e-01 -8.53697120e-01 -5.07409549e-03 1.11526226e+02] [ 8.53659144e-01 5.20769822e-01 -8.05345461e-03 5.68378108e+01] [ 9.51764681e-03 -1.37750817e-04 9.99954697e-01 1.17019442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.54, Y:56.86, Z:1.17 [[ 5.16513944e-01 -8.56263757e-01 -5.07187509e-03 1.11544437e+02] [ 8.56225890e-01 5.16538813e-01 -8.05485272e-03 5.68586233e+01] [ 9.51689879e-03 -1.82227011e-04 9.99954697e-01 1.17204005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.56, Y:56.88, Z:1.17 [[ 5.13892729e-01 -8.57839472e-01 -5.06985504e-03 1.11560409e+02] [ 8.57801669e-01 5.13917694e-01 -8.05612397e-03 5.68803423e+01] [ 9.51634935e-03 -2.08946583e-04 9.99954697e-01 1.17297177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.58, Y:56.90, Z:1.17 [[ 5.11081334e-01 -8.59517415e-01 -5.06787925e-03 1.11576892e+02] [ 8.59479681e-01 5.11106405e-01 -8.05736670e-03 5.69035428e+01] [ 9.51567253e-03 -2.37769515e-04 9.99954697e-01 1.17398539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.59, Y:56.93, Z:1.17 [[ 5.05854336e-01 -8.62604040e-01 -5.06565938e-03 1.11594806e+02] [ 8.62566445e-01 5.05879615e-01 -8.05876208e-03 5.69256780e+01] [ 9.51413454e-03 -2.92908054e-04 9.99954697e-01 1.17483392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.61, Y:56.95, Z:1.17 [[ 5.03507152e-01 -8.63976221e-01 -5.06336731e-03 1.11611220e+02] [ 8.63938680e-01 5.03532511e-01 -8.06020194e-03 5.69483595e+01] [ 9.51339287e-03 -3.16069552e-04 9.99954697e-01 1.17497514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.63, Y:56.97, Z:1.18 [[ 5.01729345e-01 -8.65009856e-01 -5.06104732e-03 1.11627361e+02] [ 8.64972353e-01 5.01754760e-01 -8.06165841e-03 5.69703338e+01] [ 9.51281856e-03 -3.32895417e-04 9.99954697e-01 1.17515742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.65, Y:56.99, Z:1.18 [[ 4.99456472e-01 -8.66324211e-01 -5.05896614e-03 1.11645549e+02] [ 8.66286762e-01 4.99481966e-01 -8.06296421e-03 5.69925219e+01] [ 9.51200347e-03 -3.55415735e-04 9.99954697e-01 1.17556218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.66, Y:57.02, Z:1.18 [[ 4.98843684e-01 -8.66677223e-01 -5.05664855e-03 1.11661651e+02] [ 8.66639777e-01 4.98869183e-01 -8.06441742e-03 5.70154559e+01] [ 9.51185303e-03 -3.59409075e-04 9.99954697e-01 1.17604666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.68, Y:57.04, Z:1.18 [[ 4.98251996e-01 -8.67017533e-01 -5.05435259e-03 1.11676755e+02] [ 8.66980090e-01 4.98277499e-01 -8.06585615e-03 5.70375971e+01] [ 9.51170887e-03 -3.63194135e-04 9.99954697e-01 1.17627319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.69, Y:57.06, Z:1.18 [[ 4.97930764e-01 -8.67202069e-01 -5.05228547e-03 1.11692569e+02] [ 8.67164623e-01 4.97956261e-01 -8.06715074e-03 5.70614067e+01] [ 9.51166700e-03 -3.64280697e-04 9.99954697e-01 1.17696981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.71, Y:57.08, Z:1.18 [[ 4.97955908e-01 -8.67187645e-01 -5.04997933e-03 1.11707186e+02] [ 8.67150183e-01 4.97981383e-01 -8.06859411e-03 5.70840371e+01] [ 9.51178082e-03 -3.61286394e-04 9.99954697e-01 1.17657018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.72, Y:57.11, Z:1.18 [[ 4.97835247e-01 -8.67256932e-01 -5.04790127e-03 1.11722670e+02] [ 8.67219460e-01 4.97860708e-01 -8.06989399e-03 5.71080235e+01] [ 9.51182320e-03 -3.60160547e-04 9.99954697e-01 1.17671361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.74, Y:57.13, Z:1.18 [[ 4.97771006e-01 -8.67293818e-01 -5.04564777e-03 1.11737875e+02] [ 8.67256334e-01 4.97796450e-01 -8.07130273e-03 5.71310060e+01] [ 9.51189650e-03 -3.58209500e-04 9.99954697e-01 1.17695145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.75, Y:57.15, Z:1.18 [[ 4.97073981e-01 -8.67693505e-01 -5.04362078e-03 1.11753606e+02] [ 8.67656029e-01 4.97099435e-01 -8.07256916e-03 5.71540713e+01] [ 9.51169687e-03 -3.63463889e-04 9.99954697e-01 1.17676311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.77, Y:57.18, Z:1.18 [[ 4.96266159e-01 -8.68155795e-01 -5.04133240e-03 1.11768647e+02] [ 8.68118328e-01 4.96291626e-01 -8.07399800e-03 5.71782133e+01] [ 9.51145921e-03 -3.69621087e-04 9.99954697e-01 1.17600765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.78, Y:57.20, Z:1.18 [[ 4.95449115e-01 -8.68622347e-01 -5.03905707e-03 1.11783302e+02] [ 8.68584890e-01 4.95474597e-01 -8.07541781e-03 5.72017855e+01] [ 9.51121314e-03 -3.75890227e-04 9.99954697e-01 1.17581715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.80, Y:57.22, Z:1.17 [[ 4.94746517e-01 -8.69022735e-01 -5.03673127e-03 1.11797750e+02] [ 8.68985284e-01 4.94772008e-01 -8.07686818e-03 5.72248652e+01] [ 9.51101572e-03 -3.80842950e-04 9.99954697e-01 1.17472075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.81, Y:57.25, Z:1.17 [[ 4.94514434e-01 -8.69154835e-01 -5.03465534e-03 1.11812527e+02] [ 8.69117377e-01 4.94539916e-01 -8.07816198e-03 5.72487027e+01] [ 9.51101157e-03 -3.80938744e-04 9.99954697e-01 1.17487903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.83, Y:57.27, Z:1.18 [[ 4.93709579e-01 -8.69612285e-01 -5.03238022e-03 1.11826871e+02] [ 8.69574837e-01 4.93735074e-01 -8.07957905e-03 5.72717873e+01] [ 9.51076382e-03 -3.87065636e-04 9.99954697e-01 1.17532135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.84, Y:57.30, Z:1.18 [[ 4.92995362e-01 -8.70017396e-01 -5.03033283e-03 1.11841878e+02] [ 8.69979956e-01 4.93020869e-01 -8.08085355e-03 5.72960115e+01] [ 9.51054222e-03 -3.92465419e-04 9.99954697e-01 1.17617645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.86, Y:57.32, Z:1.18 [[ 4.92266446e-01 -8.70430046e-01 -5.02809121e-03 1.11855594e+02] [ 8.70392613e-01 4.92291963e-01 -8.08224809e-03 5.73196973e+01] [ 9.51032047e-03 -3.97793909e-04 9.99954697e-01 1.17714432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.87, Y:57.34, Z:1.18 [[ 4.92028489e-01 -8.70564590e-01 -5.02606091e-03 1.11870633e+02] [ 8.70527151e-01 4.92053998e-01 -8.08351047e-03 5.73440281e+01] [ 9.51031134e-03 -3.98005042e-04 9.99954697e-01 1.17741553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.89, Y:57.37, Z:1.18 [[ 4.91846596e-01 -8.70667380e-01 -5.02385076e-03 1.11885354e+02] [ 8.70629932e-01 4.91872093e-01 -8.08488383e-03 5.73682154e+01] [ 9.51033661e-03 -3.97392249e-04 9.99954697e-01 1.17798288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:57.39, Z:1.18 [[ 4.92269046e-01 -8.70428613e-01 -5.02157598e-03 1.11899913e+02] [ 8.70391138e-01 4.92294503e-01 -8.08629646e-03 5.73918458e+01] [ 9.51063807e-03 -3.90101785e-04 9.99954697e-01 1.17923693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.91, Y:57.42, Z:1.18 [[ 4.95391009e-01 -8.68655602e-01 -5.01927296e-03 1.11914196e+02] [ 8.68618022e-01 4.95416310e-01 -8.08772573e-03 5.74156901e+01] [ 9.51207795e-03 -3.53244344e-04 9.99954697e-01 1.18065410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.93, Y:57.44, Z:1.18 [[ 4.97705963e-01 -8.67331312e-01 -5.01696268e-03 1.11928322e+02] [ 8.67293651e-01 4.97731142e-01 -8.08915858e-03 5.74399819e+01] [ 9.51307909e-03 -3.25157417e-04 9.99954697e-01 1.18107776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.94, Y:57.46, Z:1.18 [[ 5.00607242e-01 -8.65660004e-01 -5.01465398e-03 1.11941858e+02] [ 8.65622244e-01 5.00632274e-01 -8.09058954e-03 5.74636496e+01] [ 9.51419740e-03 -2.90588309e-04 9.99954697e-01 1.18131049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.96, Y:57.49, Z:1.18 [[ 5.03845308e-01 -8.63779355e-01 -5.01308565e-03 1.11956034e+02] [ 8.63741492e-01 5.03870183e-01 -8.09156120e-03 5.74884325e+01] [ 9.51526790e-03 -2.53114932e-04 9.99954697e-01 1.18154941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.96, Y:57.51, Z:1.18 [[ 5.05700349e-01 -8.62694644e-01 -5.01081813e-03 1.11958598e+02] [ 8.62656713e-01 5.05725122e-01 -8.09296514e-03 5.75114370e+01] [ 9.51585429e-03 -2.30000602e-04 9.99954697e-01 1.17598693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.98, Y:57.54, Z:1.18 [[ 5.14503301e-01 -8.57474771e-01 -4.83437488e-03 1.11982809e+02] [ 8.57435545e-01 5.14526007e-01 -8.20201730e-03 5.75377049e+01] [ 9.52043450e-03 7.48001120e-05 9.99954677e-01 1.17967326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.00, Y:57.56, Z:1.18 [[ 5.17028775e-01 -8.55953361e-01 -5.00889635e-03 1.11997171e+02] [ 8.55915097e-01 5.17053027e-01 -8.09401677e-03 5.75621188e+01] [ 9.51796588e-03 -1.02350435e-04 9.99954698e-01 1.17937149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.01, Y:57.59, Z:1.18 [[ 5.20498992e-01 -8.53847605e-01 -5.00661845e-03 1.12011176e+02] [ 8.53809230e-01 5.20523067e-01 -8.09542554e-03 5.75855473e+01] [ 9.51832010e-03 -6.10362076e-05 9.99954698e-01 1.17828687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.03, Y:57.61, Z:1.18 [[ 5.21418195e-01 -8.53286599e-01 -5.00464245e-03 1.12025711e+02] [ 8.53248186e-01 5.21442210e-01 -8.09664693e-03 5.76092296e+01] [ 9.51839214e-03 -4.84630618e-05 9.99954698e-01 1.17818182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:57.63, Z:1.18 [[ 5.21712852e-01 -8.53106486e-01 -5.00240642e-03 1.12040642e+02] [ 8.53068051e-01 5.21736833e-01 -8.09802820e-03 5.76333571e+01] [ 9.51842006e-03 -4.25477090e-05 9.99954698e-01 1.17739132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:57.66, Z:1.18 [[ 5.21613175e-01 -8.53167448e-01 -5.00017829e-03 1.12056104e+02] [ 8.53129003e-01 5.21637139e-01 -8.09940374e-03 5.76568309e+01] [ 9.51842631e-03 -4.10414187e-05 9.99954698e-01 1.17753571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.07, Y:57.68, Z:1.18 [[ 5.20891557e-01 -8.53608228e-01 -4.99790939e-03 1.12071068e+02] [ 8.53569790e-01 5.20915532e-01 -8.10080357e-03 5.76791474e+01] [ 9.51840120e-03 -4.64242802e-05 9.99954698e-01 1.17771954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:57.70, Z:1.18 [[ 5.19428675e-01 -8.54499203e-01 -4.99636924e-03 1.12088625e+02] [ 8.54460797e-01 5.19452701e-01 -8.10175338e-03 5.77011971e+01] [ 9.51831930e-03 -6.09186099e-05 9.99954698e-01 1.17933539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:57.72, Z:1.18 [[ 5.18479760e-01 -8.55075317e-01 -4.99411095e-03 1.12104338e+02] [ 8.55036924e-01 5.18503807e-01 -8.10314520e-03 5.77240390e+01] [ 9.51826499e-03 -6.88324880e-05 9.99954698e-01 1.18017953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.12, Y:57.75, Z:1.18 [[ 5.17833121e-01 -8.55467089e-01 -4.99185173e-03 1.12120306e+02] [ 8.55428701e-01 5.17857176e-01 -8.10453673e-03 5.77474930e+01] [ 9.51823068e-03 -7.33756886e-05 9.99954698e-01 1.18109440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.14, Y:57.77, Z:1.18 [[ 5.17092135e-01 -8.55915199e-01 -4.98956107e-03 1.12136188e+02] [ 8.55876818e-01 5.17116201e-01 -8.10594673e-03 5.77712415e+01] [ 9.51818588e-03 -7.89283546e-05 9.99954698e-01 1.18145762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:57.79, Z:1.18 [[ 5.16036119e-01 -8.56552305e-01 -4.98725131e-03 1.12152754e+02] [ 8.56513940e-01 5.16060210e-01 -8.10736758e-03 5.77930242e+01] [ 9.51810635e-03 -8.79557712e-05 9.99954698e-01 1.18187658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.17, Y:57.82, Z:1.18 [[ 5.15795237e-01 -8.56697392e-01 -4.98516549e-03 1.12167674e+02] [ 8.56659022e-01 5.15819319e-01 -8.10864994e-03 5.78174329e+01] [ 9.51810393e-03 -8.81839810e-05 9.99954698e-01 1.18214779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.18, Y:57.84, Z:1.18 [[ 5.15120239e-01 -8.57103442e-01 -4.98288485e-03 1.12183606e+02] [ 8.57065077e-01 5.15144330e-01 -8.11005118e-03 5.78405346e+01] [ 9.51805766e-03 -9.30050844e-05 9.99954698e-01 1.18274067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.20, Y:57.86, Z:1.18 [[ 5.14598722e-01 -8.57416672e-01 -4.98059824e-03 1.12199076e+02] [ 8.57378308e-01 5.14622815e-01 -8.11145521e-03 5.78626667e+01] [ 9.51802641e-03 -9.61124056e-05 9.99954698e-01 1.18346110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.21, Y:57.89, Z:1.18 [[ 5.13949397e-01 -8.57806057e-01 -4.97854957e-03 1.12214882e+02] [ 8.57767699e-01 5.13973500e-01 -8.11271242e-03 5.78854309e+01] [ 9.51797640e-03 -1.00915344e-04 9.99954698e-01 1.18309783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89762800000003 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:112.23, Y:57.91, Z:1.18 [[ 5.13629508e-01 -8.57997649e-01 -4.97628602e-03 1.12232139e+02] [ 8.57959286e-01 5.13653603e-01 -8.11410063e-03 5.79090522e+01] [ 9.51796651e-03 -1.01809295e-04 9.99954698e-01 1.17915967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.25, Y:57.93, Z:1.18 [[ 5.15621167e-01 -8.56802234e-01 -4.97431288e-03 1.12245554e+02] [ 8.56763804e-01 5.15645155e-01 -8.11531008e-03 5.79325506e+01] [ 9.51819614e-03 -7.73855667e-05 9.99954698e-01 1.18016927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.26, Y:57.96, Z:1.18 [[ 5.17191367e-01 -8.55855342e-01 -4.97229859e-03 1.12259197e+02] [ 8.55816856e-01 5.17215266e-01 -8.11654406e-03 5.79567815e+01] [ 9.51833632e-03 -5.75704253e-05 9.99954698e-01 1.17960898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.27, Y:57.98, Z:1.18 [[ 5.19379106e-01 -8.54529486e-01 -4.97012610e-03 1.12272499e+02] [ 8.54490926e-01 5.19402885e-01 -8.11787415e-03 5.79808022e+01] [ 9.51846066e-03 -3.06734324e-05 9.99954698e-01 1.17810900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.29, Y:58.00, Z:1.18 [[ 5.19605186e-01 -8.54392047e-01 -4.96790413e-03 1.12286503e+02] [ 8.54353469e-01 5.19628934e-01 -8.11923370e-03 5.80041731e+01] [ 9.51847543e-03 -2.55501880e-05 9.99954698e-01 1.17777773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.30, Y:58.03, Z:1.18 [[ 5.19258603e-01 -8.54602741e-01 -4.96564820e-03 1.12300918e+02] [ 8.54564159e-01 5.19282345e-01 -8.12061317e-03 5.80278072e+01] [ 9.51847172e-03 -2.67667280e-05 9.99954698e-01 1.17930771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.32, Y:58.05, Z:1.18 [[ 5.18198157e-01 -8.55246184e-01 -4.96335629e-03 1.12315106e+02] [ 8.55207618e-01 5.18221925e-01 -8.12201376e-03 5.80509609e+01] [ 9.51844132e-03 -3.58875493e-05 9.99954698e-01 1.17941519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.107628 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:112.33, Y:58.07, Z:1.18 [[ 5.14897429e-01 -8.57237437e-01 -4.96132155e-03 1.12330886e+02] [ 8.57198950e-01 5.14921326e-01 -8.12325648e-03 5.80749716e+01] [ 9.51824984e-03 -7.01957499e-05 9.99954698e-01 1.17900801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.35, Y:58.10, Z:1.18 [[ 5.13351963e-01 -8.58163835e-01 -4.95932945e-03 1.12346505e+02] [ 8.58125380e-01 5.13375910e-01 -8.12447251e-03 5.80996848e+01] [ 9.51812875e-03 -8.50125591e-05 9.99954698e-01 1.18458582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.36, Y:58.12, Z:1.19 [[ 5.11228535e-01 -8.59430515e-01 -4.95734058e-03 1.12361555e+02] [ 8.59392108e-01 5.11252558e-01 -8.12568588e-03 5.81241470e+01] [ 9.51791545e-03 -1.06216887e-04 9.99954698e-01 1.18690809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.38, Y:58.15, Z:1.19 [[ 5.09343926e-01 -8.60548784e-01 -4.95534073e-03 1.12375894e+02] [ 8.60510417e-01 5.09368015e-01 -8.12690527e-03 5.81476940e+01] [ 9.51769053e-03 -1.24732485e-04 9.99954698e-01 1.18849782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.39, Y:58.17, Z:1.19 [[ 5.06604696e-01 -8.62164223e-01 -4.95330750e-03 1.12391123e+02] [ 8.62125921e-01 5.06628888e-01 -8.12814433e-03 5.81721081e+01] [ 9.51728391e-03 -1.52618710e-04 9.99954698e-01 1.19143528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.40, Y:58.20, Z:1.19 [[ 5.05623797e-01 -8.62739857e-01 -4.95128303e-03 1.12404753e+02] [ 8.62701571e-01 5.05648013e-01 -8.12937735e-03 5.81950974e+01] [ 9.51714428e-03 -1.61073008e-04 9.99954698e-01 1.19198926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.42, Y:58.22, Z:1.19 [[ 5.05379692e-01 -8.62882884e-01 -4.94919371e-03 1.12419028e+02] [ 8.62844592e-01 5.05403900e-01 -8.13064914e-03 5.82192947e+01] [ 9.51713979e-03 -1.61320066e-04 9.99954698e-01 1.19187772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.43, Y:58.24, Z:1.19 [[ 5.05388746e-01 -8.62877595e-01 -4.94691525e-03 1.12433065e+02] [ 8.62839289e-01 5.05412931e-01 -8.13203519e-03 5.82438095e+01] [ 9.51718590e-03 -1.58553772e-04 9.99954698e-01 1.19232788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.45, Y:58.27, Z:1.19 [[ 5.07072395e-01 -8.61889283e-01 -4.94465234e-03 1.12445582e+02] [ 8.61850917e-01 5.07096484e-01 -8.13341090e-03 5.82675304e+01] [ 9.51751551e-03 -1.37325012e-04 9.99954698e-01 1.19170652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.46, Y:58.29, Z:1.19 [[ 5.08166982e-01 -8.61244381e-01 -4.94311522e-03 1.12459369e+02] [ 8.61205975e-01 5.08191008e-01 -8.13434499e-03 5.82925527e+01] [ 9.51770562e-03 -1.23434825e-04 9.99954698e-01 1.19089590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.47, Y:58.32, Z:1.19 [[ 5.09420004e-01 -8.60503834e-01 -4.94081811e-03 1.12472534e+02] [ 8.60465379e-01 5.09443952e-01 -8.13574002e-03 5.83161729e+01] [ 9.51790538e-03 -1.06894214e-04 9.99954698e-01 1.18944842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.49, Y:58.34, Z:1.19 [[ 5.11833183e-01 -8.59070662e-01 -4.93877638e-03 1.12486268e+02] [ 8.59032128e-01 5.11857004e-01 -8.13697926e-03 5.83403878e+01] [ 9.51818743e-03 -7.77915937e-05 9.99954698e-01 1.18923347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.50, Y:58.36, Z:1.19 [[ 5.12860718e-01 -8.58457637e-01 -4.93655748e-03 1.12499758e+02] [ 8.58419062e-01 5.12884472e-01 -8.13832520e-03 5.83635962e+01] [ 9.51829110e-03 -6.38077362e-05 9.99954698e-01 1.18846865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.51, Y:58.39, Z:1.19 [[ 5.13833515e-01 -8.57875731e-01 -4.93453756e-03 1.12513856e+02] [ 8.57837117e-01 5.13857206e-01 -8.13954976e-03 5.83884019e+01] [ 9.51836988e-03 -5.06560095e-05 9.99954698e-01 1.18805208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.52762800000002 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:112.53, Y:58.41, Z:1.18 [[ 5.15318678e-01 -8.56984441e-01 -4.93235532e-03 1.12527222e+02] [ 8.56945774e-01 5.15342282e-01 -8.14087193e-03 5.84134106e+01] [ 9.51845182e-03 -3.16176789e-05 9.99954698e-01 1.18455852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.54, Y:58.44, Z:1.19 [[ 5.15925217e-01 -8.56619440e-01 -4.93013475e-03 1.12541352e+02] [ 8.56580743e-01 5.15948772e-01 -8.14221649e-03 5.84370910e+01] [ 9.51847790e-03 -2.22836801e-05 9.99954698e-01 1.18811723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.56, Y:58.46, Z:1.19 [[ 5.15932505e-01 -8.56615062e-01 -4.92811249e-03 1.12555518e+02] [ 8.56576353e-01 5.15956040e-01 -8.14344029e-03 5.84603801e+01] [ 9.51848301e-03 -1.98390829e-05 9.99954698e-01 1.18853715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.57, Y:58.48, Z:1.19 [[ 5.15830778e-01 -8.56676336e-01 -4.92578432e-03 1.12570593e+02] [ 8.56637617e-01 5.15854296e-01 -8.14484830e-03 5.84847765e+01] [ 9.51848580e-03 -1.82487016e-05 9.99954698e-01 1.19055085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.59, Y:58.51, Z:1.19 [[ 5.15577536e-01 -8.56828783e-01 -4.92357792e-03 1.12585919e+02] [ 8.56790058e-01 5.15601044e-01 -8.14618186e-03 5.85076367e+01] [ 9.51848500e-03 -1.84842342e-05 9.99954698e-01 1.19193760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.60, Y:58.53, Z:1.19 [[ 5.15012859e-01 -8.57168319e-01 -4.92214477e-03 1.12601742e+02] [ 8.57129602e-01 5.15036379e-01 -8.14704771e-03 5.85308825e+01] [ 9.51847482e-03 -2.30816580e-05 9.99954698e-01 1.19285717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.62, Y:58.55, Z:1.19 [[ 5.14913187e-01 -8.57228210e-01 -4.91995083e-03 1.12616691e+02] [ 8.57189482e-01 5.14936691e-01 -8.14837240e-03 5.85547349e+01] [ 9.51847789e-03 -2.16256961e-05 9.99954698e-01 1.19387780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.63, Y:58.58, Z:1.19 [[ 5.15698715e-01 -8.56755888e-01 -4.91765651e-03 1.12631530e+02] [ 8.56717126e-01 5.15722161e-01 -8.14975682e-03 5.85769967e+01] [ 9.51849659e-03 -1.02214317e-05 9.99954698e-01 1.19256955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.65, Y:58.60, Z:1.19 [[ 5.17722318e-01 -8.55534592e-01 -4.91559229e-03 1.12648528e+02] [ 8.55495763e-01 5.17745653e-01 -8.15100168e-03 5.86002267e+01] [ 9.51849044e-03 1.46871023e-05 9.99954698e-01 1.19068639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.66, Y:58.62, Z:1.19 [[ 5.20042134e-01 -8.54126476e-01 -4.91346195e-03 1.12661263e+02] [ 8.54087571e-01 5.20065343e-01 -8.15228566e-03 5.86245531e+01] [ 9.51840430e-03 4.30052435e-05 9.99954698e-01 1.18854126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.68, Y:58.65, Z:1.19 [[ 5.19812098e-01 -8.54266506e-01 -4.91120320e-03 1.12675942e+02] [ 8.54227594e-01 5.19835296e-01 -8.15364618e-03 5.86491002e+01] [ 9.51840360e-03 4.30786285e-05 9.99954698e-01 1.18881232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.69, Y:58.67, Z:1.19 [[ 5.19124877e-01 -8.54684306e-01 -4.90900697e-03 1.12689874e+02] [ 8.54645401e-01 5.19148086e-01 -8.15496824e-03 5.86730963e+01] [ 9.51842494e-03 3.79866575e-05 9.99954698e-01 1.18910882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.70, Y:58.70, Z:1.19 [[ 5.18893989e-01 -8.54824515e-01 -4.90680523e-03 1.12704540e+02] [ 8.54785603e-01 5.18917187e-01 -8.15629279e-03 5.86976516e+01] [ 9.51842460e-03 3.79848356e-05 9.99954698e-01 1.18937991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.72, Y:58.72, Z:1.19 [[ 5.18663063e-01 -8.54964661e-01 -4.90460157e-03 1.12719200e+02] [ 8.54925744e-01 5.18686250e-01 -8.15761770e-03 5.87222108e+01] [ 9.51842425e-03 3.79848342e-05 9.99954698e-01 1.18965101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.73, Y:58.75, Z:1.19 [[ 5.17259843e-01 -8.55814362e-01 -4.90239756e-03 1.12733278e+02] [ 8.55775469e-01 5.17283073e-01 -8.15894201e-03 5.87454010e+01] [ 9.51846702e-03 2.49414896e-05 9.99954698e-01 1.19033437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.75, Y:58.77, Z:1.19 [[ 5.14993144e-01 -8.57180291e-01 -4.90007335e-03 1.12748292e+02] [ 8.57141447e-01 5.15016456e-01 -8.16033764e-03 5.87693609e+01] [ 9.51849899e-03 2.46198346e-06 9.99954698e-01 1.19173231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.76, Y:58.79, Z:1.19 [[ 5.12077580e-01 -8.58925237e-01 -4.89791954e-03 1.12763536e+02] [ 8.58886460e-01 5.12101003e-01 -8.16163017e-03 5.87936411e+01] [ 9.51845963e-03 -2.73689472e-05 9.99954698e-01 1.19396406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.78, Y:58.82, Z:1.20 [[ 5.08825277e-01 -8.60855894e-01 -4.89570383e-03 1.12778731e+02] [ 8.60817193e-01 5.08848825e-01 -8.16295903e-03 5.88174661e+01] [ 9.51830453e-03 -6.07861456e-05 9.99954698e-01 1.19558958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.79, Y:58.84, Z:1.20 [[ 5.05510356e-01 -8.62806661e-01 -4.89351092e-03 1.12793691e+02] [ 8.62768038e-01 5.05534032e-01 -8.16427342e-03 5.88416589e+01] [ 9.51802579e-03 -9.48400489e-05 9.99954698e-01 1.19773048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.81, Y:58.87, Z:1.20 [[ 4.99086205e-01 -8.66538537e-01 -4.89131116e-03 1.12807546e+02] [ 8.66500078e-01 4.99110146e-01 -8.16559111e-03 5.88655619e+01] [ 9.51710240e-03 -1.62987627e-04 9.99954698e-01 1.20009953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.82, Y:58.89, Z:1.20 [[ 4.95836799e-01 -8.68401956e-01 -4.88987164e-03 1.12821233e+02] [ 8.68363579e-01 4.95860871e-01 -8.16645306e-03 5.88891448e+01] [ 9.51645982e-03 -1.96958490e-04 9.99954698e-01 1.20096571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.83, Y:58.91, Z:1.20 [[ 4.89524131e-01 -8.71976048e-01 -4.88834287e-03 1.12833883e+02] [ 8.71937838e-01 4.89548467e-01 -8.16736806e-03 5.89127141e+01] [ 9.51483008e-03 -2.64207358e-04 9.99954698e-01 1.20148337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.85, Y:58.94, Z:1.20 [[ 4.83543293e-01 -8.75306810e-01 -4.88599219e-03 1.12847434e+02] [ 8.75268752e-01 4.83567867e-01 -8.16877408e-03 5.89390365e+01] [ 9.51289240e-03 -3.26600369e-04 9.99954698e-01 1.20163107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.86, Y:58.96, Z:1.20 [[ 4.78955609e-01 -8.77825467e-01 -4.89638838e-03 1.12859633e+02] [ 8.77787602e-01 4.78980478e-01 -8.16256011e-03 5.89640948e+01] [ 9.51057759e-03 -3.88485070e-04 9.99954698e-01 1.19946517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.87, Y:58.99, Z:1.20 [[ 4.77056476e-01 -8.78859088e-01 -4.88079076e-03 1.12872420e+02] [ 8.78821182e-01 4.77081283e-01 -8.17187606e-03 5.89882052e+01] [ 9.51046145e-03 -3.90895910e-04 9.99954698e-01 1.19877874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.89, Y:59.01, Z:1.20 [[ 4.76807438e-01 -8.78994232e-01 -4.87919888e-03 1.12887032e+02] [ 8.78956323e-01 4.76832241e-01 -8.17282641e-03 5.90128004e+01] [ 9.51042661e-03 -3.91738288e-04 9.99954698e-01 1.19905023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.90, Y:59.04, Z:1.20 [[ 4.75191370e-01 -8.79868955e-01 -4.87688268e-03 1.12899285e+02] [ 8.79831078e-01 4.75216221e-01 -8.17420830e-03 5.90365093e+01] [ 9.50980587e-03 -4.06519708e-04 9.99954698e-01 1.19726267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.91, Y:59.06, Z:1.20 [[ 4.74962587e-01 -8.79992487e-01 -4.87480731e-03 1.12913850e+02] [ 8.79954604e-01 4.74987429e-01 -8.17544579e-03 5.90611193e+01] [ 9.50980306e-03 -4.06578257e-04 9.99954698e-01 1.19753380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.93, Y:59.09, Z:1.20 [[ 4.73554082e-01 -8.80751264e-01 -4.87268127e-03 1.12926812e+02] [ 8.80713407e-01 4.73578965e-01 -8.17671274e-03 5.90861313e+01] [ 9.50924943e-03 -4.19320023e-04 9.99954698e-01 1.19890341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.94, Y:59.11, Z:1.20 [[ 4.73141158e-01 -8.80973169e-01 -4.87037022e-03 1.12938942e+02] [ 8.80935310e-01 4.73166037e-01 -8.17808906e-03 5.91114762e+01] [ 9.50917081e-03 -4.21090572e-04 9.99954698e-01 1.19934403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.95, Y:59.14, Z:1.20 [[ 4.73382313e-01 -8.80843623e-01 -4.86806924e-03 1.12952105e+02] [ 8.80805743e-01 4.73407160e-01 -8.17945851e-03 5.91366834e+01] [ 9.50940270e-03 -4.15812356e-04 9.99954698e-01 1.19936175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.96, Y:59.16, Z:1.20 [[ 4.73932181e-01 -8.80547904e-01 -4.86577711e-03 1.12964782e+02] [ 8.80509995e-01 4.73956984e-01 -8.18082182e-03 5.91617386e+01] [ 9.50977455e-03 -4.07210649e-04 9.99954698e-01 1.19976068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.98, Y:59.19, Z:1.20 [[ 4.74884681e-01 -8.80034594e-01 -4.86345749e-03 1.12977247e+02] [ 8.79996644e-01 4.74909421e-01 -8.18220059e-03 5.91859146e+01] [ 9.51032135e-03 -3.94224548e-04 9.99954698e-01 1.19965242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.99, Y:59.21, Z:1.20 [[ 4.78181574e-01 -8.78247545e-01 -4.86136104e-03 1.12988952e+02] [ 8.78209490e-01 4.78206152e-01 -8.18344598e-03 5.92121089e+01] [ 9.51182409e-03 -3.56120320e-04 9.99954698e-01 1.20155374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.00, Y:59.24, Z:1.20 [[ 4.80066856e-01 -8.77218446e-01 -4.85916991e-03 1.13001463e+02] [ 8.77180326e-01 4.80091331e-01 -8.18474682e-03 5.92372790e+01] [ 9.51265624e-03 -3.33142571e-04 9.99954698e-01 1.20313278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.01, Y:59.26, Z:1.20 [[ 4.82134990e-01 -8.76083479e-01 -4.85685091e-03 1.13013576e+02] [ 8.76045287e-01 4.82159354e-01 -8.18612270e-03 5.92620405e+01] [ 9.51350295e-03 -3.08005162e-04 9.99954698e-01 1.20268456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.03, Y:59.29, Z:1.20 [[ 4.84403108e-01 -8.74831447e-01 -4.85476234e-03 1.13026336e+02] [ 8.74793179e-01 4.84427353e-01 -8.18736113e-03 5.92872010e+01] [ 9.51434065e-03 -2.80929804e-04 9.99954698e-01 1.20203737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.04, Y:59.31, Z:1.20 [[ 4.86378634e-01 -8.73734673e-01 -4.85246184e-03 1.13039581e+02] [ 8.73696337e-01 4.86402771e-01 -8.18872436e-03 5.93126012e+01] [ 9.51502328e-03 -2.56757568e-04 9.99954698e-01 1.20126620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.05, Y:59.34, Z:1.20 [[ 4.86126835e-01 -8.73874806e-01 -4.85010621e-03 1.13054106e+02] [ 8.73836464e-01 4.86150961e-01 -8.19011933e-03 5.93372433e+01] [ 9.51502274e-03 -2.56762872e-04 9.99954698e-01 1.20153731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.07, Y:59.36, Z:1.20 [[ 4.90455844e-01 -8.71452560e-01 -4.84774561e-03 1.13066141e+02] [ 8.71414084e-01 4.90479758e-01 -8.19151634e-03 5.93619208e+01] [ 9.51623898e-03 -2.06816737e-04 9.99954698e-01 1.20045440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.08, Y:59.39, Z:1.20 [[ 4.92700043e-01 -8.70185720e-01 -4.84567443e-03 1.13079483e+02] [ 8.70147171e-01 4.92723838e-01 -8.19274136e-03 5.93866967e+01] [ 9.51678584e-03 -1.79885878e-04 9.99954698e-01 1.20094450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.09, Y:59.41, Z:1.20 [[ 4.95322171e-01 -8.68695855e-01 -4.84338246e-03 1.13093010e+02] [ 8.68657221e-01 4.95345828e-01 -8.19409610e-03 5.94116663e+01] [ 9.51732661e-03 -1.48521676e-04 9.99954698e-01 1.20207948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.11, Y:59.44, Z:1.20 [[ 4.98061346e-01 -8.67128283e-01 -4.84113797e-03 1.13105977e+02] [ 8.67089561e-01 4.98084860e-01 -8.19542195e-03 5.94364885e+01] [ 9.51777969e-03 -1.15877303e-04 9.99954698e-01 1.20386691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.817628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:113.12, Y:59.46, Z:1.20 [[ 5.01186430e-01 -8.65325765e-01 -4.84603074e-03 1.13118330e+02] [ 8.65286986e-01 5.01209850e-01 -8.19253290e-03 5.94619816e+01] [ 9.51808813e-03 -8.72210235e-05 9.99954698e-01 1.20440992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.13, Y:59.49, Z:1.20 [[ 5.07409261e-01 -8.61691614e-01 -4.83779577e-03 1.13129600e+02] [ 8.61652622e-01 5.07432323e-01 -8.19739287e-03 5.94875982e+01] [ 9.51847864e-03 -9.06635014e-06 9.99954698e-01 1.20474882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.14, Y:59.51, Z:1.20 [[ 5.10125687e-01 -8.60086275e-01 -4.83548086e-03 1.13143371e+02] [ 8.60047198e-01 5.10148604e-01 -8.19875816e-03 5.95122310e+01] [ 9.51845318e-03 2.36553793e-05 9.99954698e-01 1.20492851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.16, Y:59.54, Z:1.21 [[ 5.12582004e-01 -8.58624673e-01 -4.83316557e-03 1.13156854e+02] [ 8.58585517e-01 5.12604787e-01 -8.20012280e-03 5.95352768e+01] [ 9.51833156e-03 5.35494206e-05 9.99954698e-01 1.20532591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.17, Y:59.56, Z:1.21 [[ 5.16789519e-01 -8.56098857e-01 -4.83108631e-03 1.13171632e+02] [ 8.56059578e-01 5.16812090e-01 -8.20134761e-03 5.95596239e+01] [ 9.51792812e-03 1.02672784e-04 9.99954698e-01 1.20735147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.19, Y:59.58, Z:1.21 [[ 5.19018436e-01 -8.54749405e-01 -4.82879112e-03 1.13185830e+02] [ 8.54710055e-01 5.19040882e-01 -8.20269875e-03 5.95833573e+01] [ 9.51759188e-03 1.30135558e-04 9.99954698e-01 1.20885155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.99762800000002 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:113.20, Y:59.61, Z:1.21 [[ 5.20392160e-01 -8.53913758e-01 -4.82648631e-03 1.13199682e+02] [ 8.53874359e-01 5.20414520e-01 -8.20405468e-03 5.96076556e+01] [ 9.51732871e-03 1.48112828e-04 9.99954698e-01 1.20522673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.21, Y:59.63, Z:1.21 [[ 5.23264595e-01 -8.52156612e-01 -4.82418924e-03 1.13214032e+02] [ 8.52117126e-01 5.23286801e-01 -8.20540519e-03 5.96319885e+01] [ 9.51672484e-03 1.82823757e-04 9.99954698e-01 1.20505861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.23, Y:59.66, Z:1.20 [[ 5.23716233e-01 -8.51879132e-01 -4.82194717e-03 1.13229148e+02] [ 8.51839622e-01 5.23738397e-01 -8.20672254e-03 5.96556807e+01] [ 9.51657456e-03 1.90468160e-04 9.99954698e-01 1.20427615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:59.68, Z:1.20 [[ 5.23481705e-01 -8.52023283e-01 -4.81965386e-03 1.13245002e+02] [ 8.51983767e-01 5.23503857e-01 -8.20806914e-03 5.96795016e+01] [ 9.51657340e-03 1.90507179e-04 9.99954698e-01 1.20448596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.26, Y:59.70, Z:1.21 [[ 5.22835374e-01 -8.52420064e-01 -4.81736373e-03 1.13260862e+02] [ 8.52380552e-01 5.22857534e-01 -8.20941301e-03 5.97025802e+01] [ 9.51666328e-03 1.85944367e-04 9.99954698e-01 1.20547726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.28, Y:59.73, Z:1.21 [[ 5.20518864e-01 -8.53836593e-01 -4.81505083e-03 1.13277657e+02] [ 8.53797129e-01 5.20541109e-01 -8.21076937e-03 5.97250649e+01] [ 9.51708724e-03 1.62783766e-04 9.99954698e-01 1.20680930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.29, Y:59.75, Z:1.21 [[ 5.18537043e-01 -8.55041621e-01 -4.81275689e-03 1.13293179e+02] [ 8.55002196e-01 5.18559357e-01 -8.21211374e-03 5.97483626e+01] [ 9.51739916e-03 1.43367465e-04 9.99954698e-01 1.20784131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.31, Y:59.77, Z:1.21 [[ 5.15840083e-01 -8.56671389e-01 -4.81040848e-03 1.13308619e+02] [ 8.56632022e-01 5.15862498e-01 -8.21348914e-03 5.97715752e+01] [ 9.51777049e-03 1.16096972e-04 9.99954698e-01 1.20858435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.32, Y:59.79, Z:1.21 [[ 5.12599376e-01 -8.58614444e-01 -4.80802535e-03 1.13324485e+02] [ 8.58575148e-01 5.12621918e-01 -8.21488394e-03 5.97946577e+01] [ 9.51811718e-03 8.28933041e-05 9.99954698e-01 1.20887804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.34, Y:59.82, Z:1.21 [[ 5.05689543e-01 -8.62702145e-01 -4.80565555e-03 1.13342862e+02] [ 8.62663019e-01 5.05712377e-01 -8.21627003e-03 5.98154327e+01] [ 9.51847327e-03 9.22051346e-06 9.99954698e-01 1.21058137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.36, Y:59.84, Z:1.21 [[ 5.01975456e-01 -8.64868527e-01 -4.80350174e-03 1.13359442e+02] [ 8.64829487e-01 5.01998437e-01 -8.21752902e-03 5.98382776e+01] [ 9.51843258e-03 -2.92120657e-05 9.99954698e-01 1.21172454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.38, Y:59.86, Z:1.21 [[ 4.98122615e-01 -8.67093311e-01 -4.80115060e-03 1.13375881e+02] [ 8.67054361e-01 4.98145747e-01 -8.21890246e-03 5.98616017e+01] [ 9.51822810e-03 -6.88373837e-05 9.99954698e-01 1.21327784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.39, Y:59.88, Z:1.21 [[ 4.91207969e-01 -8.71029105e-01 -4.79880490e-03 1.13393184e+02] [ 8.70990327e-01 4.91231389e-01 -8.22027183e-03 5.98838670e+01] [ 9.51741961e-03 -1.41849617e-04 9.99954698e-01 1.21452529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.41, Y:59.91, Z:1.21 [[ 4.87821986e-01 -8.72929953e-01 -4.79645881e-03 1.13408043e+02] [ 8.72891253e-01 4.87845534e-01 -8.22164053e-03 5.99063768e+01] [ 9.51684729e-03 -1.76089922e-04 9.99954698e-01 1.21426537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.42, Y:59.93, Z:1.21 [[ 4.85442070e-01 -8.74255690e-01 -4.79435255e-03 1.13422366e+02] [ 8.74217041e-01 4.85465704e-01 -8.22286858e-03 5.99310240e+01] [ 9.51638338e-03 -1.99578357e-04 9.99954698e-01 1.21376836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.44, Y:59.95, Z:1.21 [[ 4.84399277e-01 -8.74833914e-01 -4.79204208e-03 1.13435210e+02] [ 8.74795280e-01 4.84422935e-01 -8.22421483e-03 5.99545100e+01] [ 9.51619714e-03 -2.08252073e-04 9.99954698e-01 1.21303889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.45, Y:59.98, Z:1.21 [[ 4.83079712e-01 -8.75563272e-01 -4.79047471e-03 1.13449382e+02] [ 8.75524665e-01 4.83103413e-01 -8.22512770e-03 5.99790861e+01] [ 9.51591441e-03 -2.20786449e-04 9.99954698e-01 1.21206482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.46, Y:60.00, Z:1.21 [[ 4.81559409e-01 -8.76400370e-01 -4.78817676e-03 1.13464595e+02] [ 8.76361791e-01 4.81583156e-01 -8.22646521e-03 6.00030468e+01] [ 9.51558243e-03 -2.34643436e-04 9.99954698e-01 1.21119977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:60.03, Z:1.21 [[ 4.77592207e-01 -8.78568597e-01 -4.78588456e-03 1.13480530e+02] [ 8.78530112e-01 4.77616106e-01 -8.22779853e-03 6.00265312e+01] [ 9.51450095e-03 -2.75011240e-04 9.99954698e-01 1.20962453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.49, Y:60.05, Z:1.21 [[ 4.75333512e-01 -8.79792685e-01 -4.78364169e-03 1.13494711e+02] [ 8.79754249e-01 4.75357490e-01 -8.22910232e-03 6.00502948e+01] [ 9.51384393e-03 -2.96860995e-04 9.99954698e-01 1.20903622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.51, Y:60.07, Z:1.21 [[ 4.72985690e-01 -8.81057136e-01 -4.78129803e-03 1.13508068e+02] [ 8.81018750e-01 4.73009748e-01 -8.23046382e-03 6.00743768e+01] [ 9.51310945e-03 -3.19521606e-04 9.99954698e-01 1.20859328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.52, Y:60.10, Z:1.21 [[ 4.70724171e-01 -8.82267484e-01 -4.77921700e-03 1.13521588e+02] [ 8.82229148e-01 4.70748308e-01 -8.23167204e-03 6.00995076e+01] [ 9.51234490e-03 -3.41517544e-04 9.99954698e-01 1.20894344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65762800000002 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:113.53, Y:60.12, Z:1.21 [[ 4.66590880e-01 -8.84460362e-01 -4.77686621e-03 1.13533423e+02] [ 8.84422126e-01 4.66615174e-01 -8.23303598e-03 6.01237055e+01] [ 9.51075225e-03 -3.83306664e-04 9.99954698e-01 1.20745134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.55, Y:60.15, Z:1.21 [[ 4.64745322e-01 -8.85431526e-01 -4.77475489e-03 1.13546318e+02] [ 8.85393328e-01 4.64769676e-01 -8.23426026e-03 6.01482301e+01] [ 9.51003492e-03 -4.00702190e-04 9.99954698e-01 1.21149120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.56, Y:60.17, Z:1.21 [[ 4.62985253e-01 -8.86353133e-01 -4.77267977e-03 1.13559800e+02] [ 8.86314971e-01 4.63009664e-01 -8.23546285e-03 6.01729059e+01] [ 9.50932516e-03 -4.17199686e-04 9.99954698e-01 1.21275550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.57, Y:60.20, Z:1.21 [[ 4.61339368e-01 -8.87210928e-01 -4.77038978e-03 1.13573149e+02] [ 8.87172798e-01 4.61363828e-01 -8.23678912e-03 6.01972262e+01] [ 9.50865461e-03 -4.32204966e-04 9.99954698e-01 1.21434675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.58, Y:60.22, Z:1.21 [[ 4.60064658e-01 -8.87872612e-01 -4.76805662e-03 1.13584002e+02] [ 8.87834503e-01 4.60089152e-01 -8.23813950e-03 6.02220226e+01] [ 9.50814957e-03 -4.43168350e-04 9.99954698e-01 1.21486538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.60, Y:60.25, Z:1.21 [[ 4.60116937e-01 -8.87845530e-01 -4.76647134e-03 1.13595474e+02] [ 8.87807410e-01 4.60141414e-01 -8.23905662e-03 6.02474600e+01] [ 9.50826045e-03 -4.40779082e-04 9.99954698e-01 1.21472657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.61, Y:60.27, Z:1.21 [[ 4.60719786e-01 -8.87532862e-01 -4.76418035e-03 1.13607051e+02] [ 8.87494712e-01 4.60744216e-01 -8.24038115e-03 6.02732961e+01] [ 9.50867761e-03 -4.31678224e-04 9.99954698e-01 1.21471918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.62, Y:60.30, Z:1.22 [[ 4.64000463e-01 -8.85822158e-01 -4.76190054e-03 1.13615568e+02] [ 8.85783904e-01 4.64024730e-01 -8.24169838e-03 6.02996954e+01] [ 9.51031866e-03 -3.93862988e-04 9.99954698e-01 1.21554615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.63, Y:60.33, Z:1.22 [[ 4.66311408e-01 -8.84607828e-01 -4.76035036e-03 1.13627084e+02] [ 8.84569502e-01 4.66335561e-01 -8.24259366e-03 6.03254480e+01] [ 9.51138353e-03 -3.67245292e-04 9.99954698e-01 1.21602885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.64, Y:60.35, Z:1.22 [[ 4.68928392e-01 -8.83223372e-01 -4.75807840e-03 1.13637852e+02] [ 8.83184961e-01 4.68952410e-01 -8.24390495e-03 6.03504311e+01] [ 9.51252186e-03 -3.36462193e-04 9.99954698e-01 1.21588922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.65, Y:60.38, Z:1.22 [[ 4.75317218e-01 -8.79801638e-01 -4.75604099e-03 1.13646711e+02] [ 8.79763043e-01 4.75340938e-01 -8.24508020e-03 6.03777578e+01] [ 9.51477605e-03 -2.65160503e-04 9.99954698e-01 1.21596731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.66, Y:60.40, Z:1.22 [[ 4.78066040e-01 -8.78311029e-01 -4.75372991e-03 1.13657790e+02] [ 8.78272346e-01 4.78089618e-01 -8.24641245e-03 6.04039284e+01] [ 9.51562392e-03 -2.32739778e-04 9.99954698e-01 1.21573460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.66, Y:60.43, Z:1.21 [[ 4.79486042e-01 -8.77536643e-01 -4.75141903e-03 1.13657152e+02] [ 8.77497909e-01 4.79509535e-01 -8.24774371e-03 6.04294602e+01] [ 9.51604806e-03 -2.14682279e-04 9.99954698e-01 1.21180475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.68, Y:60.46, Z:1.21 [[ 4.86331887e-01 -8.73762030e-01 -4.60536384e-03 1.13677143e+02] [ 8.73722306e-01 4.86353692e-01 -8.33174699e-03 6.04577182e+01] [ 9.51979987e-03 2.81851194e-05 9.99954685e-01 1.21403653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.69, Y:60.48, Z:1.21 [[ 4.88502055e-01 -8.72549819e-01 -4.74930597e-03 1.13688548e+02] [ 8.72510834e-01 4.88525128e-01 -8.24887214e-03 6.04826474e+01] [ 9.51770720e-03 -1.14229920e-04 9.99954699e-01 1.21355764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.70, Y:60.51, Z:1.21 [[ 4.90667857e-01 -8.71333758e-01 -4.74724213e-03 1.13700251e+02] [ 8.71294705e-01 4.90690813e-01 -8.25005972e-03 6.05068161e+01] [ 9.51798364e-03 -8.82078119e-05 9.99954699e-01 1.21349917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.71, Y:60.53, Z:1.21 [[ 4.90133651e-01 -8.71634377e-01 -4.74523996e-03 1.13707459e+02] [ 8.71595326e-01 4.90156613e-01 -8.25121116e-03 6.05304287e+01] [ 9.51795004e-03 -9.17327228e-05 9.99954699e-01 1.21373143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.72, Y:60.56, Z:1.21 [[ 4.97170532e-01 -8.67640405e-01 -4.64642028e-03 1.13724498e+02] [ 8.67600634e-01 4.97192234e-01 -8.30796359e-03 6.05577241e+01] [ 9.51848897e-03 9.92375026e-05 9.99954693e-01 1.21438103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.74, Y:60.58, Z:1.21 [[ 4.98906910e-01 -8.66642606e-01 -4.74231874e-03 1.13736367e+02] [ 8.66603310e-01 4.98929448e-01 -8.25285777e-03 6.05817004e+01] [ 9.51836063e-03 7.69864535e-06 9.99954699e-01 1.21431242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.75, Y:60.61, Z:1.21 [[ 5.00696295e-01 -8.65610043e-01 -4.74071505e-03 1.13748513e+02] [ 8.65570692e-01 5.00718736e-01 -8.25377888e-03 6.06053900e+01] [ 9.51831874e-03 2.92124988e-05 9.99954699e-01 1.21461604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.76, Y:60.63, Z:1.21 [[ 5.02077555e-01 -8.64809615e-01 -4.73913635e-03 1.13761656e+02] [ 8.64770219e-01 5.02099918e-01 -8.25468523e-03 6.06294287e+01] [ 9.51825113e-03 4.62281941e-05 9.99954699e-01 1.21450004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.78, Y:60.65, Z:1.22 [[ 5.03266285e-01 -8.64118399e-01 -4.73708042e-03 1.13775201e+02] [ 8.64078961e-01 5.03288575e-01 -8.25586489e-03 6.06536672e+01] [ 9.51816320e-03 6.16869195e-05 9.99954699e-01 1.21584596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.79, Y:60.68, Z:1.22 [[ 5.04248403e-01 -8.63545673e-01 -4.73478171e-03 1.13789259e+02] [ 8.63506198e-01 5.04270626e-01 -8.25718300e-03 6.06780258e+01] [ 9.51806599e-03 7.51579859e-05 9.99954699e-01 1.21662048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.80, Y:60.70, Z:1.22 [[ 5.05436855e-01 -8.62850618e-01 -4.73244993e-03 1.13803337e+02] [ 8.62811100e-01 5.05459002e-01 -8.25851921e-03 6.07016174e+01] [ 9.51792782e-03 9.09496476e-05 9.99954699e-01 1.21722168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.82, Y:60.73, Z:1.22 [[ 5.05524228e-01 -8.62799443e-01 -4.73035569e-03 1.13817765e+02] [ 8.62759911e-01 5.05546350e-01 -8.25971858e-03 6.07255606e+01] [ 9.51789464e-03 9.43266058e-05 9.99954699e-01 1.21789072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.83, Y:60.75, Z:1.22 [[ 5.05035515e-01 -8.63085613e-01 -4.72797891e-03 1.13832268e+02] [ 8.63046081e-01 5.05057637e-01 -8.26107886e-03 6.07501250e+01] [ 9.51792016e-03 9.16745491e-05 9.99954699e-01 1.21845960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.85, Y:60.77, Z:1.22 [[ 5.04434599e-01 -8.63436972e-01 -4.72560440e-03 1.13846193e+02] [ 8.63397442e-01 5.04456726e-01 -8.26243693e-03 6.07736372e+01] [ 9.51795645e-03 8.77843081e-05 9.99954699e-01 1.21805427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.86, Y:60.80, Z:1.22 [[ 5.02515940e-01 -8.64555038e-01 -4.72399092e-03 1.13862072e+02] [ 8.64515550e-01 5.02538139e-01 -8.26335932e-03 6.07964659e+01] [ 9.51811454e-03 6.85061703e-05 9.99954699e-01 1.21792361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.88, Y:60.82, Z:1.22 [[ 5.00683109e-01 -8.65617774e-01 -4.72164331e-03 1.13876749e+02] [ 8.65578320e-01 5.00705370e-01 -8.26470052e-03 6.08187443e+01] [ 9.51822382e-03 5.10438716e-05 9.99954699e-01 1.21807409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.89, Y:60.84, Z:1.22 [[ 4.98613040e-01 -8.66811838e-01 -4.71954111e-03 1.13892107e+02] [ 8.66772426e-01 4.98635374e-01 -8.26590080e-03 6.08419665e+01] [ 9.51831082e-03 3.07178242e-05 9.99954699e-01 1.21853155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.91, Y:60.87, Z:1.22 [[ 4.96218088e-01 -8.68185094e-01 -4.71724571e-03 1.13907850e+02] [ 8.68145731e-01 4.96240509e-01 -8.26721055e-03 6.08657732e+01] [ 9.51835738e-03 7.08268359e-06 9.99954699e-01 1.21891830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.92, Y:60.89, Z:1.22 [[ 4.95976209e-01 -8.68323309e-01 -4.71493965e-03 1.13921948e+02] [ 8.68283940e-01 4.95998619e-01 -8.26852553e-03 6.08906499e+01] [ 9.51835701e-03 7.08556723e-06 9.99954699e-01 1.21918942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.94, Y:60.91, Z:1.22 [[ 4.93169515e-01 -8.69920468e-01 -4.71263573e-03 1.13937134e+02] [ 8.69881159e-01 4.93192031e-01 -8.26983844e-03 6.09133188e+01] [ 9.51833611e-03 -2.10008176e-05 9.99954699e-01 1.21928490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.96, Y:60.94, Z:1.22 [[ 4.86959783e-01 -8.73411690e-01 -4.71057040e-03 1.13955101e+02] [ 8.73372531e-01 4.86982558e-01 -8.27101470e-03 6.09357871e+01] [ 9.51796655e-03 -8.64312675e-05 9.99954699e-01 1.22041814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.97, Y:60.96, Z:1.22 [[ 4.83284206e-01 -8.75450860e-01 -4.70824469e-03 1.13971031e+02] [ 8.75411785e-01 4.83307124e-01 -8.27233839e-03 6.09586988e+01] [ 9.51755396e-03 -1.23762400e-04 9.99954699e-01 1.22161934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:60.98, Z:1.22 [[ 4.79631701e-01 -8.77457284e-01 -4.70593777e-03 1.13987177e+02] [ 8.77418291e-01 4.79654760e-01 -8.27365054e-03 6.09821133e+01] [ 9.51700038e-03 -1.60770797e-04 9.99954699e-01 1.22293610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.00, Y:61.00, Z:1.22 [[ 4.73035431e-01 -8.81030849e-01 -4.70364462e-03 1.14004560e+02] [ 8.80992018e-01 4.73058760e-01 -8.27495400e-03 6.10038066e+01] [ 9.51559004e-03 -2.29526935e-04 9.99954699e-01 1.22450300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.02, Y:61.03, Z:1.22 [[ 4.69687220e-01 -8.82820373e-01 -4.70157323e-03 1.14019936e+02] [ 8.82781618e-01 4.69710677e-01 -8.27613073e-03 6.10278654e+01] [ 9.51471597e-03 -2.63269588e-04 9.99954699e-01 1.22466917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.04, Y:61.05, Z:1.22 [[ 4.63585455e-01 -8.86039752e-01 -4.69932035e-03 1.14035289e+02] [ 8.86001147e-01 4.63609158e-01 -8.27740976e-03 6.10501666e+01] [ 9.51276204e-03 -3.26316448e-04 9.99954699e-01 1.22406949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.05, Y:61.07, Z:1.22 [[ 4.57454858e-01 -8.89220440e-01 -4.69694722e-03 1.14051421e+02] [ 8.89181986e-01 4.57478805e-01 -8.27875615e-03 6.10722038e+01] [ 9.51039299e-03 -3.89283634e-04 9.99954699e-01 1.22451304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.07, Y:61.10, Z:1.22 [[ 4.54379109e-01 -8.90796037e-01 -4.69532516e-03 1.14066517e+02] [ 8.90757657e-01 4.54403173e-01 -8.27967601e-03 6.10956695e+01] [ 9.50907323e-03 -4.20285027e-04 9.99954699e-01 1.22462623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.08, Y:61.12, Z:1.22 [[ 4.54145162e-01 -8.90915342e-01 -4.69314869e-03 1.14080537e+02] [ 8.90876955e-01 4.54169216e-01 -8.28090951e-03 6.11205900e+01] [ 9.50907299e-03 -4.20283027e-04 9.99954699e-01 1.22489733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.10, Y:61.14, Z:1.22 [[ 4.51296296e-01 -8.92361837e-01 -4.69097363e-03 1.14095711e+02] [ 8.92323515e-01 4.51320453e-01 -8.28214146e-03 6.11447788e+01] [ 9.50779931e-03 -4.48166315e-04 9.99954699e-01 1.22485253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.11, Y:61.17, Z:1.23 [[ 4.46464388e-01 -8.94789118e-01 -4.68880910e-03 1.14111067e+02] [ 8.94750914e-01 4.46488732e-01 -8.28336669e-03 6.11681351e+01] [ 9.50536680e-03 -4.97087992e-04 9.99954699e-01 1.22526534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.13, Y:61.19, Z:1.23 [[ 4.45144395e-01 -8.95446539e-01 -4.68644678e-03 1.14125092e+02] [ 8.95408357e-01 4.45168774e-01 -8.28470299e-03 6.11918393e+01] [ 9.50476839e-03 -5.08394511e-04 9.99954699e-01 1.22539184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.14, Y:61.22, Z:1.22 [[ 4.44576282e-01 -8.95728744e-01 -4.68484476e-03 1.14138404e+02] [ 8.95690568e-01 4.44600669e-01 -8.28560881e-03 6.12153481e+01] [ 9.50454308e-03 -5.12586110e-04 9.99954699e-01 1.22475598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.15, Y:61.24, Z:1.22 [[ 4.45552705e-01 -8.95243463e-01 -4.68279818e-03 1.14150991e+02] [ 8.95205249e-01 4.45577032e-01 -8.28676532e-03 6.12392761e+01] [ 9.50521980e-03 -4.99874808e-04 9.99954699e-01 1.22494791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.16, Y:61.26, Z:1.23 [[ 4.45315318e-01 -8.95361579e-01 -4.68077504e-03 1.14164979e+02] [ 8.95323360e-01 4.45339637e-01 -8.28790793e-03 6.12642153e+01] [ 9.50520899e-03 -5.00074879e-04 9.99954699e-01 1.22521909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09762800000001 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:114.18, Y:61.29, Z:1.22 [[ 4.47772908e-01 -8.94135076e-01 -4.67857710e-03 1.14177945e+02] [ 8.94096777e-01 4.47797102e-01 -8.28914850e-03 6.12877073e+01] [ 9.50667168e-03 -4.71444574e-04 9.99954699e-01 1.22328672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.12762800000002 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:114.19, Y:61.31, Z:1.23 [[ 4.49669090e-01 -8.93182980e-01 -4.67697300e-03 1.14191633e+02] [ 8.93144620e-01 4.49693187e-01 -8.29005347e-03 6.13126520e+01] [ 9.50773756e-03 -4.49432473e-04 9.99954699e-01 1.22815701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.21, Y:61.34, Z:1.23 [[ 4.51965090e-01 -8.92023377e-01 -4.67470058e-03 1.14205006e+02] [ 8.91984942e-01 4.51989067e-01 -8.29133468e-03 6.13375728e+01] [ 9.50897791e-03 -4.22368700e-04 9.99954699e-01 1.23104635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.22, Y:61.36, Z:1.23 [[ 4.56421756e-01 -8.89751285e-01 -4.67240796e-03 1.14215863e+02] [ 8.89712718e-01 4.56445519e-01 -8.29262643e-03 6.13622139e+01] [ 9.51107470e-03 -3.72165667e-04 9.99954699e-01 1.23202223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.23, Y:61.39, Z:1.23 [[ 4.58414143e-01 -8.88726427e-01 -4.67026684e-03 1.14228371e+02] [ 8.88687794e-01 4.58437800e-01 -8.29383210e-03 6.13876619e+01] [ 9.51197463e-03 -3.48399202e-04 9.99954699e-01 1.23247173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.24, Y:61.41, Z:1.23 [[ 4.60767840e-01 -8.87508427e-01 -4.66793785e-03 1.14240537e+02] [ 8.87469719e-01 4.60791373e-01 -8.29514270e-03 6.14122066e+01] [ 9.51295454e-03 -3.20518504e-04 9.99954699e-01 1.23278948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.25, Y:61.44, Z:1.23 [[ 4.63056316e-01 -8.86316576e-01 -4.66635507e-03 1.14253011e+02] [ 8.86277798e-01 4.63079734e-01 -8.29603298e-03 6.14374554e+01] [ 9.51380601e-03 -2.94156425e-04 9.99954699e-01 1.23297496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.27, Y:61.46, Z:1.23 [[ 4.65612409e-01 -8.84976458e-01 -4.66407901e-03 1.14265591e+02] [ 8.84937600e-01 4.65635694e-01 -8.29731239e-03 6.14622176e+01] [ 9.51468780e-03 -2.64087274e-04 9.99954699e-01 1.23339742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.28, Y:61.49, Z:1.23 [[ 4.70624950e-01 -8.82321044e-01 -4.66170831e-03 1.14277006e+02] [ 8.82282041e-01 4.70647992e-01 -8.29864412e-03 6.14873381e+01] [ 9.51609200e-03 -2.07392547e-04 9.99954699e-01 1.23335623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.29, Y:61.51, Z:1.23 [[ 4.72578868e-01 -8.81276064e-01 -4.65962492e-03 1.14289143e+02] [ 8.81236999e-01 4.72601803e-01 -8.29981376e-03 6.15116602e+01] [ 9.51657435e-03 -1.83917291e-04 9.99954699e-01 1.23292563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.30, Y:61.54, Z:1.23 [[ 4.74422263e-01 -8.80285081e-01 -4.65751339e-03 1.14302286e+02] [ 8.80245956e-01 4.74445096e-01 -8.30099850e-03 6.15370410e+01] [ 9.51697953e-03 -1.61578843e-04 9.99954699e-01 1.23262066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.32, Y:61.56, Z:1.23 [[ 4.75766634e-01 -8.79559230e-01 -4.65519173e-03 1.14315193e+02] [ 8.79520058e-01 4.75789386e-01 -8.30230028e-03 6.15620235e+01] [ 9.51725566e-03 -1.44377042e-04 9.99954699e-01 1.23232146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.33, Y:61.59, Z:1.23 [[ 4.77538736e-01 -8.78598376e-01 -4.65288204e-03 1.14327514e+02] [ 8.78559146e-01 4.77561387e-01 -8.30359450e-03 6.15856544e+01] [ 9.51756145e-03 -1.22544053e-04 9.99954699e-01 1.23169012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.34, Y:61.61, Z:1.23 [[ 4.77751897e-01 -8.78482493e-01 -4.65131277e-03 1.14341283e+02] [ 8.78443248e-01 4.77774524e-01 -8.30447345e-03 6.16105146e+01] [ 9.51761328e-03 -1.18436360e-04 9.99954699e-01 1.23254125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.35, Y:61.63, Z:1.23 [[ 4.78172062e-01 -8.78253873e-01 -4.64905002e-03 1.14354908e+02] [ 8.78214605e-01 4.78194648e-01 -8.30574000e-03 6.16349432e+01] [ 9.51769916e-03 -1.11290810e-04 9.99954699e-01 1.23283447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.37, Y:61.66, Z:1.23 [[ 4.78730088e-01 -8.77949833e-01 -4.64679544e-03 1.14368498e+02] [ 8.77910539e-01 4.78752629e-01 -8.30700117e-03 6.16593073e+01] [ 9.51779583e-03 -1.02659287e-04 9.99954699e-01 1.23239998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.38, Y:61.68, Z:1.23 [[ 4.81620841e-01 -8.76367385e-01 -4.64455557e-03 1.14381772e+02] [ 8.76328004e-01 4.81643231e-01 -8.30825332e-03 6.16839244e+01] [ 9.51810099e-03 -6.87261596e-05 9.99954699e-01 1.23114424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.40, Y:61.71, Z:1.23 [[ 4.83572399e-01 -8.75292056e-01 -4.64232760e-03 1.14395823e+02] [ 8.75252614e-01 4.83594680e-01 -8.30949804e-03 6.17087511e+01] [ 9.51824256e-03 -4.49654654e-05 9.99954699e-01 1.23177311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.41, Y:61.73, Z:1.23 [[ 4.85805755e-01 -8.74054483e-01 -4.63998595e-03 1.14409933e+02] [ 8.74014971e-01 4.85827912e-01 -8.31080540e-03 6.17326150e+01] [ 9.51833141e-03 -1.79800962e-05 9.99954699e-01 1.23227906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.42, Y:61.76, Z:1.23 [[ 4.88153239e-01 -8.72745614e-01 -4.63762950e-03 1.14424208e+02] [ 8.72706031e-01 4.88175268e-01 -8.31212015e-03 6.17557807e+01] [ 9.51834243e-03 1.03011433e-05 9.99954700e-01 1.23279184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.44, Y:61.78, Z:1.23 [[ 4.92060707e-01 -8.70548544e-01 -4.63602804e-03 1.14439944e+02] [ 8.70508854e-01 4.92082543e-01 -8.31301326e-03 6.17790104e+01] [ 9.51819006e-03 5.48037207e-05 9.99954700e-01 1.23331980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.45, Y:61.80, Z:1.23 [[ 4.93316270e-01 -8.69837678e-01 -4.63370626e-03 1.14454496e+02] [ 8.69797944e-01 4.93338027e-01 -8.31430722e-03 6.18026932e+01] [ 9.51808120e-03 7.11948492e-05 9.99954700e-01 1.23355168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.47, Y:61.83, Z:1.23 [[ 4.94755801e-01 -8.69019705e-01 -4.63133394e-03 1.14468932e+02] [ 8.68979923e-01 4.94777469e-01 -8.31562847e-03 6.18260433e+01] [ 9.51792469e-03 8.96692210e-05 9.99954700e-01 1.23404014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.48, Y:61.85, Z:1.23 [[ 4.95856712e-01 -8.68392025e-01 -4.62726990e-03 1.14483794e+02] [ 8.68352194e-01 4.95878291e-01 -8.31789058e-03 6.18502243e+01] [ 9.51775254e-03 1.06381907e-04 9.99954700e-01 1.23412198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.50, Y:61.87, Z:1.23 [[ 4.97501671e-01 -8.67450671e-01 -4.62831459e-03 1.14500382e+02] [ 8.67410804e-01 4.97523184e-01 -8.31730924e-03 6.18734989e+01] [ 9.51754930e-03 1.23225163e-04 9.99954700e-01 1.23436639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.52, Y:61.90, Z:1.23 [[ 4.97522824e-01 -8.67438551e-01 -4.62594990e-03 1.14515710e+02] [ 8.67398672e-01 4.97544313e-01 -8.31862424e-03 6.18973014e+01] [ 9.51751043e-03 1.26162624e-04 9.99954700e-01 1.23438144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.53, Y:61.92, Z:1.23 [[ 4.97142394e-01 -8.67656650e-01 -4.62359442e-03 1.14531421e+02] [ 8.67616768e-01 4.97163878e-01 -8.31993324e-03 6.19208331e+01] [ 9.51752954e-03 1.24683474e-04 9.99954700e-01 1.23461678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.55, Y:61.94, Z:1.23 [[ 4.96292797e-01 -8.68142905e-01 -4.62123463e-03 1.14546842e+02] [ 8.68103032e-01 4.96314298e-01 -8.32124376e-03 6.19433193e+01] [ 9.51761355e-03 1.18065546e-04 9.99954700e-01 1.23435255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.56, Y:61.97, Z:1.24 [[ 4.95038796e-01 -8.68858593e-01 -4.61912585e-03 1.14562882e+02] [ 8.68818740e-01 4.95060334e-01 -8.32241418e-03 6.19665039e+01] [ 9.51774706e-03 1.06734791e-04 9.99954700e-01 1.23516247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.58, Y:61.99, Z:1.24 [[ 4.92002814e-01 -8.70581367e-01 -4.61673553e-03 1.14581479e+02] [ 8.70541577e-01 4.92024469e-01 -8.32373996e-03 6.19885705e+01] [ 9.51803976e-03 7.62432586e-05 9.99954700e-01 1.23657400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.60, Y:62.01, Z:1.24 [[ 4.90208512e-01 -8.71592973e-01 -4.61566146e-03 1.14598021e+02] [ 8.71553222e-01 4.90230238e-01 -8.32433551e-03 6.20122336e+01] [ 9.51816915e-03 5.78655101e-05 9.99954700e-01 1.23883942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.61, Y:62.04, Z:1.24 [[ 4.88021825e-01 -8.72819233e-01 -4.61359096e-03 1.14614506e+02] [ 8.72779526e-01 4.88043631e-01 -8.32548288e-03 6.20365004e+01] [ 9.51827526e-03 3.63696174e-05 9.99954700e-01 1.24081296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.63, Y:62.06, Z:1.24 [[ 4.85859758e-01 -8.74024616e-01 -4.61153044e-03 1.14630054e+02] [ 8.73984952e-01 4.85881642e-01 -8.32662406e-03 6.20588557e+01] [ 9.51833238e-03 1.51633319e-05 9.99954700e-01 1.24225677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.65, Y:62.08, Z:1.25 [[ 4.81482455e-01 -8.76443608e-01 -4.60943948e-03 1.14648465e+02] [ 8.76404044e-01 4.81504517e-01 -8.32778141e-03 6.20804505e+01] [ 9.51829672e-03 -3.00507584e-05 9.99954700e-01 1.24505228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.66, Y:62.10, Z:1.25 [[ 4.79213048e-01 -8.77686517e-01 -4.60791391e-03 1.14664188e+02] [ 8.77647001e-01 4.79235198e-01 -8.32862545e-03 6.21039263e+01] [ 9.51819680e-03 -5.29358439e-05 9.99954700e-01 1.24567896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.68, Y:62.13, Z:1.25 [[ 4.78467925e-01 -8.78092953e-01 -4.60553869e-03 1.14678457e+02] [ 8.78053443e-01 4.78490087e-01 -8.32993868e-03 6.21281336e+01] [ 9.51816506e-03 -5.83006317e-05 9.99954700e-01 1.24615779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.69, Y:62.15, Z:1.25 [[ 4.79897815e-01 -8.77312315e-01 -4.60318235e-03 1.14690865e+02] [ 8.77272757e-01 4.79919890e-01 -8.33124061e-03 6.21524173e+01] [ 9.51825875e-03 -4.01023056e-05 9.99954700e-01 1.24623780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.70, Y:62.18, Z:1.24 [[ 4.82162425e-01 -8.76069761e-01 -4.60105271e-03 1.14704221e+02] [ 8.76030135e-01 4.82184377e-01 -8.33241657e-03 6.21762235e+01] [ 9.51833393e-03 -1.30826546e-05 9.99954700e-01 1.24443823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.72, Y:62.20, Z:1.24 [[ 4.81920630e-01 -8.76202804e-01 -4.59911850e-03 1.14717972e+02] [ 8.76163174e-01 4.81942575e-01 -8.33348403e-03 6.22013094e+01] [ 9.51833309e-03 -1.35003859e-05 9.99954700e-01 1.24470953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.73, Y:62.23, Z:1.24 [[ 4.83390607e-01 -8.75392707e-01 -4.59681818e-03 1.14730171e+02] [ 8.75353027e-01 4.83412463e-01 -8.33475271e-03 6.22275545e+01] [ 9.51834093e-03 5.10245825e-06 9.99954700e-01 1.24219814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.74, Y:62.25, Z:1.24 [[ 4.83124441e-01 -8.75539641e-01 -4.59472135e-03 1.14743712e+02] [ 8.75499958e-01 4.83146289e-01 -8.33590848e-03 6.22527712e+01] [ 9.51834089e-03 4.60277099e-06 9.99954700e-01 1.24130798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.76, Y:62.28, Z:1.24 [[ 4.82579704e-01 -8.75840019e-01 -4.59243696e-03 1.14757157e+02] [ 8.75800337e-01 4.82601556e-01 -8.33716681e-03 6.22777721e+01] [ 9.51834155e-03 1.28965484e-06 9.99954700e-01 1.24081791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.77, Y:62.30, Z:1.24 [[ 4.79881415e-01 -8.77321354e-01 -4.59012523e-03 1.14769217e+02] [ 8.77281727e-01 4.79903366e-01 -8.33843936e-03 6.23016668e+01] [ 9.51830746e-03 -2.53709096e-05 9.99954700e-01 1.24049464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.387628 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:114.78, Y:62.33, Z:1.24 [[ 4.77340096e-01 -8.78706651e-01 -4.58854371e-03 1.14782173e+02] [ 8.78667080e-01 4.77362147e-01 -8.33930956e-03 6.23251773e+01] [ 9.51820385e-03 -5.11154759e-05 9.99954700e-01 1.23782895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.417628 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:114.79, Y:62.35, Z:1.24 [[ 4.72381146e-01 -8.81382448e-01 -4.58610054e-03 1.14794933e+02] [ 8.81342989e-01 4.72403397e-01 -8.34065294e-03 6.23495020e+01] [ 9.51779458e-03 -1.01960358e-04 9.99954700e-01 1.23995269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.81, Y:62.37, Z:1.24 [[ 4.70217246e-01 -8.82538797e-01 -4.58407666e-03 1.14807628e+02] [ 8.82499381e-01 4.70239574e-01 -8.34176513e-03 6.23740868e+01] [ 9.51754562e-03 -1.23002999e-04 9.99954700e-01 1.24415276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.82, Y:62.40, Z:1.24 [[ 4.69980913e-01 -8.82664686e-01 -4.58184258e-03 1.14821319e+02] [ 8.82625265e-01 4.70003231e-01 -8.34299205e-03 6.23992001e+01] [ 9.51754527e-03 -1.23002994e-04 9.99954700e-01 1.24442387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.83, Y:62.42, Z:1.25 [[ 4.67803577e-01 -8.83820593e-01 -4.57960816e-03 1.14834686e+02] [ 8.83781215e-01 4.67825971e-01 -8.34421838e-03 6.24244641e+01] [ 9.51725167e-03 -1.43916454e-04 9.99954700e-01 1.24580498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.85, Y:62.45, Z:1.25 [[ 4.64977151e-01 -8.85310847e-01 -4.57736639e-03 1.14848895e+02] [ 8.85271529e-01 4.64999649e-01 -8.34544796e-03 6.24512670e+01] [ 9.51678937e-03 -1.71769521e-04 9.99954700e-01 1.24812900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.86, Y:62.48, Z:1.25 [[ 4.64301837e-01 -8.85665069e-01 -4.60323374e-03 1.14861269e+02] [ 8.85625907e-01 4.64324609e-01 -8.33126838e-03 6.24752138e+01] [ 9.51610809e-03 -2.08519839e-04 9.99954699e-01 1.24812757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.87, Y:62.50, Z:1.25 [[ 4.63412494e-01 -8.86130891e-01 -4.57219392e-03 1.14873678e+02] [ 8.86091584e-01 4.63435013e-01 -8.34826832e-03 6.25009329e+01] [ 9.51657319e-03 -1.82690716e-04 9.99954700e-01 1.24814722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.89, Y:62.53, Z:1.25 [[ 4.63643840e-01 -8.86009879e-01 -4.56986527e-03 1.14886166e+02] [ 8.85970554e-01 4.63666327e-01 -8.34954284e-03 6.25262236e+01] [ 9.51667009e-03 -1.77551958e-04 9.99954700e-01 1.24850737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.90, Y:62.55, Z:1.25 [[ 4.64534074e-01 -8.85543467e-01 -4.56749319e-03 1.14898124e+02] [ 8.85504107e-01 4.64556499e-01 -8.35084025e-03 6.25510799e+01] [ 9.51689067e-03 -1.65284135e-04 9.99954700e-01 1.24784164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.91, Y:62.58, Z:1.25 [[ 4.66097222e-01 -8.84721728e-01 -4.56537304e-03 1.14909804e+02] [ 8.84682317e-01 4.66119558e-01 -8.35199917e-03 6.25751279e+01] [ 9.51720480e-03 -1.46061183e-04 9.99954700e-01 1.24644828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.92, Y:62.60, Z:1.25 [[ 4.67832909e-01 -8.83805149e-01 -4.56378705e-03 1.14922443e+02] [ 8.83765685e-01 4.67855152e-01 -8.35286571e-03 6.26005740e+01] [ 9.51749701e-03 -1.25572927e-04 9.99954700e-01 1.24580189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.93, Y:62.63, Z:1.25 [[ 4.69588637e-01 -8.82873550e-01 -4.56147058e-03 1.14934867e+02] [ 8.82834030e-01 4.69610779e-01 -8.35413053e-03 6.26253245e+01] [ 9.51775664e-03 -1.04016692e-04 9.99954700e-01 1.24544388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.95, Y:62.65, Z:1.24 [[ 4.73583719e-01 -8.80737007e-01 -4.55908956e-03 1.14946266e+02] [ 8.80697375e-01 4.73605660e-01 -8.35542973e-03 6.26495179e+01] [ 9.51814679e-03 -5.81827219e-05 9.99954700e-01 1.24440501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.96, Y:62.67, Z:1.24 [[ 4.75470739e-01 -8.79719734e-01 -4.55700724e-03 1.14959026e+02] [ 8.79680044e-01 4.75492575e-01 -8.35656526e-03 6.26747316e+01] [ 9.51825847e-03 -3.54060733e-05 9.99954700e-01 1.24468566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.97, Y:62.70, Z:1.25 [[ 4.76979319e-01 -8.78902716e-01 -4.55468190e-03 1.14971691e+02] [ 8.78862976e-01 4.77001065e-01 -8.35783247e-03 6.26995333e+01] [ 9.51830977e-03 -1.64280481e-05 9.99954700e-01 1.24519792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86762800000002 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:114.98, Y:62.72, Z:1.24 [[ 4.79180946e-01 -8.77704333e-01 -4.55233295e-03 1.14984464e+02] [ 8.77664527e-01 4.79202570e-01 -8.35911170e-03 6.27249380e+01] [ 9.51831821e-03 1.01059036e-05 9.99954700e-01 1.24422970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.00, Y:62.75, Z:1.25 [[ 4.79856671e-01 -8.77335097e-01 -4.55000071e-03 1.14997379e+02] [ 8.77295262e-01 4.79878242e-01 -8.36038098e-03 6.27492413e+01] [ 9.51830200e-03 2.00905237e-05 9.99954700e-01 1.24665671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.01, Y:62.77, Z:1.25 [[ 4.79321032e-01 -8.77627863e-01 -4.54790756e-03 1.15010753e+02] [ 8.77588030e-01 4.79342607e-01 -8.36151947e-03 6.27738655e+01] [ 9.51830832e-03 1.66628990e-05 9.99954700e-01 1.24715341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.02, Y:62.80, Z:1.25 [[ 4.78418661e-01 -8.78120107e-01 -4.54557578e-03 1.15024093e+02] [ 8.78080285e-01 4.78440254e-01 -8.36278690e-03 6.27974205e+01] [ 9.51831776e-03 9.53283088e-06 9.99954700e-01 1.24762156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.04, Y:62.82, Z:1.25 [[ 4.76246791e-01 -8.79299929e-01 -4.54205077e-03 1.15038525e+02] [ 8.79260141e-01 4.76268449e-01 -8.36470172e-03 6.28231216e+01] [ 9.51831710e-03 -9.98185064e-06 9.99954700e-01 1.24866280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.05, Y:62.85, Z:1.25 [[ 4.73048314e-01 -8.81024684e-01 -4.56052713e-03 1.15052566e+02] [ 8.80985072e-01 4.73070293e-01 -8.35466831e-03 6.28455037e+01] [ 9.51811891e-03 -6.55945669e-05 9.99954700e-01 1.24826438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.07, Y:62.87, Z:1.25 [[ 4.70693006e-01 -8.82285375e-01 -4.53999000e-03 1.15066949e+02] [ 8.82245714e-01 4.70714895e-01 -8.36581348e-03 6.28697941e+01] [ 9.51807580e-03 -6.76568285e-05 9.99954700e-01 1.24872044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.08, Y:62.89, Z:1.25 [[ 4.68461528e-01 -8.83472244e-01 -4.53774007e-03 1.15081259e+02] [ 8.83432627e-01 4.68483497e-01 -8.36703369e-03 6.28940764e+01] [ 9.51789837e-03 -8.91542393e-05 9.99954700e-01 1.24931844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.107628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:115.10, Y:62.92, Z:1.25 [[ 4.65183266e-01 -8.85202778e-01 -4.53550208e-03 1.15096114e+02] [ 8.85163231e-01 4.65205360e-01 -8.36824666e-03 6.29174813e+01] [ 9.51753507e-03 -1.21891370e-04 9.99954700e-01 1.24808878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.11, Y:62.94, Z:1.25 [[ 4.63850274e-01 -8.85902011e-01 -4.53324995e-03 1.15109871e+02] [ 8.85862485e-01 4.63872406e-01 -8.36946651e-03 6.29419287e+01] [ 9.51737677e-03 -1.33656732e-04 9.99954700e-01 1.24861382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.12, Y:62.97, Z:1.25 [[ 4.62573876e-01 -8.86569162e-01 -4.53101573e-03 1.15123393e+02] [ 8.86529657e-01 4.62596043e-01 -8.37067589e-03 6.29652523e+01] [ 9.51721306e-03 -1.44823832e-04 9.99954700e-01 1.24750220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.14, Y:62.99, Z:1.25 [[ 4.60845989e-01 -8.87468572e-01 -4.52867583e-03 1.15138142e+02] [ 8.87429097e-01 4.60868212e-01 -8.37194162e-03 6.29903920e+01] [ 9.51695780e-03 -1.60702984e-04 9.99954700e-01 1.24787393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.15, Y:63.01, Z:1.25 [[ 4.59743212e-01 -8.88040317e-01 -4.53602099e-03 1.15152122e+02] [ 8.88000909e-01 4.59765553e-01 -8.36797042e-03 6.30141343e+01] [ 9.51660130e-03 -1.80873168e-04 9.99954700e-01 1.24785666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:63.04, Z:1.25 [[ 4.57417468e-01 -8.89240564e-01 -4.52537885e-03 1.15166939e+02] [ 8.89201158e-01 4.57439812e-01 -8.37372171e-03 6.30368057e+01] [ 9.51634147e-03 -1.93685532e-04 9.99954700e-01 1.24738077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.18, Y:63.06, Z:1.25 [[ 4.56355928e-01 -8.89785822e-01 -4.52301856e-03 1.15181059e+02] [ 8.89746430e-01 4.56378297e-01 -8.37499641e-03 6.30612282e+01] [ 9.51616058e-03 -2.02360354e-04 9.99954700e-01 1.24848361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.19, Y:63.09, Z:1.25 [[ 4.55622125e-01 -8.90161807e-01 -4.52066163e-03 1.15193987e+02] [ 8.90122421e-01 4.55644504e-01 -8.37626844e-03 6.30853195e+01] [ 9.51604888e-03 -2.07529048e-04 9.99954700e-01 1.24816303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34762800000001 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:115.21, Y:63.11, Z:1.25 [[ 4.54591050e-01 -8.90688812e-01 -4.51852059e-03 1.15207276e+02] [ 8.90649441e-01 4.54613454e-01 -8.37742326e-03 6.31096149e+01] [ 9.51585742e-03 -2.16116203e-04 9.99954700e-01 1.24743531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37762800000002 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:115.22, Y:63.13, Z:1.25 [[ 4.53846404e-01 -8.91068485e-01 -4.51620539e-03 1.15221819e+02] [ 8.91029120e-01 4.53868820e-01 -8.37867118e-03 6.31339680e+01] [ 9.51573464e-03 -2.21440731e-04 9.99954700e-01 1.25086124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.24, Y:63.16, Z:1.26 [[ 4.53798351e-01 -8.91092965e-01 -4.51497120e-03 1.15235410e+02] [ 8.91053594e-01 4.53820757e-01 -8.37933618e-03 6.31575717e+01] [ 9.51575517e-03 -2.20552376e-04 9.99954700e-01 1.25526506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.25, Y:63.18, Z:1.26 [[ 4.53414062e-01 -8.91288571e-01 -4.51345870e-03 1.15249453e+02] [ 8.91249202e-01 4.53436471e-01 -8.38015080e-03 6.31822822e+01] [ 9.51569942e-03 -2.22938248e-04 9.99954700e-01 1.25733050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.26, Y:63.21, Z:1.26 [[ 4.53604565e-01 -8.91191645e-01 -4.51110888e-03 1.15262415e+02] [ 8.91152259e-01 4.53626943e-01 -8.38141554e-03 6.32056312e+01] [ 9.51580804e-03 -2.18236521e-04 9.99954700e-01 1.25838265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.27, Y:63.23, Z:1.26 [[ 4.55005980e-01 -8.90476966e-01 -4.50897877e-03 1.15274283e+02] [ 8.90437533e-01 4.55028277e-01 -8.38256133e-03 6.32306016e+01] [ 9.51619062e-03 -2.00848396e-04 9.99954700e-01 1.25977726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.29, Y:63.26, Z:1.26 [[ 4.56199751e-01 -8.89865989e-01 -4.50663998e-03 1.15286510e+02] [ 8.89826513e-01 4.56221972e-01 -8.38381852e-03 6.32564032e+01] [ 9.51650314e-03 -1.85431820e-04 9.99954700e-01 1.25943188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.30, Y:63.28, Z:1.26 [[ 4.57932038e-01 -8.88975793e-01 -4.50430453e-03 1.15298688e+02] [ 8.88936262e-01 4.57954160e-01 -8.38507308e-03 6.32816099e+01] [ 9.51689199e-03 -1.64246027e-04 9.99954700e-01 1.25892869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.31, Y:63.31, Z:1.26 [[ 4.61517218e-01 -8.87119828e-01 -4.50194793e-03 1.15309966e+02] [ 8.87080196e-01 4.61539159e-01 -8.38633815e-03 6.33078105e+01] [ 9.51751212e-03 -1.23149401e-04 9.99954700e-01 1.25758849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.32, Y:63.33, Z:1.26 [[ 4.63112814e-01 -8.86287919e-01 -4.49959153e-03 1.15322291e+02] [ 8.86248235e-01 4.63134661e-01 -8.38760225e-03 6.33333004e+01] [ 9.51774735e-03 -1.03348976e-04 9.99954700e-01 1.25696083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.33, Y:63.36, Z:1.26 [[ 4.64332555e-01 -8.85649509e-01 -4.49721713e-03 1.15334068e+02] [ 8.85609783e-01 4.64354325e-01 -8.38887516e-03 6.33574734e+01] [ 9.51790539e-03 -8.75516464e-05 9.99954700e-01 1.25634216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.35, Y:63.38, Z:1.26 [[ 4.65364627e-01 -8.85107653e-01 -4.49513480e-03 1.15346476e+02] [ 8.85067891e-01 4.65386331e-01 -8.38999081e-03 6.33832158e+01] [ 9.51801937e-03 -7.40945276e-05 9.99954700e-01 1.25567809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.36, Y:63.41, Z:1.26 [[ 4.67053955e-01 -8.84217404e-01 -4.49279394e-03 1.15358781e+02] [ 8.84177589e-01 4.67075560e-01 -8.39124414e-03 6.34080601e+01] [ 9.51815836e-03 -5.32639515e-05 9.99954700e-01 1.25569374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.37, Y:63.43, Z:1.26 [[ 4.67319380e-01 -8.84077165e-01 -4.49044820e-03 1.15371378e+02] [ 8.84037330e-01 4.67340951e-01 -8.39249924e-03 6.34315053e+01] [ 9.51818727e-03 -4.77462993e-05 9.99954700e-01 1.25618555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.39, Y:63.46, Z:1.26 [[ 4.67337560e-01 -8.84067565e-01 -4.48832664e-03 1.15385017e+02] [ 8.84027719e-01 4.67359111e-01 -8.39363371e-03 6.34561560e+01] [ 9.51819966e-03 -4.51448642e-05 9.99954700e-01 1.25928745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.40, Y:63.48, Z:1.26 [[ 4.67093644e-01 -8.84196474e-01 -4.48595053e-03 1.15397838e+02] [ 8.84156622e-01 4.67115183e-01 -8.39490342e-03 6.34802008e+01] [ 9.51819960e-03 -4.50768349e-05 9.99954700e-01 1.26014765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.41, Y:63.51, Z:1.26 [[ 4.66680801e-01 -8.84414451e-01 -4.48438938e-03 1.15410791e+02] [ 8.84374601e-01 4.66702343e-01 -8.39573727e-03 6.35052549e+01] [ 9.51818640e-03 -4.77506760e-05 9.99954700e-01 1.26159199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.42, Y:63.53, Z:1.26 [[ 4.66670260e-01 -8.84420024e-01 -4.48211032e-03 1.15423785e+02] [ 8.84380163e-01 4.66691782e-01 -8.39695378e-03 6.35300657e+01] [ 9.51819812e-03 -4.52808469e-05 9.99954700e-01 1.26217308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.44, Y:63.56, Z:1.26 [[ 4.66550724e-01 -8.84483100e-01 -4.47975812e-03 1.15436727e+02] [ 8.84443229e-01 4.66572228e-01 -8.39820849e-03 6.35550840e+01] [ 9.51820421e-03 -4.39014879e-05 9.99954700e-01 1.26211891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.45, Y:63.58, Z:1.26 [[ 4.66600723e-01 -8.84456736e-01 -4.47741923e-03 1.15450256e+02] [ 8.84416852e-01 4.66622203e-01 -8.39945526e-03 6.35802110e+01] [ 9.51821801e-03 -4.07131256e-05 9.99954700e-01 1.26223316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.46, Y:63.60, Z:1.26 [[ 4.67401919e-01 -8.84033560e-01 -4.48457059e-03 1.15463072e+02] [ 8.83993693e-01 4.67423431e-01 -8.39564463e-03 6.36034689e+01] [ 9.51822498e-03 -4.01917043e-05 9.99954700e-01 1.26246642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.48, Y:63.63, Z:1.26 [[ 4.67961513e-01 -8.83737519e-01 -4.47435678e-03 1.15476747e+02] [ 8.83697587e-01 4.67982902e-01 -8.40108444e-03 6.36283420e+01] [ 9.51827599e-03 -2.25941053e-05 9.99954700e-01 1.26267432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.49, Y:63.65, Z:1.26 [[ 4.68057389e-01 -8.83686755e-01 -4.47205546e-03 1.15490541e+02] [ 8.83646809e-01 4.68078752e-01 -8.40230929e-03 6.36542022e+01] [ 9.51828357e-03 -1.89545859e-05 9.99954700e-01 1.26273772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.50, Y:63.68, Z:1.26 [[ 4.71191252e-01 -8.82019621e-01 -4.49358334e-03 1.15502375e+02] [ 8.81979708e-01 4.71212678e-01 -8.39085499e-03 6.36777823e+01] [ 9.51833218e-03 -9.55185891e-06 9.99954700e-01 1.26241836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.52, Y:63.70, Z:1.26 [[ 4.72408985e-01 -8.81368132e-01 -4.46840693e-03 1.15515126e+02] [ 8.81328063e-01 4.72430116e-01 -8.40424091e-03 6.37022302e+01] [ 9.51824012e-03 3.21064933e-05 9.99954700e-01 1.26256829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.53, Y:63.73, Z:1.26 [[ 4.73887942e-01 -8.80573828e-01 -4.46675204e-03 1.15528668e+02] [ 8.80533715e-01 4.73908990e-01 -8.40512037e-03 6.37271079e+01] [ 9.51816297e-03 4.99594249e-05 9.99954700e-01 1.26402299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.54, Y:63.75, Z:1.26 [[ 4.76993237e-01 -8.78895626e-01 -4.46438722e-03 1.15542294e+02] [ 8.78855427e-01 4.77014121e-01 -8.40637626e-03 6.37520317e+01] [ 9.51790307e-03 8.62336864e-05 9.99954700e-01 1.26479986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.56, Y:63.78, Z:1.26 [[ 4.78269724e-01 -8.78201663e-01 -4.46200224e-03 1.15555077e+02] [ 8.78161422e-01 4.78290527e-01 -8.40764199e-03 6.37755737e+01] [ 9.51773858e-03 1.02762383e-04 9.99954700e-01 1.26355957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.57, Y:63.80, Z:1.26 [[ 4.79081862e-01 -8.77758896e-01 -4.45986725e-03 1.15568566e+02] [ 8.77718625e-01 4.79102607e-01 -8.40877435e-03 6.38001343e+01] [ 9.51761051e-03 1.13982721e-04 9.99954700e-01 1.26488065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.21762800000002 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:115.58, Y:63.82, Z:1.26 [[ 4.79567362e-01 -8.77493747e-01 -4.45747571e-03 1.15581899e+02] [ 8.77453453e-01 4.79588062e-01 -8.41004191e-03 6.38242663e+01] [ 9.51751132e-03 1.21954167e-04 9.99954700e-01 1.26349952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.24762800000002 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:115.60, Y:63.85, Z:1.27 [[ 4.79798400e-01 -8.77367449e-01 -4.45584747e-03 1.15595592e+02] [ 8.77327141e-01 4.79819074e-01 -8.41090450e-03 6.38486011e+01] [ 9.51745443e-03 1.26302602e-04 9.99954700e-01 1.26507775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.27762800000002 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:115.61, Y:63.87, Z:1.27 [[ 4.79414758e-01 -8.77577151e-01 -4.45348362e-03 1.15610665e+02] [ 8.77536841e-01 4.79435426e-01 -8.41215595e-03 6.38723014e+01] [ 9.51747367e-03 1.24815760e-04 9.99954700e-01 1.26593332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30762800000002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:115.63, Y:63.90, Z:1.27 [[ 4.78844408e-01 -8.77888501e-01 -4.45112947e-03 1.15625192e+02] [ 8.77848193e-01 4.78865080e-01 -8.41340142e-03 6.38963899e+01] [ 9.51751883e-03 1.21294257e-04 9.99954700e-01 1.26714826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.64, Y:63.92, Z:1.27 [[ 4.77760102e-01 -8.78479080e-01 -4.44872113e-03 1.15638932e+02] [ 8.78438786e-01 4.77780800e-01 -8.41467467e-03 6.39193784e+01] [ 9.51762921e-03 1.12266638e-04 9.99954700e-01 1.26756322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36762800000002 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:115.65, Y:63.94, Z:1.27 [[ 4.76443302e-01 -8.79193954e-01 -4.44655078e-03 1.15652897e+02] [ 8.79153679e-01 4.76464041e-01 -8.41582139e-03 6.39427832e+01] [ 9.51776083e-03 1.00460261e-04 9.99954700e-01 1.26804498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39762800000003 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:115.67, Y:63.97, Z:1.27 [[ 4.76197497e-01 -8.79327124e-01 -4.44440629e-03 1.15666188e+02] [ 8.79286845e-01 4.76218226e-01 -8.41695375e-03 6.39681187e+01] [ 9.51776301e-03 1.00224320e-04 9.99954700e-01 1.26831620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42762800000003 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:115.68, Y:63.99, Z:1.27 [[ 4.73592139e-01 -8.80733077e-01 -4.44205279e-03 1.15681922e+02] [ 8.80692848e-01 4.73612965e-01 -8.41819562e-03 6.39919164e+01] [ 9.51799713e-03 7.47071512e-05 9.99954700e-01 1.26823740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.69, Y:64.01, Z:1.26 [[ 4.66990710e-01 -8.84251077e-01 -4.43968255e-03 1.15686839e+02] [ 8.84210993e-01 4.67011813e-01 -8.41944548e-03 6.40133141e+01] [ 9.51828793e-03 6.18671134e-06 9.99954700e-01 1.26262609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.487628 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:115.71, Y:64.04, Z:1.27 [[ 4.70883453e-01 -8.82185102e-01 -4.26838331e-03 1.15710347e+02] [ 8.82144092e-01 4.70902736e-01 -8.50960707e-03 6.40397749e+01] [ 9.51704196e-03 2.41704033e-04 9.99954683e-01 1.26659695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.72, Y:64.06, Z:1.27 [[ 4.69522926e-01 -8.82909131e-01 -4.43729081e-03 1.15724983e+02] [ 8.82868975e-01 4.69543891e-01 -8.42060034e-03 6.40638639e+01] [ 9.51812772e-03 3.61185151e-05 9.99954701e-01 1.26678656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.74, Y:64.09, Z:1.27 [[ 4.68973396e-01 -8.83201158e-01 -4.43495301e-03 1.15739339e+02] [ 8.83161004e-01 4.68994365e-01 -8.42183143e-03 6.40864380e+01] [ 9.51813924e-03 3.28373315e-05 9.99954701e-01 1.26661660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.577628 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:115.75, Y:64.11, Z:1.27 [[ 4.68908339e-01 -8.83235712e-01 -4.43251044e-03 1.15752215e+02] [ 8.83195547e-01 4.68929288e-01 -8.42311679e-03 6.41113037e+01] [ 9.51813152e-03 3.48962301e-05 9.99954701e-01 1.26685521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.76, Y:64.14, Z:1.27 [[ 4.68234205e-01 -8.83593290e-01 -4.43016686e-03 1.15764136e+02] [ 8.83553130e-01 4.68255162e-01 -8.42434922e-03 6.41353161e+01] [ 9.51814695e-03 3.02806668e-05 9.99954701e-01 1.26616924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.78, Y:64.16, Z:1.27 [[ 4.67401558e-01 -8.84034037e-01 -4.42772606e-03 1.15776693e+02] [ 8.83993884e-01 4.67422529e-01 -8.42563188e-03 6.41599451e+01] [ 9.51816428e-03 2.40707117e-05 9.99954701e-01 1.26625050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.79, Y:64.19, Z:1.27 [[ 4.66094261e-01 -8.84724000e-01 -4.42540477e-03 1.15789528e+02] [ 8.84683867e-01 4.66115269e-01 -8.42685092e-03 6.41850513e+01] [ 9.51818599e-03 1.26226537e-05 9.99954701e-01 1.26679976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.80, Y:64.21, Z:1.27 [[ 4.62475372e-01 -8.86621095e-01 -4.42306016e-03 1.15802496e+02] [ 8.86581037e-01 4.62496522e-01 -8.42808137e-03 6.42096961e+01] [ 9.51816468e-03 -2.36211866e-05 9.99954701e-01 1.26838878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.82, Y:64.23, Z:1.27 [[ 4.60478884e-01 -8.87659650e-01 -4.42072028e-03 1.15815428e+02] [ 8.87619627e-01 4.60500102e-01 -8.42930851e-03 6.42333374e+01] [ 9.51809918e-03 -4.23995104e-05 9.99954701e-01 1.26937045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.83, Y:64.26, Z:1.27 [[ 4.56175526e-01 -8.89878851e-01 -4.41825215e-03 1.15828595e+02] [ 8.89838919e-01 4.56196914e-01 -8.43060199e-03 6.42581539e+01] [ 9.51780741e-03 -8.56984164e-05 9.99954701e-01 1.27131387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.84, Y:64.28, Z:1.27 [[ 4.54454973e-01 -8.90758765e-01 -4.41594767e-03 1.15840852e+02] [ 8.90718863e-01 4.54476416e-01 -8.43180891e-03 6.42820982e+01] [ 9.51765176e-03 -1.01490406e-04 9.99954701e-01 1.27212435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.85, Y:64.31, Z:1.27 [[ 4.54214595e-01 -8.90881370e-01 -4.41427266e-03 1.15854043e+02] [ 8.90841465e-01 4.54236033e-01 -8.43268573e-03 6.43074838e+01] [ 9.51764432e-03 -1.02168191e-04 9.99954701e-01 1.27239577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.86, Y:64.33, Z:1.27 [[ 4.51064996e-01 -8.92480198e-01 -4.41199678e-03 1.15864747e+02] [ 8.92440357e-01 4.51086553e-01 -8.43387631e-03 6.43324407e+01] [ 9.51726001e-03 -1.33217600e-04 9.99954701e-01 1.27251485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.88, Y:64.36, Z:1.27 [[ 4.49607268e-01 -8.93215461e-01 -4.40959678e-03 1.15876686e+02] [ 8.93175644e-01 4.49628867e-01 -8.43513094e-03 6.43576964e+01] [ 9.51707138e-03 -1.46048271e-04 9.99954701e-01 1.27226559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.89, Y:64.38, Z:1.27 [[ 4.47995713e-01 -8.94024841e-01 -4.40736674e-03 1.15888848e+02] [ 8.93985051e-01 4.48017364e-01 -8.43629598e-03 6.43831461e+01] [ 9.51683500e-03 -1.60695549e-04 9.99954701e-01 1.27239443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.90, Y:64.41, Z:1.27 [[ 4.46205962e-01 -8.94919457e-01 -4.40514430e-03 1.15901230e+02] [ 8.94879699e-01 4.46227671e-01 -8.43745630e-03 6.44087824e+01] [ 9.51654109e-03 -1.77230902e-04 9.99954701e-01 1.27285409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.91, Y:64.43, Z:1.27 [[ 4.44656188e-01 -8.95690510e-01 -4.40284261e-03 1.15913704e+02] [ 8.95650778e-01 4.44677944e-01 -8.43865720e-03 6.44338258e+01] [ 9.51627217e-03 -1.91108265e-04 9.99954701e-01 1.27355492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.93, Y:64.46, Z:1.27 [[ 4.42822514e-01 -8.96598493e-01 -4.40046921e-03 1.15925628e+02] [ 8.96558792e-01 4.42844329e-01 -8.43989467e-03 6.44590833e+01] [ 9.51591967e-03 -2.07903988e-04 9.99954701e-01 1.27408247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.94, Y:64.48, Z:1.27 [[ 4.39552475e-01 -8.98206145e-01 -4.39809462e-03 1.15936206e+02] [ 8.98166512e-01 4.39574412e-01 -8.44113190e-03 6.44846771e+01] [ 9.51516640e-03 -2.39900879e-04 9.99954701e-01 1.27378463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.95, Y:64.51, Z:1.27 [[ 4.38361955e-01 -8.98787779e-01 -4.39594846e-03 1.15947996e+02] [ 8.98748164e-01 4.38383925e-01 -8.44224942e-03 6.45103470e+01] [ 9.51490375e-03 -2.50089647e-04 9.99954701e-01 1.27457326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.96, Y:64.54, Z:1.28 [[ 4.36591149e-01 -8.99649301e-01 -4.39366332e-03 1.15959865e+02] [ 8.99609718e-01 4.36613175e-01 -8.44343853e-03 6.45368479e+01] [ 9.51446486e-03 -2.66251693e-04 9.99954701e-01 1.27592005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.97, Y:64.56, Z:1.28 [[ 4.36165054e-01 -8.99855870e-01 -4.41127556e-03 1.15970029e+02] [ 8.99816389e-01 4.36187264e-01 -8.43427602e-03 6.45630934e+01] [ 9.51377500e-03 -2.90601591e-04 9.99954701e-01 1.27653451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.98, Y:64.59, Z:1.28 [[ 4.36121668e-01 -8.99876999e-01 -4.39055494e-03 1.15981370e+02] [ 8.99837411e-01 4.36143686e-01 -8.44504861e-03 6.45887476e+01] [ 9.51441782e-03 -2.67716905e-04 9.99954701e-01 1.27735561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.99, Y:64.61, Z:1.28 [[ 4.36456254e-01 -8.99714779e-01 -4.38815781e-03 1.15991738e+02] [ 8.99675170e-01 4.36478234e-01 -8.44629401e-03 6.46134497e+01] [ 9.51459091e-03 -2.61478779e-04 9.99954701e-01 1.27766801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.00, Y:64.64, Z:1.28 [[ 4.37564470e-01 -8.99176344e-01 -4.38600248e-03 1.16002375e+02] [ 8.99136697e-01 4.37586381e-01 -8.44741308e-03 6.46398759e+01] [ 9.51496897e-03 -2.47327960e-04 9.99954701e-01 1.27872748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.01, Y:64.67, Z:1.28 [[ 4.40252767e-01 -8.97863227e-01 -4.37353587e-03 1.16011125e+02] [ 8.97823450e-01 4.40274442e-01 -8.45388321e-03 6.46671167e+01] [ 9.51598692e-03 -2.04817596e-04 9.99954701e-01 1.27773932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.02, Y:64.69, Z:1.28 [[ 4.41811075e-01 -8.97097407e-01 -4.38357825e-03 1.16022065e+02] [ 8.97057645e-01 4.41832776e-01 -8.44867274e-03 6.46935571e+01] [ 9.51609096e-03 -1.99605200e-04 9.99954701e-01 1.27733348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.03, Y:64.72, Z:1.28 [[ 4.43401976e-01 -8.96312163e-01 -4.38118068e-03 1.16032817e+02] [ 8.96272350e-01 4.43423583e-01 -8.44991585e-03 6.47194658e+01] [ 9.51648119e-03 -1.80021725e-04 9.99954701e-01 1.27723653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.04, Y:64.75, Z:1.28 [[ 4.45266689e-01 -8.95387292e-01 -4.37877951e-03 1.16044127e+02] [ 8.95347421e-01 4.45288191e-01 -8.45115997e-03 6.47457406e+01] [ 9.51688004e-03 -1.57508926e-04 9.99954701e-01 1.27728899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.05, Y:64.77, Z:1.28 [[ 4.48833309e-01 -8.93604783e-01 -4.37638183e-03 1.16054141e+02] [ 8.93564815e-01 4.48854629e-01 -8.45240141e-03 6.47724077e+01] [ 9.51746557e-03 -1.16861528e-04 9.99954701e-01 1.27704056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.07, Y:64.80, Z:1.28 [[ 4.50565185e-01 -8.92732817e-01 -4.37397134e-03 1.16065784e+02] [ 8.92692796e-01 4.50586405e-01 -8.45364861e-03 6.47978686e+01] [ 9.51770156e-03 -9.56929476e-05 9.99954701e-01 1.27737676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.08, Y:64.82, Z:1.28 [[ 4.52399019e-01 -8.91804921e-01 -4.37153332e-03 1.16076875e+02] [ 8.91764844e-01 4.52420134e-01 -8.45490916e-03 6.48224875e+01] [ 9.51789929e-03 -7.33871187e-05 9.99954701e-01 1.27758460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.09, Y:64.85, Z:1.28 [[ 4.56330635e-01 -8.89799562e-01 -4.36934267e-03 1.16086648e+02] [ 8.89759381e-01 4.56351552e-01 -8.45604110e-03 6.48474254e+01] [ 9.51813798e-03 -2.89130210e-05 9.99954701e-01 1.27620625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.10, Y:64.87, Z:1.28 [[ 4.57985107e-01 -8.88949138e-01 -4.36719805e-03 1.16098355e+02] [ 8.88908908e-01 4.58005928e-01 -8.45714857e-03 6.48726917e+01] [ 9.51817752e-03 -8.79315470e-06 9.99954701e-01 1.27545325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.11, Y:64.90, Z:1.28 [[ 4.59399969e-01 -8.88218789e-01 -4.36483132e-03 1.16110367e+02] [ 8.88178514e-01 4.59420704e-01 -8.45836989e-03 6.48977645e+01] [ 9.51817693e-03 9.02547005e-06 9.99954701e-01 1.27538648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.12, Y:64.92, Z:1.28 [[ 4.61421574e-01 -8.87170277e-01 -4.36243544e-03 1.16122253e+02] [ 8.87129944e-01 4.61442194e-01 -8.45960539e-03 6.49227238e+01] [ 9.51812224e-03 3.33973305e-05 9.99954701e-01 1.27679559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.13, Y:64.95, Z:1.28 [[ 4.60530665e-01 -8.87633087e-01 -4.36002617e-03 1.16133037e+02] [ 8.87592762e-01 4.60551303e-01 -8.46084693e-03 6.49474017e+01] [ 9.51814341e-03 2.65517951e-05 9.99954701e-01 1.27753272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.14, Y:64.97, Z:1.28 [[ 4.60009019e-01 -8.87903709e-01 -4.32504160e-03 1.16144971e+02] [ 8.87863226e-01 4.60029347e-01 -8.47886565e-03 6.49728910e+01] [ 9.51806232e-03 6.03092876e-05 9.99954700e-01 1.27672336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.16, Y:65.00, Z:1.28 [[ 4.60801947e-01 -8.87492574e-01 -4.30082331e-03 1.16159671e+02] [ 8.87451957e-01 4.60822007e-01 -8.49133244e-03 6.49981098e+01] [ 9.51790851e-03 9.60484620e-05 9.99954699e-01 1.27865727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.17, Y:65.02, Z:1.28 [[ 4.59961097e-01 -8.87928484e-01 -4.33562378e-03 1.16172821e+02] [ 8.87888053e-01 4.59981528e-01 -8.47341673e-03 6.50223908e+01] [ 9.51809491e-03 4.78934957e-05 9.99954701e-01 1.27870166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.19, Y:65.05, Z:1.28 [[ 4.60997043e-01 -8.87391174e-01 -4.31632309e-03 1.16187993e+02] [ 8.87350627e-01 4.61017242e-01 -8.48334608e-03 6.50474019e+01] [ 9.51794581e-03 8.07054499e-05 9.99954700e-01 1.28029095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.20, Y:65.07, Z:1.28 [[ 4.60508902e-01 -8.87644409e-01 -4.35359406e-03 1.16201024e+02] [ 8.87604054e-01 4.60529480e-01 -8.46417557e-03 6.50722979e+01] [ 9.51813653e-03 3.35604648e-05 9.99954701e-01 1.28027487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.21, Y:65.10, Z:1.28 [[ 4.59958188e-01 -8.87929914e-01 -4.35122737e-03 1.16213836e+02] [ 8.87889559e-01 4.59978768e-01 -8.46539205e-03 6.50962921e+01] [ 9.51814704e-03 3.03170427e-05 9.99954701e-01 1.28015538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.23, Y:65.12, Z:1.28 [[ 4.59175546e-01 -8.88334905e-01 -4.34910282e-03 1.16227534e+02] [ 8.88294558e-01 4.59196141e-01 -8.46648340e-03 6.51212677e+01] [ 9.51816396e-03 2.43177649e-05 9.99954701e-01 1.27940624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.24, Y:65.15, Z:1.28 [[ 4.57994349e-01 -8.88944476e-01 -4.34676217e-03 1.16241118e+02] [ 8.88904146e-01 4.58014976e-01 -8.46768494e-03 6.51453372e+01] [ 9.51818392e-03 1.42969361e-05 9.99954701e-01 1.27840995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.26, Y:65.17, Z:1.28 [[ 4.54394790e-01 -8.90789818e-01 -4.34443903e-03 1.16256655e+02] [ 8.90749560e-01 4.54415558e-01 -8.46887669e-03 6.51694519e+01] [ 9.51816981e-03 -2.15937057e-05 9.99954701e-01 1.27672358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.27, Y:65.19, Z:1.28 [[ 4.51797988e-01 -8.92109705e-01 -4.34205253e-03 1.16270990e+02] [ 8.92069495e-01 4.51818850e-01 -8.47010008e-03 6.51933003e+01] [ 9.51807966e-03 -4.66384351e-05 9.99954701e-01 1.27598224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.29, Y:65.22, Z:1.28 [[ 4.48768137e-01 -8.93637662e-01 -4.34618761e-03 1.16285362e+02] [ 8.93597544e-01 4.48789174e-01 -8.46798103e-03 6.52170494e+01] [ 9.51782872e-03 -8.35825060e-05 9.99954701e-01 1.27543330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.30, Y:65.24, Z:1.28 [[ 4.45187000e-01 -8.95427109e-01 -4.33898651e-03 1.16300125e+02] [ 8.95387040e-01 4.45208130e-01 -8.47166927e-03 6.52406057e+01] [ 9.51751439e-03 -1.13595266e-04 9.99954701e-01 1.27620498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.31, Y:65.26, Z:1.28 [[ 4.41231015e-01 -8.97383076e-01 -4.33656811e-03 1.16314256e+02] [ 8.97343089e-01 4.41252299e-01 -8.47290704e-03 6.52634084e+01] [ 9.51696403e-03 -1.52880050e-04 9.99954701e-01 1.27592234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.33, Y:65.29, Z:1.28 [[ 4.32530428e-01 -9.01608919e-01 -4.33438766e-03 1.16331188e+02] [ 9.01569128e-01 4.32552077e-01 -8.47402232e-03 6.52861815e+01] [ 9.51510249e-03 -2.42477602e-04 9.99954701e-01 1.27761938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.35, Y:65.31, Z:1.28 [[ 4.27868626e-01 -9.03830555e-01 -4.33199705e-03 1.16346222e+02] [ 9.03790864e-01 4.27890458e-01 -8.47524425e-03 6.53100538e+01] [ 9.51380492e-03 -2.88928244e-04 9.99954701e-01 1.27872243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.36, Y:65.33, Z:1.28 [[ 4.23101518e-01 -9.06071940e-01 -4.32962410e-03 1.16360740e+02] [ 9.06032352e-01 4.23123536e-01 -8.47645631e-03 6.53329406e+01] [ 9.51224507e-03 -3.36377973e-04 9.99954701e-01 1.27979150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.38, Y:65.36, Z:1.28 [[ 4.14616897e-01 -9.09985767e-01 -4.32801256e-03 1.16377579e+02] [ 9.09946378e-01 4.14639270e-01 -8.47727907e-03 6.53555598e+01] [ 9.50876727e-03 -4.23436204e-04 9.99954701e-01 1.28229372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.39, Y:65.38, Z:1.28 [[ 4.10737091e-01 -9.11743566e-01 -4.32566836e-03 1.16391528e+02] [ 9.11704261e-01 4.10759609e-01 -8.47847507e-03 6.53798649e+01] [ 9.50700494e-03 -4.61306080e-04 9.99954701e-01 1.28325505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.41, Y:65.40, Z:1.28 [[ 4.07665276e-01 -9.13121203e-01 -4.32327412e-03 1.16405122e+02] [ 9.13081961e-01 4.07687904e-01 -8.47969574e-03 6.54043309e+01] [ 9.50553655e-03 -4.90626108e-04 9.99954701e-01 1.28380141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.41, Y:65.43, Z:1.28 [[ 4.01856958e-01 -9.15692260e-01 -4.32087809e-03 1.16411737e+02] [ 9.15653150e-01 4.01879813e-01 -8.48091648e-03 6.54275555e+01] [ 9.50238326e-03 -5.48310339e-04 9.99954701e-01 1.28165549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.43, Y:65.45, Z:1.28 [[ 4.05906443e-01 -9.13904967e-01 -4.20373786e-03 1.16428070e+02] [ 9.13865137e-01 4.05928037e-01 -8.54051060e-03 6.54549524e+01] [ 9.51163011e-03 -3.75001202e-04 9.99954693e-01 1.28374466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.44, Y:65.48, Z:1.28 [[ 4.06714763e-01 -9.13544991e-01 -4.31871472e-03 1.16440047e+02] [ 9.13505748e-01 4.06737390e-01 -8.48196858e-03 6.54799657e+01] [ 9.50524266e-03 -4.95428880e-04 9.99954701e-01 1.28311865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.45, Y:65.51, Z:1.28 [[ 4.07797278e-01 -9.13062292e-01 -4.31633469e-03 1.16452171e+02] [ 9.13023010e-01 4.07819837e-01 -8.48317957e-03 6.55057647e+01] [ 9.50595829e-03 -4.81495354e-04 9.99954701e-01 1.28271714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.47, Y:65.53, Z:1.28 [[ 4.07538424e-01 -9.13177870e-01 -4.31392940e-03 1.16465084e+02] [ 9.13138582e-01 4.07560971e-01 -8.48440255e-03 6.55312958e+01] [ 9.50595791e-03 -4.81495335e-04 9.99954701e-01 1.28298826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.317628 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:116.48, Y:65.56, Z:1.28 [[ 4.10444166e-01 -9.11875538e-01 -4.31152377e-03 1.16475462e+02] [ 9.11836165e-01 4.10466566e-01 -8.48562485e-03 6.55581488e+01] [ 9.50757008e-03 -4.48528084e-04 9.99954701e-01 1.27883355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.49, Y:65.58, Z:1.28 [[ 4.13066553e-01 -9.10690647e-01 -4.30913026e-03 1.16485347e+02] [ 9.10651197e-01 4.13088817e-01 -8.48684013e-03 6.55837797e+01] [ 9.50893945e-03 -4.18484833e-04 9.99954701e-01 1.28038204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.49, Y:65.61, Z:1.28 [[ 4.18535954e-01 -9.08190014e-01 -4.30746477e-03 1.16491970e+02] [ 9.08150422e-01 4.18557965e-01 -8.48768536e-03 6.56114043e+01] [ 9.51135477e-03 -3.59424455e-04 9.99954701e-01 1.27874578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.40762800000002 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:116.50, Y:65.64, Z:1.28 [[ 4.20575928e-01 -9.07247130e-01 -4.30505407e-03 1.16501892e+02] [ 9.07207477e-01 4.20597827e-01 -8.48890792e-03 6.56377539e+01] [ 9.51223374e-03 -3.35346914e-04 9.99954701e-01 1.27598067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.51, Y:65.66, Z:1.28 [[ 4.23703234e-01 -9.05790846e-01 -4.30265543e-03 1.16512456e+02] [ 9.05751105e-01 4.23724974e-01 -8.49012351e-03 6.56636823e+01] [ 9.51341872e-03 -2.99842125e-04 9.99954701e-01 1.28026144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.52, Y:65.69, Z:1.28 [[ 4.26131343e-01 -9.04651085e-01 -4.30030717e-03 1.16523184e+02] [ 9.04611274e-01 4.26152954e-01 -8.49131275e-03 6.56889894e+01] [ 9.51426390e-03 -2.71691843e-04 9.99954701e-01 1.28103322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.53, Y:65.71, Z:1.28 [[ 4.28784033e-01 -9.03396801e-01 -4.29810098e-03 1.16534497e+02] [ 9.03356915e-01 4.28805506e-01 -8.49242933e-03 6.57149583e+01] [ 9.51508285e-03 -2.41301152e-04 9.99954701e-01 1.28246832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.54, Y:65.74, Z:1.28 [[ 4.33865710e-01 -9.00967309e-01 -4.29570781e-03 1.16543331e+02] [ 9.00927291e-01 4.33886936e-01 -8.49363969e-03 6.57406472e+01] [ 9.51634320e-03 -1.85021390e-04 9.99954701e-01 1.28385212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.55, Y:65.77, Z:1.28 [[ 4.33713010e-01 -9.01040837e-01 -4.29352994e-03 1.16549403e+02] [ 9.01000812e-01 4.33734222e-01 -8.49474046e-03 6.57651500e+01] [ 9.51635892e-03 -1.84194511e-04 9.99954701e-01 1.28113508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.57, Y:65.79, Z:1.28 [[ 4.38614841e-01 -8.98665253e-01 -4.21718273e-03 1.16565144e+02] [ 8.98624739e-01 4.38635111e-01 -8.53329950e-03 6.57933965e+01] [ 9.51838417e-03 -4.68329299e-05 9.99954698e-01 1.28490260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.57, Y:65.82, Z:1.28 [[ 4.43274023e-01 -8.96375881e-01 -4.29187353e-03 1.16574110e+02] [ 8.96335625e-01 4.43294792e-01 -8.49556651e-03 6.58205052e+01] [ 9.51778610e-03 -8.10952004e-05 9.99954702e-01 1.28482566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.59, Y:65.85, Z:1.28 [[ 4.45202810e-01 -8.95419487e-01 -4.28947625e-03 1.16585649e+02] [ 8.95379175e-01 4.45223470e-01 -8.49677674e-03 6.58463324e+01] [ 9.51795497e-03 -5.79188281e-05 9.99954702e-01 1.28480172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.60, Y:65.87, Z:1.29 [[ 4.46972105e-01 -8.94537623e-01 -4.28709031e-03 1.16598190e+02] [ 8.94497258e-01 4.46992663e-01 -8.49798040e-03 6.58726081e+01] [ 9.51806110e-03 -3.64303380e-05 9.99954702e-01 1.28572667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.61, Y:65.90, Z:1.29 [[ 4.51449798e-01 -8.92286163e-01 -4.29910824e-03 1.16610178e+02] [ 8.92245753e-01 4.51470268e-01 -8.49192150e-03 6.58977483e+01] [ 9.51814361e-03 -2.18482672e-06 9.99954701e-01 1.28566051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.62, Y:65.92, Z:1.29 [[ 4.51197640e-01 -8.92413778e-01 -4.28221796e-03 1.16622974e+02] [ 8.92373293e-01 4.51217961e-01 -8.50043023e-03 6.59233263e+01] [ 9.51811472e-03 1.40371218e-05 9.99954702e-01 1.28592484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.64, Y:65.95, Z:1.29 [[ 4.52797695e-01 -8.91603012e-01 -4.27981548e-03 1.16635457e+02] [ 8.91562479e-01 4.52817920e-01 -8.50163967e-03 6.59487219e+01] [ 9.51806467e-03 3.37999496e-05 9.99954702e-01 1.28624697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.65, Y:65.97, Z:1.29 [[ 4.55412308e-01 -8.90270372e-01 -4.27733442e-03 1.16646937e+02] [ 8.90229768e-01 4.55432389e-01 -8.50288775e-03 6.59728077e+01] [ 9.51790567e-03 6.45093028e-05 9.99954702e-01 1.28576158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.66, Y:66.00, Z:1.29 [[ 4.55985490e-01 -8.89976941e-01 -4.27510702e-03 1.16659319e+02] [ 8.89936314e-01 4.56005524e-01 -8.50400750e-03 6.59977038e+01] [ 9.51784301e-03 7.31310417e-05 9.99954702e-01 1.28576143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.67, Y:66.02, Z:1.29 [[ 4.56454345e-01 -8.89736576e-01 -4.27266943e-03 1.16672192e+02] [ 8.89695927e-01 4.56474335e-01 -8.50523205e-03 6.60228500e+01] [ 9.51777998e-03 8.08735308e-05 9.99954702e-01 1.28548979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.69, Y:66.05, Z:1.29 [[ 4.57110453e-01 -8.89399685e-01 -4.27020977e-03 1.16686593e+02] [ 8.89359009e-01 4.57130389e-01 -8.50646678e-03 6.60458987e+01] [ 9.51769153e-03 9.06453469e-05 9.99954702e-01 1.28578724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.70, Y:66.07, Z:1.29 [[ 4.57049506e-01 -8.89431017e-01 -4.26800039e-03 1.16700922e+02] [ 8.89390332e-01 4.57069423e-01 -8.50757517e-03 6.60699684e+01] [ 9.51767371e-03 9.24647377e-05 9.99954702e-01 1.28630242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.72, Y:66.09, Z:1.29 [[ 4.56843419e-01 -8.89536899e-01 -4.26557956e-03 1.16715088e+02] [ 8.89496208e-01 4.56863323e-01 -8.50878876e-03 6.60940881e+01] [ 9.51766843e-03 9.29673098e-05 9.99954702e-01 1.28662200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.73, Y:66.12, Z:1.29 [[ 4.56708699e-01 -8.89606087e-01 -4.26314847e-03 1.16728582e+02] [ 8.89565388e-01 4.56728586e-01 -8.51000663e-03 6.61178981e+01] [ 9.51765547e-03 9.42447342e-05 9.99954702e-01 1.28637534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.74, Y:66.14, Z:1.29 [[ 4.56533420e-01 -8.89696058e-01 -4.26149888e-03 1.16742183e+02] [ 8.89655355e-01 4.56553299e-01 -8.51083261e-03 6.61422048e+01] [ 9.51765560e-03 9.42142256e-05 9.99954702e-01 1.28601236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.76, Y:66.17, Z:1.28 [[ 4.55545540e-01 -8.90202292e-01 -4.25910578e-03 1.16758344e+02] [ 8.90161600e-01 4.55565441e-01 -8.51203003e-03 6.61659166e+01] [ 9.51773005e-03 8.63248954e-05 9.99954702e-01 1.28437025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.77, Y:66.19, Z:1.28 [[ 4.54064424e-01 -8.90958686e-01 -4.25670062e-03 1.16772544e+02] [ 8.90918015e-01 4.54084370e-01 -8.51323263e-03 6.61896145e+01] [ 9.51783978e-03 7.31848042e-05 9.99954702e-01 1.28373123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.79, Y:66.21, Z:1.28 [[ 4.52373188e-01 -8.91818587e-01 -4.25507232e-03 1.16787581e+02] [ 8.91777947e-01 4.52393196e-01 -8.51404641e-03 6.62139381e+01] [ 9.51795061e-03 5.69466593e-05 9.99954702e-01 1.28379512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.81, Y:66.24, Z:1.28 [[ 4.47775691e-01 -8.94135809e-01 -4.25273896e-03 1.16805184e+02] [ 8.94095261e-01 4.47795886e-01 -8.51521175e-03 6.62362515e+01] [ 9.51811476e-03 1.05510750e-05 9.99954702e-01 1.28440571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.82, Y:66.26, Z:1.28 [[ 4.44787428e-01 -8.95626081e-01 -4.25041000e-03 1.16820065e+02] [ 8.95585590e-01 4.44807736e-01 -8.51637411e-03 6.62594746e+01] [ 9.51810202e-03 -1.86298152e-05 9.99954702e-01 1.28465911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.83, Y:66.28, Z:1.29 [[ 4.41253321e-01 -8.97372532e-01 -4.24796211e-03 1.16834389e+02] [ 8.97332110e-01 4.41273765e-01 -8.51759494e-03 6.62820961e+01] [ 9.51796997e-03 -5.34157414e-05 9.99954702e-01 1.28513168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.85, Y:66.31, Z:1.29 [[ 4.37426023e-01 -8.99244377e-01 -4.24556039e-03 1.16849078e+02] [ 8.99204030e-01 4.37446616e-01 -8.51879190e-03 6.63061044e+01] [ 9.51768174e-03 -9.12837551e-05 9.99954702e-01 1.28544880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.86, Y:66.33, Z:1.29 [[ 4.31053309e-01 -9.02316485e-01 -4.24331726e-03 1.16864156e+02] [ 9.02276274e-01 4.31074166e-01 -8.51990908e-03 6.63298392e+01] [ 9.51683887e-03 -1.56109485e-04 9.99954702e-01 1.28771855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.88, Y:66.35, Z:1.29 [[ 4.29400019e-01 -9.03104445e-01 -4.24097561e-03 1.16876503e+02] [ 9.03064260e-01 4.29420928e-01 -8.52107453e-03 6.63547236e+01] [ 9.51658396e-03 -1.70923930e-04 9.99954702e-01 1.28951598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.89, Y:66.38, Z:1.29 [[ 4.27387458e-01 -9.04058624e-01 -4.23860480e-03 1.16889756e+02] [ 9.04018474e-01 4.27408434e-01 -8.52225367e-03 6.63800074e+01] [ 9.51623236e-03 -1.89472706e-04 9.99954702e-01 1.29179029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.90, Y:66.40, Z:1.29 [[ 4.22816866e-01 -9.06205249e-01 -4.23619170e-03 1.16902085e+02] [ 9.06165194e-01 4.22838022e-01 -8.52345299e-03 6.64039175e+01] [ 9.51522075e-03 -2.34829793e-04 9.99954702e-01 1.29363341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.91, Y:66.43, Z:1.29 [[ 4.20266121e-01 -9.07391016e-01 -4.23455154e-03 1.16913990e+02] [ 9.07351013e-01 4.20287374e-01 -8.52426776e-03 6.64296172e+01] [ 9.51457253e-03 -2.59763680e-04 9.99954702e-01 1.29341751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.93, Y:66.46, Z:1.29 [[ 4.17686824e-01 -9.08581205e-01 -4.23214439e-03 1.16926069e+02] [ 9.08541250e-01 4.17708168e-01 -8.52546271e-03 6.64554656e+01] [ 9.51387646e-03 -2.84104312e-04 9.99954702e-01 1.29312030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.94, Y:66.48, Z:1.29 [[ 4.14536772e-01 -9.10022733e-01 -4.22969792e-03 1.16937677e+02] [ 9.09982840e-01 4.14558231e-01 -8.52667629e-03 6.64795104e+01] [ 9.51292535e-03 -3.14331654e-04 9.99954702e-01 1.29295566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.95, Y:66.50, Z:1.29 [[ 4.11319882e-01 -9.11481257e-01 -4.22749553e-03 1.16949579e+02] [ 9.11441429e-01 4.11341462e-01 -8.52776808e-03 6.65046453e+01] [ 9.51184497e-03 -3.45474006e-04 9.99954702e-01 1.29272468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.96, Y:66.53, Z:1.29 [[ 4.08327240e-01 -9.12825840e-01 -4.22508207e-03 1.16961009e+02] [ 9.12786070e-01 4.08348927e-01 -8.52896366e-03 6.65302782e+01] [ 9.51076615e-03 -3.73987869e-04 9.99954702e-01 1.29235918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.97, Y:66.56, Z:1.29 [[ 4.03372776e-01 -9.15025996e-01 -4.22265246e-03 1.16970035e+02] [ 9.14986332e-01 4.03394656e-01 -8.53016638e-03 6.65564574e+01] [ 9.50871943e-03 -4.22832391e-04 9.99954702e-01 1.29095183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.98, Y:66.58, Z:1.29 [[ 4.01832601e-01 -9.15703417e-01 -4.22047775e-03 1.16980937e+02] [ 9.15663779e-01 4.01854527e-01 -8.53124223e-03 6.65823607e+01] [ 9.50810576e-03 -4.36407356e-04 9.99954702e-01 1.29077367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.99, Y:66.61, Z:1.29 [[ 4.00862456e-01 -9.16128539e-01 -4.21807747e-03 1.16991047e+02] [ 9.16088912e-01 4.00884402e-01 -8.53242883e-03 6.66073344e+01] [ 9.50776302e-03 -4.43803628e-04 9.99954702e-01 1.29041149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.00, Y:66.63, Z:1.29 [[ 4.00463853e-01 -9.16302859e-01 -4.21593456e-03 1.17001595e+02] [ 9.16263230e-01 4.00485796e-01 -8.53348753e-03 6.66335326e+01] [ 9.50768092e-03 -4.45552525e-04 9.99954702e-01 1.29080960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.01, Y:66.66, Z:1.29 [[ 4.02161920e-01 -9.15558866e-01 -4.21350305e-03 1.17009739e+02] [ 9.15519184e-01 4.02183768e-01 -8.53468794e-03 6.66594307e+01] [ 9.50861174e-03 -4.25216387e-04 9.99954702e-01 1.29165596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.02, Y:66.69, Z:1.29 [[ 4.03608358e-01 -9.14922160e-01 -4.21130979e-03 1.17019777e+02] [ 9.14882432e-01 4.03630123e-01 -8.53577004e-03 6.66850731e+01] [ 9.50937664e-03 -4.07745209e-04 9.99954702e-01 1.29222811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.03, Y:66.71, Z:1.29 [[ 4.05577459e-01 -9.14050987e-01 -4.20915974e-03 1.17029931e+02] [ 9.14011202e-01 4.05599118e-01 -8.53683014e-03 6.67108997e+01] [ 9.51032949e-03 -3.84873280e-04 9.99954702e-01 1.29289457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.04, Y:66.74, Z:1.29 [[ 4.07645626e-01 -9.13130520e-01 -4.20678027e-03 1.17040016e+02] [ 9.13090674e-01 4.07667172e-01 -8.53800253e-03 6.67372556e+01] [ 9.51127691e-03 -3.60692448e-04 9.99954702e-01 1.29312476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.05, Y:66.76, Z:1.29 [[ 4.10253341e-01 -9.11961907e-01 -4.20441047e-03 1.17050232e+02] [ 9.11921988e-01 4.10274751e-01 -8.53916934e-03 6.67634263e+01] [ 9.51236062e-03 -3.30871606e-04 9.99954702e-01 1.29341296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.06, Y:66.79, Z:1.29 [[ 4.15558412e-01 -9.09556787e-01 -4.20205228e-03 1.17057615e+02] [ 9.09516732e-01 4.15579567e-01 -8.54032963e-03 6.67904075e+01] [ 9.51420185e-03 -2.72831040e-04 9.99954702e-01 1.29379214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.07, Y:66.82, Z:1.29 [[ 4.18295082e-01 -9.08301485e-01 -4.19956274e-03 1.17067294e+02] [ 9.08261355e-01 4.18316093e-01 -8.54155365e-03 6.68157907e+01] [ 9.51505054e-03 -2.41410665e-04 9.99954702e-01 1.29417029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.08, Y:66.84, Z:1.29 [[ 4.20817321e-01 -9.07135694e-01 -4.19711454e-03 1.17077270e+02] [ 9.07095493e-01 4.20838197e-01 -8.54275646e-03 6.68414958e+01] [ 9.51574543e-03 -2.12243793e-04 9.99954702e-01 1.29479174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.09, Y:66.87, Z:1.30 [[ 4.23575744e-01 -9.05850978e-01 -4.19468536e-03 1.17087749e+02] [ 9.05810702e-01 4.23596475e-01 -8.54394908e-03 6.68675095e+01] [ 9.51639856e-03 -1.80581306e-04 9.99954702e-01 1.29554876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.10, Y:66.89, Z:1.30 [[ 4.29717176e-01 -9.02953804e-01 -4.19241616e-03 1.17097214e+02] [ 9.02913377e-01 4.29737612e-01 -8.54506240e-03 6.68947160e+01] [ 9.51743551e-03 -1.13428547e-04 9.99954702e-01 1.29577316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.11, Y:66.92, Z:1.30 [[ 4.32211596e-01 -9.01762485e-01 -4.19002368e-03 1.17107469e+02] [ 9.01721991e-01 4.32231897e-01 -8.54623538e-03 6.69194965e+01] [ 9.51773634e-03 -8.44544564e-05 9.99954702e-01 1.29562338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.12, Y:66.94, Z:1.29 [[ 4.36651515e-01 -8.99620985e-01 -4.18786982e-03 1.17117488e+02] [ 8.99580381e-01 4.36671596e-01 -8.54729070e-03 6.69443622e+01] [ 9.51804587e-03 -3.51380999e-05 9.99954702e-01 1.29388190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.13, Y:66.97, Z:1.29 [[ 4.38123354e-01 -8.98905117e-01 -4.18536120e-03 1.17129572e+02] [ 8.98864468e-01 4.38143344e-01 -8.54851892e-03 6.69699322e+01] [ 9.51809555e-03 -1.67666885e-05 9.99954702e-01 1.29241723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.14, Y:67.00, Z:1.29 [[ 4.38962415e-01 -8.98495687e-01 -4.18302451e-03 1.17142065e+02] [ 8.98455009e-01 4.38982346e-01 -8.54966217e-03 6.69951532e+01] [ 9.51810850e-03 -5.27897000e-06 9.99954702e-01 1.29128207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.15, Y:67.02, Z:1.29 [[ 4.39203746e-01 -8.98377755e-01 -4.18070377e-03 1.17154515e+02] [ 8.98337061e-01 4.39223643e-01 -8.55079684e-03 6.70191051e+01] [ 9.51810962e-03 -1.39132207e-07 9.99954702e-01 1.29083943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.17, Y:67.04, Z:1.29 [[ 4.39067587e-01 -8.98444317e-01 -4.17900942e-03 1.17167884e+02] [ 8.98403617e-01 4.39087474e-01 -8.55162484e-03 6.70439359e+01] [ 9.51810942e-03 3.04106454e-07 9.99954702e-01 1.29076271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.18, Y:67.07, Z:1.29 [[ 4.38604887e-01 -8.98670300e-01 -4.17660663e-03 1.17181456e+02] [ 8.98629600e-01 4.38624773e-01 -8.55279820e-03 6.70681094e+01] [ 9.51810886e-03 -1.92326213e-06 9.99954702e-01 1.29084836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.20, Y:67.09, Z:1.29 [[ 4.37464452e-01 -8.99226017e-01 -4.17418877e-03 1.17196848e+02] [ 8.99185331e-01 4.37484366e-01 -8.55397807e-03 6.70913723e+01] [ 9.51810196e-03 -1.13079785e-05 9.99954702e-01 1.29144446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.21, Y:67.12, Z:1.29 [[ 4.36694297e-01 -8.99600293e-01 -4.17177767e-03 1.17210905e+02] [ 8.99559613e-01 4.36714222e-01 -8.55515380e-03 6.71154790e+01] [ 9.51809351e-03 -1.67758328e-05 9.99954702e-01 1.29212435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.22, Y:67.14, Z:1.29 [[ 4.36435598e-01 -8.99725839e-01 -4.16931780e-03 1.17223377e+02] [ 8.99685153e-01 4.36455512e-01 -8.55635244e-03 6.71412196e+01] [ 9.51809312e-03 -1.67765206e-05 9.99954702e-01 1.29239545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.24, Y:67.16, Z:1.29 [[ 4.35797576e-01 -9.00035060e-01 -4.16685696e-03 1.17237687e+02] [ 8.99994377e-01 4.35817496e-01 -8.55755068e-03 6.71648292e+01] [ 9.51808481e-03 -2.07879873e-05 9.99954702e-01 1.29270921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.25, Y:67.19, Z:1.29 [[ 4.35058430e-01 -9.00392591e-01 -4.16465198e-03 1.17252041e+02] [ 9.00351914e-01 4.35078362e-01 -8.55862363e-03 6.71890309e+01] [ 9.51807127e-03 -2.61510189e-05 9.99954702e-01 1.29266604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.27, Y:67.21, Z:1.29 [[ 4.34574858e-01 -9.00626098e-01 -4.16224486e-03 1.17268811e+02] [ 9.00585420e-01 4.34594789e-01 -8.55979410e-03 6.72126767e+01] [ 9.51806389e-03 -2.85857298e-05 9.99954702e-01 1.29159578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.28, Y:67.24, Z:1.29 [[ 4.34311189e-01 -9.00753288e-01 -4.15985465e-03 1.17282876e+02] [ 9.00712605e-01 4.34331110e-01 -8.56095553e-03 6.72359222e+01] [ 9.51806313e-03 -2.87147355e-05 9.99954702e-01 1.29144026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.30, Y:67.26, Z:1.29 [[ 4.34036386e-01 -9.00885749e-01 -4.15733203e-03 1.17297173e+02] [ 9.00845060e-01 4.34056294e-01 -8.56218038e-03 6.72598238e+01] [ 9.51806242e-03 -2.88142008e-05 9.99954702e-01 1.29204367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:67.28, Z:1.29 [[ 4.34235974e-01 -9.00789573e-01 -4.15491863e-03 1.17313681e+02] [ 9.00748869e-01 4.34255851e-01 -8.56335136e-03 6.72833520e+01] [ 9.51807534e-03 -2.40230313e-05 9.99954702e-01 1.29262880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.33, Y:67.31, Z:1.29 [[ 4.34347524e-01 -9.00735802e-01 -4.15245177e-03 1.17327598e+02] [ 9.00695084e-01 4.34367372e-01 -8.56454739e-03 6.73064227e+01] [ 9.51808403e-03 -2.01029403e-05 9.99954702e-01 1.29263559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.34, Y:67.33, Z:1.29 [[ 4.34379456e-01 -9.00720414e-01 -4.15023504e-03 1.17342005e+02] [ 9.00679684e-01 4.34399282e-01 -8.56562145e-03 6.73305203e+01] [ 9.51808921e-03 -1.73023954e-05 9.99954702e-01 1.29287446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.36, Y:67.35, Z:1.29 [[ 4.34510579e-01 -9.00657178e-01 -4.14781681e-03 1.17356398e+02] [ 9.00616435e-01 4.34530376e-01 -8.56679229e-03 6.73541918e+01] [ 9.51809537e-03 -1.32301123e-05 9.99954702e-01 1.29309469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.37, Y:67.38, Z:1.29 [[ 4.35562605e-01 -9.00148894e-01 -4.14564144e-03 1.17372446e+02] [ 9.00108118e-01 4.35582333e-01 -8.56784487e-03 6.73778523e+01] [ 9.51810425e-03 3.07311681e-07 9.99954702e-01 1.29444563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.38, Y:67.40, Z:1.30 [[ 4.37655069e-01 -8.99133402e-01 -4.14322584e-03 1.17384241e+02] [ 8.99092569e-01 4.37674680e-01 -8.56901284e-03 6.74037109e+01] [ 9.51807071e-03 2.51283410e-05 9.99954702e-01 1.29540634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.40, Y:67.43, Z:1.30 [[ 4.39483079e-01 -8.98241324e-01 -4.14081933e-03 1.17395832e+02] [ 8.98200440e-01 4.39502584e-01 -8.57017559e-03 6.74291737e+01] [ 9.51798666e-03 4.71614113e-05 9.99954702e-01 1.29571369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.41, Y:67.46, Z:1.30 [[ 4.40265140e-01 -8.97858274e-01 -4.13842154e-03 1.17407702e+02] [ 8.97817362e-01 4.40284586e-01 -8.57133329e-03 6.74550919e+01] [ 9.51792573e-03 5.81125335e-05 9.99954702e-01 1.29568201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.42, Y:67.48, Z:1.29 [[ 4.39009924e-01 -8.98472693e-01 -4.13598650e-03 1.17417754e+02] [ 8.98431797e-01 4.39029404e-01 -8.57250813e-03 6.74808011e+01] [ 9.51798415e-03 4.75143621e-05 9.99954702e-01 1.29407552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.43, Y:67.51, Z:1.29 [[ 4.37107828e-01 -8.99399610e-01 -4.13381595e-03 1.17428843e+02] [ 8.99358746e-01 4.37127373e-01 -8.57355468e-03 6.75066839e+01] [ 9.51805584e-03 2.97843310e-05 9.99954702e-01 1.29350724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.44, Y:67.53, Z:1.29 [[ 4.35419620e-01 -9.00218132e-01 -4.13142244e-03 1.17440312e+02] [ 9.00177294e-01 4.35439220e-01 -8.57470790e-03 6.75320733e+01] [ 9.51809090e-03 1.45833838e-05 9.99954702e-01 1.29376659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.45, Y:67.56, Z:1.29 [[ 4.33999207e-01 -9.00903790e-01 -4.12899303e-03 1.17451401e+02] [ 9.00862972e-01 4.34018848e-01 -8.57587758e-03 6.75564416e+01] [ 9.51810142e-03 2.26714433e-06 9.99954702e-01 1.29445724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.46, Y:67.58, Z:1.30 [[ 4.32609036e-01 -9.01572178e-01 -4.12680045e-03 1.17462900e+02] [ 9.01531379e-01 4.32628719e-01 -8.57693254e-03 6.75820969e+01] [ 9.51809614e-03 -9.98158299e-06 9.99954702e-01 1.29583166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.48, Y:67.61, Z:1.30 [[ 4.32567952e-01 -9.01591901e-01 -4.12437101e-03 1.17475172e+02] [ 9.01551093e-01 4.32587614e-01 -8.57810062e-03 6.76073010e+01] [ 9.51809786e-03 -7.71977107e-06 9.99954702e-01 1.29731355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.49, Y:67.63, Z:1.30 [[ 4.32386938e-01 -9.01678737e-01 -4.12196284e-03 1.17487343e+02] [ 9.01637921e-01 4.32406585e-01 -8.57925764e-03 6.76324852e+01] [ 9.51809808e-03 -6.95906534e-06 9.99954702e-01 1.29817908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.50, Y:67.66, Z:1.30 [[ 4.32655511e-01 -9.01549909e-01 -4.11956396e-03 1.17499149e+02] [ 9.01509076e-01 4.32675123e-01 -8.58040938e-03 6.76572852e+01] [ 9.51810014e-03 -1.46290204e-06 9.99954702e-01 1.29756077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.51, Y:67.68, Z:1.30 [[ 4.32464056e-01 -9.01641775e-01 -4.11703960e-03 1.17511226e+02] [ 9.01600935e-01 4.32483653e-01 -8.58162044e-03 6.76826587e+01] [ 9.51809981e-03 -6.84372017e-07 9.99954702e-01 1.29684106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.53, Y:67.71, Z:1.29 [[ 4.32588112e-01 -9.01582273e-01 -4.11461479e-03 1.17525420e+02] [ 9.01541419e-01 4.32607680e-01 -8.58278290e-03 6.77095928e+01] [ 9.51809888e-03 3.31419740e-06 9.99954702e-01 1.29494289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.54, Y:67.73, Z:1.29 [[ 4.32461370e-01 -9.01642961e-01 -4.13942958e-03 1.17535943e+02] [ 9.01602223e-01 4.32481179e-01 -8.57089097e-03 6.77338815e+01] [ 9.51810890e-03 -2.55396657e-05 9.99954701e-01 1.29420170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.55, Y:67.76, Z:1.29 [[ 4.33000398e-01 -9.01384356e-01 -4.11085457e-03 1.17547709e+02] [ 9.01343476e-01 4.33019911e-01 -8.58457456e-03 6.77581328e+01] [ 9.51808308e-03 1.18322509e-05 9.99954702e-01 1.29426163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.56, Y:67.78, Z:1.29 [[ 4.33641989e-01 -9.01075879e-01 -4.10910982e-03 1.17559387e+02] [ 9.01034978e-01 4.33661457e-01 -8.58540962e-03 6.77832725e+01] [ 9.51806807e-03 2.05424333e-05 9.99954702e-01 1.29443223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.57, Y:67.81, Z:1.29 [[ 4.34422808e-01 -9.00699705e-01 -4.10676917e-03 1.17571151e+02] [ 9.00658776e-01 4.34442217e-01 -8.58652911e-03 6.78092460e+01] [ 9.51803814e-03 3.13863912e-05 9.99954702e-01 1.29489431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.58, Y:67.84, Z:1.29 [[ 4.37223088e-01 -8.99343719e-01 -4.10443236e-03 1.17581385e+02] [ 8.99302719e-01 4.37242349e-01 -8.58764597e-03 6.78352126e+01] [ 9.51787711e-03 6.35899089e-05 9.99954702e-01 1.29498980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.59, Y:67.86, Z:1.30 [[ 4.38508031e-01 -8.98717909e-01 -4.10211224e-03 1.17592324e+02] [ 8.98676871e-01 4.38527210e-01 -8.58875410e-03 6.78599539e+01] [ 9.51775496e-03 7.97642486e-05 9.99954702e-01 1.29538062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.60, Y:67.89, Z:1.30 [[ 4.39459174e-01 -8.98253209e-01 -4.09966314e-03 1.17603763e+02] [ 8.98212140e-01 4.39478286e-01 -8.58992297e-03 6.78854803e+01] [ 9.51763880e-03 9.25532493e-05 9.99954702e-01 1.29658615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.62, Y:67.91, Z:1.30 [[ 4.39588313e-01 -8.98190029e-01 -4.09724072e-03 1.17615299e+02] [ 8.98148947e-01 4.39607396e-01 -8.59107826e-03 6.79105635e+01] [ 9.51759816e-03 9.66051571e-05 9.99954702e-01 1.29695151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.63, Y:67.94, Z:1.30 [[ 4.39027039e-01 -8.98464519e-01 -4.09468279e-03 1.17627479e+02] [ 8.98423438e-01 4.39046124e-01 -8.59229725e-03 6.79361654e+01] [ 9.51762883e-03 9.34918356e-05 9.99954702e-01 1.29732108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.64, Y:67.96, Z:1.30 [[ 4.36362813e-01 -8.99761495e-01 -4.09233470e-03 1.17640529e+02] [ 8.99720460e-01 4.36381997e-01 -8.59341545e-03 6.79611381e+01] [ 9.51784552e-03 6.78896764e-05 9.99954702e-01 1.29749251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.65, Y:67.99, Z:1.30 [[ 4.33925456e-01 -9.00939494e-01 -4.08989670e-03 1.17652799e+02] [ 9.00898500e-01 4.33944728e-01 -8.59457562e-03 6.79864114e+01] [ 9.51798172e-03 4.48233530e-05 9.99954702e-01 1.29755162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.67, Y:68.01, Z:1.30 [[ 4.31528325e-01 -9.02090127e-01 -4.08747090e-03 1.17665142e+02] [ 9.02049174e-01 4.31547682e-01 -8.59572915e-03 6.80119722e+01] [ 9.51806099e-03 2.22008519e-05 9.99954702e-01 1.29775475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.68, Y:68.04, Z:1.30 [[ 4.29331781e-01 -9.03137606e-01 -4.08503372e-03 1.17677448e+02] [ 9.03096688e-01 4.29351215e-01 -8.59688723e-03 6.80364925e+01] [ 9.51808634e-03 1.73648195e-06 9.99954702e-01 1.29764749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.69, Y:68.06, Z:1.30 [[ 4.25655749e-01 -9.04875964e-01 -4.08337742e-03 1.17689518e+02] [ 9.04835118e-01 4.25675333e-01 -8.59767388e-03 6.80620725e+01] [ 9.51802148e-03 -3.51339807e-05 9.99954702e-01 1.29793289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.70, Y:68.09, Z:1.30 [[ 4.24352401e-01 -9.05487927e-01 -4.08099250e-03 1.17700598e+02] [ 9.05447099e-01 4.24372021e-01 -8.59880576e-03 6.80878153e+01] [ 9.51797384e-03 -4.61989549e-05 9.99954702e-01 1.29753036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.71, Y:68.11, Z:1.30 [[ 4.23021150e-01 -9.06110629e-01 -4.07858875e-03 1.17711826e+02] [ 9.06069819e-01 4.23040807e-01 -8.59994576e-03 6.81138466e+01] [ 9.51791174e-03 -5.75272258e-05 9.99954702e-01 1.29659573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.40762800000002 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:117.72, Y:68.14, Z:1.29 [[ 4.21056839e-01 -9.07025095e-01 -4.07619601e-03 1.17723126e+02] [ 9.06984316e-01 4.21076562e-01 -8.60107972e-03 6.81394759e+01] [ 9.51778575e-03 -7.55024165e-05 9.99954702e-01 1.29305611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.73, Y:68.16, Z:1.29 [[ 4.17156386e-01 -9.08825591e-01 -4.07375462e-03 1.17734324e+02] [ 9.08784886e-01 4.17176261e-01 -8.60223589e-03 6.81640659e+01] [ 9.51740583e-03 -1.13688994e-04 9.99954702e-01 1.29346942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.75, Y:68.19, Z:1.29 [[ 4.14712515e-01 -9.09943378e-01 -4.07158134e-03 1.17746088e+02] [ 9.09902717e-01 4.14732479e-01 -8.60326441e-03 6.81890006e+01] [ 9.51710051e-03 -1.36861494e-04 9.99954702e-01 1.29366041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.76, Y:68.21, Z:1.29 [[ 4.12580370e-01 -9.10912115e-01 -4.06904962e-03 1.17758059e+02] [ 9.10871489e-01 4.12600406e-01 -8.60446166e-03 6.82148859e+01] [ 9.51679989e-03 -1.56349304e-04 9.99954702e-01 1.29452465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.77, Y:68.24, Z:1.30 [[ 4.08966305e-01 -9.12540423e-01 -4.06664107e-03 1.17769116e+02] [ 9.12499865e-01 4.08986478e-01 -8.60559984e-03 6.82399189e+01] [ 9.51615893e-03 -1.91409060e-04 9.99954702e-01 1.29576547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55762800000002 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:117.78, Y:68.27, Z:1.29 [[ 4.07208786e-01 -9.13326058e-01 -4.06410595e-03 1.17780113e+02] [ 9.13285527e-01 4.07229014e-01 -8.60679692e-03 6.82654036e+01] [ 9.51583375e-03 -2.06925816e-04 9.99954702e-01 1.29430874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:68.29, Z:1.30 [[ 4.07389459e-01 -9.13245493e-01 -4.06172023e-03 1.17790439e+02] [ 9.13204947e-01 4.07409657e-01 -8.60792264e-03 6.82913608e+01] [ 9.51593060e-03 -2.02406063e-04 9.99954702e-01 1.29713049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.80, Y:68.32, Z:1.30 [[ 4.08188246e-01 -9.12888754e-01 -4.05933878e-03 1.17801214e+02] [ 9.12848179e-01 4.08208385e-01 -8.60904554e-03 6.83161846e+01] [ 9.51615699e-03 -1.91448817e-04 9.99954702e-01 1.29736921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.81, Y:68.34, Z:1.30 [[ 4.10046271e-01 -9.12055699e-01 -4.05682656e-03 1.17811945e+02] [ 9.12015071e-01 4.10066304e-01 -8.61022921e-03 6.83407629e+01] [ 9.51657649e-03 -1.69294585e-04 9.99954702e-01 1.29731678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.82, Y:68.37, Z:1.30 [[ 4.12255064e-01 -9.11059448e-01 -4.05513325e-03 1.17822916e+02] [ 9.11018765e-01 4.12274982e-01 -8.61102663e-03 6.83661462e+01] [ 9.51698716e-03 -1.44363154e-04 9.99954702e-01 1.29724148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:68.39, Z:1.30 [[ 4.14766553e-01 -9.09918833e-01 -4.05276517e-03 1.17833795e+02] [ 9.09878083e-01 4.14786336e-01 -8.61214102e-03 6.83912108e+01] [ 9.51738091e-03 -1.15494163e-04 9.99954702e-01 1.29717736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:68.42, Z:1.30 [[ 4.20153618e-01 -9.07443956e-01 -4.05026718e-03 1.17844725e+02] [ 9.07403078e-01 4.20173136e-01 -8.61331565e-03 6.84166888e+01] [ 9.51791469e-03 -5.63091694e-05 9.99954702e-01 1.29691063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.86, Y:68.44, Z:1.30 [[ 4.22510393e-01 -9.06349040e-01 -4.04783221e-03 1.17856789e+02] [ 9.06308101e-01 4.22529782e-01 -8.61445982e-03 6.84424138e+01] [ 9.51803705e-03 -2.88843232e-05 9.99954702e-01 1.29678847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.87, Y:68.47, Z:1.30 [[ 4.24156391e-01 -9.05579919e-01 -4.04540675e-03 1.17868893e+02] [ 9.05538935e-01 4.24175682e-01 -8.61559868e-03 6.84681215e+01] [ 9.51807632e-03 -8.91207014e-06 9.99954702e-01 1.29710552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.88, Y:68.49, Z:1.30 [[ 4.26326155e-01 -9.04560481e-01 -4.04298806e-03 1.17881742e+02] [ 9.04519439e-01 4.26345324e-01 -8.61673353e-03 6.84925735e+01] [ 9.51806569e-03 1.65775793e-05 9.99954702e-01 1.29749127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:68.52, Z:1.30 [[ 4.26222408e-01 -9.04609380e-01 -4.04079860e-03 1.17894224e+02] [ 9.04568331e-01 4.26241562e-01 -8.61776015e-03 6.85180657e+01] [ 9.51806298e-03 1.79040366e-05 9.99954702e-01 1.29742811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.91, Y:68.54, Z:1.30 [[ 4.25778074e-01 -9.04818614e-01 -4.03833029e-03 1.17906458e+02] [ 9.04777563e-01 4.25797224e-01 -8.61891666e-03 6.85423856e+01] [ 9.51806605e-03 1.59550965e-05 9.99954702e-01 1.29683898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.92, Y:68.57, Z:1.30 [[ 4.24670622e-01 -9.05338927e-01 -4.03611160e-03 1.17918997e+02] [ 9.05297889e-01 4.24689802e-01 -8.61995552e-03 6.85677583e+01] [ 9.51807671e-03 6.75856355e-06 9.99954702e-01 1.29671679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.93, Y:68.59, Z:1.30 [[ 4.23472005e-01 -9.05900210e-01 -4.03368725e-03 1.17931761e+02] [ 9.05859187e-01 4.23491216e-01 -8.62108984e-03 6.85930565e+01] [ 9.51807821e-03 -3.16245033e-06 9.99954702e-01 1.29671573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.94, Y:68.62, Z:1.30 [[ 4.20614306e-01 -9.07230596e-01 -4.03127464e-03 1.17944751e+02] [ 9.07189623e-01 4.20633623e-01 -8.62221784e-03 6.86183701e+01] [ 9.51802949e-03 -3.05023487e-05 9.99954702e-01 1.29677828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.96, Y:68.64, Z:1.30 [[ 4.19453853e-01 -9.07767720e-01 -4.02886814e-03 1.17956891e+02] [ 9.07726761e-01 4.19473199e-01 -8.62334217e-03 6.86439458e+01] [ 9.51799387e-03 -4.00173351e-05 9.99954702e-01 1.29769204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.97, Y:68.67, Z:1.30 [[ 4.19358910e-01 -9.07811595e-01 -4.02645812e-03 1.17967885e+02] [ 9.07770628e-01 4.19378238e-01 -8.62446732e-03 6.86692819e+01] [ 9.51800035e-03 -3.83532039e-05 9.99954702e-01 1.29851289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.98, Y:68.69, Z:1.30 [[ 4.19223897e-01 -9.07873962e-01 -4.02406578e-03 1.17978431e+02] [ 9.07832987e-01 4.19243208e-01 -8.62558341e-03 6.86937594e+01] [ 9.51800483e-03 -3.71289641e-05 9.99954702e-01 1.29901362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.99, Y:68.72, Z:1.30 [[ 4.18976351e-01 -9.07988237e-01 -4.02231722e-03 1.17990442e+02] [ 9.07947259e-01 4.18995656e-01 -8.62639873e-03 6.87197170e+01] [ 9.51800202e-03 -3.77948396e-05 9.99954702e-01 1.29928502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.00, Y:68.75, Z:1.30 [[ 4.18186209e-01 -9.08352428e-01 -4.01996484e-03 1.18001948e+02] [ 9.08311457e-01 4.18205528e-01 -8.62749482e-03 6.87450462e+01] [ 9.51797739e-03 -4.34807687e-05 9.99954702e-01 1.29899342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.01, Y:68.77, Z:1.30 [[ 4.17154360e-01 -9.08826771e-01 -4.01752048e-03 1.18013837e+02] [ 9.08785810e-01 4.17173703e-01 -8.62863292e-03 6.87702036e+01] [ 9.51793649e-03 -5.15937611e-05 9.99954702e-01 1.29859615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.03, Y:68.80, Z:1.30 [[ 4.15871937e-01 -9.09414323e-01 -4.01508716e-03 1.18025904e+02] [ 9.09373379e-01 4.15891314e-01 -8.62976505e-03 6.87951593e+01] [ 9.51787181e-03 -6.23362730e-05 9.99954702e-01 1.29804104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.04, Y:68.82, Z:1.30 [[ 4.14426297e-01 -9.10074031e-01 -4.01266569e-03 1.18037944e+02] [ 9.10033107e-01 4.14445717e-01 -8.63089084e-03 6.88206765e+01] [ 9.51778172e-03 -7.47904890e-05 9.99954702e-01 1.29683507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.05, Y:68.85, Z:1.30 [[ 4.13874097e-01 -9.10325299e-01 -4.01022097e-03 1.18048880e+02] [ 9.10284375e-01 4.13893518e-01 -8.63202659e-03 6.88458158e+01] [ 9.51775665e-03 -7.78692816e-05 9.99954702e-01 1.29581002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.06, Y:68.87, Z:1.29 [[ 4.13776923e-01 -9.10369480e-01 -4.00855993e-03 1.18060226e+02] [ 9.10328551e-01 4.13796332e-01 -8.63279788e-03 6.88714231e+01] [ 9.51776311e-03 -7.70540071e-05 9.99954702e-01 1.29440156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.07, Y:68.90, Z:1.29 [[ 4.13432544e-01 -9.10525937e-01 -4.00610227e-03 1.18071162e+02] [ 9.10485005e-01 4.13451946e-01 -8.63393822e-03 6.88969473e+01] [ 9.51775547e-03 -7.79449943e-05 9.99954702e-01 1.29051351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.08, Y:68.92, Z:1.29 [[ 4.13276863e-01 -9.10596617e-01 -4.00451692e-03 1.18083166e+02] [ 9.10555680e-01 4.13296257e-01 -8.63467346e-03 6.89219802e+01] [ 9.51775629e-03 -7.78248610e-05 9.99954702e-01 1.29061421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.10, Y:68.95, Z:1.29 [[ 4.13248112e-01 -9.10609676e-01 -4.00208090e-03 1.18095152e+02] [ 9.10568729e-01 4.13267484e-01 -8.63580238e-03 6.89463641e+01] [ 9.51777511e-03 -7.54406849e-05 9.99954702e-01 1.28976533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.11, Y:68.97, Z:1.29 [[ 4.12905171e-01 -9.10765237e-01 -4.00041102e-03 1.18107163e+02] [ 9.10724290e-01 4.12924542e-01 -8.63657586e-03 6.89717110e+01] [ 9.51776095e-03 -7.71846475e-05 9.99954702e-01 1.28998386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.12, Y:69.00, Z:1.29 [[ 4.11407101e-01 -9.11442929e-01 -3.99806394e-03 1.18119004e+02] [ 9.11402003e-01 4.11426518e-01 -8.63766224e-03 6.89975370e+01] [ 9.51764569e-03 -9.02479029e-05 9.99954702e-01 1.29220401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:69.02, Z:1.29 [[ 4.10039575e-01 -9.12058979e-01 -3.99571640e-03 1.18131193e+02] [ 9.12018072e-01 4.10059031e-01 -8.63874806e-03 6.90231208e+01] [ 9.51752733e-03 -1.01936981e-04 9.99954702e-01 1.29411094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.487628 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:118.14, Y:69.05, Z:1.29 [[ 4.06762326e-01 -9.13525295e-01 -3.99330910e-03 1.18144157e+02] [ 9.13484447e-01 4.06781905e-01 -8.63986070e-03 6.90486882e+01] [ 9.51713718e-03 -1.33455921e-04 9.99954702e-01 1.29469345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.16, Y:69.07, Z:1.30 [[ 4.05620949e-01 -9.14032668e-01 -3.99097058e-03 1.18156029e+02] [ 9.13991834e-01 4.05640557e-01 -8.64094079e-03 6.90727314e+01] [ 9.51700169e-03 -1.42767914e-04 9.99954702e-01 1.29892141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.17, Y:69.10, Z:1.30 [[ 4.04082074e-01 -9.14714037e-01 -3.98840059e-03 1.18168247e+02] [ 9.14673225e-01 4.04101727e-01 -8.64212686e-03 6.90975040e+01] [ 9.51679431e-03 -1.55954687e-04 9.99954702e-01 1.30048805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.18, Y:69.12, Z:1.30 [[ 4.02958832e-01 -9.15209425e-01 -3.98600710e-03 1.18180683e+02] [ 9.15168626e-01 4.02978512e-01 -8.64323067e-03 6.91231025e+01] [ 9.51664138e-03 -1.65002508e-04 9.99954702e-01 1.30179043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:69.15, Z:1.30 [[ 4.02448202e-01 -9.15434091e-01 -3.98359998e-03 1.18191944e+02] [ 9.15393292e-01 4.02467883e-01 -8.64433994e-03 6.91473466e+01] [ 9.51659453e-03 -1.67661633e-04 9.99954702e-01 1.30239119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.20, Y:69.17, Z:1.30 [[ 4.02339546e-01 -9.15481863e-01 -3.98106290e-03 1.18203532e+02] [ 9.15441054e-01 4.02359208e-01 -8.64550821e-03 6.91734839e+01] [ 9.51662328e-03 -1.65998561e-04 9.99954702e-01 1.30264488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.22, Y:69.20, Z:1.30 [[ 4.02830917e-01 -9.15265766e-01 -3.97862065e-03 1.18215173e+02] [ 9.15224936e-01 4.02850533e-01 -8.64663198e-03 6.91995804e+01] [ 9.51675569e-03 -1.58202141e-04 9.99954702e-01 1.30270807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.23, Y:69.23, Z:1.30 [[ 4.05495617e-01 -9.14088341e-01 -3.97617236e-03 1.18226293e+02] [ 9.14047442e-01 4.05515091e-01 -8.64775768e-03 6.92252606e+01] [ 9.51721237e-03 -1.27782340e-04 9.99954702e-01 1.30218749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.24, Y:69.25, Z:1.30 [[ 4.07188703e-01 -9.13335409e-01 -3.97372445e-03 1.18236952e+02] [ 9.13294464e-01 4.07208078e-01 -8.64888238e-03 6.92502492e+01] [ 9.51746322e-03 -1.07453346e-04 9.99954702e-01 1.30125656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.25, Y:69.28, Z:1.30 [[ 4.08900882e-01 -9.12570157e-01 -3.97205699e-03 1.18247958e+02] [ 9.12529168e-01 4.08920164e-01 -8.64964810e-03 6.92759233e+01] [ 9.51766492e-03 -8.77691258e-05 9.99954702e-01 1.30109982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.26, Y:69.30, Z:1.30 [[ 4.10682732e-01 -9.11769673e-01 -3.96963141e-03 1.18259461e+02] [ 9.11728635e-01 4.10701911e-01 -8.65076114e-03 6.93018672e+01] [ 9.51783686e-03 -6.65084073e-05 9.99954702e-01 1.30085835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.27, Y:69.33, Z:1.30 [[ 4.13465459e-01 -9.10511162e-01 -3.96720611e-03 1.18271094e+02] [ 9.10470055e-01 4.13484490e-01 -8.65187323e-03 6.93276522e+01] [ 9.51800534e-03 -3.47716213e-05 9.99954702e-01 1.30134888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.28, Y:69.35, Z:1.30 [[ 4.14438120e-01 -9.10068858e-01 -3.96477597e-03 1.18282683e+02] [ 9.10027720e-01 4.14457083e-01 -8.65298671e-03 6.93524174e+01] [ 9.51804322e-03 -2.19284959e-05 9.99954702e-01 1.30159109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.29, Y:69.38, Z:1.30 [[ 4.15212173e-01 -9.09715972e-01 -3.96256218e-03 1.18294550e+02] [ 9.09674809e-01 4.15231081e-01 -8.65400038e-03 6.93777172e+01] [ 9.51806135e-03 -1.13966940e-05 9.99954702e-01 1.30205496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:69.40, Z:1.30 [[ 4.16561718e-01 -9.09098813e-01 -3.96013332e-03 1.18307653e+02] [ 9.09057612e-01 4.16580542e-01 -8.65511170e-03 6.94025353e+01] [ 9.51806626e-03 5.39886834e-06 9.99954702e-01 1.30309007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.32, Y:69.43, Z:1.30 [[ 4.16934590e-01 -9.08927876e-01 -3.95768776e-03 1.18320101e+02] [ 9.08886656e-01 4.16953373e-01 -8.65622983e-03 6.94274312e+01] [ 9.51805986e-03 1.19920428e-05 9.99954702e-01 1.30331029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.33, Y:69.45, Z:1.30 [[ 4.16947969e-01 -9.08921750e-01 -3.95524994e-03 1.18332326e+02] [ 9.08880519e-01 4.16966728e-01 -8.65734359e-03 6.94519688e+01] [ 9.51805551e-03 1.48122059e-05 9.99954702e-01 1.30323469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.35, Y:69.48, Z:1.30 [[ 4.17004022e-01 -9.08896042e-01 -3.95346735e-03 1.18345450e+02] [ 9.08854803e-01 4.17022762e-01 -8.65815755e-03 6.94761522e+01] [ 9.51805101e-03 1.73587347e-05 9.99954702e-01 1.30359502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.36, Y:69.50, Z:1.30 [[ 4.16741283e-01 -9.09016550e-01 -3.95171220e-03 1.18357591e+02] [ 9.08975308e-01 4.16760018e-01 -8.65895856e-03 6.95015775e+01] [ 9.51805227e-03 1.65366852e-05 9.99954702e-01 1.30468270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.37, Y:69.53, Z:1.31 [[ 4.16623786e-01 -9.09070417e-01 -3.94933858e-03 1.18369543e+02] [ 9.09029168e-01 4.16642504e-01 -8.66004102e-03 6.95272313e+01] [ 9.51804942e-03 1.79151122e-05 9.99954702e-01 1.30649549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.38, Y:69.55, Z:1.31 [[ 4.16622810e-01 -9.09070875e-01 -3.94692780e-03 1.18380632e+02] [ 9.09029615e-01 4.16641505e-01 -8.66113963e-03 6.95518149e+01] [ 9.51804372e-03 2.05540748e-05 9.99954702e-01 1.30654840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.39, Y:69.58, Z:1.31 [[ 4.17581267e-01 -9.08631018e-01 -3.94435525e-03 1.18390768e+02] [ 9.08589728e-01 4.17599894e-01 -8.66231103e-03 6.95776648e+01] [ 9.51800683e-03 3.34181588e-05 9.99954702e-01 1.30876584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.40, Y:69.60, Z:1.31 [[ 4.18377166e-01 -9.08264834e-01 -3.94188156e-03 1.18400820e+02] [ 9.08223516e-01 4.18395733e-01 -8.66343656e-03 6.96023663e+01] [ 9.51796120e-03 4.44744974e-05 9.99954702e-01 1.30847173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:69.63, Z:1.31 [[ 4.19411041e-01 -9.07787892e-01 -3.93968183e-03 1.18411620e+02] [ 9.07746544e-01 4.19429540e-01 -8.66443677e-03 6.96283347e+01] [ 9.51788974e-03 5.77278855e-05 9.99954702e-01 1.30766915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.42, Y:69.65, Z:1.31 [[ 4.19999596e-01 -9.07515750e-01 -3.93724737e-03 1.18422561e+02] [ 9.07474380e-01 4.20018045e-01 -8.66554289e-03 6.96543631e+01] [ 9.51783160e-03 6.65733940e-05 9.99954702e-01 1.30631359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.43, Y:69.68, Z:1.30 [[ 4.20604616e-01 -9.07235512e-01 -3.93487608e-03 1.18434079e+02] [ 9.07194119e-01 4.20623015e-01 -8.66661952e-03 6.96803013e+01] [ 9.51776443e-03 7.55237446e-05 9.99954702e-01 1.30487775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.45, Y:69.71, Z:1.30 [[ 4.20864715e-01 -9.07114892e-01 -3.93245223e-03 1.18446438e+02] [ 9.07073484e-01 4.20883078e-01 -8.66771919e-03 6.97051724e+01] [ 9.51771976e-03 8.09140236e-05 9.99954702e-01 1.30252746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.46, Y:69.73, Z:1.30 [[ 4.20650971e-01 -9.07214037e-01 -3.93078897e-03 1.18458700e+02] [ 9.07172626e-01 4.20669329e-01 -8.66847341e-03 6.97301242e+01] [ 9.51772312e-03 8.04976031e-05 9.99954702e-01 1.30288019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.47, Y:69.75, Z:1.30 [[ 4.20151935e-01 -9.07445271e-01 -3.92836401e-03 1.18470335e+02] [ 9.07403859e-01 4.20170293e-01 -8.66957221e-03 6.97543792e+01] [ 9.51774415e-03 7.79248768e-05 9.99954702e-01 1.30286713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.48, Y:69.78, Z:1.30 [[ 4.20113603e-01 -9.07463022e-01 -3.92727953e-03 1.18482056e+02] [ 9.07421607e-01 4.20131952e-01 -8.67006345e-03 6.97798172e+01] [ 9.51773759e-03 7.87132918e-05 9.99954702e-01 1.30419896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.49, Y:69.81, Z:1.31 [[ 4.19974460e-01 -9.07527437e-01 -3.92489580e-03 1.18493969e+02] [ 9.07486014e-01 4.19992792e-01 -8.67114242e-03 6.98053906e+01] [ 9.51772759e-03 7.98703139e-05 9.99954702e-01 1.30524224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.51, Y:69.83, Z:1.31 [[ 4.19706734e-01 -9.07651294e-01 -3.92250806e-03 1.18505502e+02] [ 9.07609867e-01 4.19725056e-01 -8.67222241e-03 6.98310477e+01] [ 9.51772880e-03 7.96831291e-05 9.99954702e-01 1.30700705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.52, Y:69.86, Z:1.31 [[ 4.20174415e-01 -9.07434898e-01 -3.92010939e-03 1.18515798e+02] [ 9.07393451e-01 4.20192692e-01 -8.67330654e-03 6.98556006e+01] [ 9.51766236e-03 8.72199169e-05 9.99954702e-01 1.30812557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.53, Y:69.88, Z:1.31 [[ 4.20032271e-01 -9.07500710e-01 -3.91831378e-03 1.18527057e+02] [ 9.07459258e-01 4.20050538e-01 -8.67411767e-03 6.98818820e+01] [ 9.51765775e-03 8.76992312e-05 9.99954702e-01 1.30924135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.54, Y:69.91, Z:1.31 [[ 4.19504956e-01 -9.07744599e-01 -3.91584100e-03 1.18538177e+02] [ 9.07703148e-01 4.19523223e-01 -8.67523383e-03 6.99070714e+01] [ 9.51768290e-03 8.48823858e-05 9.99954702e-01 1.30896577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.55, Y:69.93, Z:1.31 [[ 4.18746749e-01 -9.08094623e-01 -3.91359847e-03 1.18550030e+02] [ 9.08053178e-01 4.18765029e-01 -8.67624537e-03 6.99329851e+01] [ 9.51772995e-03 7.93940133e-05 9.99954702e-01 1.31045564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.56, Y:69.96, Z:1.31 [[ 4.16729806e-01 -9.09021986e-01 -3.91112081e-03 1.18561533e+02] [ 9.08980571e-01 4.16748155e-01 -8.67736212e-03 6.99570109e+01] [ 9.51786533e-03 6.09826021e-05 9.99954702e-01 1.31046229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.57, Y:69.98, Z:1.31 [[ 4.15292764e-01 -9.09679417e-01 -3.90887554e-03 1.18573628e+02] [ 9.09638021e-01 4.15311157e-01 -8.67837342e-03 6.99828782e+01] [ 9.51793729e-03 4.84038768e-05 9.99954702e-01 1.31092577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.59, Y:70.01, Z:1.31 [[ 4.13761314e-01 -9.10377018e-01 -3.90649406e-03 1.18585289e+02] [ 9.10335643e-01 4.13779754e-01 -8.67944529e-03 7.00079010e+01] [ 9.51799567e-03 3.49979083e-05 9.99954702e-01 1.31208103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.60, Y:70.03, Z:1.31 [[ 4.10637321e-01 -9.11790408e-01 -3.90423262e-03 1.18597525e+02] [ 9.11749087e-01 4.10655881e-01 -8.68046243e-03 7.00320675e+01] [ 9.51805846e-03 4.84130636e-06 9.99954702e-01 1.31173741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.61, Y:70.06, Z:1.31 [[ 4.09025764e-01 -9.12514494e-01 -3.90163352e-03 1.18609556e+02] [ 9.12473195e-01 4.09044372e-01 -8.68163049e-03 7.00578558e+01] [ 9.51805489e-03 -9.12545981e-06 9.99954702e-01 1.31240328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.62, Y:70.08, Z:1.31 [[ 4.07408811e-01 -9.13237569e-01 -3.89917563e-03 1.18621021e+02] [ 9.13196292e-01 4.07427469e-01 -8.68273427e-03 7.00828602e+01] [ 9.51803039e-03 -2.32902821e-05 9.99954702e-01 1.31186718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.63, Y:70.11, Z:1.31 [[ 4.05718806e-01 -9.13989643e-01 -3.89659388e-03 1.18632588e+02] [ 9.13948389e-01 4.05737516e-01 -8.68389274e-03 7.01078799e+01] [ 9.51798234e-03 -3.80671078e-05 9.99954702e-01 1.31175885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.65, Y:70.13, Z:1.31 [[ 4.03086166e-01 -9.15153746e-01 -3.89403442e-03 1.18645412e+02] [ 9.15112536e-01 4.03104970e-01 -8.68504030e-03 7.01329722e+01] [ 9.51785179e-03 -6.26601246e-05 9.99954702e-01 1.31251770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:70.16, Z:1.31 [[ 4.01863237e-01 -9.15691429e-01 -3.89164914e-03 1.18657192e+02] [ 9.15650234e-01 4.01882074e-01 -8.68610898e-03 7.01581796e+01] [ 9.51777957e-03 -7.27615637e-05 9.99954702e-01 1.31401363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.67, Y:70.18, Z:1.32 [[ 3.99977571e-01 -9.16516676e-01 -3.88923244e-03 1.18668422e+02] [ 9.16475508e-01 3.99996469e-01 -8.68719093e-03 7.01838486e+01] [ 9.51763459e-03 -8.97047580e-05 9.99954702e-01 1.31554376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.68, Y:70.21, Z:1.32 [[ 3.98977387e-01 -9.16952528e-01 -3.88678049e-03 1.18679030e+02] [ 9.16911370e-01 3.98996307e-01 -8.68828783e-03 7.02086578e+01] [ 9.51755855e-03 -9.74028533e-05 9.99954702e-01 1.31586316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.69, Y:70.23, Z:1.32 [[ 3.97733194e-01 -9.17492899e-01 -3.88419775e-03 1.18689568e+02] [ 9.17451756e-01 3.97752145e-01 -8.68944232e-03 7.02331462e+01] [ 9.51744961e-03 -1.07484396e-04 9.99954702e-01 1.31639889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.70, Y:70.26, Z:1.32 [[ 3.94735142e-01 -9.18786755e-01 -3.88165478e-03 1.18700772e+02] [ 9.18745663e-01 3.94754204e-01 -8.69057814e-03 7.02591272e+01] [ 9.51708763e-03 -1.35776899e-04 9.99954702e-01 1.31741320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.71, Y:70.28, Z:1.32 [[ 3.92666770e-01 -9.19672637e-01 -3.87918068e-03 1.18711816e+02] [ 9.19631577e-01 3.92685900e-01 -8.69168235e-03 7.02837248e+01] [ 9.51680199e-03 -1.54482216e-04 9.99954702e-01 1.31751791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.72, Y:70.31, Z:1.32 [[ 3.92407826e-01 -9.19783163e-01 -3.87695433e-03 1.18723406e+02] [ 9.19742099e-01 3.92426947e-01 -8.69267531e-03 7.03098791e+01] [ 9.51679775e-03 -1.54724289e-04 9.99954702e-01 1.31778911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.73, Y:70.33, Z:1.32 [[ 3.90290359e-01 -9.20683672e-01 -3.87450655e-03 1.18734367e+02] [ 9.20642641e-01 3.90309551e-01 -8.69376620e-03 7.03346994e+01] [ 9.51646550e-03 -1.73942813e-04 9.99954702e-01 1.31793433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.75, Y:70.36, Z:1.32 [[ 3.88003590e-01 -9.21649725e-01 -3.87272114e-03 1.18745587e+02] [ 9.21608734e-01 3.88022867e-01 -8.69456146e-03 7.03600521e+01] [ 9.51604454e-03 -1.95612572e-04 9.99954702e-01 1.31867976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.76, Y:70.39, Z:1.32 [[ 3.83931974e-01 -9.23353270e-01 -3.87026173e-03 1.18756170e+02] [ 9.23312353e-01 3.83951409e-01 -8.69565609e-03 7.03854115e+01] [ 9.51515493e-03 -2.34920063e-04 9.99954702e-01 1.31880961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.77, Y:70.41, Z:1.32 [[ 3.82356507e-01 -9.24006787e-01 -3.86766856e-03 1.18766880e+02] [ 9.23965892e-01 3.82375987e-01 -8.69680934e-03 7.04105314e+01] [ 9.51481443e-03 -2.48312193e-04 9.99954702e-01 1.31926404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.78, Y:70.44, Z:1.32 [[ 3.79692252e-01 -9.25104780e-01 -3.86510190e-03 1.18776255e+02] [ 9.25063930e-01 3.79711826e-01 -8.69794988e-03 7.04366492e+01] [ 9.51413991e-03 -2.72922168e-04 9.99954702e-01 1.32079730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.79, Y:70.46, Z:1.32 [[ 3.79024325e-01 -9.25378648e-01 -3.86263241e-03 1.18786581e+02] [ 9.25337800e-01 3.79043905e-01 -8.69904640e-03 7.04631035e+01] [ 9.51401907e-03 -2.77089590e-04 9.99954702e-01 1.32155068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:70.49, Z:1.32 [[ 3.78439025e-01 -9.25618174e-01 -3.86013057e-03 1.18795676e+02] [ 9.25577328e-01 3.78458608e-01 -8.70015643e-03 7.04883569e+01] [ 9.51392255e-03 -2.80370613e-04 9.99954702e-01 1.32153703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:70.51, Z:1.32 [[ 3.78805120e-01 -9.25468421e-01 -3.85786153e-03 1.18803688e+02] [ 9.25427557e-01 3.78824666e-01 -8.70116246e-03 7.05144084e+01] [ 9.51410419e-03 -2.74126476e-04 9.99954702e-01 1.32241077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.81, Y:70.54, Z:1.32 [[ 3.79968609e-01 -9.24991347e-01 -3.85528055e-03 1.18811194e+02] [ 9.24950447e-01 3.79988079e-01 -8.70230589e-03 7.05413601e+01] [ 9.51451830e-03 -2.59340403e-04 9.99954702e-01 1.32230790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.82, Y:70.57, Z:1.32 [[ 3.80764789e-01 -9.24663902e-01 -3.85284523e-03 1.18820444e+02] [ 9.24622974e-01 3.80784200e-01 -8.70338396e-03 7.05679021e+01] [ 9.51480756e-03 -2.48487055e-04 9.99954702e-01 1.32226466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:70.59, Z:1.32 [[ 3.80503196e-01 -9.24771589e-01 -3.85038332e-03 1.18831955e+02] [ 9.24730656e-01 3.80522596e-01 -8.70447298e-03 7.05940880e+01] [ 9.51480716e-03 -2.48487711e-04 9.99954702e-01 1.32253577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.84, Y:70.62, Z:1.32 [[ 3.81510879e-01 -9.24356340e-01 -3.84792050e-03 1.18841250e+02] [ 9.24315374e-01 3.81530211e-01 -8.70556156e-03 7.06201896e+01] [ 9.51513894e-03 -2.35425634e-04 9.99954702e-01 1.32247726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:70.65, Z:1.32 [[ 3.82728670e-01 -9.23852790e-01 -3.84546550e-03 1.18851011e+02] [ 9.23811788e-01 3.82747925e-01 -8.70664586e-03 7.06465881e+01] [ 9.51550301e-03 -2.20203370e-04 9.99954702e-01 1.32267482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.86, Y:70.67, Z:1.32 [[ 3.84077166e-01 -9.23292999e-01 -3.84296708e-03 1.18860570e+02] [ 9.23251958e-01 3.84096338e-01 -8.70774848e-03 7.06728472e+01] [ 9.51587279e-03 -2.03579518e-04 9.99954702e-01 1.32249756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.87, Y:70.70, Z:1.32 [[ 3.88126827e-01 -9.21597969e-01 -3.84047363e-03 1.18868438e+02] [ 9.21556834e-01 3.88145795e-01 -8.70884806e-03 7.06986299e+01] [ 9.51672037e-03 -1.59077154e-04 9.99954702e-01 1.32068062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.88, Y:70.73, Z:1.32 [[ 3.89977521e-01 -9.20816378e-01 -3.83824495e-03 1.18878439e+02] [ 9.20775195e-01 3.89996384e-01 -8.70983019e-03 7.07250413e+01] [ 9.51705594e-03 -1.37522764e-04 9.99954702e-01 1.32075480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.89, Y:70.75, Z:1.32 [[ 3.92212944e-01 -9.19866454e-01 -3.83574687e-03 1.18887912e+02] [ 9.19825215e-01 3.92231684e-01 -8.71093019e-03 7.07502162e+01] [ 9.51739392e-03 -1.11677112e-04 9.99954702e-01 1.31980957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.90, Y:70.78, Z:1.32 [[ 3.97565857e-01 -9.17565634e-01 -3.83350806e-03 1.18896543e+02] [ 9.17524277e-01 3.97584336e-01 -8.71191533e-03 7.07766758e+01] [ 9.51789687e-03 -5.37766268e-05 9.99954702e-01 1.31914828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.91, Y:70.80, Z:1.32 [[ 4.00433120e-01 -9.16317979e-01 -3.83104978e-03 1.18906438e+02] [ 9.16276554e-01 4.00451445e-01 -8.71299622e-03 7.08023739e+01] [ 9.51802452e-03 -2.13288294e-05 9.99954702e-01 1.31837078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.92, Y:70.83, Z:1.32 [[ 4.03429963e-01 -9.15002518e-01 -3.82845276e-03 1.18916225e+02] [ 9.14961022e-01 4.03448128e-01 -8.71413719e-03 7.08276644e+01] [ 9.51803957e-03 1.26589897e-05 9.99954702e-01 1.31771414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.93, Y:70.85, Z:1.32 [[ 4.06056196e-01 -9.13840097e-01 -3.82666784e-03 1.18926553e+02] [ 9.13798542e-01 4.06074224e-01 -8.71492094e-03 7.08539068e+01] [ 9.51795537e-03 4.19441482e-05 9.99954702e-01 1.31846971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.94, Y:70.88, Z:1.32 [[ 4.11007571e-01 -9.11623909e-01 -3.82437022e-03 1.18936398e+02] [ 9.11582247e-01 4.11025352e-01 -8.71592909e-03 7.08803641e+01] [ 9.51756246e-03 9.60848478e-05 9.99954702e-01 1.32079275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.94, Y:70.91, Z:1.32 [[ 4.11438122e-01 -9.11429682e-01 -3.82186633e-03 1.18944766e+02] [ 9.11388002e-01 4.11455859e-01 -8.71702689e-03 7.09057000e+01] [ 9.51748634e-03 1.03314053e-04 9.99954702e-01 1.32006910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.96, Y:70.93, Z:1.32 [[ 4.13628766e-01 -9.10437806e-01 -3.77414907e-03 1.18957732e+02] [ 9.10395892e-01 4.13645946e-01 -8.73792525e-03 7.09320354e+01] [ 9.51649896e-03 1.78287435e-04 9.99954701e-01 1.32242829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.97, Y:70.96, Z:1.32 [[ 4.13980171e-01 -9.10277889e-01 -3.81882394e-03 1.18968612e+02] [ 9.10236147e-01 4.13997763e-01 -8.71835673e-03 7.09569228e+01] [ 9.51711192e-03 1.33195222e-04 9.99954702e-01 1.32332303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.98, Y:70.98, Z:1.32 [[ 4.13853902e-01 -9.10335313e-01 -3.81657176e-03 1.18980434e+02] [ 9.10293564e-01 4.13871478e-01 -8.71934254e-03 7.09822729e+01] [ 9.51709561e-03 1.34333216e-04 9.99954702e-01 1.32472203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.797628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:118.99, Y:71.01, Z:1.32 [[ 4.12952461e-01 -9.10744596e-01 -3.81402982e-03 1.18991644e+02] [ 9.10702854e-01 4.12970054e-01 -8.72045430e-03 7.10074222e+01] [ 9.51718672e-03 1.27685222e-04 9.99954702e-01 1.32272715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.00, Y:71.03, Z:1.33 [[ 4.13313620e-01 -9.10580761e-01 -3.81174722e-03 1.19003878e+02] [ 9.10539003e-01 4.13331174e-01 -8.72145191e-03 7.10329276e+01] [ 9.51710028e-03 1.33950341e-04 9.99954702e-01 1.32521601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.02, Y:71.06, Z:1.32 [[ 4.13167226e-01 -9.10647206e-01 -3.80924735e-03 1.19015490e+02] [ 9.10605441e-01 4.13184763e-01 -8.72254364e-03 7.10576609e+01] [ 9.51708296e-03 1.35147795e-04 9.99954702e-01 1.32345811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.03, Y:71.08, Z:1.32 [[ 4.13565072e-01 -9.10466604e-01 -3.80701642e-03 1.19026651e+02] [ 9.10424823e-01 4.13582570e-01 -8.72351724e-03 7.10832768e+01] [ 9.51698675e-03 1.41739793e-04 9.99954702e-01 1.32292544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.04, Y:71.11, Z:1.32 [[ 4.14759404e-01 -9.09923163e-01 -3.80457070e-03 1.19038151e+02] [ 9.09881348e-01 4.14776824e-01 -8.72458376e-03 7.11088588e+01] [ 9.51674859e-03 1.56895244e-04 9.99954702e-01 1.32118508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.05, Y:71.14, Z:1.32 [[ 4.14504667e-01 -9.10039244e-01 -3.80213715e-03 1.19049501e+02] [ 9.09997425e-01 4.14522075e-01 -8.72564416e-03 7.11351085e+01] [ 9.51674839e-03 1.56885207e-04 9.99954702e-01 1.32145619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.06, Y:71.16, Z:1.32 [[ 4.14255343e-01 -9.10152774e-01 -3.79969411e-03 1.19061584e+02] [ 9.10110950e-01 4.14272739e-01 -8.72670788e-03 7.11605829e+01] [ 9.51674708e-03 1.56942154e-04 9.99954702e-01 1.31996725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.007628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:119.07, Y:71.19, Z:1.32 [[ 4.12986007e-01 -9.10729454e-01 -3.79723888e-03 1.19073377e+02] [ 9.10687645e-01 4.13003438e-01 -8.72777609e-03 7.11864110e+01] [ 9.51691547e-03 1.46350867e-04 9.99954702e-01 1.31744066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.09, Y:71.21, Z:1.32 [[ 4.12557813e-01 -9.10923515e-01 -3.79479320e-03 1.19085118e+02] [ 9.10881704e-01 4.12575240e-01 -8.72883933e-03 7.12102492e+01] [ 9.51694272e-03 1.44543167e-04 9.99954702e-01 1.32055602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.10, Y:71.24, Z:1.32 [[ 4.11247029e-01 -9.11516041e-01 -3.79315432e-03 1.19097866e+02] [ 9.11474248e-01 4.11264500e-01 -8.72955146e-03 7.12353983e+01] [ 9.51711590e-03 1.32639621e-04 9.99954702e-01 1.32190209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:71.26, Z:1.32 [[ 4.09412871e-01 -9.12341346e-01 -3.79073873e-03 1.19110932e+02] [ 9.12299579e-01 4.09430403e-01 -8.73060028e-03 7.12605482e+01] [ 9.51733130e-03 1.16130776e-04 9.99954702e-01 1.32382187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.13, Y:71.28, Z:1.33 [[ 4.04685908e-01 -9.14447902e-01 -3.78827776e-03 1.19125123e+02] [ 9.14406216e-01 4.04703633e-01 -8.73166798e-03 7.12841880e+01] [ 9.51778524e-03 6.95582493e-05 9.99954702e-01 1.32633230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.14, Y:71.31, Z:1.33 [[ 4.01571540e-01 -9.15819833e-01 -3.78566468e-03 1.19137538e+02] [ 9.15778198e-01 4.01589381e-01 -8.73280075e-03 7.13095390e+01] [ 9.51795487e-03 4.00150627e-05 9.99954702e-01 1.32699751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:71.33, Z:1.33 [[ 3.98142917e-01 -9.17315597e-01 -3.78328191e-03 1.19150101e+02] [ 9.17274018e-01 3.98160892e-01 -8.73383291e-03 7.13345010e+01] [ 9.51803605e-03 7.00750965e-06 9.99954702e-01 1.32759782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:71.36, Z:1.33 [[ 3.90759686e-01 -9.20484966e-01 -3.78091121e-03 1.19164422e+02] [ 9.20443523e-01 3.90777971e-01 -8.73485907e-03 7.13580899e+01] [ 9.51780327e-03 -6.68844502e-05 9.99954702e-01 1.32843948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.18, Y:71.38, Z:1.33 [[ 3.87168545e-01 -9.22001212e-01 -3.77918258e-03 1.19177473e+02] [ 9.21959834e-01 3.87186975e-01 -8.73560691e-03 7.13832515e+01] [ 9.51749044e-03 -1.02102332e-04 9.99954702e-01 1.32941195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.19, Y:71.41, Z:1.33 [[ 3.80829001e-01 -9.24637771e-01 -3.77682252e-03 1.19191803e+02] [ 9.24596510e-01 3.80847693e-01 -8.73662716e-03 7.14078089e+01] [ 9.51660961e-03 -1.64875929e-04 9.99954702e-01 1.33160719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.20, Y:71.43, Z:1.33 [[ 3.78080842e-01 -9.25764890e-01 -3.77439500e-03 1.19204100e+02] [ 9.25723674e-01 3.78099633e-01 -8.73767577e-03 7.14332225e+01] [ 9.51613081e-03 -1.90499004e-04 9.99954702e-01 1.33202447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:71.46, Z:1.33 [[ 3.76021752e-01 -9.26603159e-01 -3.77198262e-03 1.19216223e+02] [ 9.26561974e-01 3.76040613e-01 -8.73871705e-03 7.14590887e+01] [ 9.51574148e-03 -2.09027962e-04 9.99954702e-01 1.33182278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.23, Y:71.48, Z:1.33 [[ 3.74728070e-01 -9.27127102e-01 -3.76958144e-03 1.19227805e+02] [ 9.27085934e-01 3.74746965e-01 -8.73975271e-03 7.14841800e+01] [ 9.51550081e-03 -2.19695273e-04 9.99954702e-01 1.33146289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.24, Y:71.51, Z:1.33 [[ 3.73791513e-01 -9.27505101e-01 -3.76719621e-03 1.19239283e+02] [ 9.27463942e-01 3.73810427e-01 -8.74078073e-03 7.15087569e+01] [ 9.51533594e-03 -2.26708994e-04 9.99954702e-01 1.33190827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.25, Y:71.53, Z:1.33 [[ 3.74045998e-01 -9.27402512e-01 -3.76468324e-03 1.19250692e+02] [ 9.27361336e-01 3.74064877e-01 -8.74186294e-03 7.15341073e+01] [ 9.51546142e-03 -2.21362834e-04 9.99954702e-01 1.33341758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.26, Y:71.56, Z:1.33 [[ 3.74237661e-01 -9.27325196e-01 -3.76226970e-03 1.19261394e+02] [ 9.27284006e-01 3.74256509e-01 -8.74290154e-03 7.15584840e+01] [ 9.51556680e-03 -2.16769490e-04 9.99954702e-01 1.33423114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.27, Y:71.58, Z:1.33 [[ 3.74833123e-01 -9.27084675e-01 -3.75972385e-03 1.19272447e+02] [ 9.27043462e-01 3.74851921e-01 -8.74399620e-03 7.15843913e+01] [ 9.51576458e-03 -2.07888008e-04 9.99954702e-01 1.33494339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.28, Y:71.61, Z:1.34 [[ 3.77192114e-01 -9.26127417e-01 -3.75734870e-03 1.19282763e+02] [ 9.26086146e-01 3.77210784e-01 -8.74501669e-03 7.16109694e+01] [ 9.51631217e-03 -1.81077246e-04 9.99954702e-01 1.33555170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.29, Y:71.64, Z:1.33 [[ 3.80992383e-01 -9.24570552e-01 -3.75483865e-03 1.19291888e+02] [ 9.24529194e-01 3.81010860e-01 -8.74609430e-03 7.16369111e+01] [ 9.51701554e-03 -1.39262640e-04 9.99954702e-01 1.33449041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:71.66, Z:1.33 [[ 3.83010799e-01 -9.23736243e-01 -3.75258217e-03 1.19301862e+02] [ 9.23694835e-01 3.83029164e-01 -8.74706235e-03 7.16616799e+01] [ 9.51732692e-03 -1.16021432e-04 9.99954702e-01 1.33409376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.31, Y:71.69, Z:1.33 [[ 3.84754652e-01 -9.23011265e-01 -3.75000541e-03 1.19312186e+02] [ 9.22969812e-01 3.84772914e-01 -8.74816691e-03 7.16873767e+01] [ 9.51755712e-03 -9.52438758e-05 9.99954702e-01 1.33366337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:71.71, Z:1.33 [[ 3.86606207e-01 -9.22237278e-01 -3.74754620e-03 1.19322396e+02] [ 9.22195778e-01 3.86624363e-01 -8.74922026e-03 7.17120732e+01] [ 9.51774974e-03 -7.34684301e-05 9.99954702e-01 1.33346886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:71.74, Z:1.33 [[ 3.88123320e-01 -9.21599839e-01 -3.74495229e-03 1.19333255e+02] [ 9.21558299e-01 3.88141383e-01 -8.75033040e-03 7.17382291e+01] [ 9.51787405e-03 -5.49845847e-05 9.99954703e-01 1.33349727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:71.76, Z:1.33 [[ 3.89428011e-01 -9.21049303e-01 -3.74247647e-03 1.19343982e+02] [ 9.21007727e-01 3.89445992e-01 -8.75138917e-03 7.17643575e+01] [ 9.51795335e-03 -3.88136670e-05 9.99954703e-01 1.33358234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.35, Y:71.79, Z:1.33 [[ 3.90529420e-01 -9.20582851e-01 -3.74000763e-03 1.19354235e+02] [ 9.20541243e-01 3.90547327e-01 -8.75244413e-03 7.17892498e+01] [ 9.51799995e-03 -2.47443481e-05 9.99954703e-01 1.33408593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.36, Y:71.82, Z:1.33 [[ 3.92860565e-01 -9.19590457e-01 -3.73740385e-03 1.19363622e+02] [ 9.19548794e-01 3.92878342e-01 -8.75355584e-03 7.18161200e+01] [ 9.51803144e-03 2.20169076e-06 9.99954703e-01 1.33379936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.37, Y:71.84, Z:1.33 [[ 3.93703996e-01 -9.19229685e-01 -3.73495420e-03 1.19373936e+02] [ 9.19187995e-01 3.93721712e-01 -8.75460093e-03 7.18423288e+01] [ 9.51802161e-03 1.35963106e-05 9.99954703e-01 1.33346654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.38, Y:71.87, Z:1.33 [[ 3.93881440e-01 -9.19153676e-01 -3.73250157e-03 1.19384283e+02] [ 9.19111973e-01 3.93899124e-01 -8.75564647e-03 7.18686415e+01] [ 9.51801374e-03 1.80997500e-05 9.99954703e-01 1.33328801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.39, Y:71.89, Z:1.33 [[ 3.94074254e-01 -9.19071036e-01 -3.73004417e-03 1.19394506e+02] [ 9.19029319e-01 3.94091906e-01 -8.75669324e-03 7.18936748e+01] [ 9.51800334e-03 2.27674019e-05 9.99954703e-01 1.33297922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:71.92, Z:1.33 [[ 3.94173314e-01 -9.19028566e-01 -3.72745838e-03 1.19405206e+02] [ 9.18986837e-01 3.94190937e-01 -8.75779379e-03 7.19201210e+01] [ 9.51799298e-03 2.66034113e-05 9.99954703e-01 1.33261041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.42, Y:71.95, Z:1.33 [[ 3.93919878e-01 -9.19137233e-01 -3.72504304e-03 1.19416325e+02] [ 9.19095500e-01 3.93937490e-01 -8.75882101e-03 7.19464734e+01] [ 9.51799262e-03 2.66034104e-05 9.99954703e-01 1.33288151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:71.97, Z:1.33 [[ 3.93445083e-01 -9.19340583e-01 -3.72262742e-03 1.19427086e+02] [ 9.19298849e-01 3.93462693e-01 -8.75984756e-03 7.19720027e+01] [ 9.51799838e-03 2.43118479e-05 9.99954703e-01 1.33287276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:72.00, Z:1.33 [[ 3.92705467e-01 -9.19656771e-01 -3.72022675e-03 1.19438420e+02] [ 9.19615041e-01 3.92723087e-01 -8.76086699e-03 7.19980515e+01] [ 9.51800958e-03 1.92638847e-05 9.99954703e-01 1.33285261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.45, Y:72.02, Z:1.33 [[ 3.91734448e-01 -9.20070813e-01 -3.71771059e-03 1.19449251e+02] [ 9.20029092e-01 3.91752089e-01 -8.76193460e-03 7.20224181e+01] [ 9.51802118e-03 1.19497147e-05 9.99954703e-01 1.33192358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:72.05, Z:1.33 [[ 3.90260482e-01 -9.20696992e-01 -3.71547068e-03 1.19461108e+02] [ 9.20655290e-01 3.90278168e-01 -8.76288433e-03 7.20475170e+01] [ 9.51802833e-03 -8.60276194e-07 9.99954703e-01 1.33180329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.47, Y:72.07, Z:1.33 [[ 3.89828379e-01 -9.20880040e-01 -3.71297448e-03 1.19472920e+02] [ 9.20838337e-01 3.89846061e-01 -8.76394188e-03 7.20731695e+01] [ 9.51802763e-03 -2.61599431e-06 9.99954703e-01 1.33209877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.48, Y:72.10, Z:1.33 [[ 3.89300434e-01 -9.21103362e-01 -3.71049362e-03 1.19484058e+02] [ 9.21061659e-01 3.89318117e-01 -8.76499210e-03 7.20978468e+01] [ 9.51802609e-03 -5.37817793e-06 9.99954703e-01 1.33199839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.50, Y:72.12, Z:1.33 [[ 3.89112459e-01 -9.21182797e-01 -3.70787628e-03 1.19495691e+02] [ 9.21141086e-01 3.89130125e-01 -8.76609919e-03 7.21226039e+01] [ 9.51802613e-03 -4.47876900e-06 9.99954703e-01 1.33107984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.51, Y:72.15, Z:1.33 [[ 3.88973855e-01 -9.21241342e-01 -3.70530649e-03 1.19506688e+02] [ 9.21199624e-01 3.88991503e-01 -8.76718527e-03 7.21475326e+01] [ 9.51802626e-03 -3.12109300e-06 9.99954703e-01 1.33003679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.52, Y:72.17, Z:1.33 [[ 3.88437598e-01 -9.21467591e-01 -3.70275732e-03 1.19517989e+02] [ 9.21425873e-01 3.88455246e-01 -8.76826175e-03 7.21728902e+01] [ 9.51802455e-03 -5.89386741e-06 9.99954703e-01 1.32969168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.53, Y:72.20, Z:1.33 [[ 3.87706138e-01 -9.21775601e-01 -3.70035265e-03 1.19529364e+02] [ 9.21733887e-01 3.87723796e-01 -8.76927645e-03 7.21983846e+01] [ 9.51801984e-03 -1.08381208e-05 9.99954703e-01 1.32997592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.237628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.54, Y:72.22, Z:1.33 [[ 3.85960294e-01 -9.22507982e-01 -3.69788088e-03 1.19541658e+02] [ 9.22466292e-01 3.85978007e-01 -8.77031864e-03 7.22229923e+01] [ 9.51798964e-03 -2.61757063e-05 9.99954703e-01 1.32976197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.55, Y:72.25, Z:1.33 [[ 3.84881472e-01 -9.22958611e-01 -3.69528887e-03 1.19553671e+02] [ 9.22916931e-01 3.84899210e-01 -8.77141062e-03 7.22474890e+01] [ 9.51796272e-03 -3.44912261e-05 9.99954703e-01 1.33010831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.57, Y:72.27, Z:1.33 [[ 3.83292154e-01 -9.23619775e-01 -3.69271047e-03 1.19565727e+02] [ 9.23578115e-01 3.83309939e-01 -8.77249598e-03 7.22733453e+01] [ 9.51790338e-03 -4.80776915e-05 9.99954703e-01 1.33160837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.58, Y:72.30, Z:1.33 [[ 3.82237155e-01 -9.24056892e-01 -3.69026738e-03 1.19577137e+02] [ 9.24015242e-01 3.82254964e-01 -8.77352357e-03 7.22984460e+01] [ 9.51785795e-03 -5.62966173e-05 9.99954703e-01 1.33318963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.59, Y:72.32, Z:1.34 [[ 3.79620401e-01 -9.25134988e-01 -3.68848393e-03 1.19587756e+02] [ 9.25093382e-01 3.79638311e-01 -8.77427329e-03 7.23247086e+01] [ 9.51767703e-03 -8.12989298e-05 9.99954703e-01 1.33714405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.60, Y:72.35, Z:1.34 [[ 3.77531413e-01 -9.25989441e-01 -3.68616747e-03 1.19598032e+02] [ 9.25947865e-01 3.77549395e-01 -8.77524635e-03 7.23497259e+01] [ 9.51749576e-03 -1.00267737e-04 9.99954703e-01 1.33851777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.61, Y:72.37, Z:1.34 [[ 3.74649604e-01 -9.27159159e-01 -3.68357555e-03 1.19608485e+02] [ 9.27117629e-01 3.74667691e-01 -8.77633423e-03 7.23749710e+01] [ 9.51717540e-03 -1.27057684e-04 9.99954703e-01 1.34015965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.62, Y:72.40, Z:1.34 [[ 3.67586843e-01 -9.29981915e-01 -3.68106595e-03 1.19619368e+02] [ 9.29940514e-01 3.67605221e-01 -8.77738670e-03 7.24009039e+01] [ 9.51598996e-03 -1.96720497e-04 9.99954703e-01 1.34171619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.63, Y:72.43, Z:1.34 [[ 3.63715147e-01 -9.31502957e-01 -3.67869461e-03 1.19630458e+02] [ 9.31461622e-01 3.63733675e-01 -8.77838044e-03 7.24270079e+01] [ 9.51515245e-03 -2.33732908e-04 9.99954703e-01 1.34209735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.64, Y:72.45, Z:1.34 [[ 3.59834836e-01 -9.33008776e-01 -3.67623593e-03 1.19641247e+02] [ 9.32967508e-01 3.59853513e-01 -8.77940998e-03 7.24532605e+01] [ 9.51417297e-03 -2.70671123e-04 9.99954703e-01 1.34185597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.65, Y:72.48, Z:1.34 [[ 3.56153085e-01 -9.34420400e-01 -3.67377697e-03 1.19650885e+02] [ 9.34379195e-01 3.56171901e-01 -8.78043882e-03 7.24782254e+01] [ 9.51311728e-03 -3.05520395e-04 9.99954703e-01 1.34171975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.66, Y:72.50, Z:1.34 [[ 3.50347933e-01 -9.36612432e-01 -3.67118761e-03 1.19659757e+02] [ 9.36571334e-01 3.50366981e-01 -8.78152132e-03 7.25046090e+01] [ 9.51114496e-03 -3.61741231e-04 9.99954703e-01 1.34220170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.67, Y:72.53, Z:1.34 [[ 3.47914787e-01 -9.37518982e-01 -3.66874526e-03 1.19669162e+02] [ 9.37477923e-01 3.47933918e-01 -8.78254157e-03 7.25316016e+01] [ 9.51028034e-03 -3.83791602e-04 9.99954703e-01 1.34219728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.68, Y:72.56, Z:1.34 [[ 3.45653369e-01 -9.38355107e-01 -3.66631553e-03 1.19677934e+02] [ 9.38314083e-01 3.45672577e-01 -8.78355575e-03 7.25584150e+01] [ 9.50943913e-03 -4.04089858e-04 9.99954703e-01 1.34221562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.68, Y:72.59, Z:1.34 [[ 3.42670786e-01 -9.39448407e-01 -3.66384760e-03 1.19684883e+02] [ 9.39407433e-01 3.42690101e-01 -8.78458507e-03 7.25861687e+01] [ 9.50822875e-03 -4.31624998e-04 9.99954703e-01 1.34137740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.69, Y:72.61, Z:1.34 [[ 3.41217504e-01 -9.39977239e-01 -3.66137488e-03 1.19693877e+02] [ 9.39936285e-01 3.41236859e-01 -8.78561557e-03 7.26132443e+01] [ 9.50767472e-03 -4.43653284e-04 9.99954703e-01 1.34179652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.70, Y:72.64, Z:1.34 [[ 3.40857224e-01 -9.40107896e-01 -3.67391461e-03 1.19702083e+02] [ 9.40067004e-01 3.40876711e-01 -8.78039315e-03 7.26395703e+01] [ 9.50686886e-03 -4.60865474e-04 9.99954703e-01 1.34233502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.71, Y:72.67, Z:1.34 [[ 3.41104381e-01 -9.40018315e-01 -3.65638842e-03 1.19710859e+02] [ 9.39977341e-01 3.41123694e-01 -8.78768547e-03 7.26664597e+01] [ 9.50786601e-03 -4.39404256e-04 9.99954703e-01 1.34359528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.72, Y:72.69, Z:1.35 [[ 3.44708469e-01 -9.38702680e-01 -3.65388329e-03 1.19716507e+02] [ 9.38661621e-01 3.44727601e-01 -8.78872697e-03 7.26938097e+01] [ 9.50959598e-03 -4.00211399e-04 9.99954703e-01 1.34507607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.72, Y:72.72, Z:1.35 [[ 3.48084582e-01 -9.37456020e-01 -3.65160540e-03 1.19723895e+02] [ 9.37414883e-01 3.48103546e-01 -8.78967330e-03 7.27212713e+01] [ 9.51106894e-03 -3.63519490e-04 9.99954703e-01 1.34541883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.73, Y:72.75, Z:1.35 [[ 3.52179901e-01 -9.35925211e-01 -3.64913365e-03 1.19730829e+02] [ 9.35883982e-01 3.52198661e-01 -8.79069936e-03 7.27492800e+01] [ 9.51265714e-03 -3.19258098e-04 9.99954703e-01 1.34529258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.73, Y:72.78, Z:1.34 [[ 3.61950897e-01 -9.32190029e-01 -3.64663971e-03 1.19734222e+02] [ 9.32148595e-01 3.61969201e-01 -8.79173380e-03 7.27771824e+01] [ 9.51553785e-03 -2.17034147e-04 9.99954703e-01 1.34443098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.74, Y:72.80, Z:1.34 [[ 3.66751658e-01 -9.30311745e-01 -3.64400310e-03 1.19741898e+02] [ 9.30270206e-01 3.66769724e-01 -8.79282649e-03 7.28033047e+01] [ 9.51657976e-03 -1.65123818e-04 9.99954703e-01 1.34426119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.75, Y:72.83, Z:1.34 [[ 3.71392341e-01 -9.28468884e-01 -3.64138731e-03 1.19750401e+02] [ 9.28427245e-01 3.71410174e-01 -8.79390963e-03 7.28302705e+01] [ 9.51731976e-03 -1.14772502e-04 9.99954703e-01 1.34451016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.76, Y:72.86, Z:1.34 [[ 3.75450466e-01 -9.26835317e-01 -3.63894977e-03 1.19759257e+02] [ 9.26793591e-01 3.75468094e-01 -8.79491818e-03 7.28572411e+01] [ 9.51775032e-03 -7.04991935e-05 9.99954703e-01 1.34491428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.77, Y:72.88, Z:1.35 [[ 3.82582945e-01 -9.23913993e-01 -3.63647536e-03 1.19766078e+02] [ 9.23872122e-01 3.82600227e-01 -8.79594117e-03 7.28832247e+01] [ 9.51800942e-03 5.53886883e-06 9.99954703e-01 1.34543710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.77, Y:72.91, Z:1.35 [[ 3.87863881e-01 -9.21709501e-01 -3.63386280e-03 1.19773154e+02] [ 9.21667522e-01 3.87880899e-01 -8.79702036e-03 7.29102708e+01] [ 9.51780322e-03 6.28331356e-05 9.99954703e-01 1.34549269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.78, Y:72.94, Z:1.35 [[ 3.89518240e-01 -9.21011593e-01 -3.63144995e-03 1.19782593e+02] [ 9.20969574e-01 3.89535158e-01 -8.79801628e-03 7.29367781e+01] [ 9.51765242e-03 8.25329036e-05 9.99954703e-01 1.34576984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.79, Y:72.96, Z:1.35 [[ 3.90792655e-01 -9.20471581e-01 -3.62894716e-03 1.19792058e+02] [ 9.20429529e-01 3.90809491e-01 -8.79904850e-03 7.29620199e+01] [ 9.51750107e-03 9.84133974e-05 9.99954703e-01 1.34620626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.80, Y:72.99, Z:1.35 [[ 3.91674210e-01 -9.20096821e-01 -3.62669749e-03 1.19802106e+02] [ 9.20054744e-01 3.91690985e-01 -8.79997564e-03 7.29882272e+01] [ 9.51737433e-03 1.09963283e-04 9.99954703e-01 1.34647594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.81, Y:73.01, Z:1.35 [[ 3.92282913e-01 -9.19837476e-01 -3.62418452e-03 1.19812070e+02] [ 9.19795378e-01 3.92299635e-01 -8.80101046e-03 7.30145757e+01] [ 9.51726551e-03 1.18977842e-04 9.99954703e-01 1.34645967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.82, Y:73.04, Z:1.35 [[ 3.92508676e-01 -9.19741172e-01 -3.62168303e-03 1.19822362e+02] [ 9.19699061e-01 3.92525365e-01 -8.80203972e-03 7.30408000e+01] [ 9.51720078e-03 1.24018475e-04 9.99954703e-01 1.34609674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.83, Y:73.07, Z:1.35 [[ 3.92580360e-01 -9.19710587e-01 -3.61911926e-03 1.19832555e+02] [ 9.19668465e-01 3.92597020e-01 -8.80309374e-03 7.30656964e+01] [ 9.51715395e-03 1.27531852e-04 9.99954703e-01 1.34571402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.84, Y:73.09, Z:1.35 [[ 3.91880124e-01 -9.20009175e-01 -3.61737880e-03 1.19843541e+02] [ 9.19967060e-01 3.91896800e-01 -8.80380887e-03 7.30919697e+01] [ 9.51722412e-03 1.22168378e-04 9.99954703e-01 1.34558055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.85, Y:73.12, Z:1.34 [[ 3.89667495e-01 -9.20948520e-01 -3.61486908e-03 1.19854639e+02] [ 9.20906434e-01 3.89684249e-01 -8.80483925e-03 7.31182797e+01] [ 9.51746122e-03 1.02003466e-04 9.99954703e-01 1.34444651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.87, Y:73.14, Z:1.34 [[ 3.87752773e-01 -9.21756334e-01 -3.61230514e-03 1.19865628e+02] [ 9.21714274e-01 3.87769589e-01 -8.80589102e-03 7.31435352e+01] [ 9.51762790e-03 8.49954464e-05 9.99954703e-01 1.34401552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.88, Y:73.17, Z:1.34 [[ 3.85594537e-01 -9.22661269e-01 -3.61056195e-03 1.19877212e+02] [ 9.22619241e-01 3.85611435e-01 -8.80660570e-03 7.31691180e+01] [ 9.51778796e-03 6.46051191e-05 9.99954703e-01 1.34432329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.89, Y:73.19, Z:1.34 [[ 3.80257055e-01 -9.24873804e-01 -3.60804303e-03 1.19890067e+02] [ 9.24831866e-01 3.80274172e-01 -8.80763757e-03 7.31937031e+01] [ 9.51799884e-03 1.23331539e-05 9.99954703e-01 1.34443815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.90, Y:73.22, Z:1.34 [[ 3.77208491e-01 -9.26121350e-01 -3.60551629e-03 1.19902003e+02] [ 9.26079458e-01 3.77225721e-01 -8.80867180e-03 7.32194272e+01] [ 9.51799250e-03 -1.62887718e-05 9.99954703e-01 1.34478308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.91, Y:73.24, Z:1.35 [[ 3.74050433e-01 -9.27401365e-01 -3.60300768e-03 1.19913198e+02] [ 9.27359522e-01 3.74067782e-01 -8.80969778e-03 7.32439655e+01] [ 9.51789484e-03 -4.60122160e-05 9.99954703e-01 1.34505814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.92, Y:73.27, Z:1.35 [[ 3.70857406e-01 -9.28682841e-01 -3.60074779e-03 1.19924675e+02] [ 9.28641049e-01 3.70874878e-01 -8.81062135e-03 7.32695119e+01] [ 9.51769977e-03 -7.63180314e-05 9.99954703e-01 1.34562036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.94, Y:73.29, Z:1.35 [[ 3.64571629e-01 -9.31168395e-01 -3.59827379e-03 1.19937614e+02] [ 9.31126712e-01 3.64589360e-01 -8.81163162e-03 7.32945904e+01] [ 9.51700521e-03 -1.37977945e-04 9.99954703e-01 1.34584877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.95, Y:73.32, Z:1.35 [[ 3.61624394e-01 -9.32316935e-01 -3.59578616e-03 1.19949704e+02] [ 9.32275299e-01 3.61642233e-01 -8.81264664e-03 7.33203217e+01] [ 9.51656785e-03 -1.65394617e-04 9.99954703e-01 1.34644299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.96, Y:73.35, Z:1.35 [[ 3.59083249e-01 -9.33298617e-01 -3.59328877e-03 1.19961199e+02] [ 9.33257019e-01 3.59101178e-01 -8.81366482e-03 7.33457364e+01] [ 9.51613541e-03 -1.88622568e-04 9.99954703e-01 1.34680292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.97, Y:73.37, Z:1.35 [[ 3.55264935e-01 -9.34758756e-01 -3.59072873e-03 1.19972903e+02] [ 9.34717221e-01 3.55283010e-01 -8.81470766e-03 7.33699320e+01] [ 9.51535008e-03 -2.24759440e-04 9.99954703e-01 1.34684661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.98, Y:73.40, Z:1.35 [[ 3.54268656e-01 -9.35136804e-01 -3.58842720e-03 1.19983991e+02] [ 9.35095279e-01 3.54286753e-01 -8.81564451e-03 7.33956291e+01] [ 9.51516585e-03 -2.32414801e-04 9.99954703e-01 1.34701479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.99, Y:73.42, Z:1.35 [[ 3.53880956e-01 -9.35283599e-01 -3.58595958e-03 1.19994652e+02] [ 9.35242071e-01 3.53899047e-01 -8.81664815e-03 7.34212077e+01] [ 9.51513409e-03 -2.33696391e-04 9.99954703e-01 1.34749192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.01, Y:73.45, Z:1.35 [[ 3.54432120e-01 -9.35074880e-01 -3.58347785e-03 1.20005190e+02] [ 9.35033331e-01 3.54450163e-01 -8.81765672e-03 7.34470249e+01] [ 9.51533361e-03 -2.25410461e-04 9.99954703e-01 1.34789032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.02, Y:73.47, Z:1.35 [[ 3.57641330e-01 -9.33852159e-01 -3.58101236e-03 1.20015969e+02] [ 9.33810539e-01 3.57659207e-01 -8.81865789e-03 7.34727103e+01] [ 9.51610475e-03 -1.90070546e-04 9.99954703e-01 1.34936920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.03, Y:73.50, Z:1.35 [[ 3.59495117e-01 -9.33140105e-01 -3.57851726e-03 1.20026793e+02] [ 9.33098439e-01 3.59512888e-01 -8.81967026e-03 7.34987792e+01] [ 9.51651110e-03 -1.68480472e-04 9.99954703e-01 1.35086720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.04, Y:73.52, Z:1.35 [[ 3.61614005e-01 -9.32321041e-01 -3.57603194e-03 1.20037310e+02] [ 9.32279325e-01 3.61631658e-01 -8.82067784e-03 7.35238888e+01] [ 9.51690991e-03 -1.44179998e-04 9.99954703e-01 1.35114108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.05, Y:73.55, Z:1.35 [[ 3.67103491e-01 -9.30173241e-01 -3.57340854e-03 1.20047179e+02] [ 9.30131411e-01 3.67120872e-01 -8.82174050e-03 7.35505019e+01] [ 9.51761981e-03 -8.52477944e-05 9.99954703e-01 1.35289397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.06, Y:73.58, Z:1.35 [[ 3.66836169e-01 -9.30278708e-01 -3.57087492e-03 1.20057850e+02] [ 9.30236873e-01 3.66853539e-01 -8.82276594e-03 7.35770358e+01] [ 9.51761940e-03 -8.52498529e-05 9.99954703e-01 1.35316507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:73.60, Z:1.35 [[ 3.69716297e-01 -9.29137841e-01 -3.56833909e-03 1.20067177e+02] [ 9.29095943e-01 3.69733512e-01 -8.82379143e-03 7.36023326e+01] [ 9.51785306e-03 -5.30298748e-05 9.99954703e-01 1.35314223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.08, Y:73.63, Z:1.35 [[ 3.75607606e-01 -9.26771930e-01 -3.56605131e-03 1.20076649e+02] [ 9.26729914e-01 3.75624533e-01 -8.82471592e-03 7.36283384e+01] [ 9.51799536e-03 9.86399532e-06 9.99954703e-01 1.35288487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.09, Y:73.65, Z:1.35 [[ 3.77755674e-01 -9.25898456e-01 -3.56352876e-03 1.20086865e+02] [ 9.25856392e-01 3.77772481e-01 -8.82573444e-03 7.36547522e+01] [ 9.51793699e-03 3.46553808e-05 9.99954703e-01 1.35318725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:73.68, Z:1.35 [[ 3.79781389e-01 -9.25069411e-01 -3.56100593e-03 1.20097264e+02] [ 9.25027301e-01 3.79798079e-01 -8.82675223e-03 7.36806790e+01] [ 9.51782170e-03 5.82085201e-05 9.99954703e-01 1.35324129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.947628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.11, Y:73.71, Z:1.35 [[ 3.81207518e-01 -9.24482648e-01 -3.55843788e-03 1.20107143e+02] [ 9.24440502e-01 3.81224118e-01 -8.82778740e-03 7.37053766e+01] [ 9.51769861e-03 7.56548234e-05 9.99954703e-01 1.35300628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.12, Y:73.73, Z:1.35 [[ 3.82647704e-01 -9.23887487e-01 -3.55613354e-03 1.20117887e+02] [ 9.23845307e-01 3.82664217e-01 -8.82871557e-03 7.37304255e+01] [ 9.51754490e-03 9.29704614e-05 9.99954703e-01 1.35186684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.13, Y:73.76, Z:1.35 [[ 3.82474426e-01 -9.23959241e-01 -3.55441590e-03 1.20129173e+02] [ 9.23917058e-01 3.82490930e-01 -8.82940703e-03 7.37558648e+01] [ 9.51754407e-03 9.30369093e-05 9.99954703e-01 1.35126679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.14, Y:73.78, Z:1.35 [[ 3.81911030e-01 -9.24192269e-01 -3.55191438e-03 1.20140673e+02] [ 9.24150086e-01 3.81927536e-01 -8.83041324e-03 7.37811127e+01] [ 9.51757355e-03 8.99302389e-05 9.99954703e-01 1.35081665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:73.81, Z:1.35 [[ 3.80677087e-01 -9.24701226e-01 -3.54941071e-03 1.20152446e+02] [ 9.24659056e-01 3.80693625e-01 -8.83141948e-03 7.38063434e+01] [ 9.51766245e-03 7.99242831e-05 9.99954703e-01 1.35058694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.17, Y:73.83, Z:1.35 [[ 3.76485352e-01 -9.26415781e-01 -3.54688814e-03 1.20165675e+02] [ 9.26373677e-01 3.76502057e-01 -8.83243248e-03 7.38300852e+01] [ 9.51791552e-03 3.95376397e-05 9.99954703e-01 1.34999981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:73.86, Z:1.35 [[ 3.73442979e-01 -9.27646364e-01 -3.54466386e-03 1.20177716e+02] [ 9.27604306e-01 3.73459801e-01 -8.83332505e-03 7.38551720e+01] [ 9.51799132e-03 1.06977623e-05 9.99954703e-01 1.35025525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.19, Y:73.88, Z:1.35 [[ 3.70020161e-01 -9.29016972e-01 -3.54214636e-03 1.20189893e+02] [ 9.28974967e-01 3.70037114e-01 -8.83433445e-03 7.38807037e+01] [ 9.51797225e-03 -2.16834436e-05 9.99954703e-01 1.35040607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.20, Y:73.91, Z:1.35 [[ 3.66542141e-01 -9.30394717e-01 -3.53963943e-03 1.20202086e+02] [ 9.30352766e-01 3.66559227e-01 -8.83533878e-03 7.39055763e+01] [ 9.51784002e-03 -5.45893455e-05 9.99954703e-01 1.35037918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:73.93, Z:1.35 [[ 3.62740175e-01 -9.31883606e-01 -3.53713346e-03 1.20214192e+02] [ 9.31841715e-01 3.62757408e-01 -8.83634190e-03 7.39297451e+01] [ 9.51756352e-03 -9.07523057e-05 9.99954703e-01 1.35063925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.23, Y:73.95, Z:1.35 [[ 3.55642660e-01 -9.34615325e-01 -3.53448773e-03 1.20228742e+02] [ 9.34573556e-01 3.55660186e-01 -8.83740005e-03 7.39534960e+01] [ 9.51664609e-03 -1.60282306e-04 9.99954703e-01 1.35098554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.24, Y:73.98, Z:1.35 [[ 3.52298541e-01 -9.35881010e-01 -3.53186770e-03 1.20240694e+02] [ 9.35839293e-01 3.52316192e-01 -8.83844703e-03 7.39784878e+01] [ 9.51606890e-03 -1.91488576e-04 9.99954703e-01 1.35161620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.25, Y:74.00, Z:1.35 [[ 3.49440458e-01 -9.36951925e-01 -3.52937370e-03 1.20252133e+02] [ 9.36910253e-01 3.49458213e-01 -8.83944282e-03 7.40026718e+01] [ 9.51550159e-03 -2.17847458e-04 9.99954703e-01 1.35199244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.27, Y:74.03, Z:1.35 [[ 3.45943002e-01 -9.38248902e-01 -3.52674188e-03 1.20266121e+02] [ 9.38207285e-01 3.45960888e-01 -8.84049273e-03 7.40274508e+01] [ 9.51469735e-03 -2.50508330e-04 9.99954703e-01 1.35280176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.28, Y:74.05, Z:1.35 [[ 3.44982239e-01 -9.38602597e-01 -3.52427331e-03 1.20277485e+02] [ 9.38560989e-01 3.45000144e-01 -8.84147672e-03 7.40518519e+01] [ 9.51450781e-03 -2.57593004e-04 9.99954703e-01 1.35314569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.29, Y:74.08, Z:1.35 [[ 3.44916260e-01 -9.38626854e-01 -3.52167220e-03 1.20288957e+02] [ 9.38585237e-01 3.44934144e-01 -8.84251265e-03 7.40778714e+01] [ 9.51456482e-03 -2.55463141e-04 9.99954703e-01 1.35327525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42762800000003 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:120.30, Y:74.10, Z:1.35 [[ 3.45045485e-01 -9.38579367e-01 -3.51924428e-03 1.20299777e+02] [ 9.38537737e-01 3.45063340e-01 -8.84347884e-03 7.41035412e+01] [ 9.51466896e-03 -2.51541120e-04 9.99954703e-01 1.35189258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.31, Y:74.13, Z:1.35 [[ 3.48433839e-01 -9.37326780e-01 -3.51671546e-03 1.20310636e+02] [ 9.37285076e-01 3.48451519e-01 -8.84448434e-03 7.41281379e+01] [ 9.51557687e-03 -2.14447280e-04 9.99954703e-01 1.35266507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.487628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.32, Y:74.15, Z:1.35 [[ 3.50675946e-01 -9.36490273e-01 -3.51405276e-03 1.20321542e+02] [ 9.36448517e-01 3.50693502e-01 -8.84554215e-03 7.41544859e+01] [ 9.51611965e-03 -1.88810635e-04 9.99954703e-01 1.35332971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.33, Y:74.18, Z:1.35 [[ 3.53034773e-01 -9.35603612e-01 -3.51156074e-03 1.20331680e+02] [ 9.35561801e-01 3.53052200e-01 -8.84653133e-03 7.41799412e+01] [ 9.51661091e-03 -1.62148910e-04 9.99954703e-01 1.35254959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.34, Y:74.21, Z:1.35 [[ 3.57253710e-01 -9.34000786e-01 -3.50974161e-03 1.20341281e+02] [ 9.33958890e-01 3.57270931e-01 -8.84725299e-03 7.42061656e+01] [ 9.51726990e-03 -1.17240415e-04 9.99954703e-01 1.35167090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.35, Y:74.23, Z:1.35 [[ 3.59061156e-01 -9.33307444e-01 -3.50729019e-03 1.20350936e+02] [ 9.33265505e-01 3.59078272e-01 -8.84822469e-03 7.42320606e+01] [ 9.51750568e-03 -9.61791709e-05 9.99954703e-01 1.35107811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.36, Y:74.26, Z:1.35 [[ 3.60361886e-01 -9.32805997e-01 -3.50483257e-03 1.20360824e+02] [ 9.32764025e-01 3.60378920e-01 -8.84919806e-03 7.42584679e+01] [ 9.51765280e-03 -8.02680323e-05 9.99954703e-01 1.35107671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.37, Y:74.28, Z:1.35 [[ 3.62339447e-01 -9.32039623e-01 -3.50236934e-03 1.20371572e+02] [ 9.31997605e-01 3.62356369e-01 -8.85017286e-03 7.42842875e+01] [ 9.51781761e-03 -5.74330957e-05 9.99954703e-01 1.35269220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.38, Y:74.31, Z:1.35 [[ 3.62451432e-01 -9.31996089e-01 -3.49987540e-03 1.20381843e+02] [ 9.31954060e-01 3.62468326e-01 -8.85115900e-03 7.43096410e+01] [ 9.51783955e-03 -5.36078270e-05 9.99954703e-01 1.35354608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:74.33, Z:1.35 [[ 3.59143359e-01 -9.33275849e-01 -3.49805292e-03 1.20387344e+02] [ 9.33233874e-01 3.59160384e-01 -8.85187920e-03 7.43335601e+01] [ 9.51760711e-03 -8.54078488e-05 9.99954703e-01 1.35470130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.40, Y:74.36, Z:1.36 [[ 3.62212725e-01 -9.32089279e-01 -3.39367565e-03 1.20403130e+02] [ 9.32046856e-01 3.62228618e-01 -8.89307166e-03 7.43620950e+01] [ 9.51842320e-03 5.81189995e-05 9.99954697e-01 1.35554810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.41, Y:74.39, Z:1.36 [[ 3.61477027e-01 -9.32374460e-01 -3.49655144e-03 1.20413438e+02] [ 9.32332436e-01 3.61493933e-01 -8.85243766e-03 7.43877379e+01] [ 9.51776891e-03 -5.99954766e-05 9.99954703e-01 1.35763624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:74.41, Z:1.36 [[ 3.60501533e-01 -9.32752075e-01 -3.49435110e-03 1.20423607e+02] [ 9.32710061e-01 3.60518462e-01 -8.85330612e-03 7.44142473e+01] [ 9.51771774e-03 -6.75859952e-05 9.99954703e-01 1.35869623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.43, Y:74.44, Z:1.36 [[ 3.59446584e-01 -9.33159129e-01 -3.49193116e-03 1.20433093e+02] [ 9.33117124e-01 3.59463537e-01 -8.85426049e-03 7.44391409e+01] [ 9.51765594e-03 -7.57470810e-05 9.99954703e-01 1.35979888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.44, Y:74.47, Z:1.36 [[ 3.56978223e-01 -9.34106189e-01 -3.48937900e-03 1.20443526e+02] [ 9.34064220e-01 3.56995263e-01 -8.85526616e-03 7.44653796e+01] [ 9.51745070e-03 -9.81668902e-05 9.99954703e-01 1.36095944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.45, Y:74.49, Z:1.36 [[ 3.56727884e-01 -9.34201829e-01 -3.48700667e-03 1.20453920e+02] [ 9.34159855e-01 3.56744913e-01 -8.85620023e-03 7.44920237e+01] [ 9.51745035e-03 -9.81680814e-05 9.99954703e-01 1.36123054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.46, Y:74.52, Z:1.36 [[ 3.54700323e-01 -9.34973549e-01 -3.48463298e-03 1.20464524e+02] [ 9.34931603e-01 3.54717421e-01 -8.85713411e-03 7.45166703e+01] [ 9.51724614e-03 -1.16265169e-04 9.99954703e-01 1.36106898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.48, Y:74.54, Z:1.36 [[ 3.53645531e-01 -9.35373034e-01 -3.48212986e-03 1.20475145e+02] [ 9.35331098e-01 3.53662652e-01 -8.85811808e-03 7.45431206e+01] [ 9.51714407e-03 -1.24310477e-04 9.99954703e-01 1.36140103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.49, Y:74.57, Z:1.36 [[ 3.52749242e-01 -9.35711421e-01 -3.47963094e-03 1.20485094e+02] [ 9.35669492e-01 3.52766380e-01 -8.85909960e-03 7.45684721e+01] [ 9.51705749e-03 -1.30743841e-04 9.99954703e-01 1.36088787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.49, Y:74.59, Z:1.36 [[ 3.51828072e-01 -9.36058181e-01 -3.47698839e-03 1.20494769e+02] [ 9.36016258e-01 3.51845225e-01 -8.86013662e-03 7.45948431e+01] [ 9.51696513e-03 -1.37272879e-04 9.99954703e-01 1.35956892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.50, Y:74.62, Z:1.36 [[ 3.51380589e-01 -9.36226260e-01 -3.47449380e-03 1.20504069e+02] [ 9.36184335e-01 3.51397739e-01 -8.86111476e-03 7.46207048e+01] [ 9.51693759e-03 -1.39142947e-04 9.99954703e-01 1.35893509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.51, Y:74.65, Z:1.36 [[ 3.51046170e-01 -9.36351714e-01 -3.47186124e-03 1.20513944e+02] [ 9.36309786e-01 3.51063310e-01 -8.86214610e-03 7.46475530e+01] [ 9.51692879e-03 -1.39715204e-04 9.99954703e-01 1.35830257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.52, Y:74.67, Z:1.36 [[ 3.50895315e-01 -9.36408266e-01 -3.46938843e-03 1.20523993e+02] [ 9.36366331e-01 3.50912438e-01 -8.86311406e-03 7.46729147e+01] [ 9.51694482e-03 -1.38593319e-04 9.99954703e-01 1.35795321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.53, Y:74.70, Z:1.36 [[ 3.50669123e-01 -9.36493004e-01 -3.46679433e-03 1.20534339e+02] [ 9.36451063e-01 3.50686232e-01 -8.86412862e-03 7.46990350e+01] [ 9.51695149e-03 -1.38107019e-04 9.99954703e-01 1.35860042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.54, Y:74.73, Z:1.36 [[ 3.50749519e-01 -9.36462905e-01 -3.46430650e-03 1.20544928e+02] [ 9.36420953e-01 3.50766601e-01 -8.86510082e-03 7.47252995e+01] [ 9.51700108e-03 -1.34619344e-04 9.99954703e-01 1.35893808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.56, Y:74.75, Z:1.36 [[ 3.50637028e-01 -9.36505041e-01 -3.46179081e-03 1.20555199e+02] [ 9.36463081e-01 3.50654091e-01 -8.86608307e-03 7.47515015e+01] [ 9.51702260e-03 -1.33062272e-04 9.99954703e-01 1.35886437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20762800000003 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:120.57, Y:74.78, Z:1.36 [[ 3.51277578e-01 -9.36264971e-01 -3.45929513e-03 1.20565096e+02] [ 9.36222990e-01 3.51294588e-01 -8.86705671e-03 7.47777651e+01] [ 9.51714626e-03 -1.23873433e-04 9.99954703e-01 1.35601637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.237628 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:120.58, Y:74.80, Z:1.36 [[ 3.52497391e-01 -9.35806411e-01 -3.45680924e-03 1.20575271e+02] [ 9.35764398e-01 3.52514324e-01 -8.86802573e-03 7.48041734e+01] [ 9.51733010e-03 -1.08803086e-04 9.99954703e-01 1.35701581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.59, Y:74.83, Z:1.36 [[ 3.56520067e-01 -9.34281280e-01 -3.45431151e-03 1.20585763e+02] [ 9.34239185e-01 3.56536795e-01 -8.86899855e-03 7.48305521e+01] [ 9.51772847e-03 -6.51772098e-05 9.99954703e-01 1.36129822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.60, Y:74.86, Z:1.36 [[ 3.58372535e-01 -9.33572285e-01 -3.45194012e-03 1.20595881e+02] [ 9.33530148e-01 3.58389157e-01 -8.86992143e-03 7.48569013e+01] [ 9.51785072e-03 -4.37539479e-05 9.99954703e-01 1.36266804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.61, Y:74.88, Z:1.36 [[ 3.60159986e-01 -9.32884176e-01 -3.44945006e-03 1.20605426e+02] [ 9.32841998e-01 3.60176504e-01 -8.87088969e-03 7.48823520e+01] [ 9.51792348e-03 -2.28523785e-05 9.99954703e-01 1.36347694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.62, Y:74.91, Z:1.36 [[ 3.62078170e-01 -9.32141362e-01 -3.44682294e-03 1.20615389e+02] [ 9.32099140e-01 3.62094576e-01 -8.87191035e-03 7.49087272e+01] [ 9.51795049e-03 -4.55634073e-07 9.99954703e-01 1.36452639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.62, Y:74.93, Z:1.36 [[ 3.63841536e-01 -9.31454493e-01 -3.44432013e-03 1.20624999e+02] [ 9.31412232e-01 3.63857838e-01 -8.87288191e-03 7.49340002e+01] [ 9.51792860e-03 2.02410849e-05 9.99954703e-01 1.36482511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.63, Y:74.96, Z:1.36 [[ 3.66821594e-01 -9.30284942e-01 -3.44168407e-03 1.20634709e+02] [ 9.30242619e-01 3.66837736e-01 -8.87390428e-03 7.49591215e+01] [ 9.51779912e-03 5.35385144e-05 9.99954703e-01 1.36404690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.65, Y:74.99, Z:1.37 [[ 3.67657530e-01 -9.29954899e-01 -3.43907343e-03 1.20645090e+02] [ 9.29912552e-01 3.67673609e-01 -8.87491592e-03 7.49850594e+01] [ 9.51772807e-03 6.48921145e-05 9.99954703e-01 1.36510718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.477628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:120.66, Y:75.01, Z:1.36 [[ 3.67593861e-01 -9.29980077e-01 -3.43655837e-03 1.20655493e+02] [ 9.29937722e-01 3.67609919e-01 -8.87588970e-03 7.50111492e+01] [ 9.51771353e-03 6.69373037e-05 9.99954703e-01 1.36258967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.67, Y:75.04, Z:1.37 [[ 3.68251602e-01 -9.29719831e-01 -3.43404982e-03 1.20666132e+02] [ 9.29677456e-01 3.68267606e-01 -8.87686014e-03 7.50374933e+01] [ 9.51764222e-03 7.63592666e-05 9.99954703e-01 1.36550844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.68, Y:75.06, Z:1.36 [[ 3.67849389e-01 -9.29879052e-01 -3.43153670e-03 1.20676669e+02] [ 9.29836674e-01 3.67865387e-01 -8.87783153e-03 7.50638866e+01] [ 9.51765315e-03 7.49362374e-05 9.99954703e-01 1.36370121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.69, Y:75.09, Z:1.36 [[ 3.67105088e-01 -9.30173154e-01 -3.42902209e-03 1.20687094e+02] [ 9.30130780e-01 3.67121095e-01 -8.87880268e-03 7.50898929e+01] [ 9.51769024e-03 7.00146424e-05 9.99954703e-01 1.36287664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59762800000001 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:120.70, Y:75.12, Z:1.36 [[ 3.65583265e-01 -9.30772333e-01 -3.42652349e-03 1.20697719e+02] [ 9.30729976e-01 3.65599318e-01 -8.87976684e-03 7.51157658e+01] [ 9.51777595e-03 5.71260272e-05 9.99954703e-01 1.35927110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.71, Y:75.14, Z:1.36 [[ 3.64557419e-01 -9.31174615e-01 -3.42401664e-03 1.20708292e+02] [ 9.31132267e-01 3.64573495e-01 -8.88073337e-03 7.51406557e+01] [ 9.51781920e-03 4.93248585e-05 9.99954703e-01 1.36199158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.72, Y:75.17, Z:1.36 [[ 3.62034870e-01 -9.32158274e-01 -3.42137674e-03 1.20718918e+02] [ 9.32115960e-01 3.62051035e-01 -8.88175030e-03 7.51668714e+01] [ 9.51791002e-03 2.63834481e-05 9.99954703e-01 1.36367989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.73, Y:75.19, Z:1.36 [[ 3.60864313e-01 -9.32612063e-01 -3.41885883e-03 1.20728511e+02] [ 9.32569760e-01 3.60880507e-01 -8.88271942e-03 7.51929919e+01] [ 9.51793079e-03 1.71320740e-05 9.99954703e-01 1.36435721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.74, Y:75.22, Z:1.36 [[ 3.60601598e-01 -9.32713684e-01 -3.41635421e-03 1.20738710e+02] [ 9.32671376e-01 3.60617781e-01 -8.88368261e-03 7.52197176e+01] [ 9.51793040e-03 1.71343610e-05 9.99954703e-01 1.36462831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.75, Y:75.25, Z:1.36 [[ 3.57447981e-01 -9.33926810e-01 -3.41385145e-03 1.20747199e+02] [ 9.33884548e-01 3.57464283e-01 -8.88464427e-03 7.52463408e+01] [ 9.51793744e-03 -1.23449606e-05 9.99954703e-01 1.36486709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.76, Y:75.27, Z:1.37 [[ 3.55036550e-01 -9.34846196e-01 -3.41135391e-03 1.20756861e+02] [ 9.34803968e-01 3.55052937e-01 -8.88560312e-03 7.52723644e+01] [ 9.51788351e-03 -3.42332955e-05 9.99954703e-01 1.36546286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.77, Y:75.30, Z:1.37 [[ 3.52135171e-01 -9.35942948e-01 -3.40882899e-03 1.20766839e+02] [ 9.35900761e-01 3.52151664e-01 -8.88657167e-03 7.52978941e+01] [ 9.51774888e-03 -6.10512146e-05 9.99954703e-01 1.36537128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.78, Y:75.32, Z:1.37 [[ 3.49038437e-01 -9.37102215e-01 -3.40698959e-03 1.20777381e+02] [ 9.37060076e-01 3.49055053e-01 -8.88727681e-03 7.53238886e+01] [ 9.51751372e-03 -9.05527102e-05 9.99954703e-01 1.36730441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.79, Y:75.35, Z:1.37 [[ 3.43214166e-01 -9.39251003e-01 -3.40452352e-03 1.20787259e+02] [ 9.39208958e-01 3.43231019e-01 -8.88822141e-03 7.53502066e+01] [ 9.51680895e-03 -1.46995494e-04 9.99954703e-01 1.37044477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.80, Y:75.38, Z:1.37 [[ 3.39951319e-01 -9.40436881e-01 -3.40201887e-03 1.20796929e+02] [ 9.40394886e-01 3.39968295e-01 -8.88917998e-03 7.53763879e+01] [ 9.51629125e-03 -1.77352689e-04 9.99954703e-01 1.37149417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.81, Y:75.40, Z:1.37 [[ 3.36609039e-01 -9.41638358e-01 -3.39951580e-03 1.20806729e+02] [ 9.41596414e-01 3.36626141e-01 -8.89013713e-03 7.54026850e+01] [ 9.51566002e-03 -2.08471362e-04 9.99954703e-01 1.37195587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.81, Y:75.43, Z:1.37 [[ 3.30307155e-01 -9.43867387e-01 -3.39699829e-03 1.20810964e+02] [ 9.43825548e-01 3.30324513e-01 -8.89109899e-03 7.54266306e+01] [ 9.51413017e-03 -2.69380166e-04 9.99954703e-01 1.36879557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.987628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.82, Y:75.45, Z:1.37 [[ 3.29411954e-01 -9.44180546e-01 -3.29548274e-03 1.20824428e+02] [ 9.44138333e-01 3.29428394e-01 -8.92982854e-03 7.54549750e+01] [ 9.51699597e-03 -1.69799310e-04 9.99954698e-01 1.37115032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.83, Y:75.48, Z:1.37 [[ 3.24699541e-01 -9.45811125e-01 -3.39480838e-03 1.20829351e+02] [ 9.45769381e-01 3.24717126e-01 -8.89190743e-03 7.54793137e+01] [ 9.51241738e-03 -3.23507559e-04 9.99954704e-01 1.36866318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.84, Y:75.51, Z:1.37 [[ 3.26697985e-01 -9.45123033e-01 -3.29825335e-03 1.20843425e+02] [ 9.45080878e-01 3.26714573e-01 -8.92871785e-03 7.55072495e+01] [ 9.51632434e-03 -2.00122040e-04 9.99954699e-01 1.37079351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.85, Y:75.53, Z:1.37 [[ 3.25541574e-01 -9.45521643e-01 -3.39222237e-03 1.20851502e+02] [ 9.45479873e-01 3.25559098e-01 -8.89287305e-03 7.55337427e+01] [ 9.51277278e-03 -3.12278084e-04 9.99954704e-01 1.37039268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.86, Y:75.56, Z:1.37 [[ 3.25297269e-01 -9.45605730e-01 -3.38971365e-03 1.20860094e+02] [ 9.45563955e-01 3.25314780e-01 -8.89382920e-03 7.55600202e+01] [ 9.51277980e-03 -3.12052693e-04 9.99954704e-01 1.37067765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.87, Y:75.59, Z:1.37 [[ 3.25533896e-01 -9.45524304e-01 -3.38719106e-03 1.20869167e+02] [ 9.45482515e-01 3.25551373e-01 -8.89478981e-03 7.55868147e+01] [ 9.51294465e-03 -3.06974347e-04 9.99954704e-01 1.37088950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:75.61, Z:1.37 [[ 3.26238954e-01 -9.45281275e-01 -3.38466604e-03 1.20877987e+02] [ 9.45239463e-01 3.26256376e-01 -8.89575053e-03 7.56138185e+01] [ 9.51325528e-03 -2.97179566e-04 9.99954704e-01 1.37124096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:75.64, Z:1.37 [[ 3.27503504e-01 -9.44843911e-01 -3.38213136e-03 1.20886559e+02] [ 9.44802066e-01 3.27520846e-01 -8.89671411e-03 7.56408675e+01] [ 9.51372468e-03 -2.81739659e-04 9.99954704e-01 1.37147288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:75.67, Z:1.37 [[ 3.31993043e-01 -9.43275780e-01 -3.37961416e-03 1.20894082e+02] [ 9.43233843e-01 3.32010163e-01 -8.89767022e-03 7.56683008e+01] [ 9.51502306e-03 -2.33801836e-04 9.99954704e-01 1.37201879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:75.69, Z:1.37 [[ 3.34375033e-01 -9.42434047e-01 -3.37709174e-03 1.20902509e+02] [ 9.42392058e-01 3.34392022e-01 -8.89862750e-03 7.56946256e+01] [ 9.51564206e-03 -2.07065575e-04 9.99954704e-01 1.37213521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.91, Y:75.72, Z:1.37 [[ 3.37171901e-01 -9.41437052e-01 -3.37443027e-03 1.20910579e+02] [ 9.41395002e-01 3.37188740e-01 -8.89963663e-03 7.57202959e+01] [ 9.51626756e-03 -1.75964392e-04 9.99954704e-01 1.37156943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:75.75, Z:1.37 [[ 3.39583218e-01 -9.40569970e-01 -3.37181421e-03 1.20918848e+02] [ 9.40527868e-01 3.39599924e-01 -8.90062767e-03 7.57470052e+01] [ 9.51673096e-03 -1.48781449e-04 9.99954704e-01 1.37209755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.93, Y:75.77, Z:1.37 [[ 3.41835231e-01 -9.39753863e-01 -3.36932010e-03 1.20926773e+02] [ 9.39711711e-01 3.41851813e-01 -8.90157171e-03 7.57726663e+01] [ 9.51709459e-03 -1.23318738e-04 9.99954704e-01 1.37205797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.93, Y:75.80, Z:1.37 [[ 3.46879257e-01 -9.37903751e-01 -3.36668957e-03 1.20934624e+02] [ 9.37861501e-01 3.46895588e-01 -8.90256650e-03 7.57997471e+01] [ 9.51764027e-03 -6.93728853e-05 9.99954704e-01 1.37250650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.94, Y:75.83, Z:1.37 [[ 3.49193134e-01 -9.37044736e-01 -3.36417411e-03 1.20943600e+02] [ 9.37002437e-01 3.49209337e-01 -8.90351696e-03 7.58259938e+01] [ 9.51779471e-03 -4.31923477e-05 9.99954704e-01 1.37278049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.95, Y:75.85, Z:1.37 [[ 3.51403462e-01 -9.36218087e-01 -3.36166639e-03 1.20952889e+02] [ 9.36175740e-01 3.51419541e-01 -8.90446369e-03 7.58526191e+01] [ 9.51787522e-03 -1.80511485e-05 9.99954704e-01 1.37311513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.96, Y:75.88, Z:1.37 [[ 3.55180530e-01 -9.34791692e-01 -3.35914699e-03 1.20962110e+02] [ 9.34749272e-01 3.55196413e-01 -8.90541402e-03 7.58797089e+01] [ 9.51786400e-03 2.30694593e-05 9.99954704e-01 1.37305982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.97, Y:75.90, Z:1.37 [[ 3.56629168e-01 -9.34239996e-01 -3.35661490e-03 1.20971121e+02] [ 9.34197542e-01 3.56644961e-01 -8.90636831e-03 7.59049418e+01] [ 9.51780528e-03 4.05293267e-05 9.99954704e-01 1.37284592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.98, Y:75.93, Z:1.37 [[ 3.57314980e-01 -9.33977921e-01 -3.35394171e-03 1.20980629e+02] [ 9.33935446e-01 3.57330717e-01 -8.90737486e-03 7.59317335e+01] [ 9.51775784e-03 5.03734245e-05 9.99954704e-01 1.37270046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.99, Y:75.96, Z:1.37 [[ 3.57791817e-01 -9.33795365e-01 -3.35139933e-03 1.20990091e+02] [ 9.33752873e-01 3.57807508e-01 -8.90833132e-03 7.59576038e+01] [ 9.51771434e-03 5.79492958e-05 9.99954704e-01 1.37196110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.00, Y:75.98, Z:1.37 [[ 3.57312527e-01 -9.33978878e-01 -3.34873206e-03 1.21000968e+02] [ 9.33936385e-01 3.57328214e-01 -8.90933386e-03 7.59837313e+01] [ 9.51772609e-03 5.59138789e-05 9.99954704e-01 1.37112381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.01, Y:76.01, Z:1.37 [[ 3.56128930e-01 -9.34430836e-01 -3.34621407e-03 1.21011608e+02] [ 9.34388355e-01 3.56144647e-01 -8.91027949e-03 7.60102209e+01] [ 9.51777614e-03 4.65448400e-05 9.99954704e-01 1.37171225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.02, Y:76.04, Z:1.37 [[ 3.54701269e-01 -9.34973705e-01 -3.34369920e-03 1.21021931e+02] [ 9.34931239e-01 3.54717027e-01 -8.91122312e-03 7.60360273e+01] [ 9.51782634e-03 3.46933104e-05 9.99954704e-01 1.37227752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.03, Y:76.06, Z:1.37 [[ 3.52198841e-01 -9.35919234e-01 -3.34119666e-03 1.21031971e+02] [ 9.35876801e-01 3.52214688e-01 -8.91216133e-03 7.60617821e+01] [ 9.51788175e-03 1.19044504e-05 9.99954704e-01 1.37211990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.04, Y:76.09, Z:1.37 [[ 3.50450250e-01 -9.36575398e-01 -3.33869659e-03 1.21042056e+02] [ 9.36532985e-01 3.50466153e-01 -8.91309782e-03 7.60876960e+01] [ 9.51788828e-03 -3.20212313e-06 9.99954704e-01 1.37211459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.737628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.05, Y:76.11, Z:1.37 [[ 3.48312530e-01 -9.37372525e-01 -3.33620687e-03 1.21052225e+02] [ 9.37330140e-01 3.48328507e-01 -8.91402963e-03 7.61130502e+01] [ 9.51786242e-03 -2.22590348e-05 9.99954704e-01 1.37171955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.06, Y:76.14, Z:1.37 [[ 3.46020392e-01 -9.38221070e-01 -3.33358096e-03 1.21063394e+02] [ 9.38178714e-01 3.46036447e-01 -8.91501153e-03 7.61390577e+01] [ 9.51779217e-03 -4.27189177e-05 9.99954704e-01 1.37203393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.08, Y:76.16, Z:1.37 [[ 3.40155457e-01 -9.40363318e-01 -3.33110809e-03 1.21075569e+02] [ 9.40321054e-01 3.40171752e-01 -8.91593543e-03 7.61636545e+01] [ 9.51736750e-03 -9.95069791e-05 9.99954704e-01 1.37189376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.09, Y:76.19, Z:1.37 [[ 3.37188757e-01 -9.41431178e-01 -3.32850297e-03 1.21086901e+02] [ 9.41388957e-01 3.37205161e-01 -8.91690787e-03 7.61893518e+01] [ 9.51704346e-03 -1.26734856e-04 9.99954704e-01 1.37378303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.10, Y:76.21, Z:1.37 [[ 3.34052622e-01 -9.42548609e-01 -3.31133560e-03 1.21097269e+02] [ 9.42506379e-01 3.34069005e-01 -8.92331058e-03 7.62137872e+01] [ 9.51686856e-03 -1.40099629e-04 9.99954704e-01 1.37162284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.11, Y:76.24, Z:1.37 [[ 3.29414512e-01 -9.44179661e-01 -3.29344411e-03 1.21108589e+02] [ 9.44137445e-01 3.29430933e-01 -8.92998287e-03 7.62411136e+01] [ 9.51647056e-03 -1.67797957e-04 9.99954703e-01 1.37179392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.12, Y:76.27, Z:1.37 [[ 3.25250819e-01 -9.45621935e-01 -3.32572037e-03 1.21119234e+02] [ 9.45579914e-01 3.25267730e-01 -8.91794627e-03 7.62664622e+01] [ 9.51475512e-03 -2.44165052e-04 9.99954704e-01 1.37082348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.947628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:121.13, Y:76.29, Z:1.37 [[ 3.16360010e-01 -9.48633386e-01 -3.32305381e-03 1.21130917e+02] [ 9.48591515e-01 3.16377290e-01 -8.91893979e-03 7.62911561e+01] [ 9.51214281e-03 -3.30624771e-04 9.99954704e-01 1.36958935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.977628 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:121.14, Y:76.32, Z:1.37 [[ 3.11197715e-01 -9.50339444e-01 -3.30522126e-03 1.21142015e+02] [ 9.50297598e-01 3.11215054e-01 -8.92557821e-03 7.63174453e+01] [ 9.51096364e-03 -3.63324279e-04 9.99954704e-01 1.36676831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.15, Y:76.34, Z:1.37 [[ 3.07761354e-01 -9.51457792e-01 -3.31947807e-03 1.21151736e+02] [ 9.51416065e-01 3.07778978e-01 -8.92027286e-03 7.63441594e+01] [ 9.50892869e-03 -4.12889509e-04 9.99954704e-01 1.37091141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.16, Y:76.37, Z:1.37 [[ 3.05145622e-01 -9.52299925e-01 -3.31699776e-03 1.21160510e+02] [ 9.52258237e-01 3.05163338e-01 -8.92119507e-03 7.63710806e+01] [ 9.50787950e-03 -4.36374823e-04 9.99954704e-01 1.37199873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.17, Y:76.40, Z:1.37 [[ 2.99468363e-01 -9.54100474e-01 -3.31448168e-03 1.21168611e+02] [ 9.54058882e-01 2.99486303e-01 -8.92212977e-03 7.63967827e+01] [ 9.50525010e-03 -4.90315093e-04 9.99954704e-01 1.37188423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.09762800000001 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:121.18, Y:76.42, Z:1.37 [[ 2.96074424e-01 -9.55159132e-01 -3.31182948e-03 1.21177672e+02] [ 9.55117593e-01 2.96092487e-01 -8.92311413e-03 7.64229753e+01] [ 9.50360178e-03 -5.21280728e-04 9.99954704e-01 1.36984576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.19, Y:76.45, Z:1.37 [[ 2.94563692e-01 -9.55626119e-01 -3.30931962e-03 1.21186775e+02] [ 9.55584599e-01 2.94581798e-01 -8.92404487e-03 7.64497649e+01] [ 9.50291569e-03 -5.33635256e-04 9.99954704e-01 1.37336455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.19, Y:76.48, Z:1.37 [[ 2.92648227e-01 -9.56214453e-01 -3.30679996e-03 1.21193300e+02] [ 9.56172959e-01 2.92666392e-01 -8.92497843e-03 7.64768962e+01] [ 9.50198258e-03 -5.49993591e-04 9.99954704e-01 1.37349744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.20, Y:76.50, Z:1.38 [[ 2.93535352e-01 -9.55942595e-01 -3.27898859e-03 1.21201847e+02] [ 9.55900972e-01 2.93553220e-01 -8.93527676e-03 7.65049587e+01] [ 9.50416932e-03 -5.11568767e-04 9.99954704e-01 1.37534205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.21, Y:76.53, Z:1.38 [[ 2.94976163e-01 -9.55498897e-01 -3.30472303e-03 1.21208289e+02] [ 9.55457350e-01 2.94994208e-01 -8.92574870e-03 7.65311842e+01] [ 9.50341718e-03 -5.24638806e-04 9.99954704e-01 1.37558622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.21, Y:76.56, Z:1.38 [[ 3.00030590e-01 -9.53923866e-01 -3.30204471e-03 1.21212480e+02] [ 9.53882214e-01 3.00048389e-01 -8.92673942e-03 7.65590935e+01] [ 9.50620297e-03 -4.71466827e-04 9.99954704e-01 1.37738942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.22, Y:76.59, Z:1.38 [[ 3.03220099e-01 -9.52914836e-01 -3.29952644e-03 1.21219763e+02] [ 9.52873114e-01 3.03237736e-01 -8.92767013e-03 7.65862999e+01] [ 9.50785024e-03 -4.36981017e-04 9.99954704e-01 1.37855358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:76.61, Z:1.38 [[ 3.07113602e-01 -9.51667151e-01 -3.29696307e-03 1.21226538e+02] [ 9.51625347e-01 3.07131044e-01 -8.92861668e-03 7.66121704e+01] [ 9.50967090e-03 -3.95373994e-04 9.99954704e-01 1.38022882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:76.64, Z:1.38 [[ 3.11239800e-01 -9.50325698e-01 -3.29466622e-03 1.21232917e+02] [ 9.50283810e-01 3.11257039e-01 -8.92946414e-03 7.66381415e+01] [ 9.51138729e-03 -3.51663330e-04 9.99954704e-01 1.38143834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.24, Y:76.67, Z:1.38 [[ 3.15228229e-01 -9.49010179e-01 -3.29286307e-03 1.21239570e+02] [ 9.48968213e-01 3.15245275e-01 -8.93012902e-03 7.66654567e+01] [ 9.51284287e-03 -3.09793631e-04 9.99954704e-01 1.38112432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.25, Y:76.69, Z:1.38 [[ 3.19251571e-01 -9.47664291e-01 -3.29029641e-03 1.21245870e+02] [ 9.47622243e-01 3.19268414e-01 -8.93107460e-03 7.66917683e+01] [ 9.51414820e-03 -2.66698471e-04 9.99954704e-01 1.38093774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.25, Y:76.72, Z:1.38 [[ 3.26363166e-01 -9.45238739e-01 -3.28799030e-03 1.21249727e+02] [ 9.45196557e-01 3.26379671e-01 -8.93192352e-03 7.67204120e+01] [ 9.51593332e-03 -1.92746265e-04 9.99954704e-01 1.37991138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:76.75, Z:1.38 [[ 3.28881887e-01 -9.44365348e-01 -3.28549865e-03 1.21256861e+02] [ 9.44323113e-01 3.28898256e-01 -8.93283995e-03 7.67479390e+01] [ 9.51645928e-03 -1.64723053e-04 9.99954704e-01 1.37978564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:76.77, Z:1.38 [[ 3.32482960e-01 -9.43103549e-01 -3.28295909e-03 1.21262337e+02] [ 9.43061243e-01 3.32499144e-01 -8.93377318e-03 7.67748077e+01] [ 9.51705428e-03 -1.25704127e-04 9.99954704e-01 1.37966933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.27, Y:76.80, Z:1.38 [[ 3.33381040e-01 -9.42786467e-01 -3.28027768e-03 1.21270872e+02] [ 9.42744136e-01 3.33397158e-01 -8.93475763e-03 7.68019074e+01] [ 9.51720383e-03 -1.13783756e-04 9.99954704e-01 1.37952170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.28, Y:76.83, Z:1.38 [[ 3.33504857e-01 -9.42742683e-01 -3.27777797e-03 1.21279224e+02] [ 9.42700341e-01 3.33520946e-01 -8.93567457e-03 7.68287950e+01] [ 9.51724943e-03 -1.09871539e-04 9.99954704e-01 1.37956194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.29, Y:76.85, Z:1.38 [[ 3.33431949e-01 -9.42768481e-01 -3.27525656e-03 1.21287519e+02] [ 9.42726130e-01 3.33448017e-01 -8.93659866e-03 7.68548479e+01] [ 9.51727135e-03 -1.07922437e-04 9.99954704e-01 1.37987557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.29, Y:76.88, Z:1.38 [[ 3.33031441e-01 -9.42910043e-01 -3.27259804e-03 1.21294850e+02] [ 9.42867690e-01 3.33047502e-01 -8.93757211e-03 7.68821461e+01] [ 9.51725711e-03 -1.09134440e-04 9.99954704e-01 1.38036936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.30, Y:76.91, Z:1.38 [[ 3.32763239e-01 -9.43004737e-01 -3.27005622e-03 1.21304610e+02] [ 9.42962379e-01 3.32779288e-01 -8.93850201e-03 7.69090197e+01] [ 9.51725671e-03 -1.09135109e-04 9.99954704e-01 1.38064046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.31, Y:76.94, Z:1.38 [[ 3.32550681e-01 -9.43079725e-01 -3.26751350e-03 1.21313235e+02] [ 9.43037362e-01 3.32566716e-01 -8.93943142e-03 7.69350887e+01] [ 9.51726276e-03 -1.08573301e-04 9.99954704e-01 1.38141123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:76.96, Z:1.38 [[ 3.32601646e-01 -9.43061760e-01 -3.26523493e-03 1.21322300e+02] [ 9.43019388e-01 3.32617656e-01 -8.94026361e-03 7.69617163e+01] [ 9.51729553e-03 -1.05633459e-04 9.99954704e-01 1.38165653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.33, Y:76.99, Z:1.38 [[ 3.33659646e-01 -9.42687963e-01 -3.26270357e-03 1.21330861e+02] [ 9.42645564e-01 3.33675585e-01 -8.94118732e-03 7.69882945e+01] [ 9.51743419e-03 -9.22596480e-05 9.99954704e-01 1.38179157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.34, Y:77.01, Z:1.38 [[ 3.34477646e-01 -9.42398045e-01 -3.26018525e-03 1.21340285e+02] [ 9.42355623e-01 3.34493525e-01 -8.94210548e-03 7.70146074e+01] [ 9.51753357e-03 -8.13195095e-05 9.99954704e-01 1.38161099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.35, Y:77.04, Z:1.38 [[ 3.35229105e-01 -9.42131007e-01 -3.25764713e-03 1.21349438e+02] [ 9.42088564e-01 3.35244925e-01 -8.94303003e-03 7.70399515e+01] [ 9.51761556e-03 -7.10281617e-05 9.99954704e-01 1.38166318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.36, Y:77.07, Z:1.38 [[ 3.35697097e-01 -9.41964365e-01 -3.25496880e-03 1.21358897e+02] [ 9.41921904e-01 3.35712871e-01 -8.94400475e-03 7.70664608e+01] [ 9.51766867e-03 -6.34499787e-05 9.99954704e-01 1.38088258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:77.09, Z:1.38 [[ 3.37887129e-01 -9.41181038e-01 -3.24676999e-03 1.21368982e+02] [ 9.41138512e-01 3.37902726e-01 -8.94698625e-03 7.70921908e+01] [ 9.51782624e-03 -3.25887765e-05 9.99954704e-01 1.38001559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.38, Y:77.12, Z:1.38 [[ 3.37977048e-01 -9.41148736e-01 -3.25135005e-03 1.21378548e+02] [ 9.41106225e-01 3.37992684e-01 -8.94532154e-03 7.71174253e+01] [ 9.51781060e-03 -3.65524039e-05 9.99954704e-01 1.37959541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.39, Y:77.14, Z:1.38 [[ 3.37775118e-01 -9.41221236e-01 -3.24867531e-03 1.21388573e+02] [ 9.41178719e-01 3.37790738e-01 -8.94629282e-03 7.71425548e+01] [ 9.51781322e-03 -3.57489547e-05 9.99954704e-01 1.37874788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.40, Y:77.17, Z:1.38 [[ 3.37211597e-01 -9.41423285e-01 -3.24606133e-03 1.21398908e+02] [ 9.41380768e-01 3.37227218e-01 -8.94724117e-03 7.71687806e+01] [ 9.51780141e-03 -3.86662218e-05 9.99954704e-01 1.37746147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:77.19, Z:1.38 [[ 3.34244332e-01 -9.42480878e-01 -3.24354407e-03 1.21410898e+02] [ 9.42438401e-01 3.34260063e-01 -8.94815363e-03 7.71947351e+01] [ 9.51765094e-03 -6.59708496e-05 9.99954704e-01 1.37514561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99762800000002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:121.42, Y:77.22, Z:1.37 [[ 3.30824293e-01 -9.43686804e-01 -3.24100079e-03 1.21421827e+02] [ 9.43644375e-01 3.30840153e-01 -8.94907471e-03 7.72211839e+01] [ 9.51737691e-03 -9.77808592e-05 9.99954704e-01 1.37148455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.44, Y:77.25, Z:1.37 [[ 3.24548854e-01 -9.45863391e-01 -3.23847224e-03 1.21436085e+02] [ 9.45821059e-01 3.24564972e-01 -8.94998964e-03 7.72462081e+01] [ 9.51656220e-03 -1.58306363e-04 9.99954704e-01 1.37428249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:77.27, Z:1.37 [[ 3.20219041e-01 -9.47338004e-01 -3.23594064e-03 1.21448017e+02] [ 9.47295738e-01 3.20235329e-01 -8.95090487e-03 7.72720257e+01] [ 9.51579487e-03 -1.99142596e-04 9.99954704e-01 1.37471117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.46, Y:77.30, Z:1.38 [[ 3.15727388e-01 -9.48844435e-01 -3.23342909e-03 1.21459671e+02] [ 9.48802237e-01 3.15743852e-01 -8.95181205e-03 7.72980688e+01] [ 9.51481240e-03 -2.41552517e-04 9.99954704e-01 1.37576449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.47, Y:77.32, Z:1.38 [[ 3.11229697e-01 -9.50329225e-01 -3.23093732e-03 1.21471068e+02] [ 9.50287097e-01 3.11246338e-01 -8.95271130e-03 7.73232115e+01] [ 9.51364061e-03 -2.83968418e-04 9.99954704e-01 1.37644243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:77.35, Z:1.38 [[ 3.01807771e-01 -9.53363334e-01 -3.22830981e-03 1.21480860e+02] [ 9.53321363e-01 3.01824803e-01 -8.95365867e-03 7.73469835e+01] [ 9.51047386e-03 -3.75332937e-04 9.99954704e-01 1.37595773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:77.37, Z:1.38 [[ 3.01146198e-01 -9.53572754e-01 -3.15747638e-03 1.21495156e+02] [ 9.53530527e-01 3.01162594e-01 -8.97917125e-03 7.73733214e+01] [ 9.51320684e-03 -3.06706839e-04 9.99954701e-01 1.37791682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.51, Y:77.40, Z:1.38 [[ 2.98717921e-01 -9.54336000e-01 -3.22548356e-03 1.21505866e+02] [ 9.54294072e-01 2.98735062e-01 -8.95467502e-03 7.73997598e+01] [ 9.50933376e-03 -4.03137940e-04 9.99954704e-01 1.37798746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.52, Y:77.42, Z:1.38 [[ 2.96452429e-01 -9.55042182e-01 -3.22295742e-03 1.21516907e+02] [ 9.55000286e-01 2.96469646e-01 -8.95558413e-03 7.74244463e+01] [ 9.50846966e-03 -4.23020590e-04 9.99954704e-01 1.37749312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.53, Y:77.45, Z:1.38 [[ 2.96462545e-01 -9.55039051e-01 -3.22029326e-03 1.21527435e+02] [ 9.54997145e-01 2.96479736e-01 -8.95654202e-03 7.74506783e+01] [ 9.50859909e-03 -4.20091626e-04 9.99954704e-01 1.37813108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.297628 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:121.54, Y:77.48, Z:1.38 [[ 2.97930099e-01 -9.54582266e-01 -3.21776443e-03 1.21538321e+02] [ 9.54540323e-01 2.97947203e-01 -8.95745045e-03 7.74764830e+01] [ 9.50934725e-03 -4.02791802e-04 9.99954704e-01 1.37694828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.55, Y:77.50, Z:1.38 [[ 3.02769985e-01 -9.53058234e-01 -3.21524768e-03 1.21548466e+02] [ 9.53016196e-01 3.02786852e-01 -8.95835373e-03 7.75021576e+01] [ 9.51136752e-03 -3.51862485e-04 9.99954704e-01 1.38055456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.56, Y:77.53, Z:1.38 [[ 3.12226666e-01 -9.50002204e-01 -3.21274350e-03 1.21556902e+02] [ 9.49959991e-01 3.12243091e-01 -8.95925172e-03 7.75278310e+01] [ 9.51446584e-03 -2.54660488e-04 9.99954704e-01 1.37761889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.57, Y:77.55, Z:1.38 [[ 3.18570587e-01 -9.47893705e-01 -3.21010350e-03 1.21567169e+02] [ 9.47851374e-01 3.18586704e-01 -8.96019753e-03 7.75537505e+01] [ 9.51601113e-03 -1.88245624e-04 9.99954704e-01 1.37685148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.58, Y:77.58, Z:1.38 [[ 3.20997106e-01 -9.47074743e-01 -3.20760489e-03 1.21577496e+02] [ 9.47032362e-01 3.21013092e-01 -8.96109190e-03 7.75803564e+01] [ 9.51650698e-03 -1.61221067e-04 9.99954704e-01 1.37677179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.59, Y:77.61, Z:1.38 [[ 3.22918561e-01 -9.46421328e-01 -3.20503416e-03 1.21587626e+02] [ 9.46378905e-01 3.22934436e-01 -8.96201126e-03 7.76055932e+01] [ 9.51685450e-03 -1.39176938e-04 9.99954704e-01 1.37624942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.60, Y:77.63, Z:1.38 [[ 3.22656603e-01 -9.46510677e-01 -3.20231724e-03 1.21597176e+02] [ 9.46468249e-01 3.22672464e-01 -8.96298197e-03 7.76325473e+01] [ 9.51685773e-03 -1.38926267e-04 9.99954704e-01 1.37652041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.61, Y:77.66, Z:1.38 [[ 3.22394621e-01 -9.46599952e-01 -3.19983615e-03 1.21606718e+02] [ 9.46557520e-01 3.22410470e-01 -8.96386764e-03 7.76595041e+01] [ 9.51685736e-03 -1.38926262e-04 9.99954704e-01 1.37679150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.62, Y:77.69, Z:1.38 [[ 3.23325635e-01 -9.46282363e-01 -3.19735483e-03 1.21616940e+02] [ 9.46239906e-01 3.23341419e-01 -8.96475263e-03 7.76853141e+01] [ 9.51702455e-03 -1.26930398e-04 9.99954704e-01 1.37681557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.63, Y:77.71, Z:1.38 [[ 3.23495380e-01 -9.46224356e-01 -3.19487593e-03 1.21627270e+02] [ 9.46181887e-01 3.23511133e-01 -8.96563598e-03 7.77110758e+01] [ 9.51708106e-03 -1.22591917e-04 9.99954704e-01 1.37705785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.64, Y:77.74, Z:1.38 [[ 3.22686899e-01 -9.46500383e-01 -3.19239886e-03 1.21637901e+02] [ 9.46457919e-01 3.22702664e-01 -8.96651790e-03 7.77366296e+01] [ 9.51700824e-03 -1.28093333e-04 9.99954704e-01 1.37855238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.65, Y:77.76, Z:1.38 [[ 3.21362229e-01 -9.46950971e-01 -3.18988294e-03 1.21648904e+02] [ 9.46908521e-01 3.21378030e-01 -8.96741286e-03 7.77620240e+01] [ 9.51685862e-03 -1.38739552e-04 9.99954704e-01 1.38011637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.66, Y:77.79, Z:1.38 [[ 3.17496658e-01 -9.48254034e-01 -3.18735537e-03 1.21661529e+02] [ 9.48211639e-01 3.17512608e-01 -8.96831117e-03 7.77870932e+01] [ 9.51626276e-03 -1.74878637e-04 9.99954704e-01 1.38290281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.67, Y:77.81, Z:1.38 [[ 3.14984018e-01 -9.49091632e-01 -3.18481231e-03 1.21672404e+02] [ 9.49049270e-01 3.15000057e-01 -8.96921416e-03 7.78129848e+01] [ 9.51582216e-03 -1.97384687e-04 9.99954704e-01 1.38409105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.68, Y:77.84, Z:1.38 [[ 3.09577784e-01 -9.50868797e-01 -3.18227524e-03 1.21684298e+02] [ 9.50826518e-01 3.09594040e-01 -8.97011423e-03 7.78381141e+01] [ 9.51461517e-03 -2.48843601e-04 9.99954704e-01 1.38437208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.69, Y:77.86, Z:1.38 [[ 3.06732566e-01 -9.51790430e-01 -3.17974259e-03 1.21694696e+02] [ 9.51748191e-01 3.06748924e-01 -8.97101192e-03 7.78646900e+01] [ 9.51390590e-03 -2.74612753e-04 9.99954704e-01 1.38387842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.70, Y:77.89, Z:1.38 [[ 3.04634744e-01 -9.52463951e-01 -3.17720501e-03 1.21703871e+02] [ 9.52421739e-01 3.04651171e-01 -8.97191054e-03 7.78901863e+01] [ 9.51336059e-03 -2.92883448e-04 9.99954704e-01 1.38368401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.71, Y:77.92, Z:1.38 [[ 3.03121124e-01 -9.52946749e-01 -3.17453088e-03 1.21712919e+02] [ 9.52904553e-01 3.03137593e-01 -8.97285663e-03 7.79166391e+01] [ 9.51297421e-03 -3.05162546e-04 9.99954704e-01 1.38357216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.72, Y:77.94, Z:1.38 [[ 3.02283552e-01 -9.53212774e-01 -3.17202721e-03 1.21721768e+02] [ 9.53170583e-01 3.02300035e-01 -8.97374162e-03 7.79428119e+01] [ 9.51278908e-03 -3.10868535e-04 9.99954704e-01 1.38336037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.73, Y:77.97, Z:1.38 [[ 3.01786559e-01 -9.53370247e-01 -3.16946560e-03 1.21730846e+02] [ 9.53328055e-01 3.01803039e-01 -8.97464628e-03 7.79694277e+01] [ 9.51271509e-03 -3.13112866e-04 9.99954704e-01 1.38275035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89762800000003 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:121.74, Y:78.00, Z:1.38 [[ 3.01412975e-01 -9.53488432e-01 -3.16689866e-03 1.21737688e+02] [ 9.53446237e-01 3.01429448e-01 -8.97555198e-03 7.79957956e+01] [ 9.51268150e-03 -3.14119791e-04 9.99954704e-01 1.37825507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.75, Y:78.02, Z:1.38 [[ 3.01480914e-01 -9.53466961e-01 -3.16424804e-03 1.21746318e+02] [ 9.53424756e-01 3.01497359e-01 -8.97648634e-03 7.80218254e+01] [ 9.51279558e-03 -3.10633116e-04 9.99954704e-01 1.37994583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.76, Y:78.05, Z:1.38 [[ 3.00674361e-01 -9.53721622e-01 -3.16157051e-03 1.21755506e+02] [ 9.53679421e-01 3.00690817e-01 -8.97742928e-03 7.80484085e+01] [ 9.51262364e-03 -3.15841917e-04 9.99954704e-01 1.38009895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.76, Y:78.08, Z:1.38 [[ 2.99619924e-01 -9.54053417e-01 -3.15904600e-03 1.21764366e+02] [ 9.54011224e-01 2.99636402e-01 -8.97831754e-03 7.80751731e+01] [ 9.51235970e-03 -3.23682526e-04 9.99954704e-01 1.37986661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.77, Y:78.10, Z:1.38 [[ 2.98135181e-01 -9.54518439e-01 -3.15652401e-03 1.21771964e+02] [ 9.54476263e-01 2.98151701e-01 -8.97920411e-03 7.81014916e+01] [ 9.51193890e-03 -3.35810599e-04 9.99954704e-01 1.37968104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.78, Y:78.13, Z:1.38 [[ 2.97617904e-01 -9.54679861e-01 -3.15386703e-03 1.21780491e+02] [ 9.54637684e-01 2.97634422e-01 -8.98013726e-03 7.81284844e+01] [ 9.51185558e-03 -3.38150697e-04 9.99954704e-01 1.37983936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.79, Y:78.16, Z:1.38 [[ 2.97691105e-01 -9.54657046e-01 -3.15137070e-03 1.21789504e+02] [ 9.54614859e-01 2.97707596e-01 -8.98101320e-03 7.81551368e+01] [ 9.51197453e-03 -3.34777559e-04 9.99954704e-01 1.38070021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.80, Y:78.18, Z:1.38 [[ 2.98226896e-01 -9.54489813e-01 -3.14888283e-03 1.21798427e+02] [ 9.54447607e-01 2.98243341e-01 -8.98188540e-03 7.81815888e+01] [ 9.51225145e-03 -3.26803874e-04 9.99954704e-01 1.38096452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.81, Y:78.21, Z:1.38 [[ 3.00020395e-01 -9.53927598e-01 -3.14640634e-03 1.21807802e+02] [ 9.53885353e-01 3.00036737e-01 -8.98275285e-03 7.82075519e+01] [ 9.51293334e-03 -3.06301858e-04 9.99954704e-01 1.38020841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.82, Y:78.23, Z:1.38 [[ 3.01490038e-01 -9.53464143e-01 -3.14394932e-03 1.21816927e+02] [ 9.53421864e-01 3.01506291e-01 -8.98361272e-03 7.82333321e+01] [ 9.51347310e-03 -2.89040285e-04 9.99954704e-01 1.37900720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.83, Y:78.26, Z:1.38 [[ 3.03269541e-01 -9.52899634e-01 -3.14215632e-03 1.21825868e+02] [ 9.52857318e-01 3.03285699e-01 -8.98423980e-03 7.82599205e+01] [ 9.51404989e-03 -2.69380359e-04 9.99954704e-01 1.37830306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.83, Y:78.29, Z:1.38 [[ 3.08591949e-01 -9.51189335e-01 -3.13973652e-03 1.21834536e+02] [ 9.51146921e-01 3.08607847e-01 -8.98508537e-03 7.82861284e+01] [ 9.51546471e-03 -2.13625719e-04 9.99954704e-01 1.38010147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.84, Y:78.31, Z:1.38 [[ 3.11288997e-01 -9.50310117e-01 -3.13705779e-03 1.21843291e+02] [ 9.50267649e-01 3.11304750e-01 -8.98602053e-03 7.83119321e+01] [ 9.51608721e-03 -1.83795206e-04 9.99954704e-01 1.38104220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.85, Y:78.34, Z:1.38 [[ 3.14189176e-01 -9.49355219e-01 -3.13521928e-03 1.21852545e+02] [ 9.49312696e-01 3.14204781e-01 -8.98666194e-03 7.83387650e+01] [ 9.51663530e-03 -1.52791557e-04 9.99954704e-01 1.38339855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.86, Y:78.36, Z:1.38 [[ 3.17177893e-01 -9.48360886e-01 -3.13266063e-03 1.21861343e+02] [ 9.48318306e-01 3.17193340e-01 -8.98755377e-03 7.83648254e+01] [ 9.51710355e-03 -1.20106053e-04 9.99954704e-01 1.38496459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.87, Y:78.39, Z:1.39 [[ 3.22976241e-01 -9.46401897e-01 -3.12995510e-03 1.21870636e+02] [ 9.46359214e-01 3.22991402e-01 -8.98849589e-03 7.83910134e+01] [ 9.51767814e-03 -5.89912319e-05 9.99954704e-01 1.38753196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.88, Y:78.42, Z:1.39 [[ 3.25970644e-01 -9.45374718e-01 -3.12774902e-03 1.21880368e+02] [ 9.45331979e-01 3.25985648e-01 -8.98926347e-03 7.84169467e+01] [ 9.51782371e-03 -2.65251716e-05 9.99954704e-01 1.38988947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.89, Y:78.44, Z:1.39 [[ 3.28372517e-01 -9.44543129e-01 -3.12523072e-03 1.21890153e+02] [ 9.44500344e-01 3.28387388e-01 -8.99013891e-03 7.84434528e+01] [ 9.51786029e-03 3.33053816e-07 9.99954704e-01 1.39110270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.90, Y:78.47, Z:1.39 [[ 3.32726591e-01 -9.43018168e-01 -3.12270941e-03 1.21900205e+02] [ 9.42975306e-01 3.32741241e-01 -8.99101460e-03 7.84699983e+01] [ 9.51774431e-03 4.69117753e-05 9.99954704e-01 1.39228084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.91, Y:78.50, Z:1.39 [[ 3.34108668e-01 -9.42529396e-01 -3.12012236e-03 1.21909155e+02] [ 9.42486505e-01 3.34123230e-01 -8.99191228e-03 7.84954923e+01] [ 9.51764702e-03 6.36026127e-05 9.99954704e-01 1.39178035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.92, Y:78.52, Z:1.39 [[ 3.35272828e-01 -9.42115923e-01 -3.11739479e-03 1.21918508e+02] [ 9.42073005e-01 3.35287312e-01 -8.99285780e-03 7.85220572e+01] [ 9.51753745e-03 7.82473897e-05 9.99954704e-01 1.39169677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.93, Y:78.55, Z:1.39 [[ 3.35010548e-01 -9.42209228e-01 -3.11489703e-03 1.21927792e+02] [ 9.42166307e-01 3.35025020e-01 -8.99372288e-03 7.85491087e+01] [ 9.51753713e-03 7.82410033e-05 9.99954704e-01 1.39196787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.94, Y:78.57, Z:1.39 [[ 3.35484731e-01 -9.42040503e-01 -3.11239299e-03 1.21936858e+02] [ 9.41997565e-01 3.35499157e-01 -8.99458935e-03 7.85747632e+01] [ 9.51747269e-03 8.56807643e-05 9.99954704e-01 1.39156470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.95, Y:78.60, Z:1.39 [[ 3.35219279e-01 -9.42135003e-01 -3.10975320e-03 1.21946401e+02] [ 9.42092062e-01 3.35233692e-01 -8.99550193e-03 7.86008638e+01] [ 9.51747128e-03 8.57918662e-05 9.99954704e-01 1.39122558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.96, Y:78.63, Z:1.39 [[ 3.34052319e-01 -9.42549412e-01 -3.10728476e-03 1.21955926e+02] [ 9.42506480e-01 3.34066761e-01 -8.99635451e-03 7.86273235e+01] [ 9.51754921e-03 7.66170572e-05 9.99954704e-01 1.39102145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.97, Y:78.65, Z:1.39 [[ 3.30135317e-01 -9.43928511e-01 -3.10470583e-03 1.21966338e+02] [ 9.43885631e-01 3.30149913e-01 -8.99724443e-03 7.86523461e+01] [ 9.51777390e-03 3.98209219e-05 9.99954704e-01 1.38935159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.98, Y:78.68, Z:1.39 [[ 3.27114111e-01 -9.44979754e-01 -3.10202370e-03 1.21976358e+02] [ 9.44936913e-01 3.27128819e-01 -8.99816907e-03 7.86775314e+01] [ 9.51784894e-03 1.22113795e-05 9.99954704e-01 1.38909101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.99, Y:78.70, Z:1.39 [[ 3.23719916e-01 -9.46147879e-01 -3.09938633e-03 1.21986937e+02] [ 9.46105082e-01 3.23734753e-01 -8.99907741e-03 7.87039967e+01] [ 9.51783707e-03 -1.91645795e-05 9.99954704e-01 1.38977680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.00, Y:78.73, Z:1.39 [[ 3.20200244e-01 -9.47344823e-01 -3.09685450e-03 1.21997469e+02] [ 9.47302073e-01 3.20215215e-01 -8.99994860e-03 7.87299026e+01] [ 9.51771464e-03 -5.18709489e-05 9.99954704e-01 1.39019832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.01, Y:78.76, Z:1.39 [[ 3.13231675e-01 -9.49671703e-01 -3.09432797e-03 1.22009236e+02] [ 9.49629055e-01 3.13246936e-01 -9.00081718e-03 7.87557407e+01] [ 9.51711013e-03 -1.19122701e-04 9.99954704e-01 1.39108349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.02, Y:78.78, Z:1.39 [[ 3.10114446e-01 -9.50694205e-01 -3.09178259e-03 1.22019104e+02] [ 9.50651599e-01 3.10129823e-01 -9.00169143e-03 7.87809277e+01] [ 9.51670987e-03 -1.47653509e-04 9.99954704e-01 1.39101851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.03, Y:78.81, Z:1.39 [[ 3.06930575e-01 -9.51726891e-01 -3.08992914e-03 1.22028501e+02] [ 9.51684330e-01 3.06946077e-01 -9.00232760e-03 7.88073516e+01] [ 9.51619889e-03 -1.77547560e-04 9.99954704e-01 1.39160090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:78.83, Z:1.39 [[ 3.04625244e-01 -9.52467285e-01 -3.08740256e-03 1.22037394e+02] [ 9.52424753e-01 3.04640825e-01 -9.00319403e-03 7.88325867e+01] [ 9.51579663e-03 -1.97918443e-04 9.99954704e-01 1.39137783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.05, Y:78.86, Z:1.39 [[ 3.01803283e-01 -9.53365231e-01 -3.08473984e-03 1.22045994e+02] [ 9.53322736e-01 3.01818965e-01 -9.00410626e-03 7.88587503e+01] [ 9.51523482e-03 -2.23283799e-04 9.99954704e-01 1.39284518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.05, Y:78.89, Z:1.39 [[ 3.01167430e-01 -9.53566295e-01 -3.08215521e-03 1.22054402e+02] [ 9.53523802e-01 3.01183115e-01 -9.00499090e-03 7.88856000e+01] [ 9.51514892e-03 -2.26898388e-04 9.99954704e-01 1.39400627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.06, Y:78.91, Z:1.39 [[ 3.00549381e-01 -9.53761283e-01 -3.07963312e-03 1.22062332e+02] [ 9.53718791e-01 3.00565070e-01 -9.00585336e-03 7.89127167e+01] [ 9.51506440e-03 -2.30400323e-04 9.99954704e-01 1.39424211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.07, Y:78.94, Z:1.39 [[ 2.99855811e-01 -9.53979572e-01 -3.07708632e-03 1.22070469e+02] [ 9.53937083e-01 2.99871507e-01 -9.00672345e-03 7.89395446e+01] [ 9.51496070e-03 -2.34628387e-04 9.99954704e-01 1.39457445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.08, Y:78.97, Z:1.39 [[ 2.98506218e-01 -9.54402737e-01 -3.07454955e-03 1.22077727e+02] [ 9.54360261e-01 2.98521951e-01 -9.00758932e-03 7.89659610e+01] [ 9.51468844e-03 -2.45406490e-04 9.99954704e-01 1.39459835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:78.99, Z:1.39 [[ 2.97727718e-01 -9.54645887e-01 -3.07187555e-03 1.22085868e+02] [ 9.54603415e-01 2.97743460e-01 -9.00850115e-03 7.89932546e+01] [ 9.51455943e-03 -2.50342400e-04 9.99954704e-01 1.39455309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:79.02, Z:1.39 [[ 2.97026199e-01 -9.54864396e-01 -3.06948912e-03 1.22093902e+02] [ 9.54821927e-01 2.97041949e-01 -9.00931421e-03 7.90202719e+01] [ 9.51444041e-03 -2.54813162e-04 9.99954704e-01 1.39487942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.10, Y:79.05, Z:1.40 [[ 2.96512780e-01 -9.55023960e-01 -3.06705632e-03 1.22101660e+02] [ 9.54981491e-01 2.96528530e-01 -9.01014234e-03 7.90470052e+01] [ 9.51437152e-03 -2.57359665e-04 9.99954704e-01 1.39555563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.11, Y:79.07, Z:1.39 [[ 2.95873405e-01 -9.55222245e-01 -3.06457531e-03 1.22106810e+02] [ 9.55179777e-01 2.95889160e-01 -9.01098611e-03 7.90738484e+01] [ 9.51426900e-03 -2.61109220e-04 9.99954704e-01 1.39429418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.11, Y:79.10, Z:1.39 [[ 2.95352417e-01 -9.55383470e-01 -3.06196620e-03 1.22113414e+02] [ 9.55341002e-01 2.95368171e-01 -9.01187261e-03 7.91003996e+01] [ 9.51420148e-03 -2.63543501e-04 9.99954704e-01 1.39355103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.12, Y:79.13, Z:1.39 [[ 2.94841361e-01 -9.55541316e-01 -3.06017602e-03 1.22120871e+02] [ 9.55498851e-01 2.94857120e-01 -9.01248046e-03 7.91274997e+01] [ 9.51411214e-03 -2.66742667e-04 9.99954704e-01 1.39345169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.13, Y:79.15, Z:1.39 [[ 2.94117803e-01 -9.55764285e-01 -3.05775003e-03 1.22128464e+02] [ 9.55721822e-01 2.94133573e-01 -9.01330348e-03 7.91546567e+01] [ 9.51398049e-03 -2.71385408e-04 9.99954704e-01 1.39397711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24762800000002 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:122.14, Y:79.18, Z:1.39 [[ 2.93301561e-01 -9.56015094e-01 -3.05534100e-03 1.22136133e+02] [ 9.55972636e-01 2.93317344e-01 -9.01412002e-03 7.91812334e+01] [ 9.51381930e-03 -2.76966914e-04 9.99954704e-01 1.39240569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:79.21, Z:1.40 [[ 2.94571539e-01 -9.55624554e-01 -3.05294647e-03 1.22141942e+02] [ 9.55582068e-01 2.94587242e-01 -9.01493094e-03 7.92072705e+01] [ 9.51424844e-03 -2.61798819e-04 9.99954704e-01 1.39638375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:79.23, Z:1.40 [[ 2.95508493e-01 -9.55335240e-01 -3.05133765e-03 1.22148727e+02] [ 9.55292732e-01 2.95524140e-01 -9.01547545e-03 7.92322274e+01] [ 9.51454533e-03 -2.50771119e-04 9.99954704e-01 1.39724400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:79.26, Z:1.40 [[ 2.96824142e-01 -9.54927293e-01 -3.04854039e-03 1.22155916e+02] [ 9.54884755e-01 2.96839704e-01 -9.01642123e-03 7.92590655e+01] [ 9.51495455e-03 -2.34713241e-04 9.99954704e-01 1.39874583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:79.29, Z:1.40 [[ 3.00052751e-01 -9.53917747e-01 -3.04600832e-03 1.22160350e+02] [ 9.53875147e-01 3.00068145e-01 -9.01727656e-03 7.92859684e+01] [ 9.51575021e-03 -1.99852998e-04 9.99954704e-01 1.39914560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.17, Y:79.31, Z:1.40 [[ 3.02017398e-01 -9.53297553e-01 -3.04415894e-03 1.22167360e+02] [ 9.53254915e-01 3.02032687e-01 -9.01790085e-03 7.93127599e+01] [ 9.51617832e-03 -1.78296518e-04 9.99954704e-01 1.39932712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.17, Y:79.34, Z:1.40 [[ 3.04212444e-01 -9.52599358e-01 -3.04165997e-03 1.22174537e+02] [ 9.52556677e-01 3.04227611e-01 -9.01874365e-03 7.93391978e+01] [ 9.51660636e-03 -1.53739463e-04 9.99954704e-01 1.39917611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.18, Y:79.37, Z:1.40 [[ 3.08825671e-01 -9.51113805e-01 -3.03902138e-03 1.22180774e+02] [ 9.51071042e-01 3.08840606e-01 -9.01963268e-03 7.93669582e+01] [ 9.51727036e-03 -1.04831112e-04 9.99954704e-01 1.39892026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.19, Y:79.39, Z:1.40 [[ 3.10867150e-01 -9.50448523e-01 -3.03659206e-03 1.22187907e+02] [ 9.50405720e-01 3.10881970e-01 -9.02045048e-03 7.93943905e+01] [ 9.51749555e-03 -8.18327231e-05 9.99954704e-01 1.39856062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.19, Y:79.42, Z:1.40 [[ 3.12997346e-01 -9.49749154e-01 -3.03412120e-03 1.22194557e+02] [ 9.49706310e-01 3.13012047e-01 -9.02128150e-03 7.94204982e+01] [ 9.51767096e-03 -5.78868831e-05 9.99954704e-01 1.39751540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.20, Y:79.45, Z:1.40 [[ 3.15108734e-01 -9.49050734e-01 -3.03151757e-03 1.22201698e+02] [ 9.49007849e-01 3.15123314e-01 -9.02215634e-03 7.94473699e+01] [ 9.51778596e-03 -3.39737085e-05 9.99954704e-01 1.39695975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.21, Y:79.47, Z:1.40 [[ 3.18642344e-01 -9.47870182e-01 -3.02905970e-03 1.22207733e+02] [ 9.47827235e-01 3.18656741e-01 -9.02298146e-03 7.94744671e+01] [ 9.51784537e-03 4.07868375e-06 9.99954704e-01 1.39564528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.22, Y:79.50, Z:1.40 [[ 3.19746286e-01 -9.47498365e-01 -3.02661949e-03 1.22215810e+02] [ 9.47455394e-01 3.19760610e-01 -9.02379992e-03 7.95010385e+01] [ 9.51782936e-03 1.77395497e-05 9.99954704e-01 1.39634355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.22, Y:79.53, Z:1.40 [[ 3.20727410e-01 -9.47166714e-01 -3.02407945e-03 1.22224243e+02] [ 9.47123719e-01 3.20741665e-01 -9.02465106e-03 7.95279623e+01] [ 9.51779736e-03 3.02755836e-05 9.99954704e-01 1.39701338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.23, Y:79.55, Z:1.40 [[ 3.21402478e-01 -9.46937864e-01 -3.02150683e-03 1.22232568e+02] [ 9.46894851e-01 3.21416678e-01 -9.02551231e-03 7.95533489e+01] [ 9.51776203e-03 3.97727556e-05 9.99954704e-01 1.39756060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.24, Y:79.58, Z:1.40 [[ 3.21712791e-01 -9.46832489e-01 -3.01962630e-03 1.22241238e+02] [ 9.46789466e-01 3.21726959e-01 -9.02614142e-03 7.95797125e+01] [ 9.51773913e-03 4.48747778e-05 9.99954704e-01 1.39860429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.25, Y:79.61, Z:1.40 [[ 3.21785899e-01 -9.46807654e-01 -3.01703047e-03 1.22249718e+02] [ 9.46764621e-01 3.21800038e-01 -9.02700901e-03 7.96051753e+01] [ 9.51772174e-03 4.83464967e-05 9.99954704e-01 1.39946807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.26, Y:79.63, Z:1.40 [[ 3.21562379e-01 -9.46883598e-01 -3.01469570e-03 1.22258892e+02] [ 9.46840562e-01 3.21576506e-01 -9.02778867e-03 7.96318589e+01] [ 9.51772033e-03 4.85610323e-05 9.99954704e-01 1.40000377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.27, Y:79.66, Z:1.40 [[ 3.21420341e-01 -9.46931830e-01 -3.01215363e-03 1.22267975e+02] [ 9.46888788e-01 3.21434451e-01 -9.02863676e-03 7.96581177e+01] [ 9.51771348e-03 4.98130056e-05 9.99954704e-01 1.40032312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.28, Y:79.68, Z:1.40 [[ 3.20974789e-01 -9.47082957e-01 -3.00958873e-03 1.22276652e+02] [ 9.47039913e-01 3.20988895e-01 -9.02949166e-03 7.96834106e+01] [ 9.51772222e-03 4.80385258e-05 9.99954704e-01 1.40021959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.29, Y:79.71, Z:1.40 [[ 3.20387849e-01 -9.47281682e-01 -3.00688297e-03 1.22285895e+02] [ 9.47238639e-01 3.20401955e-01 -9.03039261e-03 7.97101518e+01] [ 9.51773668e-03 4.49923289e-05 9.99954704e-01 1.39923135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.29, Y:79.74, Z:1.40 [[ 3.20031695e-01 -9.47402073e-01 -3.00432173e-03 1.22294831e+02] [ 9.47359027e-01 3.20045794e-01 -9.03124463e-03 7.97370147e+01] [ 9.51774041e-03 4.41132204e-05 9.99954704e-01 1.39861803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.30, Y:79.76, Z:1.40 [[ 3.19080506e-01 -9.47722860e-01 -3.00178242e-03 1.22303167e+02] [ 9.47679821e-01 3.19094623e-01 -9.03208855e-03 7.97630830e+01] [ 9.51776943e-03 3.72347549e-05 9.99954704e-01 1.39785615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:79.79, Z:1.40 [[ 3.17925116e-01 -9.48111083e-01 -2.99910405e-03 1.22312088e+02] [ 9.48068053e-01 3.17939260e-01 -9.03297782e-03 7.97897843e+01] [ 9.51779931e-03 2.84557867e-05 9.99954704e-01 1.39819728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.32, Y:79.82, Z:1.40 [[ 3.14550345e-01 -9.49236062e-01 -2.99653635e-03 1.22321411e+02] [ 9.49193074e-01 3.14564618e-01 -9.03382953e-03 7.98153118e+01] [ 9.51784108e-03 -2.69735775e-06 9.99954704e-01 1.39778528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:79.84, Z:1.40 [[ 3.11808514e-01 -9.50140244e-01 -2.99465693e-03 1.22331010e+02] [ 9.50097291e-01 3.11822893e-01 -9.03445250e-03 7.98412671e+01] [ 9.51779949e-03 -2.81962266e-05 9.99954704e-01 1.39833186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:79.87, Z:1.40 [[ 3.08501810e-01 -9.51219050e-01 -2.99212134e-03 1.22340788e+02] [ 9.51176139e-01 3.08516314e-01 -9.03529219e-03 7.98671286e+01] [ 9.51766030e-03 -5.86304355e-05 9.99954704e-01 1.39857437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:79.89, Z:1.40 [[ 3.04703124e-01 -9.52442685e-01 -2.98959752e-03 1.22350721e+02] [ 9.52399825e-01 3.04717775e-01 -9.03612719e-03 7.98937998e+01] [ 9.51737675e-03 -9.39559748e-05 9.99954704e-01 1.39891304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08762800000002 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:122.36, Y:79.92, Z:1.40 [[ 3.00508351e-01 -9.53774506e-01 -2.98707224e-03 1.22360058e+02] [ 9.53731702e-01 3.00523167e-01 -9.03696190e-03 7.99192488e+01] [ 9.51690828e-03 -1.33182970e-04 9.99954704e-01 1.39736237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:79.95, Z:1.40 [[ 2.92359622e-01 -9.56303790e-01 -2.98522844e-03 1.22370731e+02] [ 9.56261108e-01 2.92374786e-01 -9.03757093e-03 7.99454250e+01] [ 9.51546886e-03 -2.12437037e-04 9.99954704e-01 1.40013909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.38, Y:79.97, Z:1.40 [[ 2.88249170e-01 -9.57550792e-01 -2.98279288e-03 1.22380223e+02] [ 9.57508167e-01 2.88264494e-01 -9.03837470e-03 7.99712671e+01] [ 9.51453613e-03 -2.50744536e-04 9.99954704e-01 1.40083128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.39, Y:80.00, Z:1.40 [[ 2.84265264e-01 -9.58741038e-01 -2.98009896e-03 1.22389370e+02] [ 9.58698468e-01 2.84280739e-01 -9.03926284e-03 7.99969489e+01] [ 9.51349698e-03 -2.87467872e-04 9.99954704e-01 1.40098000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.40, Y:80.02, Z:1.40 [[ 2.78318724e-01 -9.60484158e-01 -2.97825470e-03 1.22399823e+02] [ 9.60441678e-01 2.78334446e-01 -9.03987044e-03 8.00233194e+01] [ 9.51160322e-03 -3.44474735e-04 9.99954704e-01 1.40287101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:80.05, Z:1.40 [[ 2.76285937e-01 -9.61070875e-01 -2.97573632e-03 1.22408605e+02] [ 9.61028419e-01 2.76301725e-01 -9.04069937e-03 8.00488870e+01] [ 9.51095393e-03 -3.61949076e-04 9.99954704e-01 1.40366904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.42, Y:80.08, Z:1.40 [[ 2.74905568e-01 -9.61466635e-01 -2.97308650e-03 1.22417108e+02] [ 9.61424193e-01 2.74921391e-01 -9.04157069e-03 8.00753253e+01] [ 9.51053362e-03 -3.72819169e-04 9.99954704e-01 1.40449042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.42, Y:80.10, Z:1.40 [[ 2.74402884e-01 -9.61610230e-01 -2.97051730e-03 1.22424869e+02] [ 9.61567787e-01 2.74418705e-01 -9.04241470e-03 8.01012605e+01] [ 9.51044399e-03 -3.75089080e-04 9.99954704e-01 1.40413828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.43, Y:80.13, Z:1.40 [[ 2.75187647e-01 -9.61385951e-01 -2.96864320e-03 1.22431730e+02] [ 9.61343489e-01 2.75203416e-01 -9.04302993e-03 8.01284622e+01] [ 9.51082267e-03 -3.65355680e-04 9.99954704e-01 1.40298432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.44, Y:80.15, Z:1.40 [[ 2.75784440e-01 -9.61214932e-01 -2.96601295e-03 1.22439671e+02] [ 9.61172451e-01 2.75800158e-01 -9.04389254e-03 8.01549069e+01] [ 9.51115139e-03 -3.56685099e-04 9.99954704e-01 1.40216303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.45, Y:80.18, Z:1.40 [[ 2.76366994e-01 -9.61047607e-01 -2.96340288e-03 1.22447671e+02] [ 9.61005107e-01 2.76382662e-01 -9.04474770e-03 8.01814370e+01] [ 9.51146631e-03 -3.48175566e-04 9.99954704e-01 1.40199829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.46, Y:80.21, Z:1.40 [[ 2.76827864e-01 -9.60914963e-01 -2.96090518e-03 1.22455665e+02] [ 9.60872448e-01 2.76843488e-01 -9.04556527e-03 8.02082767e+01] [ 9.51172634e-03 -3.40987697e-04 9.99954704e-01 1.40304138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.46, Y:80.24, Z:1.40 [[ 2.76553493e-01 -9.60993972e-01 -2.95832215e-03 1.22464496e+02] [ 9.60951452e-01 2.76569105e-01 -9.04640997e-03 8.02354743e+01] [ 9.51172595e-03 -3.40987683e-04 9.99954704e-01 1.40331247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.47, Y:80.26, Z:1.40 [[ 2.76880228e-01 -9.60899892e-01 -2.95573887e-03 1.22472427e+02] [ 9.60857358e-01 2.76895801e-01 -9.04725392e-03 8.02624904e+01] [ 9.51193700e-03 -3.35037720e-04 9.99954704e-01 1.40356062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.48, Y:80.29, Z:1.40 [[ 2.78364158e-01 -9.60471069e-01 -2.95317061e-03 1.22479112e+02] [ 9.60428502e-01 2.78379642e-01 -9.04809217e-03 8.02900781e+01] [ 9.51253333e-03 -3.17644665e-04 9.99954704e-01 1.40379315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.49, Y:80.32, Z:1.40 [[ 2.79333212e-01 -9.60189695e-01 -2.95061221e-03 1.22486585e+02] [ 9.60147104e-01 2.79348629e-01 -9.04892640e-03 8.03167715e+01] [ 9.51293535e-03 -3.05356087e-04 9.99954704e-01 1.40357546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.49, Y:80.34, Z:1.40 [[ 2.80311561e-01 -9.59904546e-01 -2.94806231e-03 1.22494610e+02] [ 9.59861930e-01 2.80326910e-01 -9.04975705e-03 8.03440826e+01] [ 9.51332414e-03 -2.92981250e-04 9.99954704e-01 1.40404699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.50, Y:80.37, Z:1.40 [[ 2.81275512e-01 -9.59622536e-01 -2.94550530e-03 1.22502088e+02] [ 9.59579896e-01 2.81290794e-01 -9.05058923e-03 8.03696640e+01] [ 9.51369291e-03 -2.80738549e-04 9.99954704e-01 1.40453879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.62762800000002 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:122.51, Y:80.40, Z:1.40 [[ 2.82407897e-01 -9.59289904e-01 -2.94281067e-03 1.22509741e+02] [ 9.59247237e-01 2.82423103e-01 -9.05146531e-03 8.03956579e+01] [ 9.51409701e-03 -2.66677717e-04 9.99954704e-01 1.40354567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.52, Y:80.42, Z:1.40 [[ 2.85986776e-01 -9.58229054e-01 -2.94014828e-03 1.22516383e+02] [ 9.58186322e-01 2.86001798e-01 -9.05233004e-03 8.04234006e+01] [ 9.51509334e-03 -2.28363181e-04 9.99954704e-01 1.40427224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.52, Y:80.45, Z:1.40 [[ 2.87820911e-01 -9.57679745e-01 -2.93760552e-03 1.22524499e+02] [ 9.57636976e-01 2.87835827e-01 -9.05315512e-03 8.04507590e+01] [ 9.51557140e-03 -2.07472311e-04 9.99954704e-01 1.40431949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.53, Y:80.48, Z:1.40 [[ 2.89613103e-01 -9.57139298e-01 -2.93506406e-03 1.22532518e+02] [ 9.57096493e-01 2.89627915e-01 -9.05397900e-03 8.04771335e+01] [ 9.51599559e-03 -1.86988563e-04 9.99954704e-01 1.40415599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.54, Y:80.50, Z:1.41 [[ 2.93273412e-01 -9.56024114e-01 -2.93238345e-03 1.22540610e+02] [ 9.55981244e-01 2.93288035e-01 -9.05484710e-03 8.05035892e+01] [ 9.51668516e-03 -1.47757672e-04 9.99954704e-01 1.40508239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.55, Y:80.53, Z:1.41 [[ 2.94451307e-01 -9.55661993e-01 -2.92981652e-03 1.22549015e+02] [ 9.55619096e-01 2.94465852e-01 -9.05567759e-03 8.05305096e+01] [ 9.51689781e-03 -1.33332505e-04 9.99954704e-01 1.40556245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.55, Y:80.55, Z:1.41 [[ 2.90548423e-01 -9.56855812e-01 -2.92724049e-03 1.22550081e+02] [ 9.56812967e-01 2.90563119e-01 -9.05651022e-03 8.05526371e+01] [ 9.51632256e-03 -1.69466899e-04 9.99954704e-01 1.40696226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.56, Y:80.58, Z:1.41 [[ 2.92692525e-01 -9.56202607e-01 -2.76778837e-03 1.22560225e+02] [ 9.56159229e-01 2.92705610e-01 -9.10794722e-03 8.05801075e+01] [ 9.51919006e-03 1.93816703e-05 9.99954691e-01 1.40711397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.57, Y:80.61, Z:1.41 [[ 2.97934516e-01 -9.54582198e-01 -2.80198659e-03 1.22574359e+02] [ 9.54538852e-01 2.97947689e-01 -9.09691997e-03 8.06092347e+01] [ 9.51860329e-03 3.56813805e-05 9.99954696e-01 1.40717887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.58, Y:80.63, Z:1.41 [[ 2.98248088e-01 -9.54483909e-01 -2.92343811e-03 1.22583101e+02] [ 9.54440934e-01 2.98262402e-01 -9.05772078e-03 8.06344272e+01] [ 9.51740041e-03 -8.88011037e-05 9.99954705e-01 1.40702081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.59, Y:80.66, Z:1.41 [[ 2.98583258e-01 -9.54379120e-01 -2.92108571e-03 1.22592367e+02] [ 9.54336134e-01 2.98597534e-01 -9.05847936e-03 8.06607357e+01] [ 9.51745255e-03 -8.29873687e-05 9.99954705e-01 1.40779607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.60, Y:80.69, Z:1.41 [[ 2.98599679e-01 -9.54373990e-01 -2.91856092e-03 1.22601509e+02] [ 9.54330996e-01 2.98613931e-01 -9.05929275e-03 8.06867481e+01] [ 9.51747632e-03 -8.01712424e-05 9.99954705e-01 1.40797911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.61, Y:80.71, Z:1.41 [[ 2.98971971e-01 -9.54257438e-01 -2.91589580e-03 1.22612175e+02] [ 9.54214429e-01 2.98986181e-01 -9.06015049e-03 8.07133238e+01] [ 9.51752854e-03 -7.36587939e-05 9.99954705e-01 1.40866967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.61, Y:80.74, Z:1.41 [[ 2.95342218e-01 -9.55387087e-01 -2.91335487e-03 1.22614758e+02] [ 9.55344125e-01 2.95356568e-01 -9.06096747e-03 8.07361478e+01] [ 9.51720981e-03 -1.07170227e-04 9.99954705e-01 1.40892052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.63, Y:80.77, Z:1.41 [[ 2.99696395e-01 -9.54030599e-01 -2.77269263e-03 1.22630926e+02] [ 9.53987143e-01 2.99709209e-01 -9.10610713e-03 8.07655915e+01] [ 9.51850636e-03 8.39543521e-05 9.99954694e-01 1.40783135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:80.79, Z:1.41 [[ 2.99846625e-01 -9.53982980e-01 -2.91117827e-03 1.22640445e+02] [ 9.53939944e-01 2.99860751e-01 -9.06161668e-03 8.07920846e+01] [ 9.51757619e-03 -5.99940612e-05 9.99954705e-01 1.40754198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.65, Y:80.82, Z:1.41 [[ 3.00050566e-01 -9.53918863e-01 -2.90860818e-03 1.22651652e+02] [ 9.53875816e-01 3.00064658e-01 -9.06244156e-03 8.08170016e+01] [ 9.51760447e-03 -5.52602866e-05 9.99954705e-01 1.40601300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.66, Y:80.84, Z:1.41 [[ 2.99695642e-01 -9.54030436e-01 -2.90673027e-03 1.22662215e+02] [ 9.53987389e-01 2.99709732e-01 -9.06304385e-03 8.08432057e+01] [ 9.51759503e-03 -5.68292786e-05 9.99954705e-01 1.40632915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:80.87, Z:1.41 [[ 2.99203002e-01 -9.54185060e-01 -2.90421214e-03 1.22672818e+02] [ 9.54142012e-01 2.99217090e-01 -9.06385070e-03 8.08692370e+01] [ 9.51758083e-03 -5.90994831e-05 9.99954705e-01 1.40650511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.197628 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:122.68, Y:80.90, Z:1.41 [[ 2.98668027e-01 -9.54352655e-01 -2.90169410e-03 1.22683708e+02] [ 9.54309607e-01 2.98682116e-01 -9.06465675e-03 8.08957292e+01] [ 9.51756337e-03 -6.17914138e-05 9.99954705e-01 1.40518460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.227628 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:122.69, Y:80.92, Z:1.40 [[ 2.98011823e-01 -9.54557776e-01 -2.89916426e-03 1.22693845e+02] [ 9.54514730e-01 2.98025918e-01 -9.06546580e-03 8.09207542e+01] [ 9.51753696e-03 -6.56790029e-05 9.99954705e-01 1.40401530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.71, Y:80.95, Z:1.41 [[ 2.96697621e-01 -9.54967084e-01 -2.89651108e-03 1.22707228e+02] [ 9.54924049e-01 2.96711750e-01 -9.06631344e-03 8.09459467e+01] [ 9.51745978e-03 -7.59944518e-05 9.99954705e-01 1.40578308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.72, Y:80.97, Z:1.41 [[ 2.95411391e-01 -9.55365760e-01 -2.89402767e-03 1.22718664e+02] [ 9.55322736e-01 2.95425554e-01 -9.06710609e-03 8.09720356e+01] [ 9.51737243e-03 -8.62040081e-05 9.99954705e-01 1.40732951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:81.00, Z:1.41 [[ 2.94432797e-01 -9.55667812e-01 -2.89147111e-03 1.22729703e+02] [ 9.55624795e-01 2.94446980e-01 -9.06792130e-03 8.09973995e+01] [ 9.51730544e-03 -9.32680530e-05 9.99954705e-01 1.40814970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.74, Y:81.02, Z:1.41 [[ 2.93084668e-01 -9.56082124e-01 -2.88960858e-03 1.22743657e+02] [ 9.56039121e-01 2.93098894e-01 -9.06851478e-03 8.10223685e+01] [ 9.51718595e-03 -1.04736199e-04 9.99954705e-01 1.41103961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.75, Y:81.05, Z:1.41 [[ 2.92288535e-01 -9.56325821e-01 -2.88720535e-03 1.22754308e+02] [ 9.56282823e-01 2.92302773e-01 -9.06927985e-03 8.10471228e+01] [ 9.51712463e-03 -1.10138366e-04 9.99954705e-01 1.41159675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:81.07, Z:1.41 [[ 2.91706362e-01 -9.56503569e-01 -2.88452886e-03 1.22765499e+02] [ 9.56460571e-01 2.91720601e-01 -9.07013104e-03 8.10726901e+01] [ 9.51708920e-03 -1.13123199e-04 9.99954705e-01 1.41353731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.78, Y:81.10, Z:1.41 [[ 2.90749952e-01 -9.56794732e-01 -2.88202416e-03 1.22776231e+02] [ 9.56751740e-01 2.90764211e-01 -9.07092683e-03 8.10987503e+01] [ 9.51700449e-03 -1.20010090e-04 9.99954705e-01 1.41467479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.79, Y:81.12, Z:1.42 [[ 2.90395054e-01 -9.56902514e-01 -2.87943450e-03 1.22789011e+02] [ 9.56859519e-01 2.90409304e-01 -9.07174881e-03 8.11229684e+01] [ 9.51699381e-03 -1.20823332e-04 9.99954705e-01 1.41561061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:81.15, Z:1.42 [[ 2.90309443e-01 -9.56928499e-01 -2.87670295e-03 1.22799948e+02] [ 9.56885497e-01 2.90323671e-01 -9.07261492e-03 8.11489361e+01] [ 9.51701873e-03 -1.18809553e-04 9.99954705e-01 1.41641368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.81, Y:81.17, Z:1.42 [[ 2.90432421e-01 -9.56891189e-01 -2.87414827e-03 1.22809969e+02] [ 9.56848177e-01 2.90446620e-01 -9.07342415e-03 8.11741490e+01] [ 9.51706628e-03 -1.14906992e-04 9.99954705e-01 1.41722349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.82, Y:81.20, Z:1.42 [[ 2.91889854e-01 -9.56447627e-01 -2.87228495e-03 1.22818580e+02] [ 9.56404588e-01 2.91903969e-01 -9.07401397e-03 8.12003901e+01] [ 9.51725050e-03 -9.84538941e-05 9.99954705e-01 1.41809106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.83, Y:81.23, Z:1.42 [[ 2.95442569e-01 -9.55356192e-01 -2.86976923e-03 1.22826755e+02] [ 9.55313092e-01 2.95456500e-01 -9.07480952e-03 8.12275724e+01] [ 9.51756744e-03 -6.04430715e-05 9.99954705e-01 1.41758412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.83, Y:81.25, Z:1.42 [[ 2.97093104e-01 -9.54844211e-01 -2.86722511e-03 1.22834752e+02] [ 9.54801080e-01 2.97106936e-01 -9.07561328e-03 8.12532311e+01] [ 9.51766927e-03 -4.13275115e-05 9.99954705e-01 1.41700817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.84, Y:81.28, Z:1.42 [[ 2.98323717e-01 -9.54460452e-01 -2.86453810e-03 1.22842954e+02] [ 9.54417295e-01 2.98337468e-01 -9.07646130e-03 8.12801043e+01] [ 9.51772240e-03 -2.62410330e-05 9.99954705e-01 1.41747021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:81.31, Z:1.42 [[ 2.98776585e-01 -9.54318795e-01 -2.86196725e-03 1.22850998e+02] [ 9.54275623e-01 2.98790291e-01 -9.07727186e-03 8.13067250e+01] [ 9.51773917e-03 -1.90292913e-05 9.99954705e-01 1.41767443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:81.33, Z:1.42 [[ 2.98015533e-01 -9.54556738e-01 -2.85941469e-03 1.22859261e+02] [ 9.54513570e-01 2.98029249e-01 -9.07807587e-03 8.13340812e+01] [ 9.51772770e-03 -2.39425072e-05 9.99954705e-01 1.41718361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.87, Y:81.36, Z:1.42 [[ 2.96208214e-01 -9.55119116e-01 -2.85782948e-03 1.22867666e+02] [ 9.55075970e-01 2.96221998e-01 -9.07857487e-03 8.13606400e+01] [ 9.51767237e-03 -4.02958118e-05 9.99954705e-01 1.41745636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.88, Y:81.39, Z:1.42 [[ 2.93809538e-01 -9.55859719e-01 -2.85527187e-03 1.22875884e+02] [ 9.55816599e-01 2.93823405e-01 -9.07937919e-03 8.13867989e+01] [ 9.51755854e-03 -6.15080458e-05 9.99954705e-01 1.41776921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.88, Y:81.41, Z:1.42 [[ 2.90563666e-01 -9.56851406e-01 -2.85340732e-03 1.22884259e+02] [ 9.56808328e-01 2.90577662e-01 -9.07996513e-03 8.14139015e+01] [ 9.51731383e-03 -9.18559337e-05 9.99954705e-01 1.41860017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:81.44, Z:1.42 [[ 2.86426885e-01 -9.58097861e-01 -2.85088449e-03 1.22892057e+02] [ 9.58054836e-01 2.86441043e-01 -9.08075716e-03 8.14395849e+01] [ 9.51686435e-03 -1.30330685e-04 9.99954705e-01 1.41914411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.90, Y:81.47, Z:1.42 [[ 2.76652063e-01 -9.60965933e-01 -2.84822295e-03 1.22900678e+02] [ 9.60923045e-01 2.76666633e-01 -9.08159190e-03 8.14667220e+01] [ 9.51510868e-03 -2.24481934e-04 9.99954705e-01 1.42121922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.91, Y:81.49, Z:1.42 [[ 2.71535701e-01 -9.62424161e-01 -2.84569905e-03 1.22908724e+02] [ 9.62381343e-01 2.71550476e-01 -9.08238268e-03 8.14925708e+01] [ 9.51385546e-03 -2.72456528e-04 9.99954705e-01 1.42206987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.92, Y:81.52, Z:1.42 [[ 2.66502053e-01 -9.63830158e-01 -2.84304336e-03 1.22916780e+02] [ 9.63787409e-01 2.66517026e-01 -9.08321391e-03 8.15198565e+01] [ 9.51239496e-03 -3.19394233e-04 9.99954705e-01 1.42321546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.92, Y:81.55, Z:1.42 [[ 2.61669635e-01 -9.65153321e-01 -2.84059693e-03 1.22924657e+02] [ 9.65110640e-01 2.61684799e-01 -9.08397892e-03 8.15467426e+01] [ 9.51077346e-03 -3.64488865e-04 9.99954705e-01 1.42427103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.93, Y:81.57, Z:1.42 [[ 2.53506782e-01 -9.67329446e-01 -2.83805704e-03 1.22931903e+02] [ 9.67286886e-01 2.53522282e-01 -9.08477238e-03 8.15741117e+01] [ 9.50747853e-03 -4.42163945e-04 9.99954705e-01 1.42399391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.94, Y:81.60, Z:1.42 [[ 2.50795467e-01 -9.68035947e-01 -2.83547557e-03 1.22938783e+02] [ 9.67993421e-01 2.50811062e-01 -9.08557801e-03 8.16003370e+01] [ 9.50633475e-03 -4.66099922e-04 9.99954705e-01 1.42359027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.95, Y:81.63, Z:1.42 [[ 2.48786530e-01 -9.68554197e-01 -2.83359253e-03 1.22945144e+02] [ 9.68511698e-01 2.48802196e-01 -9.08616526e-03 8.16270299e+01] [ 9.50544754e-03 -4.83851988e-04 9.99954705e-01 1.42339720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.067628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:122.95, Y:81.65, Z:1.42 [[ 2.47263651e-01 -9.68944102e-01 -2.83091950e-03 1.22952087e+02] [ 9.68901618e-01 2.47279358e-01 -9.08699800e-03 8.16545698e+01] [ 9.50482108e-03 -4.95998188e-04 9.99954705e-01 1.42032631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.96, Y:81.68, Z:1.42 [[ 2.48291831e-01 -9.68681148e-01 -2.82835670e-03 1.22957127e+02] [ 9.68638639e-01 2.48307470e-01 -9.08779561e-03 8.16828903e+01] [ 9.50547838e-03 -4.83230174e-04 9.99954705e-01 1.42296486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.96, Y:81.71, Z:1.42 [[ 2.49269008e-01 -9.68430161e-01 -2.82580431e-03 1.22962898e+02] [ 9.68387627e-01 2.49284580e-01 -9.08858919e-03 8.17092861e+01] [ 9.50609333e-03 -4.70970320e-04 9.99954705e-01 1.42307146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:81.74, Z:1.42 [[ 2.52452427e-01 -9.67605189e-01 -2.82310988e-03 1.22966167e+02] [ 9.67562595e-01 2.52467833e-01 -9.08942606e-03 8.17365671e+01] [ 9.50772026e-03 -4.36887857e-04 9.99954705e-01 1.42288834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.18762800000002 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:122.97, Y:81.76, Z:1.42 [[ 2.51161653e-01 -9.67941046e-01 -2.82044713e-03 1.22968576e+02] [ 9.67898464e-01 2.51177091e-01 -9.09025224e-03 8.17614760e+01] [ 9.50725997e-03 -4.46783667e-04 9.99954705e-01 1.42150709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.98, Y:81.79, Z:1.42 [[ 2.56169947e-01 -9.66627936e-01 -2.71859774e-03 1.22979096e+02] [ 9.66584939e-01 2.56184207e-01 -9.12180921e-03 8.17912696e+01] [ 9.51385742e-03 -2.91022253e-04 9.99954700e-01 1.42437847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.99, Y:81.82, Z:1.42 [[ 2.57986674e-01 -9.66144365e-01 -2.81801361e-03 1.22985083e+02] [ 9.66101667e-01 2.58001788e-01 -9.09099247e-03 8.18172375e+01] [ 9.51026370e-03 -3.77132739e-04 9.99954705e-01 1.42447665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.99, Y:81.85, Z:1.42 [[ 2.62362560e-01 -9.64965261e-01 -2.81633488e-03 1.22989982e+02] [ 9.64922489e-01 2.62377466e-01 -9.09151250e-03 8.18456340e+01] [ 9.51193654e-03 -3.32272367e-04 9.99954705e-01 1.42473204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.00, Y:81.87, Z:1.42 [[ 2.65079102e-01 -9.64222564e-01 -2.81378113e-03 1.22996382e+02] [ 9.64179742e-01 2.65093863e-01 -9.09230281e-03 8.18721093e+01] [ 9.51291963e-03 -3.02811294e-04 9.99954705e-01 1.42463352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.00, Y:81.90, Z:1.42 [[ 2.64812379e-01 -9.64295856e-01 -2.81191637e-03 1.23004760e+02] [ 9.64253032e-01 2.64827133e-01 -9.09287947e-03 8.18994503e+01] [ 9.51289774e-03 -3.03491840e-04 9.99954705e-01 1.42490489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.01, Y:81.93, Z:1.42 [[ 2.67507801e-01 -9.63551599e-01 -2.80940086e-03 1.23011251e+02] [ 9.63508726e-01 2.67522412e-01 -9.09365662e-03 8.19264137e+01] [ 9.51378507e-03 -2.74258159e-04 9.99954705e-01 1.42451826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.02, Y:81.95, Z:1.42 [[ 2.70773806e-01 -9.62638908e-01 -2.80689748e-03 1.23017831e+02] [ 9.62595978e-01 2.70788248e-01 -9.09442926e-03 8.19537263e+01] [ 9.51472630e-03 -2.39374997e-04 9.99954705e-01 1.42468824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42762800000003 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:123.02, Y:81.98, Z:1.42 [[ 2.73771291e-01 -9.61790734e-01 -2.80434165e-03 1.23023994e+02] [ 9.61747751e-01 2.73785576e-01 -9.09521730e-03 8.19804012e+01] [ 9.51548401e-03 -2.07059885e-04 9.99954705e-01 1.42223527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.03, Y:82.01, Z:1.42 [[ 2.81237590e-01 -9.59634078e-01 -2.80247629e-03 1.23029761e+02] [ 9.59590980e-01 2.81251522e-01 -9.09579203e-03 8.20071144e+01] [ 9.51683272e-03 -1.31152338e-04 9.99954705e-01 1.42364187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.04, Y:82.03, Z:1.43 [[ 2.83942447e-01 -9.58837238e-01 -2.79979689e-03 1.23037203e+02] [ 9.58794092e-01 2.83956232e-01 -9.09661671e-03 8.20343719e+01] [ 9.51719461e-03 -1.01513114e-04 9.99954705e-01 1.42503081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.04, Y:82.06, Z:1.43 [[ 2.86020753e-01 -9.58219340e-01 -2.79725132e-03 1.23044773e+02] [ 9.58176157e-01 2.86034421e-01 -9.09739941e-03 8.20609853e+01] [ 9.51741423e-03 -7.82144882e-05 9.99954705e-01 1.42678818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.05, Y:82.09, Z:1.43 [[ 2.87311506e-01 -9.57833121e-01 -2.79471968e-03 1.23052974e+02] [ 9.57789912e-01 2.87325092e-01 -9.09817707e-03 8.20882885e+01] [ 9.51752842e-03 -6.27433584e-05 9.99954705e-01 1.42905507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.06, Y:82.12, Z:1.43 [[ 2.88135423e-01 -9.57585600e-01 -2.79216125e-03 1.23061344e+02] [ 9.57542372e-01 2.88148947e-01 -9.09896216e-03 8.21155060e+01] [ 9.51759347e-03 -5.18793950e-05 9.99954705e-01 1.43067683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.07, Y:82.14, Z:1.43 [[ 2.88983583e-01 -9.57329989e-01 -2.78961565e-03 1.23068991e+02] [ 9.57286740e-01 2.88997044e-01 -9.09974254e-03 8.21423647e+01] [ 9.51764710e-03 -4.07858664e-05 9.99954705e-01 1.43154152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:82.17, Z:1.43 [[ 2.89294964e-01 -9.57235946e-01 -2.78706363e-03 1.23077492e+02] [ 9.57192686e-01 2.89308387e-01 -9.10052411e-03 8.21696201e+01] [ 9.51766968e-03 -3.50211275e-05 9.99954705e-01 1.43176663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:82.20, Z:1.43 [[ 2.90179259e-01 -9.56968257e-01 -2.78448881e-03 1.23086968e+02] [ 9.56924977e-01 2.90192617e-01 -9.10131185e-03 8.21963223e+01] [ 9.51770464e-03 -2.35349663e-05 9.99954705e-01 1.43232943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.10, Y:82.22, Z:1.43 [[ 2.90567686e-01 -9.56850396e-01 -2.78188984e-03 1.23095969e+02] [ 9.56807103e-01 2.90581002e-01 -9.10210618e-03 8.22231421e+01] [ 9.51771825e-03 -1.69540294e-05 9.99954705e-01 1.43242850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.10, Y:82.25, Z:1.43 [[ 2.90638897e-01 -9.56828776e-01 -2.77928644e-03 1.23104018e+02] [ 9.56785475e-01 2.90652185e-01 -9.10290105e-03 8.22486494e+01] [ 9.51772335e-03 -1.35237799e-05 9.99954705e-01 1.43159951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:82.28, Z:1.43 [[ 2.90810883e-01 -9.56776526e-01 -2.77654180e-03 1.23113018e+02] [ 9.56733214e-01 2.90824137e-01 -9.10373813e-03 8.22757996e+01] [ 9.51772832e-03 -8.94364027e-06 9.99954705e-01 1.43076669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:82.30, Z:1.43 [[ 2.90770688e-01 -9.56788749e-01 -2.77413642e-03 1.23122248e+02] [ 9.56745431e-01 2.90783921e-01 -9.10447105e-03 8.23016950e+01] [ 9.51772974e-03 -6.82903021e-06 9.99954705e-01 1.42928430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.13, Y:82.33, Z:1.42 [[ 2.88875498e-01 -9.57362661e-01 -2.77145271e-03 1.23129377e+02] [ 9.57319361e-01 2.88888792e-01 -9.10528792e-03 8.23258063e+01] [ 9.51770430e-03 -2.28707500e-05 9.99954705e-01 1.42471000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:82.35, Z:1.42 [[ 2.89769458e-01 -9.57092730e-01 -2.67731252e-03 1.23139683e+02] [ 9.57049148e-01 2.89781814e-01 -9.13389796e-03 8.23525798e+01] [ 9.51782381e-03 8.44049926e-05 9.99954701e-01 1.42379246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:82.38, Z:1.43 [[ 2.92752413e-01 -9.56184508e-01 -2.68522173e-03 1.23153259e+02] [ 9.56140911e-01 2.92764709e-01 -9.13149557e-03 8.23806379e+01] [ 9.51753276e-03 1.05817011e-04 9.99954702e-01 1.42531159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.90762800000002 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:123.16, Y:82.41, Z:1.42 [[ 2.92870393e-01 -9.56148145e-01 -2.76714047e-03 1.23163483e+02] [ 9.56104778e-01 2.92883464e-01 -9.10660371e-03 8.24064823e+01] [ 9.51771194e-03 2.13783770e-05 9.99954705e-01 1.42208748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:82.43, Z:1.42 [[ 2.94671564e-01 -9.55594593e-01 -2.76458686e-03 1.23175545e+02] [ 9.55551194e-01 2.94684530e-01 -9.10737887e-03 8.24312521e+01] [ 9.51764298e-03 4.19813052e-05 9.99954705e-01 1.42306858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96762800000002 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:123.19, Y:82.46, Z:1.42 [[ 2.94532078e-01 -9.55637602e-01 -2.76190664e-03 1.23185669e+02] [ 9.55594197e-01 2.94545024e-01 -9.10819160e-03 8.24574277e+01] [ 9.51763624e-03 4.33926395e-05 9.99954705e-01 1.42122226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.20, Y:82.48, Z:1.42 [[ 2.94964699e-01 -9.55504166e-01 -2.75937261e-03 1.23195890e+02] [ 9.55460748e-01 2.94977602e-01 -9.10895923e-03 8.24832085e+01] [ 9.51760162e-03 5.03491997e-05 9.99954705e-01 1.42488130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:82.51, Z:1.43 [[ 2.94802748e-01 -9.55554153e-01 -2.75684782e-03 1.23209164e+02] [ 9.55510730e-01 2.94815633e-01 -9.10972330e-03 8.25082886e+01] [ 9.51759577e-03 5.13737823e-05 9.99954705e-01 1.42724600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.22, Y:82.53, Z:1.43 [[ 2.94140099e-01 -9.55758345e-01 -2.75457865e-03 1.23219750e+02] [ 9.55714925e-01 2.94152993e-01 -9.11040940e-03 8.25341049e+01] [ 9.51761737e-03 4.71447955e-05 9.99954705e-01 1.42953841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.23, Y:82.56, Z:1.43 [[ 2.93221456e-01 -9.56040587e-01 -2.75202922e-03 1.23230165e+02] [ 9.55997172e-01 2.93234368e-01 -9.11117945e-03 8.25603198e+01] [ 9.51764690e-03 4.06611550e-05 9.99954705e-01 1.43116380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.24, Y:82.59, Z:1.43 [[ 2.91546488e-01 -9.56552709e-01 -2.74946306e-03 1.23243327e+02] [ 9.56509309e-01 2.91559451e-01 -9.11195377e-03 8.25857900e+01] [ 9.51769601e-03 2.66711100e-05 9.99954705e-01 1.43322946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.25, Y:82.61, Z:1.43 [[ 2.90815647e-01 -9.56775164e-01 -2.74689323e-03 1.23253225e+02] [ 9.56731766e-01 2.90828619e-01 -9.11272841e-03 8.26114967e+01] [ 9.51770738e-03 2.20839950e-05 9.99954705e-01 1.43443374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.26, Y:82.64, Z:1.44 [[ 2.91033508e-01 -9.56708922e-01 -2.74501939e-03 1.23261580e+02] [ 9.56665517e-01 2.91046452e-01 -9.11329283e-03 8.26387195e+01] [ 9.51769672e-03 2.62081870e-05 9.99954705e-01 1.43559629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20762800000003 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:123.27, Y:82.67, Z:1.43 [[ 2.91074419e-01 -9.56696483e-01 -2.74249340e-03 1.23268746e+02] [ 9.56653070e-01 2.91087337e-01 -9.11405292e-03 8.26657185e+01] [ 9.51768748e-03 2.92529296e-05 9.99954705e-01 1.43278705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.28, Y:82.69, Z:1.43 [[ 2.92428148e-01 -9.56283573e-01 -2.73989787e-03 1.23275707e+02] [ 9.56240134e-01 2.92440980e-01 -9.11483313e-03 8.26933903e+01] [ 9.51762361e-03 4.54334660e-05 9.99954705e-01 1.43341254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.28, Y:82.72, Z:1.43 [[ 2.92351763e-01 -9.56306935e-01 -2.73730439e-03 1.23282391e+02] [ 9.56263490e-01 2.92364574e-01 -9.11561192e-03 8.27194499e+01] [ 9.51761373e-03 4.73809681e-05 9.99954705e-01 1.43125298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.29, Y:82.75, Z:1.43 [[ 2.91940863e-01 -9.56432462e-01 -2.73458492e-03 1.23289369e+02] [ 9.56389015e-01 2.91953667e-01 -9.11642766e-03 8.27468988e+01] [ 9.51761945e-03 4.61307842e-05 9.99954705e-01 1.43075274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.30, Y:82.77, Z:1.43 [[ 2.91534521e-01 -9.56556407e-01 -2.73202450e-03 1.23296588e+02] [ 9.56512957e-01 2.91547319e-01 -9.11719491e-03 8.27746146e+01] [ 9.51762562e-03 4.47602212e-05 9.99954705e-01 1.43042650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.357628 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:123.30, Y:82.80, Z:1.43 [[ 2.90700075e-01 -9.56810335e-01 -2.72926364e-03 1.23304050e+02] [ 9.56766889e-01 2.90712884e-01 -9.11802149e-03 8.28012547e+01] [ 9.51764930e-03 3.93404481e-05 9.99954705e-01 1.42672171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.31, Y:82.83, Z:1.43 [[ 2.90591843e-01 -9.56843218e-01 -2.72717104e-03 1.23311401e+02] [ 9.56799767e-01 2.90604637e-01 -9.11864733e-03 8.28280695e+01] [ 9.51764441e-03 4.04479201e-05 9.99954705e-01 1.43029522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.417628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:123.32, Y:82.86, Z:1.43 [[ 2.89109715e-01 -9.57292092e-01 -2.72460278e-03 1.23318842e+02] [ 9.57248655e-01 2.89122551e-01 -9.11941465e-03 8.28551638e+01] [ 9.51768764e-03 2.83890210e-05 9.99954705e-01 1.42874230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.33, Y:82.88, Z:1.43 [[ 2.88508676e-01 -9.57473412e-01 -2.72202674e-03 1.23326798e+02] [ 9.57429975e-01 2.88521515e-01 -9.12018350e-03 8.28822044e+01] [ 9.51769650e-03 2.51020698e-05 9.99954705e-01 1.43226553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.33, Y:82.91, Z:1.43 [[ 2.87043278e-01 -9.57913755e-01 -2.71946649e-03 1.23334645e+02] [ 9.57870330e-01 2.87056160e-01 -9.12094686e-03 8.29080523e+01] [ 9.51772005e-03 1.32102211e-05 9.99954705e-01 1.43300713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.34, Y:82.93, Z:1.43 [[ 2.85431618e-01 -9.58395227e-01 -2.71676247e-03 1.23342478e+02] [ 9.58351816e-01 2.85444547e-01 -9.12175220e-03 8.29346973e+01] [ 9.51772880e-03 2.22421623e-08 9.99954705e-01 1.43464312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.35, Y:82.96, Z:1.44 [[ 2.81125093e-01 -9.59667333e-01 -2.70034374e-03 1.23351284e+02] [ 9.59623934e-01 2.81138061e-01 -9.12663703e-03 8.29624380e+01] [ 9.51770482e-03 -2.55877947e-05 9.99954705e-01 1.43552546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.36, Y:82.99, Z:1.44 [[ 2.79089906e-01 -9.60261146e-01 -2.71222117e-03 1.23359771e+02] [ 9.60217809e-01 2.79103079e-01 -9.12310597e-03 8.29883096e+01] [ 9.51755347e-03 -5.81562751e-05 9.99954705e-01 1.43620404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59762800000001 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:123.37, Y:83.01, Z:1.44 [[ 2.75942870e-01 -9.61170220e-01 -2.70952592e-03 1.23368484e+02] [ 9.61126918e-01 2.75956159e-01 -9.12390638e-03 8.30148748e+01] [ 9.51733746e-03 -8.65213850e-05 9.99954705e-01 1.43597828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.38, Y:83.04, Z:1.44 [[ 2.75751949e-01 -9.61225018e-01 -2.70692888e-03 1.23376290e+02] [ 9.61181712e-01 2.75765222e-01 -9.12467681e-03 8.30407555e+01] [ 9.51734448e-03 -8.57031159e-05 9.99954705e-01 1.43807306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.38, Y:83.07, Z:1.44 [[ 2.75575765e-01 -9.61275551e-01 -2.70419392e-03 1.23384081e+02] [ 9.61232239e-01 2.75589020e-01 -9.12548728e-03 8.30670877e+01] [ 9.51735396e-03 -8.45952357e-05 9.99954705e-01 1.43867587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.39, Y:83.09, Z:1.44 [[ 2.76284432e-01 -9.61072117e-01 -2.70148289e-03 1.23391779e+02] [ 9.61028788e-01 2.76297629e-01 -9.12628977e-03 8.30937417e+01] [ 9.51743595e-03 -7.47510348e-05 9.99954705e-01 1.43879338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.40, Y:83.12, Z:1.44 [[ 2.78955294e-01 -9.60300297e-01 -2.69892839e-03 1.23398141e+02] [ 9.60256923e-01 2.78968346e-01 -9.12704515e-03 8.31210631e+01] [ 9.51761976e-03 -4.56271112e-05 9.99954705e-01 1.43704529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.41, Y:83.15, Z:1.44 [[ 2.80561886e-01 -9.59832151e-01 -2.69631006e-03 1.23405435e+02] [ 9.59788748e-01 2.80574841e-01 -9.12781859e-03 8.31483650e+01] [ 9.51769052e-03 -2.69700612e-05 9.99954705e-01 1.43569078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.41, Y:83.17, Z:1.43 [[ 2.81986530e-01 -9.59414582e-01 -2.69370353e-03 1.23412823e+02] [ 9.59371153e-01 2.81999395e-01 -9.12858774e-03 8.31746955e+01] [ 9.51772296e-03 -1.01226805e-05 9.99954705e-01 1.43463686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.42, Y:83.20, Z:1.43 [[ 2.82734754e-01 -9.59194359e-01 -2.69096434e-03 1.23420771e+02] [ 9.59150912e-01 2.82747560e-01 -9.12939514e-03 8.32021529e+01] [ 9.51772792e-03 1.56392493e-07 9.99954705e-01 1.43415451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:83.23, Z:1.43 [[ 2.83453650e-01 -9.58982169e-01 -2.68836574e-03 1.23428769e+02] [ 9.58938706e-01 2.83466398e-01 -9.13016030e-03 8.32290136e+01] [ 9.51772228e-03 9.99930453e-06 9.99954705e-01 1.43386480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:83.26, Z:1.43 [[ 2.84567101e-01 -9.58652362e-01 -2.68578097e-03 1.23436643e+02] [ 9.58608877e-01 2.84579775e-01 -9.13092058e-03 8.32558367e+01] [ 9.51769753e-03 2.37461270e-05 9.99954705e-01 1.43432331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:83.28, Z:1.43 [[ 2.84830037e-01 -9.58574280e-01 -2.68318898e-03 1.23444276e+02] [ 9.58530784e-01 2.84842673e-01 -9.13168219e-03 8.32830863e+01] [ 9.51768241e-03 2.90581392e-05 9.99954705e-01 1.43479353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:83.31, Z:1.44 [[ 2.85418738e-01 -9.58399164e-01 -2.68059132e-03 1.23451705e+02] [ 9.58355653e-01 2.85431323e-01 -9.13244467e-03 8.33101203e+01] [ 9.51765207e-03 3.76109890e-05 9.99954705e-01 1.43513773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.46, Y:83.34, Z:1.44 [[ 2.86266239e-01 -9.58146371e-01 -2.67801097e-03 1.23459048e+02] [ 9.58102842e-01 2.86278760e-01 -9.13320127e-03 8.33371290e+01] [ 9.51760132e-03 4.87172554e-05 9.99954705e-01 1.43546411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.47, Y:83.36, Z:1.44 [[ 2.87483811e-01 -9.57781760e-01 -2.67542184e-03 1.23465760e+02] [ 9.57738208e-01 2.87496253e-01 -9.13395965e-03 8.33630336e+01] [ 9.51751371e-03 6.35118119e-05 9.99954705e-01 1.43619666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.47, Y:83.39, Z:1.44 [[ 2.87232016e-01 -9.57857310e-01 -2.67268480e-03 1.23473449e+02] [ 9.57813753e-01 2.87244443e-01 -9.13476047e-03 8.33904121e+01] [ 9.51751094e-03 6.38613978e-05 9.99954705e-01 1.43703032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:83.42, Z:1.44 [[ 2.86959357e-01 -9.57939037e-01 -2.67012235e-03 1.23481394e+02] [ 9.57895477e-01 2.86971773e-01 -9.13550942e-03 8.34175658e+01] [ 9.51751083e-03 6.38217933e-05 9.99954705e-01 1.43792500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:83.45, Z:1.44 [[ 2.86230418e-01 -9.58157102e-01 -2.66755343e-03 1.23489324e+02] [ 9.58113545e-01 2.86242842e-01 -9.13625948e-03 8.34450178e+01] [ 9.51753998e-03 5.92562953e-05 9.99954705e-01 1.43850543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:83.47, Z:1.44 [[ 2.84013008e-01 -9.58816723e-01 -2.66497043e-03 1.23497103e+02] [ 9.58773188e-01 2.84025508e-01 -9.13701286e-03 8.34723129e+01] [ 9.51764031e-03 3.99283142e-05 9.99954705e-01 1.43825543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:83.50, Z:1.44 [[ 2.82625118e-01 -9.59226748e-01 -2.66240734e-03 1.23504608e+02] [ 9.59183224e-01 2.82637656e-01 -9.13775964e-03 8.34992119e+01] [ 9.51768004e-03 2.88239365e-05 9.99954705e-01 1.43752877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.51, Y:83.53, Z:1.44 [[ 2.81382621e-01 -9.59591968e-01 -2.65986448e-03 1.23512187e+02] [ 9.59548453e-01 2.81395192e-01 -9.13849977e-03 8.35264003e+01] [ 9.51770406e-03 1.91461683e-05 9.99954705e-01 1.43651465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.52, Y:83.55, Z:1.44 [[ 2.79783675e-01 -9.60059391e-01 -2.65723993e-03 1.23520046e+02] [ 9.60015890e-01 2.79796293e-01 -9.13926286e-03 8.35537037e+01] [ 9.51772102e-03 6.02399028e-06 9.99954705e-01 1.43561311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:83.58, Z:1.43 [[ 2.78728473e-01 -9.60366247e-01 -2.66644070e-03 1.23527788e+02] [ 9.60322785e-01 2.78741227e-01 -9.13658913e-03 8.35790015e+01] [ 9.51771877e-03 -1.40162173e-05 9.99954705e-01 1.43363226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:83.61, Z:1.43 [[ 2.78470378e-01 -9.60441152e-01 -2.65385362e-03 1.23535672e+02] [ 9.60397658e-01 2.78483024e-01 -9.14024377e-03 8.36064928e+01] [ 9.51771943e-03 -3.46766183e-06 9.99954705e-01 1.43389873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.287628 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:123.54, Y:83.63, Z:1.43 [[ 2.76882094e-01 -9.60900243e-01 -2.65139700e-03 1.23543296e+02] [ 9.60856763e-01 2.76894788e-01 -9.14095633e-03 8.36340884e+01] [ 9.51770516e-03 -1.66456177e-05 9.99954705e-01 1.43253965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:83.66, Z:1.43 [[ 2.77751474e-01 -9.60649287e-01 -2.65826261e-03 1.23550842e+02] [ 9.60605815e-01 2.77764194e-01 -9.13896666e-03 8.36613812e+01] [ 9.51771197e-03 -1.51810633e-05 9.99954705e-01 1.43492962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.56, Y:83.69, Z:1.44 [[ 2.77158538e-01 -9.60820553e-01 -2.64749895e-03 1.23558208e+02] [ 9.60777059e-01 2.77171183e-01 -9.14208376e-03 8.36890098e+01] [ 9.51771239e-03 -9.84968444e-06 9.99954706e-01 1.43532836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.56, Y:83.72, Z:1.44 [[ 2.74859350e-01 -9.61480807e-01 -2.64491779e-03 1.23564920e+02] [ 9.61437336e-01 2.74872074e-01 -9.14283046e-03 8.37154991e+01] [ 9.51767004e-03 -2.99302760e-05 9.99954706e-01 1.43513779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.57, Y:83.74, Z:1.44 [[ 2.73028678e-01 -9.62002266e-01 -2.64219573e-03 1.23572487e+02] [ 9.61958812e-01 2.73041458e-01 -9.14361704e-03 8.37427721e+01] [ 9.51760929e-03 -4.52137931e-05 9.99954706e-01 1.43650006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:83.77, Z:1.44 [[ 2.71061295e-01 -9.62558469e-01 -2.63963079e-03 1.23579843e+02] [ 9.62515034e-01 2.71074140e-01 -9.14435744e-03 8.37689492e+01] [ 9.51751435e-03 -6.20029481e-05 9.99954706e-01 1.43667080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.59, Y:83.80, Z:1.44 [[ 2.67641826e-01 -9.63514867e-01 -2.63692345e-03 1.23587948e+02] [ 9.63471471e-01 2.67654800e-01 -9.14513808e-03 8.37953714e+01] [ 9.51726172e-03 -9.29790587e-05 9.99954706e-01 1.43865235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:83.82, Z:1.44 [[ 2.66371600e-01 -9.63866812e-01 -2.63435963e-03 1.23596034e+02] [ 9.63823425e-01 2.66384607e-01 -9.14587656e-03 8.38224720e+01] [ 9.51715973e-03 -1.02855751e-04 9.99954706e-01 1.43953828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:83.85, Z:1.44 [[ 2.65507784e-01 -9.64105124e-01 -2.63180092e-03 1.23603752e+02] [ 9.64061742e-01 2.65520805e-01 -9.14661279e-03 8.38498736e+01] [ 9.51709416e-03 -1.08721686e-04 9.99954706e-01 1.44035105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.61, Y:83.88, Z:1.44 [[ 2.65167938e-01 -9.64198658e-01 -2.62922289e-03 1.23610578e+02] [ 9.64155273e-01 2.65180950e-01 -9.14735379e-03 8.38757633e+01] [ 9.51708607e-03 -1.09394164e-04 9.99954706e-01 1.44079747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.62, Y:83.90, Z:1.44 [[ 2.65261190e-01 -9.64173015e-01 -2.62649878e-03 1.23617219e+02] [ 9.64129621e-01 2.65274172e-01 -9.14813590e-03 8.39023055e+01] [ 9.51712806e-03 -1.05639857e-04 9.99954706e-01 1.44049595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.62, Y:83.93, Z:1.44 [[ 2.66250487e-01 -9.63900303e-01 -2.62381683e-03 1.23622892e+02] [ 9.63856888e-01 2.66263399e-01 -9.14890506e-03 8.39302790e+01] [ 9.51725875e-03 -9.30834961e-05 9.99954706e-01 1.43896072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.63, Y:83.96, Z:1.44 [[ 2.66977556e-01 -9.63699182e-01 -2.62124162e-03 1.23629829e+02] [ 9.63655750e-01 2.66990411e-01 -9.14964282e-03 8.39576843e+01] [ 9.51734968e-03 -8.32252797e-05 9.99954706e-01 1.43868276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:83.98, Z:1.44 [[ 2.68022889e-01 -9.63408986e-01 -2.61864527e-03 1.23636929e+02] [ 9.63365533e-01 2.68035672e-01 -9.15038584e-03 8.39839019e+01] [ 9.51745429e-03 -7.01997455e-05 9.99954706e-01 1.43840868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:84.01, Z:1.44 [[ 2.68917476e-01 -9.63159669e-01 -2.61590560e-03 1.23644548e+02] [ 9.63116196e-01 2.68930192e-01 -9.15116899e-03 8.40109875e+01] [ 9.51753289e-03 -5.85117808e-05 9.99954706e-01 1.43802395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.65, Y:84.04, Z:1.44 [[ 2.71222640e-01 -9.62513091e-01 -2.61335901e-03 1.23652588e+02] [ 9.62469581e-01 2.71235228e-01 -9.15189618e-03 8.40383802e+01] [ 9.51765490e-03 -3.30771083e-05 9.99954706e-01 1.43837908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.767628 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:123.66, Y:84.07, Z:1.44 [[ 2.71354367e-01 -9.62475969e-01 -2.61078831e-03 1.23659907e+02] [ 9.62432450e-01 2.71366925e-01 -9.15262947e-03 8.40653678e+01] [ 9.51766752e-03 -2.91014076e-05 9.99954706e-01 1.43629107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:84.09, Z:1.44 [[ 2.72107082e-01 -9.62263443e-01 -2.60819752e-03 1.23667190e+02] [ 9.62219907e-01 2.72119581e-01 -9.15336770e-03 8.40928717e+01] [ 9.51769273e-03 -1.89633946e-05 9.99954706e-01 1.43879117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:84.12, Z:1.44 [[ 2.72571890e-01 -9.62131891e-01 -2.60562577e-03 1.23674444e+02] [ 9.62088342e-01 2.72584343e-01 -9.15409972e-03 8.41203822e+01] [ 9.51770407e-03 -1.16919201e-05 9.99954706e-01 1.43898529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.68, Y:84.15, Z:1.44 [[ 2.73094783e-01 -9.61983609e-01 -2.60304754e-03 1.23681587e+02] [ 9.61940046e-01 2.73107189e-01 -9.15483281e-03 8.41473909e+01] [ 9.51771010e-03 -3.83858564e-06 9.99954706e-01 1.43977422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:84.17, Z:1.44 [[ 2.73068426e-01 -9.61991098e-01 -2.60047256e-03 1.23689124e+02] [ 9.61947529e-01 2.73080808e-01 -9.15556418e-03 8.41745882e+01] [ 9.51771039e-03 -1.42265127e-06 9.99954706e-01 1.44035847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:84.20, Z:1.44 [[ 2.72787034e-01 -9.62070936e-01 -2.59791518e-03 1.23697010e+02] [ 9.62027363e-01 2.72799404e-01 -9.15628979e-03 8.42016293e+01] [ 9.51771000e-03 -1.54835824e-06 9.99954706e-01 1.44125422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:84.23, Z:1.44 [[ 2.71564627e-01 -9.62416707e-01 -2.59534324e-03 1.23706216e+02] [ 9.62373143e-01 2.71577028e-01 -9.15701875e-03 8.42278955e+01] [ 9.51770343e-03 -1.09662581e-05 9.99954706e-01 1.44305716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:84.25, Z:1.44 [[ 2.70571401e-01 -9.62696419e-01 -2.59276135e-03 1.23714704e+02] [ 9.62652861e-01 2.70583823e-01 -9.15774974e-03 8.42543904e+01] [ 9.51769215e-03 -1.81039580e-05 9.99954706e-01 1.44413230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:84.28, Z:1.45 [[ 2.69299572e-01 -9.63052974e-01 -2.59016270e-03 1.23722212e+02] [ 9.63009426e-01 2.69312027e-01 -9.15848468e-03 8.42800426e+01] [ 9.51766787e-03 -2.79750888e-05 9.99954706e-01 1.44515462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:84.31, Z:1.45 [[ 2.68404911e-01 -9.63302709e-01 -2.58742429e-03 1.23729928e+02] [ 9.63259165e-01 2.68417380e-01 -9.15925826e-03 8.43072193e+01] [ 9.51764794e-03 -3.39702630e-05 9.99954706e-01 1.44546015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:84.33, Z:1.45 [[ 2.66060544e-01 -9.63952854e-01 -2.58483829e-03 1.23737202e+02] [ 9.63909334e-01 2.66073094e-01 -9.15998800e-03 8.43331069e+01] [ 9.51755250e-03 -5.44383618e-05 9.99954706e-01 1.44505540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.75, Y:84.36, Z:1.44 [[ 2.64688419e-01 -9.64330531e-01 -2.58211043e-03 1.23745271e+02] [ 9.64287021e-01 2.64701006e-01 -9.16075689e-03 8.43604593e+01] [ 9.51748478e-03 -6.51493080e-05 9.99954706e-01 1.44468384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.75, Y:84.39, Z:1.44 [[ 2.63195951e-01 -9.64738948e-01 -2.57956455e-03 1.23753225e+02] [ 9.64695450e-01 2.63208580e-01 -9.16147372e-03 8.43870136e+01] [ 9.51739404e-03 -7.72314011e-05 9.99954706e-01 1.44420810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:84.41, Z:1.44 [[ 2.61032734e-01 -9.65326510e-01 -2.57698771e-03 1.23760888e+02] [ 9.65283033e-01 2.61045437e-01 -9.16219849e-03 8.44138598e+01] [ 9.51722398e-03 -9.58887897e-05 9.99954706e-01 1.44348249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.77, Y:84.44, Z:1.44 [[ 2.59625611e-01 -9.65705915e-01 -2.57441975e-03 1.23767849e+02] [ 9.65662450e-01 2.59638353e-01 -9.16291999e-03 8.44404734e+01] [ 9.51710413e-03 -1.07091775e-04 9.99954706e-01 1.44329095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.77, Y:84.47, Z:1.44 [[ 2.57789656e-01 -9.66197640e-01 -2.57171412e-03 1.23774620e+02] [ 9.66154191e-01 2.57802455e-01 -9.16367930e-03 8.44673240e+01] [ 9.51691953e-03 -1.22370636e-04 9.99954706e-01 1.44312430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.78, Y:84.49, Z:1.44 [[ 2.55226004e-01 -9.66878010e-01 -2.56916805e-03 1.23781516e+02] [ 9.66834588e-01 2.55238893e-01 -9.16439307e-03 8.44949076e+01] [ 9.51660175e-03 -1.44969114e-04 9.99954706e-01 1.44279903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.79, Y:84.52, Z:1.44 [[ 2.49063218e-01 -9.68483828e-01 -2.56660010e-03 1.23787153e+02] [ 9.68440482e-01 2.49076360e-01 -9.16511220e-03 8.45218909e+01] [ 9.51554236e-03 -2.02907101e-04 9.99954706e-01 1.44166988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.79, Y:84.55, Z:1.44 [[ 2.45633235e-01 -9.69359448e-01 -2.56389537e-03 1.23794181e+02] [ 9.69316141e-01 2.45646505e-01 -9.16586878e-03 8.45488187e+01] [ 9.51483344e-03 -2.33783162e-04 9.99954706e-01 1.44153914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.80, Y:84.58, Z:1.44 [[ 2.41942370e-01 -9.70287241e-01 -2.56133943e-03 1.23801329e+02] [ 9.70243977e-01 2.41955779e-01 -9.16658296e-03 8.45757850e+01] [ 9.51394936e-03 -2.67339354e-04 9.99954706e-01 1.44194212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.36762800000002 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:123.81, Y:84.60, Z:1.44 [[ 2.38259346e-01 -9.71198197e-01 -2.55873380e-03 1.23808757e+02] [ 9.71154976e-01 2.38272895e-01 -9.16731023e-03 8.46031902e+01] [ 9.51295207e-03 -3.00729719e-04 9.99954706e-01 1.44028073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.82, Y:84.63, Z:1.44 [[ 2.35041071e-01 -9.71982079e-01 -2.55613372e-03 1.23815643e+02] [ 9.71938896e-01 2.35054739e-01 -9.16803516e-03 8.46300408e+01] [ 9.51199721e-03 -3.29540985e-04 9.99954706e-01 1.44223116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.82, Y:84.66, Z:1.44 [[ 2.31648130e-01 -9.72796291e-01 -2.55354809e-03 1.23822438e+02] [ 9.72753148e-01 2.31661924e-01 -9.16875527e-03 8.46572111e+01] [ 9.51089098e-03 -3.60046935e-04 9.99954706e-01 1.44248479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.83, Y:84.68, Z:1.44 [[ 2.26527806e-01 -9.74001358e-01 -2.55096730e-03 1.23827318e+02] [ 9.73958281e-01 2.26541802e-01 -9.16947325e-03 8.46840533e+01] [ 9.50898013e-03 -4.07395069e-04 9.99954706e-01 1.44225557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.83, Y:84.71, Z:1.44 [[ 2.24900286e-01 -9.74378452e-01 -2.54824753e-03 1.23833601e+02] [ 9.74335390e-01 2.24914329e-01 -9.17022903e-03 8.47118120e+01] [ 9.50841095e-03 -4.20460623e-04 9.99954706e-01 1.44252275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.84, Y:84.74, Z:1.44 [[ 2.23589424e-01 -9.74680096e-01 -2.54575202e-03 1.23839464e+02] [ 9.74637044e-01 2.23603502e-01 -9.17092176e-03 8.47392974e+01] [ 9.50795396e-03 -4.30663108e-04 9.99954706e-01 1.44275360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.84, Y:84.77, Z:1.44 [[ 2.24112674e-01 -9.74559922e-01 -2.54320146e-03 1.23844473e+02] [ 9.74516855e-01 2.24126704e-01 -9.17162900e-03 8.47667602e+01] [ 9.50830140e-03 -4.22914395e-04 9.99954706e-01 1.44301230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.85, Y:84.79, Z:1.44 [[ 2.25232705e-01 -9.74301685e-01 -2.54062459e-03 1.23850597e+02] [ 9.74258595e-01 2.25246661e-01 -9.17234276e-03 8.47927673e+01] [ 9.50889622e-03 -4.09313780e-04 9.99954706e-01 1.44256413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:84.82, Z:1.44 [[ 2.27064434e-01 -9.73876431e-01 -2.53790829e-03 1.23856913e+02] [ 9.73833306e-01 2.27078284e-01 -9.17309427e-03 8.48205997e+01] [ 9.50976417e-03 -3.88616164e-04 9.99954706e-01 1.44247500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:84.85, Z:1.44 [[ 2.28719234e-01 -9.73489129e-01 -2.53530370e-03 1.23862672e+02] [ 9.73445973e-01 2.28732987e-01 -9.17381409e-03 8.48473593e+01] [ 9.51051587e-03 -3.69753438e-04 9.99954706e-01 1.44222950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:84.88, Z:1.44 [[ 2.32961079e-01 -9.72482762e-01 -2.53255473e-03 1.23867714e+02] [ 9.72439538e-01 2.32974617e-01 -9.17457292e-03 8.48752053e+01] [ 9.51213498e-03 -3.25437945e-04 9.99954706e-01 1.44175671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:84.90, Z:1.44 [[ 2.35269162e-01 -9.71926963e-01 -2.52996946e-03 1.23874295e+02] [ 9.71883699e-01 2.35282573e-01 -9.17528577e-03 8.49028495e+01] [ 9.51296536e-03 -3.00174287e-04 9.99954706e-01 1.44255705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.88, Y:84.93, Z:1.44 [[ 2.38288795e-01 -9.71191054e-01 -2.52737987e-03 1.23880880e+02] [ 9.71147741e-01 2.38302047e-01 -9.17599903e-03 8.49295808e+01] [ 9.51392796e-03 -2.67921499e-04 9.99954706e-01 1.44335674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.89, Y:84.96, Z:1.44 [[ 2.41348138e-01 -9.70435316e-01 -2.52465229e-03 1.23887566e+02] [ 9.70391954e-01 2.41361227e-01 -9.17674943e-03 8.49564386e+01] [ 9.51479491e-03 -2.35110885e-04 9.99954706e-01 1.44480471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.89, Y:84.98, Z:1.45 [[ 2.48882864e-01 -9.68530309e-01 -2.52200721e-03 1.23894933e+02] [ 9.68486840e-01 2.48895591e-01 -9.17747631e-03 8.49822775e+01] [ 9.51638044e-03 -1.58414211e-04 9.99954706e-01 1.44676208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:85.01, Z:1.45 [[ 2.52678226e-01 -9.67547086e-01 -2.52007971e-03 1.23902154e+02] [ 9.67503562e-01 2.52690765e-01 -9.17800556e-03 8.50092423e+01] [ 9.51695340e-03 -1.19103929e-04 9.99954706e-01 1.44717962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.91, Y:85.04, Z:1.45 [[ 2.56291524e-01 -9.66596253e-01 -2.51748077e-03 1.23908654e+02] [ 9.66552676e-01 2.56303875e-01 -9.17871838e-03 8.50358227e+01] [ 9.51735487e-03 -8.08500489e-05 9.99954706e-01 1.44711698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:85.06, Z:1.45 [[ 2.63018680e-01 -9.64787462e-01 -2.51558344e-03 1.23915248e+02] [ 9.64743794e-01 2.63030709e-01 -9.17923834e-03 8.50628885e+01] [ 9.51768975e-03 -1.25823599e-05 9.99954706e-01 1.44653367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:85.09, Z:1.45 [[ 2.65750407e-01 -9.64038592e-01 -2.51296580e-03 1.23922488e+02] [ 9.63994883e-01 2.65762288e-01 -9.17995491e-03 8.50889038e+01] [ 9.51768234e-03 1.70905743e-05 9.99954706e-01 1.44620202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:85.12, Z:1.45 [[ 2.67876708e-01 -9.63449930e-01 -2.51020171e-03 1.23930009e+02] [ 9.63406189e-01 2.67888465e-01 -9.18071067e-03 8.51164223e+01] [ 9.51760914e-03 4.09546880e-05 9.99954706e-01 1.44571120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.94, Y:85.14, Z:1.44 [[ 2.69693676e-01 -9.62942902e-01 -2.50758852e-03 1.23937691e+02] [ 9.62899132e-01 2.69705326e-01 -9.18142437e-03 8.51420693e+01] [ 9.51749741e-03 6.16172822e-05 9.99954706e-01 1.44498931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.95, Y:85.17, Z:1.44 [[ 2.71873644e-01 -9.62329698e-01 -2.50483285e-03 1.23947064e+02] [ 9.62285894e-01 2.71885169e-01 -9.18217610e-03 8.51684615e+01] [ 9.51730765e-03 8.60263517e-05 9.99954706e-01 1.44401714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.96, Y:85.20, Z:1.44 [[ 2.72065723e-01 -9.62275419e-01 -2.50219511e-03 1.23955299e+02] [ 9.62231606e-01 2.72077214e-01 -9.18289484e-03 8.51955193e+01] [ 9.51726425e-03 9.06597075e-05 9.99954706e-01 1.44350626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.96, Y:85.22, Z:1.44 [[ 2.72379382e-01 -9.62186689e-01 -2.49955915e-03 1.23963533e+02] [ 9.62142866e-01 2.72390834e-01 -9.18361229e-03 8.52209013e+01] [ 9.51720650e-03 9.64936392e-05 9.99954706e-01 1.44314704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.97, Y:85.25, Z:1.44 [[ 2.71402614e-01 -9.62462666e-01 -2.49763550e-03 1.23974085e+02] [ 9.62418850e-01 2.71414092e-01 -9.18413543e-03 8.52469337e+01] [ 9.51728093e-03 8.88268804e-05 9.99954706e-01 1.44141228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.98, Y:85.27, Z:1.44 [[ 2.69845793e-01 -9.62900318e-01 -2.49505102e-03 1.23983345e+02] [ 9.62856514e-01 2.69857317e-01 -9.18483750e-03 8.52734637e+01] [ 9.51739072e-03 7.61136367e-05 9.99954706e-01 1.44066151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.99, Y:85.30, Z:1.44 [[ 2.69577373e-01 -9.62975507e-01 -2.49249262e-03 1.23990758e+02] [ 9.62931700e-01 2.69588885e-01 -9.18553172e-03 8.53010858e+01] [ 9.51739037e-03 7.61113610e-05 9.99954706e-01 1.44093260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.00, Y:85.33, Z:1.44 [[ 2.67700438e-01 -9.63498975e-01 -2.48993183e-03 1.24000068e+02] [ 9.63455184e-01 2.67712011e-01 -9.18622582e-03 8.53265626e+01] [ 9.51750382e-03 6.02189534e-05 9.99954706e-01 1.43983915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.01, Y:85.35, Z:1.44 [[ 2.65101221e-01 -9.64217380e-01 -2.48724686e-03 1.24009457e+02] [ 9.64173614e-01 2.65112886e-01 -9.18695274e-03 8.53526529e+01] [ 9.51762070e-03 3.73345879e-05 9.99954706e-01 1.43989533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.02, Y:85.38, Z:1.44 [[ 2.64017112e-01 -9.64514796e-01 -2.48462215e-03 1.24016412e+02] [ 9.64471036e-01 2.64028802e-01 -9.18766254e-03 8.53788739e+01] [ 9.51764827e-03 2.93540341e-05 9.99954706e-01 1.43969316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.02, Y:85.41, Z:1.44 [[ 2.62911934e-01 -9.64816643e-01 -2.48185716e-03 1.24021718e+02] [ 9.64772890e-01 2.62923647e-01 -9.18840939e-03 8.54061406e+01] [ 9.51766924e-03 2.13139809e-05 9.99954706e-01 1.43990428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.297628 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:124.03, Y:85.43, Z:1.44 [[ 2.61181971e-01 -9.65286399e-01 -2.47925879e-03 1.24028347e+02] [ 9.65242660e-01 2.61193738e-01 -9.18911044e-03 8.54331592e+01] [ 9.51769019e-03 6.94362534e-06 9.99954706e-01 1.44038655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.327628 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:124.03, Y:85.46, Z:1.44 [[ 2.58576436e-01 -9.65987626e-01 -2.47666244e-03 1.24034371e+02] [ 9.65943912e-01 2.58588296e-01 -9.18981016e-03 8.54594224e+01] [ 9.51767881e-03 -1.60486517e-05 9.99954706e-01 1.43975773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.357628 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:124.04, Y:85.49, Z:1.44 [[ 2.55208051e-01 -9.66882995e-01 -2.47476781e-03 1.24040971e+02] [ 9.66839318e-01 2.55220045e-01 -9.19032034e-03 8.54867796e+01] [ 9.51757481e-03 -4.72590772e-05 9.99954706e-01 1.44064193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.387628 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:124.05, Y:85.51, Z:1.44 [[ 2.45967251e-01 -9.69274986e-01 -2.47222263e-03 1.24049548e+02] [ 9.69231419e-01 2.45979638e-01 -9.19100495e-03 8.55140314e+01] [ 9.51672763e-03 -1.35469618e-04 9.99954706e-01 1.44426590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.417628 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:124.06, Y:85.54, Z:1.45 [[ 2.40957110e-01 -9.70532623e-01 -2.46965130e-03 1.24056969e+02] [ 9.70489113e-01 2.40969697e-01 -9.19169583e-03 8.55407819e+01] [ 9.51595178e-03 -1.81965237e-04 9.99954706e-01 1.44662995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.447628 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:124.06, Y:85.57, Z:1.45 [[ 2.35823658e-01 -9.71792733e-01 -2.46709158e-03 1.24063651e+02] [ 9.71749283e-01 2.35836451e-01 -9.19238281e-03 8.55684919e+01] [ 9.51492094e-03 -2.29613129e-04 9.99954706e-01 1.44789992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.477628 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:124.07, Y:85.60, Z:1.45 [[ 2.30880529e-01 -9.72978986e-01 -2.46450414e-03 1.24069833e+02] [ 9.72935594e-01 2.30893518e-01 -9.19307646e-03 8.55962086e+01] [ 9.51370825e-03 -2.75301442e-04 9.99954706e-01 1.44788036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.507628 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:124.07, Y:85.62, Z:1.45 [[ 2.22417059e-01 -9.74948507e-01 -2.46190603e-03 1.24073851e+02] [ 9.74905222e-01 2.22430400e-01 -9.19377218e-03 8.56235420e+01] [ 9.51105720e-03 -3.55273277e-04 9.99954706e-01 1.44594848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.537628 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:124.08, Y:85.65, Z:1.44 [[ 2.20063230e-01 -9.75482510e-01 -2.45916812e-03 1.24078909e+02] [ 9.75439249e-01 2.20076650e-01 -9.19450447e-03 8.56494696e+01] [ 9.51028378e-03 -3.75396754e-04 9.99954706e-01 1.44491235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.567628 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:124.08, Y:85.68, Z:1.44 [[ 2.17683712e-01 -9.76016355e-01 -2.42426575e-03 1.24083967e+02] [ 9.75973025e-01 2.17696909e-01 -9.20382973e-03 8.56776121e+01] [ 9.51084350e-03 -3.62494163e-04 9.99954705e-01 1.44260988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.59762800000001 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:124.09, Y:85.71, Z:1.44 [[ 2.14706137e-01 -9.76675671e-01 -2.43080002e-03 1.24088145e+02] [ 9.76632401e-01 2.14719527e-01 -9.20208488e-03 8.57058818e+01] [ 9.50939266e-03 -3.98253966e-04 9.99954705e-01 1.44373264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.62762800000002 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:124.09, Y:85.73, Z:1.45 [[ 2.14572473e-01 -9.76704985e-01 -2.45499654e-03 1.24094135e+02] [ 9.76661788e-01 2.14586096e-01 -9.19562504e-03 8.57335403e+01] [ 9.50822093e-03 -4.24573305e-04 9.99954706e-01 1.44575804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.65762800000002 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:124.10, Y:85.76, Z:1.45 [[ 2.14810461e-01 -9.76652677e-01 -2.45244837e-03 1.24099664e+02] [ 9.76609469e-01 2.14824050e-01 -9.19630457e-03 8.57607118e+01] [ 9.50844037e-03 -4.19621874e-04 9.99954706e-01 1.44714320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.68762800000002 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:124.10, Y:85.79, Z:1.45 [[ 2.15898914e-01 -9.76412647e-01 -2.44989663e-03 1.24104540e+02] [ 9.76369417e-01 2.15912431e-01 -9.19698431e-03 8.57871862e+01] [ 9.50901493e-03 -4.06385220e-04 9.99954706e-01 1.44798709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.71762800000002 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:124.11, Y:85.82, Z:1.45 [[ 2.20797883e-01 -9.75316514e-01 -2.44803232e-03 1.24107818e+02] [ 9.75273211e-01 2.20811165e-01 -9.19748052e-03 8.58155590e+01] [ 9.51100750e-03 -3.56716119e-04 9.99954706e-01 1.44980751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.74762800000002 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:124.11, Y:85.84, Z:1.45 [[ 2.23654757e-01 -9.74665363e-01 -2.44540723e-03 1.24112752e+02] [ 9.74622014e-01 2.23667888e-01 -9.19817842e-03 8.58424009e+01] [ 9.51210498e-03 -3.26131355e-04 9.99954706e-01 1.45032385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.77762800000002 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:124.12, Y:85.87, Z:1.45 [[ 2.26895573e-01 -9.73916029e-01 -2.44263907e-03 1.24118260e+02] [ 9.73872629e-01 2.26908534e-01 -9.19891346e-03 8.58701220e+01] [ 9.51322493e-03 -2.91626593e-04 9.99954706e-01 1.45100594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.80762800000002 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:124.12, Y:85.90, Z:1.45 [[ 2.30593696e-01 -9.73047067e-01 -2.44003709e-03 1.24123783e+02] [ 9.73003610e-01 2.30606466e-01 -9.19960359e-03 8.58962105e+01] [ 9.51433562e-03 -2.52794311e-04 9.99954706e-01 1.45136368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.83762800000002 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:124.13, Y:85.92, Z:1.45 [[ 2.38842106e-01 -9.71055358e-01 -2.43729080e-03 1.24128447e+02] [ 9.71011787e-01 2.38854481e-01 -9.20033112e-03 8.59239526e+01] [ 9.51618866e-03 -1.69211634e-04 9.99954706e-01 1.45218742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.86762800000002 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:124.13, Y:85.95, Z:1.45 [[ 2.42655422e-01 -9.70109488e-01 -2.43471561e-03 1.24133806e+02] [ 9.70065862e-01 2.42667601e-01 -9.20101256e-03 8.59503112e+01] [ 9.51681618e-03 -1.29158912e-04 9.99954706e-01 1.45175903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.89762800000003 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:124.14, Y:85.98, Z:1.45 [[ 2.46353701e-01 -9.69176939e-01 -2.43199151e-03 1.24139705e+02] [ 9.69133260e-01 2.46365688e-01 -9.20173253e-03 8.59782720e+01] [ 9.51726623e-03 -9.00430023e-05 9.99954706e-01 1.45150776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.92762800000003 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:124.15, Y:86.01, Z:1.45 [[ 2.50270883e-01 -9.68172806e-01 -2.42942062e-03 1.24145918e+02] [ 9.68129073e-01 2.50282669e-01 -9.20241124e-03 8.60051261e+01] [ 9.51756619e-03 -4.88971489e-05 9.99954706e-01 1.45112183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.95762800000003 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:124.15, Y:86.03, Z:1.45 [[ 2.56721185e-01 -9.66482457e-01 -2.42754553e-03 1.24151869e+02] [ 9.66438641e-01 2.56732662e-01 -9.20290585e-03 8.60327335e+01] [ 9.51767728e-03 1.65070933e-05 9.99954706e-01 1.45071159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.98762800000003 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:124.16, Y:86.06, Z:1.45 [[ 2.58890504e-01 -9.65903632e-01 -2.42495357e-03 1.24158574e+02] [ 9.65859784e-01 2.58901857e-01 -9.20358878e-03 8.60593757e+01] [ 9.51760481e-03 4.05566043e-05 9.99954706e-01 1.45034677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.017628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:124.17, Y:86.09, Z:1.45 [[ 2.59761744e-01 -9.65669700e-01 -2.42221710e-03 1.24165793e+02] [ 9.65625835e-01 2.59773032e-01 -9.20430891e-03 8.60865904e+01] [ 9.51754890e-03 5.19719301e-05 9.99954706e-01 1.45072322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.047628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:124.17, Y:86.11, Z:1.45 [[ 2.59768035e-01 -9.65668014e-01 -2.41959232e-03 1.24173511e+02] [ 9.65624143e-01 2.59779298e-01 -9.20499885e-03 8.61130347e+01] [ 9.51753295e-03 5.47477012e-05 9.99954706e-01 1.45093431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.077628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.18, Y:86.14, Z:1.45 [[ 2.57258008e-01 -9.66339729e-01 -2.41767443e-03 1.24182895e+02] [ 9.66295882e-01 2.57269366e-01 -9.20550255e-03 8.61391914e+01] [ 9.51763641e-03 3.20004096e-05 9.99954706e-01 1.45190130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.107628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:124.19, Y:86.16, Z:1.45 [[ 2.54405243e-01 -9.67094690e-01 -2.41506835e-03 1.24190960e+02] [ 9.67050870e-01 2.54416706e-01 -9.20618621e-03 8.61647819e+01] [ 9.51768753e-03 6.60808515e-06 9.99954706e-01 1.45234421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.20, Y:86.19, Z:1.45 [[ 2.51167344e-01 -9.67940673e-01 -2.41232080e-03 1.24199503e+02] [ 9.67896885e-01 2.51178927e-01 -9.20690610e-03 8.61920500e+01] [ 9.51766303e-03 -2.24036320e-05 9.99954706e-01 1.45287245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.21, Y:86.22, Z:1.45 [[ 2.47462039e-01 -9.68894593e-01 -2.40973876e-03 1.24208392e+02] [ 9.68850843e-01 2.47473765e-01 -9.20758185e-03 8.62189583e+01] [ 9.51752339e-03 -5.61504443e-05 9.99954706e-01 1.45345884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.22, Y:86.25, Z:1.45 [[ 2.40296621e-01 -9.70696523e-01 -2.40713848e-03 1.24219347e+02] [ 9.70652854e-01 2.40308645e-01 -9.20826159e-03 8.62454497e+01] [ 9.51688370e-03 -1.23781693e-04 9.99954706e-01 1.45419384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.23, Y:86.27, Z:1.45 [[ 2.36788337e-01 -9.71558285e-01 -2.40455353e-03 1.24227977e+02] [ 9.71514653e-01 2.36800495e-01 -9.20893655e-03 8.62712913e+01] [ 9.51641807e-03 -1.55490213e-04 9.99954706e-01 1.45473239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.24, Y:86.30, Z:1.45 [[ 2.33381693e-01 -9.72382238e-01 -2.40182934e-03 1.24236537e+02] [ 9.72338642e-01 2.33393977e-01 -9.20964701e-03 8.62981991e+01] [ 9.51586967e-03 -1.86028469e-04 9.99954706e-01 1.45434318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.25, Y:86.32, Z:1.45 [[ 2.30553600e-01 -9.73056669e-01 -2.39927667e-03 1.24245091e+02] [ 9.73013102e-01 2.30565987e-01 -9.21031197e-03 8.63249676e+01] [ 9.51534708e-03 -2.11057051e-04 9.99954706e-01 1.45401781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.26, Y:86.35, Z:1.45 [[ 2.26963412e-01 -9.73900337e-01 -2.39673665e-03 1.24255750e+02] [ 9.73856808e-01 2.26975935e-01 -9.21097290e-03 8.63517272e+01] [ 9.51457115e-03 -2.43524467e-04 9.99954706e-01 1.45324004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.26, Y:86.38, Z:1.45 [[ 2.25642578e-01 -9.74207213e-01 -2.39432832e-03 1.24264569e+02] [ 9.74163695e-01 2.25655138e-01 -9.21159889e-03 8.63784537e+01] [ 9.51429857e-03 -2.53938805e-04 9.99954706e-01 1.45326218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:86.40, Z:1.45 [[ 2.25003969e-01 -9.74354912e-01 -2.39174589e-03 1.24273202e+02] [ 9.74311395e-01 2.25016533e-01 -9.21226935e-03 8.64047227e+01] [ 9.51420226e-03 -2.57508111e-04 9.99954706e-01 1.45291408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:86.43, Z:1.45 [[ 2.25756550e-01 -9.74180821e-01 -2.38918389e-03 1.24282475e+02] [ 9.74137288e-01 2.25769056e-01 -9.21293375e-03 8.64301969e+01] [ 9.51446716e-03 -2.47512976e-04 9.99954706e-01 1.45149043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.29, Y:86.46, Z:1.45 [[ 2.26672697e-01 -9.73968066e-01 -2.38658842e-03 1.24290426e+02] [ 9.73924513e-01 2.26685138e-01 -9.21360605e-03 8.64570366e+01] [ 9.51476219e-03 -2.35884036e-04 9.99954706e-01 1.45125440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.30, Y:86.48, Z:1.45 [[ 2.28010138e-01 -9.73655839e-01 -2.38404172e-03 1.24298332e+02] [ 9.73612263e-01 2.28022494e-01 -9.21426497e-03 8.64835875e+01] [ 9.51513803e-03 -2.20186431e-04 9.99954706e-01 1.45127362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.31, Y:86.51, Z:1.45 [[ 2.29531990e-01 -9.73298204e-01 -2.38147821e-03 1.24306498e+02] [ 9.73254602e-01 2.29544254e-01 -9.21492748e-03 8.65108893e+01] [ 9.51552700e-03 -2.02663993e-04 9.99954706e-01 1.45145295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.32, Y:86.54, Z:1.45 [[ 2.32944938e-01 -9.72487016e-01 -2.37891328e-03 1.24315290e+02] [ 9.72443365e-01 2.32957025e-01 -9.21558959e-03 8.65376319e+01] [ 9.51622578e-03 -1.66633491e-04 9.99954706e-01 1.45156189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.32, Y:86.57, Z:1.45 [[ 2.34514999e-01 -9.72109597e-01 -2.37630051e-03 1.24323187e+02] [ 9.72065919e-01 2.34526991e-01 -9.21626326e-03 8.65650196e+01] [ 9.51652457e-03 -1.48568773e-04 9.99954706e-01 1.45135476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.33, Y:86.59, Z:1.45 [[ 2.35905888e-01 -9.71773007e-01 -2.37370001e-03 1.24330932e+02] [ 9.71729305e-01 2.35917793e-01 -9.21693298e-03 8.65912998e+01] [ 9.51676475e-03 -1.32265098e-04 9.99954706e-01 1.45152444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.34, Y:86.62, Z:1.45 [[ 2.37357568e-01 -9.71419458e-01 -2.37095521e-03 1.24338916e+02] [ 9.71375732e-01 2.37369381e-01 -9.21763900e-03 8.66184899e+01] [ 9.51698605e-03 -1.15211978e-04 9.99954706e-01 1.45246857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.35, Y:86.65, Z:1.45 [[ 2.40511883e-01 -9.70643305e-01 -2.36839971e-03 1.24347623e+02] [ 9.70599534e-01 2.40523530e-01 -9.21829557e-03 8.66450108e+01] [ 9.51733273e-03 -8.16580328e-05 9.99954706e-01 1.45489566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.36, Y:86.67, Z:1.46 [[ 2.41437845e-01 -9.70413401e-01 -2.36611895e-03 1.24355276e+02] [ 9.70369613e-01 2.41449429e-01 -9.21888095e-03 8.66715515e+01] [ 9.51742368e-03 -7.02231780e-05 9.99954706e-01 1.45700412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.36, Y:86.70, Z:1.46 [[ 2.42288732e-01 -9.70201312e-01 -2.36334010e-03 1.24362645e+02] [ 9.70157507e-01 2.42300251e-01 -9.21959328e-03 8.66974760e+01] [ 9.51749939e-03 -5.90085733e-05 9.99954706e-01 1.45770456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.37, Y:86.72, Z:1.46 [[ 2.42795644e-01 -9.70074584e-01 -2.36143182e-03 1.24370835e+02] [ 9.70030768e-01 2.42807122e-01 -9.22008202e-03 8.67239086e+01] [ 9.51753970e-03 -5.20657652e-05 9.99954706e-01 1.46011314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.38, Y:86.75, Z:1.46 [[ 2.42077217e-01 -9.70254120e-01 -2.35883374e-03 1.24378055e+02] [ 9.70210306e-01 2.42088703e-01 -9.22074666e-03 8.67505437e+01] [ 9.51751443e-03 -5.64321124e-05 9.99954706e-01 1.46035929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.38, Y:86.78, Z:1.46 [[ 2.41230963e-01 -9.70464874e-01 -2.35609287e-03 1.24384914e+02] [ 9.70421063e-01 2.41242461e-01 -9.22144695e-03 8.67780362e+01] [ 9.51748000e-03 -6.19036185e-05 9.99954706e-01 1.46125496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.39, Y:86.80, Z:1.46 [[ 2.40285402e-01 -9.70699432e-01 -2.35345014e-03 1.24390934e+02] [ 9.70655626e-01 2.40296917e-01 -9.22212137e-03 8.68045519e+01] [ 9.51743479e-03 -6.84484829e-05 9.99954706e-01 1.45967838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.40, Y:86.83, Z:1.46 [[ 2.38571694e-01 -9.71122040e-01 -2.35152357e-03 1.24397436e+02] [ 9.71078250e-01 2.38583268e-01 -9.22261259e-03 8.68312370e+01] [ 9.51731654e-03 -8.32590866e-05 9.99954706e-01 1.45914929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.40, Y:86.86, Z:1.46 [[ 2.33724100e-01 -9.72300123e-01 -2.34877786e-03 1.24404893e+02] [ 9.72256384e-01 2.33735866e-01 -9.22331181e-03 8.68584509e+01] [ 9.51682083e-03 -1.27904022e-04 9.99954706e-01 1.46013065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.41, Y:86.89, Z:1.46 [[ 2.30855534e-01 -9.72985210e-01 -2.34618869e-03 1.24411786e+02] [ 9.72941499e-01 2.30867405e-01 -9.22397038e-03 8.68858725e+01] [ 9.51644525e-03 -1.53299734e-04 9.99954706e-01 1.46018129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.42, Y:86.91, Z:1.46 [[ 2.27421253e-01 -9.73793654e-01 -2.34360280e-03 1.24418243e+02] [ 9.73749979e-01 2.27433253e-01 -9.22462735e-03 8.69135143e+01] [ 9.51589679e-03 -1.84206866e-04 9.99954706e-01 1.46031923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.42, Y:86.94, Z:1.46 [[ 2.23884931e-01 -9.74612773e-01 -2.34098359e-03 1.24424792e+02] [ 9.74569135e-01 2.23897065e-01 -9.22529199e-03 8.69396556e+01] [ 9.51522677e-03 -2.16046488e-04 9.99954706e-01 1.46006743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.43, Y:86.97, Z:1.46 [[ 2.16941787e-01 -9.76181742e-01 -2.33822452e-03 1.24430362e+02] [ 9.76138184e-01 2.16954206e-01 -9.22599125e-03 8.69668118e+01] [ 9.51353186e-03 -2.80927209e-04 9.99954706e-01 1.46016888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.44, Y:86.99, Z:1.46 [[ 2.13509748e-01 -9.76938142e-01 -2.33564497e-03 1.24435944e+02] [ 9.76894620e-01 2.13522295e-01 -9.22664424e-03 8.69936746e+01] [ 9.51257295e-03 -3.11700523e-04 9.99954706e-01 1.45967142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.44, Y:87.02, Z:1.46 [[ 2.13239639e-01 -9.76997141e-01 -2.33294037e-03 1.24442883e+02] [ 9.76953616e-01 2.13252173e-01 -9.22732804e-03 8.70214192e+01] [ 9.51257772e-03 -3.11542427e-04 9.99954706e-01 1.45994244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.09762800000001 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:124.45, Y:87.05, Z:1.46 [[ 2.10020701e-01 -9.77694162e-01 -2.33038894e-03 1.24449069e+02] [ 9.77650671e-01 2.10033354e-01 -9.22797237e-03 8.70492872e+01] [ 9.51159412e-03 -3.40241089e-04 9.99954706e-01 1.45728443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.45, Y:87.08, Z:1.46 [[ 2.06925153e-01 -9.78354007e-01 -2.32784894e-03 1.24454636e+02] [ 9.78310549e-01 2.06937920e-01 -9.22861307e-03 8.70763817e+01] [ 9.51057078e-03 -3.67727006e-04 9.99954706e-01 1.45843902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.46, Y:87.10, Z:1.46 [[ 2.02327208e-01 -9.79315217e-01 -2.32531931e-03 1.24459438e+02] [ 9.79271812e-01 2.02340155e-01 -9.22925041e-03 8.71037516e+01] [ 9.50885083e-03 -4.09791188e-04 9.99954706e-01 1.45852635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.47, Y:87.13, Z:1.46 [[ 2.00714152e-01 -9.79647097e-01 -2.32273198e-03 1.24465435e+02] [ 9.79603707e-01 2.00727146e-01 -9.22990152e-03 8.71315115e+01] [ 9.50828159e-03 -4.22785004e-04 9.99954706e-01 1.45897072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.47, Y:87.16, Z:1.46 [[ 1.99723180e-01 -9.79849615e-01 -2.32014696e-03 1.24470651e+02] [ 9.79806231e-01 1.99736193e-01 -9.23055128e-03 8.71594966e+01] [ 9.50796944e-03 -4.29739399e-04 9.99954706e-01 1.45952826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.48, Y:87.19, Z:1.46 [[ 1.99852602e-01 -9.79823232e-01 -2.31756176e-03 1.24475034e+02] [ 9.79779839e-01 1.99865585e-01 -9.23120031e-03 8.71864080e+01] [ 9.50814536e-03 -4.25820890e-04 9.99954706e-01 1.45988315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.48, Y:87.22, Z:1.46 [[ 2.02994140e-01 -9.79177214e-01 -2.31567592e-03 1.24477839e+02] [ 9.79133774e-01 2.03006967e-01 -9.23167335e-03 8.72151568e+01] [ 9.50954254e-03 -3.93380907e-04 9.99954706e-01 1.46159599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.48, Y:87.24, Z:1.46 [[ 2.05695515e-01 -9.78613307e-01 -2.31304628e-03 1.24482504e+02] [ 9.78569825e-01 2.05708196e-01 -9.23233218e-03 8.72415518e+01] [ 9.51069571e-03 -3.64427973e-04 9.99954706e-01 1.46181569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.49, Y:87.27, Z:1.46 [[ 2.08962959e-01 -9.77920827e-01 -2.31027090e-03 1.24487310e+02] [ 9.77877295e-01 2.08975469e-01 -9.23302663e-03 8.72693008e+01] [ 9.51195899e-03 -3.29800895e-04 9.99954706e-01 1.46242524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.49, Y:87.30, Z:1.46 [[ 2.16279342e-01 -9.76328797e-01 -2.30770031e-03 1.24490695e+02] [ 9.76285166e-01 2.16291502e-01 -9.23366908e-03 8.72962531e+01] [ 9.51423299e-03 -2.55921703e-04 9.99954706e-01 1.46283922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.50, Y:87.32, Z:1.46 [[ 2.20121324e-01 -9.75469779e-01 -2.30498257e-03 1.24495398e+02] [ 9.75426093e-01 2.20133287e-01 -9.23434745e-03 8.73230467e+01] [ 9.51523026e-03 -2.15663353e-04 9.99954706e-01 1.46288262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.50, Y:87.35, Z:1.46 [[ 2.24503881e-01 -9.74470475e-01 -2.30236837e-03 1.24500024e+02] [ 9.74426729e-01 2.24515622e-01 -9.23499920e-03 8.73506383e+01] [ 9.51615172e-03 -1.70196111e-04 9.99954706e-01 1.46390017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.50, Y:87.38, Z:1.46 [[ 2.29114482e-01 -9.73396767e-01 -2.29973974e-03 1.24504784e+02] [ 9.73352959e-01 2.29125991e-01 -9.23565374e-03 8.73775845e+01] [ 9.51688564e-03 -1.22436458e-04 9.99954706e-01 1.46356874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.51, Y:87.41, Z:1.46 [[ 2.37981703e-01 -9.71266922e-01 -2.29696782e-03 1.24508496e+02] [ 9.71223004e-01 2.37992785e-01 -9.23634308e-03 8.74053245e+01] [ 9.51761628e-03 -3.27873348e-05 9.99954706e-01 1.46489418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.51, Y:87.43, Z:1.47 [[ 2.41939691e-01 -9.70288577e-01 -2.29434884e-03 1.24514281e+02] [ 9.70244608e-01 2.41950569e-01 -9.23699361e-03 8.74328017e+01] [ 9.51766839e-03 8.71578369e-06 9.99954706e-01 1.46576434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:87.46, Z:1.47 [[ 2.45175945e-01 -9.69475891e-01 -2.29170888e-03 1.24520095e+02] [ 9.69431881e-01 2.45186652e-01 -9.23764854e-03 8.74595721e+01] [ 9.51757398e-03 4.31935589e-05 9.99954706e-01 1.46622482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.53, Y:87.49, Z:1.47 [[ 2.47745202e-01 -9.68822520e-01 -2.28891989e-03 1.24526620e+02] [ 9.68778475e-01 2.47755765e-01 -9.23833955e-03 8.74873915e+01] [ 9.51740450e-03 7.12979749e-05 9.99954706e-01 1.46701099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.53, Y:87.51, Z:1.47 [[ 2.50423312e-01 -9.68133740e-01 -2.28631381e-03 1.24533601e+02] [ 9.68089660e-01 2.50433728e-01 -9.23898446e-03 8.75142461e+01] [ 9.51714266e-03 1.00300325e-04 9.99954706e-01 1.46791193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.54, Y:87.54, Z:1.47 [[ 2.50415920e-01 -9.68135660e-01 -2.28271123e-03 1.24540393e+02] [ 9.68091572e-01 2.50426302e-01 -9.23987492e-03 8.75409516e+01] [ 9.51710334e-03 1.03938269e-04 9.99954706e-01 1.46688091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.55, Y:87.57, Z:1.47 [[ 2.50109279e-01 -9.68214927e-01 -2.28118277e-03 1.24548059e+02] [ 9.68170839e-01 2.50119661e-01 -9.24025226e-03 8.75682092e+01] [ 9.51711883e-03 1.02498194e-04 9.99954706e-01 1.46703343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.697628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:124.56, Y:87.59, Z:1.47 [[ 2.48051253e-01 -9.68744230e-01 -2.27860520e-03 1.24557302e+02] [ 9.68700158e-01 2.48061704e-01 -9.24088784e-03 8.75945161e+01] [ 9.51729146e-03 8.49285932e-05 9.99954706e-01 1.46585771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:87.62, Z:1.47 [[ 2.47612639e-01 -9.68856440e-01 -2.27602777e-03 1.24565909e+02] [ 9.68812367e-01 2.47623085e-01 -9.24152261e-03 8.76209473e+01] [ 9.51730571e-03 8.32739434e-05 9.99954706e-01 1.46878660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:87.65, Z:1.47 [[ 2.46175890e-01 -9.69222504e-01 -2.27346442e-03 1.24573773e+02] [ 9.69178441e-01 2.46186377e-01 -9.24215317e-03 8.76483643e+01] [ 9.51739881e-03 7.18025854e-05 9.99954706e-01 1.46885761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.58, Y:87.68, Z:1.47 [[ 2.44917009e-01 -9.69541387e-01 -2.27091288e-03 1.24581194e+02] [ 9.69497332e-01 2.44927529e-01 -9.24278007e-03 8.76753093e+01] [ 9.51746689e-03 6.20700685e-05 9.99954706e-01 1.46835662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:87.70, Z:1.47 [[ 2.42865688e-01 -9.70057273e-01 -2.26837727e-03 1.24589610e+02] [ 9.70013234e-01 2.42876277e-01 -9.24340232e-03 8.77025258e+01] [ 9.51756467e-03 4.45492901e-05 9.99954706e-01 1.46698908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:87.73, Z:1.47 [[ 2.41829942e-01 -9.70316003e-01 -2.26585474e-03 1.24597891e+02] [ 9.70271969e-01 2.41840554e-01 -9.24402063e-03 8.77293063e+01] [ 9.51759672e-03 3.69856358e-05 9.99954706e-01 1.46679555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:87.76, Z:1.47 [[ 2.40955404e-01 -9.70533549e-01 -2.26334449e-03 1.24606390e+02] [ 9.70489520e-01 2.40966032e-01 -9.24463521e-03 8.77563732e+01] [ 9.51761777e-03 3.09927015e-05 9.99954706e-01 1.46682398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:87.78, Z:1.47 [[ 2.39622581e-01 -9.70863485e-01 -2.26085287e-03 1.24616343e+02] [ 9.70819465e-01 2.39633245e-01 -9.24524452e-03 8.77816374e+01] [ 9.51764583e-03 2.04893791e-05 9.99954706e-01 1.46693644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:87.81, Z:1.47 [[ 2.38756959e-01 -9.71076730e-01 -2.25825559e-03 1.24623867e+02] [ 9.71032713e-01 2.38767638e-01 -9.24587889e-03 8.78076354e+01] [ 9.51765619e-03 1.46778793e-05 9.99954706e-01 1.46719555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.63, Y:87.83, Z:1.47 [[ 2.37609632e-01 -9.71358109e-01 -2.25548193e-03 1.24631053e+02] [ 9.71314098e-01 2.37620337e-01 -9.24655546e-03 8.78335584e+01] [ 9.51766500e-03 6.28924157e-06 9.99954706e-01 1.46723624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.64, Y:87.86, Z:1.47 [[ 2.34924828e-01 -9.72010931e-01 -2.25272768e-03 1.24639672e+02] [ 9.71966944e-01 2.34935628e-01 -9.24722643e-03 8.78585848e+01] [ 9.51765116e-03 -1.71737655e-05 9.99954706e-01 1.46717767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.65, Y:87.89, Z:1.47 [[ 2.32853337e-01 -9.72509259e-01 -2.25059955e-03 1.24647803e+02] [ 9.72465289e-01 2.32864211e-01 -9.24774434e-03 8.78850395e+01] [ 9.51760108e-03 -3.52618117e-05 9.99954706e-01 1.46754940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:87.91, Z:1.47 [[ 2.30309694e-01 -9.73114789e-01 -2.24790493e-03 1.24655885e+02] [ 9.73070841e-01 2.30320657e-01 -9.24839930e-03 8.79108846e+01] [ 9.51749306e-03 -5.73747209e-05 9.99954706e-01 1.46809731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:87.94, Z:1.47 [[ 2.27473650e-01 -9.73781648e-01 -2.24521011e-03 1.24664384e+02] [ 9.73737726e-01 2.27484715e-01 -9.24905346e-03 8.79375010e+01] [ 9.51730950e-03 -8.23298352e-05 9.99954706e-01 1.46955670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.67, Y:87.96, Z:1.47 [[ 2.21019630e-01 -9.75266781e-01 -2.24271031e-03 1.24674396e+02] [ 9.75222927e-01 2.21030963e-01 -9.24965958e-03 8.79631865e+01] [ 9.51659413e-03 -1.42786170e-04 9.99954706e-01 1.47054955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.68, Y:87.99, Z:1.47 [[ 2.17595886e-01 -9.76036377e-01 -2.24088447e-03 1.24682674e+02] [ 9.75992559e-01 2.17607354e-01 -9.25010189e-03 8.79896776e+01] [ 9.51606888e-03 -1.74302452e-04 9.99954706e-01 1.47125172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.69, Y:88.02, Z:1.47 [[ 2.13671520e-01 -9.76903000e-01 -2.23812499e-03 1.24690379e+02] [ 9.76859222e-01 2.13683139e-01 -9.25076952e-03 8.80161992e+01] [ 9.51535407e-03 -2.09707048e-04 9.99954706e-01 1.47215490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.70, Y:88.04, Z:1.47 [[ 2.10193006e-01 -9.77657355e-01 -2.23537370e-03 1.24697708e+02] [ 9.77613611e-01 2.10204754e-01 -9.25143430e-03 8.80410151e+01] [ 9.51461897e-03 -2.40744972e-04 9.99954706e-01 1.47347925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.70, Y:88.07, Z:1.48 [[ 2.06766170e-01 -9.78387841e-01 -2.23249613e-03 1.24703729e+02] [ 9.78344131e-01 2.06778045e-01 -9.25212864e-03 8.80672094e+01] [ 9.51380135e-03 -2.71122279e-04 9.99954706e-01 1.47557645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.267628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:124.71, Y:88.09, Z:1.47 [[ 2.06094624e-01 -9.78529526e-01 -2.22994189e-03 1.24709529e+02] [ 9.78485818e-01 2.06106504e-01 -9.25274423e-03 8.80931553e+01] [ 9.51368895e-03 -2.75025667e-04 9.99954706e-01 1.47259138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.72, Y:88.12, Z:1.48 [[ 2.05068263e-01 -9.78745200e-01 -2.20020154e-03 1.24716278e+02] [ 9.78701428e-01 2.05079908e-01 -9.25990645e-03 8.81215964e+01] [ 9.51430612e-03 -2.54427456e-04 9.99954706e-01 1.47826055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.72, Y:88.15, Z:1.48 [[ 2.04003926e-01 -9.78967538e-01 -2.22680740e-03 1.24722404e+02] [ 9.78923847e-01 2.04015869e-01 -9.25350389e-03 8.81479502e+01] [ 9.51318397e-03 -2.92123748e-04 9.99954706e-01 1.47751271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.73, Y:88.17, Z:1.48 [[ 2.03505977e-01 -9.79071177e-01 -2.22416956e-03 1.24728043e+02] [ 9.79027486e-01 2.03517919e-01 -9.25413788e-03 8.81737193e+01] [ 9.51311803e-03 -2.94250762e-04 9.99954706e-01 1.47785188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.73, Y:88.20, Z:1.48 [[ 2.03215982e-01 -9.79131416e-01 -2.22140721e-03 1.24733770e+02] [ 9.79087721e-01 2.03227910e-01 -9.25480092e-03 8.82008642e+01] [ 9.51311827e-03 -2.94229068e-04 9.99954706e-01 1.47948363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.74, Y:88.23, Z:1.48 [[ 2.04115175e-01 -9.78944367e-01 -2.21866370e-03 1.24738302e+02] [ 9.78900653e-01 2.04127037e-01 -9.25545858e-03 8.82287904e+01] [ 9.51346828e-03 -2.82671794e-04 9.99954706e-01 1.48040308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.74, Y:88.26, Z:1.48 [[ 2.04987579e-01 -9.78762066e-01 -2.21616273e-03 1.24742763e+02] [ 9.78718336e-01 2.04999378e-01 -9.25605738e-03 8.82563216e+01] [ 9.51378982e-03 -2.71622304e-04 9.99954706e-01 1.48088601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.75, Y:88.28, Z:1.48 [[ 2.05861575e-01 -9.78578618e-01 -2.21356692e-03 1.24746889e+02] [ 9.78534871e-01 2.05873311e-01 -9.25667812e-03 8.82837144e+01] [ 9.51410163e-03 -2.60458085e-04 9.99954706e-01 1.47970094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.507628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.75, Y:88.31, Z:1.48 [[ 2.09057243e-01 -9.77900906e-01 -2.21082931e-03 1.24750107e+02] [ 9.77857114e-01 2.09068810e-01 -9.25733191e-03 8.83114709e+01] [ 9.51496872e-03 -2.26562883e-04 9.99954706e-01 1.48047700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.537628 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:124.76, Y:88.34, Z:1.48 [[ 2.09476371e-01 -9.77811216e-01 -2.20820378e-03 1.24755685e+02] [ 9.77767412e-01 2.09487894e-01 -9.25795816e-03 8.83392210e+01] [ 9.51512728e-03 -2.19786220e-04 9.99954706e-01 1.47804076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.567628 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:124.76, Y:88.37, Z:1.48 [[ 2.10970006e-01 -9.77490047e-01 -2.20557450e-03 1.24761657e+02] [ 9.77446219e-01 2.10981437e-01 -9.25858450e-03 8.83664285e+01] [ 9.51550948e-03 -2.02546834e-04 9.99954706e-01 1.47785253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.77, Y:88.39, Z:1.48 [[ 2.14357758e-01 -9.76752732e-01 -2.20294956e-03 1.24767135e+02] [ 9.76708858e-01 2.14369013e-01 -9.25920903e-03 8.83943040e+01] [ 9.51620183e-03 -1.66857058e-04 9.99954706e-01 1.47952352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.62762800000002 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:124.77, Y:88.42, Z:1.48 [[ 2.14712980e-01 -9.76674713e-01 -2.20030721e-03 1.24773304e+02] [ 9.76630829e-01 2.14724194e-01 -9.25983690e-03 8.84221789e+01] [ 9.51630773e-03 -1.60680677e-04 9.99954706e-01 1.47681443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.78, Y:88.45, Z:1.48 [[ 2.16431115e-01 -9.76295418e-01 -2.19766173e-03 1.24779678e+02] [ 9.76251508e-01 2.16442227e-01 -9.26046471e-03 8.84483546e+01] [ 9.51661606e-03 -1.41217874e-04 9.99954706e-01 1.47957783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.79, Y:88.48, Z:1.48 [[ 2.17663154e-01 -9.76021482e-01 -2.19487181e-03 1.24785564e+02] [ 9.75977552e-01 2.17674183e-01 -9.26112592e-03 8.84754753e+01] [ 9.51682478e-03 -1.26339739e-04 9.99954706e-01 1.48021698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.71762800000002 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:124.79, Y:88.50, Z:1.48 [[ 2.19693362e-01 -9.75566513e-01 -2.19226282e-03 1.24790444e+02] [ 9.75522553e-01 2.19704275e-01 -9.26174347e-03 8.85022832e+01] [ 9.51709629e-03 -1.03858262e-04 9.99954706e-01 1.47842493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.80, Y:88.53, Z:1.48 [[ 2.20949114e-01 -9.75282878e-01 -2.19035837e-03 1.24797301e+02] [ 9.75238900e-01 2.20959952e-01 -9.26219384e-03 8.85294710e+01] [ 9.51724054e-03 -8.96491608e-05 9.99954706e-01 1.48188471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.80, Y:88.56, Z:1.48 [[ 2.21502044e-01 -9.75157453e-01 -2.18772559e-03 1.24804055e+02] [ 9.75113463e-01 2.21512833e-01 -9.26281566e-03 8.85556310e+01] [ 9.51731302e-03 -8.15480677e-05 9.99954706e-01 1.48225688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.80762800000002 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:124.81, Y:88.58, Z:1.48 [[ 2.21130253e-01 -9.75241833e-01 -2.18580584e-03 1.24811090e+02] [ 9.75197843e-01 2.21141040e-01 -9.26326865e-03 8.85826923e+01] [ 9.51729848e-03 -8.32041987e-05 9.99954706e-01 1.48078922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.82, Y:88.61, Z:1.48 [[ 2.21905277e-01 -9.75065783e-01 -2.18323246e-03 1.24819265e+02] [ 9.75021778e-01 2.21916005e-01 -9.26387513e-03 8.86099002e+01] [ 9.51738188e-03 -7.29964163e-05 9.99954706e-01 1.48385253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.83, Y:88.64, Z:1.48 [[ 2.21927330e-01 -9.75060770e-01 -2.18060988e-03 1.24826147e+02] [ 9.75016758e-01 2.21938032e-01 -9.26449241e-03 8.86372954e+01] [ 9.51740337e-03 -7.00871074e-05 9.99954706e-01 1.48372807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.83, Y:88.66, Z:1.48 [[ 2.21588084e-01 -9.75137927e-01 -2.17800916e-03 1.24832783e+02] [ 9.75093913e-01 2.21598777e-01 -9.26510378e-03 8.86645894e+01] [ 9.51739826e-03 -7.07268783e-05 9.99954706e-01 1.48445980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.84, Y:88.69, Z:1.48 [[ 2.20863947e-01 -9.75302202e-01 -2.17535623e-03 1.24840422e+02] [ 9.75258190e-01 2.20874647e-01 -9.26572662e-03 8.86904266e+01] [ 9.51736461e-03 -7.50690283e-05 9.99954706e-01 1.48362849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.85, Y:88.72, Z:1.48 [[ 2.20602450e-01 -9.75361387e-01 -2.17342056e-03 1.24846866e+02] [ 9.75317373e-01 2.20613143e-01 -9.26618064e-03 8.87182851e+01] [ 9.51735994e-03 -7.56326817e-05 9.99954706e-01 1.48389981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.85, Y:88.74, Z:1.48 [[ 2.19794891e-01 -9.75543691e-01 -2.17093593e-03 1.24854173e+02] [ 9.75499680e-01 2.19805597e-01 -9.26676272e-03 8.87444865e+01] [ 9.51731577e-03 -8.09602030e-05 9.99954706e-01 1.48400374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.017628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:124.86, Y:88.77, Z:1.48 [[ 2.17441960e-01 -9.76070844e-01 -2.16815811e-03 1.24863229e+02] [ 9.76026853e-01 2.17452746e-01 -9.26741260e-03 8.87717141e+01] [ 9.51712318e-03 -1.01056176e-04 9.99954706e-01 1.48372605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.87, Y:88.80, Z:1.49 [[ 2.17491072e-01 -9.76059908e-01 -2.16554323e-03 1.24870825e+02] [ 9.76015911e-01 2.17501830e-01 -9.26802359e-03 8.87976583e+01] [ 9.51715587e-03 -9.78922684e-05 9.99954706e-01 1.48516397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.88, Y:88.83, Z:1.49 [[ 2.16500197e-01 -9.76280205e-01 -2.15092279e-03 1.24878814e+02] [ 9.76236184e-01 2.16510861e-01 -9.27143452e-03 8.88260218e+01] [ 9.51721614e-03 -9.25412602e-05 9.99954706e-01 1.48598632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.89, Y:88.85, Z:1.49 [[ 2.15973090e-01 -9.76396925e-01 -2.16070312e-03 1.24886422e+02] [ 9.76352933e-01 2.15983871e-01 -9.26915466e-03 8.88528516e+01] [ 9.51705114e-03 -1.07720860e-04 9.99954706e-01 1.48624717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.89, Y:88.88, Z:1.49 [[ 2.15584966e-01 -9.76482701e-01 -2.15808358e-03 1.24893827e+02] [ 9.76438707e-01 2.15595740e-01 -9.26976452e-03 8.88794404e+01] [ 9.51703832e-03 -1.08814473e-04 9.99954706e-01 1.48572653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.167628 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:124.90, Y:88.91, Z:1.48 [[ 2.14936961e-01 -9.76625546e-01 -2.15533159e-03 1.24901520e+02] [ 9.76581553e-01 2.14947738e-01 -9.27040434e-03 8.89064344e+01] [ 9.51699735e-03 -1.12304535e-04 9.99954706e-01 1.48476833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.91, Y:88.93, Z:1.49 [[ 2.15369936e-01 -9.76530162e-01 -2.15269455e-03 1.24910390e+02] [ 9.76486158e-01 2.15380668e-01 -9.27101665e-03 8.89321012e+01] [ 9.51707618e-03 -1.05378175e-04 9.99954706e-01 1.48575546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.92, Y:88.96, Z:1.49 [[ 2.16267330e-01 -9.76331817e-01 -2.15076838e-03 1.24917111e+02] [ 9.76287798e-01 2.16278004e-01 -9.27146348e-03 8.89585108e+01] [ 9.51718867e-03 -9.46542731e-05 9.99954706e-01 1.48591799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.93, Y:88.99, Z:1.49 [[ 2.18519418e-01 -9.75830236e-01 -2.14803005e-03 1.24925050e+02] [ 9.75786187e-01 2.18529965e-01 -9.27209786e-03 8.89859952e+01] [ 9.51740237e-03 -6.98846166e-05 9.99954706e-01 1.48888308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.287628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:124.93, Y:89.01, Z:1.49 [[ 2.18964720e-01 -9.75730418e-01 -2.14561850e-03 1.24931943e+02] [ 9.75686358e-01 2.18975223e-01 -9.27265587e-03 8.90132226e+01] [ 9.51744968e-03 -6.30662098e-05 9.99954706e-01 1.49086123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.317628 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:124.94, Y:89.04, Z:1.49 [[ 2.19397144e-01 -9.75633282e-01 -2.14302782e-03 1.24938182e+02] [ 9.75589212e-01 2.19407603e-01 -9.27325457e-03 8.90406582e+01] [ 9.51749239e-03 -5.61892554e-05 9.99954706e-01 1.49195110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.94, Y:89.07, Z:1.49 [[ 2.19754088e-01 -9.75552951e-01 -2.14043697e-03 1.24944002e+02] [ 9.75508871e-01 2.19764506e-01 -9.27385255e-03 8.90672265e+01] [ 9.51752629e-03 -5.00482408e-05 9.99954706e-01 1.49096236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.95, Y:89.09, Z:1.49 [[ 2.20627551e-01 -9.75355788e-01 -2.13770381e-03 1.24950759e+02] [ 9.75311694e-01 2.20637904e-01 -9.27448252e-03 8.90941376e+01] [ 9.51757870e-03 -3.87211538e-05 9.99954706e-01 1.49288374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.96, Y:89.12, Z:1.49 [[ 2.20903485e-01 -9.75293336e-01 -2.13514335e-03 1.24957332e+02] [ 9.75249233e-01 2.20913801e-01 -9.27507195e-03 8.91204066e+01] [ 9.51759850e-03 -3.34011991e-05 9.99954706e-01 1.49305585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.96, Y:89.15, Z:1.49 [[ 2.21181270e-01 -9.75230382e-01 -2.13244556e-03 1.24963862e+02] [ 9.75186270e-01 2.21191548e-01 -9.27569216e-03 8.91473901e+01] [ 9.51761574e-03 -2.79222558e-05 9.99954706e-01 1.49441941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.97, Y:89.18, Z:1.49 [[ 2.21388138e-01 -9.75183447e-01 -2.12987120e-03 1.24969821e+02] [ 9.75139327e-01 2.21398382e-01 -9.27628324e-03 8.91751295e+01] [ 9.51762791e-03 -2.32620917e-05 9.99954706e-01 1.49459975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.97, Y:89.20, Z:1.49 [[ 2.22753931e-01 -9.74872382e-01 -2.12728577e-03 1.24974704e+02] [ 9.74828242e-01 2.22764088e-01 -9.27687611e-03 8.92019262e+01] [ 9.51765318e-03 -7.27763236e-06 9.99954706e-01 1.49415511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.52762800000002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:124.98, Y:89.23, Z:1.49 [[ 2.20820535e-01 -9.75312171e-01 -2.11221588e-03 1.24976396e+02] [ 9.75268017e-01 2.20830636e-01 -9.28032859e-03 8.92265077e+01] [ 9.51765939e-03 -1.06894737e-05 9.99954706e-01 1.49324157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.99, Y:89.26, Z:1.50 [[ 2.23710531e-01 -9.74653562e-01 -2.00810415e-03 1.24987150e+02] [ 9.74609160e-01 2.23719509e-01 -9.30414987e-03 8.92583129e+01] [ 9.51757489e-03 1.24319606e-04 9.99954699e-01 1.49555238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.99, Y:89.29, Z:1.50 [[ 2.23983338e-01 -9.74590658e-01 -2.12463131e-03 1.24993542e+02] [ 9.74546499e-01 2.23993414e-01 -9.27746407e-03 8.92850577e+01] [ 9.51763323e-03 7.44536373e-06 9.99954706e-01 1.49636722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.61762800000002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:124.99, Y:89.31, Z:1.50 [[ 2.19334159e-01 -9.75647490e-01 -2.12183933e-03 1.24992954e+02] [ 9.75603374e-01 2.19344419e-01 -9.27810257e-03 8.93074982e+01] [ 9.51757110e-03 -3.50687815e-05 9.99954706e-01 1.49618544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.64762800000003 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:125.00, Y:89.34, Z:1.50 [[ 2.19524908e-01 -9.75604941e-01 -1.95267828e-03 1.24999873e+02] [ 9.75560464e-01 2.19533548e-01 -9.31677092e-03 8.93354293e+01] [ 9.51816614e-03 1.40307552e-04 9.99954691e-01 1.49688519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.01, Y:89.36, Z:1.50 [[ 2.19551111e-01 -9.75599036e-01 -1.95726089e-03 1.25007161e+02] [ 9.75554568e-01 2.19559793e-01 -9.31572292e-03 8.93640087e+01] [ 9.51814609e-03 1.35862516e-04 9.99954692e-01 1.49698126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.01, Y:89.39, Z:1.50 [[ 2.18219758e-01 -9.75897628e-01 -1.98942909e-03 1.25013854e+02] [ 9.75853238e-01 2.18228808e-01 -9.30836314e-03 8.93907899e+01] [ 9.51816024e-03 8.98779305e-05 9.99954697e-01 1.49631005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.03, Y:89.42, Z:1.50 [[ 2.20945350e-01 -9.75284178e-01 -1.98095116e-03 1.25026334e+02] [ 9.75239746e-01 2.20954195e-01 -9.31030181e-03 8.94213248e+01] [ 9.51788952e-03 1.25165589e-04 9.99954696e-01 1.49554672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.76762800000003 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:125.03, Y:89.45, Z:1.50 [[ 2.19301203e-01 -9.75654891e-01 -2.12517457e-03 1.25032783e+02] [ 9.75610783e-01 2.19311496e-01 -9.27726417e-03 8.94488912e+01] [ 9.51748337e-03 -3.88280330e-05 9.99954707e-01 1.49574409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:89.48, Z:1.50 [[ 2.17984630e-01 -9.75949894e-01 -2.12258823e-03 1.25039555e+02] [ 9.75905794e-01 2.17994959e-01 -9.27785587e-03 8.94754884e+01] [ 9.51743599e-03 -4.90161733e-05 9.99954707e-01 1.49555668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.827628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:125.04, Y:89.50, Z:1.50 [[ 2.13305040e-01 -9.76983350e-01 -2.11985957e-03 1.25041190e+02] [ 9.76939294e-01 2.13315554e-01 -9.27847929e-03 8.94993738e+01] [ 9.51711880e-03 -9.18277165e-05 9.99954707e-01 1.49671183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.857628 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:125.05, Y:89.53, Z:1.50 [[ 2.10056583e-01 -9.77687158e-01 -2.01346219e-03 1.25047276e+02] [ 9.77642899e-01 2.10066232e-01 -9.30275050e-03 8.95256424e+01] [ 9.51814011e-03 -1.43430352e-05 9.99954701e-01 1.49726690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.887628 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:125.05, Y:89.55, Z:1.50 [[ 2.10130484e-01 -9.77671373e-01 -1.96626426e-03 1.25054553e+02] [ 9.77627011e-01 2.10139681e-01 -9.31350399e-03 8.95541773e+01] [ 9.51873638e-03 3.47780473e-05 9.99954695e-01 1.49866023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.917628 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:125.07, Y:89.58, Z:1.50 [[ 2.12362119e-01 -9.77188972e-01 -2.01079403e-03 1.25065293e+02] [ 9.77144685e-01 2.12371638e-01 -9.30335189e-03 8.95841494e+01] [ 9.51816849e-03 1.08428238e-05 9.99954701e-01 1.49787751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.07, Y:89.61, Z:1.50 [[ 2.07531897e-01 -9.78225961e-01 -2.11689215e-03 1.25065396e+02] [ 9.78181961e-01 2.07542642e-01 -9.27914733e-03 8.96076189e+01] [ 9.51644820e-03 -1.44986667e-04 9.99954707e-01 1.49775068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.08, Y:89.64, Z:1.50 [[ 2.09981597e-01 -9.77703329e-01 -1.98237677e-03 1.25077055e+02] [ 9.77659004e-01 2.09990954e-01 -9.30976413e-03 8.96390741e+01] [ 9.51846857e-03 1.67906485e-05 9.99954698e-01 1.49879874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.08, Y:89.67, Z:1.50 [[ 2.08734362e-01 -9.77970089e-01 -2.11467707e-03 1.25083157e+02] [ 9.77926071e-01 2.08745033e-01 -9.27961508e-03 8.96661576e+01] [ 9.51661432e-03 -1.31023296e-04 9.99954707e-01 1.50021225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:89.69, Z:1.50 [[ 2.08314683e-01 -9.78059575e-01 -2.11203084e-03 1.25088935e+02] [ 9.78015556e-01 2.08325347e-01 -9.28021732e-03 8.96927679e+01] [ 9.51659497e-03 -1.32393491e-04 9.99954707e-01 1.50060401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:89.72, Z:1.50 [[ 2.07958545e-01 -9.78135366e-01 -2.10923803e-03 1.25094380e+02] [ 9.78091344e-01 2.07969199e-01 -9.28085204e-03 8.97198967e+01] [ 9.51658615e-03 -1.32994974e-04 9.99954707e-01 1.50058728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.09762800000001 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:125.10, Y:89.75, Z:1.50 [[ 2.07812229e-01 -9.78166468e-01 -2.10663528e-03 1.25099696e+02] [ 9.78122442e-01 2.07822865e-01 -9.28144279e-03 8.97468723e+01] [ 9.51660309e-03 -1.31749934e-04 9.99954707e-01 1.49977758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.12762800000002 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:125.10, Y:89.77, Z:1.50 [[ 2.03785960e-01 -9.79013205e-01 -2.10389401e-03 1.25098602e+02] [ 9.78969217e-01 2.03796751e-01 -9.28206413e-03 8.97685101e+01] [ 9.51603012e-03 -1.68093116e-04 9.99954707e-01 1.49921360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.15762800000002 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:125.11, Y:89.80, Z:1.50 [[ 2.08478905e-01 -9.78024983e-01 -1.91804351e-03 1.25110838e+02] [ 9.77980538e-01 2.08487717e-01 -9.32406617e-03 8.98004944e+01] [ 9.51905817e-03 6.80618853e-05 9.99954690e-01 1.49899469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.18762800000002 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:125.11, Y:89.82, Z:1.50 [[ 2.04663950e-01 -9.78830041e-01 -2.10208259e-03 1.25109256e+02] [ 9.78786039e-01 2.04674685e-01 -9.28238900e-03 8.98220494e+01] [ 9.51612429e-03 -1.57718690e-04 9.99954708e-01 1.49970398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.21762800000002 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:125.12, Y:89.85, Z:1.50 [[ 2.05429859e-01 -9.78669974e-01 -1.91168566e-03 1.25115952e+02] [ 9.78625545e-01 2.05438748e-01 -9.32537565e-03 8.98492821e+01] [ 9.51919946e-03 4.48861843e-05 9.99954690e-01 1.49974995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.24762800000002 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:125.13, Y:89.88, Z:1.50 [[ 2.09494349e-01 -9.77807960e-01 -1.92668881e-03 1.25128747e+02] [ 9.77763525e-01 2.09503197e-01 -9.32198846e-03 8.98814448e+01] [ 9.51876198e-03 6.90578553e-05 9.99954693e-01 1.50008070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.27762800000002 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:125.13, Y:89.91, Z:1.50 [[ 2.08552664e-01 -9.78008884e-01 -2.09993745e-03 1.25134266e+02] [ 9.77964836e-01 2.08563203e-01 -9.28279662e-03 8.99093580e+01] [ 9.51662724e-03 -1.17713019e-04 9.99954709e-01 1.50193801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.30762800000002 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:125.14, Y:89.94, Z:1.50 [[ 2.09807423e-01 -9.77740478e-01 -2.09824782e-03 1.25139096e+02] [ 9.77696413e-01 2.09817889e-01 -9.28317831e-03 8.99361233e+01] [ 9.51678913e-03 -1.03769650e-04 9.99954709e-01 1.50156637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.33762800000002 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:125.14, Y:89.96, Z:1.50 [[ 2.06546520e-01 -9.78434538e-01 -2.09518021e-03 1.25137819e+02] [ 9.78390501e-01 2.06557104e-01 -9.28387060e-03 8.99590799e+01] [ 9.51643400e-03 -1.32353251e-04 9.99954709e-01 1.50229121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.36762800000002 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:125.15, Y:89.99, Z:1.50 [[ 2.10763924e-01 -9.77535071e-01 -1.93715947e-03 1.25149387e+02] [ 9.77490649e-01 2.10772815e-01 -9.31942026e-03 8.99903625e+01] [ 9.51836070e-03 7.06423193e-05 9.99954697e-01 1.50299083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.39762800000003 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:125.15, Y:90.01, Z:1.50 [[ 2.08845100e-01 -9.77946493e-01 -2.09304939e-03 1.25150134e+02] [ 9.77902427e-01 2.08855560e-01 -9.28427652e-03 9.00147352e+01] [ 9.51667067e-03 -1.07822422e-04 9.99954710e-01 1.50345395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.42762800000003 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:125.16, Y:90.04, Z:1.50 [[ 2.12124205e-01 -9.77240704e-01 -1.98218035e-03 1.25159518e+02] [ 9.77196363e-01 2.12133462e-01 -9.30920704e-03 9.00448732e+01] [ 9.51782281e-03 3.77287119e-05 9.99954704e-01 1.50450929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.45762800000003 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:125.16, Y:90.07, Z:1.50 [[ 2.11938626e-01 -9.77280743e-01 -2.09026539e-03 1.25164546e+02] [ 9.77236638e-01 2.11948920e-01 -9.28487436e-03 9.00730001e+01] [ 9.51695840e-03 -7.48604089e-05 9.99954710e-01 1.50471239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.48762800000003 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:125.17, Y:90.10, Z:1.51 [[ 2.08939958e-01 -9.77926242e-01 -2.08771947e-03 1.25165167e+02] [ 9.77882164e-01 2.08950363e-01 -9.28544678e-03 9.00973346e+01] [ 9.51671182e-03 -1.01442774e-04 9.99954710e-01 1.50506194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.51762800000003 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:125.18, Y:90.13, Z:1.50 [[ 2.11934446e-01 -9.77281912e-01 -1.96352209e-03 1.25175526e+02] [ 9.77237535e-01 2.11943534e-01 -9.31330887e-03 9.01274905e+01] [ 9.51788411e-03 5.49834614e-05 9.99954702e-01 1.50474364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.547628 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:125.18, Y:90.15, Z:1.51 [[ 2.11516296e-01 -9.77372245e-01 -2.08602212e-03 1.25180960e+02] [ 9.77328136e-01 2.11526569e-01 -9.28578972e-03 9.01543893e+01] [ 9.51692224e-03 -7.46322642e-05 9.99954710e-01 1.50606516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.577628 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:125.19, Y:90.18, Z:1.51 [[ 2.09207314e-01 -9.77869116e-01 -2.07171028e-03 1.25186906e+02] [ 9.77824999e-01 2.09217555e-01 -9.28900060e-03 9.01828588e+01] [ 9.51686496e-03 -8.24432456e-05 9.99954710e-01 1.50502832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.607628 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:125.19, Y:90.21, Z:1.51 [[ 2.07482525e-01 -9.78236509e-01 -2.08168836e-03 1.25192862e+02] [ 9.78192433e-01 2.07492939e-01 -9.28676395e-03 9.02098966e+01] [ 9.51658718e-03 -1.09450567e-04 9.99954710e-01 1.50578259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.637628 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:125.19, Y:90.23, Z:1.51 [[ 2.03114314e-01 -9.79152824e-01 -2.07907918e-03 1.25194849e+02] [ 9.79108789e-01 2.03124899e-01 -9.28734804e-03 9.02339354e+01] [ 9.51604581e-03 -1.49251375e-04 9.99954710e-01 1.50669897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.667628 meters Centerline goodness : 0.996659 Centerline is valid? [True, True] Translation: X:125.20, Y:90.26, Z:1.51 [[ 2.01098790e-01 -9.79569019e-01 -1.95264456e-03 1.25202866e+02] [ 9.79524727e-01 2.01108266e-01 -9.31526300e-03 9.02623229e+01] [ 9.51763600e-03 -3.93755119e-05 9.99954706e-01 1.50708769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.697628 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:125.21, Y:90.29, Z:1.51 [[ 1.97368890e-01 -9.80327224e-01 -2.01360492e-03 1.25207107e+02] [ 9.80283103e-01 1.97379114e-01 -9.30181103e-03 9.02868820e+01] [ 9.51626214e-03 -1.38014753e-04 9.99954710e-01 1.50849393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.727628 meters Centerline goodness : 0.999776 Centerline is valid? [True, True] Translation: X:125.22, Y:90.32, Z:1.51 [[ 1.98306099e-01 -9.80138157e-01 -1.97092611e-03 1.25217962e+02] [ 9.80093931e-01 1.98315875e-01 -9.31129090e-03 9.03166475e+01] [ 9.51721744e-03 -8.52069376e-05 9.99954707e-01 1.50887262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.757628 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:125.22, Y:90.34, Z:1.51 [[ 1.97518016e-01 -9.80297081e-01 -2.06543203e-03 1.25224734e+02] [ 9.80253077e-01 1.97528724e-01 -9.29028022e-03 9.03444341e+01] [ 9.51521673e-03 -1.89648385e-04 9.99954711e-01 1.50850860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.787628 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:125.23, Y:90.37, Z:1.51 [[ 1.98196654e-01 -9.80160105e-01 -2.06286784e-03 1.25231911e+02] [ 9.80116087e-01 1.98207307e-01 -9.29084955e-03 9.03717064e+01] [ 9.51539555e-03 -1.80434663e-04 9.99954711e-01 1.50754976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.817628 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:125.24, Y:90.40, Z:1.51 [[ 1.98638146e-01 -9.80070733e-01 -2.06030505e-03 1.25238706e+02] [ 9.80026705e-01 1.98648755e-01 -9.29141783e-03 9.03994975e+01] [ 9.51552372e-03 -1.73523960e-04 9.99954711e-01 1.50743485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.84762800000001 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:125.25, Y:90.43, Z:1.51 [[ 1.99554836e-01 -9.79884500e-01 -2.05788594e-03 1.25245339e+02] [ 9.79840456e-01 1.99565381e-01 -9.29195359e-03 9.04269827e+01] [ 9.51572409e-03 -1.62145627e-04 9.99954711e-01 1.50739732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.87762800000002 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:125.25, Y:90.45, Z:1.51 [[ 1.99283424e-01 -9.79939739e-01 -2.05531144e-03 1.25251442e+02] [ 9.79895692e-01 1.99293957e-01 -9.29252302e-03 9.04549254e+01] [ 9.51572373e-03 -1.62145019e-04 9.99954711e-01 1.50766838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.90762800000002 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:125.26, Y:90.48, Z:1.51 [[ 1.99865501e-01 -9.79821192e-01 -2.05273736e-03 1.25257329e+02] [ 9.79777133e-01 1.99875983e-01 -9.29309160e-03 9.04822777e+01] [ 9.51586099e-03 -1.53856716e-04 9.99954711e-01 1.50706517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.93762800000002 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:125.26, Y:90.51, Z:1.51 [[ 2.00007656e-01 -9.79792189e-01 -2.05016101e-03 1.25263153e+02] [ 9.79748123e-01 2.00018108e-01 -9.29365994e-03 9.05099997e+01] [ 9.51592474e-03 -1.49838253e-04 9.99954711e-01 1.50703595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.96762800000002 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:125.27, Y:90.54, Z:1.51 [[ 2.00854418e-01 -9.79618962e-01 -2.04758727e-03 1.25269142e+02] [ 9.79574881e-01 2.00864807e-01 -9.29422695e-03 9.05359784e+01] [ 9.51608918e-03 -1.38978512e-04 9.99954711e-01 1.50729699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.99762800000002 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:125.28, Y:90.56, Z:1.51 [[ 2.00457806e-01 -9.79700201e-01 -2.04570812e-03 1.25275306e+02] [ 9.79656119e-01 2.00468195e-01 -9.29464055e-03 9.05631346e+01] [ 9.51606062e-03 -1.40907220e-04 9.99954711e-01 1.50825334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.02762800000002 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:125.28, Y:90.59, Z:1.51 [[ 2.01735843e-01 -9.79437836e-01 -2.04319452e-03 1.25281380e+02] [ 9.79393736e-01 2.01746151e-01 -9.29519307e-03 9.05861659e+01] [ 9.51627041e-03 -1.25918298e-04 9.99954711e-01 1.50588097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.05762800000002 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:125.29, Y:90.61, Z:1.51 [[ 1.99254600e-01 -9.79945745e-01 -1.98504885e-03 1.25287089e+02] [ 9.79901543e-01 1.99264467e-01 -9.30794310e-03 9.06139575e+01] [ 9.51682894e-03 -9.05019536e-05 9.99954710e-01 1.51073467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.08762800000002 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:125.29, Y:90.64, Z:1.51 [[ 1.98839570e-01 -9.80029938e-01 -2.03613449e-03 1.25293375e+02] [ 9.79985853e-01 1.98849940e-01 -9.29675456e-03 9.06405466e+01] [ 9.51598301e-03 -1.46820321e-04 9.99954711e-01 1.51360133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.11762800000002 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:125.30, Y:90.67, Z:1.51 [[ 1.97640946e-01 -9.80272414e-01 -2.01245010e-03 1.25300043e+02] [ 9.80228289e-01 1.97651146e-01 -9.30193467e-03 9.06673426e+01] [ 9.51619303e-03 -1.34217345e-04 9.99954711e-01 1.51419024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.14762800000003 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:125.31, Y:90.69, Z:1.51 [[ 1.96150156e-01 -9.80571765e-01 -2.03239389e-03 1.25305405e+02] [ 9.80527700e-01 1.96160612e-01 -9.29757508e-03 9.06928854e+01] [ 9.51561523e-03 -1.69097712e-04 9.99954711e-01 1.51358220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.17762800000003 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:125.31, Y:90.72, Z:1.51 [[ 1.94520501e-01 -9.80896359e-01 -2.02662811e-03 1.25308603e+02] [ 9.80852298e-01 1.94530975e-01 -9.29883346e-03 9.07153229e+01] [ 9.51543383e-03 -1.79009097e-04 9.99954711e-01 1.51272733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.20762800000003 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:125.32, Y:90.75, Z:1.52 [[ 1.96105935e-01 -9.80580772e-01 -1.95265222e-03 1.25317741e+02] [ 9.80536530e-01 1.96115636e-01 -9.31505174e-03 9.07461600e+01] [ 9.51710625e-03 -8.79098986e-05 9.99954707e-01 1.51610189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.23762800000003 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:125.32, Y:90.77, Z:1.52 [[ 1.95843454e-01 -9.80633053e-01 -2.03882869e-03 1.25323562e+02] [ 9.80589006e-01 1.95853985e-01 -9.29615158e-03 9.07738736e+01] [ 9.51542623e-03 -1.78662558e-04 9.99954711e-01 1.51674083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.26762800000003 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:125.33, Y:90.80, Z:1.52 [[ 1.96092077e-01 -9.80583373e-01 -2.03623428e-03 1.25329410e+02] [ 9.80539317e-01 1.96102572e-01 -9.29671983e-03 9.08006297e+01] [ 9.51551967e-03 -1.73594666e-04 9.99954711e-01 1.51753537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.297628 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:125.34, Y:90.83, Z:1.52 [[ 1.96912905e-01 -9.80418876e-01 -2.03350007e-03 1.25335403e+02] [ 9.80374805e-01 1.96923337e-01 -9.29731785e-03 9.08280530e+01] [ 9.51570954e-03 -1.62830372e-04 9.99954711e-01 1.51872916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.327628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:125.34, Y:90.85, Z:1.52 [[ 1.97383804e-01 -9.80324186e-01 -2.03090060e-03 1.25341033e+02] [ 9.80280104e-01 1.97394191e-01 -9.29788564e-03 9.08546921e+01] [ 9.51583015e-03 -1.55599414e-04 9.99954711e-01 1.51886700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.35, Y:90.88, Z:1.52 [[ 1.98005812e-01 -9.80198748e-01 -2.02815881e-03 1.25346710e+02] [ 9.80154653e-01 1.98016144e-01 -9.29848368e-03 9.08818299e+01] [ 9.51597024e-03 -1.46755486e-04 9.99954711e-01 1.51891421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.35, Y:90.91, Z:1.52 [[ 2.00024479e-01 -9.79788806e-01 -2.02560247e-03 1.25351955e+02] [ 9.79744685e-01 2.00034697e-01 -9.29904052e-03 9.09095171e+01] [ 9.51628659e-03 -1.24537514e-04 9.99954711e-01 1.51782065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.36, Y:90.94, Z:1.52 [[ 2.00791724e-01 -9.79631865e-01 -2.02305148e-03 1.25357660e+02] [ 9.79587730e-01 2.00801883e-01 -9.29959547e-03 9.09373381e+01] [ 9.51641260e-03 -1.14474600e-04 9.99954711e-01 1.51763589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.36, Y:90.96, Z:1.52 [[ 2.01706609e-01 -9.79443904e-01 -2.02049908e-03 1.25363204e+02] [ 9.79399755e-01 2.01716702e-01 -9.30014999e-03 9.09635386e+01] [ 9.51654363e-03 -1.02974584e-04 9.99954711e-01 1.51693828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.37, Y:90.99, Z:1.52 [[ 2.03199706e-01 -9.79135235e-01 -2.01780657e-03 1.25368204e+02] [ 9.79091064e-01 2.03209707e-01 -9.30073413e-03 9.09913840e+01] [ 9.51671438e-03 -8.57099368e-05 9.99954711e-01 1.51762292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.507628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.37, Y:91.02, Z:1.52 [[ 2.03935317e-01 -9.78982291e-01 -2.01518295e-03 1.25373540e+02] [ 9.78938107e-01 2.03945259e-01 -9.30130256e-03 9.10190097e+01] [ 9.51679749e-03 -7.58752979e-05 9.99954711e-01 1.51759905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.38, Y:91.05, Z:1.52 [[ 2.04712898e-01 -9.78819993e-01 -2.01254134e-03 1.25378609e+02] [ 9.78775796e-01 2.04722780e-01 -9.30187409e-03 9.10453746e+01] [ 9.51687339e-03 -6.56131557e-05 9.99954711e-01 1.51727706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.38, Y:91.07, Z:1.52 [[ 2.06615568e-01 -9.78420139e-01 -2.00975637e-03 1.25383302e+02] [ 9.78375916e-01 2.06625338e-01 -9.30247577e-03 9.10712019e+01] [ 9.51699622e-03 -4.42609183e-05 9.99954711e-01 1.51720393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.39, Y:91.10, Z:1.52 [[ 2.06182750e-01 -9.78511548e-01 -1.95553479e-03 1.25389128e+02] [ 9.78467217e-01 2.06192024e-01 -9.31417399e-03 9.11015401e+01] [ 9.51724248e-03 6.99532261e-06 9.99954710e-01 1.51834933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.40, Y:91.13, Z:1.52 [[ 2.05481527e-01 -9.78658936e-01 -2.00732086e-03 1.25395050e+02] [ 9.78614720e-01 2.05491325e-01 -9.30300005e-03 9.11281854e+01] [ 9.51695115e-03 -5.27990768e-05 9.99954711e-01 1.51837293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.40, Y:91.16, Z:1.52 [[ 2.04529260e-01 -9.78858398e-01 -2.00457981e-03 1.25400924e+02] [ 9.78814186e-01 2.04539075e-01 -9.30359065e-03 9.11555699e+01] [ 9.51691274e-03 -5.92546365e-05 9.99954711e-01 1.52026860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.41, Y:91.18, Z:1.52 [[ 2.03086935e-01 -9.79158664e-01 -2.00198551e-03 1.25406819e+02] [ 9.79114460e-01 2.03096791e-01 -9.30414887e-03 9.11826842e+01] [ 9.51683480e-03 -7.06218849e-05 9.99954711e-01 1.52109225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.41, Y:91.21, Z:1.52 [[ 2.00395158e-01 -9.79713113e-01 -1.99939296e-03 1.25412700e+02] [ 9.79668931e-01 2.00405110e-01 -9.30470595e-03 9.12092945e+01] [ 9.51663100e-03 -9.41251451e-05 9.99954711e-01 1.52130377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.42, Y:91.24, Z:1.52 [[ 1.98821743e-01 -9.80033636e-01 -1.99665934e-03 1.25418296e+02] [ 9.79989465e-01 1.98831740e-01 -9.30529251e-03 9.12353014e+01] [ 9.51649891e-03 -1.06610636e-04 9.99954711e-01 1.52146749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.42, Y:91.26, Z:1.52 [[ 1.97129094e-01 -9.80375511e-01 -1.99446551e-03 1.25424428e+02] [ 9.80331352e-01 1.97139146e-01 -9.30576271e-03 9.12629258e+01] [ 9.51632910e-03 -1.20800499e-04 9.99954711e-01 1.52190327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.43, Y:91.29, Z:1.52 [[ 1.95269015e-01 -9.80747696e-01 -1.99192595e-03 1.25430492e+02] [ 9.80703551e-01 1.95279127e-01 -9.30630628e-03 9.12898125e+01] [ 9.51612000e-03 -1.36255589e-04 9.99954711e-01 1.52227236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.44, Y:91.32, Z:1.52 [[ 1.93468735e-01 -9.81104424e-01 -1.98925187e-03 1.25436777e+02] [ 9.81060292e-01 1.93478903e-01 -9.30687783e-03 9.13173563e+01] [ 9.51589729e-03 -1.50986138e-04 9.99954711e-01 1.52210976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.44, Y:91.34, Z:1.52 [[ 1.89853706e-01 -9.81810381e-01 -1.98674026e-03 1.25442330e+02] [ 9.81766280e-01 1.89864012e-01 -9.30741396e-03 9.13432994e+01] [ 9.51532611e-03 -1.83467570e-04 9.99954711e-01 1.52065518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.45, Y:91.37, Z:1.52 [[ 1.88121629e-01 -9.82143736e-01 -1.98378165e-03 1.25448265e+02] [ 9.82099647e-01 1.88131985e-01 -9.30804451e-03 9.13704268e+01] [ 9.51505039e-03 -1.97226767e-04 9.99954711e-01 1.52073438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.45, Y:91.40, Z:1.52 [[ 1.86345125e-01 -9.82482351e-01 -1.98123876e-03 1.25454220e+02] [ 9.82438275e-01 1.86355537e-01 -9.30858574e-03 9.13976756e+01] [ 9.51473601e-03 -2.11835220e-04 9.99954711e-01 1.52124571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.46, Y:91.42, Z:1.52 [[ 1.83798498e-01 -9.82961951e-01 -1.97861289e-03 1.25460432e+02] [ 9.82917897e-01 1.83808999e-01 -9.30914386e-03 9.14236864e+01] [ 9.51422106e-03 -2.33807363e-04 9.99954711e-01 1.52067183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:91.45, Z:1.52 [[ 1.82701241e-01 -9.83166491e-01 -1.97669870e-03 1.25466621e+02] [ 9.83122444e-01 1.82711773e-01 -9.30955030e-03 9.14511393e+01] [ 9.51400402e-03 -2.42470467e-04 9.99954711e-01 1.52242645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:91.48, Z:1.52 [[ 1.82007215e-01 -9.83295213e-01 -1.97415208e-03 1.25472539e+02] [ 9.83251168e-01 1.82017754e-01 -9.31009029e-03 9.14785003e+01] [ 9.51389795e-03 -2.46583735e-04 9.99954711e-01 1.52365474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.48, Y:91.51, Z:1.53 [[ 1.82594301e-01 -9.83186368e-01 -1.97157564e-03 1.25477871e+02] [ 9.83142311e-01 1.82604790e-01 -9.31063587e-03 9.15064099e+01] [ 9.51410942e-03 -2.38270375e-04 9.99954711e-01 1.52555064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.48, Y:91.53, Z:1.53 [[ 1.83508227e-01 -9.83016202e-01 -1.96901870e-03 1.25482794e+02] [ 9.82972129e-01 1.83518650e-01 -9.31117658e-03 9.15329207e+01] [ 9.51438909e-03 -2.26813001e-04 9.99954711e-01 1.52584051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.49, Y:91.56, Z:1.53 [[ 1.84832260e-01 -9.82768116e-01 -1.96632234e-03 1.25487635e+02] [ 9.82724023e-01 1.84842599e-01 -9.31174596e-03 9.15605380e+01] [ 9.51474716e-03 -2.11241144e-04 9.99954711e-01 1.52607583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.49, Y:91.59, Z:1.53 [[ 1.86607894e-01 -9.82432510e-01 -1.96379312e-03 1.25492580e+02] [ 9.82388393e-01 1.86618129e-01 -9.31227933e-03 9.15882437e+01] [ 9.51516535e-03 -1.91462734e-04 9.99954711e-01 1.52635690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.50, Y:91.61, Z:1.53 [[ 1.88060998e-01 -9.82155392e-01 -1.96128565e-03 1.25497121e+02] [ 9.82111255e-01 1.88071144e-01 -9.31280740e-03 9.16144231e+01] [ 9.51548524e-03 -1.74824855e-04 9.99954711e-01 1.52611955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.50, Y:91.64, Z:1.53 [[ 1.91317127e-01 -9.81526323e-01 -1.95832834e-03 1.25501150e+02] [ 9.81482145e-01 1.91327098e-01 -9.31342923e-03 9.16403491e+01] [ 9.51605722e-03 -1.40245783e-04 9.99954711e-01 1.52612616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.50, Y:91.66, Z:1.52 [[ 1.88863724e-01 -9.82001360e-01 -1.95539779e-03 1.25498670e+02] [ 9.81957201e-01 1.88873777e-01 -9.31404448e-03 9.16617501e+01] [ 9.51572770e-03 -1.61031815e-04 9.99954711e-01 1.52194112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.51, Y:91.69, Z:1.53 [[ 1.94500612e-01 -9.80900719e-01 -1.81394279e-03 1.25511001e+02] [ 9.80856217e-01 1.94509067e-01 -9.34365549e-03 9.16934935e+01] [ 9.51802671e-03 3.81296478e-05 9.99954702e-01 1.52601196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.51, Y:91.72, Z:1.53 [[ 1.97285287e-01 -9.80344177e-01 -1.95187010e-03 1.25514891e+02] [ 9.80299927e-01 1.97294928e-01 -9.31475346e-03 9.17198017e+01] [ 9.51675838e-03 -7.57542993e-05 9.99954712e-01 1.52601186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.51, Y:91.74, Z:1.53 [[ 1.94681650e-01 -9.80864544e-01 -1.94975040e-03 1.25513235e+02] [ 9.80820315e-01 1.94691388e-01 -9.31519713e-03 9.17426839e+01] [ 9.51654620e-03 -9.88568515e-05 9.99954712e-01 1.52549193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.53, Y:91.77, Z:1.53 [[ 1.99659788e-01 -9.79863577e-01 -1.82718458e-03 1.25525461e+02] [ 9.79819057e-01 1.99668135e-01 -9.34081873e-03 9.17736674e+01] [ 9.51755859e-03 7.46756107e-05 9.99954704e-01 1.52799325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.53, Y:91.80, Z:1.53 [[ 2.00318374e-01 -9.79728916e-01 -1.94920667e-03 1.25530979e+02] [ 9.79684631e-01 2.00327852e-01 -9.31528590e-03 9.17995705e+01] [ 9.51693535e-03 -4.35848985e-05 9.99954712e-01 1.52942132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.54, Y:91.83, Z:1.53 [[ 2.00942347e-01 -9.79601136e-01 -1.94632940e-03 1.25536766e+02] [ 9.79556839e-01 2.00951770e-01 -9.31588704e-03 9.18260564e+01] [ 9.51697186e-03 -3.45840674e-05 9.99954712e-01 1.53141853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.54, Y:91.85, Z:1.53 [[ 2.00621770e-01 -9.79666845e-01 -1.94363097e-03 1.25542217e+02] [ 9.79622546e-01 2.00631181e-01 -9.31644999e-03 9.18522353e+01] [ 9.51697015e-03 -3.49420384e-05 9.99954712e-01 1.53163670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.55, Y:91.88, Z:1.53 [[ 2.00002199e-01 -9.79793526e-01 -1.94080047e-03 1.25547687e+02] [ 9.79749227e-01 2.00011611e-01 -9.31703961e-03 9.18789469e+01] [ 9.51695772e-03 -3.80693511e-05 9.99954712e-01 1.53201267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.55, Y:91.91, Z:1.53 [[ 1.99341893e-01 -9.79928086e-01 -1.93813576e-03 1.25553038e+02] [ 9.79883788e-01 1.99351310e-01 -9.31759389e-03 9.19057167e+01] [ 9.51694184e-03 -4.17610026e-05 9.99954712e-01 1.53233701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.56, Y:91.93, Z:1.53 [[ 1.97912707e-01 -9.80217738e-01 -1.93547798e-03 1.25558081e+02] [ 9.80173449e-01 1.97922164e-01 -9.31814594e-03 9.19310758e+01] [ 9.51688592e-03 -5.29246328e-05 9.99954712e-01 1.53220908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.56, Y:91.96, Z:1.53 [[ 1.96657106e-01 -9.80470420e-01 -1.93342135e-03 1.25563548e+02] [ 9.80426138e-01 1.96666600e-01 -9.31857265e-03 9.19577412e+01] [ 9.51682424e-03 -6.30133017e-05 9.99954712e-01 1.53221733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.57, Y:91.98, Z:1.53 [[ 1.95523401e-01 -9.80697136e-01 -1.93080325e-03 1.25569073e+02] [ 9.80652860e-01 1.95532921e-01 -9.31911508e-03 9.19844680e+01] [ 9.51676507e-03 -7.13426548e-05 9.99954712e-01 1.53204200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.57, Y:92.01, Z:1.53 [[ 1.94579314e-01 -9.80884893e-01 -1.92819990e-03 1.25574308e+02] [ 9.80840621e-01 1.94588852e-01 -9.31965371e-03 9.20098155e+01] [ 9.51671373e-03 -7.78449678e-05 9.99954712e-01 1.53108778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.58, Y:92.04, Z:1.53 [[ 1.92782643e-01 -9.81239597e-01 -1.92518251e-03 1.25579894e+02] [ 9.81195336e-01 1.92792234e-01 -9.32027697e-03 9.20357596e+01] [ 9.51658506e-03 -9.21924685e-05 9.99954712e-01 1.52928679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.59, Y:92.06, Z:1.53 [[ 1.91508480e-01 -9.81489076e-01 -1.92233285e-03 1.25585033e+02] [ 9.81444822e-01 1.91518100e-01 -9.32086469e-03 9.20614309e+01] [ 9.51648841e-03 -1.01639000e-04 9.99954712e-01 1.52808494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.59, Y:92.09, Z:1.53 [[ 1.90544670e-01 -9.81676650e-01 -1.91949627e-03 1.25590698e+02] [ 9.81632399e-01 1.90554308e-01 -9.32144880e-03 9.20877408e+01] [ 9.51641691e-03 -1.08087338e-04 9.99954712e-01 1.52719477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.60, Y:92.11, Z:1.53 [[ 1.89489939e-01 -9.81880792e-01 -1.91667263e-03 1.25596450e+02] [ 9.81836546e-01 1.89499597e-01 -9.32202936e-03 9.21138965e+01] [ 9.51633026e-03 -1.15428467e-04 9.99954712e-01 1.52652319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.60, Y:92.14, Z:1.53 [[ 1.89194044e-01 -9.81937855e-01 -1.91386372e-03 1.25601674e+02] [ 9.81893606e-01 1.89203689e-01 -9.32260601e-03 9.21403271e+01] [ 9.51632982e-03 -1.15429016e-04 9.99954712e-01 1.52677837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.61, Y:92.16, Z:1.53 [[ 1.86034758e-01 -9.82541305e-01 -1.91105410e-03 1.25607885e+02] [ 9.82497082e-01 1.86044519e-01 -9.32318193e-03 9.21648144e+01] [ 9.51595248e-03 -1.43169177e-04 9.99954712e-01 1.52584228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.61, Y:92.19, Z:1.53 [[ 1.83902709e-01 -9.82942598e-01 -1.90881993e-03 1.25614028e+02] [ 9.82898390e-01 1.83912544e-01 -9.32363932e-03 9.21901771e+01] [ 9.51565818e-03 -1.61533509e-04 9.99954712e-01 1.52648965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.62, Y:92.22, Z:1.53 [[ 1.81186032e-01 -9.83446994e-01 -1.90601833e-03 1.25620028e+02] [ 9.83402808e-01 1.81195962e-01 -9.32421202e-03 9.22156625e+01] [ 9.51523110e-03 -1.84966801e-04 9.99954712e-01 1.52711169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.63, Y:92.24, Z:1.53 [[ 1.78054201e-01 -9.84018841e-01 -1.90323121e-03 1.25625902e+02] [ 9.83974681e-01 1.78064245e-01 -9.32478088e-03 9.22409492e+01] [ 9.51465750e-03 -2.12414921e-04 9.99954712e-01 1.52796055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.63, Y:92.27, Z:1.53 [[ 1.70646620e-01 -9.85330462e-01 -1.90031922e-03 1.25632266e+02] [ 9.85286373e-01 1.70656969e-01 -9.32537428e-03 9.22664032e+01] [ 9.51287807e-03 -2.81015030e-04 9.99954712e-01 1.52979236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.64, Y:92.29, Z:1.53 [[ 1.66066494e-01 -9.86112731e-01 -1.89770331e-03 1.25638166e+02] [ 9.86068684e-01 1.66077023e-01 -9.32590659e-03 9.22926343e+01] [ 9.51156013e-03 -3.22545191e-04 9.99954712e-01 1.53122625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.64, Y:92.32, Z:1.53 [[ 1.61561177e-01 -9.86860879e-01 -1.89496263e-03 1.25644400e+02] [ 9.86816875e-01 1.61571882e-01 -9.32646344e-03 9.23193020e+01] [ 9.51009459e-03 -3.63186680e-04 9.99954712e-01 1.53377013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.65, Y:92.35, Z:1.54 [[ 1.56890870e-01 -9.87614132e-01 -1.89229655e-03 1.25650865e+02] [ 9.87570173e-01 1.56901757e-01 -9.32700435e-03 9.23466764e+01] [ 9.50838596e-03 -4.05453803e-04 9.99954712e-01 1.53557122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.66, Y:92.37, Z:1.54 [[ 1.48149229e-01 -9.88963212e-01 -1.88976379e-03 1.25657526e+02] [ 9.88919344e-01 1.48160481e-01 -9.32751749e-03 9.23725229e+01] [ 9.50455997e-03 -4.86959452e-04 9.99954712e-01 1.53704843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.66, Y:92.40, Z:1.54 [[ 1.44316113e-01 -9.89529837e-01 -1.88709806e-03 1.25662956e+02] [ 9.89486007e-01 1.44327510e-01 -9.32805677e-03 9.23990193e+01] [ 9.50275066e-03 -5.21068226e-04 9.99954712e-01 1.53815316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.67, Y:92.42, Z:1.54 [[ 1.39482393e-01 -9.90222758e-01 -1.88449469e-03 1.25666480e+02] [ 9.90178977e-01 1.39493979e-01 -9.32858269e-03 9.24248225e+01] [ 9.50025054e-03 -5.64813995e-04 9.99954712e-01 1.53889088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.67, Y:92.45, Z:1.54 [[ 1.38454972e-01 -9.90366942e-01 -1.88176713e-03 1.25670274e+02] [ 9.90323166e-01 1.38466578e-01 -9.32913286e-03 9.24520964e+01] [ 9.49982664e-03 -5.71892753e-04 9.99954712e-01 1.53888899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.67, Y:92.48, Z:1.54 [[ 1.38726273e-01 -9.90328981e-01 -1.87904341e-03 1.25673276e+02] [ 9.90285196e-01 1.38737841e-01 -9.32968143e-03 9.24784594e+01] [ 9.50014833e-03 -5.66516945e-04 9.99954712e-01 1.53713866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.68, Y:92.51, Z:1.54 [[ 1.39932369e-01 -9.90159286e-01 -1.87619005e-03 1.25676260e+02] [ 9.90115480e-01 1.39943857e-01 -9.33025520e-03 9.25055213e+01] [ 9.50100010e-03 -5.52040098e-04 9.99954712e-01 1.53632601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.21762800000002 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:125.68, Y:92.53, Z:1.53 [[ 1.41262538e-01 -9.89970396e-01 -1.87349013e-03 1.25679633e+02] [ 9.89926568e-01 1.41273942e-01 -9.33079731e-03 9.25326826e+01] [ 9.50188844e-03 -5.36525545e-04 9.99954712e-01 1.53288047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.68, Y:92.56, Z:1.54 [[ 1.44423296e-01 -9.89514230e-01 -1.87078270e-03 1.25683137e+02] [ 9.89470359e-01 1.44434535e-01 -9.33134010e-03 9.25596231e+01] [ 9.50369945e-03 -5.03421137e-04 9.99954712e-01 1.53606079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.68, Y:92.59, Z:1.54 [[ 1.50454972e-01 -9.88615098e-01 -1.86801025e-03 1.25684097e+02] [ 9.88571153e-01 1.50465917e-01 -9.33189508e-03 9.25880133e+01] [ 9.50672424e-03 -4.42631032e-04 9.99954712e-01 1.53815495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.30762800000002 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:125.69, Y:92.61, Z:1.54 [[ 1.52578677e-01 -9.88289567e-01 -1.86533956e-03 1.25686336e+02] [ 9.88245592e-01 1.52589503e-01 -9.33242889e-03 9.26147642e+01] [ 9.50777334e-03 -4.19483938e-04 9.99954712e-01 1.53632041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.69, Y:92.64, Z:1.54 [[ 1.55736141e-01 -9.87796935e-01 -1.86252272e-03 1.25688714e+02] [ 9.87752919e-01 1.55746799e-01 -9.33299103e-03 9.26415239e+01] [ 9.50918189e-03 -3.86228241e-04 9.99954712e-01 1.53835739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.69, Y:92.67, Z:1.54 [[ 1.58037725e-01 -9.87431322e-01 -1.86060362e-03 1.25691305e+02] [ 9.87387277e-01 1.58048262e-01 -9.33337360e-03 9.26694311e+01] [ 9.51013060e-03 -3.62111217e-04 9.99954712e-01 1.54034909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.69, Y:92.70, Z:1.54 [[ 1.62178184e-01 -9.86759740e-01 -1.85807095e-03 1.25692101e+02] [ 9.86715645e-01 1.62188513e-01 -9.33387777e-03 9.26979899e+01] [ 9.51165257e-03 -3.19636326e-04 9.99954712e-01 1.54165667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.69, Y:92.72, Z:1.54 [[ 1.63337855e-01 -9.86568448e-01 -1.85539769e-03 1.25694831e+02] [ 9.86524336e-01 1.63348106e-01 -9.33440913e-03 9.27248145e+01] [ 9.51210923e-03 -3.05732608e-04 9.99954712e-01 1.54205535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.70, Y:92.75, Z:1.54 [[ 1.64445973e-01 -9.86384352e-01 -1.85257569e-03 1.25698003e+02] [ 9.86340222e-01 1.64456148e-01 -9.33496917e-03 9.27523599e+01] [ 9.51253498e-03 -2.92171836e-04 9.99954712e-01 1.54270130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.70, Y:92.78, Z:1.54 [[ 1.64409526e-01 -9.86390433e-01 -1.84994109e-03 1.25698548e+02] [ 9.86346297e-01 1.64419678e-01 -9.33549125e-03 9.27806440e+01] [ 9.51260597e-03 -2.89838856e-04 9.99954712e-01 1.54315444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.70, Y:92.81, Z:1.54 [[ 1.63276079e-01 -9.86578689e-01 -1.84730699e-03 1.25701642e+02] [ 9.86534560e-01 1.63286256e-01 -9.33601246e-03 9.28078845e+01] [ 9.51235078e-03 -2.98084687e-04 9.99954712e-01 1.54328427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.70, Y:92.83, Z:1.54 [[ 1.58458711e-01 -9.87363882e-01 -1.84453120e-03 1.25700893e+02] [ 9.87319796e-01 1.58469078e-01 -9.33656084e-03 9.28338842e+01] [ 9.51088411e-03 -3.41682778e-04 9.99954712e-01 1.54100210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.71, Y:92.86, Z:1.54 [[ 1.60188392e-01 -9.87084917e-01 -1.74503188e-03 1.25708913e+02] [ 9.87040600e-01 1.60197741e-01 -9.35616614e-03 9.28641184e+01] [ 9.51488064e-03 -2.23668101e-04 9.99954707e-01 1.54310334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.71, Y:92.89, Z:1.54 [[ 1.54431726e-01 -9.88001746e-01 -1.84175712e-03 1.25707857e+02] [ 9.87957697e-01 1.54442246e-01 -9.33708696e-03 9.28911367e+01] [ 9.50950332e-03 -3.77635666e-04 9.99954712e-01 1.54127367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.71, Y:92.92, Z:1.54 [[ 1.51825432e-01 -9.88405730e-01 -1.77527619e-03 1.25710685e+02] [ 9.88361560e-01 1.51835441e-01 -9.35016758e-03 9.29178570e+01] [ 9.51130905e-03 -3.35021510e-04 9.99954710e-01 1.54082269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.667628 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:125.72, Y:92.95, Z:1.54 [[ 1.52481935e-01 -9.88304708e-01 -1.75005482e-03 1.25718527e+02] [ 9.88260477e-01 1.52491677e-01 -9.35512344e-03 9.29480458e+01] [ 9.51258134e-03 -3.03022681e-04 9.99954708e-01 1.53996832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.72, Y:92.97, Z:1.54 [[ 1.51187458e-01 -9.88503405e-01 -1.83590563e-03 1.25722441e+02] [ 9.88459378e-01 1.51198067e-01 -9.33824515e-03 9.29745079e+01] [ 9.50847251e-03 -4.02892598e-04 9.99954712e-01 1.54172323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.73, Y:93.00, Z:1.54 [[ 1.49523308e-01 -9.88756502e-01 -1.83314464e-03 1.25726233e+02] [ 9.88712486e-01 1.49533966e-01 -9.33878711e-03 9.30024380e+01] [ 9.50790387e-03 -4.16086651e-04 9.99954712e-01 1.54191369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.73, Y:93.03, Z:1.54 [[ 1.48293774e-01 -9.88941659e-01 -1.83055685e-03 1.25730330e+02] [ 9.88897651e-01 1.48304462e-01 -9.33929434e-03 9.30298350e+01] [ 9.50749699e-03 -4.25274169e-04 9.99954712e-01 1.54212451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.73, Y:93.06, Z:1.54 [[ 1.45385302e-01 -9.89373424e-01 -1.82796486e-03 1.25733125e+02] [ 9.89329441e-01 1.45396095e-01 -9.33980163e-03 9.30581478e+01] [ 9.50633048e-03 -4.50589574e-04 9.99954712e-01 1.54298031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.74, Y:93.09, Z:1.54 [[ 1.43475798e-01 -9.89652143e-01 -1.82534432e-03 1.25737191e+02] [ 9.89608175e-01 1.43486651e-01 -9.34031376e-03 9.30860512e+01] [ 9.50557407e-03 -4.66266688e-04 9.99954712e-01 1.54352590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.74, Y:93.11, Z:1.54 [[ 1.41378619e-01 -9.89953920e-01 -1.82271241e-03 1.25741061e+02] [ 9.89909969e-01 1.41389540e-01 -9.34082733e-03 9.31141140e+01] [ 9.50470110e-03 -4.83727918e-04 9.99954712e-01 1.54377312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.87762800000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:125.74, Y:93.14, Z:1.54 [[ 1.38311018e-01 -9.90387172e-01 -1.82006187e-03 1.25744611e+02] [ 9.90343248e-01 1.38322051e-01 -9.34134376e-03 9.31422804e+01] [ 9.50330172e-03 -5.10475220e-04 9.99954712e-01 1.54130510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90762800000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:125.75, Y:93.17, Z:1.54 [[ 1.33940307e-01 -9.90987735e-01 -1.81742322e-03 1.25747128e+02] [ 9.90943855e-01 1.33951509e-01 -9.34185710e-03 9.31689436e+01] [ 9.50111239e-03 -5.49713162e-04 9.99954712e-01 1.54078326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.75, Y:93.20, Z:1.54 [[ 1.32001234e-01 -9.91247891e-01 -1.81464269e-03 1.25751046e+02] [ 9.91204026e-01 1.32012495e-01 -9.34239719e-03 9.31964454e+01] [ 9.50018702e-03 -5.65473178e-04 9.99954712e-01 1.54416431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.75, Y:93.22, Z:1.54 [[ 1.26936514e-01 -9.91909188e-01 -1.81202206e-03 1.25750506e+02] [ 9.91865375e-01 1.26947975e-01 -9.34290545e-03 9.32218235e+01] [ 9.49734629e-03 -6.11326084e-04 9.99954712e-01 1.54281958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.76, Y:93.25, Z:1.54 [[ 1.28125490e-01 -9.91756459e-01 -1.72751690e-03 1.25755387e+02] [ 9.91712430e-01 1.28136105e-01 -9.35925674e-03 9.32527520e+01] [ 9.50346061e-03 -5.14040618e-04 9.99954709e-01 1.54414329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.76, Y:93.28, Z:1.54 [[ 1.28268309e-01 -9.91737852e-01 -1.80915666e-03 1.25758159e+02] [ 9.91694017e-01 1.28279684e-01 -9.34344900e-03 9.32811852e+01] [ 9.49833009e-03 -5.95661430e-04 9.99954712e-01 1.54449110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.76, Y:93.31, Z:1.54 [[ 1.29297230e-01 -9.91604237e-01 -1.80657719e-03 1.25760883e+02] [ 9.91560383e-01 1.29308535e-01 -9.34394772e-03 9.33095787e+01] [ 9.49910399e-03 -5.83183815e-04 9.99954712e-01 1.54470891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.76, Y:93.34, Z:1.55 [[ 1.30577029e-01 -9.91436526e-01 -1.80400036e-03 1.25763338e+02] [ 9.91392651e-01 1.30588254e-01 -9.34444519e-03 9.33378824e+01] [ 9.50000553e-03 -5.68302812e-04 9.99954712e-01 1.54532097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.76, Y:93.37, Z:1.55 [[ 1.34929832e-01 -9.90853519e-01 -1.80143292e-03 1.25762662e+02] [ 9.90809589e-01 1.34940840e-01 -9.34494012e-03 9.33666262e+01] [ 9.50255367e-03 -5.23965812e-04 9.99954712e-01 1.54654628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.76, Y:93.40, Z:1.55 [[ 1.37651707e-01 -9.90479062e-01 -1.79877665e-03 1.25764676e+02] [ 9.90435096e-01 1.37662569e-01 -9.34545138e-03 9.33953173e+01] [ 9.50409813e-03 -4.95154194e-04 9.99954712e-01 1.54708754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.17762800000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:125.77, Y:93.42, Z:1.54 [[ 1.40562612e-01 -9.90070162e-01 -1.79611892e-03 1.25766571e+02] [ 9.90026159e-01 1.40573319e-01 -9.34596215e-03 9.34240777e+01] [ 9.50564466e-03 -4.64511866e-04 9.99954712e-01 1.54459884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.77, Y:93.45, Z:1.55 [[ 1.48015812e-01 -9.88983368e-01 -1.79364570e-03 1.25765956e+02] [ 9.88939280e-01 1.48026165e-01 -9.34643678e-03 9.34530834e+01] [ 9.50897702e-03 -3.90386257e-04 9.99954712e-01 1.54688679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.77, Y:93.48, Z:1.55 [[ 1.51462890e-01 -9.88461322e-01 -1.79099423e-03 1.25768312e+02] [ 9.88417192e-01 1.51473064e-01 -9.34694483e-03 9.34797938e+01] [ 9.51038083e-03 -3.54534211e-04 9.99954712e-01 1.54700050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.77, Y:93.51, Z:1.55 [[ 1.54966555e-01 -9.87918099e-01 -1.78819579e-03 1.25771276e+02] [ 9.87873927e-01 1.54976545e-01 -9.34748018e-03 9.35067407e+01] [ 9.51167325e-03 -3.17965198e-04 9.99954712e-01 1.54731662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.77, Y:93.53, Z:1.55 [[ 1.58115479e-01 -9.87419013e-01 -1.78545393e-03 1.25774841e+02] [ 9.87374804e-01 1.58125303e-01 -9.34800387e-03 9.35348120e+01] [ 9.51272220e-03 -2.84848107e-04 9.99954712e-01 1.54767473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.327628 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:125.78, Y:93.56, Z:1.54 [[ 1.63468620e-01 -9.86546923e-01 -1.78287258e-03 1.25777202e+02] [ 9.86502656e-01 1.63478179e-01 -9.34849617e-03 9.35624878e+01] [ 9.51419090e-03 -2.30622772e-04 9.99954712e-01 1.54491934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:93.59, Z:1.55 [[ 1.65810711e-01 -9.86155991e-01 -1.78022900e-03 1.25781185e+02] [ 9.86111696e-01 1.65820140e-01 -9.34899956e-03 9.35898635e+01] [ 9.51476975e-03 -2.05340380e-04 9.99954712e-01 1.54835320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.79, Y:93.62, Z:1.55 [[ 1.67382387e-01 -9.85890449e-01 -1.77755209e-03 1.25785363e+02] [ 9.85846133e-01 1.67391720e-01 -9.34950850e-03 9.36164020e+01] [ 9.51513863e-03 -1.87449800e-04 9.99954712e-01 1.54870776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.79, Y:93.64, Z:1.55 [[ 1.68483852e-01 -9.85702815e-01 -1.77559893e-03 1.25789872e+02] [ 9.85658485e-01 1.68493118e-01 -9.34987942e-03 9.36440972e+01] [ 9.51537866e-03 -1.74830448e-04 9.99954712e-01 1.54906611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.79, Y:93.67, Z:1.55 [[ 1.68954155e-01 -9.85622316e-01 -1.77301303e-03 1.25794014e+02] [ 9.85577977e-01 1.68963375e-01 -9.35036975e-03 9.36719995e+01] [ 9.51550736e-03 -1.67658775e-04 9.99954712e-01 1.54897601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:93.70, Z:1.55 [[ 1.67696045e-01 -9.85837158e-01 -1.77030242e-03 1.25798148e+02] [ 9.85792826e-01 1.67705295e-01 -9.35088292e-03 9.36986903e+01] [ 9.51533694e-03 -1.77045337e-04 9.99954712e-01 1.54834745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:93.73, Z:1.55 [[ 1.67603540e-01 -9.85852950e-01 -1.73605007e-03 1.25804537e+02] [ 9.85808551e-01 1.67612470e-01 -9.35735391e-03 9.37266537e+01] [ 9.51595860e-03 -1.43087358e-04 9.99954712e-01 1.54825175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.81, Y:93.75, Z:1.55 [[ 1.64515688e-01 -9.86372885e-01 -1.76623691e-03 1.25811387e+02] [ 9.86328574e-01 1.64525043e-01 -9.35165256e-03 9.37533808e+01] [ 9.51480672e-03 -2.03596380e-04 9.99954712e-01 1.54731176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:93.78, Z:1.55 [[ 1.61688474e-01 -9.86840273e-01 -1.76428590e-03 1.25817542e+02] [ 9.86795985e-01 1.61697937e-01 -9.35202062e-03 9.37818102e+01] [ 9.51423198e-03 -2.28876306e-04 9.99954712e-01 1.54804251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:93.81, Z:1.55 [[ 1.59136573e-01 -9.87254983e-01 -1.77472399e-03 1.25822928e+02] [ 9.87210741e-01 1.59146249e-01 -9.35005356e-03 9.38077516e+01] [ 9.51332763e-03 -2.64091110e-04 9.99954712e-01 1.54734723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.83, Y:93.84, Z:1.55 [[ 1.55827281e-01 -9.87782748e-01 -1.76073620e-03 1.25828678e+02] [ 9.87738510e-01 1.55836974e-01 -9.35268690e-03 9.38356749e+01] [ 9.51281057e-03 -2.81743174e-04 9.99954713e-01 1.54715890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.84, Y:93.86, Z:1.55 [[ 1.52554963e-01 -9.88293424e-01 -1.75811140e-03 1.25835023e+02] [ 9.88249213e-01 1.52564777e-01 -9.35318028e-03 9.38631151e+01] [ 9.51191244e-03 -3.10578130e-04 9.99954713e-01 1.54739977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.84, Y:93.89, Z:1.55 [[ 1.52276641e-01 -9.88336351e-01 -1.75547781e-03 1.25840228e+02] [ 9.88292137e-01 1.52286443e-01 -9.35367455e-03 9.38912126e+01] [ 9.51191204e-03 -3.10578777e-04 9.99954713e-01 1.54767084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.85, Y:93.92, Z:1.55 [[ 1.45504109e-01 -9.89356095e-01 -1.75284344e-03 1.25848844e+02] [ 9.89311943e-01 1.45514188e-01 -9.35416819e-03 9.39168320e+01] [ 9.50966690e-03 -3.73039044e-04 9.99954713e-01 1.54739560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.74762800000002 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:125.86, Y:93.94, Z:1.55 [[ 1.41687966e-01 -9.89909823e-01 -1.75006668e-03 1.25855563e+02] [ 9.89865705e-01 1.41698189e-01 -9.35468767e-03 9.39434195e+01] [ 9.50827849e-03 -4.06884317e-04 9.99954713e-01 1.54505921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.86, Y:93.97, Z:1.55 [[ 1.39572776e-01 -9.90210274e-01 -1.74733959e-03 1.25862504e+02] [ 9.90166172e-01 1.39583068e-01 -9.35519702e-03 9.39705821e+01] [ 9.50751123e-03 -4.24425739e-04 9.99954713e-01 1.54738198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.87, Y:94.00, Z:1.55 [[ 1.37888273e-01 -9.90446253e-01 -1.74474257e-03 1.25868150e+02] [ 9.90402162e-01 1.37898616e-01 -9.35568134e-03 9.39969119e+01] [ 9.50689711e-03 -4.37958066e-04 9.99954713e-01 1.54698376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.87, Y:94.02, Z:1.55 [[ 1.37171672e-01 -9.90545758e-01 -1.74200415e-03 1.25873696e+02] [ 9.90501668e-01 1.37182021e-01 -9.35619120e-03 9.40248932e+01] [ 9.50670715e-03 -4.42053626e-04 9.99954713e-01 1.54634600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.88, Y:94.05, Z:1.55 [[ 1.38392320e-01 -9.90375959e-01 -1.73941309e-03 1.25879807e+02] [ 9.90331851e-01 1.38402590e-01 -9.35667288e-03 9.40512937e+01] [ 9.50736315e-03 -4.27704518e-04 9.99954713e-01 1.54599403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.89, Y:94.08, Z:1.55 [[ 1.39282192e-01 -9.90251208e-01 -1.73668225e-03 1.25885462e+02] [ 9.90207085e-01 1.39292396e-01 -9.35717972e-03 9.40788484e+01] [ 9.50786516e-03 -4.16386568e-04 9.99954713e-01 1.54714599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.92762800000003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:125.89, Y:94.10, Z:1.55 [[ 1.41105353e-01 -9.89993067e-01 -1.73403330e-03 1.25892130e+02] [ 9.89948920e-01 1.41115451e-01 -9.35767059e-03 9.41049181e+01] [ 9.50872790e-03 -3.96186974e-04 9.99954713e-01 1.54558368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.95762800000003 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:125.90, Y:94.13, Z:1.55 [[ 1.42167363e-01 -9.89841120e-01 -1.73126248e-03 1.25898391e+02] [ 9.89796956e-01 1.42177388e-01 -9.35818319e-03 9.41314875e+01] [ 9.50926091e-03 -3.83170106e-04 9.99954713e-01 1.54657037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.90, Y:94.16, Z:1.55 [[ 1.44304820e-01 -9.89531774e-01 -1.72849928e-03 1.25904782e+02] [ 9.89487582e-01 1.44314723e-01 -9.35869354e-03 9.41593054e+01] [ 9.51017251e-03 -3.59823981e-04 9.99954713e-01 1.55087370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.01762800000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:125.91, Y:94.19, Z:1.55 [[ 1.45326943e-01 -9.89382182e-01 -1.72587824e-03 1.25909659e+02] [ 9.89337974e-01 1.45336775e-01 -9.35917687e-03 9.41856097e+01] [ 9.51063641e-03 -3.47336316e-04 9.99954713e-01 1.54902064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.92, Y:94.21, Z:1.55 [[ 1.50169637e-01 -9.88658742e-01 -1.72396379e-03 1.25915036e+02] [ 9.88614483e-01 1.50179235e-01 -9.35952950e-03 9.42127517e+01] [ 9.51228422e-03 -2.98818420e-04 9.99954713e-01 1.55234499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.92, Y:94.24, Z:1.55 [[ 1.52265543e-01 -9.88338121e-01 -1.72139681e-03 1.25920715e+02] [ 9.88293837e-01 1.52275022e-01 -9.36000159e-03 9.42406475e+01] [ 9.51297212e-03 -2.76040136e-04 9.99954713e-01 1.55333608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.107628 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:125.93, Y:94.27, Z:1.55 [[ 1.53639145e-01 -9.88125528e-01 -1.71876484e-03 1.25926517e+02] [ 9.88081225e-01 1.53648539e-01 -9.36048487e-03 9.42686471e+01] [ 9.51341976e-03 -2.60142378e-04 9.99954713e-01 1.55235528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.93, Y:94.29, Z:1.56 [[ 1.55674480e-01 -9.87806920e-01 -1.71611949e-03 1.25932356e+02] [ 9.87762593e-01 1.55683757e-01 -9.36096984e-03 9.42949106e+01] [ 9.51400271e-03 -2.37854527e-04 9.99954713e-01 1.55503280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.94, Y:94.32, Z:1.56 [[ 1.57600229e-01 -9.87501510e-01 -1.71332883e-03 1.25938376e+02] [ 9.87457160e-01 1.57609393e-01 -9.36148058e-03 9.43222683e+01] [ 9.51451293e-03 -2.16467342e-04 9.99954713e-01 1.55601558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.94, Y:94.35, Z:1.56 [[ 1.59135854e-01 -9.87255212e-01 -1.71078794e-03 1.25943953e+02] [ 9.87210842e-01 1.59144925e-01 -9.36194490e-03 9.43492743e+01] [ 9.51489211e-03 -1.99087306e-04 9.99954713e-01 1.55747077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.95, Y:94.38, Z:1.56 [[ 1.64186373e-01 -9.86427899e-01 -1.68388920e-03 1.25950644e+02] [ 9.86383433e-01 1.64194962e-01 -9.36685352e-03 9.43768640e+01] [ 9.51621175e-03 -1.23050700e-04 9.99954712e-01 1.55690730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.96, Y:94.41, Z:1.56 [[ 1.66847229e-01 -9.85981320e-01 -1.68488138e-03 1.25956987e+02] [ 9.85936833e-01 1.66855707e-01 -9.36667268e-03 9.44050623e+01] [ 9.51649637e-03 -9.83832306e-05 9.99954712e-01 1.55583034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.96, Y:94.43, Z:1.56 [[ 1.69050122e-01 -9.85605980e-01 -1.70550799e-03 1.25962885e+02] [ 9.85561512e-01 1.69058696e-01 -9.36291543e-03 9.44325182e+01] [ 9.51647640e-03 -9.80810436e-05 9.99954713e-01 1.55546308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.97, Y:94.46, Z:1.55 [[ 1.71174169e-01 -9.85239313e-01 -1.70285252e-03 1.25969002e+02] [ 9.85194822e-01 1.71182623e-01 -9.36339836e-03 9.44591313e+01] [ 9.51668693e-03 -7.48695431e-05 9.99954713e-01 1.55463036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.34762800000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:125.98, Y:94.49, Z:1.55 [[ 1.74056212e-01 -9.84734251e-01 -1.70005668e-03 1.25977111e+02] [ 9.84689730e-01 1.74064509e-01 -9.36390596e-03 9.44866827e+01] [ 9.51687845e-03 -4.41823462e-05 9.99954713e-01 1.55173318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.98, Y:94.51, Z:1.55 [[ 1.75613499e-01 -9.84457728e-01 -1.69736791e-03 1.25984191e+02] [ 9.84413189e-01 1.75621700e-01 -9.36439332e-03 9.45134176e+01] [ 9.51694401e-03 -2.63974827e-05 9.99954713e-01 1.55458450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.99, Y:94.54, Z:1.55 [[ 1.76361420e-01 -9.84324020e-01 -1.69484609e-03 1.25991558e+02] [ 9.84279471e-01 1.76369562e-01 -9.36484972e-03 9.45393455e+01] [ 9.51696579e-03 -1.66040224e-05 9.99954713e-01 1.55446308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.00, Y:94.57, Z:1.56 [[ 1.76643888e-01 -9.84273373e-01 -1.69237808e-03 1.26001856e+02] [ 9.84228817e-01 1.76651995e-01 -9.36529571e-03 9.45654383e+01] [ 9.51697316e-03 -1.13650222e-05 9.99954713e-01 1.55538121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.01, Y:94.59, Z:1.56 [[ 1.76211643e-01 -9.84350853e-01 -1.68956803e-03 1.26009617e+02] [ 9.84306296e-01 1.76219743e-01 -9.36580263e-03 9.45924425e+01] [ 9.51697105e-03 -1.26889740e-05 9.99954713e-01 1.55550318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.02, Y:94.62, Z:1.56 [[ 1.75534177e-01 -9.84471892e-01 -1.68692830e-03 1.26017526e+02] [ 9.84427336e-01 1.75542282e-01 -9.36627806e-03 9.46196642e+01] [ 9.51696473e-03 -1.65564123e-05 9.99954713e-01 1.55570318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.03, Y:94.65, Z:1.56 [[ 1.74754294e-01 -9.84610634e-01 -1.68427546e-03 1.26025652e+02] [ 9.84566079e-01 1.74762409e-01 -9.36675508e-03 9.46458908e+01] [ 9.51695469e-03 -2.13998104e-05 9.99954713e-01 1.55543894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.04, Y:94.67, Z:1.56 [[ 1.73524838e-01 -9.84828058e-01 -1.68147862e-03 1.26038324e+02] [ 9.84783508e-01 1.73532982e-01 -9.36725713e-03 9.46723945e+01] [ 9.51692965e-03 -3.04406348e-05 9.99954713e-01 1.55596325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:94.70, Z:1.56 [[ 1.72753355e-01 -9.84963685e-01 -1.67883622e-03 1.26047072e+02] [ 9.84919137e-01 1.72761509e-01 -9.36773069e-03 9.46998311e+01] [ 9.51691281e-03 -3.52110222e-05 9.99954713e-01 1.55613876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.06, Y:94.73, Z:1.56 [[ 1.72202854e-01 -9.85060083e-01 -1.67620015e-03 1.26055394e+02] [ 9.85015536e-01 1.72211008e-01 -9.36820235e-03 9.47261156e+01] [ 9.51690230e-03 -3.78520002e-05 9.99954713e-01 1.55650215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.06, Y:94.75, Z:1.56 [[ 1.71957094e-01 -9.85103019e-01 -1.67342152e-03 1.26063742e+02] [ 9.85058469e-01 1.71965232e-01 -9.36869866e-03 9.47531744e+01] [ 9.51690365e-03 -3.74038445e-05 9.99954713e-01 1.55682510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.08, Y:94.78, Z:1.56 [[ 1.71835067e-01 -9.85124316e-01 -1.67081321e-03 1.26075644e+02] [ 9.85079762e-01 1.71843186e-01 -9.36916380e-03 9.47797768e+01] [ 9.51690895e-03 -3.59333816e-05 9.99954713e-01 1.55791915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.08, Y:94.81, Z:1.56 [[ 1.71455472e-01 -9.85190458e-01 -1.66817802e-03 1.26083752e+02] [ 9.85145903e-01 1.71463583e-01 -9.36963298e-03 9.48057308e+01] [ 9.51690478e-03 -3.69239005e-05 9.99954713e-01 1.55850006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.09, Y:94.83, Z:1.56 [[ 1.70824434e-01 -9.85300076e-01 -1.66540337e-03 1.26091686e+02] [ 9.85255521e-01 1.70832548e-01 -9.37012613e-03 9.48317921e+01] [ 9.51689108e-03 -4.02013727e-05 9.99954713e-01 1.55812217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.10, Y:94.86, Z:1.56 [[ 1.68362198e-01 -9.85723798e-01 -1.66266725e-03 1.26103157e+02] [ 9.85679259e-01 1.68370397e-01 -9.37061161e-03 9.48568103e+01] [ 9.51677881e-03 -6.11998486e-05 9.99954713e-01 1.55706584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.11, Y:94.88, Z:1.56 [[ 1.66101212e-01 -9.86107313e-01 -1.65967249e-03 1.26111581e+02] [ 9.86062788e-01 1.66109484e-01 -9.37114200e-03 9.48836756e+01] [ 9.51663900e-03 -7.99832406e-05 9.99954713e-01 1.55775441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.12, Y:94.91, Z:1.56 [[ 1.63297513e-01 -9.86575479e-01 -1.65701959e-03 1.26119967e+02] [ 9.86530973e-01 1.63305887e-01 -9.37161106e-03 9.49093451e+01] [ 9.51640273e-03 -1.04340369e-04 9.99954713e-01 1.55716633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.13, Y:94.94, Z:1.56 [[ 1.59925024e-01 -9.87127778e-01 -1.65422434e-03 1.26128687e+02] [ 9.87083295e-01 1.59933523e-01 -9.37210444e-03 9.49361064e+01] [ 9.51603056e-03 -1.34023190e-04 9.99954713e-01 1.55734961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.14, Y:94.96, Z:1.56 [[ 1.53377377e-01 -9.88166308e-01 -1.65160940e-03 1.26141902e+02] [ 9.88121878e-01 1.53386146e-01 -9.37256524e-03 9.49607482e+01] [ 9.51498719e-03 -1.94451917e-04 9.99954713e-01 1.55868388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.15, Y:94.99, Z:1.56 [[ 1.50120739e-01 -9.88666294e-01 -1.64992152e-03 1.26150852e+02] [ 9.88621890e-01 1.50129639e-01 -9.37286236e-03 9.49880089e+01] [ 9.51433521e-03 -2.24087503e-04 9.99954713e-01 1.55988458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.947628 meters Centerline goodness : 0.999886 Centerline is valid? [True, True] Translation: X:126.16, Y:95.02, Z:1.56 [[ 1.47466716e-01 -9.89065647e-01 -1.64736095e-03 1.26158332e+02] [ 9.89021262e-01 1.47475710e-01 -9.37331238e-03 9.50155467e+01] [ 9.51376700e-03 -2.47023407e-04 9.99954713e-01 1.55912722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.16, Y:95.04, Z:1.56 [[ 1.50182390e-01 -9.88656940e-01 -1.64481233e-03 1.26162333e+02] [ 9.88612525e-01 1.50191238e-01 -9.37375958e-03 9.50419688e+01] [ 9.51446886e-03 -2.18308458e-04 9.99954713e-01 1.56417187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.17, Y:95.07, Z:1.57 [[ 1.51396607e-01 -9.88471734e-01 -1.64295704e-03 1.26166951e+02] [ 9.88427305e-01 1.51405383e-01 -9.37408475e-03 9.50690419e+01] [ 9.51477035e-03 -2.04738970e-04 9.99954713e-01 1.56533177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.037628 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:126.17, Y:95.10, Z:1.56 [[ 1.51845287e-01 -9.88402913e-01 -1.64009912e-03 1.26171285e+02] [ 9.88358475e-01 1.51854016e-01 -9.37458475e-03 9.50950827e+01] [ 9.51492252e-03 -1.97519350e-04 9.99954713e-01 1.56289418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.18, Y:95.12, Z:1.57 [[ 1.53571527e-01 -9.88136178e-01 -1.63710466e-03 1.26175937e+02] [ 9.88091719e-01 1.53580149e-01 -9.37510765e-03 9.51227868e+01] [ 9.51530982e-03 -1.77859961e-04 9.99954713e-01 1.56587603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.09762800000001 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:126.18, Y:95.15, Z:1.56 [[ 1.54551868e-01 -9.87983324e-01 -1.63447358e-03 1.26179563e+02] [ 9.87938852e-01 1.54560422e-01 -9.37556634e-03 9.51494059e+01] [ 9.51552812e-03 -1.65748655e-04 9.99954713e-01 1.56045737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.18, Y:95.18, Z:1.56 [[ 1.55302931e-01 -9.87865546e-01 -1.63174608e-03 1.26183435e+02] [ 9.87821062e-01 1.55311425e-01 -9.37604101e-03 9.51760334e+01] [ 9.51569668e-03 -1.55746495e-04 9.99954713e-01 1.56297210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15762800000002 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:126.19, Y:95.20, Z:1.56 [[ 1.54115490e-01 -9.88051498e-01 -1.62898406e-03 1.26186695e+02] [ 9.88007019e-01 1.54124011e-01 -9.37652086e-03 9.52019600e+01] [ 9.51555104e-03 -1.64380572e-04 9.99954713e-01 1.55986336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.18762800000002 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:126.19, Y:95.23, Z:1.56 [[ 1.52093384e-01 -9.88364790e-01 -1.62609009e-03 1.26190319e+02] [ 9.88320324e-01 1.52101969e-01 -9.37702271e-03 9.52298089e+01] [ 9.51525059e-03 -1.80914764e-04 9.99954713e-01 1.56085256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.21762800000002 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:126.19, Y:95.26, Z:1.56 [[ 1.49305547e-01 -9.88789775e-01 -1.62339343e-03 1.26194331e+02] [ 9.88745328e-01 1.49314231e-01 -9.37748954e-03 9.52565151e+01] [ 9.51476151e-03 -2.05011463e-04 9.99954713e-01 1.56129941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.20, Y:95.28, Z:1.56 [[ 1.46128442e-01 -9.89264299e-01 -1.62055457e-03 1.26198706e+02] [ 9.89219874e-01 1.46137242e-01 -9.37798011e-03 9.52844302e+01] [ 9.51412429e-03 -2.32695173e-04 9.99954713e-01 1.56359984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.20, Y:95.31, Z:1.56 [[ 1.38827387e-01 -9.90315273e-01 -1.61791402e-03 1.26203158e+02] [ 9.90270909e-01 1.38836490e-01 -9.37843564e-03 9.53116699e+01] [ 9.51223355e-03 -3.00189468e-04 9.99954713e-01 1.56457040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.21, Y:95.34, Z:1.56 [[ 1.35506103e-01 -9.90775195e-01 -1.61513307e-03 1.26206828e+02] [ 9.90730857e-01 1.35515328e-01 -9.37891455e-03 9.53384195e+01] [ 9.51127118e-03 -3.29262004e-04 9.99954713e-01 1.56446881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.21, Y:95.37, Z:1.57 [[ 1.30815634e-01 -9.91405400e-01 -1.61322699e-03 1.26210443e+02] [ 9.91361103e-01 1.30825051e-01 -9.37924239e-03 9.53660081e+01] [ 9.50968206e-03 -3.72338950e-04 9.99954713e-01 1.56563287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.21, Y:95.39, Z:1.56 [[ 1.29020501e-01 -9.91640619e-01 -1.61056689e-03 1.26214076e+02] [ 9.91596333e-01 1.29029973e-01 -9.37969915e-03 9.53931258e+01] [ 9.50910207e-03 -3.86858736e-04 9.99954713e-01 1.56326222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.39762800000003 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:126.22, Y:95.42, Z:1.56 [[ 1.27539966e-01 -9.91832128e-01 -1.60862806e-03 1.26217614e+02] [ 9.91787852e-01 1.27549486e-01 -9.38003165e-03 9.54213475e+01] [ 9.50859643e-03 -3.99088848e-04 9.99954713e-01 1.56362633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.22, Y:95.45, Z:1.57 [[ 1.28022476e-01 -9.91769967e-01 -1.60593057e-03 1.26220822e+02] [ 9.91725681e-01 1.28031949e-01 -9.38049346e-03 9.54478765e+01] [ 9.50890211e-03 -3.91728594e-04 9.99954713e-01 1.56558265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.22, Y:95.47, Z:1.57 [[ 1.28523384e-01 -9.91705183e-01 -1.60308694e-03 1.26223926e+02] [ 9.91660887e-01 1.28532808e-01 -9.38097940e-03 9.54745250e+01] [ 9.50921516e-03 -3.84043398e-04 9.99954713e-01 1.56534015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.23, Y:95.50, Z:1.57 [[ 1.31610703e-01 -9.91300186e-01 -1.60117798e-03 1.26226722e+02] [ 9.91255857e-01 1.31619971e-01 -9.38130522e-03 9.55027098e+01] [ 9.51043661e-03 -3.52496874e-04 9.99954713e-01 1.56663755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.23, Y:95.53, Z:1.57 [[ 1.33241416e-01 -9.91082323e-01 -1.59851861e-03 1.26229621e+02] [ 9.91037973e-01 1.33250585e-01 -9.38175833e-03 9.55292343e+01] [ 9.51109838e-03 -3.34153885e-04 9.99954713e-01 1.56729893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.23, Y:95.56, Z:1.57 [[ 1.32962684e-01 -9.91119760e-01 -1.59571282e-03 1.26234351e+02] [ 9.91075408e-01 1.32971839e-01 -9.38223554e-03 9.55574432e+01] [ 9.51110390e-03 -3.33984521e-04 9.99954713e-01 1.56756992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.24, Y:95.58, Z:1.57 [[ 1.35078503e-01 -9.90833619e-01 -1.59307397e-03 1.26237586e+02] [ 9.90789242e-01 1.35087539e-01 -9.38268359e-03 9.55841894e+01] [ 9.51188277e-03 -3.11001696e-04 9.99954713e-01 1.56769804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.24, Y:95.61, Z:1.57 [[ 1.36847240e-01 -9.90590886e-01 -1.59029247e-03 1.26241078e+02] [ 9.90546488e-01 1.36856170e-01 -9.38315500e-03 9.56116242e+01] [ 9.51250917e-03 -2.91199752e-04 9.99954713e-01 1.56938963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.24, Y:95.64, Z:1.57 [[ 1.40641342e-01 -9.90059338e-01 -1.58765913e-03 1.26244031e+02] [ 9.90014901e-01 1.40650077e-01 -9.38360055e-03 9.56383456e+01] [ 9.51362573e-03 -2.52084022e-04 9.99954713e-01 1.57113940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:95.67, Z:1.57 [[ 1.42033723e-01 -9.89860549e-01 -1.58573719e-03 1.26247802e+02] [ 9.89816097e-01 1.42042377e-01 -9.38392533e-03 9.56658184e+01] [ 9.51401936e-03 -2.36754345e-04 9.99954713e-01 1.57232914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.697628 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:126.25, Y:95.69, Z:1.57 [[ 1.42655037e-01 -9.89771203e-01 -1.58308164e-03 1.26252170e+02] [ 9.89726740e-01 1.42663639e-01 -9.38437330e-03 9.56939861e+01] [ 9.51423064e-03 -2.28090105e-04 9.99954713e-01 1.56922332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.26, Y:95.72, Z:1.57 [[ 1.45029707e-01 -9.89426039e-01 -1.58035737e-03 1.26256490e+02] [ 9.89381550e-01 1.45038176e-01 -9.38483206e-03 9.57203738e+01] [ 9.51480936e-03 -2.02496975e-04 9.99954713e-01 1.57243045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.26, Y:95.75, Z:1.57 [[ 1.46186031e-01 -9.89255858e-01 -1.57837042e-03 1.26260738e+02] [ 9.89211356e-01 1.46194429e-01 -9.38516622e-03 9.57481510e+01] [ 9.51507962e-03 -1.89361745e-04 9.99954713e-01 1.57232708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.787628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:126.26, Y:95.77, Z:1.57 [[ 1.48254096e-01 -9.88948047e-01 -1.57568451e-03 1.26264071e+02] [ 9.88903523e-01 1.48262375e-01 -9.38561713e-03 9.57748855e+01] [ 9.51550247e-03 -1.66743784e-04 9.99954713e-01 1.56819161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:95.80, Z:1.57 [[ 1.50218567e-01 -9.88651561e-01 -1.57285164e-03 1.26268536e+02] [ 9.88607015e-01 1.50226731e-01 -9.38609185e-03 9.58027172e+01] [ 9.51585871e-03 -1.44966901e-04 9.99954713e-01 1.57129511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:95.83, Z:1.57 [[ 1.51241536e-01 -9.88495590e-01 -1.57021942e-03 1.26273244e+02] [ 9.88451032e-01 1.51249629e-01 -9.38653217e-03 9.58300064e+01] [ 9.51604077e-03 -1.32451470e-04 9.99954713e-01 1.57183958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.28, Y:95.86, Z:1.57 [[ 1.53242677e-01 -9.88187343e-01 -1.56758161e-03 1.26278858e+02] [ 9.88142764e-01 1.53250655e-01 -9.38697268e-03 9.58570132e+01] [ 9.51632050e-03 -1.10509596e-04 9.99954713e-01 1.57299031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.28, Y:95.88, Z:1.57 [[ 1.53943486e-01 -9.88078415e-01 -1.56480183e-03 1.26284148e+02] [ 9.88033826e-01 1.53951406e-01 -9.38743604e-03 9.58845388e+01] [ 9.51642637e-03 -1.00942513e-04 9.99954713e-01 1.57346969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.29, Y:95.91, Z:1.57 [[ 1.54252484e-01 -9.88030228e-01 -1.56218071e-03 1.26289586e+02] [ 9.87985631e-01 1.54260365e-01 -9.38787221e-03 9.59123613e+01] [ 9.51648408e-03 -9.53094851e-05 9.99954713e-01 1.57336813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.30, Y:95.94, Z:1.57 [[ 1.54445202e-01 -9.88000125e-01 -1.55957180e-03 1.26295010e+02] [ 9.87955523e-01 1.54453049e-01 -9.38830560e-03 9.59391424e+01] [ 9.51652772e-03 -9.08088247e-05 9.99954713e-01 1.57307127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.30, Y:95.96, Z:1.57 [[ 1.52152794e-01 -9.88355758e-01 -1.55681729e-03 1.26298868e+02] [ 9.88311169e-01 1.52160718e-01 -9.38876234e-03 9.59639314e+01] [ 9.51632375e-03 -1.10093498e-04 9.99954713e-01 1.56970095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.31, Y:95.99, Z:1.57 [[ 1.55234552e-01 -9.87876540e-01 -1.47479400e-03 1.26308496e+02] [ 9.87831795e-01 1.55241558e-01 -9.40231582e-03 9.59925227e+01] [ 9.51727654e-03 2.71588151e-06 9.99954710e-01 1.57308717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.31, Y:96.02, Z:1.57 [[ 1.55349656e-01 -9.87858328e-01 -1.55211061e-03 1.26314751e+02] [ 9.87813706e-01 1.55357392e-01 -9.38953525e-03 9.60202729e+01] [ 9.51666244e-03 -7.45350626e-05 9.99954713e-01 1.57325809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.32, Y:96.05, Z:1.57 [[ 1.55561959e-01 -9.87824922e-01 -1.54945479e-03 1.26320678e+02] [ 9.87780294e-01 1.55569660e-01 -9.38997349e-03 9.60472266e+01] [ 9.51669798e-03 -6.97982332e-05 9.99954713e-01 1.57305353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.33, Y:96.07, Z:1.57 [[ 1.56211343e-01 -9.87722443e-01 -1.54665031e-03 1.26327974e+02] [ 9.87677806e-01 1.56218988e-01 -9.39043540e-03 9.60747584e+01] [ 9.51675994e-03 -6.06996595e-05 9.99954713e-01 1.57268671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.14762800000003 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:126.33, Y:96.10, Z:1.57 [[ 1.55301804e-01 -9.87865864e-01 -1.54403659e-03 1.26333909e+02] [ 9.87821230e-01 1.55309465e-01 -9.39086514e-03 9.61014685e+01] [ 9.51671861e-03 -6.68138253e-05 9.99954713e-01 1.57010727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.34, Y:96.13, Z:1.57 [[ 1.55685410e-01 -9.87805486e-01 -1.54128203e-03 1.26340219e+02] [ 9.87760844e-01 1.55693027e-01 -9.39131722e-03 9.61271401e+01] [ 9.51676153e-03 -6.03269694e-05 9.99954713e-01 1.57322809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.35, Y:96.15, Z:1.58 [[ 1.54563119e-01 -9.87981719e-01 -1.53826285e-03 1.26349084e+02] [ 9.87937080e-01 1.54570758e-01 -9.39181172e-03 9.61544944e+01] [ 9.51670874e-03 -6.80791924e-05 9.99954713e-01 1.57505338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.35, Y:96.18, Z:1.58 [[ 1.54185981e-01 -9.88040662e-01 -1.52739713e-03 1.26353731e+02] [ 9.87996009e-01 1.54193534e-01 -9.39358892e-03 9.61811251e+01] [ 9.51676257e-03 -6.07025501e-05 9.99954713e-01 1.57596402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.36, Y:96.21, Z:1.58 [[ 1.54249390e-01 -9.88030753e-01 -1.53514395e-03 1.26357134e+02] [ 9.87986112e-01 1.54257014e-01 -9.39232315e-03 9.62081295e+01] [ 9.51671083e-03 -6.79407812e-05 9.99954713e-01 1.57632634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.36, Y:96.24, Z:1.58 [[ 1.53751274e-01 -9.88108395e-01 -1.53181954e-03 1.26361433e+02] [ 9.88063752e-01 1.53758889e-01 -9.39286530e-03 9.62360573e+01] [ 9.51669992e-03 -6.93703566e-05 9.99954713e-01 1.57669594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.37, Y:96.26, Z:1.58 [[ 1.52805122e-01 -9.88255158e-01 -1.52921144e-03 1.26365361e+02] [ 9.88210518e-01 1.52812755e-01 -9.39328989e-03 9.62640339e+01] [ 9.51665020e-03 -7.58400266e-05 9.99954713e-01 1.57686222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.37, Y:96.29, Z:1.58 [[ 1.50823561e-01 -9.88559519e-01 -1.52659217e-03 1.26369028e+02] [ 9.88514891e-01 1.50831259e-01 -9.39371556e-03 9.62920453e+01] [ 9.51650475e-03 -9.22654621e-05 9.99954713e-01 1.57672924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.387628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:126.37, Y:96.32, Z:1.57 [[ 1.48301434e-01 -9.88941031e-01 -1.52393744e-03 1.26373097e+02] [ 9.88896418e-01 1.48309220e-01 -9.39414621e-03 9.63190944e+01] [ 9.51627061e-03 -1.13850920e-04 9.99954713e-01 1.57359830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.38, Y:96.35, Z:1.58 [[ 1.47945694e-01 -9.88994316e-01 -1.52113763e-03 1.26377569e+02] [ 9.88949702e-01 1.47953469e-01 -9.39459955e-03 9.63468966e+01] [ 9.51626315e-03 -1.14438057e-04 9.99954713e-01 1.57728785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.38, Y:96.37, Z:1.58 [[ 1.46263409e-01 -9.89244514e-01 -1.51847546e-03 1.26381341e+02] [ 9.89199909e-01 1.46271235e-01 -9.39502982e-03 9.63744799e+01] [ 9.51609100e-03 -1.27926697e-04 9.99954713e-01 1.57686446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.38, Y:96.40, Z:1.57 [[ 1.40727131e-01 -9.90047260e-01 -1.51580662e-03 1.26383591e+02] [ 9.90002694e-01 1.40735182e-01 -9.39546040e-03 9.64017248e+01] [ 9.51527714e-03 -1.78456444e-04 9.99954713e-01 1.57496235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.39, Y:96.43, Z:1.57 [[ 1.37227451e-01 -9.90538408e-01 -1.51299512e-03 1.26387274e+02] [ 9.90493866e-01 1.37235632e-01 -9.39591313e-03 9.64294345e+01] [ 9.51464967e-03 -2.09235177e-04 9.99954713e-01 1.57459687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.39, Y:96.46, Z:1.57 [[ 1.33687102e-01 -9.91022441e-01 -1.51037162e-03 1.26390720e+02] [ 9.90977923e-01 1.33695417e-01 -9.39633483e-03 9.64562774e+01] [ 9.51390844e-03 -2.40576164e-04 9.99954713e-01 1.57430589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.39, Y:96.48, Z:1.57 [[ 1.30210289e-01 -9.91485253e-01 -1.50760817e-03 1.26394755e+02] [ 9.91440761e-01 1.30218734e-01 -9.39677819e-03 9.64845218e+01] [ 9.51308583e-03 -2.71146990e-04 9.99954713e-01 1.57441248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.40, Y:96.51, Z:1.57 [[ 1.23790044e-01 -9.92307291e-01 -1.50500434e-03 1.26397502e+02] [ 9.92262849e-01 1.23798753e-01 -9.39719521e-03 9.65121476e+01] [ 9.51122298e-03 -3.30080680e-04 9.99954713e-01 1.57480149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.40, Y:96.54, Z:1.57 [[ 1.21211750e-01 -9.92625536e-01 -1.50234569e-03 1.26400678e+02] [ 9.92581112e-01 1.21220549e-01 -9.39762023e-03 9.65387009e+01] [ 9.51043299e-03 -3.52097963e-04 9.99954713e-01 1.57484028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.40, Y:96.57, Z:1.57 [[ 1.19524243e-01 -9.92830149e-01 -1.50040826e-03 1.26404097e+02] [ 9.92785736e-01 1.19533099e-01 -9.39792955e-03 9.65663186e+01] [ 9.50989624e-03 -3.66303499e-04 9.99954713e-01 1.57459838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.41, Y:96.59, Z:1.57 [[ 1.18656480e-01 -9.92934236e-01 -1.49770998e-03 1.26407203e+02] [ 9.92889826e-01 1.18665349e-01 -9.39835954e-03 9.65946342e+01] [ 9.50967923e-03 -3.71884738e-04 9.99954713e-01 1.57394527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.41, Y:96.62, Z:1.57 [[ 1.19271987e-01 -9.92860493e-01 -1.49502263e-03 1.26410342e+02] [ 9.92816072e-01 1.19280803e-01 -9.39878701e-03 9.66212898e+01] [ 9.51001180e-03 -3.63270492e-04 9.99954713e-01 1.57395683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.41, Y:96.65, Z:1.57 [[ 1.20888220e-01 -9.92665005e-01 -1.49219420e-03 1.26412974e+02] [ 9.92620565e-01 1.20896937e-01 -9.39923604e-03 9.66479448e+01] [ 9.51069440e-03 -3.44925737e-04 9.99954713e-01 1.57393914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.42, Y:96.67, Z:1.57 [[ 1.23579180e-01 -9.92333596e-01 -1.49025643e-03 1.26415261e+02] [ 9.92289129e-01 1.23587758e-01 -9.39954327e-03 9.66748106e+01] [ 9.51166002e-03 -3.17177404e-04 9.99954713e-01 1.57393188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.42, Y:96.70, Z:1.57 [[ 1.31635879e-01 -9.91297019e-01 -1.48837056e-03 1.26416427e+02] [ 9.91252480e-01 1.31644078e-01 -9.39984187e-03 9.67026401e+01] [ 9.51397040e-03 -2.37994561e-04 9.99954713e-01 1.57266886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.42, Y:96.73, Z:1.57 [[ 1.35806355e-01 -9.90734287e-01 -1.48570101e-03 1.26419717e+02] [ 9.90689709e-01 1.35814341e-01 -9.40026379e-03 9.67309949e+01] [ 9.51494315e-03 -1.95253148e-04 9.99954713e-01 1.57175124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.86762800000002 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:126.42, Y:96.76, Z:1.57 [[ 1.38891851e-01 -9.90306445e-01 -1.48304348e-03 1.26423391e+02] [ 9.90261838e-01 1.38899673e-01 -9.40068304e-03 9.67592977e+01] [ 9.51555126e-03 -1.62923090e-04 9.99954713e-01 1.56782742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.43, Y:96.79, Z:1.57 [[ 1.42869598e-01 -9.89740414e-01 -1.48033326e-03 1.26428231e+02] [ 9.89695772e-01 1.42877215e-01 -9.40110980e-03 9.67873812e+01] [ 9.51616420e-03 -1.21946787e-04 9.99954713e-01 1.57129744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.43, Y:96.81, Z:1.57 [[ 1.48487353e-01 -9.88913202e-01 -1.47847251e-03 1.26433337e+02] [ 9.88868514e-01 1.48494698e-01 -9.40140225e-03 9.68140856e+01] [ 9.51671613e-03 -6.60255858e-05 9.99954713e-01 1.57186789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:96.84, Z:1.57 [[ 1.49984252e-01 -9.88687286e-01 -1.47476444e-03 1.26438121e+02] [ 9.88642582e-01 1.49991495e-01 -9.40198389e-03 9.68415959e+01] [ 9.51682405e-03 -4.78653995e-05 9.99954713e-01 1.57223636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:96.87, Z:1.57 [[ 1.50926514e-01 -9.88543889e-01 -1.47210868e-03 1.26442882e+02] [ 9.88499174e-01 1.50933688e-01 -9.40239969e-03 9.68694727e+01] [ 9.51687555e-03 -3.61068124e-05 9.99954713e-01 1.57280225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.45, Y:96.90, Z:1.57 [[ 1.51328465e-01 -9.88482441e-01 -1.46944431e-03 1.26447529e+02] [ 9.88437719e-01 1.51335596e-01 -9.40281607e-03 9.68972945e+01] [ 9.51689782e-03 -2.95404632e-05 9.99954713e-01 1.57291171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.45, Y:96.92, Z:1.57 [[ 1.51476730e-01 -9.88459736e-01 -1.46677029e-03 1.26453718e+02] [ 9.88415008e-01 1.51483830e-01 -9.40323318e-03 9.69234729e+01] [ 9.51690936e-03 -2.54067537e-05 9.99954713e-01 1.57310774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.46, Y:96.95, Z:1.57 [[ 1.50669005e-01 -9.88583181e-01 -1.46482147e-03 1.26459462e+02] [ 9.88538456e-01 1.50676122e-01 -9.40353675e-03 9.69505929e+01] [ 9.51689189e-03 -3.12108335e-05 9.99954713e-01 1.57324306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.47, Y:96.98, Z:1.57 [[ 1.49744464e-01 -9.88723651e-01 -1.46219077e-03 1.26465277e+02] [ 9.88678929e-01 1.49751598e-01 -9.40394580e-03 9.69784573e+01] [ 9.51686902e-03 -3.74483828e-05 9.99954713e-01 1.57330243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.47, Y:97.01, Z:1.57 [[ 1.46847067e-01 -9.89158131e-01 -1.45957330e-03 1.26473151e+02] [ 9.89113427e-01 1.46854307e-01 -9.40435203e-03 9.70055941e+01] [ 9.51673591e-03 -6.26820333e-05 9.99954713e-01 1.57258899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.48, Y:97.03, Z:1.57 [[ 1.45660646e-01 -9.89333540e-01 -1.45694459e-03 1.26478777e+02] [ 9.89288840e-01 1.45667915e-01 -9.40475926e-03 9.70330647e+01] [ 9.51667385e-03 -7.14357114e-05 9.99954713e-01 1.57299302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.48, Y:97.06, Z:1.57 [[ 1.45618742e-01 -9.89339713e-01 -1.45433100e-03 1.26482747e+02] [ 9.89295009e-01 1.45625988e-01 -9.40516340e-03 9.70613504e+01] [ 9.51669005e-03 -6.91943359e-05 9.99954713e-01 1.57336144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.49, Y:97.09, Z:1.57 [[ 1.45575011e-01 -9.89346152e-01 -1.45173173e-03 1.26485974e+02] [ 9.89301445e-01 1.45582234e-01 -9.40556460e-03 9.70878359e+01] [ 9.51670549e-03 -6.69851218e-05 9.99954713e-01 1.57324689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.49, Y:97.12, Z:1.57 [[ 1.44024264e-01 -9.89573095e-01 -1.44983497e-03 1.26489900e+02] [ 9.89528396e-01 1.44031539e-01 -9.40585697e-03 9.71159417e+01] [ 9.51660495e-03 -7.99812401e-05 9.99954713e-01 1.57207518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.49, Y:97.14, Z:1.57 [[ 1.42395110e-01 -9.89808839e-01 -1.44713946e-03 1.26493781e+02] [ 9.89764148e-01 1.42402433e-01 -9.40627166e-03 9.71429445e+01] [ 9.51648702e-03 -9.29196691e-05 9.99954713e-01 1.57201112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.50, Y:97.17, Z:1.57 [[ 1.40647471e-01 -9.90058687e-01 -1.44429964e-03 1.26497442e+02] [ 9.90014004e-01 1.40654846e-01 -9.40670769e-03 9.71708457e+01] [ 9.51634040e-03 -1.06847221e-04 9.99954713e-01 1.57176258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.50, Y:97.20, Z:1.57 [[ 1.32216588e-01 -9.91219802e-01 -1.44167220e-03 1.26498273e+02] [ 9.91175179e-01 1.32224318e-01 -9.40711035e-03 9.71959854e+01] [ 9.51513818e-03 -1.85173670e-04 9.99954713e-01 1.57070134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.37762800000002 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:126.50, Y:97.23, Z:1.57 [[ 1.25199612e-01 -9.92130645e-01 -1.35689383e-03 1.26504123e+02] [ 9.92085937e-01 1.25206854e-01 -9.42005810e-03 9.72255510e+01] [ 9.51582072e-03 -1.66767664e-04 9.99954710e-01 1.56967197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.51, Y:97.25, Z:1.57 [[ 1.20333247e-01 -9.92732513e-01 -1.43786299e-03 1.26507075e+02] [ 9.92687980e-01 1.20341475e-01 -9.40768287e-03 9.72535306e+01] [ 9.51234721e-03 -2.95292282e-04 9.99954713e-01 1.57065279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.51, Y:97.28, Z:1.57 [[ 1.20054731e-01 -9.92766237e-01 -1.43522408e-03 1.26511320e+02] [ 9.92721702e-01 1.20062946e-01 -9.40808544e-03 9.72818180e+01] [ 9.51234681e-03 -2.95292925e-04 9.99954713e-01 1.57092386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.51, Y:97.31, Z:1.57 [[ 1.14507613e-01 -9.93421338e-01 -1.43258441e-03 1.26514098e+02] [ 9.93376844e-01 1.14516052e-01 -9.40848737e-03 9.73094171e+01] [ 9.51064602e-03 -3.45752748e-04 9.99954713e-01 1.57046554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.52, Y:97.34, Z:1.57 [[ 1.14227402e-01 -9.93453600e-01 -1.42993397e-03 1.26518329e+02] [ 9.93409104e-01 1.14235829e-01 -9.40889018e-03 9.73377071e+01] [ 9.51064551e-03 -3.45756342e-04 9.99954713e-01 1.57073661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.52, Y:97.37, Z:1.57 [[ 1.08800300e-01 -9.94062602e-01 -1.42727985e-03 1.26521624e+02] [ 9.94018148e-01 1.08808945e-01 -9.40929278e-03 9.73661334e+01] [ 9.50872688e-03 -3.95008195e-04 9.99954713e-01 1.57061929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.52, Y:97.39, Z:1.57 [[ 1.00835751e-01 -9.94902066e-01 -1.42462335e-03 1.26524752e+02] [ 9.94857678e-01 1.00844726e-01 -9.40969497e-03 9.73930928e+01] [ 9.50539072e-03 -4.68463816e-04 9.99954713e-01 1.57164271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.53, Y:97.42, Z:1.57 [[ 9.81933923e-02 -9.95166335e-01 -1.42269104e-03 1.26527957e+02] [ 9.95121966e-01 9.82024670e-02 -9.40998711e-03 9.74207215e+01] [ 9.50421416e-03 -4.91752545e-04 9.99954713e-01 1.57257402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.61762800000002 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:126.53, Y:97.45, Z:1.57 [[ 9.63927162e-02 -9.95342367e-01 -1.42004309e-03 1.26530618e+02] [ 9.95298010e-01 9.64018462e-02 -9.41038669e-03 9.74485488e+01] [ 9.50345134e-03 -5.06273326e-04 9.99954713e-01 1.57216828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.64762800000003 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:126.53, Y:97.48, Z:1.57 [[ 9.73313596e-02 -9.95251022e-01 -1.41741620e-03 1.26530827e+02] [ 9.95206652e-01 9.73404229e-02 -9.41078235e-03 9.74761209e+01] [ 9.50406264e-03 -4.94657795e-04 9.99954713e-01 1.57234246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.53, Y:97.50, Z:1.57 [[ 1.00001143e-01 -9.94986315e-01 -1.41549870e-03 1.26532768e+02] [ 9.94941917e-01 1.00010069e-01 -9.41107075e-03 9.75039071e+01] [ 9.50545074e-03 -4.67221162e-04 9.99954713e-01 1.57420963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.53, Y:97.53, Z:1.57 [[ 1.01696015e-01 -9.94814518e-01 -1.41290743e-03 1.26532424e+02] [ 9.94770099e-01 1.01704841e-01 -9.41145977e-03 9.75299008e+01] [ 9.50635634e-03 -4.48410113e-04 9.99954713e-01 1.57372670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.54, Y:97.56, Z:1.58 [[ 1.07670197e-01 -9.94185740e-01 -1.35742459e-03 1.26536306e+02] [ 9.94141170e-01 1.07678231e-01 -9.41976754e-03 9.75584059e+01] [ 9.51116364e-03 -3.35243446e-04 9.99954712e-01 1.57544979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.54, Y:97.59, Z:1.58 [[ 1.17811819e-01 -9.93034939e-01 -1.40932574e-03 1.26536689e+02] [ 9.92990377e-01 1.17819890e-01 -9.41199602e-03 9.75868515e+01] [ 9.51248749e-03 -2.90602527e-04 9.99954713e-01 1.57586056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.797628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.54, Y:97.61, Z:1.58 [[ 1.28612860e-01 -9.91693881e-01 -1.40667206e-03 1.26537085e+02] [ 9.91649230e-01 1.28620420e-01 -9.41239261e-03 9.76145925e+01] [ 9.51513891e-03 -1.84370532e-04 9.99954713e-01 1.57573347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.54, Y:97.64, Z:1.58 [[ 1.33628551e-01 -9.91030494e-01 -1.40386914e-03 1.26539679e+02] [ 9.90985800e-01 1.33635859e-01 -9.41281065e-03 9.76428559e+01] [ 9.51598965e-03 -1.33394132e-04 9.99954713e-01 1.57618180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.54, Y:97.67, Z:1.58 [[ 1.33352497e-01 -9.91067681e-01 -1.40124857e-03 1.26543814e+02] [ 9.91022985e-01 1.33359792e-01 -9.41320075e-03 9.76711518e+01] [ 9.51598925e-03 -1.33395715e-04 9.99954713e-01 1.57645287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.55, Y:97.70, Z:1.58 [[ 1.43151014e-01 -9.89699869e-01 -1.39862631e-03 1.26545018e+02] [ 9.89655100e-01 1.43157841e-01 -9.41359035e-03 9.76978783e+01] [ 9.51685346e-03 -3.65926655e-05 9.99954713e-01 1.57627344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.55, Y:97.73, Z:1.58 [[ 1.46957094e-01 -9.89141881e-01 -1.39671320e-03 1.26548168e+02] [ 9.89097084e-01 1.46963732e-01 -9.41387420e-03 9.77262902e+01] [ 9.51692342e-03 1.95064209e-06 9.99954713e-01 1.57618771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.55, Y:97.75, Z:1.58 [[ 1.52087402e-01 -9.88366065e-01 -1.39401270e-03 1.26551819e+02] [ 9.88321230e-01 1.52093781e-01 -9.41427407e-03 9.77530283e+01] [ 9.51676968e-03 5.40601373e-05 9.99954713e-01 1.57602229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.56, Y:97.78, Z:1.58 [[ 1.53009912e-01 -9.88223675e-01 -1.39116495e-03 1.26556718e+02] [ 9.88178830e-01 1.53016222e-01 -9.41469487e-03 9.77803872e+01] [ 9.51669517e-03 6.58218847e-05 9.99954713e-01 1.57586167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.56, Y:97.81, Z:1.58 [[ 1.52825127e-01 -9.88252272e-01 -1.38852118e-03 1.26562000e+02] [ 9.88207424e-01 1.52831421e-01 -9.41508477e-03 9.78076217e+01] [ 9.51668857e-03 6.67145906e-05 9.99954713e-01 1.57624074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.57, Y:97.83, Z:1.58 [[ 1.51884334e-01 -9.88397303e-01 -1.38580919e-03 1.26567115e+02] [ 9.88352458e-01 1.51890644e-01 -9.41548393e-03 9.78341088e+01] [ 9.51673037e-03 6.03965869e-05 9.99954713e-01 1.57657501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.57, Y:97.86, Z:1.58 [[ 1.48775870e-01 -9.88869975e-01 -1.38295719e-03 1.26574302e+02] [ 9.88825146e-01 1.48782294e-01 -9.41590282e-03 9.78610684e+01] [ 9.51686313e-03 3.33562895e-05 9.99954713e-01 1.57736795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.58, Y:97.89, Z:1.58 [[ 1.46599362e-01 -9.89194987e-01 -1.38030888e-03 1.26580280e+02] [ 9.89150168e-01 1.46605859e-01 -9.41629102e-03 9.78888408e+01] [ 9.51690925e-03 1.50894871e-05 9.99954713e-01 1.57680510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.59, Y:97.92, Z:1.58 [[ 1.44220826e-01 -9.89544570e-01 -1.37764257e-03 1.26586411e+02] [ 9.89499763e-01 1.44227406e-01 -9.41668110e-03 9.79168030e+01] [ 9.51691946e-03 -5.09546571e-06 9.99954713e-01 1.57628536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.59, Y:97.94, Z:1.58 [[ 1.41699363e-01 -9.89908784e-01 -1.37498625e-03 1.26592072e+02] [ 9.89863990e-01 1.41706032e-01 -9.41706895e-03 9.79439784e+01] [ 9.51688312e-03 -2.66567062e-05 9.99954713e-01 1.57625510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.60, Y:97.97, Z:1.58 [[ 1.36813369e-01 -9.90595891e-01 -1.37234407e-03 1.26600410e+02] [ 9.90551127e-01 1.36820233e-01 -9.41745398e-03 9.79711975e+01] [ 9.51665565e-03 -7.09433532e-05 9.99954713e-01 1.57621861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.61, Y:98.00, Z:1.58 [[ 1.33998772e-01 -9.90980551e-01 -1.36968461e-03 1.26606943e+02] [ 9.90935803e-01 1.34005738e-01 -9.41784076e-03 9.79988605e+01] [ 9.51644262e-03 -9.52904250e-05 9.99954713e-01 1.57703831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.24762800000002 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:126.61, Y:98.03, Z:1.57 [[ 1.30409926e-01 -9.91459219e-01 -1.36702145e-03 1.26613427e+02] [ 9.91414492e-01 1.30417028e-01 -9.41822730e-03 9.80252262e+01] [ 9.51607116e-03 -1.27054557e-04 9.99954713e-01 1.57408044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.62, Y:98.05, Z:1.58 [[ 1.27301565e-01 -9.91863121e-01 -1.36421752e-03 1.26619620e+02] [ 9.91818413e-01 1.27308781e-01 -9.41863343e-03 9.80524060e+01] [ 9.51567202e-03 -1.54049275e-04 9.99954713e-01 1.57783516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.30762800000002 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:126.63, Y:98.08, Z:1.57 [[ 1.19325743e-01 -9.92854226e-01 -1.36160418e-03 1.26628116e+02] [ 9.92809573e-01 1.19333294e-01 -9.41901122e-03 9.80792648e+01] [ 9.51418980e-03 -2.27883155e-04 9.99954713e-01 1.57323957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.63, Y:98.11, Z:1.58 [[ 1.18860949e-01 -9.92909980e-01 -1.35895079e-03 1.26631643e+02] [ 9.92865326e-01 1.18868496e-01 -9.41939402e-03 9.81073599e+01] [ 9.51414677e-03 -2.29657001e-04 9.99954713e-01 1.57813946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.36762800000002 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:126.64, Y:98.13, Z:1.58 [[ 1.17864232e-01 -9.93028793e-01 -1.35625743e-03 1.26635019e+02] [ 9.92984142e-01 1.17871797e-01 -9.41978181e-03 9.81345294e+01] [ 9.51397906e-03 -2.36486777e-04 9.99954713e-01 1.57527336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.64, Y:98.16, Z:1.58 [[ 1.17082693e-01 -9.93121247e-01 -1.35341812e-03 1.26639018e+02] [ 9.93076598e-01 1.17090266e-01 -9.42018974e-03 9.81628171e+01] [ 9.51386267e-03 -2.41106687e-04 9.99954713e-01 1.57780492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.64, Y:98.19, Z:1.58 [[ 1.09200702e-01 -9.94018804e-01 -1.35073851e-03 1.26636425e+02] [ 9.93974212e-01 1.09208604e-01 -9.42057395e-03 9.81856174e+01] [ 9.51173992e-03 -3.13865956e-04 9.99954713e-01 1.57604496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.65, Y:98.22, Z:1.58 [[ 1.11553772e-01 -9.93757689e-01 -1.18837260e-03 1.26646938e+02] [ 9.93712823e-01 1.11560029e-01 -9.44375652e-03 9.82180998e+01] [ 9.51738054e-03 -1.27414432e-04 9.99954701e-01 1.57702132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.65, Y:98.25, Z:1.58 [[ 1.08409220e-01 -9.94105438e-01 -1.34897366e-03 1.26650747e+02] [ 9.94060850e-01 1.08417141e-01 -9.42075993e-03 9.82463732e+01] [ 9.51148054e-03 -3.19664671e-04 9.99954714e-01 1.57725164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.65, Y:98.27, Z:1.58 [[ 1.05000257e-01 -9.94471283e-01 -1.34627759e-03 1.26653429e+02] [ 9.94426718e-01 1.05008305e-01 -9.42114520e-03 9.82729285e+01] [ 9.51042868e-03 -3.49551738e-04 9.99954714e-01 1.57638160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.65, Y:98.30, Z:1.58 [[ 9.77446338e-02 -9.95210622e-01 -1.34343787e-03 1.26653683e+02] [ 9.95166111e-01 9.77529804e-02 -9.42155012e-03 9.83002880e+01] [ 9.50775181e-03 -4.16037873e-04 9.99954714e-01 1.57598214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:98.33, Z:1.58 [[ 9.43289160e-02 -9.95540184e-01 -1.34066265e-03 1.26655823e+02] [ 9.95495698e-01 9.43373891e-02 -9.42194501e-03 9.83287542e+01] [ 9.50639948e-03 -4.45862039e-04 9.99954714e-01 1.57677533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:98.36, Z:1.58 [[ 9.09825183e-02 -9.95851591e-01 -1.33801069e-03 1.26657976e+02] [ 9.95807128e-01 9.09911158e-02 -9.42232160e-03 9.83571508e+01] [ 9.50498104e-03 -4.75134035e-04 9.99954714e-01 1.57745875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:98.39, Z:1.58 [[ 8.80598754e-02 -9.96114288e-01 -1.33535213e-03 1.26660341e+02] [ 9.96069846e-01 8.80685782e-02 -9.42269836e-03 9.83856215e+01] [ 9.50368703e-03 -5.00342350e-04 9.99954714e-01 1.57881170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:98.41, Z:1.58 [[ 8.61414436e-02 -9.96282026e-01 -1.33267610e-03 1.26662801e+02] [ 9.96237596e-01 8.61502068e-02 -9.42307682e-03 9.84126061e+01] [ 9.50285239e-03 -5.15944598e-04 9.99954714e-01 1.57943917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:98.44, Z:1.58 [[ 8.46897897e-02 -9.96406479e-01 -1.32985636e-03 1.26662493e+02] [ 9.96362056e-01 8.46985910e-02 -9.42347475e-03 9.84406097e+01] [ 9.50224825e-03 -5.26946319e-04 9.99954714e-01 1.58040000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:98.47, Z:1.58 [[ 8.56894519e-02 -9.96321011e-01 -1.32722360e-03 1.26663968e+02] [ 9.96276574e-01 8.56981839e-02 -9.42384554e-03 9.84691040e+01] [ 9.50291596e-03 -5.14757624e-04 9.99954714e-01 1.58109124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:98.50, Z:1.58 [[ 8.79427051e-02 -9.96124654e-01 -1.32460345e-03 1.26664993e+02] [ 9.96080193e-01 8.79513118e-02 -9.42421381e-03 9.84969117e+01] [ 9.50419233e-03 -4.90620399e-04 9.99954714e-01 1.58199385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:98.53, Z:1.58 [[ 9.52902843e-02 -9.95448650e-01 -1.32197685e-03 1.26662660e+02] [ 9.95404122e-01 9.52985379e-02 -9.42458224e-03 9.85255305e+01] [ 9.50767012e-03 -4.17830086e-04 9.99954714e-01 1.58328122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:98.55, Z:1.58 [[ 9.95474218e-02 -9.95031944e-01 -1.31935428e-03 1.26663089e+02] [ 9.94987377e-01 9.95554601e-02 -9.42494936e-03 9.85537237e+01] [ 9.50947461e-03 -3.74511449e-04 9.99954714e-01 1.58348883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:98.58, Z:1.58 [[ 1.03713958e-01 -9.94606295e-01 -1.31671213e-03 1.26663930e+02] [ 9.94561690e-01 1.03721784e-01 -9.42531847e-03 9.85821456e+01] [ 9.51105281e-03 -3.32014364e-04 9.99954714e-01 1.58316994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87762800000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.66, Y:98.60, Z:1.58 [[ 1.02991283e-01 -9.94681391e-01 -1.31408395e-03 1.26658456e+02] [ 9.94636787e-01 1.02999117e-01 -9.42568487e-03 9.86048304e+01] [ 9.51090283e-03 -3.36272865e-04 9.99954714e-01 1.58036334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:98.64, Z:1.58 [[ 1.14565890e-01 -9.93414979e-01 -1.15603842e-03 1.26664678e+02] [ 9.93370056e-01 1.14571703e-01 -9.44760884e-03 9.86374391e+01] [ 9.51784543e-03 -6.60002328e-05 9.99954702e-01 1.58211484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.67, Y:98.66, Z:1.58 [[ 1.17231204e-01 -9.93103783e-01 -1.31158558e-03 1.26666671e+02] [ 9.93059069e-01 1.17238374e-01 -9.42596519e-03 9.86646341e+01] [ 9.51472986e-03 -1.97464708e-04 9.99954714e-01 1.58235952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.67, Y:98.69, Z:1.58 [[ 1.19061422e-01 -9.92886028e-01 -1.30877253e-03 1.26669060e+02] [ 9.92841297e-01 1.19068483e-01 -9.42635576e-03 9.86927495e+01] [ 9.51513049e-03 -1.77088101e-04 9.99954714e-01 1.58258383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.67, Y:98.72, Z:1.58 [[ 1.19781237e-01 -9.92799451e-01 -1.30614662e-03 1.26671701e+02] [ 9.92754710e-01 1.19788241e-01 -9.42671960e-03 9.87210717e+01] [ 9.51530305e-03 -1.67539076e-04 9.99954714e-01 1.58247178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:98.74, Z:1.58 [[ 1.10582247e-01 -9.93866122e-01 -1.30351009e-03 1.26663458e+02] [ 9.93821444e-01 1.10589640e-01 -9.42708416e-03 9.87416255e+01] [ 9.51341429e-03 -2.52988135e-04 9.99954714e-01 1.57846110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.68, Y:98.78, Z:1.58 [[ 1.15510706e-01 -9.93305667e-01 -1.06209696e-03 1.26677317e+02] [ 9.93260617e-01 1.15515583e-01 -9.46025643e-03 9.87763677e+01] [ 9.51961508e-03 3.78218222e-05 9.99954687e-01 1.58104566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.68, Y:98.80, Z:1.58 [[ 1.11651221e-01 -9.93746602e-01 -1.30214240e-03 1.26681852e+02] [ 9.93701916e-01 1.11658553e-01 -9.42709982e-03 9.88034741e+01] [ 9.51354375e-03 -2.41394194e-04 9.99954716e-01 1.58075421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.68, Y:98.83, Z:1.58 [[ 9.94840568e-02 -9.95038308e-01 -1.29928856e-03 1.26682560e+02] [ 9.94993710e-01 9.94919080e-02 -9.42749313e-03 9.88273350e+01] [ 9.50998552e-03 -3.54898684e-04 9.99954716e-01 1.57931118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.69, Y:98.86, Z:1.58 [[ 9.95222093e-02 -9.95034656e-01 -1.16759177e-03 1.26692528e+02] [ 9.94989848e-01 9.95288112e-02 -9.44556536e-03 9.88583235e+01] [ 9.51487390e-03 -2.21698429e-04 9.99954708e-01 1.58170194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.70, Y:98.89, Z:1.58 [[ 9.61672509e-02 -9.95364344e-01 -1.29678130e-03 1.26696771e+02] [ 9.95319769e-01 9.61752269e-02 -9.42779559e-03 9.88850138e+01] [ 9.50880981e-03 -3.84066879e-04 9.99954716e-01 1.58214795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.70, Y:98.91, Z:1.58 [[ 9.36097548e-02 -9.95608125e-01 -1.29396322e-03 1.26701070e+02] [ 9.95563566e-01 9.36178187e-02 -9.42818235e-03 9.89123338e+01] [ 9.50791297e-03 -4.05652800e-04 9.99954717e-01 1.58252020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.71, Y:98.94, Z:1.58 [[ 9.05887078e-02 -9.95887553e-01 -1.29131727e-03 1.26705282e+02] [ 9.95843014e-01 9.05968819e-02 -9.42854474e-03 9.89401698e+01] [ 9.50675967e-03 -4.31829600e-04 9.99954717e-01 1.58349942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.71, Y:98.97, Z:1.58 [[ 8.96752507e-02 -9.95970225e-01 -1.28864551e-03 1.26708447e+02] [ 9.95925688e-01 8.96834404e-02 -9.42890989e-03 9.89683296e+01] [ 9.50648366e-03 -4.37855306e-04 9.99954717e-01 1.58372314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.71, Y:99.00, Z:1.58 [[ 8.94950527e-02 -9.95986437e-01 -1.28598348e-03 1.26711668e+02] [ 9.95941897e-01 8.95032253e-02 -9.42927294e-03 9.89962357e+01] [ 9.50652762e-03 -4.36891548e-04 9.99954717e-01 1.58391511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.71, Y:99.02, Z:1.58 [[ 8.96961929e-02 -9.95968346e-01 -1.28328362e-03 1.26714556e+02] [ 9.95923800e-01 8.97043310e-02 -9.42964037e-03 9.90228552e+01] [ 9.50673942e-03 -4.32249860e-04 9.99954717e-01 1.58390365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.72, Y:99.05, Z:1.58 [[ 9.02628510e-02 -9.95917154e-01 -1.28044446e-03 1.26717264e+02] [ 9.95872599e-01 9.02709369e-02 -9.43002588e-03 9.90498483e+01] [ 9.50711146e-03 -4.23978533e-04 9.99954717e-01 1.58372599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.72, Y:99.08, Z:1.58 [[ 8.99904430e-02 -9.95941809e-01 -1.27766605e-03 1.26721028e+02] [ 9.95897251e-01 8.99985148e-02 -9.43040231e-03 9.90781884e+01] [ 9.50711998e-03 -4.23778027e-04 9.99954717e-01 1.58399698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.72, Y:99.11, Z:1.58 [[ 9.33134912e-02 -9.95635961e-01 -1.27508642e-03 1.26721964e+02] [ 9.95591372e-01 9.33213899e-02 -9.43075109e-03 9.91065679e+01] [ 9.50858776e-03 -3.89448733e-04 9.99954717e-01 1.58315369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.72, Y:99.13, Z:1.58 [[ 9.50282974e-02 -9.95473758e-01 -1.27248633e-03 1.26724135e+02] [ 9.95429151e-01 9.50360947e-02 -9.43110190e-03 9.91346577e+01] [ 9.50934659e-03 -3.70448426e-04 9.99954717e-01 1.58295498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.73, Y:99.16, Z:1.58 [[ 9.74790175e-02 -9.95236770e-01 -1.26981745e-03 1.26726351e+02] [ 9.95192140e-01 9.74866797e-02 -9.43146123e-03 9.91626227e+01] [ 9.51032730e-03 -3.44342768e-04 9.99954717e-01 1.58276747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.73, Y:99.19, Z:1.58 [[ 1.03009456e-01 -9.94679570e-01 -1.26716282e-03 1.26728117e+02] [ 9.94634893e-01 1.03016845e-01 -9.43181788e-03 9.91901773e+01] [ 9.51217567e-03 -2.88797922e-04 9.99954717e-01 1.58230949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.73, Y:99.22, Z:1.58 [[ 1.05493000e-01 -9.94419242e-01 -1.26436091e-03 1.26731039e+02] [ 9.94374543e-01 1.05500251e-01 -9.43219347e-03 9.92176204e+01] [ 9.51294507e-03 -2.62217918e-04 9.99954717e-01 1.58226763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.73, Y:99.25, Z:1.58 [[ 1.07778624e-01 -9.94174118e-01 -1.26177342e-03 1.26734435e+02] [ 9.94129398e-01 1.07785748e-01 -9.43253959e-03 9.92458135e+01] [ 9.51358792e-03 -2.37739906e-04 9.99954717e-01 1.58210575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.73, Y:99.27, Z:1.58 [[ 1.06615827e-01 -9.94299492e-01 -1.25919534e-03 1.26734513e+02] [ 9.94254777e-01 1.06622978e-01 -9.43288374e-03 9.92714531e+01] [ 9.51337067e-03 -2.46266287e-04 9.99954717e-01 1.58092371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.74, Y:99.30, Z:1.58 [[ 1.12611260e-01 -9.93638428e-01 -1.17407792e-03 1.26742186e+02] [ 9.93593550e-01 1.12617333e-01 -9.44419876e-03 9.93013533e+01] [ 9.51634033e-03 -1.03033124e-04 9.99954713e-01 1.58198222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.75, Y:99.33, Z:1.58 [[ 1.13925612e-01 -9.93488489e-01 -1.25559556e-03 1.26746689e+02] [ 9.93443718e-01 1.13932400e-01 -9.43334865e-03 9.93275685e+01] [ 9.51497631e-03 -1.72663508e-04 9.99954717e-01 1.58236522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.75, Y:99.35, Z:1.58 [[ 1.15567731e-01 -9.93298812e-01 -1.25259009e-03 1.26751377e+02] [ 9.93254025e-01 1.15574416e-01 -9.43374770e-03 9.93545835e+01] [ 9.51529776e-03 -1.53903336e-04 9.99954717e-01 1.58368254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.76, Y:99.38, Z:1.59 [[ 1.20346563e-01 -9.92731153e-01 -1.24976160e-03 1.26756113e+02] [ 9.92686331e-01 1.20353006e-01 -9.43412240e-03 9.93801569e+01] [ 9.51595978e-03 -1.05257052e-04 9.99954717e-01 1.58503418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.76, Y:99.41, Z:1.59 [[ 1.20609998e-01 -9.92699186e-01 -1.24680063e-03 1.26757283e+02] [ 9.92654358e-01 1.20616401e-01 -9.43451370e-03 9.94060151e+01] [ 9.51601868e-03 -9.97454019e-05 9.99954717e-01 1.58563796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.76, Y:99.44, Z:1.59 [[ 1.25986903e-01 -9.92031213e-01 -1.17133523e-03 1.26764821e+02] [ 9.91986256e-01 1.25992345e-01 -9.44445716e-03 9.94351003e+01] [ 9.51677556e-03 2.79294571e-05 9.99954714e-01 1.58681730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.77, Y:99.46, Z:1.59 [[ 1.28552860e-01 -9.91701879e-01 -1.24349364e-03 1.26769605e+02] [ 9.91656996e-01 1.28558872e-01 -9.43494695e-03 9.94637755e+01] [ 9.51651676e-03 -2.02297524e-05 9.99954717e-01 1.58828623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.77, Y:99.49, Z:1.59 [[ 1.29863334e-01 -9.91531113e-01 -1.25146256e-03 1.26770597e+02] [ 9.91486233e-01 1.29869363e-01 -9.43389907e-03 9.94878803e+01] [ 9.51653109e-03 -1.56903152e-05 9.99954717e-01 1.58619742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.78, Y:99.52, Z:1.59 [[ 1.34963646e-01 -9.90849908e-01 -1.12879062e-03 1.26780128e+02] [ 9.90804856e-01 1.34968275e-01 -9.44996839e-03 9.95185113e+01] [ 9.51585124e-03 1.56990961e-04 9.99954711e-01 1.58978139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.79, Y:99.54, Z:1.59 [[ 1.35874129e-01 -9.90725334e-01 -1.23820671e-03 1.26785615e+02] [ 9.90680403e-01 1.35879760e-01 -9.43561011e-03 9.95448833e+01] [ 9.51634521e-03 5.53881867e-05 9.99954717e-01 1.59044305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.79, Y:99.57, Z:1.59 [[ 1.35837186e-01 -9.90730404e-01 -1.23533298e-03 1.26790969e+02] [ 9.90685469e-01 1.35842791e-01 -9.43598633e-03 9.95723595e+01] [ 9.51632963e-03 5.79313926e-05 9.99954717e-01 1.59118796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.80, Y:99.60, Z:1.59 [[ 1.34867349e-01 -9.90862896e-01 -1.23264955e-03 1.26798363e+02] [ 9.90817964e-01 1.34872972e-01 -9.43633686e-03 9.96001863e+01] [ 9.51636718e-03 5.13224185e-05 9.99954717e-01 1.59147085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.80, Y:99.63, Z:1.59 [[ 1.33396107e-01 -9.91062039e-01 -1.22995204e-03 1.26804546e+02] [ 9.91017112e-01 1.33401771e-01 -9.43668845e-03 9.96280557e+01] [ 9.51642148e-03 3.99139851e-05 9.99954717e-01 1.59131929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.81, Y:99.65, Z:1.59 [[ 1.31441596e-01 -9.91323157e-01 -1.22721331e-03 1.26811200e+02] [ 9.91278237e-01 1.31447323e-01 -9.43704460e-03 9.96540579e+01] [ 9.51647474e-03 2.39103644e-05 9.99954717e-01 1.59106815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.82, Y:99.68, Z:1.59 [[ 1.26366248e-01 -9.91982899e-01 -1.22432899e-03 1.26821651e+02] [ 9.91938006e-01 1.26372177e-01 -9.43741878e-03 9.96808156e+01] [ 9.51647917e-03 -2.18872563e-05 9.99954717e-01 1.59067087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.83, Y:99.71, Z:1.59 [[ 1.22885566e-01 -9.92420095e-01 -1.22167985e-03 1.26828871e+02] [ 9.92375220e-01 1.22891627e-01 -9.43776171e-03 9.97082994e+01] [ 9.51635859e-03 -5.26001184e-05 9.99954717e-01 1.59013361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.84, Y:99.74, Z:1.59 [[ 1.19552994e-01 -9.92827072e-01 -1.21902475e-03 1.26836105e+02] [ 9.92782214e-01 1.19559180e-01 -9.43810464e-03 9.97361913e+01] [ 9.51615140e-03 -8.18724284e-05 9.99954717e-01 1.58996612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.84, Y:99.76, Z:1.59 [[ 1.15910362e-01 -9.93258933e-01 -1.21651764e-03 1.26842769e+02] [ 9.93214094e-01 1.15916690e-01 -9.43842778e-03 9.97622790e+01] [ 9.51581740e-03 -1.14250884e-04 9.99954717e-01 1.58941384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.85, Y:99.79, Z:1.59 [[ 1.12173587e-01 -9.93687884e-01 -1.21456669e-03 1.26849532e+02] [ 9.93643067e-01 1.12180064e-01 -9.43867883e-03 9.97882912e+01] [ 9.51535096e-03 -1.48075306e-04 9.99954717e-01 1.58874921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.197628 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:126.86, Y:99.82, Z:1.59 [[ 1.04628845e-01 -9.94510601e-01 -1.21177905e-03 1.26859045e+02] [ 9.94465831e-01 1.04635636e-01 -9.43903670e-03 9.98154155e+01] [ 9.51401734e-03 -2.17477354e-04 9.99954717e-01 1.58747783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.86, Y:99.84, Z:1.59 [[ 1.04414485e-01 -9.94533133e-01 -1.20914006e-03 1.26862266e+02] [ 9.94488360e-01 1.04421260e-01 -9.43937474e-03 9.98439870e+01] [ 9.51403087e-03 -2.16868268e-04 9.99954717e-01 1.59130112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.87, Y:99.87, Z:1.59 [[ 1.02951182e-01 -9.94685678e-01 -1.20664427e-03 1.26866236e+02] [ 9.94640911e-01 1.02958000e-01 -9.43969377e-03 9.98716782e+01] [ 9.51376188e-03 -2.28350122e-04 9.99954717e-01 1.59194935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.87, Y:99.90, Z:1.59 [[ 1.01954701e-01 -9.94788314e-01 -1.20401465e-03 1.26870187e+02] [ 9.94743550e-01 1.01961539e-01 -9.44002916e-03 9.98990722e+01] [ 9.51359388e-03 -2.35230458e-04 9.99954717e-01 1.59323305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.87, Y:99.93, Z:1.59 [[ 1.01118041e-01 -9.94873710e-01 -1.20132209e-03 1.26873715e+02] [ 9.94828948e-01 1.01124890e-01 -9.44037180e-03 9.99262670e+01] [ 9.51346128e-03 -2.40518090e-04 9.99954717e-01 1.59376996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.88, Y:99.95, Z:1.59 [[ 9.90243909e-02 -9.95084285e-01 -1.19848501e-03 1.26877262e+02] [ 9.95039533e-01 9.90313080e-02 -9.44073197e-03 9.99540095e+01] [ 9.51301155e-03 -2.57677228e-04 9.99954717e-01 1.59426703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.88, Y:99.98, Z:1.59 [[ 9.78761832e-02 -9.95197881e-01 -1.19582551e-03 1.26880170e+02] [ 9.95153134e-01 9.78831268e-02 -9.44106882e-03 9.99804878e+01] [ 9.51278283e-03 -2.65973717e-04 9.99954717e-01 1.59363893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.88, Y:100.01, Z:1.59 [[ 9.68604495e-02 -9.95297256e-01 -1.19388676e-03 1.26882739e+02] [ 9.95252513e-01 9.68674203e-02 -9.44131398e-03 1.00008995e+02] [ 9.51256263e-03 -2.73728878e-04 9.99954717e-01 1.59370154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.43762800000002 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:126.88, Y:100.04, Z:1.59 [[ 9.41096477e-02 -9.95561126e-01 -1.19141343e-03 1.26882489e+02] [ 9.95516398e-01 9.41167187e-02 -9.44162609e-03 1.00036049e+02] [ 9.51184782e-03 -2.97523502e-04 9.99954717e-01 1.58799453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.89, Y:100.06, Z:1.59 [[ 9.31384607e-02 -9.95652456e-01 -1.18948500e-03 1.26885115e+02] [ 9.95607732e-01 9.31455570e-02 -9.44186903e-03 1.00063611e+02] [ 9.51161533e-03 -3.04859318e-04 9.99954717e-01 1.59098882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.49762800000002 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:126.89, Y:100.09, Z:1.59 [[ 9.17235007e-02 -9.95783807e-01 -1.18680651e-03 1.26887531e+02] [ 9.95739090e-01 9.17306352e-02 -9.44220569e-03 1.00090464e+02] [ 9.51126205e-03 -3.15677472e-04 9.99954717e-01 1.58914754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.89, Y:100.12, Z:1.59 [[ 9.10150951e-02 -9.95848809e-01 -1.18398268e-03 1.26890330e+02] [ 9.95804093e-01 9.10222347e-02 -9.44255977e-03 1.00118446e+02] [ 9.51113065e-03 -3.19599320e-04 9.99954717e-01 1.59214460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.89, Y:100.15, Z:1.59 [[ 9.03946252e-02 -9.95905325e-01 -1.18130102e-03 1.26892468e+02] [ 9.95860609e-01 9.04017672e-02 -9.44289524e-03 1.00145677e+02] [ 9.51102136e-03 -3.22824178e-04 9.99954717e-01 1.59328813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:100.17, Z:1.59 [[ 9.06961887e-02 -9.95877910e-01 -1.17847698e-03 1.26895716e+02] [ 9.95833188e-01 9.07032905e-02 -9.44324767e-03 1.00173604e+02] [ 9.51121350e-03 -3.17099920e-04 9.99954717e-01 1.59463771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:100.20, Z:1.59 [[ 9.14747062e-02 -9.95806706e-01 -1.17579513e-03 1.26898556e+02] [ 9.95761974e-01 9.14817476e-02 -9.44358158e-03 1.00200281e+02] [ 9.51154566e-03 -3.06963232e-04 9.99954717e-01 1.59480509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:100.23, Z:1.59 [[ 9.43699134e-02 -9.95536510e-01 -1.17296854e-03 1.26900004e+02] [ 9.95491754e-01 9.43767979e-02 -9.44393265e-03 1.00228117e+02] [ 9.51248077e-03 -2.76457402e-04 9.99954717e-01 1.59373525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:100.26, Z:1.59 [[ 9.58280534e-02 -9.95397214e-01 -1.17036075e-03 1.26902304e+02] [ 9.95352444e-01 9.58348476e-02 -9.44425582e-03 1.00255894e+02] [ 9.51294728e-03 -2.59896786e-04 9.99954717e-01 1.59334175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:100.28, Z:1.59 [[ 9.70318408e-02 -9.95280593e-01 -1.16769668e-03 1.26904925e+02] [ 9.95235811e-01 9.70385556e-02 -9.44458520e-03 1.00284057e+02] [ 9.51332395e-03 -2.45708064e-04 9.99954717e-01 1.59275584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.91, Y:100.31, Z:1.59 [[ 9.88569166e-02 -9.95100976e-01 -1.16503675e-03 1.26907520e+02] [ 9.95056178e-01 9.88635240e-02 -9.44491330e-03 1.00311291e+02] [ 9.51382208e-03 -2.25582010e-04 9.99954717e-01 1.59099696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.76762800000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:126.91, Y:100.34, Z:1.59 [[ 9.88397474e-02 -9.95102684e-01 -1.16309721e-03 1.26910904e+02] [ 9.95057883e-01 9.88463372e-02 -9.44515214e-03 1.00339410e+02] [ 9.51386414e-03 -2.23792601e-04 9.99954717e-01 1.58941629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.797628 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:126.92, Y:100.37, Z:1.59 [[ 9.93829771e-02 -9.95048580e-01 -1.16041482e-03 1.26915132e+02] [ 9.95003772e-01 9.93895170e-02 -9.44548168e-03 1.00366124e+02] [ 9.51404621e-03 -2.15897038e-04 9.99954717e-01 1.58987702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.92, Y:100.39, Z:1.59 [[ 1.00648625e-01 -9.94921360e-01 -1.15845984e-03 1.26919879e+02] [ 9.94876541e-01 1.00655089e-01 -9.44572145e-03 1.00393560e+02] [ 9.51435491e-03 -2.01825643e-04 9.99954717e-01 1.59282434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.92, Y:100.42, Z:1.59 [[ 1.02220606e-01 -9.94761083e-01 -1.15580186e-03 1.26924073e+02] [ 9.94716250e-01 1.02226974e-01 -9.44604667e-03 1.00421033e+02] [ 9.51471374e-03 -1.84114278e-04 9.99954717e-01 1.59343939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:100.45, Z:1.59 [[ 1.07269742e-01 -9.94229286e-01 -1.15316217e-03 1.26927603e+02] [ 9.94184418e-01 1.07275858e-01 -9.44636891e-03 1.00449035e+02] [ 9.51556308e-03 -1.33146297e-04 9.99954717e-01 1.59398499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.917628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:126.93, Y:100.47, Z:1.59 [[ 1.05773997e-01 -9.94389530e-01 -1.15052015e-03 1.26925450e+02] [ 9.94344668e-01 1.05780155e-01 -9.44669069e-03 1.00473029e+02] [ 9.51539251e-03 -1.44799349e-04 9.99954717e-01 1.58819099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:100.50, Z:1.59 [[ 1.12712442e-01 -9.93627112e-01 -1.03324202e-03 1.26934153e+02] [ 9.93582070e-01 1.12717171e-01 -9.46091191e-03 1.00504293e+02] [ 9.51708269e-03 3.97517357e-05 9.99954711e-01 1.59395817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.94, Y:100.53, Z:1.59 [[ 1.17518485e-01 -9.93070032e-01 -1.14799519e-03 1.26937387e+02] [ 9.93025097e-01 1.17524088e-01 -9.44696717e-03 1.00531346e+02] [ 9.51641707e-03 -2.97947659e-05 9.99954717e-01 1.59226084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.94, Y:100.56, Z:1.59 [[ 1.19417008e-01 -9.92843526e-01 -1.14518576e-03 1.26941387e+02] [ 9.92798577e-01 1.19422499e-01 -9.44730772e-03 1.00559316e+02] [ 9.51645925e-03 -8.76956734e-06 9.99954717e-01 1.59198668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.95, Y:100.59, Z:1.59 [[ 1.20978381e-01 -9.92654485e-01 -1.14255052e-03 1.26945925e+02] [ 9.92609525e-01 1.20983776e-01 -9.44762642e-03 1.00587396e+02] [ 9.51645881e-03 8.85201879e-06 9.99954717e-01 1.59186996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.95, Y:100.62, Z:1.59 [[ 1.23035200e-01 -9.92401653e-01 -1.13987039e-03 1.26952779e+02] [ 9.92356679e-01 1.23040477e-01 -9.44794977e-03 1.00615018e+02] [ 9.51641116e-03 3.12723946e-05 9.99954717e-01 1.59215009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:100.64, Z:1.59 [[ 1.23242240e-01 -9.92375966e-01 -1.13719314e-03 1.26957926e+02] [ 9.92330987e-01 1.23247481e-01 -9.44827200e-03 1.00643028e+02] [ 9.51639424e-03 3.59542088e-05 9.99954717e-01 1.59279769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:100.67, Z:1.59 [[ 1.23632856e-01 -9.92327380e-01 -1.13452566e-03 1.26962502e+02] [ 9.92282397e-01 1.23638054e-01 -9.44859229e-03 1.00669499e+02] [ 9.51636738e-03 4.23866105e-05 9.99954717e-01 1.59226262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.97, Y:100.70, Z:1.59 [[ 1.25218104e-01 -9.92128593e-01 -1.13171575e-03 1.26965680e+02] [ 9.92083599e-01 1.25223203e-01 -9.44892884e-03 1.00697007e+02] [ 9.51626955e-03 6.04203180e-05 9.99954717e-01 1.59337927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.18762800000002 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:126.97, Y:100.73, Z:1.59 [[ 1.26177821e-01 -9.92006997e-01 -1.12906689e-03 1.26968216e+02] [ 9.91961995e-01 1.26182852e-01 -9.44924535e-03 1.00725082e+02] [ 9.51618638e-03 7.22937456e-05 9.99954717e-01 1.59132158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.97, Y:100.75, Z:1.59 [[ 1.28589761e-01 -9.91697234e-01 -1.12638401e-03 1.26971407e+02] [ 9.91652217e-01 1.28594656e-01 -9.44956515e-03 1.00753338e+02] [ 9.51595459e-03 9.81361208e-05 9.99954717e-01 1.59298220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.97, Y:100.78, Z:1.59 [[ 1.28793622e-01 -9.91670782e-01 -1.12371058e-03 1.26973940e+02] [ 9.91625761e-01 1.28798483e-01 -9.44988305e-03 1.00779863e+02] [ 9.51590513e-03 1.02784305e-04 9.99954717e-01 1.59210975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.98, Y:100.81, Z:1.59 [[ 1.28301053e-01 -9.91734634e-01 -1.12091252e-03 1.26976410e+02] [ 9.91689612e-01 1.28305910e-01 -9.45021494e-03 1.00807919e+02] [ 9.51592515e-03 1.00875227e-04 9.99954717e-01 1.59246775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.98, Y:100.84, Z:1.59 [[ 1.28017253e-01 -9.91771311e-01 -1.11821642e-03 1.26979700e+02] [ 9.91726288e-01 1.28022097e-01 -9.45053395e-03 1.00836332e+02] [ 9.51592485e-03 1.00866773e-04 9.99954717e-01 1.59273880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.98, Y:100.86, Z:1.59 [[ 1.27016332e-01 -9.91899999e-01 -1.11551185e-03 1.26982127e+02] [ 9.91854978e-01 1.27021196e-01 -9.45085318e-03 1.00862828e+02] [ 9.51599490e-03 9.39867281e-05 9.99954717e-01 1.59174770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:100.89, Z:1.59 [[ 1.25564309e-01 -9.92084858e-01 -1.11333148e-03 1.26985119e+02] [ 9.92039842e-01 1.25569217e-01 -9.45111002e-03 1.00890568e+02] [ 9.51610330e-03 8.22529097e-05 9.99954717e-01 1.59373527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:100.92, Z:1.59 [[ 1.23843644e-01 -9.92301123e-01 -1.11065037e-03 1.26988470e+02] [ 9.92256113e-01 1.23848605e-01 -9.45142508e-03 1.00918044e+02] [ 9.51621222e-03 6.84493008e-05 9.99954717e-01 1.59489757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:100.95, Z:1.60 [[ 1.19652122e-01 -9.92815261e-01 -1.10797346e-03 1.26992154e+02] [ 9.92770269e-01 1.19657248e-01 -9.45173888e-03 1.00945118e+02] [ 9.51640766e-03 3.09574975e-05 9.99954717e-01 1.59667561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.45762800000003 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:127.00, Y:100.97, Z:1.60 [[ 1.16276936e-01 -9.93216215e-01 -1.10630019e-03 1.26995927e+02] [ 9.93171240e-01 1.16282199e-01 -9.45193473e-03 1.00972995e+02] [ 9.51645786e-03 2.96480887e-07 9.99954717e-01 1.59524043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.00, Y:101.00, Z:1.60 [[ 1.14215798e-01 -9.93455351e-01 -1.10366366e-03 1.27000379e+02] [ 9.93410383e-01 1.14221128e-01 -9.45224257e-03 1.00999169e+02] [ 9.51644267e-03 -1.67955168e-05 9.99954718e-01 1.60063851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.00, Y:101.03, Z:1.60 [[ 1.11030456e-01 -9.93816404e-01 -1.09253202e-03 1.27004873e+02] [ 9.93771441e-01 1.11035825e-01 -9.45353990e-03 1.01027349e+02] [ 9.51639322e-03 -3.60962794e-05 9.99954717e-01 1.60036983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.547628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:101.06, Z:1.60 [[ 1.08809160e-01 -9.94062049e-01 -1.10010607e-03 1.27008175e+02] [ 9.94017106e-01 1.08814702e-01 -9.45265843e-03 1.01055618e+02] [ 9.51623671e-03 -6.49884233e-05 9.99954717e-01 1.60149291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:101.08, Z:1.60 [[ 1.07200418e-01 -9.94236826e-01 -1.09744971e-03 1.27010521e+02] [ 9.94191890e-01 1.07206007e-01 -9.45296682e-03 1.01083293e+02] [ 9.51614093e-03 -7.77136051e-05 9.99954717e-01 1.60215521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:101.11, Z:1.60 [[ 1.04426696e-01 -9.94531984e-01 -1.09481161e-03 1.27012789e+02] [ 9.94487060e-01 1.04432385e-01 -9.45327235e-03 1.01111165e+02] [ 9.51591549e-03 -1.01601978e-04 9.99954717e-01 1.60212057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.02, Y:101.14, Z:1.60 [[ 1.02931468e-01 -9.94687851e-01 -1.09212461e-03 1.27015427e+02] [ 9.94642932e-01 1.02937199e-01 -9.45358276e-03 1.01138625e+02] [ 9.51578417e-03 -1.13202870e-04 9.99954718e-01 1.60193196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.02, Y:101.17, Z:1.60 [[ 1.01404873e-01 -9.94844644e-01 -1.08929194e-03 1.27018465e+02] [ 9.94799731e-01 1.01410646e-01 -9.45390914e-03 1.01167030e+02] [ 9.51563667e-03 -1.24954875e-04 9.99954718e-01 1.60191232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.697628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:127.02, Y:101.19, Z:1.60 [[ 9.93279996e-02 -9.95054153e-01 -1.08669385e-03 1.27021105e+02] [ 9.95009249e-01 9.93338421e-02 -9.45420778e-03 1.01194566e+02] [ 9.51539419e-03 -1.42202890e-04 9.99954718e-01 1.59937948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.727628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:127.02, Y:101.22, Z:1.60 [[ 9.68330803e-02 -9.95300045e-01 -1.08403349e-03 1.27023159e+02] [ 9.95255152e-01 9.68390101e-02 -9.45451281e-03 1.01222950e+02] [ 9.51505375e-03 -1.63380318e-04 9.99954718e-01 1.59933655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.757628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:127.03, Y:101.25, Z:1.60 [[ 9.58999701e-02 -9.95390389e-01 -1.08134248e-03 1.27025460e+02] [ 9.95345499e-01 9.59059164e-02 -9.45482058e-03 1.01251241e+02] [ 9.51494467e-03 -1.69592365e-04 9.99954718e-01 1.59933304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.787628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:127.03, Y:101.28, Z:1.60 [[ 9.50245118e-02 -9.95474349e-01 -1.07867837e-03 1.27027273e+02] [ 9.95429460e-01 9.50304723e-02 -9.45512451e-03 1.01279227e+02] [ 9.51484123e-03 -1.75279636e-04 9.99954718e-01 1.59954014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.817628 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:127.03, Y:101.31, Z:1.60 [[ 9.42391803e-02 -9.95549004e-01 -1.07592667e-03 1.27028763e+02] [ 9.95504117e-01 9.42451501e-02 -9.45543762e-03 1.01306831e+02] [ 9.51475238e-03 -1.80016741e-04 9.99954718e-01 1.59771416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.03, Y:101.33, Z:1.60 [[ 9.46850970e-02 -9.95506696e-01 -1.07302308e-03 1.27031841e+02] [ 9.95461802e-01 9.46910191e-02 -9.45576712e-03 1.01333935e+02] [ 9.51488513e-03 -1.72833261e-04 9.99954718e-01 1.60166905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.03, Y:101.36, Z:1.60 [[ 9.44166255e-02 -9.95532197e-01 -1.07024446e-03 1.27034561e+02] [ 9.95487302e-01 9.44225333e-02 -9.45608160e-03 1.01361485e+02] [ 9.51488889e-03 -1.72603453e-04 9.99954718e-01 1.60309800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:101.39, Z:1.60 [[ 9.43202724e-02 -9.95541333e-01 -1.06763957e-03 1.27037018e+02] [ 9.95496435e-01 9.43261599e-02 -9.45637570e-03 1.01389889e+02] [ 9.51491921e-03 -1.70903450e-04 9.99954718e-01 1.60419810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:101.42, Z:1.61 [[ 9.51962853e-02 -9.95457952e-01 -1.06494602e-03 1.27038362e+02] [ 9.95413045e-01 9.52021076e-02 -9.45667903e-03 1.01416614e+02] [ 9.51511144e-03 -1.59820448e-04 9.99954718e-01 1.60508030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:101.44, Z:1.61 [[ 9.58266622e-02 -9.95397470e-01 -1.06211098e-03 1.27040964e+02] [ 9.95352556e-01 9.58324292e-02 -9.45699743e-03 1.01444839e+02] [ 9.51525599e-03 -1.50942379e-04 9.99954718e-01 1.60558356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:101.47, Z:1.61 [[ 9.75734975e-02 -9.95227758e-01 -1.05942390e-03 1.27042799e+02] [ 9.95182831e-01 9.75791601e-02 -9.45729844e-03 1.01472284e+02] [ 9.51554362e-03 -1.31538789e-04 9.99954718e-01 1.60512609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.05, Y:101.50, Z:1.61 [[ 9.83732979e-02 -9.95149023e-01 -1.05659176e-03 1.27045296e+02] [ 9.95104088e-01 9.83788975e-02 -9.45761484e-03 1.01500174e+02] [ 9.51568250e-03 -1.21042016e-04 9.99954718e-01 1.60507117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.05, Y:101.53, Z:1.61 [[ 9.94834862e-02 -9.95038655e-01 -1.05395810e-03 1.27048261e+02] [ 9.94993711e-01 9.94890107e-02 -9.45790833e-03 1.01528579e+02] [ 9.51584163e-03 -1.07775986e-04 9.99954718e-01 1.60557848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.05, Y:101.56, Z:1.61 [[ 1.00494203e-01 -9.94937088e-01 -1.05131381e-03 1.27051369e+02] [ 9.94892136e-01 1.00499657e-01 -9.45820225e-03 1.01556181e+02] [ 9.51597289e-03 -9.54493394e-05 9.99954718e-01 1.60590240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.05, Y:101.58, Z:1.61 [[ 1.01628580e-01 -9.94821859e-01 -1.04868255e-03 1.27054406e+02] [ 9.94776897e-01 1.01633958e-01 -9.45849399e-03 1.01584124e+02] [ 9.51609833e-03 -8.19518539e-05 9.99954718e-01 1.60572219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.06, Y:101.61, Z:1.60 [[ 1.04272270e-01 -9.94548239e-01 -1.04606258e-03 1.27057316e+02] [ 9.94503260e-01 1.04277503e-01 -9.45878373e-03 1.01611021e+02] [ 9.51629750e-03 -5.40237896e-05 9.99954718e-01 1.60466720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.06, Y:101.64, Z:1.61 [[ 1.05689304e-01 -9.94398653e-01 -1.04419086e-03 1.27060146e+02] [ 9.94353664e-01 1.05694455e-01 -9.45899020e-03 1.01638598e+02] [ 9.51637230e-03 -3.85809158e-05 9.99954718e-01 1.60525058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.06, Y:101.67, Z:1.61 [[ 1.06604628e-01 -9.94300945e-01 -1.04080044e-03 1.27063208e+02] [ 9.94255949e-01 1.06609705e-01 -9.45936324e-03 1.01666220e+02] [ 9.51641324e-03 -2.64101270e-05 9.99954718e-01 1.60547110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.07, Y:101.69, Z:1.61 [[ 1.07839184e-01 -9.94167809e-01 -1.03811171e-03 1.27066904e+02] [ 9.94122803e-01 1.07844180e-01 -9.45965831e-03 1.01692723e+02] [ 9.51644208e-03 -1.18886930e-05 9.99954718e-01 1.60572794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.07, Y:101.72, Z:1.61 [[ 1.07537327e-01 -9.94200509e-01 -1.03527505e-03 1.27070800e+02] [ 9.94155501e-01 1.07542310e-01 -9.45996874e-03 1.01720651e+02] [ 9.51644161e-03 -1.19246341e-05 9.99954718e-01 1.60643410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.297628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.07, Y:101.75, Z:1.61 [[ 1.06924654e-01 -9.94266590e-01 -1.03265594e-03 1.27074738e+02] [ 9.94221583e-01 1.06929639e-01 -9.46025464e-03 1.01748516e+02] [ 9.51643665e-03 -1.51543690e-05 9.99954718e-01 1.60674951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.08, Y:101.78, Z:1.61 [[ 1.05410768e-01 -9.94428232e-01 -1.03001868e-03 1.27079863e+02] [ 9.94383230e-01 1.05415797e-01 -9.46054177e-03 1.01775454e+02] [ 9.51641007e-03 -2.69903318e-05 9.99954718e-01 1.60636631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.08, Y:101.80, Z:1.61 [[ 1.04158090e-01 -9.94560223e-01 -1.02723569e-03 1.27084161e+02] [ 9.94515224e-01 1.04163149e-01 -9.46084394e-03 1.01803755e+02] [ 9.51637916e-03 -3.61780978e-05 9.99954718e-01 1.60654139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.09, Y:101.83, Z:1.61 [[ 1.03160686e-01 -9.94664176e-01 -1.02459539e-03 1.27088911e+02] [ 9.94619179e-01 1.03165765e-01 -9.46112987e-03 1.01831662e+02] [ 9.51635012e-03 -4.30655852e-05 9.99954718e-01 1.60683374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.09, Y:101.86, Z:1.61 [[ 1.01962294e-01 -9.94787739e-01 -1.02197533e-03 1.27093432e+02] [ 9.94742746e-01 1.01967402e-01 -9.46141288e-03 1.01859402e+02] [ 9.51630570e-03 -5.18951852e-05 9.99954718e-01 1.60697758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:101.89, Z:1.61 [[ 1.01132060e-01 -9.94872488e-01 -1.01931847e-03 1.27097454e+02] [ 9.94827496e-01 1.01137181e-01 -9.46169911e-03 1.01885978e+02] [ 9.51627513e-03 -5.71649208e-05 9.99954718e-01 1.60682707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:101.91, Z:1.61 [[ 1.02860895e-01 -9.94695231e-01 -1.01651893e-03 1.27099394e+02] [ 9.94650228e-01 1.02865910e-01 -9.46199987e-03 1.01914348e+02] [ 9.51637129e-03 -3.78110106e-05 9.99954718e-01 1.60688806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:101.94, Z:1.61 [[ 1.03860421e-01 -9.94591366e-01 -1.01388533e-03 1.27102215e+02] [ 9.94546354e-01 1.03865366e-01 -9.46228206e-03 1.01942269e+02] [ 9.51641161e-03 -2.55993654e-05 9.99954718e-01 1.60705686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:101.97, Z:1.61 [[ 1.04024979e-01 -9.94574179e-01 -1.00283476e-03 1.27104861e+02] [ 9.94529155e-01 1.04029812e-01 -9.46346411e-03 1.01969324e+02] [ 9.51644176e-03 -1.29117506e-05 9.99954718e-01 1.60682985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.11, Y:102.00, Z:1.61 [[ 1.04119773e-01 -9.94564253e-01 -1.01016104e-03 1.27106481e+02] [ 9.94519236e-01 1.04124672e-01 -9.46268201e-03 1.01997465e+02] [ 9.51642795e-03 -1.93722845e-05 9.99954718e-01 1.60696069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.11, Y:102.02, Z:1.61 [[ 1.03757426e-01 -9.94602122e-01 -1.00750026e-03 1.27108532e+02] [ 9.94557105e-01 1.03762315e-01 -9.46296530e-03 1.02024451e+02] [ 9.51642593e-03 -2.01636242e-05 9.99954718e-01 1.60637083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.11, Y:102.05, Z:1.61 [[ 1.02560743e-01 -9.94726235e-01 -1.00556209e-03 1.27110829e+02] [ 9.94681221e-01 1.02565668e-01 -9.46317125e-03 1.02052164e+02] [ 9.51640086e-03 -2.96638552e-05 9.99954718e-01 1.60663764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.11, Y:102.08, Z:1.61 [[ 9.88024411e-02 -9.95106563e-01 -1.00290635e-03 1.27113167e+02] [ 9.95061565e-01 9.88075110e-02 -9.46345270e-03 1.02079359e+02] [ 9.51623857e-03 -6.29413357e-05 9.99954718e-01 1.60575310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.12, Y:102.11, Z:1.61 [[ 9.58585323e-02 -9.95394465e-01 -1.00010469e-03 1.27116241e+02] [ 9.95349480e-01 9.58637086e-02 -9.46374877e-03 1.02106804e+02] [ 9.51603689e-03 -8.82726161e-05 9.99954718e-01 1.60617113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.12, Y:102.13, Z:1.61 [[ 9.22820107e-02 -9.95732412e-01 -9.97456531e-04 1.27119577e+02] [ 9.95687442e-01 9.22873234e-02 -9.46402787e-03 1.02134598e+02] [ 9.51569189e-03 -1.19795421e-04 9.99954718e-01 1.60636812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.12, Y:102.16, Z:1.61 [[ 8.86846208e-02 -9.96059260e-01 -9.94802500e-04 1.27123009e+02] [ 9.96014306e-01 8.86900707e-02 -9.46430684e-03 1.02162020e+02] [ 9.51523957e-03 -1.51499060e-04 9.99954718e-01 1.60703250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.77762800000002 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:127.13, Y:102.19, Z:1.61 [[ 8.17202686e-02 -9.96654812e-01 -9.92106032e-04 1.27126481e+02] [ 9.96609894e-01 8.17260070e-02 -9.46458949e-03 1.02189168e+02] [ 9.51400952e-03 -2.15293892e-04 9.99954718e-01 1.60632433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.13, Y:102.22, Z:1.61 [[ 7.92284485e-02 -9.96855995e-01 -9.89267896e-04 1.27129545e+02] [ 9.96811088e-01 7.92342722e-02 -9.46488613e-03 1.02216765e+02] [ 9.51351240e-03 -2.36224965e-04 9.99954718e-01 1.60906162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.83762800000002 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:127.13, Y:102.25, Z:1.61 [[ 7.66719126e-02 -9.97055888e-01 -9.86614576e-04 1.27132623e+02] [ 9.97010994e-01 7.66778264e-02 -9.46516270e-03 1.02245017e+02] [ 9.51294767e-03 -2.57953451e-04 9.99954718e-01 1.60739859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.86762800000002 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:127.13, Y:102.27, Z:1.61 [[ 7.32801652e-02 -9.97310909e-01 -9.83914903e-04 1.27134365e+02] [ 9.97266031e-01 7.32862060e-02 -9.46544333e-03 1.02272197e+02] [ 9.51209728e-03 -2.87595659e-04 9.99954718e-01 1.60692925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.89762800000003 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:127.14, Y:102.30, Z:1.61 [[ 7.16612882e-02 -9.97428542e-01 -9.81067191e-04 1.27136502e+02] [ 9.97383671e-01 7.16673748e-02 -9.46573848e-03 1.02300028e+02] [ 9.51170824e-03 -3.00173384e-04 9.99954718e-01 1.60665525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.92762800000003 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:127.14, Y:102.33, Z:1.61 [[ 7.05158685e-02 -9.97510178e-01 -9.78430336e-04 1.27139235e+02] [ 9.97465310e-01 7.05219816e-02 -9.46601103e-03 1.02327294e+02] [ 9.51144319e-03 -3.08446330e-04 9.99954718e-01 1.60708447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.95762800000003 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:127.14, Y:102.35, Z:1.61 [[ 6.97379513e-02 -9.97564868e-01 -9.75653081e-04 1.27141769e+02] [ 9.97520002e-01 6.97440731e-02 -9.46629727e-03 1.02354812e+02] [ 9.51129161e-03 -3.13073285e-04 9.99954718e-01 1.60759978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.14, Y:102.38, Z:1.61 [[ 7.01382972e-02 -9.97536803e-01 -9.73063658e-04 1.27143975e+02] [ 9.97491930e-01 7.01443764e-02 -9.46656344e-03 1.02383108e+02] [ 9.51150037e-03 -3.06654507e-04 9.99954718e-01 1.61054748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.14, Y:102.41, Z:1.61 [[ 7.25737926e-02 -9.97362573e-01 -9.70482424e-04 1.27144837e+02] [ 9.97317683e-01 7.25797378e-02 -9.46682805e-03 1.02411716e+02] [ 9.51229735e-03 -2.80835667e-04 9.99954718e-01 1.61150304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.047628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:102.44, Z:1.61 [[ 7.47742432e-02 -9.97200018e-01 -9.67843338e-04 1.27146850e+02] [ 9.97155111e-01 7.47800643e-02 -9.46709785e-03 1.02439746e+02] [ 9.51296553e-03 -2.57194855e-04 9.99954718e-01 1.61189302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:102.47, Z:1.61 [[ 7.76166972e-02 -9.96982807e-01 -9.65177741e-04 1.27148741e+02] [ 9.96937880e-01 7.76223650e-02 -9.46736960e-03 1.02467437e+02] [ 9.51372410e-03 -2.27396292e-04 9.99954718e-01 1.61233336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:102.49, Z:1.61 [[ 8.08065869e-02 -9.96729336e-01 -9.62520822e-04 1.27150145e+02] [ 9.96684389e-01 8.08120857e-02 -9.46763972e-03 1.02494205e+02] [ 9.51445756e-03 -1.94281826e-04 9.99954718e-01 1.61265376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:102.52, Z:1.61 [[ 8.81942059e-02 -9.96102837e-01 -9.59715794e-04 1.27150750e+02] [ 9.96057847e-01 8.81993446e-02 -9.46792405e-03 1.02522412e+02] [ 9.51567230e-03 -1.20916404e-04 9.99954718e-01 1.61270378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:102.55, Z:1.61 [[ 9.16527344e-02 -9.95790571e-01 -9.57089745e-04 1.27152342e+02] [ 9.95745560e-01 9.16576919e-02 -9.46818950e-03 1.02550967e+02] [ 9.51605846e-03 -8.52324060e-05 9.99954718e-01 1.61218633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:102.58, Z:1.61 [[ 9.13739718e-02 -9.95816191e-01 -9.54440346e-04 1.27155137e+02] [ 9.95771180e-01 9.13789167e-02 -9.46845657e-03 1.02579430e+02] [ 9.51605808e-03 -8.52337058e-05 9.99954718e-01 1.61245739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:102.61, Z:1.61 [[ 9.44411235e-02 -9.95529994e-01 -9.51789577e-04 1.27157054e+02] [ 9.95484964e-01 9.44459045e-02 -9.46872302e-03 1.02606917e+02] [ 9.51629039e-03 -5.32553725e-05 9.99954718e-01 1.61146422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:102.63, Z:1.61 [[ 9.72949541e-02 -9.95255139e-01 -9.48995389e-04 1.27159670e+02] [ 9.95210093e-01 9.72995794e-02 -9.46900306e-03 1.02634680e+02] [ 9.51641080e-03 -2.31635712e-05 9.99954718e-01 1.61132313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:102.66, Z:1.61 [[ 1.01406928e-01 -9.94844581e-01 -9.46322069e-04 1.27163068e+02] [ 9.94799514e-01 1.01411341e-01 -9.46927022e-03 1.02661189e+02] [ 9.51641995e-03 1.88488662e-05 9.99954718e-01 1.61108064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.317628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.17, Y:102.69, Z:1.61 [[ 1.02524747e-01 -9.94730007e-01 -9.43502256e-04 1.27166068e+02] [ 9.94684932e-01 1.02529084e-01 -9.46955117e-03 1.02688871e+02] [ 9.51638312e-03 3.23758646e-05 9.99954718e-01 1.61100443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.34762800000001 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:127.17, Y:102.72, Z:1.61 [[ 1.03046322e-01 -9.94676113e-01 -9.40865280e-04 1.27169025e+02] [ 9.94631034e-01 1.03050609e-01 -9.46981317e-03 1.02716618e+02] [ 9.51635369e-03 4.00156093e-05 9.99954718e-01 1.61066067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.37762800000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.17, Y:102.74, Z:1.61 [[ 1.03176594e-01 -9.94662611e-01 -9.38160563e-04 1.27172479e+02] [ 9.94617529e-01 1.03180850e-01 -9.47008111e-03 1.02744869e+02] [ 9.51633581e-03 4.39797705e-05 9.99954718e-01 1.61093470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.40762800000002 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:127.17, Y:102.77, Z:1.61 [[ 9.89268726e-02 -9.95094261e-01 -9.41489055e-04 1.27170770e+02] [ 9.95049200e-01 9.89313526e-02 -9.46975178e-03 1.02767074e+02] [ 9.51643843e-03 -1.50032210e-08 9.99954718e-01 1.60910035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.18, Y:102.80, Z:1.61 [[ 1.01895669e-01 -9.94794779e-01 -7.87616420e-04 1.27180972e+02] [ 9.94749578e-01 1.01898549e-01 -9.48486929e-03 1.02799521e+02] [ 9.51575542e-03 1.82986000e-04 9.99954707e-01 1.61055539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.19, Y:102.83, Z:1.61 [[ 1.00576952e-01 -9.94928845e-01 -9.33209655e-04 1.27185060e+02] [ 9.94883770e-01 1.00581278e-01 -9.47052288e-03 1.02827040e+02] [ 9.51635981e-03 2.40811837e-05 9.99954718e-01 1.61132349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.19, Y:102.86, Z:1.61 [[ 9.88949925e-02 -9.95097440e-01 -9.30529649e-04 1.27189556e+02] [ 9.95052370e-01 9.88993696e-02 -9.47078620e-03 1.02855169e+02] [ 9.51638389e-03 1.06875976e-05 9.99954718e-01 1.61204590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.20, Y:102.88, Z:1.61 [[ 9.45291031e-02 -9.95521666e-01 -9.27843639e-04 1.27195728e+02] [ 9.95476613e-01 9.45336523e-02 -9.47104934e-03 1.02883003e+02] [ 9.51634726e-03 -2.83568445e-05 9.99954718e-01 1.61341803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.20, Y:102.91, Z:1.61 [[ 9.19647807e-02 -9.95761831e-01 -9.25163485e-04 1.27200068e+02] [ 9.95716787e-01 9.19694204e-02 -9.47131114e-03 1.02909824e+02] [ 9.51625686e-03 -5.01737617e-05 9.99954718e-01 1.61387582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.58762800000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.21, Y:102.94, Z:1.62 [[ 8.96868311e-02 -9.95969589e-01 -9.22340008e-04 1.27205192e+02] [ 9.95924553e-01 8.96915470e-02 -9.47158608e-03 1.02937311e+02] [ 9.51613780e-03 -6.91045188e-05 9.99954718e-01 1.61573413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:102.97, Z:1.62 [[ 8.96715702e-02 -9.95970965e-01 -9.19671838e-04 1.27207093e+02] [ 9.95925927e-01 8.96762614e-02 -9.47184515e-03 1.02965286e+02] [ 9.51615549e-03 -6.65698002e-05 9.99954718e-01 1.61603449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:102.99, Z:1.62 [[ 9.02632699e-02 -9.95917517e-01 -9.17008489e-04 1.27209385e+02] [ 9.95872474e-01 9.02679090e-02 -9.47210299e-03 1.02993357e+02] [ 9.51620974e-03 -5.82405231e-05 9.99954718e-01 1.61602127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:103.02, Z:1.61 [[ 8.69744004e-02 -9.96210127e-01 -9.14365062e-04 1.27206751e+02] [ 9.96165097e-01 8.69791631e-02 -9.47235816e-03 1.03017768e+02] [ 9.51598984e-03 -8.70058887e-05 9.99954718e-01 1.61323948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:103.05, Z:1.61 [[ 9.06899765e-02 -9.95878862e-01 -7.87344593e-04 1.27213631e+02] [ 9.95833700e-01 9.06933623e-02 -9.48454544e-03 1.03049813e+02] [ 9.51686525e-03 7.60889247e-05 9.99954711e-01 1.61367314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:103.08, Z:1.61 [[ 9.00722264e-02 -9.95934820e-01 -9.10654615e-04 1.27214720e+02] [ 9.95889771e-01 9.00768138e-02 -9.47269114e-03 1.03077621e+02] [ 9.51621181e-03 -5.36852348e-05 9.99954718e-01 1.61112608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.76762800000003 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:127.22, Y:103.10, Z:1.61 [[ 8.89292234e-02 -9.96037534e-01 -9.07969743e-04 1.27216873e+02] [ 9.95992488e-01 8.89338369e-02 -9.47294848e-03 1.03104805e+02] [ 9.51616148e-03 -6.19090915e-05 9.99954718e-01 1.60868525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.22, Y:103.13, Z:1.61 [[ 8.91784171e-02 -9.96015256e-01 -9.05164133e-04 1.27218958e+02] [ 9.95970206e-01 8.91829927e-02 -9.47321656e-03 1.03132766e+02] [ 9.51619346e-03 -5.67100507e-05 9.99954718e-01 1.61016646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.827628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:127.22, Y:103.16, Z:1.61 [[ 8.83051669e-02 -9.96093059e-01 -9.02513980e-04 1.27220886e+02] [ 9.96048011e-01 8.83097568e-02 -9.47346903e-03 1.03160974e+02] [ 9.51615754e-03 -6.23909912e-05 9.99954718e-01 1.60834935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.22, Y:103.19, Z:1.61 [[ 8.73668075e-02 -9.96175803e-01 -8.99822940e-04 1.27222418e+02] [ 9.96130757e-01 8.73714142e-02 -9.47372463e-03 1.03188171e+02] [ 9.51611404e-03 -6.86522303e-05 9.99954718e-01 1.61007357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.22, Y:103.22, Z:1.61 [[ 8.62141509e-02 -9.96276224e-01 -8.97867274e-04 1.27224366e+02] [ 9.96231181e-01 8.62187912e-02 -9.47390997e-03 1.03215741e+02] [ 9.51604428e-03 -7.76982704e-05 9.99954718e-01 1.61076226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.23, Y:103.24, Z:1.61 [[ 8.51731823e-02 -9.96365760e-01 -8.95207873e-04 1.27226743e+02] [ 9.96320719e-01 8.51778443e-02 -9.47416126e-03 1.03243721e+02] [ 9.51598176e-03 -8.49696877e-05 9.99954718e-01 1.61187222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.23, Y:103.27, Z:1.61 [[ 8.43758698e-02 -9.96433598e-01 -8.92536702e-04 1.27228970e+02] [ 9.96388559e-01 8.43805425e-02 -9.47441289e-03 1.03270662e+02] [ 9.51593606e-03 -8.99015288e-05 9.99954718e-01 1.61252996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.23, Y:103.30, Z:1.61 [[ 8.17437116e-02 -9.96652986e-01 -8.89722178e-04 1.27231615e+02] [ 9.96607956e-01 8.17484764e-02 -9.47467719e-03 1.03298775e+02] [ 9.51569875e-03 -1.12208921e-04 9.99954718e-01 1.61496176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.23, Y:103.33, Z:1.62 [[ 8.03623122e-02 -9.96765324e-01 -8.87082840e-04 1.27234552e+02] [ 9.96720298e-01 8.03671144e-02 -9.47492430e-03 1.03326625e+02] [ 9.51556828e-03 -1.22746648e-04 9.99954718e-01 1.61651687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:103.35, Z:1.62 [[ 7.87446329e-02 -9.96894428e-01 -8.84463697e-04 1.27237317e+02] [ 9.96849407e-01 7.87494832e-02 -9.47516878e-03 1.03354412e+02] [ 9.51539402e-03 -1.35558425e-04 9.99954718e-01 1.61853411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:103.38, Z:1.62 [[ 7.71385909e-02 -9.97019990e-01 -8.81838191e-04 1.27239557e+02] [ 9.96974974e-01 7.71434888e-02 -9.47541313e-03 1.03381989e+02] [ 9.51520438e-03 -1.48250590e-04 9.99954718e-01 1.62056289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:103.41, Z:1.62 [[ 7.49602488e-02 -9.97186135e-01 -8.79200230e-04 1.27240800e+02] [ 9.97141127e-01 7.49652200e-02 -9.47565789e-03 1.03409052e+02] [ 9.51490411e-03 -1.66389035e-04 9.99954718e-01 1.62237694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:103.44, Z:1.62 [[ 7.40739576e-02 -9.97252366e-01 -8.76419455e-04 1.27242696e+02] [ 9.97207359e-01 7.40789424e-02 -9.47591508e-03 1.03436847e+02] [ 9.51480296e-03 -1.72053398e-04 9.99954718e-01 1.62353108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:103.47, Z:1.62 [[ 7.34228600e-02 -9.97300517e-01 -8.73773676e-04 1.27244846e+02] [ 9.97255511e-01 7.34278490e-02 -9.47615905e-03 1.03465219e+02] [ 9.51473763e-03 -1.75608915e-04 9.99954718e-01 1.62355929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:103.49, Z:1.62 [[ 7.29701875e-02 -9.97333742e-01 -8.71133927e-04 1.27246995e+02] [ 9.97288736e-01 7.29751719e-02 -9.47640171e-03 1.03492224e+02] [ 9.51470632e-03 -1.77277243e-04 9.99954718e-01 1.62369537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:103.52, Z:1.62 [[ 6.96438247e-02 -9.97571543e-01 -8.68346983e-04 1.27245270e+02] [ 9.97526551e-01 6.96489327e-02 -9.47665708e-03 1.03517407e+02] [ 9.51412286e-03 -2.06208526e-04 9.99954718e-01 1.62063829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:103.55, Z:1.62 [[ 7.28041622e-02 -9.97345924e-01 -8.14152588e-04 1.27250566e+02] [ 9.97300860e-01 7.28086126e-02 -9.48161130e-03 1.03547426e+02] [ 9.51572370e-03 -1.21654310e-04 9.99954717e-01 1.62108188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:103.58, Z:1.62 [[ 7.20580661e-02 -9.97400063e-01 -8.66272645e-04 1.27252680e+02] [ 9.97355056e-01 7.20630455e-02 -9.47684705e-03 1.03575255e+02] [ 9.51463409e-03 -1.81098131e-04 9.99954718e-01 1.61993103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:103.60, Z:1.62 [[ 7.12381317e-02 -9.97458963e-01 -8.63549064e-04 1.27254898e+02] [ 9.97413957e-01 7.12431221e-02 -9.47709522e-03 1.03602350e+02] [ 9.51453550e-03 -1.86185332e-04 9.99954718e-01 1.61827268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:103.63, Z:1.62 [[ 7.04871175e-02 -9.97512318e-01 -8.60708886e-04 1.27256801e+02] [ 9.97467314e-01 7.04921149e-02 -9.47735316e-03 1.03628139e+02] [ 9.51444971e-03 -1.90497674e-04 9.99954718e-01 1.61676888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:103.66, Z:1.62 [[ 7.05064625e-02 -9.97510954e-01 -8.57683989e-04 1.27259141e+02] [ 9.97465946e-01 7.05114303e-02 -9.47762690e-03 1.03655763e+02] [ 9.51451317e-03 -1.87276626e-04 9.99954718e-01 1.61672536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:103.68, Z:1.62 [[ 7.13646381e-02 -9.97449927e-01 -8.54845272e-04 1.27261802e+02] [ 9.97404912e-01 7.13695403e-02 -9.47788293e-03 1.03683703e+02] [ 9.51472356e-03 -1.76241188e-04 9.99954718e-01 1.61879303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:103.71, Z:1.62 [[ 7.46287461e-02 -9.97211023e-01 -8.52174018e-04 1.27263489e+02] [ 9.97165989e-01 7.46334755e-02 -9.47812311e-03 1.03710765e+02] [ 9.51528955e-03 -1.42418505e-04 9.99954718e-01 1.61959042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:103.74, Z:1.62 [[ 7.67467042e-02 -9.97050261e-01 -8.49356067e-04 1.27265111e+02] [ 9.97005214e-01 7.67513112e-02 -9.47837562e-03 1.03739160e+02] [ 9.51560608e-03 -1.19378336e-04 9.99954718e-01 1.62032415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:103.77, Z:1.62 [[ 7.92308611e-02 -9.96855934e-01 -8.46683053e-04 1.27266611e+02] [ 9.96810874e-01 7.92353303e-02 -9.47861439e-03 1.03765849e+02] [ 9.51590022e-03 -9.29840936e-05 9.99954718e-01 1.62066701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.51762800000003 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:127.27, Y:103.79, Z:1.62 [[ 8.44605268e-02 -9.96426469e-01 -8.43867285e-04 1.27268889e+02] [ 9.96381383e-01 8.44647328e-02 -9.47886507e-03 1.03793501e+02] [ 9.51626907e-03 -4.02237148e-05 9.99954718e-01 1.61965485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:103.82, Z:1.62 [[ 8.63293558e-02 -9.96266297e-01 -8.41173030e-04 1.27271837e+02] [ 9.96221201e-01 8.63334515e-02 -9.47910416e-03 1.03820268e+02] [ 9.51633337e-03 -1.96694515e-05 9.99954718e-01 1.62250494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.28, Y:103.85, Z:1.62 [[ 8.78096896e-02 -9.96136916e-01 -8.38332742e-04 1.27275271e+02] [ 9.96091812e-01 8.78136913e-02 -9.47935534e-03 1.03847798e+02] [ 9.51635289e-03 -2.67712886e-06 9.99954718e-01 1.62313400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.28, Y:103.88, Z:1.62 [[ 8.87099435e-02 -9.96057151e-01 -8.35686652e-04 1.27278497e+02] [ 9.96012041e-01 8.87138793e-02 -9.47958861e-03 1.03875553e+02] [ 9.51634903e-03 8.57980329e-06 9.99954718e-01 1.62430959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.28, Y:103.90, Z:1.63 [[ 9.01620151e-02 -9.95926763e-01 -8.33010353e-04 1.27281555e+02] [ 9.95881645e-01 9.01658597e-02 -9.47982379e-03 1.03903111e+02] [ 9.51631931e-03 2.51402955e-05 9.99954719e-01 1.62563239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.28, Y:103.93, Z:1.63 [[ 9.04705200e-02 -9.95898788e-01 -8.30331343e-04 1.27283850e+02] [ 9.95853666e-01 9.04743250e-02 -9.48005843e-03 1.03930739e+02] [ 9.51630237e-03 3.07773040e-05 9.99954719e-01 1.62604360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:103.96, Z:1.63 [[ 9.09767444e-02 -9.95852673e-01 -8.27651299e-04 1.27286270e+02] [ 9.95807548e-01 9.09805009e-02 -9.48029241e-03 1.03957894e+02] [ 9.51627467e-03 3.83047283e-05 9.99954719e-01 1.62613713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:103.99, Z:1.63 [[ 9.13903747e-02 -9.95814802e-01 -8.24823710e-04 1.27288573e+02] [ 9.95769672e-01 9.13940856e-02 -9.48053841e-03 1.03985788e+02] [ 9.51624449e-03 4.50955218e-05 9.99954719e-01 1.62647891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:104.01, Z:1.63 [[ 9.24441201e-02 -9.95717535e-01 -8.22128981e-04 1.27291075e+02] [ 9.95672399e-01 9.24477576e-02 -9.48077209e-03 1.04012782e+02] [ 9.51617499e-03 5.78704976e-05 9.99954719e-01 1.62530492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:104.04, Z:1.63 [[ 9.25771556e-02 -9.95705177e-01 -8.19342644e-04 1.27293825e+02] [ 9.95660039e-01 9.25807605e-02 -9.48101288e-03 1.04040317e+02] [ 9.51614897e-03 6.19384758e-05 9.99954719e-01 1.62515630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.30, Y:104.07, Z:1.62 [[ 9.28466132e-02 -9.95680089e-01 -8.16687756e-04 1.27296726e+02] [ 9.95634948e-01 9.28501807e-02 -9.48124156e-03 1.04067265e+02] [ 9.51611305e-03 6.71782965e-05 9.99954719e-01 1.62446726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.30, Y:104.10, Z:1.63 [[ 9.25269719e-02 -9.95709845e-01 -8.14748379e-04 1.27300097e+02] [ 9.95664704e-01 9.25305354e-02 -9.48140822e-03 1.04095283e+02] [ 9.51612061e-03 6.60697881e-05 9.99954719e-01 1.62505343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.30, Y:104.12, Z:1.63 [[ 9.19867547e-02 -9.95759900e-01 -8.12110039e-04 1.27303509e+02] [ 9.95714758e-01 9.19903175e-02 -9.48163419e-03 1.04123628e+02] [ 9.51613737e-03 6.35548078e-05 9.99954719e-01 1.62539779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.31, Y:104.15, Z:1.63 [[ 9.10968036e-02 -9.95841713e-01 -8.09489047e-04 1.27308437e+02] [ 9.95796573e-01 9.11003818e-02 -9.48185795e-03 1.04151629e+02] [ 9.51617443e-03 5.76805332e-05 9.99954719e-01 1.62669061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.31, Y:104.18, Z:1.63 [[ 9.08381653e-02 -9.95865341e-01 -8.06866092e-04 1.27311610e+02] [ 9.95820200e-01 9.08417303e-02 -9.48208115e-03 1.04178139e+02] [ 9.51617309e-03 5.78413021e-05 9.99954719e-01 1.62710856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.31, Y:104.21, Z:1.63 [[ 9.11199927e-02 -9.95839596e-01 -8.04101666e-04 1.27314554e+02] [ 9.95794452e-01 9.11235186e-02 -9.48231557e-03 1.04206278e+02] [ 9.51613788e-03 6.33085478e-05 9.99954719e-01 1.62821307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.32, Y:104.23, Z:1.63 [[ 9.16825112e-02 -9.95787967e-01 -8.01441218e-04 1.27316902e+02] [ 9.95742819e-01 9.16859863e-02 -9.48254043e-03 1.04233567e+02] [ 9.51608058e-03 7.13537815e-05 9.99954719e-01 1.62765398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.32, Y:104.26, Z:1.63 [[ 9.41635353e-02 -9.95556423e-01 -7.98635525e-04 1.27319625e+02] [ 9.95511264e-01 9.41668711e-02 -9.48277672e-03 1.04261862e+02] [ 9.51584428e-03 9.78811195e-05 9.99954719e-01 1.62809043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.32, Y:104.29, Z:1.63 [[ 9.52103564e-02 -9.95456857e-01 -7.95954052e-04 1.27322027e+02] [ 9.95411693e-01 9.52136192e-02 -9.48300179e-03 1.04290032e+02] [ 9.51570483e-03 1.10578010e-04 9.99954719e-01 1.62807838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.32, Y:104.32, Z:1.63 [[ 9.59925821e-02 -9.95381733e-01 -7.93231407e-04 1.27324239e+02] [ 9.95336565e-01 9.59957834e-02 -9.48322953e-03 1.04317213e+02] [ 9.51558032e-03 1.20787464e-04 9.99954719e-01 1.62665354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.33, Y:104.35, Z:1.63 [[ 9.57171488e-02 -9.95408259e-01 -7.90372761e-04 1.27326533e+02] [ 9.95363090e-01 9.57203354e-02 -9.48346778e-03 1.04345720e+02] [ 9.51557690e-03 1.21022623e-04 9.99954719e-01 1.62692447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.33, Y:104.37, Z:1.63 [[ 9.64162995e-02 -9.95340784e-01 -7.87748434e-04 1.27328958e+02] [ 9.95295611e-01 9.64194294e-02 -9.48368576e-03 1.04373744e+02] [ 9.51545348e-03 1.30339328e-04 9.99954719e-01 1.62767398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.33, Y:104.40, Z:1.63 [[ 9.69453295e-02 -9.95289399e-01 -7.85073307e-04 1.27332152e+02] [ 9.95244222e-01 9.69484099e-02 -9.48390721e-03 1.04401668e+02] [ 9.51534391e-03 1.38080836e-04 9.99954719e-01 1.62939694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.33, Y:104.43, Z:1.63 [[ 9.66473985e-02 -9.95318375e-01 -7.82384921e-04 1.27334908e+02] [ 9.95273198e-01 9.66504669e-02 -9.48412898e-03 1.04428883e+02] [ 9.51534572e-03 1.37929651e-04 9.99954719e-01 1.63040267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.34, Y:104.46, Z:1.63 [[ 9.62298823e-02 -9.95358831e-01 -7.79550765e-04 1.27337273e+02] [ 9.95313653e-01 9.62329426e-02 -9.48436193e-03 1.04457245e+02] [ 9.51536187e-03 1.36781513e-04 9.99954719e-01 1.63213320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.34, Y:104.48, Z:1.63 [[ 9.58283257e-02 -9.95397573e-01 -7.76883908e-04 1.27338763e+02] [ 9.95352395e-01 9.58313788e-02 -9.48458038e-03 1.04484908e+02] [ 9.51537814e-03 1.35618199e-04 9.99954719e-01 1.63319764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.34, Y:104.51, Z:1.63 [[ 9.51735476e-02 -9.95460394e-01 -7.74203558e-04 1.27338595e+02] [ 9.95415216e-01 9.51766049e-02 -9.48479916e-03 1.04512775e+02] [ 9.51542798e-03 1.32047983e-04 9.99954719e-01 1.63355079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.34, Y:104.54, Z:1.63 [[ 9.47280700e-02 -9.95502887e-01 -7.71459204e-04 1.27339895e+02] [ 9.95457708e-01 9.47311213e-02 -9.48502237e-03 1.04540111e+02] [ 9.51544835e-03 1.30542852e-04 9.99954719e-01 1.63292875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.34, Y:104.57, Z:1.63 [[ 9.43127127e-02 -9.95542325e-01 -7.68572166e-04 1.27341875e+02] [ 9.95497146e-01 9.43157554e-02 -9.48525630e-03 1.04568222e+02] [ 9.51546258e-03 1.29468855e-04 9.99954719e-01 1.63325327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.34, Y:104.60, Z:1.63 [[ 9.28594946e-02 -9.95678928e-01 -7.65883398e-04 1.27343918e+02] [ 9.95633752e-01 9.28625776e-02 -9.48547340e-03 1.04595139e+02] [ 9.51560789e-03 1.18276905e-04 9.99954719e-01 1.63197090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.35, Y:104.62, Z:1.63 [[ 9.18599849e-02 -9.95771641e-01 -7.63051067e-04 1.27346352e+02] [ 9.95726466e-01 9.18630863e-02 -9.48570124e-03 1.04623217e+02] [ 9.51568852e-03 1.11566231e-04 9.99954719e-01 1.63223990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.35, Y:104.65, Z:1.63 [[ 9.05220101e-02 -9.95894165e-01 -7.60363148e-04 1.27349022e+02] [ 9.95848992e-01 9.05251466e-02 -9.48591670e-03 1.04650249e+02] [ 9.51580107e-03 1.01477373e-04 9.99954719e-01 1.63166508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.35, Y:104.68, Z:1.63 [[ 8.87801645e-02 -9.96050957e-01 -7.57551489e-04 1.27351601e+02] [ 9.96005788e-01 8.87833533e-02 -9.48614123e-03 1.04678162e+02] [ 9.51593801e-03 8.76555117e-05 9.99954719e-01 1.63175394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.35, Y:104.71, Z:1.63 [[ 8.44327016e-02 -9.96428898e-01 -7.54890961e-04 1.27354448e+02] [ 9.96383742e-01 8.44360621e-02 -9.48635295e-03 1.04706592e+02] [ 9.51621623e-03 4.87973273e-05 9.99954719e-01 1.63110571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.537628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:127.36, Y:104.74, Z:1.63 [[ 8.13113153e-02 -9.96688469e-01 -7.52213101e-04 1.27356825e+02] [ 9.96643321e-01 8.13147917e-02 -9.48656528e-03 1.04735077e+02] [ 9.51631628e-03 2.16769370e-05 9.99954719e-01 1.62892925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.36, Y:104.76, Z:1.63 [[ 7.82800337e-02 -9.96931128e-01 -7.49533556e-04 1.27359351e+02] [ 9.96885989e-01 7.82836219e-02 -9.48677699e-03 1.04762212e+02] [ 9.51633949e-03 -4.57427826e-06 9.99954719e-01 1.63101427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.36, Y:104.79, Z:1.63 [[ 7.46034377e-02 -9.97213001e-01 -7.46708548e-04 1.27362119e+02] [ 9.97167873e-01 7.46071655e-02 -9.48699934e-03 1.04789465e+02] [ 9.51626889e-03 -3.68310100e-05 9.99954719e-01 1.63142662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:104.82, Z:1.63 [[ 7.08039141e-02 -9.97489976e-01 -7.43928122e-04 1.27365366e+02] [ 9.97444861e-01 7.08077873e-02 -9.48721736e-03 1.04816935e+02] [ 9.51608013e-03 -7.02951589e-05 9.99954719e-01 1.63202550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:104.84, Z:1.63 [[ 6.44695351e-02 -9.97919400e-01 -7.41326821e-04 1.27368170e+02] [ 9.97874308e-01 6.44736699e-02 -9.48742062e-03 1.04843687e+02] [ 9.51547716e-03 -1.28101392e-04 9.99954719e-01 1.63403358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:104.87, Z:1.64 [[ 6.16128474e-02 -9.98099851e-01 -7.38576630e-04 1.27369856e+02] [ 9.98054768e-01 6.16170851e-02 -9.48763472e-03 1.04871772e+02] [ 9.51511573e-03 -1.52579737e-04 9.99954719e-01 1.63613407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:104.90, Z:1.64 [[ 5.83003151e-02 -9.98298819e-01 -7.35933050e-04 1.27371521e+02] [ 9.98253748e-01 5.83046773e-02 -9.48783977e-03 1.04899985e+02] [ 9.51460757e-03 -1.81503878e-04 9.99954719e-01 1.63667396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:104.93, Z:1.64 [[ 5.50517799e-02 -9.98483232e-01 -7.33298644e-04 1.27373525e+02] [ 9.98438173e-01 5.50562637e-02 -9.48804337e-03 1.04927737e+02] [ 9.51402489e-03 -2.09819683e-04 9.99954719e-01 1.63715716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:104.96, Z:1.64 [[ 4.91314240e-02 -9.98792055e-01 -7.30685602e-04 1.27375740e+02] [ 9.98747021e-01 4.91361501e-02 -9.48824460e-03 1.04955452e+02] [ 9.51268640e-03 -2.63599100e-04 9.99954719e-01 1.63952678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:104.98, Z:1.64 [[ 4.63976463e-02 -9.98922784e-01 -7.28011438e-04 1.27377341e+02] [ 9.98877760e-01 4.64024702e-02 -9.48844978e-03 1.04982630e+02] [ 9.51201020e-03 -2.86952698e-04 9.99954719e-01 1.64009584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:105.01, Z:1.64 [[ 4.38867018e-02 -9.99036251e-01 -7.25196516e-04 1.27378489e+02] [ 9.98991237e-01 4.38916122e-02 -9.48866492e-03 1.05011089e+02] [ 9.51135027e-03 -3.08038757e-04 9.99954719e-01 1.64138630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:105.04, Z:1.64 [[ 4.07013163e-02 -9.99171097e-01 -7.22505453e-04 1.27377296e+02] [ 9.99126096e-01 4.07063447e-02 -9.48886982e-03 1.05038778e+02] [ 9.51041502e-03 -3.35664560e-04 9.99954719e-01 1.64186201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:105.07, Z:1.64 [[ 3.99986578e-02 -9.99199474e-01 -7.19669160e-04 1.27377372e+02] [ 9.99154474e-01 4.00036909e-02 -9.48908493e-03 1.05066921e+02] [ 9.51027810e-03 -3.39510000e-04 9.99954719e-01 1.64200557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:105.09, Z:1.64 [[ 3.98120955e-02 -9.99206927e-01 -7.17014583e-04 1.27377207e+02] [ 9.99161924e-01 3.98171118e-02 -9.48928551e-03 1.05094799e+02] [ 9.51030927e-03 -3.38625330e-04 9.99954719e-01 1.64194809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:105.12, Z:1.64 [[ 4.02960852e-02 -9.99187528e-01 -7.14374058e-04 1.27377202e+02] [ 9.99142520e-01 4.03010547e-02 -9.48948429e-03 1.05122834e+02] [ 9.51056438e-03 -3.31372428e-04 9.99954719e-01 1.64180205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:105.15, Z:1.64 [[ 4.24438616e-02 -9.99098600e-01 -7.11752463e-04 1.27375383e+02] [ 9.99053579e-01 4.24487094e-02 -9.48968092e-03 1.05150126e+02] [ 9.51133989e-03 -3.08300142e-04 9.99954719e-01 1.64130919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:105.18, Z:1.64 [[ 4.41243764e-02 -9.99025794e-01 -7.08989450e-04 1.27375694e+02] [ 9.98980762e-01 4.41291223e-02 -9.48988734e-03 1.05177749e+02] [ 9.51192932e-03 -2.89531460e-04 9.99954719e-01 1.64147698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:105.21, Z:1.64 [[ 4.56692418e-02 -9.98956366e-01 -7.06092562e-04 1.27375451e+02] [ 9.98911324e-01 4.56738905e-02 -9.49010288e-03 1.05205390e+02] [ 9.51244868e-03 -2.71918052e-04 9.99954719e-01 1.64146844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:105.23, Z:1.64 [[ 4.77157293e-02 -9.98860708e-01 -7.03218682e-04 1.27374809e+02] [ 9.98815654e-01 4.77202585e-02 -9.49031583e-03 1.05232207e+02] [ 9.51306137e-03 -2.49548486e-04 9.99954719e-01 1.64098231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:105.26, Z:1.64 [[ 5.14808911e-02 -9.98673734e-01 -7.00207473e-04 1.27370951e+02] [ 9.98628661e-01 5.14852217e-02 -9.49053800e-03 1.05259022e+02] [ 9.51400136e-03 -2.10665898e-04 9.99954719e-01 1.63999168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:105.29, Z:1.64 [[ 5.27514046e-02 -9.98607432e-01 -6.97222082e-04 1.27370060e+02] [ 9.98562350e-01 5.27556496e-02 -9.49075731e-03 1.05285669e+02] [ 9.51432319e-03 -1.95568942e-04 9.99954719e-01 1.63981263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:105.31, Z:1.64 [[ 5.39322920e-02 -9.98544354e-01 -6.94273165e-04 1.27369645e+02] [ 9.98499264e-01 5.39364556e-02 -9.49097303e-03 1.05313271e+02] [ 9.51460416e-03 -1.81361315e-04 9.99954719e-01 1.63980281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:105.34, Z:1.64 [[ 5.48704195e-02 -9.98493244e-01 -6.91499591e-04 1.27369291e+02] [ 9.98448149e-01 5.48745144e-02 -9.49117510e-03 1.05340256e+02] [ 9.51481993e-03 -1.69641727e-04 9.99954719e-01 1.63992914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:105.37, Z:1.64 [[ 5.62539233e-02 -9.98416257e-01 -6.88740323e-04 1.27368433e+02] [ 9.98371153e-01 5.62579294e-02 -9.49137533e-03 1.05366906e+02] [ 9.51509053e-03 -1.53691371e-04 9.99954719e-01 1.64112987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:105.39, Z:1.64 [[ 5.65567778e-02 -9.98399149e-01 -6.85846903e-04 1.27369495e+02] [ 9.98354042e-01 5.65607428e-02 -9.49158440e-03 1.05394027e+02] [ 9.51518180e-03 -1.47904598e-04 9.99954719e-01 1.64231414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:105.42, Z:1.64 [[ 5.68745442e-02 -9.98381099e-01 -6.83125773e-04 1.27370407e+02] [ 9.98335988e-01 5.68784690e-02 -9.49178025e-03 1.05420578e+02] [ 9.51526914e-03 -1.42148368e-04 9.99954719e-01 1.64303015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:105.45, Z:1.64 [[ 5.69821034e-02 -9.98374968e-01 -6.80283082e-04 1.27370543e+02] [ 9.98329855e-01 5.69859963e-02 -9.49198398e-03 1.05447066e+02] [ 9.51532581e-03 -1.38273698e-04 9.99954719e-01 1.64338893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:105.47, Z:1.64 [[ 5.75981105e-02 -9.98339621e-01 -6.77313119e-04 1.27368321e+02] [ 9.98294503e-01 5.76019473e-02 -9.49219590e-03 1.05472950e+02] [ 9.51544981e-03 -1.29425415e-04 9.99954719e-01 1.64350301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:105.50, Z:1.64 [[ 5.80704846e-02 -9.98312258e-01 -6.74218128e-04 1.27368762e+02] [ 9.98267135e-01 5.80742707e-02 -9.49241573e-03 1.05498787e+02] [ 9.51554970e-03 -1.21820618e-04 9.99954719e-01 1.64395566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:105.53, Z:1.64 [[ 5.81953144e-02 -9.98304990e-01 -6.71882005e-04 1.27369549e+02] [ 9.98259865e-01 5.81990726e-02 -9.49258108e-03 1.05525670e+02] [ 9.51559397e-03 -1.18289099e-04 9.99954719e-01 1.64437504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:105.55, Z:1.64 [[ 5.84510128e-02 -9.98290054e-01 -6.68982468e-04 1.27370779e+02] [ 9.98244926e-01 5.84547319e-02 -9.49278542e-03 1.05550991e+02] [ 9.51565845e-03 -1.12945432e-04 9.99954719e-01 1.64465362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:105.58, Z:1.65 [[ 5.87653078e-02 -9.98271604e-01 -6.65954757e-04 1.27372004e+02] [ 9.98226472e-01 5.87689839e-02 -9.49299782e-03 1.05578900e+02] [ 9.51572764e-03 -1.06914729e-04 9.99954719e-01 1.64535105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:105.61, Z:1.65 [[ 5.90233428e-02 -9.98256382e-01 -6.63274025e-04 1.27373646e+02] [ 9.98211248e-01 5.90269817e-02 -9.49318512e-03 1.05607248e+02] [ 9.51578369e-03 -1.01768072e-04 9.99954719e-01 1.64536963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:105.64, Z:1.64 [[ 5.91063923e-02 -9.98251470e-01 -6.60596849e-04 1.27374870e+02] [ 9.98206333e-01 5.91100020e-02 -9.49337141e-03 1.05635044e+02] [ 9.51581985e-03 -9.82930237e-05 9.99954719e-01 1.64472819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:105.66, Z:1.64 [[ 5.90309871e-02 -9.98255934e-01 -6.57926812e-04 1.27375953e+02] [ 9.98210795e-01 5.90345748e-02 -9.49355645e-03 1.05663000e+02] [ 9.51583949e-03 -9.63356377e-05 9.99954719e-01 1.64402023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:105.69, Z:1.64 [[ 5.90174779e-02 -9.98256735e-01 -6.55270339e-04 1.27377212e+02] [ 9.98211594e-01 5.90210410e-02 -9.49373980e-03 1.05691534e+02] [ 9.51586443e-03 -9.38018702e-05 9.99954719e-01 1.64318180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:105.72, Z:1.64 [[ 5.83319094e-02 -9.98297031e-01 -6.52618990e-04 1.27378982e+02] [ 9.98251891e-01 5.83354783e-02 -9.49392206e-03 1.05718635e+02] [ 9.51582504e-03 -9.76795398e-05 9.99954719e-01 1.64309850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:105.75, Z:1.64 [[ 5.66995836e-02 -9.98391073e-01 -6.49821808e-04 1.27380740e+02] [ 9.98345937e-01 5.67031997e-02 -9.49411351e-03 1.05746477e+02] [ 9.51568515e-03 -1.10434679e-04 9.99954719e-01 1.64416351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:105.77, Z:1.65 [[ 5.42992477e-02 -9.98524498e-01 -6.47089179e-04 1.27382672e+02] [ 9.98479368e-01 5.43029462e-02 -9.49429975e-03 1.05774725e+02] [ 9.51542974e-03 -1.30571861e-04 9.99954719e-01 1.64512371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:105.80, Z:1.64 [[ 4.91479052e-02 -9.98791300e-01 -6.49405552e-04 1.27384803e+02] [ 9.98746192e-01 4.91518585e-02 -9.49414218e-03 1.05802710e+02] [ 9.51458611e-03 -1.81974123e-04 9.99954719e-01 1.64410193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.73762800000003 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:127.39, Y:105.83, Z:1.64 [[ 4.55070500e-02 -9.98963810e-01 -6.43462746e-04 1.27386432e+02] [ 9.98918712e-01 4.55111113e-02 -9.49454494e-03 1.05829505e+02] [ 9.51399149e-03 -2.10698246e-04 9.99954719e-01 1.64106353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.39, Y:105.86, Z:1.64 [[ 4.27087519e-02 -9.99087360e-01 -6.40663413e-04 1.27388881e+02] [ 9.99042270e-01 4.27129129e-02 -9.49473382e-03 1.05857234e+02] [ 9.51343315e-03 -2.34541599e-04 9.99954719e-01 1.64400746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.39, Y:105.88, Z:1.64 [[ 3.64934161e-02 -9.99333690e-01 -6.37951602e-04 1.27392074e+02] [ 9.99288624e-01 3.64978317e-02 -9.49491603e-03 1.05883740e+02] [ 9.51187332e-03 -2.90995857e-04 9.99954719e-01 1.64429808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.39, Y:105.91, Z:1.64 [[ 3.39332106e-02 -9.99423901e-01 -6.35115427e-04 1.27394503e+02] [ 9.99378844e-01 3.39377147e-02 -9.49510573e-03 1.05911566e+02] [ 9.51118998e-03 -3.12521500e-04 9.99954719e-01 1.64488524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.857628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:127.40, Y:105.94, Z:1.64 [[ 3.12624342e-02 -9.99511011e-01 -6.32435730e-04 1.27396177e+02] [ 9.99465964e-01 3.12670333e-02 -9.49528422e-03 1.05939663e+02] [ 9.51041551e-03 -3.35252289e-04 9.99954719e-01 1.64319798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.40, Y:105.97, Z:1.65 [[ 3.01853370e-02 -9.99544121e-01 -6.29751741e-04 1.27397510e+02] [ 9.99499076e-01 3.01899592e-02 -9.49546222e-03 1.05967948e+02] [ 9.51014562e-03 -3.42812557e-04 9.99954719e-01 1.64549385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.40, Y:105.99, Z:1.64 [[ 2.94266482e-02 -9.99566746e-01 -6.27088272e-04 1.27398507e+02] [ 9.99521702e-01 2.94312793e-02 -9.49563812e-03 1.05994608e+02] [ 9.50998010e-03 -3.47363534e-04 9.99954719e-01 1.64460878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.947628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:127.40, Y:106.02, Z:1.64 [[ 2.92900809e-02 -9.99570759e-01 -6.24280851e-04 1.27399785e+02] [ 9.99525713e-01 2.92946915e-02 -9.49582268e-03 1.06022229e+02] [ 9.51003480e-03 -3.45851348e-04 9.99954719e-01 1.64364447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.40, Y:106.05, Z:1.65 [[ 2.71036177e-02 -9.99632436e-01 -6.21647728e-04 1.27397184e+02] [ 9.99587398e-01 2.71083018e-02 -9.49599506e-03 1.06047238e+02] [ 9.50935649e-03 -3.64015416e-04 9.99954719e-01 1.64672422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.40, Y:106.08, Z:1.65 [[ 2.70051017e-02 -9.99635162e-01 -5.18097653e-04 1.27399023e+02] [ 9.99590027e-01 2.70088075e-02 -9.50273261e-03 1.06075700e+02] [ 9.51325884e-03 -2.61262986e-04 9.99954714e-01 1.64695598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.40, Y:106.11, Z:1.65 [[ 3.19547142e-02 -9.99489186e-01 -5.14130807e-04 1.27404331e+02] [ 9.99444030e-01 3.19581588e-02 -9.50298983e-03 1.06106770e+02] [ 9.51456624e-03 -2.10179642e-04 9.99954713e-01 1.64855805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.40, Y:106.13, Z:1.65 [[ 3.11957800e-02 -9.99513103e-01 -6.17332728e-04 1.27402231e+02] [ 9.99468041e-01 3.12002388e-02 -9.49628095e-03 1.06132084e+02] [ 9.51091816e-03 -3.20760442e-04 9.99954719e-01 1.64872752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09762800000001 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:127.41, Y:106.16, Z:1.65 [[ 3.90438468e-02 -9.99237356e-01 -5.32521252e-04 1.27406865e+02] [ 9.99192192e-01 3.90471458e-02 -9.50175318e-03 1.06162591e+02] [ 9.51530016e-03 -1.61106082e-04 9.99954716e-01 1.64826725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:106.19, Z:1.65 [[ 4.23853869e-02 -9.99101147e-01 -6.14213176e-04 1.27408353e+02] [ 9.99056036e-01 4.23893113e-02 -9.49646953e-03 1.06190564e+02] [ 9.51396968e-03 -2.11121846e-04 9.99954719e-01 1.65199426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:106.22, Z:1.65 [[ 4.53428574e-02 -9.98971297e-01 -6.11498525e-04 1.27409305e+02] [ 9.98926172e-01 4.53466224e-02 -9.49664433e-03 1.06217414e+02] [ 9.51460449e-03 -1.80236891e-04 9.99954719e-01 1.65209058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:106.24, Z:1.65 [[ 4.81797321e-02 -9.98838496e-01 -6.09517317e-04 1.27410497e+02] [ 9.98793360e-01 4.81833501e-02 -9.49677149e-03 1.06244976e+02] [ 9.51510954e-03 -1.51229942e-04 9.99954719e-01 1.65179908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:106.27, Z:1.65 [[ 5.35749129e-02 -9.98563649e-01 -6.06686278e-04 1.27412251e+02] [ 9.98518492e-01 5.35782601e-02 -9.49695234e-03 1.06273142e+02] [ 9.51581658e-03 -9.69890719e-05 9.99954719e-01 1.65200775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:106.30, Z:1.65 [[ 5.60830961e-02 -9.98425922e-01 -6.04015237e-04 1.27414263e+02] [ 9.98380755e-01 5.60863044e-02 -9.49712222e-03 1.06301431e+02] [ 9.51604999e-03 -7.04091703e-05 9.99954719e-01 1.65236176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:106.33, Z:1.65 [[ 5.80293135e-02 -9.98314699e-01 -6.01309451e-04 1.27415752e+02] [ 9.98269523e-01 5.80324080e-02 -9.49729353e-03 1.06328356e+02] [ 9.51618317e-03 -4.91474760e-05 9.99954719e-01 1.65234418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:106.36, Z:1.65 [[ 6.18053484e-02 -9.98088043e-01 -5.98456050e-04 1.27417604e+02] [ 9.98042854e-01 6.18082449e-02 -9.49747333e-03 1.06355939e+02] [ 9.51630409e-03 -1.02901359e-05 9.99954719e-01 1.65293500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:106.38, Z:1.65 [[ 6.28503642e-02 -9.98022784e-01 -5.95764809e-04 1.27419833e+02] [ 9.97977591e-01 6.28531877e-02 -9.49764215e-03 1.06383014e+02] [ 9.51630897e-03 2.37033908e-06 9.99954719e-01 1.65273481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:106.41, Z:1.65 [[ 6.34134804e-02 -9.97987164e-01 -5.92924452e-04 1.27422524e+02] [ 9.97941968e-01 6.34162515e-02 -9.49781946e-03 1.06410671e+02] [ 9.51630295e-03 1.05855944e-05 9.99954719e-01 1.65250032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.43, Y:106.44, Z:1.65 [[ 6.35628633e-02 -9.97977662e-01 -5.90295533e-04 1.27425629e+02] [ 9.97932464e-01 6.35656025e-02 -9.49798285e-03 1.06438308e+02] [ 9.51629721e-03 1.46439091e-05 9.99954719e-01 1.65247249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.43, Y:106.47, Z:1.65 [[ 6.34804291e-02 -9.97982911e-01 -5.87613741e-04 1.27430554e+02] [ 9.97937711e-01 6.34831465e-02 -9.49814876e-03 1.06465075e+02] [ 9.51629372e-03 1.65446467e-05 9.99954719e-01 1.65087788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.43, Y:106.49, Z:1.65 [[ 6.30935675e-02 -9.98007445e-01 -5.84839127e-04 1.27433406e+02] [ 9.97962245e-01 6.30962761e-02 -9.49831960e-03 1.06492759e+02] [ 9.51629485e-03 1.56355014e-05 9.99954719e-01 1.65151826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.44, Y:106.52, Z:1.65 [[ 6.26970844e-02 -9.98032433e-01 -5.82074902e-04 1.27436477e+02] [ 9.97987232e-01 6.26997846e-02 -9.49848900e-03 1.06520117e+02] [ 9.51629605e-03 1.46242454e-05 9.99954719e-01 1.65115896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.44, Y:106.55, Z:1.65 [[ 6.25287263e-02 -9.98042997e-01 -5.79165400e-04 1.27439714e+02] [ 9.97997795e-01 6.25314064e-02 -9.49866640e-03 1.06546944e+02] [ 9.51629350e-03 1.59337191e-05 9.99954719e-01 1.65098532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.44, Y:106.58, Z:1.65 [[ 6.26648562e-02 -9.98034460e-01 -5.76315436e-04 1.27444868e+02] [ 9.97989257e-01 6.26675031e-02 -9.49883931e-03 1.06575175e+02] [ 9.51628522e-03 2.00867860e-05 9.99954719e-01 1.65122063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.45, Y:106.60, Z:1.65 [[ 6.26869816e-02 -9.98033072e-01 -5.73646795e-04 1.27448564e+02] [ 9.97987867e-01 6.26896021e-02 -9.49900047e-03 1.06602041e+02] [ 9.51627831e-03 2.29711266e-05 9.99954719e-01 1.65102859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.46, Y:106.63, Z:1.65 [[ 6.33492445e-02 -9.97991256e-01 -5.70832509e-04 1.27455338e+02] [ 9.97946048e-01 6.33518081e-02 -9.49916959e-03 1.06629151e+02] [ 9.51625146e-03 3.21051699e-05 9.99954719e-01 1.65130713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.46, Y:106.66, Z:1.65 [[ 6.34710980e-02 -9.97983515e-01 -5.68076384e-04 1.27458814e+02] [ 9.97938305e-01 6.34736299e-02 -9.49933441e-03 1.06656724e+02] [ 9.51623702e-03 3.60280015e-05 9.99954719e-01 1.65114707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.46, Y:106.68, Z:1.65 [[ 6.34040453e-02 -9.97987779e-01 -5.65149332e-04 1.27462253e+02] [ 9.97942568e-01 6.34065524e-02 -9.49950855e-03 1.06684898e+02] [ 9.51622761e-03 3.83206943e-05 9.99954719e-01 1.65107129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.47, Y:106.71, Z:1.65 [[ 6.30740981e-02 -9.98008688e-01 -5.62498285e-04 1.27465722e+02] [ 9.97963476e-01 6.30765949e-02 -9.49966552e-03 1.06713239e+02] [ 9.51622921e-03 3.78300909e-05 9.99954719e-01 1.65083643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.47, Y:106.74, Z:1.65 [[ 6.24509932e-02 -9.98047875e-01 -5.59852346e-04 1.27469499e+02] [ 9.98002663e-01 6.24534930e-02 -9.49982146e-03 1.06741156e+02] [ 9.51624135e-03 3.45391535e-05 9.99954719e-01 1.65051304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.47, Y:106.77, Z:1.65 [[ 6.16779409e-02 -9.98095948e-01 -5.57218119e-04 1.27473505e+02] [ 9.98050736e-01 6.16804507e-02 -9.49997597e-03 1.06768089e+02] [ 9.51625698e-03 2.98070023e-05 9.99954719e-01 1.65039583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.48, Y:106.80, Z:1.65 [[ 6.03006899e-02 -9.98180104e-01 -5.54443352e-04 1.27480522e+02] [ 9.98134894e-01 6.03032357e-02 -9.50013791e-03 1.06795740e+02] [ 9.51628337e-03 1.94556134e-05 9.99954719e-01 1.65094877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.48, Y:106.82, Z:1.65 [[ 5.94739961e-02 -9.98229703e-01 -5.51761617e-04 1.27484846e+02] [ 9.98184494e-01 5.94765538e-02 -9.50029366e-03 1.06823444e+02] [ 9.51629219e-03 1.42605373e-05 9.99954719e-01 1.65115508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.49, Y:106.85, Z:1.65 [[ 5.76688273e-02 -9.98335617e-01 -5.49099059e-04 1.27489325e+02] [ 9.98290412e-01 5.76714414e-02 -9.50044755e-03 1.06851924e+02] [ 9.51630250e-03 -2.80656264e-07 9.99954719e-01 1.65231700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.49, Y:106.88, Z:1.65 [[ 5.67734714e-02 -9.98386926e-01 -5.65115041e-04 1.27493250e+02] [ 9.98341732e-01 5.67762784e-02 -9.49952584e-03 1.06878353e+02] [ 9.51628753e-03 -2.48568696e-05 9.99954719e-01 1.65188135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.50, Y:106.90, Z:1.65 [[ 5.39967591e-02 -9.98540963e-01 -5.43811940e-04 1.27498996e+02] [ 9.98495764e-01 5.39994891e-02 -9.50074521e-03 1.06904867e+02] [ 9.51624884e-03 -2.99844675e-05 9.99954719e-01 1.65179867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.50, Y:106.93, Z:1.65 [[ 5.36569160e-02 -9.98559284e-01 -5.41004615e-04 1.27501288e+02] [ 9.98514084e-01 5.36596346e-02 -9.50090507e-03 1.06933122e+02] [ 9.51624707e-03 -3.04114630e-05 9.99954719e-01 1.65277101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.50, Y:106.96, Z:1.65 [[ 5.42768948e-02 -9.98525778e-01 -5.38381146e-04 1.27502564e+02] [ 9.98480575e-01 5.42795604e-02 -9.50105373e-03 1.06961524e+02] [ 9.51627015e-03 -2.18754230e-05 9.99954719e-01 1.65374259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.50, Y:106.99, Z:1.66 [[ 5.47296980e-02 -9.98501063e-01 -5.35744367e-04 1.27504059e+02] [ 9.98455858e-01 5.47323181e-02 -9.50120241e-03 1.06989443e+02] [ 9.51628323e-03 -1.49191625e-05 9.99954719e-01 1.65510230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.02762800000002 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:127.51, Y:107.02, Z:1.65 [[ 5.45275209e-02 -9.98512126e-01 -5.33062957e-04 1.27506299e+02] [ 9.98466920e-01 5.45301246e-02 -9.50135284e-03 1.07016242e+02] [ 9.51628402e-03 -1.41605129e-05 9.99954719e-01 1.65206913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:107.04, Z:1.65 [[ 5.43591791e-02 -9.98521306e-01 -5.30294756e-04 1.27507801e+02] [ 9.98476099e-01 5.43617641e-02 -9.50150734e-03 1.07044493e+02] [ 9.51628528e-03 -1.29925001e-05 9.99954719e-01 1.65487048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:107.07, Z:1.65 [[ 5.44155399e-02 -9.98518238e-01 -5.27633815e-04 1.27509265e+02] [ 9.98473029e-01 5.44180970e-02 -9.50165511e-03 1.07071327e+02] [ 9.51628874e-03 -9.79044102e-06 9.99954719e-01 1.65457654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:107.10, Z:1.65 [[ 5.47255982e-02 -9.98501294e-01 -5.24827642e-04 1.27509641e+02] [ 9.98456083e-01 5.47281146e-02 -9.50181010e-03 1.07098089e+02] [ 9.51629251e-03 -4.02510965e-06 9.99954719e-01 1.65430853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:107.13, Z:1.65 [[ 5.41413885e-02 -9.98533143e-01 -5.21725744e-04 1.27509868e+02] [ 9.98487932e-01 5.41439018e-02 -9.50198042e-03 1.07125924e+02] [ 9.51629064e-03 -6.48644569e-06 9.99954719e-01 1.65399084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:107.15, Z:1.65 [[ 5.32543343e-02 -9.98580846e-01 -5.19049702e-04 1.27510252e+02] [ 9.98535636e-01 5.32568623e-02 -9.50212660e-03 1.07154319e+02] [ 9.51628458e-03 -1.22601985e-05 9.99954719e-01 1.65278609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:107.18, Z:1.65 [[ 5.14282268e-02 -9.98676560e-01 -5.16389578e-04 1.27511316e+02] [ 9.98631353e-01 5.14308122e-02 -9.50227116e-03 1.07182842e+02] [ 9.51625380e-03 -2.69978668e-05 9.99954719e-01 1.65246739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:107.21, Z:1.65 [[ 4.65476583e-02 -9.98915938e-01 -5.13692034e-04 1.27512604e+02] [ 9.98870743e-01 4.65504389e-02 -9.50241699e-03 1.07210919e+02] [ 9.51602837e-03 -7.07966851e-05 9.99954719e-01 1.65275571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:107.24, Z:1.65 [[ 4.39639555e-02 -9.99032987e-01 -5.11000732e-04 1.27513755e+02] [ 9.98987797e-01 4.39668273e-02 -9.50256171e-03 1.07238696e+02] [ 9.51583969e-03 -9.27132960e-05 9.99954719e-01 1.65342248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.29762800000003 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:127.51, Y:107.27, Z:1.65 [[ 4.09067232e-02 -9.99162840e-01 -5.08311694e-04 1.27514887e+02] [ 9.99117658e-01 4.09097077e-02 -9.50270555e-03 1.07266548e+02] [ 9.51554515e-03 -1.19138644e-04 9.99954719e-01 1.65146850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.52, Y:107.29, Z:1.66 [[ 3.61435518e-02 -9.99346480e-01 -5.05618001e-04 1.27516309e+02] [ 9.99301311e-01 3.61467261e-02 -9.50284887e-03 1.07294332e+02] [ 9.51491501e-03 -1.61798021e-04 9.99954719e-01 1.65504835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.52, Y:107.32, Z:1.66 [[ 3.33782972e-02 -9.99442663e-01 -5.02946928e-04 1.27517750e+02] [ 9.99397500e-01 3.33815710e-02 -9.50299024e-03 1.07321340e+02] [ 9.51448303e-03 -1.85450270e-04 9.99954719e-01 1.65569930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.52, Y:107.35, Z:1.66 [[ 3.07509048e-02 -9.99526954e-01 -5.00133606e-04 1.27519068e+02] [ 9.99481798e-01 3.07542706e-02 -9.50313830e-03 1.07349751e+02] [ 9.51402412e-03 -2.07644335e-04 9.99954719e-01 1.65690585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.52, Y:107.38, Z:1.66 [[ 2.84254390e-02 -9.99595792e-01 -4.97457240e-04 1.27520263e+02] [ 9.99550642e-01 2.84288845e-02 -9.50327840e-03 1.07378170e+02] [ 9.51357925e-03 -2.27098843e-04 9.99954719e-01 1.65797954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.52, Y:107.41, Z:1.66 [[ 2.63594960e-02 -9.99652406e-01 -4.94788669e-04 1.27521650e+02] [ 9.99607261e-01 2.63630095e-02 -9.50341733e-03 1.07406105e+02] [ 9.51315812e-03 -2.44089055e-04 9.99954719e-01 1.65980090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.52, Y:107.43, Z:1.66 [[ 2.42594737e-02 -9.99705575e-01 -4.92079437e-04 1.27522615e+02] [ 9.99660436e-01 2.42630562e-02 -9.50355761e-03 1.07434829e+02] [ 9.51269888e-03 -2.61361039e-04 9.99954719e-01 1.66286773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.52, Y:107.46, Z:1.66 [[ 2.34674047e-02 -9.99724483e-01 -4.89510679e-04 1.27523272e+02] [ 9.99679345e-01 2.34709986e-02 -9.50368992e-03 1.07461844e+02] [ 9.51256080e-03 -2.66326778e-04 9.99954719e-01 1.66420452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.52, Y:107.49, Z:1.66 [[ 2.30871357e-02 -9.99733338e-01 -4.86663056e-04 1.27523782e+02] [ 9.99688199e-01 2.30907196e-02 -9.50383574e-03 1.07489761e+02] [ 9.51253883e-03 -2.67094969e-04 9.99954719e-01 1.66465702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.52, Y:107.52, Z:1.67 [[ 2.35160826e-02 -9.99723342e-01 -4.83975654e-04 1.27524650e+02] [ 9.99678199e-01 2.35196217e-02 -9.50397259e-03 1.07517072e+02] [ 9.51272616e-03 -2.60323705e-04 9.99954719e-01 1.66517500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.52, Y:107.54, Z:1.66 [[ 2.62726545e-02 -9.99654698e-01 -4.81142479e-04 1.27524925e+02] [ 9.99609544e-01 2.62760422e-02 -9.50411602e-03 1.07544260e+02] [ 9.51347676e-03 -2.31256257e-04 9.99954719e-01 1.66400383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:107.57, Z:1.66 [[ 2.82078413e-02 -9.99601965e-01 -4.79208508e-04 1.27525622e+02] [ 9.99556803e-01 2.82111232e-02 -9.50421354e-03 1.07572045e+02] [ 9.51394953e-03 -2.10902777e-04 9.99954719e-01 1.66309909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:107.60, Z:1.66 [[ 3.04006510e-02 -9.99537680e-01 -4.76567998e-04 1.27526574e+02] [ 9.99492509e-01 3.04038087e-02 -9.50434594e-03 1.07599264e+02] [ 9.51444137e-03 -1.87387840e-04 9.99954719e-01 1.66223603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:107.63, Z:1.66 [[ 3.52257993e-02 -9.99379267e-01 -4.73789581e-04 1.27527697e+02] [ 9.99334080e-01 3.52287125e-02 -9.50448444e-03 1.07627521e+02] [ 9.51527568e-03 -1.38671014e-04 9.99954719e-01 1.66024215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:107.65, Z:1.66 [[ 3.70766275e-02 -9.99312314e-01 -4.71159793e-04 1.27528293e+02] [ 9.99267120e-01 3.70794320e-02 -9.50461480e-03 1.07654475e+02] [ 9.51554895e-03 -1.18415427e-04 9.99954719e-01 1.65947857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:107.68, Z:1.66 [[ 3.87715672e-02 -9.99247990e-01 -4.68382936e-04 1.27529095e+02] [ 9.99202790e-01 3.87742686e-02 -9.50475164e-03 1.07681587e+02] [ 9.51576518e-03 -9.94954204e-05 9.99954719e-01 1.65917105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:107.71, Z:1.66 [[ 4.02445914e-02 -9.99189750e-01 -4.65463366e-04 1.27530118e+02] [ 9.99144544e-01 4.02471984e-02 -9.50489462e-03 1.07709195e+02] [ 9.51592687e-03 -8.25445821e-05 9.99954719e-01 1.65893843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:107.74, Z:1.66 [[ 4.30977257e-02 -9.99070754e-01 -4.62562659e-04 1.27531968e+02] [ 9.99025540e-01 4.31001760e-02 -9.50503578e-03 1.07735744e+02] [ 9.51613980e-03 -5.24664859e-05 9.99954719e-01 1.65959185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:107.76, Z:1.66 [[ 4.37390449e-02 -9.99042884e-01 -4.60321829e-04 1.27533647e+02] [ 9.98997667e-01 4.37414449e-02 -9.50514430e-03 1.07762508e+02] [ 9.51618191e-03 -4.41144994e-05 9.99954719e-01 1.66049987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:107.79, Z:1.66 [[ 4.40650613e-02 -9.99028559e-01 -4.57476331e-04 1.27535676e+02] [ 9.98983339e-01 4.40674194e-02 -9.50528125e-03 1.07788754e+02] [ 9.51620723e-03 -3.81604320e-05 9.99954719e-01 1.66156615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:107.81, Z:1.66 [[ 4.40357066e-02 -9.99029854e-01 -4.54496106e-04 1.27537732e+02] [ 9.98984634e-01 4.40380377e-02 -9.50542375e-03 1.07814742e+02] [ 9.51621722e-03 -3.54565743e-05 9.99954719e-01 1.66246510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:107.84, Z:1.66 [[ 4.37407710e-02 -9.99042812e-01 -4.51540460e-04 1.27538917e+02] [ 9.98997591e-01 4.37430874e-02 -9.50556415e-03 1.07842489e+02] [ 9.51621731e-03 -3.53071271e-05 9.99954719e-01 1.66272814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:107.87, Z:1.67 [[ 4.32914084e-02 -9.99062387e-01 -4.48734061e-04 1.27542115e+02] [ 9.99017165e-01 4.32937184e-02 -9.50569663e-03 1.07869731e+02] [ 9.51621133e-03 -3.67780339e-05 9.99954719e-01 1.66567898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:107.90, Z:1.67 [[ 4.26496643e-02 -9.99089990e-01 -4.45798895e-04 1.27544039e+02] [ 9.99044768e-01 4.26519754e-02 -9.50583428e-03 1.07897225e+02] [ 9.51619808e-03 -3.99524126e-05 9.99954719e-01 1.66719593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:107.92, Z:1.67 [[ 4.25120994e-02 -9.99095854e-01 -4.42888135e-04 1.27546144e+02] [ 9.99050631e-01 4.25143890e-02 -9.50596989e-03 1.07923951e+02] [ 9.51620423e-03 -3.83489344e-05 9.99954719e-01 1.66874991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:107.95, Z:1.67 [[ 4.23832981e-02 -9.99101327e-01 -4.39957541e-04 1.27548036e+02] [ 9.99056103e-01 4.23855657e-02 -9.50610553e-03 1.07950586e+02] [ 9.51621050e-03 -3.66421621e-05 9.99954719e-01 1.66934718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:107.98, Z:1.67 [[ 4.28330196e-02 -9.99082150e-01 -4.36884879e-04 1.27550357e+02] [ 9.99036923e-01 4.28352376e-02 -9.50624674e-03 1.07978517e+02] [ 9.51623549e-03 -2.92828717e-05 9.99954719e-01 1.66910858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:108.00, Z:1.67 [[ 4.29910810e-02 -9.99075362e-01 -4.34251728e-04 1.27551908e+02] [ 9.99030134e-01 4.29932668e-02 -9.50636702e-03 1.08004303e+02] [ 9.51624697e-03 -2.51415671e-05 9.99954719e-01 1.66797334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:108.03, Z:1.67 [[ 4.33136165e-02 -9.99061432e-01 -4.31148351e-04 1.27553735e+02] [ 9.99016202e-01 4.33157581e-02 -9.50650777e-03 1.08032392e+02] [ 9.51626078e-03 -1.89629569e-05 9.99954719e-01 1.66782190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.167628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:127.56, Y:108.06, Z:1.66 [[ 4.31183433e-02 -9.99069880e-01 -4.28496990e-04 1.27555503e+02] [ 9.99024649e-01 4.31204686e-02 -9.50662728e-03 1.08059037e+02] [ 9.51626196e-03 -1.81690367e-05 9.99954719e-01 1.66426990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:108.09, Z:1.67 [[ 4.42179813e-02 -9.99021816e-01 -4.26557839e-04 1.27558598e+02] [ 9.98976582e-01 4.42200383e-02 -9.50671428e-03 1.08087214e+02] [ 9.51627737e-03 -5.75357822e-06 9.99954719e-01 1.66634789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:108.12, Z:1.67 [[ 4.38066045e-02 -9.99039940e-01 -4.23926471e-04 1.27560573e+02] [ 9.98994706e-01 4.38086551e-02 -9.50683162e-03 1.08115323e+02] [ 9.51627614e-03 -7.03828748e-06 9.99954719e-01 1.66642592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:108.14, Z:1.67 [[ 4.31959207e-02 -9.99066532e-01 -4.21282063e-04 1.27562534e+02] [ 9.99021298e-01 4.31979738e-02 -9.50694880e-03 1.08143836e+02] [ 9.51627290e-03 -1.02083470e-05 9.99954719e-01 1.66640110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:108.17, Z:1.67 [[ 4.25365958e-02 -9.99094822e-01 -4.18626708e-04 1.27564485e+02] [ 9.99049588e-01 4.25386535e-02 -9.50706573e-03 1.08171747e+02] [ 9.51626795e-03 -1.38306280e-05 9.99954719e-01 1.66697850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:108.20, Z:1.67 [[ 4.04361212e-02 -9.99182039e-01 -4.15944977e-04 1.27566758e+02] [ 9.99136808e-01 4.04382485e-02 -9.50718305e-03 1.08198950e+02] [ 9.51622664e-03 -3.11523300e-05 9.99954719e-01 1.66767375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:108.23, Z:1.67 [[ 3.91406404e-02 -9.99233626e-01 -4.13117705e-04 1.27568625e+02] [ 9.99188397e-01 3.91427994e-02 -9.50730591e-03 1.08226834e+02] [ 9.51619034e-03 -4.06603758e-05 9.99954719e-01 1.66930700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:108.25, Z:1.67 [[ 3.62235150e-02 -9.99343629e-01 -4.10451584e-04 1.27569378e+02] [ 9.99298405e-01 3.62257806e-02 -9.50742101e-03 1.08253508e+02] [ 9.51604954e-03 -6.57714062e-05 9.99954719e-01 1.66906151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:108.28, Z:1.67 [[ 3.41058517e-02 -9.99418142e-01 -4.09734773e-04 1.27570159e+02] [ 9.99372923e-01 3.41082064e-02 -9.50745180e-03 1.08281554e+02] [ 9.51589514e-03 -8.52180964e-05 9.99954719e-01 1.67259243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:108.31, Z:1.67 [[ 3.12844662e-02 -9.99510439e-01 -4.05905191e-04 1.27570930e+02] [ 9.99465224e-01 3.12869121e-02 -9.50761530e-03 1.08309402e+02] [ 9.51566026e-03 -1.08247454e-04 9.99954719e-01 1.67291502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.46762800000002 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:127.57, Y:108.34, Z:1.67 [[ 2.78947158e-02 -9.99610785e-01 -4.03227572e-04 1.27571395e+02] [ 9.99565578e-01 2.78972895e-02 -9.50772886e-03 1.08337355e+02] [ 9.51527727e-03 -1.37837007e-04 9.99954719e-01 1.67214832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:108.36, Z:1.67 [[ 2.18972385e-02 -9.99760147e-01 -4.00491044e-04 1.27572225e+02] [ 9.99714954e-01 2.19000574e-02 -9.50784413e-03 1.08364441e+02] [ 9.51433441e-03 -1.92181355e-04 9.99954719e-01 1.67406659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:108.39, Z:1.67 [[ 1.84733862e-02 -9.99829273e-01 -3.97606488e-04 1.27572977e+02] [ 9.99784089e-01 1.84763324e-02 -9.50796475e-03 1.08391862e+02] [ 9.51368780e-03 -2.21876335e-04 9.99954719e-01 1.67463861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:108.42, Z:1.67 [[ 1.51947265e-02 -9.99884476e-01 -3.94771408e-04 1.27573233e+02] [ 9.99839299e-01 1.51977940e-02 -9.50808246e-03 1.08419239e+02] [ 9.51298370e-03 -2.50235255e-04 9.99954719e-01 1.67491945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:108.45, Z:1.68 [[ 1.05474088e-02 -9.99944298e-01 -3.91966362e-04 1.27571586e+02] [ 9.99899134e-01 1.05506595e-02 -9.50819810e-03 1.08447928e+02] [ 9.51180397e-03 -2.91639974e-04 9.99954719e-01 1.67541467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:108.47, Z:1.68 [[ 8.76652365e-03 -9.99961498e-01 -3.89347165e-04 1.27571146e+02] [ 9.99916338e-01 8.76982991e-03 -9.50830535e-03 1.08473874e+02] [ 9.51135377e-03 -3.05959807e-04 9.99954719e-01 1.67562426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:108.50, Z:1.68 [[ 7.60091187e-03 -9.99971038e-01 -3.86265787e-04 1.27570792e+02] [ 9.99925880e-01 7.60424151e-03 -9.50843053e-03 1.08502255e+02] [ 9.51109240e-03 -3.13964415e-04 9.99954719e-01 1.67680184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:108.53, Z:1.68 [[ 6.96543569e-03 -9.99975667e-01 -3.83642444e-04 1.27569871e+02] [ 9.99930510e-01 6.96876910e-03 -9.50853637e-03 1.08530017e+02] [ 9.51097852e-03 -3.17384686e-04 9.99954719e-01 1.67733581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:108.56, Z:1.68 [[ 8.11025420e-03 -9.99967039e-01 -3.81015611e-04 1.27566604e+02] [ 9.99921875e-01 8.11351096e-03 -9.50864163e-03 1.08558344e+02] [ 9.51141959e-03 -3.03868344e-04 9.99954719e-01 1.67773925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:108.59, Z:1.68 [[ 8.60989134e-03 -9.99962863e-01 -3.78343576e-04 1.27565018e+02] [ 9.99917696e-01 8.61310015e-03 -9.50874795e-03 1.08585698e+02] [ 9.51165353e-03 -2.96443150e-04 9.99954719e-01 1.67675942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:108.61, Z:1.68 [[ 9.44681032e-03 -9.99955307e-01 -3.75527133e-04 1.27563547e+02] [ 9.99910136e-01 9.44995456e-03 -9.50885918e-03 1.08613503e+02] [ 9.51198291e-03 -2.85664998e-04 9.99954719e-01 1.67749854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:108.64, Z:1.68 [[ 1.01445525e-02 -9.99948473e-01 -3.72879900e-04 1.27562176e+02] [ 9.99903298e-01 1.01476401e-02 -9.50896298e-03 1.08641314e+02] [ 9.51225687e-03 -2.76379668e-04 9.99954719e-01 1.67817131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.827628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:127.56, Y:108.67, Z:1.68 [[ 1.11889901e-02 -9.99937333e-01 -3.70201904e-04 1.27558651e+02] [ 9.99892153e-01 1.11920051e-02 -9.50906724e-03 1.08669295e+02] [ 9.51261464e-03 -2.63765120e-04 9.99954719e-01 1.67725697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:108.70, Z:1.68 [[ 1.20272453e-02 -9.99927603e-01 -3.67513032e-04 1.27557644e+02] [ 9.99882418e-01 1.20301968e-02 -9.50917116e-03 1.08696912e+02] [ 9.51290398e-03 -2.53100685e-04 9.99954719e-01 1.67840744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:108.72, Z:1.68 [[ 1.23520225e-02 -9.99923644e-01 -3.64673065e-04 1.27556827e+02] [ 9.99878457e-01 1.23549324e-02 -9.50928007e-03 1.08724052e+02] [ 9.51305950e-03 -2.47169900e-04 9.99954719e-01 1.67859571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:108.75, Z:1.68 [[ 1.28112373e-02 -9.99917867e-01 -3.61867668e-04 1.27556440e+02] [ 9.99872677e-01 1.28140998e-02 -9.50938683e-03 1.08752041e+02] [ 9.51324280e-03 -2.39994583e-04 9.99954719e-01 1.67932017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:108.78, Z:1.68 [[ 1.36118814e-02 -9.99907290e-01 -3.59163434e-04 1.27556166e+02] [ 9.99862096e-01 1.36146819e-02 -9.50948896e-03 1.08779251e+02] [ 9.51349723e-03 -2.29671868e-04 9.99954719e-01 1.67926355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:108.81, Z:1.68 [[ 1.64998325e-02 -9.99863805e-01 -3.56313353e-04 1.27554687e+02] [ 9.99818602e-01 1.65024754e-02 -9.50959575e-03 1.08807509e+02] [ 9.51418065e-03 -1.99341981e-04 9.99954719e-01 1.67971962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:108.84, Z:1.68 [[ 1.85068697e-02 -9.99828671e-01 -3.53651114e-04 1.27554243e+02] [ 9.99783461e-01 1.85093965e-02 -9.50969476e-03 1.08835722e+02] [ 9.51461134e-03 -1.77579853e-04 9.99954719e-01 1.68003228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:108.86, Z:1.68 [[ 2.08800895e-02 -9.99781926e-01 -3.50981710e-04 1.27553454e+02] [ 9.99736708e-01 2.08824836e-02 -9.50979328e-03 1.08863568e+02] [ 9.51504881e-03 -1.52323965e-04 9.99954719e-01 1.67995670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:108.89, Z:1.68 [[ 2.63471103e-02 -9.99652794e-01 -3.48326514e-04 1.27550602e+02] [ 9.99607563e-01 2.63492319e-02 -9.50989053e-03 1.08890671e+02] [ 9.51576678e-03 -9.76316826e-05 9.99954719e-01 1.67877586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:108.92, Z:1.68 [[ 2.88410926e-02 -9.99583949e-01 -3.46388864e-04 1.27549840e+02] [ 9.99538712e-01 2.88430829e-02 -9.50996111e-03 1.08919107e+02] [ 9.51599540e-03 -7.19514098e-05 9.99954719e-01 1.67853288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:108.95, Z:1.68 [[ 3.09539577e-02 -9.99520752e-01 -3.43776685e-04 1.27549521e+02] [ 9.99475510e-01 3.09558275e-02 -9.51005554e-03 1.08946310e+02] [ 9.51613976e-03 -4.92225211e-05 9.99954719e-01 1.67862929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.15762800000002 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:127.55, Y:108.97, Z:1.68 [[ 3.23336604e-02 -9.99477072e-01 -3.40850178e-04 1.27549810e+02] [ 9.99431827e-01 3.23354399e-02 -9.51016042e-03 1.08973914e+02] [ 9.51620884e-03 -3.31582188e-05 9.99954719e-01 1.67719692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:109.00, Z:1.68 [[ 3.54655956e-02 -9.99370841e-01 -3.37936555e-04 1.27549406e+02] [ 9.99325589e-01 3.54672056e-02 -9.51026396e-03 1.09000534e+02] [ 9.51626615e-03 -4.21470915e-07 9.99954719e-01 1.68162338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:109.03, Z:1.68 [[ 3.61904021e-02 -9.99344856e-01 -3.35845248e-04 1.27549012e+02] [ 9.99299603e-01 3.61919593e-02 -9.51033781e-03 1.09027336e+02] [ 9.51626207e-03 8.57292563e-06 9.99954719e-01 1.68255429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:109.05, Z:1.68 [[ 3.68814486e-02 -9.99319593e-01 -3.32821519e-04 1.27548589e+02] [ 9.99274337e-01 3.68829458e-02 -9.51044362e-03 1.09054693e+02] [ 9.51624809e-03 1.81789350e-05 9.99954719e-01 1.68253464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:109.08, Z:1.68 [[ 3.72558551e-02 -9.99305705e-01 -3.29954077e-04 1.27548228e+02] [ 9.99260448e-01 3.72573080e-02 -9.51054311e-03 1.09080682e+02] [ 9.51623319e-03 2.46133570e-05 9.99954719e-01 1.68173443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:109.11, Z:1.68 [[ 3.83353741e-02 -9.99264876e-01 -3.26951809e-04 1.27547432e+02] [ 9.99219616e-01 3.83367496e-02 -9.51064632e-03 1.09107728e+02] [ 9.51618908e-03 3.78975240e-05 9.99954719e-01 1.67934908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:109.13, Z:1.68 [[ 3.87876975e-02 -9.99247422e-01 -3.24126971e-04 1.27548133e+02] [ 9.99202160e-01 3.87890256e-02 -9.51074259e-03 1.09134497e+02] [ 9.51615758e-03 4.50314367e-05 9.99954719e-01 1.67816611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:109.16, Z:1.68 [[ 3.89360879e-02 -9.99241651e-01 -3.21323311e-04 1.27549282e+02] [ 9.99196389e-01 3.89373826e-02 -9.51083731e-03 1.09161319e+02] [ 9.51613627e-03 4.92497054e-05 9.99954719e-01 1.67781286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.39762800000003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:127.55, Y:109.19, Z:1.68 [[ 3.86189878e-02 -9.99253958e-01 -3.18534269e-04 1.27551344e+02] [ 9.99208695e-01 3.86202703e-02 -9.51093072e-03 1.09187283e+02] [ 9.51613704e-03 4.90203056e-05 9.99954719e-01 1.67573980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:109.21, Z:1.68 [[ 3.89642608e-02 -9.99240555e-01 -3.16378046e-04 1.27552758e+02] [ 9.99195291e-01 3.89655072e-02 -9.51100244e-03 1.09214787e+02] [ 9.51610719e-03 5.44657253e-05 9.99954719e-01 1.67820403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:109.24, Z:1.68 [[ 3.88943199e-02 -9.99243280e-01 -3.13636062e-04 1.27553670e+02] [ 9.99198016e-01 3.88955433e-02 -9.51109286e-03 1.09242844e+02] [ 9.51609468e-03 5.65429579e-05 9.99954719e-01 1.68162178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.48762800000003 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:127.55, Y:109.27, Z:1.68 [[ 3.84546460e-02 -9.99260298e-01 -3.10921638e-04 1.27554585e+02] [ 9.99215034e-01 3.84558635e-02 -9.51118160e-03 1.09269910e+02] [ 9.51610292e-03 5.50715466e-05 9.99954719e-01 1.67571946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:109.30, Z:1.68 [[ 3.93544205e-02 -9.99225267e-01 -3.08064876e-04 1.27556181e+02] [ 9.99180001e-01 3.93555700e-02 -9.51127413e-03 1.09297549e+02] [ 9.51602950e-03 6.64984180e-05 9.99954719e-01 1.68146314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:109.33, Z:1.68 [[ 4.02444549e-02 -9.99189817e-01 -3.05383288e-04 1.27558790e+02] [ 9.99144549e-01 4.02455386e-02 -9.51136022e-03 1.09325722e+02] [ 9.51594460e-03 7.76574589e-05 9.99954719e-01 1.68322399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:109.35, Z:1.68 [[ 4.08345202e-02 -9.99165877e-01 -3.02675493e-04 1.27560830e+02] [ 9.99120608e-01 4.08355515e-02 -9.51144639e-03 1.09353083e+02] [ 9.51587260e-03 8.59860272e-05 9.99954719e-01 1.68414025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:109.38, Z:1.69 [[ 4.13480156e-02 -9.99144760e-01 -3.00701694e-04 1.27562704e+02] [ 9.99099490e-01 4.13490048e-02 -9.51150879e-03 1.09380940e+02] [ 9.51580789e-03 9.28511056e-05 9.99954719e-01 1.68561799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:109.41, Z:1.69 [[ 4.15957361e-02 -9.99134478e-01 -2.98037970e-04 1.27564047e+02] [ 9.99089208e-01 4.15966886e-02 -9.51159226e-03 1.09409030e+02] [ 9.51575716e-03 9.78751622e-05 9.99954719e-01 1.68747305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:109.44, Z:1.69 [[ 4.11283320e-02 -9.99153829e-01 -2.95503694e-04 1.27565290e+02] [ 9.99108558e-01 4.11292817e-02 -9.51167099e-03 1.09437015e+02] [ 9.51577634e-03 9.59588936e-05 9.99954719e-01 1.68841487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:109.46, Z:1.69 [[ 4.04473581e-02 -9.99181628e-01 -2.92792125e-04 1.27566815e+02] [ 9.99136357e-01 4.04483128e-02 -9.51175446e-03 1.09464267e+02] [ 9.51581325e-03 9.21860817e-05 9.99954719e-01 1.68882822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:109.49, Z:1.69 [[ 3.90634978e-02 -9.99236688e-01 -2.89932201e-04 1.27570198e+02] [ 9.99191418e-01 3.90644879e-02 -9.51184163e-03 1.09491962e+02] [ 9.51590719e-03 8.18680374e-05 9.99954719e-01 1.69029464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:109.52, Z:1.69 [[ 3.83111047e-02 -9.99265819e-01 -2.87231612e-04 1.27572777e+02] [ 9.99220549e-01 3.83121032e-02 -9.51192318e-03 1.09519659e+02] [ 9.51594416e-03 7.74045555e-05 9.99954719e-01 1.69169930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:109.55, Z:1.69 [[ 3.65773218e-02 -9.99330790e-01 -2.69065694e-04 1.27575384e+02] [ 9.99285518e-01 3.65782260e-02 -9.51246621e-03 1.09548772e+02] [ 9.51594231e-03 7.90670860e-05 9.99954719e-01 1.69102019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:109.58, Z:1.69 [[ 3.62947562e-02 -9.99341088e-01 -2.82290641e-04 1.27576167e+02] [ 9.99295820e-01 3.62957990e-02 -9.51207373e-03 1.09577356e+02] [ 9.51605208e-03 6.31465388e-05 9.99954719e-01 1.69129766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:109.61, Z:1.69 [[ 3.48281321e-02 -9.99393277e-01 -2.79600926e-04 1.27578522e+02] [ 9.99348010e-01 3.48292158e-02 -9.51215279e-03 1.09605571e+02] [ 9.51611984e-03 5.18718851e-05 9.99954719e-01 1.69139970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:109.63, Z:1.69 [[ 3.18641895e-02 -9.99492169e-01 -2.76920719e-04 1.27580909e+02] [ 9.99446905e-01 3.18653819e-02 -9.51223082e-03 1.09633764e+02] [ 9.51622440e-03 2.63319695e-05 9.99954719e-01 1.69044930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:109.66, Z:1.69 [[ 3.06071958e-02 -9.99531452e-01 -2.74199550e-04 1.27582909e+02] [ 9.99486188e-01 3.06084192e-02 -9.51230926e-03 1.09661126e+02] [ 9.51624511e-03 1.70864483e-05 9.99954719e-01 1.68914656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:109.69, Z:1.69 [[ 2.95239543e-02 -9.99564036e-01 -2.72215456e-04 1.27585506e+02] [ 9.99518773e-01 2.95252079e-02 -9.51236604e-03 1.09689542e+02] [ 9.51625621e-03 8.75820199e-06 9.99954719e-01 1.68879321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:109.72, Z:1.69 [[ 2.74353948e-02 -9.99623542e-01 -2.69592301e-04 1.27590825e+02] [ 9.99578281e-01 2.74367180e-02 -9.51244038e-03 1.09717297e+02] [ 9.51625608e-03 -8.50105138e-06 9.99954719e-01 1.68932587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:109.75, Z:1.69 [[ 2.58363760e-02 -9.99666150e-01 -2.66917271e-04 1.27593603e+02] [ 9.99620890e-01 2.58377462e-02 -9.51251544e-03 1.09745360e+02] [ 9.51623623e-03 -2.10471544e-05 9.99954719e-01 1.69002260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:109.77, Z:1.69 [[ 2.38213447e-02 -9.99716197e-01 -2.64226102e-04 1.27596048e+02] [ 9.99670939e-01 2.38227805e-02 -9.51259019e-03 1.09773360e+02] [ 9.51618509e-03 -3.75364650e-05 9.99954719e-01 1.69059539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.05762800000002 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:127.60, Y:109.80, Z:1.69 [[ 2.04133437e-02 -9.99791592e-01 -2.61536242e-04 1.27598100e+02] [ 9.99746338e-01 2.04149081e-02 -9.51266415e-03 1.09800456e+02] [ 9.51602087e-03 -6.72846176e-05 9.99954719e-01 1.68776067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:109.83, Z:1.69 [[ 1.51682230e-02 -9.99884922e-01 -2.58703568e-04 1.27602356e+02] [ 9.99839677e-01 1.51699979e-02 -9.51274118e-03 1.09828635e+02] [ 9.51557101e-03 -1.14370712e-04 9.99954719e-01 1.69223493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:109.86, Z:1.69 [[ 1.13076618e-02 -9.99936034e-01 -2.56114562e-04 1.27604906e+02] [ 9.99890794e-01 1.13095867e-02 -9.51281089e-03 1.09855372e+02] [ 9.51509894e-03 -1.48518944e-04 9.99954719e-01 1.69259167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:109.88, Z:1.69 [[ 7.17642588e-03 -9.99974217e-01 -2.53255060e-04 1.27607764e+02] [ 9.99928984e-01 7.17851051e-03 -9.51288701e-03 1.09882755e+02] [ 9.51445974e-03 -1.84968546e-04 9.99954719e-01 1.69336990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.17762800000003 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:127.61, Y:109.91, Z:1.69 [[ 2.21923547e-03 -9.99997506e-01 -2.50437402e-04 1.27610836e+02] [ 9.99952283e-01 2.22151752e-03 -9.51296119e-03 1.09911002e+02] [ 9.51349382e-03 -2.29313951e-04 9.99954719e-01 1.69200182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:109.94, Z:1.70 [[-5.73786665e-03 -9.99983508e-01 -2.47792553e-04 1.27616649e+02] [ 9.99938303e-01 -5.73524997e-03 -9.51303008e-03 1.09938818e+02] [ 9.51145204e-03 -3.02361763e-04 9.99954719e-01 1.69511538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.23762800000003 meters Centerline goodness : 0.999842 Centerline is valid? [True, True] Translation: X:127.62, Y:109.97, Z:1.69 [[-9.08223193e-03 -9.99958726e-01 -2.45137757e-04 1.27618200e+02] [ 9.99913528e-01 -9.07948931e-03 -9.51309849e-03 1.09966838e+02] [ 9.51048012e-03 -3.31516726e-04 9.99954719e-01 1.69357322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:109.99, Z:1.70 [[-8.17532991e-03 -9.99966552e-01 -2.42434802e-04 1.27618212e+02] [ 9.99921351e-01 -8.17265397e-03 -9.51316738e-03 1.09993668e+02] [ 9.51086785e-03 -3.20189017e-04 9.99954719e-01 1.69699156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:110.02, Z:1.70 [[-8.33607315e-03 -9.99965226e-01 -2.39590562e-04 1.27618165e+02] [ 9.99920023e-01 -8.33341697e-03 -9.51323901e-03 1.10021142e+02] [ 9.51091158e-03 -3.18874457e-04 9.99954719e-01 1.69702718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.327628 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:127.62, Y:110.05, Z:1.69 [[-8.85899632e-03 -9.99960730e-01 -2.36800215e-04 1.27618216e+02] [ 9.99915528e-01 -8.85634302e-03 -9.51330846e-03 1.10048494e+02] [ 9.51083770e-03 -3.21058577e-04 9.99954719e-01 1.69340328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:110.08, Z:1.69 [[-6.91792233e-03 -9.99976044e-01 -2.33903726e-04 1.27617712e+02] [ 9.99930834e-01 -6.91538430e-03 -9.51337968e-03 1.10076036e+02] [ 9.51153424e-03 -2.99700370e-04 9.99954719e-01 1.69492526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.387628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:127.62, Y:110.10, Z:1.69 [[-6.89755875e-03 -9.99976185e-01 -2.30998228e-04 1.27617196e+02] [ 9.99930974e-01 -6.89504926e-03 -9.51345023e-03 1.10101979e+02] [ 9.51163092e-03 -2.96601865e-04 9.99954719e-01 1.69288200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.417628 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:127.62, Y:110.13, Z:1.69 [[-6.86014053e-03 -9.99976443e-01 -2.28752538e-04 1.27616737e+02] [ 9.99931231e-01 -6.85765407e-03 -9.51350423e-03 1.10128844e+02] [ 9.51171141e-03 -2.94000783e-04 9.99954719e-01 1.69119898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:110.16, Z:1.69 [[-5.26139951e-03 -9.99986133e-01 -2.25855991e-04 1.27616706e+02] [ 9.99940916e-01 -5.25901288e-03 -9.51357299e-03 1.10155509e+02] [ 9.51225329e-03 -2.75897354e-04 9.99954719e-01 1.69478571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.477628 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:127.61, Y:110.18, Z:1.69 [[-4.58710219e-03 -9.99989454e-01 -2.22819599e-04 1.27613662e+02] [ 9.99944234e-01 -4.58477491e-03 -9.51364411e-03 1.10183058e+02] [ 9.51252220e-03 -2.66447230e-04 9.99954719e-01 1.69278068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.507628 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:127.61, Y:110.21, Z:1.69 [[-3.56258302e-03 -9.99993630e-01 -2.19883574e-04 1.27612683e+02] [ 9.99948405e-01 -3.56032998e-03 -9.51371197e-03 1.10210864e+02] [ 9.51286850e-03 -2.53765618e-04 9.99954719e-01 1.69357859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:110.24, Z:1.70 [[-1.15758812e-03 -9.99999306e-01 -2.17235647e-04 1.27612532e+02] [ 9.99954075e-01 -1.15546903e-03 -9.51377243e-03 1.10239345e+02] [ 9.51351482e-03 -2.28238700e-04 9.99954719e-01 1.69824558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:110.27, Z:1.70 [[ 8.44877311e-04 -9.99999620e-01 -2.14480169e-04 1.27612524e+02] [ 9.99954384e-01 8.46879620e-04 -9.51383455e-03 1.10266840e+02] [ 9.51401257e-03 -2.06432362e-04 9.99954719e-01 1.69815267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:110.29, Z:1.70 [[ 7.16351625e-03 -9.99974319e-01 -2.11574761e-04 1.27612074e+02] [ 9.99929070e-01 7.16520505e-03 -9.51389916e-03 1.10294558e+02] [ 9.51517081e-03 -1.43406783e-04 9.99954719e-01 1.69759784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.62762800000002 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:127.61, Y:110.32, Z:1.69 [[ 9.95160356e-03 -9.99950460e-01 -2.08872253e-04 1.27611529e+02] [ 9.99905205e-01 9.95314048e-03 -9.51395849e-03 1.10321724e+02] [ 9.51556610e-03 -1.14173309e-04 9.99954719e-01 1.69333779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.65762800000002 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:127.61, Y:110.35, Z:1.69 [[ 1.84290383e-02 -9.99830150e-01 -2.06021378e-04 1.27610203e+02] [ 9.99784883e-01 1.84301644e-02 -9.51402023e-03 1.10350253e+02] [ 9.51620127e-03 -3.06428162e-05 9.99954719e-01 1.69267858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:110.38, Z:1.70 [[ 2.27457564e-02 -9.99741261e-01 -2.03346568e-04 1.27609588e+02] [ 9.99695990e-01 2.27466615e-02 -9.51407740e-03 1.10378548e+02] [ 9.51624119e-03 1.31201381e-05 9.99954719e-01 1.69528515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.71762800000002 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:127.61, Y:110.41, Z:1.69 [[ 2.57516004e-02 -9.99668352e-01 -2.00682132e-04 1.27609391e+02] [ 9.99623078e-01 2.57523441e-02 -9.51413360e-03 1.10406566e+02] [ 9.51614629e-03 4.43976761e-05 9.99954719e-01 1.69191629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.74762800000002 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:127.61, Y:110.43, Z:1.69 [[ 2.88010472e-02 -9.99585144e-01 -1.98036354e-04 1.27609838e+02] [ 9.99539867e-01 2.88016276e-02 -9.51418867e-03 1.10434792e+02] [ 9.51594542e-03 7.60733658e-05 9.99954719e-01 1.69218584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:110.46, Z:1.70 [[ 3.14521625e-02 -9.99505239e-01 -1.95404503e-04 1.27610887e+02] [ 9.99459961e-01 3.14525977e-02 -9.51424272e-03 1.10461982e+02] [ 9.51568143e-03 1.03944531e-04 9.99954719e-01 1.69536540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:110.49, Z:1.70 [[ 3.41748833e-02 -9.99415850e-01 -1.92455127e-04 1.27613258e+02] [ 9.99370570e-01 3.41751671e-02 -9.51430238e-03 1.10489816e+02] [ 9.51532178e-03 1.32816183e-04 9.99954719e-01 1.69747199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:110.52, Z:1.70 [[ 3.51321882e-02 -9.99382652e-01 -2.11293546e-04 1.27614590e+02] [ 9.99337373e-01 3.51326080e-02 -9.51392565e-03 1.10515730e+02] [ 9.51547554e-03 1.23091489e-04 9.99954719e-01 1.69820465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:110.54, Z:1.70 [[ 3.49068567e-02 -9.99390552e-01 -1.87183086e-04 1.27616123e+02] [ 9.99345272e-01 3.49070572e-02 -9.51439999e-03 1.10543144e+02] [ 9.51513548e-03 1.45057265e-04 9.99954720e-01 1.69961215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:110.57, Z:1.70 [[ 3.41384668e-02 -9.99417096e-01 -1.84278764e-04 1.27619663e+02] [ 9.99371816e-01 3.41386744e-02 -9.51445624e-03 1.10568895e+02] [ 9.51520126e-03 1.40645945e-04 9.99954720e-01 1.70158662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:110.60, Z:1.70 [[ 3.34044352e-02 -9.99441900e-01 -1.81238192e-04 1.27621316e+02] [ 9.99396620e-01 3.34046472e-02 -9.51451416e-03 1.10596279e+02] [ 9.51525831e-03 1.36698135e-04 9.99954720e-01 1.70212333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:110.62, Z:1.70 [[ 3.27380846e-02 -9.99463949e-01 -1.78394294e-04 1.27623021e+02] [ 9.99418669e-01 3.27382997e-02 -9.51456748e-03 1.10622915e+02] [ 9.51530752e-03 1.33198128e-04 9.99954720e-01 1.70219818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:110.65, Z:1.70 [[ 3.06883177e-02 -9.99528987e-01 -1.76199237e-04 1.27626468e+02] [ 9.99483708e-01 3.06886048e-02 -9.51460813e-03 1.10649191e+02] [ 9.51553394e-03 1.15879051e-04 9.99954720e-01 1.70039489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:110.68, Z:1.70 [[ 2.96653432e-02 -9.99559872e-01 -1.73246648e-04 1.27628855e+02] [ 9.99514592e-01 2.96656485e-02 -9.51466190e-03 1.10676915e+02] [ 9.51561370e-03 1.09093158e-04 9.99954720e-01 1.69960982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:110.70, Z:1.70 [[ 2.83133473e-02 -9.99599082e-01 -1.71301582e-04 1.27630638e+02] [ 9.99553803e-01 2.83136953e-02 -9.51469692e-03 1.10704363e+02] [ 9.51573248e-03 9.81677703e-05 9.99954720e-01 1.69818743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:110.73, Z:1.70 [[ 2.70638251e-02 -9.99633693e-01 -1.68527274e-04 1.27632357e+02] [ 9.99588415e-01 2.70642034e-02 -9.51474605e-03 1.10730739e+02] [ 9.51582180e-03 8.90475132e-05 9.99954720e-01 1.69654856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:110.76, Z:1.70 [[ 2.66847352e-02 -9.99643885e-01 -1.66388713e-04 1.27632441e+02] [ 9.99598606e-01 2.66851102e-02 -9.51478345e-03 1.10757363e+02] [ 9.51583520e-03 8.75775509e-05 9.99954720e-01 1.69561355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:110.78, Z:1.69 [[ 2.62044504e-02 -9.99656591e-01 -1.63361007e-04 1.27631245e+02] [ 9.99611312e-01 2.62048184e-02 -9.51483544e-03 1.10784047e+02] [ 9.51584880e-03 8.60335233e-05 9.99954720e-01 1.69304633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:110.81, Z:1.69 [[ 2.49340854e-02 -9.99689085e-01 -1.60507325e-04 1.27630973e+02] [ 9.99643806e-01 2.49344838e-02 -9.51488357e-03 1.10810269e+02] [ 9.51592742e-03 7.67947670e-05 9.99954720e-01 1.69205793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:110.84, Z:1.69 [[ 2.28433146e-02 -9.99739045e-01 -1.57523715e-04 1.27630985e+02] [ 9.99693767e-01 2.28437793e-02 -9.51493297e-03 1.10835543e+02] [ 9.51604844e-03 5.98771314e-05 9.99954720e-01 1.69124748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:110.86, Z:1.70 [[ 2.02664054e-02 -9.99794603e-01 -1.54413989e-04 1.27631775e+02] [ 9.99749326e-01 2.02669572e-02 -9.51498344e-03 1.10864053e+02] [ 9.51615859e-03 3.84592302e-05 9.99954720e-01 1.69596174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:110.89, Z:1.70 [[ 1.48216028e-02 -9.99890143e-01 -1.51762189e-04 1.27633777e+02] [ 9.99844869e-01 1.48223759e-02 -9.51502573e-03 1.10891837e+02] [ 9.51622991e-03 -1.07107134e-05 9.99954720e-01 1.69877091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:110.92, Z:1.70 [[ 1.16528598e-02 -9.99932092e-01 -1.49107491e-04 1.27634735e+02] [ 9.99886820e-01 1.16537510e-02 -9.51506733e-03 1.10919710e+02] [ 9.51615884e-03 -3.82128697e-05 9.99954720e-01 1.70022724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:110.95, Z:1.70 [[ 8.33307818e-03 -9.99965269e-01 -1.46452134e-04 1.27634987e+02] [ 9.99920000e-01 8.33409449e-03 -9.51510820e-03 1.10947818e+02] [ 9.51599828e-03 -6.71502774e-05 9.99954720e-01 1.70175730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:110.97, Z:1.70 [[ 5.04656336e-03 -9.99987256e-01 -1.43872365e-04 1.27634856e+02] [ 9.99941990e-01 5.04770391e-03 -9.51514721e-03 1.10974776e+02] [ 9.51575217e-03 -9.58452254e-05 9.99954720e-01 1.70235725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37762800000002 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:127.63, Y:111.00, Z:1.70 [[-1.93954694e-03 -9.99998109e-01 -1.41013641e-04 1.27634462e+02] [ 9.99952851e-01 -1.93811739e-03 -9.51518958e-03 1.11002515e+02] [ 9.51489828e-03 -1.59462149e-04 9.99954720e-01 1.69957451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:111.03, Z:1.70 [[-4.20236311e-03 -9.99991160e-01 -1.38359546e-04 1.27635167e+02] [ 9.99945905e-01 -4.20085640e-03 -9.51522817e-03 1.11030921e+02] [ 9.51456283e-03 -1.78338505e-04 9.99954720e-01 1.70316948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:111.06, Z:1.70 [[-6.56158076e-03 -9.99978463e-01 -1.35708324e-04 1.27635808e+02] [ 9.99933211e-01 -6.55999250e-03 -9.51526598e-03 1.11059246e+02] [ 9.51417081e-03 -1.98134447e-04 9.99954720e-01 1.70451516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:111.09, Z:1.71 [[-8.27114987e-03 -9.99965785e-01 -1.33050019e-04 1.27636236e+02] [ 9.99920534e-01 -8.26950953e-03 -9.51530315e-03 1.11086271e+02] [ 9.51387732e-03 -2.11741945e-04 9.99954720e-01 1.70589044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:111.11, Z:1.71 [[-9.79936431e-03 -9.99951977e-01 -1.31113787e-04 1.27635455e+02] [ 9.99906728e-01 -9.79767323e-03 -9.51532983e-03 1.11114383e+02] [ 9.51358826e-03 -2.24345741e-04 9.99954720e-01 1.70856825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.14, Z:1.71 [[-1.03228824e-02 -9.99946709e-01 -1.28441860e-04 1.27634600e+02] [ 9.99901461e-01 -1.03211930e-02 -9.51536590e-03 1.11141422e+02] [ 9.51353314e-03 -2.26655207e-04 9.99954720e-01 1.70861877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.17, Z:1.71 [[-1.01125026e-02 -9.99948859e-01 -1.25626514e-04 1.27633851e+02] [ 9.99903609e-01 -1.01108495e-02 -9.51540307e-03 1.11168404e+02] [ 9.51364625e-03 -2.21838942e-04 9.99954720e-01 1.70875847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.20, Z:1.71 [[-9.04037867e-03 -9.99959127e-01 -1.22687623e-04 1.27633365e+02] [ 9.99913875e-01 -9.03880208e-03 -9.51544096e-03 1.11195045e+02] [ 9.51394309e-03 -2.08700246e-04 9.99954720e-01 1.70858147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.22, Z:1.71 [[-8.70823083e-03 -9.99962076e-01 -1.19608787e-04 1.27633322e+02] [ 9.99916821e-01 -8.70669855e-03 -9.51547966e-03 1.11223314e+02] [ 9.51407739e-03 -2.02461831e-04 9.99954720e-01 1.70958288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.25, Z:1.71 [[-8.19642934e-03 -9.99966402e-01 -1.16951072e-04 1.27633157e+02] [ 9.99921146e-01 -8.19494551e-03 -9.51551232e-03 1.11251792e+02] [ 9.51423421e-03 -1.94935075e-04 9.99954720e-01 1.70902975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.28, Z:1.71 [[-7.72641244e-03 -9.99970144e-01 -1.14283630e-04 1.27632435e+02] [ 9.99924887e-01 -7.72497525e-03 -9.51554436e-03 1.11279784e+02] [ 9.51437743e-03 -1.87796066e-04 9.99954720e-01 1.70811142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.31, Z:1.71 [[-6.64012848e-03 -9.99977948e-01 -1.11638110e-04 1.27629817e+02] [ 9.99932688e-01 -6.63876562e-03 -9.51557540e-03 1.11307705e+02] [ 9.51462442e-03 -1.74815239e-04 9.99954720e-01 1.70617947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.34, Z:1.71 [[-6.92194290e-03 -9.99976037e-01 -1.08960593e-04 1.27630075e+02] [ 9.99930777e-01 -6.92059276e-03 -9.51560606e-03 1.11336306e+02] [ 9.51462397e-03 -1.74819532e-04 9.99954720e-01 1.70645051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.36, Z:1.71 [[-6.93599901e-03 -9.99975940e-01 -1.06278767e-04 1.27628896e+02] [ 9.99930679e-01 -6.93467374e-03 -9.51563601e-03 1.11364632e+02] [ 9.51467006e-03 -1.72271841e-04 9.99954720e-01 1.70568946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.39, Z:1.71 [[-6.90944655e-03 -9.99976124e-01 -1.03620696e-04 1.27628431e+02] [ 9.99930862e-01 -6.90814776e-03 -9.51566496e-03 1.11392477e+02] [ 9.51472193e-03 -1.69361511e-04 9.99954720e-01 1.70565918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.42, Z:1.71 [[-6.86705307e-03 -9.99976416e-01 -1.00966471e-04 1.27628490e+02] [ 9.99931154e-01 -6.86578146e-03 -9.51569312e-03 1.11420098e+02] [ 9.51477549e-03 -1.66304290e-04 9.99954720e-01 1.70635743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.45, Z:1.71 [[-6.36122571e-03 -9.99979762e-01 -9.83067507e-05 1.27628748e+02] [ 9.99934499e-01 -6.36000229e-03 -9.51572060e-03 1.11448522e+02] [ 9.51490279e-03 -1.58831958e-04 9.99954720e-01 1.70739837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.48, Z:1.71 [[-5.85949194e-03 -9.99982828e-01 -9.56304722e-05 1.27628652e+02] [ 9.99937563e-01 -5.85831670e-03 -9.51574749e-03 1.11477081e+02] [ 9.51502386e-03 -1.51381947e-04 9.99954720e-01 1.70819561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.50, Z:1.71 [[-4.37781942e-03 -9.99990413e-01 -9.29665306e-05 1.27628689e+02] [ 9.99945146e-01 -4.37673659e-03 -9.51577352e-03 1.11504654e+02] [ 9.51527540e-03 -1.34619769e-04 9.99954720e-01 1.70853348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.53, Z:1.71 [[ 7.45015002e-04 -9.99999718e-01 -9.01599510e-05 1.27627444e+02] [ 9.99954446e-01 7.45839217e-04 -9.51580011e-03 1.11532535e+02] [ 9.51586468e-03 -8.30664300e-05 9.99954720e-01 1.70875297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.56, Z:1.71 [[ 3.82089598e-03 -9.99992697e-01 -8.75380509e-05 1.27626879e+02] [ 9.99947421e-01 3.82155599e-03 -9.51582423e-03 1.11559877e+02] [ 9.51608926e-03 -5.11744737e-05 9.99954720e-01 1.70867720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.007628 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:127.63, Y:111.59, Z:1.71 [[ 6.48103085e-03 -9.99978994e-01 -8.46013668e-05 1.27626194e+02] [ 9.99933717e-01 6.48154247e-03 -9.51585034e-03 1.11585898e+02] [ 9.51619880e-03 -2.29232395e-05 9.99954720e-01 1.70526959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.61, Z:1.71 [[ 1.05729460e-02 -9.99944102e-01 -8.15232143e-05 1.27626035e+02] [ 9.99898822e-01 1.05732430e-02 -9.51587671e-03 1.11614389e+02] [ 9.51620675e-03 1.90958843e-05 9.99954720e-01 1.70789059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.067628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:127.63, Y:111.64, Z:1.70 [[ 1.51340498e-02 -9.99885471e-01 -7.88231464e-05 1.27625596e+02] [ 9.99840190e-01 1.51341146e-02 -9.51589908e-03 1.11642934e+02] [ 9.51600214e-03 6.52035407e-05 9.99954720e-01 1.70458796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.67, Z:1.71 [[ 1.78277003e-02 -9.99841071e-01 -7.61114160e-05 1.27626807e+02] [ 9.99795791e-01 1.78276173e-02 -9.51592076e-03 1.11669813e+02] [ 9.51576529e-03 9.35511103e-05 9.99954720e-01 1.70692077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.70, Z:1.71 [[ 1.93244300e-02 -9.99813263e-01 -7.32541196e-05 1.27627945e+02] [ 9.99767983e-01 1.93242521e-02 -9.51594276e-03 1.11698008e+02] [ 9.51558136e-03 1.10653047e-04 9.99954720e-01 1.70796969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.73, Z:1.71 [[ 2.02336212e-02 -9.99795277e-01 -7.05503708e-05 1.27629105e+02] [ 9.99749997e-01 2.02333763e-02 -9.51596281e-03 1.11725337e+02] [ 9.51544214e-03 1.22009654e-04 9.99954720e-01 1.70847524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.75, Z:1.71 [[ 2.07811795e-02 -9.99784046e-01 -6.76983763e-05 1.27630316e+02] [ 9.99738766e-01 2.07808827e-02 -9.51598310e-03 1.11753213e+02] [ 9.51533491e-03 1.30072662e-04 9.99954720e-01 1.70910534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.78, Z:1.71 [[ 2.08087107e-02 -9.99783473e-01 -6.50590665e-05 1.27632405e+02] [ 9.99738194e-01 2.08083876e-02 -9.51600114e-03 1.11780983e+02] [ 9.51529444e-03 1.32973681e-04 9.99954720e-01 1.70968906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.81, Z:1.71 [[ 2.05382378e-02 -9.99789066e-01 -6.23963596e-05 1.27633699e+02] [ 9.99743787e-01 2.05379016e-02 -9.51601860e-03 1.11809276e+02] [ 9.51529284e-03 1.33061880e-04 9.99954720e-01 1.70932517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:111.84, Z:1.71 [[ 1.96245641e-02 -9.99807418e-01 -5.96975919e-05 1.27634865e+02] [ 9.99762139e-01 1.96242436e-02 -9.51603553e-03 1.11836807e+02] [ 9.51537443e-03 1.27064657e-04 9.99954720e-01 1.70907332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:111.86, Z:1.71 [[ 1.69986814e-02 -9.99855510e-01 -5.68525107e-05 1.27638870e+02] [ 9.99810231e-01 1.69984527e-02 -9.51605253e-03 1.11863631e+02] [ 9.51564396e-03 1.04918624e-04 9.99954720e-01 1.70905129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:111.89, Z:1.71 [[ 1.43531019e-02 -9.99896987e-01 -5.49035076e-05 1.27640967e+02] [ 9.99851707e-01 1.43529744e-02 -9.51606377e-03 1.11891986e+02] [ 9.51587153e-03 8.16896671e-05 9.99954720e-01 1.70989362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:111.92, Z:1.71 [[ 1.16121319e-02 -9.99932576e-01 -5.21980714e-05 1.27642816e+02] [ 9.99887295e-01 1.16121028e-02 -9.51607861e-03 1.11919567e+02] [ 9.51604313e-03 5.83097716e-05 9.99954720e-01 1.70963621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:111.95, Z:1.71 [[ 8.54667962e-03 -9.99963475e-01 -4.93429308e-05 1.27644622e+02] [ 9.99918195e-01 8.54676218e-03 -9.51609342e-03 1.11946240e+02] [ 9.51616757e-03 3.19921074e-05 9.99954720e-01 1.70898489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:111.97, Z:1.71 [[ 5.65422746e-03 -9.99984014e-01 -4.62224707e-05 1.27645964e+02] [ 9.99938734e-01 5.65441130e-03 -9.51610857e-03 1.11972760e+02] [ 9.51621781e-03 7.58660359e-06 9.99954720e-01 1.71028972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.00, Z:1.71 [[ 3.63093723e-03 -9.99993408e-01 -7.39194499e-06 1.27645998e+02] [ 9.99948127e-01 3.63084316e-03 -9.51628810e-03 1.12002031e+02] [ 9.51625221e-03 2.71614832e-05 9.99954719e-01 1.71121575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.03, Z:1.71 [[ 3.03300461e-03 -9.99995400e-01 -4.33799757e-05 1.27646655e+02] [ 9.99950120e-01 3.03328009e-03 -9.51612405e-03 1.12028796e+02] [ 9.51621185e-03 -1.45153638e-05 9.99954720e-01 1.71119782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.06, Z:1.71 [[ 1.95767333e-04 -9.99999981e-01 -8.74661014e-06 1.27647324e+02] [ 9.99954700e-01 1.95841702e-04 -9.51627475e-03 1.12058425e+02] [ 9.51627628e-03 -6.88323820e-06 9.99954719e-01 1.71226201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.09, Z:1.71 [[-4.89730054e-03 -9.99988007e-01 -3.98334068e-05 1.27647419e+02] [ 9.99942731e-01 -4.89669975e-03 -9.51614463e-03 1.12085331e+02] [ 9.51583546e-03 -8.64345459e-05 9.99954720e-01 1.71255777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.11, Z:1.71 [[-8.60265134e-03 -9.99962996e-01 -3.69782473e-05 1.27647840e+02] [ 9.99917722e-01 -8.60190995e-03 -9.51615573e-03 1.12113108e+02] [ 9.51548551e-03 -1.18839375e-04 9.99954720e-01 1.71339450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.14, Z:1.71 [[-1.22075625e-02 -9.99925484e-01 -3.43083654e-05 1.27648076e+02] [ 9.99880213e-01 -1.22066833e-02 -9.51616535e-03 1.12141622e+02] [ 9.51503746e-03 -1.50473439e-04 9.99954720e-01 1.71438715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.17, Z:1.72 [[-1.53460863e-02 -9.99882241e-01 -3.16591249e-05 1.27646804e+02] [ 9.99836972e-01 -1.53450902e-02 -9.51617417e-03 1.12169672e+02] [ 9.51456774e-03 -1.77689993e-04 9.99954720e-01 1.71525164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.20, Z:1.71 [[-2.29269232e-02 -9.99737143e-01 -2.90034683e-05 1.27646126e+02] [ 9.99691882e-01 -2.29256092e-02 -9.51618226e-03 1.12197712e+02] [ 9.51301594e-03 -2.47171312e-04 9.99954720e-01 1.71497563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.23, Z:1.71 [[-2.75779844e-02 -9.99619655e-01 -2.63682725e-05 1.27645783e+02] [ 9.99574399e-01 -2.75764849e-02 -9.51618956e-03 1.12225617e+02] [ 9.51184298e-03 -2.88794378e-04 9.99954720e-01 1.71487411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.727628 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:127.64, Y:112.25, Z:1.71 [[-3.23235152e-02 -9.99477458e-01 -2.37531507e-05 1.27644862e+02] [ 9.99432210e-01 -3.23218257e-02 -9.51619609e-03 1.12252201e+02] [ 9.51045574e-03 -3.31336573e-04 9.99954720e-01 1.71252133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.757628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:127.64, Y:112.28, Z:1.71 [[-3.83580199e-02 -9.99264060e-01 -2.06740805e-05 1.27641245e+02] [ 9.99218821e-01 -3.83560865e-02 -9.51620278e-03 1.12279155e+02] [ 9.50840645e-03 -3.85680626e-04 9.99954720e-01 1.71234308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:112.31, Z:1.71 [[-4.09698836e-02 -9.99160382e-01 -1.77654550e-05 1.27639672e+02] [ 9.99115147e-01 -4.09678596e-02 -9.51620821e-03 1.12305262e+02] [ 9.50749041e-03 -4.07627678e-04 9.99954720e-01 1.71460905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:112.33, Z:1.72 [[-4.32792124e-02 -9.99063016e-01 -1.47133708e-05 1.27638321e+02] [ 9.99017784e-01 -4.32771128e-02 -9.51621293e-03 1.12332788e+02] [ 9.50665963e-03 -4.26553119e-04 9.99954720e-01 1.71642966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.84762800000001 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:127.64, Y:112.36, Z:1.72 [[-4.55992375e-02 -9.98959814e-01 -1.18559080e-05 1.27636644e+02] [ 9.98914586e-01 -4.55970601e-02 -9.51621649e-03 1.12358704e+02] [ 9.50577726e-03 -4.45775255e-04 9.99954720e-01 1.71590342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.39, Z:1.72 [[-4.65582726e-02 -9.98915576e-01 -8.86327611e-06 1.27632058e+02] [ 9.98870348e-01 -4.65560802e-02 -9.51621928e-03 1.12386889e+02] [ 9.50548702e-03 -4.51911995e-04 9.99954720e-01 1.72112556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.41, Z:1.72 [[-4.61217760e-02 -9.98935825e-01 -6.32475699e-06 1.27629015e+02] [ 9.98890595e-01 -4.61196275e-02 -9.51622096e-03 1.12413656e+02] [ 9.50580234e-03 -4.45222752e-04 9.99954720e-01 1.72198849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.44, Z:1.72 [[-4.46019789e-02 -9.99004837e-01 -3.33513758e-06 1.27625683e+02] [ 9.98959603e-01 -4.45999276e-02 -9.51622201e-03 1.12440897e+02] [ 9.50660307e-03 -4.27774001e-04 9.99954720e-01 1.72284852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:112.47, Z:1.72 [[-4.23876212e-02 -9.99101241e-01 -5.27069097e-07 1.27621929e+02] [ 9.99056002e-01 -4.23856969e-02 -9.51622217e-03 1.12468475e+02] [ 9.50764703e-03 -4.03896592e-04 9.99954720e-01 1.72360198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:112.47, Z:1.72 [[-3.61377227e-02 -9.99346819e-01 2.28030623e-06 1.27614856e+02] [ 9.99301568e-01 -3.61361081e-02 -9.51622149e-03 1.12470412e+02] [ 9.51008808e-03 -3.41615860e-04 9.99954720e-01 1.72367797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:112.45, Z:1.72 [[-3.93482742e-02 -9.99225557e-01 5.85240256e-06 1.27608222e+02] [ 9.99180309e-01 -3.93465481e-02 -9.51621930e-03 1.12452551e+02] [ 9.50907980e-03 -3.68599201e-04 9.99954720e-01 1.72279836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:112.47, Z:1.72 [[-2.99351504e-02 -9.99551839e-01 9.34929855e-05 1.27608612e+02] [ 9.99506557e-01 -2.99346844e-02 -9.51611153e-03 1.12473116e+02] [ 9.51464546e-03 -1.91419378e-04 9.99954716e-01 1.72288187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:112.45, Z:1.72 [[-3.02640531e-02 -9.99541939e-01 1.01890716e-05 1.27599621e+02] [ 9.99496676e-01 -3.02627797e-02 -9.51620076e-03 1.12453247e+02] [ 9.51215010e-03 -2.77814862e-04 9.99954720e-01 1.72144743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:112.47, Z:1.72 [[-2.30475059e-02 -9.99734368e-01 8.10586150e-05 1.27599163e+02] [ 9.99689086e-01 -2.30472335e-02 -9.51608526e-03 1.12470744e+02] [ 9.51542565e-03 -1.38288618e-04 9.99954718e-01 1.72135095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:112.47, Z:1.72 [[-2.19121394e-02 -9.99759900e-01 1.47207603e-05 1.27596056e+02] [ 9.99714628e-01 -2.19112873e-02 -9.51618790e-03 1.12469064e+02] [ 9.51422561e-03 -1.93803477e-04 9.99954720e-01 1.72111352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:112.47, Z:1.72 [[-1.98183573e-02 -9.99803597e-01 1.83198252e-05 1.27592114e+02] [ 9.99758323e-01 -1.98176342e-02 -9.51618097e-03 1.12468992e+02] [ 9.51467502e-03 -1.70279677e-04 9.99954720e-01 1.72103826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:112.47, Z:1.72 [[-1.93709135e-02 -9.99812366e-01 2.19230110e-05 1.27590546e+02] [ 9.99767091e-01 -1.93702450e-02 -9.51617267e-03 1.12467579e+02] [ 9.51481177e-03 -1.62419053e-04 9.99954720e-01 1.72202807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:112.47, Z:1.72 [[-1.89168242e-02 -9.99821061e-01 2.55303270e-05 1.27589032e+02] [ 9.99775785e-01 -1.89162106e-02 -9.51616299e-03 1.12465935e+02] [ 9.51494311e-03 -1.54490980e-04 9.99954720e-01 1.72078388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:112.46, Z:1.72 [[-1.86024594e-02 -9.99826959e-01 2.91400310e-05 1.27587553e+02] [ 9.99781682e-01 -1.86018944e-02 -9.51615194e-03 1.12463395e+02] [ 9.51504731e-03 -1.47890161e-04 9.99954720e-01 1.72083211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:112.46, Z:1.72 [[-1.74122520e-02 -9.99848395e-01 3.27509277e-05 1.27584371e+02] [ 9.99803117e-01 -1.74117753e-02 -9.51613951e-03 1.12460588e+02] [ 9.51526706e-03 -1.32952940e-04 9.99954720e-01 1.71998917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:112.46, Z:1.72 [[-1.68738355e-02 -9.99857626e-01 3.63606217e-05 1.27582564e+02] [ 9.99812348e-01 -1.68734174e-02 -9.51612572e-03 1.12459655e+02] [ 9.51538440e-03 -1.24219741e-04 9.99954720e-01 1.71962473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:112.46, Z:1.72 [[-1.61879803e-02 -9.99868965e-01 3.99715074e-05 1.27580764e+02] [ 9.99823687e-01 -1.61876277e-02 -9.51611055e-03 1.12458813e+02] [ 9.51551065e-03 -1.14082150e-04 9.99954720e-01 1.71945098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.387628 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:127.58, Y:112.46, Z:1.72 [[-1.57438382e-02 -9.99876057e-01 4.35865380e-05 1.27579363e+02] [ 9.99830778e-01 -1.57435401e-02 -9.51609399e-03 1.12457248e+02] [ 9.51560075e-03 -1.06240682e-04 9.99954720e-01 1.71802310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:112.46, Z:1.72 [[-1.29466266e-02 -9.99916188e-01 4.72039645e-05 1.27578974e+02] [ 9.99870908e-01 -1.29464896e-02 -9.51607605e-03 1.12455806e+02] [ 9.51588961e-03 -7.60032128e-05 9.99954720e-01 1.72191704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:112.46, Z:1.72 [[-1.21655359e-02 -9.99925996e-01 5.08243457e-05 1.27578251e+02] [ 9.99880716e-01 -1.21654687e-02 -9.51605671e-03 1.12456692e+02] [ 9.51597079e-03 -6.49496468e-05 9.99954720e-01 1.72240624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.477628 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:127.58, Y:112.45, Z:1.72 [[-1.20399939e-02 -9.99927515e-01 5.44495416e-05 1.27576926e+02] [ 9.99882235e-01 -1.20399668e-02 -9.51603597e-03 1.12451566e+02] [ 9.51600177e-03 -6.01298853e-05 9.99954720e-01 1.71977125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:112.45, Z:1.72 [[-1.09826498e-02 -9.99939687e-01 5.80764950e-05 1.27576027e+02] [ 9.99894407e-01 -1.09827052e-02 -9.51601383e-03 1.12451905e+02] [ 9.51607773e-03 -4.64406851e-05 9.99954720e-01 1.72018801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:112.45, Z:1.72 [[-1.08084979e-02 -9.99941585e-01 6.17034394e-05 1.27576016e+02] [ 9.99896305e-01 -1.08085957e-02 -9.51599032e-03 1.12449158e+02] [ 9.51610136e-03 -4.11565207e-05 9.99954720e-01 1.71927243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:112.45, Z:1.72 [[-1.06954755e-02 -9.99942800e-01 6.46470342e-05 1.27576037e+02] [ 9.99897520e-01 -1.06956064e-02 -9.51597032e-03 1.12446345e+02] [ 9.51611744e-03 -3.71374185e-05 9.99954720e-01 1.71910300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.59762800000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:127.58, Y:112.45, Z:1.72 [[-1.04529791e-02 -9.99945364e-01 6.82709882e-05 1.27576292e+02] [ 9.99900084e-01 -1.04531555e-02 -9.51594432e-03 1.12446102e+02] [ 9.51613805e-03 -3.12058007e-05 9.99954720e-01 1.71539451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.62762800000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:127.58, Y:112.44, Z:1.72 [[-1.08340824e-02 -9.99941307e-01 7.14394483e-05 1.27576383e+02] [ 9.99896028e-01 -1.08342716e-02 -9.51592053e-03 1.12443728e+02] [ 9.51613601e-03 -3.16642463e-05 9.99954720e-01 1.71537074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:112.44, Z:1.72 [[-8.88190106e-03 -9.99960552e-01 7.50663551e-05 1.27578703e+02] [ 9.99915273e-01 -8.88221323e-03 -9.51589192e-03 1.12442071e+02] [ 9.51618330e-03 -9.45921558e-06 9.99954720e-01 1.71512203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:112.44, Z:1.72 [[-8.46461699e-03 -9.99964171e-01 7.82367436e-05 1.27579722e+02] [ 9.99918893e-01 -8.46497823e-03 -9.51586586e-03 1.12441793e+02] [ 9.51618719e-03 -2.31776182e-06 9.99954720e-01 1.71561883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.71762800000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:127.58, Y:112.44, Z:1.71 [[-8.65790909e-03 -9.99962516e-01 8.14080771e-05 1.27580154e+02] [ 9.99917238e-01 -8.65829176e-03 -9.51583873e-03 1.12439231e+02] [ 9.51618689e-03 -9.85926994e-07 9.99954720e-01 1.71347579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.74762800000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:127.58, Y:112.44, Z:1.71 [[-8.58843280e-03 -9.99963115e-01 8.50373697e-05 1.27580946e+02] [ 9.99917837e-01 -8.58885315e-03 -9.51580629e-03 1.12438412e+02] [ 9.51618568e-03 3.30451996e-06 9.99954720e-01 1.71423885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:112.44, Z:1.72 [[-9.01619912e-03 -9.99959349e-01 8.82105930e-05 1.27584894e+02] [ 9.99914072e-01 -9.01663030e-03 -9.51577688e-03 1.12438151e+02] [ 9.51618542e-03 2.40687401e-06 9.99954720e-01 1.71771435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:112.44, Z:1.72 [[-1.05832100e-02 -9.99943992e-01 9.13867159e-05 1.27587797e+02] [ 9.99898714e-01 -1.05836004e-02 -9.51574637e-03 1.12435233e+02] [ 9.51618062e-03 -9.32968241e-06 9.99954720e-01 1.71950382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.83762800000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:127.59, Y:112.43, Z:1.72 [[-1.28702217e-02 -9.99917171e-01 9.45628283e-05 1.27590899e+02] [ 9.99871892e-01 -1.28705388e-02 -9.51571481e-03 1.12431371e+02] [ 9.51614371e-03 -2.79186452e-05 9.99954720e-01 1.71891089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.86762800000002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:127.60, Y:112.43, Z:1.72 [[-1.71746043e-02 -9.99852501e-01 9.81920718e-05 1.27596052e+02] [ 9.99807221e-01 -1.71747611e-02 -9.51567736e-03 1.12429575e+02] [ 9.51596023e-03 -6.52548514e-05 9.99954720e-01 1.72183717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:112.43, Z:1.73 [[-1.91777660e-02 -9.99816085e-01 1.01362386e-04 1.27598462e+02] [ 9.99770805e-01 -1.91778622e-02 -9.51564359e-03 1.12425792e+02] [ 9.51583743e-03 -8.11496322e-05 9.99954720e-01 1.72601565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:112.43, Z:1.73 [[-2.13306135e-02 -9.99772471e-01 1.04528838e-04 1.27600523e+02] [ 9.99727191e-01 -2.13306423e-02 -9.51560881e-03 1.12425926e+02] [ 9.51567340e-03 -9.84734527e-05 9.99954720e-01 1.72704654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:112.42, Z:1.73 [[-2.33355892e-02 -9.99727682e-01 1.07695277e-04 1.27602483e+02] [ 9.99682402e-01 -2.33355574e-02 -9.51557297e-03 1.12420983e+02] [ 9.51549484e-03 -1.14390429e-04 9.99954720e-01 1.72735779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.98762800000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:127.61, Y:112.42, Z:1.73 [[-2.53417086e-02 -9.99678841e-01 1.11316663e-04 1.27605926e+02] [ 9.99633561e-01 -2.53416204e-02 -9.51553061e-03 1.12416318e+02] [ 9.51529555e-03 -1.29863932e-04 9.99954720e-01 1.72655586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:112.42, Z:1.73 [[-2.56960717e-02 -9.99669795e-01 1.14931463e-04 1.27607414e+02] [ 9.99624515e-01 -2.56960018e-02 -9.51548695e-03 1.12416364e+02] [ 9.51529816e-03 -1.29622327e-04 9.99954720e-01 1.72688697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:112.42, Z:1.73 [[-2.58222290e-02 -9.99666544e-01 1.18546246e-04 1.27608830e+02] [ 9.99621264e-01 -2.58221877e-02 -9.51544191e-03 1.12415587e+02] [ 9.51533005e-03 -1.27208572e-04 9.99954720e-01 1.72600039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:112.41, Z:1.72 [[-2.61282243e-02 -9.99658592e-01 1.22166375e-04 1.27610192e+02] [ 9.99613312e-01 -2.61282037e-02 -9.51539543e-03 1.12414283e+02] [ 9.51533879e-03 -1.26501251e-04 9.99954720e-01 1.72496908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.107628 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:127.61, Y:112.41, Z:1.72 [[-2.73379858e-02 -9.99626240e-01 1.25786534e-04 1.27612875e+02] [ 9.99580960e-01 -2.73379448e-02 -9.51534758e-03 1.12406307e+02] [ 9.51522986e-03 -1.34396612e-04 9.99954720e-01 1.72017073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.137628 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:127.61, Y:112.41, Z:1.72 [[-2.84018895e-02 -9.99596577e-01 1.28947145e-04 1.27614239e+02] [ 9.99551297e-01 -2.84018304e-02 -9.51530475e-03 1.12406702e+02] [ 9.51512838e-03 -1.41363348e-04 9.99954720e-01 1.71896877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:112.40, Z:1.72 [[-3.43342662e-02 -9.99410397e-01 1.31875375e-04 1.27615184e+02] [ 9.99365118e-01 -3.43339663e-02 -9.51526416e-03 1.12400429e+02] [ 9.51418174e-03 -1.94907963e-04 9.99954720e-01 1.72189795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.197628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:127.62, Y:112.41, Z:1.72 [[-3.29953484e-02 -9.99455490e-01 1.75967546e-04 1.27618977e+02] [ 9.99410210e-01 -3.29955287e-02 -9.51463221e-03 1.12408260e+02] [ 9.51525754e-03 -1.38074842e-04 9.99954719e-01 1.71952697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:112.40, Z:1.72 [[-3.44780387e-02 -9.99405446e-01 1.38143058e-04 1.27620477e+02] [ 9.99360167e-01 -3.44777919e-02 -9.51518136e-03 1.12398280e+02] [ 9.51428694e-03 -1.90010122e-04 9.99954720e-01 1.72132794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:112.40, Z:1.72 [[-3.59774858e-02 -9.99352591e-01 1.41754769e-04 1.27621837e+02] [ 9.99307312e-01 -3.59772054e-02 -9.51512755e-03 1.12395655e+02] [ 9.51406731e-03 -2.00673790e-04 9.99954720e-01 1.72070239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:112.39, Z:1.72 [[-3.84019201e-02 -9.99262364e-01 1.45356346e-04 1.27624143e+02] [ 9.99217085e-01 -3.84015641e-02 -9.51507253e-03 1.12391968e+02] [ 9.51363578e-03 -2.20154510e-04 9.99954720e-01 1.72199712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.39, Z:1.72 [[-3.90871140e-02 -9.99235796e-01 1.48501648e-04 1.27625455e+02] [ 9.99190517e-01 -3.90867570e-02 -9.51502344e-03 1.12388405e+02] [ 9.51355647e-03 -2.23533368e-04 9.99954720e-01 1.72253844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.34762800000001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:127.63, Y:112.39, Z:1.72 [[-3.98387342e-02 -9.99206111e-01 1.51641270e-04 1.27626507e+02] [ 9.99160833e-01 -3.98383729e-02 -9.51497341e-03 1.12387198e+02] [ 9.51346071e-03 -2.27550478e-04 9.99954720e-01 1.72079846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.37762800000002 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:127.63, Y:112.39, Z:1.72 [[-3.84497926e-02 -9.99260521e-01 1.55232185e-04 1.27628709e+02] [ 9.99215242e-01 -3.84495285e-02 -9.51491482e-03 1.12386455e+02] [ 9.51384735e-03 -2.10736137e-04 9.99954720e-01 1.72301774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.39, Z:1.72 [[-3.69254810e-02 -9.99318009e-01 1.58373682e-04 1.27630104e+02] [ 9.99272730e-01 -3.69253158e-02 -9.51486253e-03 1.12385352e+02] [ 9.51422148e-03 -1.93082374e-04 9.99954720e-01 1.72487811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.39, Z:1.72 [[-3.57379178e-02 -9.99361183e-01 1.61969847e-04 1.27631028e+02] [ 9.99315904e-01 -3.57378407e-02 -9.51480131e-03 1.12386534e+02] [ 9.51451155e-03 -1.78180144e-04 9.99954720e-01 1.72403832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.39, Z:1.72 [[-3.39187324e-02 -9.99424581e-01 1.65572490e-04 1.27631951e+02] [ 9.99379301e-01 -3.39187719e-02 -9.51473862e-03 1.12386060e+02] [ 9.51487967e-03 -1.57258154e-04 9.99954720e-01 1.72463465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.49762800000002 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:127.63, Y:112.38, Z:1.72 [[-3.00719439e-02 -9.99547723e-01 1.69182831e-04 1.27633018e+02] [ 9.99502443e-01 -3.00721921e-02 -9.51467443e-03 1.12384065e+02] [ 9.51545885e-03 -1.17026103e-04 9.99954720e-01 1.72162743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.38, Z:1.72 [[-2.73682388e-02 -9.99625405e-01 1.72796097e-04 1.27633778e+02] [ 9.99580127e-01 -2.73686438e-02 -9.51460881e-03 1.12384782e+02] [ 9.51577387e-03 -8.76745407e-05 9.99954720e-01 1.72398656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.38, Z:1.72 [[-2.53210274e-02 -9.99679356e-01 1.76412940e-04 1.27634780e+02] [ 9.99634079e-01 -2.53215596e-02 -9.51454174e-03 1.12382254e+02] [ 9.51595801e-03 -6.45695851e-05 9.99954720e-01 1.72363358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:112.38, Z:1.72 [[-2.31918969e-02 -9.99731016e-01 1.80033923e-04 1.27636073e+02] [ 9.99685741e-01 -2.31925600e-02 -9.51447323e-03 1.12384165e+02] [ 9.51608943e-03 -4.06813359e-05 9.99954720e-01 1.72308729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.61762800000002 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:127.64, Y:112.39, Z:1.72 [[-1.90868011e-02 -9.99817814e-01 1.83660263e-04 1.27638763e+02] [ 9.99772542e-01 -1.90876846e-02 -9.51440323e-03 1.12385999e+02] [ 9.51617548e-03 2.01896607e-06 9.99954720e-01 1.72169468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:112.39, Z:1.73 [[-1.65562623e-02 -9.99862918e-01 1.87296828e-04 1.27640138e+02] [ 9.99817650e-01 -1.65572950e-02 -9.51433164e-03 1.12385891e+02] [ 9.51612852e-03 2.97409041e-05 9.99954720e-01 1.72504746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:112.38, Z:1.72 [[-1.49938759e-02 -9.99887569e-01 1.79845978e-04 1.27640866e+02] [ 9.99842301e-01 -1.49949084e-02 -9.51447965e-03 1.12384159e+02] [ 9.51610671e-03 3.71586895e-05 9.99954720e-01 1.72365797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:112.38, Z:1.72 [[-1.38533917e-02 -9.99904019e-01 1.91845528e-04 1.27641926e+02] [ 9.99858755e-01 -1.38545900e-02 -9.51423769e-03 1.12382720e+02] [ 9.51598245e-03 6.00139696e-05 9.99954720e-01 1.72320811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.38, Z:1.72 [[-1.17787050e-02 -9.99930610e-01 1.95495350e-04 1.27645115e+02] [ 9.99885349e-01 -1.17800320e-02 -9.51416270e-03 1.12383012e+02] [ 9.51580545e-03 8.34084208e-05 9.99954720e-01 1.72293536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.38, Z:1.72 [[-1.11801157e-02 -9.99937481e-01 1.99149385e-04 1.27647085e+02] [ 9.99892222e-01 -1.11815045e-02 -9.51408621e-03 1.12380685e+02] [ 9.51571819e-03 9.27593370e-05 9.99954720e-01 1.72308458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.38, Z:1.72 [[-1.02900538e-02 -9.99947035e-01 2.02807074e-04 1.27649081e+02] [ 9.99901779e-01 -1.02915177e-02 -9.51400824e-03 1.12382160e+02] [ 9.51559153e-03 1.04887498e-04 9.99954720e-01 1.72281781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.38, Z:1.72 [[-9.73852710e-03 -9.99952558e-01 2.06468994e-04 1.27651059e+02] [ 9.99907304e-01 -9.74005079e-03 -9.51392877e-03 1.12380922e+02] [ 9.51548843e-03 1.13798202e-04 9.99954720e-01 1.72254278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.37, Z:1.72 [[-8.68070464e-03 -9.99962300e-01 2.10137624e-04 1.27654921e+02] [ 9.99917049e-01 -8.68231111e-03 -9.51384774e-03 1.12372941e+02] [ 9.51531355e-03 1.27533291e-04 9.99954720e-01 1.72053067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.37, Z:1.72 [[-8.59700062e-03 -9.99963022e-01 2.13338338e-04 1.27656569e+02] [ 9.99917772e-01 -8.59864132e-03 -9.51377597e-03 1.12371295e+02] [ 9.51525859e-03 1.31530857e-04 9.99954720e-01 1.71929051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.37, Z:1.72 [[-8.00560767e-03 -9.99967931e-01 2.16992222e-04 1.27656824e+02] [ 9.99922683e-01 -8.00730989e-03 -9.51369263e-03 1.12369326e+02] [ 9.51512506e-03 1.40812554e-04 9.99954720e-01 1.71971976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.947628 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:127.66, Y:112.37, Z:1.72 [[-8.36527641e-03 -9.99964986e-01 2.20647300e-04 1.27655996e+02] [ 9.99919739e-01 -8.36699712e-03 -9.51360786e-03 1.12373175e+02] [ 9.51512090e-03 1.41045631e-04 9.99954720e-01 1.71644512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.37, Z:1.72 [[-8.96897509e-03 -9.99959753e-01 2.24079898e-04 1.27655183e+02] [ 9.99914506e-01 -8.97070113e-03 -9.51352700e-03 1.12371344e+02] [ 9.51515427e-03 1.38734154e-04 9.99954720e-01 1.71899999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.37, Z:1.72 [[-1.07399790e-02 -9.99942299e-01 2.27749608e-04 1.27654406e+02] [ 9.99897050e-01 -1.07416598e-02 -9.51343915e-03 1.12368541e+02] [ 9.51533663e-03 1.25552024e-04 9.99954720e-01 1.71886206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.36, Z:1.72 [[-1.23774856e-02 -9.99923369e-01 2.31419283e-04 1.27653893e+02] [ 9.99878119e-01 -1.23791272e-02 -9.51334989e-03 1.12361200e+02] [ 9.51548564e-03 1.13639726e-04 9.99954720e-01 1.71913849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.36, Z:1.72 [[-1.40390005e-02 -9.99901421e-01 2.35082177e-04 1.27653462e+02] [ 9.99856169e-01 -1.40406018e-02 -9.51325937e-03 1.12358100e+02] [ 9.51562226e-03 1.01491711e-04 9.99954720e-01 1.71909190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.09762800000001 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:127.65, Y:112.36, Z:1.72 [[-1.60660024e-02 -9.99870905e-01 2.38737086e-04 1.27653692e+02] [ 9.99825652e-01 -1.60675467e-02 -9.51316765e-03 1.12360057e+02] [ 9.51577547e-03 8.58568888e-05 9.99954720e-01 1.71798555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.35, Z:1.72 [[-1.56792268e-02 -9.99877044e-01 2.42397445e-04 1.27654223e+02] [ 9.99831792e-01 -1.56808234e-02 -9.51307438e-03 1.12351329e+02] [ 9.51570568e-03 9.31990213e-05 9.99954720e-01 1.72154270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.35, Z:1.72 [[-1.55591333e-02 -9.99878919e-01 2.45593000e-04 1.27654043e+02] [ 9.99833669e-01 -1.55607657e-02 -9.51299188e-03 1.12352215e+02] [ 9.51566166e-03 9.75382412e-05 9.99954720e-01 1.72152922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.35, Z:1.72 [[-1.54320650e-02 -9.99880888e-01 2.49243560e-04 1.27653951e+02] [ 9.99835639e-01 -1.54337380e-02 -9.51289624e-03 1.12349236e+02] [ 9.51560989e-03 1.02398961e-04 9.99954720e-01 1.72207622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.36, Z:1.72 [[-1.59769184e-02 -9.99872329e-01 2.52898328e-04 1.27653096e+02] [ 9.99827081e-01 -1.59786014e-02 -9.51279908e-03 1.12358776e+02] [ 9.51562553e-03 1.00869382e-04 9.99954720e-01 1.72202883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.35, Z:1.72 [[-1.68417929e-02 -9.99858134e-01 2.56567752e-04 1.27652951e+02] [ 9.99812886e-01 -1.68434717e-02 -9.51270011e-03 1.12352376e+02] [ 9.51567207e-03 9.63088201e-05 9.99954720e-01 1.72149143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.34, Z:1.72 [[-1.80859320e-02 -9.99836402e-01 2.60248213e-04 1.27652963e+02] [ 9.99791153e-01 -1.80875896e-02 -9.51259942e-03 1.12341351e+02] [ 9.51575044e-03 8.81496350e-05 9.99954720e-01 1.72124897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.34, Z:1.72 [[-1.95737078e-02 -9.99808382e-01 2.63910814e-04 1.27653508e+02] [ 9.99763131e-01 -1.95753328e-02 -9.51249780e-03 1.12337533e+02] [ 9.51584118e-03 7.76534498e-05 9.99954720e-01 1.72168122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.33, Z:1.72 [[-2.30126590e-02 -9.99735138e-01 2.67559958e-04 1.27656078e+02] [ 9.99689883e-01 -2.30141631e-02 -9.51239516e-03 1.12333870e+02] [ 9.51603336e-03 4.85714771e-05 9.99954720e-01 1.72360450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.33, Z:1.72 [[-2.47045491e-02 -9.99694759e-01 2.71205395e-04 1.27657313e+02] [ 9.99649503e-01 -2.47060113e-02 -9.51229123e-03 1.12331725e+02] [ 9.51608809e-03 3.61134730e-05 9.99954720e-01 1.72351337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.33, Z:1.72 [[-2.62159381e-02 -9.99656265e-01 2.74849007e-04 1.27658033e+02] [ 9.99611008e-01 -2.62173666e-02 -9.51218595e-03 1.12329685e+02] [ 9.51612210e-03 2.53712149e-05 9.99954720e-01 1.72383793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.32, Z:1.72 [[-2.75662689e-02 -9.99619939e-01 2.78492578e-04 1.27659240e+02] [ 9.99574682e-01 -2.75676709e-02 -9.51207927e-03 1.12324725e+02] [ 9.51614150e-03 1.61615947e-05 9.99954720e-01 1.72279329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.32, Z:1.72 [[-2.81367208e-02 -9.99604044e-01 2.82133669e-04 1.27659511e+02] [ 9.99558787e-01 -2.81381316e-02 -9.51197127e-03 1.12322915e+02] [ 9.51614367e-03 1.43735078e-05 9.99954720e-01 1.72203134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.33, Z:1.72 [[-2.79445881e-02 -9.99609433e-01 2.85772283e-04 1.27659110e+02] [ 9.99564177e-01 -2.79460422e-02 -9.51186195e-03 1.12332598e+02] [ 9.51613314e-03 1.98426730e-05 9.99954720e-01 1.72240783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.33, Z:1.72 [[-2.68639388e-02 -9.99639057e-01 2.89426648e-04 1.27659361e+02] [ 9.99593804e-01 -2.68654766e-02 -9.51175076e-03 1.12329761e+02] [ 9.51609315e-03 3.37859946e-05 9.99954720e-01 1.72269456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.33, Z:1.72 [[-2.72495196e-02 -9.99628620e-01 2.93096901e-04 1.27659506e+02] [ 9.99583367e-01 -2.72510749e-02 -9.51163766e-03 1.12327420e+02] [ 9.51609243e-03 3.37872302e-05 9.99954720e-01 1.72267062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.577628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:127.66, Y:112.32, Z:1.72 [[-2.79312773e-02 -9.99609802e-01 2.96765871e-04 1.27660296e+02] [ 9.99564549e-01 -2.79328367e-02 -9.51152319e-03 1.12315577e+02] [ 9.51610132e-03 3.09676522e-05 9.99954720e-01 1.71938169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.32, Z:1.72 [[-2.73528231e-02 -9.99625796e-01 3.00422560e-04 1.27660868e+02] [ 9.99580546e-01 -2.73544434e-02 -9.51140769e-03 1.12318699e+02] [ 9.51606638e-03 4.01326950e-05 9.99954720e-01 1.72339066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.31, Z:1.72 [[-2.75810711e-02 -9.99619524e-01 3.03612669e-04 1.27661442e+02] [ 9.99574274e-01 -2.75827114e-02 -9.51130586e-03 1.12311807e+02] [ 9.51606149e-03 4.11514103e-05 9.99954720e-01 1.72418300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.31, Z:1.72 [[-2.82827028e-02 -9.99599917e-01 3.07262574e-04 1.27661812e+02] [ 9.99554667e-01 -2.82843461e-02 -9.51118795e-03 1.12307664e+02] [ 9.51607340e-03 3.81236379e-05 9.99954720e-01 1.72481386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.31, Z:1.73 [[-3.03566989e-02 -9.99539081e-01 3.10904538e-04 1.27662094e+02] [ 9.99493829e-01 -3.03582830e-02 -9.51106889e-03 1.12307438e+02] [ 9.51612359e-03 2.20225123e-05 9.99954720e-01 1.72572485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.31, Z:1.73 [[-3.20275235e-02 -9.99486938e-01 3.14086779e-04 1.27661940e+02] [ 9.99441685e-01 -3.20290622e-02 -9.51096381e-03 1.12306387e+02] [ 9.51614400e-03 9.29880318e-06 9.99954720e-01 1.72605646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.757628 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:127.66, Y:112.30, Z:1.72 [[-3.58323592e-02 -9.99357764e-01 3.17731661e-04 1.27660903e+02] [ 9.99312506e-01 -3.58337603e-02 -9.51084204e-03 1.12304269e+02] [ 9.51611936e-03 -2.32826857e-05 9.99954720e-01 1.72172250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.30, Z:1.73 [[-3.62661746e-02 -9.99342114e-01 3.21377717e-04 1.27660705e+02] [ 9.99296857e-01 -3.62675907e-02 -9.51071884e-03 1.12297187e+02] [ 9.51611746e-03 -2.37656478e-05 9.99954720e-01 1.72523101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.30, Z:1.72 [[-3.74280111e-02 -9.99299274e-01 3.25018281e-04 1.27660490e+02] [ 9.99254016e-01 -3.74294093e-02 -9.51059442e-03 1.12299821e+02] [ 9.51609534e-03 -3.11868117e-05 9.99954720e-01 1.72438545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.29, Z:1.72 [[-3.92913213e-02 -9.99227744e-01 3.28658797e-04 1.27660983e+02] [ 9.99182484e-01 -3.92926697e-02 -9.51046861e-03 1.12287799e+02] [ 9.51603798e-03 -4.52887649e-05 9.99954720e-01 1.72345713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.87762800000002 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:127.66, Y:112.28, Z:1.72 [[-4.37291043e-02 -9.99043370e-01 3.32292622e-04 1.27661508e+02] [ 9.98998106e-01 -4.37302863e-02 -9.51034165e-03 1.12284407e+02] [ 9.51577502e-03 -8.39190216e-05 9.99954720e-01 1.71943505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.90762800000002 meters Centerline goodness : 0.999841 Centerline is valid? [True, True] Translation: X:127.66, Y:112.28, Z:1.72 [[-4.62037490e-02 -9.98931980e-01 3.35456333e-04 1.27661507e+02] [ 9.98886714e-01 -4.62048490e-02 -9.51023005e-03 1.12280401e+02] [ 9.51557265e-03 -1.04325408e-04 9.99954720e-01 1.71999614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.28, Z:1.72 [[-4.72644736e-02 -9.98882353e-01 3.39070288e-04 1.27661882e+02] [ 9.98837086e-01 -4.72655599e-02 -9.51010120e-03 1.12276805e+02] [ 9.51549861e-03 -1.10813949e-04 9.99954720e-01 1.72253451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.27, Z:1.72 [[-4.89603477e-02 -9.98800664e-01 3.42680041e-04 1.27661671e+02] [ 9.98755397e-01 -4.89613915e-02 -9.50997113e-03 1.12274813e+02] [ 9.51534357e-03 -1.23357953e-04 9.99954720e-01 1.72279554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.29, Z:1.72 [[-5.09875398e-02 -9.98699230e-01 3.45152666e-04 1.27659834e+02] [ 9.98653961e-01 -5.09885152e-02 -9.50988139e-03 1.12292763e+02] [ 9.51511004e-03 -1.40197378e-04 9.99954720e-01 1.72349060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.27, Z:1.72 [[-5.16764485e-02 -9.98663819e-01 3.48332585e-04 1.27660139e+02] [ 9.98618550e-01 -5.16774231e-02 -9.50976491e-03 1.12272703e+02] [ 9.51505907e-03 -1.43579496e-04 9.99954721e-01 1.72470082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.27, Z:1.72 [[-5.18404511e-02 -9.98655318e-01 3.51972780e-04 1.27660019e+02] [ 9.98610049e-01 -5.18414528e-02 -9.50963018e-03 1.12270640e+02] [ 9.51508953e-03 -1.41499963e-04 9.99954721e-01 1.72471391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.27, Z:1.73 [[-5.07216469e-02 -9.98712766e-01 3.55590665e-04 1.27660039e+02] [ 9.98667499e-01 -5.07227338e-02 -9.50949490e-03 1.12266853e+02] [ 9.51529048e-03 -1.27220402e-04 9.99954721e-01 1.72583947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.34, Z:1.73 [[-4.95251087e-02 -9.98772814e-01 3.59206739e-04 1.27656818e+02] [ 9.98727550e-01 -4.95262843e-02 -9.50935830e-03 1.12342129e+02] [ 9.51547873e-03 -1.12202337e-04 9.99954721e-01 1.72619715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.27, Z:1.73 [[-4.76231469e-02 -9.98865307e-01 3.67542823e-04 1.27659076e+02] [ 9.98820047e-01 -4.76244880e-02 -9.50904056e-03 1.12268325e+02] [ 9.51575475e-03 -8.57412958e-05 9.99954721e-01 1.72509784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.27, Z:1.72 [[-4.56048486e-02 -9.98959491e-01 3.63849174e-04 1.27658348e+02] [ 9.98914233e-01 -4.56062459e-02 -9.50918189e-03 1.12269960e+02] [ 9.51588130e-03 -7.02106815e-05 9.99954721e-01 1.72413922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.26, Z:1.72 [[-4.02125905e-02 -9.99191079e-01 3.67482503e-04 1.27657383e+02] [ 9.99145831e-01 -4.02142667e-02 -9.50904147e-03 1.12264450e+02] [ 9.51612745e-03 -1.52145809e-05 9.99954721e-01 1.72251935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.23762800000003 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:127.66, Y:112.27, Z:1.72 [[-3.87569529e-02 -9.99248598e-01 3.70658261e-04 1.27656082e+02] [ 9.99203354e-01 -3.87587253e-02 -9.50891768e-03 1.12265685e+02] [ 9.51613891e-03 1.82630234e-06 9.99954721e-01 1.71908539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.26762800000003 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:127.66, Y:112.27, Z:1.72 [[-3.67622228e-02 -9.99323971e-01 3.74291488e-04 1.27655160e+02] [ 9.99278731e-01 -3.67641200e-02 -9.50877467e-03 1.12270908e+02] [ 9.51610696e-03 2.44578303e-05 9.99954721e-01 1.71814593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.26, Z:1.72 [[-3.44569853e-02 -9.99406110e-01 3.77939188e-04 1.27655544e+02] [ 9.99360877e-01 -3.44590216e-02 -9.50862968e-03 1.12263873e+02] [ 9.51600602e-03 5.00589248e-05 9.99954721e-01 1.72065836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.27, Z:1.72 [[-3.25562471e-02 -9.99469832e-01 3.81591071e-04 1.27656553e+02] [ 9.99424604e-01 -3.25584041e-02 -9.50848313e-03 1.12265781e+02] [ 9.51586603e-03 7.18109789e-05 9.99954721e-01 1.72151704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.26, Z:1.72 [[-3.22216830e-02 -9.99480673e-01 3.85242897e-04 1.27657467e+02] [ 9.99435447e-01 -3.22238899e-02 -9.50833517e-03 1.12262777e+02] [ 9.51581126e-03 7.86508452e-05 9.99954721e-01 1.72147186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.27, Z:1.72 [[-3.24950857e-02 -9.99471820e-01 3.88898348e-04 1.27657828e+02] [ 9.99426595e-01 -3.24973150e-02 -9.50818566e-03 1.12268129e+02] [ 9.51580177e-03 7.97060439e-05 9.99954721e-01 1.72176294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.26, Z:1.72 [[-3.28418355e-02 -9.99460484e-01 3.92563501e-04 1.27660285e+02] [ 9.99415261e-01 -3.28440840e-02 -9.50803433e-03 1.12260824e+02] [ 9.51579799e-03 8.00726541e-05 9.99954721e-01 1.72303754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.26, Z:1.72 [[-3.32835510e-02 -9.99445871e-01 3.95769097e-04 1.27661850e+02] [ 9.99400648e-01 -3.32858100e-02 -9.50790090e-03 1.12258858e+02] [ 9.51580579e-03 7.90751872e-05 9.99954721e-01 1.72409628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.26, Z:1.72 [[-3.39283489e-02 -9.99424188e-01 3.98967789e-04 1.27662706e+02] [ 9.99378965e-01 -3.39306092e-02 -9.50776667e-03 1.12256375e+02] [ 9.51582921e-03 7.61371907e-05 9.99954721e-01 1.72481830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.26, Z:1.72 [[-3.41256912e-02 -9.99417468e-01 4.02626046e-04 1.27663517e+02] [ 9.99372246e-01 -3.41279773e-02 -9.50761176e-03 1.12255776e+02] [ 9.51581408e-03 7.79194734e-05 9.99954721e-01 1.72442833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.25, Z:1.72 [[-3.41718880e-02 -9.99415888e-01 4.06286705e-04 1.27665742e+02] [ 9.99370668e-01 -3.41742069e-02 -9.50745532e-03 1.12252586e+02] [ 9.51578643e-03 8.11433171e-05 9.99954721e-01 1.72465510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.25, Z:1.72 [[-3.43067158e-02 -9.99411267e-01 4.09947304e-04 1.27667146e+02] [ 9.99366049e-01 -3.43090634e-02 -9.50729748e-03 1.12250142e+02] [ 9.51576513e-03 8.35232641e-05 9.99954721e-01 1.72416916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.25, Z:1.72 [[-3.45125957e-02 -9.99404177e-01 4.13606609e-04 1.27668147e+02] [ 9.99358960e-01 -3.45149688e-02 -9.50713828e-03 1.12251494e+02] [ 9.51574933e-03 8.52254510e-05 9.99954721e-01 1.72315707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.24, Z:1.72 [[-3.46119131e-02 -9.99400741e-01 4.17271355e-04 1.27668546e+02] [ 9.99355526e-01 -3.46143166e-02 -9.50697743e-03 1.12244644e+02] [ 9.51572386e-03 8.79477572e-05 9.99954721e-01 1.72214717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.26, Z:1.72 [[-3.30441755e-02 -9.99453804e-01 4.20934804e-04 1.27665763e+02] [ 9.99408594e-01 -3.30466847e-02 -9.50681523e-03 1.12264317e+02] [ 9.51553314e-03 1.06540990e-04 9.99954721e-01 1.71999380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.24, Z:1.72 [[-3.21537342e-02 -9.99482845e-01 4.24621020e-04 1.27666261e+02] [ 9.99437639e-01 -3.21563187e-02 -9.50665058e-03 1.12237229e+02] [ 9.51538841e-03 1.18707914e-04 9.99954721e-01 1.71960149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.24, Z:1.72 [[-3.17590375e-02 -9.99495463e-01 4.28304675e-04 1.27665040e+02] [ 9.99450260e-01 -3.17616749e-02 -9.50648462e-03 1.12241594e+02] [ 9.51529191e-03 1.26152417e-04 9.99954721e-01 1.71837854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.23, Z:1.72 [[-3.18207182e-02 -9.99493499e-01 4.31963665e-04 1.27664353e+02] [ 9.99448299e-01 -3.18233876e-02 -9.50631835e-03 1.12232676e+02] [ 9.51524994e-03 1.29227472e-04 9.99954721e-01 1.71848310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.77762800000002 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:127.66, Y:112.24, Z:1.72 [[-3.37672411e-02 -9.99429629e-01 4.35622590e-04 1.27662529e+02] [ 9.99384425e-01 -3.37698573e-02 -9.50615068e-03 1.12235537e+02] [ 9.51543956e-03 1.14357950e-04 9.99954721e-01 1.71502160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.23, Z:1.72 [[-3.56759168e-02 -9.99363315e-01 4.39280220e-04 1.27662679e+02] [ 9.99318109e-01 -3.56784815e-02 -9.50598166e-03 1.12232824e+02] [ 9.51560220e-03 9.98460673e-05 9.99954721e-01 1.71884849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.23, Z:1.72 [[-3.90474838e-02 -9.99237258e-01 4.42482194e-04 1.27663600e+02] [ 9.99192045e-01 -3.90499263e-02 -9.50583261e-03 1.12227475e+02] [ 9.51586101e-03 7.09458431e-05 9.99954721e-01 1.71901784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.23, Z:1.72 [[-4.33302796e-02 -9.99060703e-01 4.46139700e-04 1.27665025e+02] [ 9.99015481e-01 -4.33325631e-02 -9.50566095e-03 1.12226056e+02] [ 9.51606469e-03 3.38175206e-05 9.99954721e-01 1.71974017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.89762800000003 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:127.67, Y:112.21, Z:1.72 [[-5.41522979e-02 -9.98532587e-01 4.49792886e-04 1.27667929e+02] [ 9.98487344e-01 -5.41541262e-02 -9.50548808e-03 1.12213022e+02] [ 9.51589774e-03 -6.56315190e-05 9.99954721e-01 1.71850629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.92762800000003 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:127.67, Y:112.21, Z:1.72 [[-6.04105474e-02 -9.98173512e-01 4.52974206e-04 1.27668975e+02] [ 9.98128260e-01 -6.04121222e-02 -9.50533648e-03 1.12206752e+02] [ 9.51534023e-03 -1.22096224e-04 9.99954721e-01 1.71976511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.20, Z:1.72 [[-6.54683195e-02 -9.97854544e-01 4.56136238e-04 1.27669489e+02] [ 9.97809286e-01 -6.54696951e-02 -9.50518474e-03 1.12202775e+02] [ 9.51465488e-03 -1.67151497e-04 9.99954721e-01 1.72373391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.98762800000003 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:127.67, Y:112.20, Z:1.72 [[-7.12259670e-02 -9.97460100e-01 4.59289614e-04 1.27668857e+02] [ 9.97414835e-01 -7.12271114e-02 -9.50503237e-03 1.12196611e+02] [ 9.51360440e-03 -2.18902847e-04 9.99954721e-01 1.72248823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.20, Z:1.73 [[-7.97692448e-02 -9.96813249e-01 4.62889707e-04 1.27667363e+02] [ 9.96767977e-01 -7.97700357e-02 -9.50485704e-03 1.12201457e+02] [ 9.51149216e-03 -2.96801632e-04 9.99954721e-01 1.72634849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.18, Z:1.73 [[-8.41695557e-02 -9.96451338e-01 4.66493864e-04 1.27668321e+02] [ 9.96406063e-01 -8.41701810e-02 -9.50468015e-03 1.12184297e+02] [ 9.51021612e-03 -3.35187390e-04 9.99954721e-01 1.72605226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.07762800000003 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:127.67, Y:112.18, Z:1.72 [[-8.86994026e-02 -9.96058329e-01 4.70088512e-04 1.27668774e+02] [ 9.96013052e-01 -8.86998563e-02 -9.50450236e-03 1.12178407e+02] [ 9.50873552e-03 -3.74829387e-04 9.99954721e-01 1.72339225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.17, Z:1.73 [[-9.27826131e-02 -9.95686277e-01 4.73659028e-04 1.27668776e+02] [ 9.95640999e-01 -9.27829152e-02 -9.50432442e-03 1.12174231e+02] [ 9.50727286e-03 -4.10241708e-04 9.99954721e-01 1.72646255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.137628 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:127.67, Y:112.17, Z:1.72 [[-9.48785635e-02 -9.95488740e-01 4.77223083e-04 1.27667339e+02] [ 9.95443461e-01 -9.48788042e-02 -9.50414546e-03 1.12170381e+02] [ 9.50654814e-03 -4.26691070e-04 9.99954721e-01 1.72209893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.167628 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:127.66, Y:112.17, Z:1.72 [[-9.51110267e-02 -9.95466555e-01 4.80783031e-04 1.27664999e+02] [ 9.95421276e-01 -9.51112908e-02 -9.50396537e-03 1.12171456e+02] [ 9.50660756e-03 -4.25350246e-04 9.99954721e-01 1.72100012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.197628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:127.66, Y:112.17, Z:1.72 [[-9.37477226e-02 -9.95595867e-01 4.84345244e-04 1.27662867e+02] [ 9.95550589e-01 -9.37480826e-02 -9.50378383e-03 1.12168547e+02] [ 9.50733433e-03 -4.08767897e-04 9.99954721e-01 1.72171928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.17, Z:1.72 [[-9.18058725e-02 -9.95776804e-01 4.87911434e-04 1.27660603e+02] [ 9.95731527e-01 -9.18063548e-02 -9.50360074e-03 1.12166276e+02] [ 9.50825854e-03 -3.86657560e-04 9.99954721e-01 1.72243401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.257628 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:127.66, Y:112.17, Z:1.72 [[-8.81973403e-02 -9.96102900e-01 4.91477554e-04 1.27656653e+02] [ 9.96057626e-01 -8.81980206e-02 -9.50341631e-03 1.12167771e+02] [ 9.50972790e-03 -3.48636077e-04 9.99954721e-01 1.72077202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.287628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:127.66, Y:112.17, Z:1.72 [[-8.58095451e-02 -9.96311436e-01 4.95048831e-04 1.27655560e+02] [ 9.96266164e-01 -8.58103680e-02 -9.50323028e-03 1.12165720e+02] [ 9.51065732e-03 -3.22267467e-04 9.99954721e-01 1.72266727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.317628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.65, Y:112.17, Z:1.73 [[-8.28207831e-02 -9.96564333e-01 4.98625281e-04 1.27654458e+02] [ 9.96519064e-01 -8.28217758e-02 -9.50304262e-03 1.12166016e+02] [ 9.51169036e-03 -2.90159834e-04 9.99954721e-01 1.72585703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.17, Z:1.73 [[-7.68705166e-02 -9.97040958e-01 5.02205192e-04 1.27650148e+02] [ 9.96995697e-01 -7.68718136e-02 -9.50285343e-03 1.12168321e+02] [ 9.51333951e-03 -2.29792837e-04 9.99954721e-01 1.72788327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.17, Z:1.73 [[-7.39854062e-02 -9.97259196e-01 5.05795583e-04 1.27647606e+02] [ 9.97213940e-01 -7.39868684e-02 -9.50266233e-03 1.12167357e+02] [ 9.51403962e-03 -1.98671926e-04 9.99954721e-01 1.72759453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.40762800000002 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:127.64, Y:112.17, Z:1.72 [[-7.21900525e-02 -9.97390764e-01 5.09394772e-04 1.27644445e+02] [ 9.97345513e-01 -7.21916304e-02 -9.50246938e-03 1.12169712e+02] [ 9.51444924e-03 -1.77941174e-04 9.99954721e-01 1.72420688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.43762800000002 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:127.64, Y:112.17, Z:1.72 [[-7.25693027e-02 -9.97363240e-01 5.13001604e-04 1.27644645e+02] [ 9.97317989e-01 -7.25708977e-02 -9.50227466e-03 1.12167363e+02] [ 9.51444843e-03 -1.77947718e-04 9.99954721e-01 1.72418294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:112.16, Z:1.73 [[-6.94350463e-02 -9.97586341e-01 5.16614910e-04 1.27642650e+02] [ 9.97541096e-01 -6.94368180e-02 -9.50207821e-03 1.12164401e+02] [ 9.51501553e-03 -1.44432637e-04 9.99954721e-01 1.72698895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:112.16, Z:1.73 [[-6.61154674e-02 -9.97811843e-01 5.20226940e-04 1.27638936e+02] [ 9.97766606e-01 -6.61174239e-02 -9.50188045e-03 1.12164324e+02] [ 9.51548491e-03 -1.09156199e-04 9.99954721e-01 1.72681766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:112.17, Z:1.73 [[-6.52133083e-02 -9.97871209e-01 5.23841852e-04 1.27637547e+02] [ 9.97825976e-01 -6.52153402e-02 -9.50168116e-03 1.12169127e+02] [ 9.51561659e-03 -9.69330561e-05 9.99954721e-01 1.72695971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:112.17, Z:1.73 [[-6.44374338e-02 -9.97921610e-01 5.27469868e-04 1.27636529e+02] [ 9.97876379e-01 -6.44395354e-02 -9.50147975e-03 1.12167947e+02] [ 9.51572188e-03 -8.59012498e-05 9.99954721e-01 1.72716537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:112.16, Z:1.73 [[-6.39988746e-02 -9.97949829e-01 5.31108083e-04 1.27635399e+02] [ 9.97904602e-01 -6.40010307e-02 -9.50127638e-03 1.12162505e+02] [ 9.51578861e-03 -7.80757959e-05 9.99954721e-01 1.72699344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.16, Z:1.73 [[-6.39790316e-02 -9.97951100e-01 5.34745002e-04 1.27632281e+02] [ 9.97905874e-01 -6.39812232e-02 -9.50107168e-03 1.12159472e+02] [ 9.51581858e-03 -7.42441870e-05 9.99954721e-01 1.72513103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.15, Z:1.72 [[-7.13405714e-02 -9.97451870e-01 5.38376420e-04 1.27627984e+02] [ 9.97406630e-01 -7.13424638e-02 -9.50086591e-03 1.12149489e+02] [ 9.51506557e-03 -1.40816992e-04 9.99954721e-01 1.72355937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.15, Z:1.72 [[-6.56162363e-02 -9.97844729e-01 6.37792522e-04 1.27630291e+02] [ 9.97799551e-01 -6.56193346e-02 -9.49517661e-03 1.12153207e+02] [ 9.51656345e-03 1.33513400e-05 9.99954716e-01 1.72290364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.15, Z:1.72 [[-6.76258140e-02 -9.97710607e-01 5.43154554e-04 1.27630432e+02] [ 9.97665376e-01 -6.76279204e-02 -9.50058717e-03 1.12148205e+02] [ 9.51556900e-03 -1.00598448e-04 9.99954721e-01 1.72224714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.14, Z:1.72 [[-7.36134445e-02 -9.97286700e-01 5.46776755e-04 1.27631628e+02] [ 9.97241459e-01 -7.36153139e-02 -9.50037870e-03 1.12144668e+02] [ 9.51485246e-03 -1.54087151e-04 9.99954721e-01 1.72198422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.14, Z:1.72 [[-7.75736360e-02 -9.96986473e-01 5.50393498e-04 1.27632513e+02] [ 9.96941227e-01 -7.75753602e-02 -9.50016916e-03 1.12136640e+02] [ 9.51423712e-03 -1.88252696e-04 9.99954721e-01 1.72124064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.13, Z:1.72 [[-8.18489542e-02 -9.96644592e-01 5.54001201e-04 1.27633169e+02] [ 9.96599339e-01 -8.18505186e-02 -9.49995877e-03 1.12134342e+02] [ 9.51342782e-03 -2.25444460e-04 9.99954721e-01 1.72087073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.13, Z:1.72 [[-8.59308032e-02 -9.96300952e-01 5.57600550e-04 1.27634058e+02] [ 9.96255695e-01 -8.59322166e-02 -9.49974751e-03 1.12128427e+02] [ 9.51252333e-03 -2.60808210e-04 9.99954721e-01 1.72063674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:112.12, Z:1.72 [[-9.29930824e-02 -9.95666597e-01 5.61196247e-04 1.27635438e+02] [ 9.95621332e-01 -9.29942091e-02 -9.49953509e-03 1.12119863e+02] [ 9.51055777e-03 -3.24652095e-04 9.99954721e-01 1.71991796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:112.12, Z:1.72 [[-9.59351977e-02 -9.95387422e-01 5.64778912e-04 1.27635946e+02] [ 9.95342154e-01 -9.59362248e-02 -9.49932208e-03 1.12116384e+02] [ 9.50968847e-03 -3.49171083e-04 9.99954721e-01 1.71942140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:112.11, Z:1.72 [[-9.81996412e-02 -9.95166573e-01 5.68350988e-04 1.27636694e+02] [ 9.95121304e-01 -9.82005993e-02 -9.49910835e-03 1.12110881e+02] [ 9.50900751e-03 -3.67230857e-04 9.99954721e-01 1.71907289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.947628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:127.64, Y:112.11, Z:1.72 [[-1.01220281e-01 -9.94863874e-01 5.71917751e-04 1.27636895e+02] [ 9.94818603e-01 -1.01221136e-01 -9.49889360e-03 1.12106288e+02] [ 9.50799625e-03 -3.92526266e-04 9.99954721e-01 1.71552389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:112.11, Z:1.72 [[-1.01292478e-01 -9.94856524e-01 5.75478050e-04 1.27636530e+02] [ 9.94811253e-01 -1.01293363e-01 -9.49867790e-03 1.12108189e+02] [ 9.50811379e-03 -3.89652582e-04 9.99954721e-01 1.71795252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:112.10, Z:1.72 [[-1.00946530e-01 -9.94891684e-01 5.79041142e-04 1.27636581e+02] [ 9.94846415e-01 -1.00947465e-01 -9.49846069e-03 1.12102857e+02] [ 9.50839229e-03 -3.82779647e-04 9.99954721e-01 1.71858231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.037628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:127.64, Y:112.10, Z:1.72 [[-1.00440088e-01 -9.94942938e-01 5.82605320e-04 1.27635846e+02] [ 9.94897670e-01 -1.00441080e-01 -9.49824207e-03 1.12104015e+02] [ 9.50872638e-03 -3.74371594e-04 9.99954721e-01 1.71664011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.10, Z:1.72 [[-9.50479253e-02 -9.95472525e-01 5.86170586e-04 1.27634079e+02] [ 9.95427264e-01 -9.50491965e-02 -9.49802204e-03 1.12103617e+02] [ 9.51073503e-03 -3.19277107e-04 9.99954721e-01 1.71922195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.09762800000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:127.63, Y:112.10, Z:1.72 [[-9.20194926e-02 -9.95757031e-01 5.89742169e-04 1.27633068e+02] [ 9.95711775e-01 -9.20209356e-02 -9.49780027e-03 1.12104990e+02] [ 9.51177003e-03 -2.86769540e-04 9.99954721e-01 1.71820812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.12762800000002 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:127.63, Y:112.11, Z:1.72 [[-8.43508836e-02 -9.96435937e-01 5.93321272e-04 1.27630531e+02] [ 9.96390695e-01 -8.43527090e-02 -9.49757668e-03 1.12105345e+02] [ 9.51377498e-03 -2.09949191e-04 9.99954721e-01 1.71662371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.11, Z:1.72 [[-7.94447380e-02 -9.96839093e-01 5.96909656e-04 1.27629500e+02] [ 9.96793862e-01 -7.94468203e-02 -9.49735115e-03 1.12107269e+02] [ 9.51475348e-03 -1.59518693e-04 9.99954721e-01 1.71832854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.11, Z:1.72 [[-7.51785619e-02 -9.97169907e-01 6.00506820e-04 1.27628426e+02] [ 9.97124687e-01 -7.51808719e-02 -9.49712370e-03 1.12107593e+02] [ 9.51539258e-03 -1.15199927e-04 9.99954721e-01 1.71780781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.11, Z:1.72 [[-7.12822807e-02 -9.97456000e-01 6.04113359e-04 1.27627487e+02] [ 9.97410791e-01 -7.12848018e-02 -9.49689428e-03 1.12108471e+02] [ 9.51579828e-03 -7.44111009e-05 9.99954721e-01 1.71752313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.11, Z:1.72 [[-6.76898266e-02 -9.97706228e-01 6.07727564e-04 1.27627150e+02] [ 9.97661031e-01 -6.76925448e-02 -9.49666300e-03 1.12109383e+02] [ 9.51601845e-03 -3.65213633e-05 9.99954721e-01 1.71769704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.11, Z:1.72 [[-6.11613744e-02 -9.98127704e-01 6.11350675e-04 1.27627530e+02] [ 9.98082527e-01 -6.11644227e-02 -9.49642975e-03 1.12114004e+02] [ 9.51604253e-03 2.93637305e-05 9.99954721e-01 1.71910219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.11, Z:1.72 [[-5.87379136e-02 -9.98273249e-01 6.14986943e-04 1.27628600e+02] [ 9.98228083e-01 -5.87411062e-02 -9.49619426e-03 1.12110241e+02] [ 9.51592171e-03 5.61105990e-05 9.99954721e-01 1.71982986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.11, Z:1.72 [[-5.66542334e-02 -9.98393667e-01 6.18629781e-04 1.27629146e+02] [ 9.98348510e-01 -5.66575548e-02 -9.49595695e-03 1.12110930e+02] [ 9.51575333e-03 7.96219598e-05 9.99954721e-01 1.72027078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.11, Z:1.72 [[-5.27796353e-02 -9.98605990e-01 6.22275538e-04 1.27630081e+02] [ 9.98560849e-01 -5.27831666e-02 -9.49571803e-03 1.12111765e+02] [ 9.51532658e-03 1.20199455e-04 9.99954721e-01 1.71991806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.11, Z:1.72 [[-5.11527901e-02 -9.98690643e-01 6.25929126e-04 1.27630774e+02] [ 9.98645511e-01 -5.11564297e-02 -9.49547719e-03 1.12111449e+02] [ 9.51506452e-03 1.39361160e-04 9.99954721e-01 1.71979923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.11, Z:1.72 [[-4.99464403e-02 -9.98751699e-01 6.29589345e-04 1.27631534e+02] [ 9.98706574e-01 -4.99501693e-02 -9.49523450e-03 1.12113219e+02] [ 9.51482968e-03 1.54521855e-04 9.99954721e-01 1.71944063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:112.11, Z:1.72 [[-4.89386970e-02 -9.98801583e-01 6.33257457e-04 1.27633007e+02] [ 9.98756465e-01 -4.89425063e-02 -9.49498986e-03 1.12110760e+02] [ 9.51460411e-03 1.67797547e-04 9.99954721e-01 1.71895750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.48762800000003 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:127.64, Y:112.10, Z:1.72 [[-4.85427829e-02 -9.98820901e-01 6.36931010e-04 1.27636544e+02] [ 9.98775787e-01 -4.85466450e-02 -9.49474343e-03 1.12104262e+02] [ 9.51446905e-03 1.75250002e-04 9.99954721e-01 1.71607282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:112.10, Z:1.72 [[-4.78964738e-02 -9.98852100e-01 6.40598931e-04 1.27638569e+02] [ 9.98806992e-01 -4.79003999e-02 -9.49449595e-03 1.12103656e+02] [ 9.51428216e-03 1.85081815e-04 9.99954721e-01 1.71868935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:112.10, Z:1.72 [[-4.83781579e-02 -9.98828884e-01 6.44262473e-04 1.27640149e+02] [ 9.98783776e-01 -4.83820971e-02 -9.49424735e-03 1.12102506e+02] [ 9.51429925e-03 1.84164709e-04 9.99954721e-01 1.71843796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:112.10, Z:1.72 [[-4.90693990e-02 -9.98795161e-01 6.47930201e-04 1.27641953e+02] [ 9.98750054e-01 -4.90733418e-02 -9.49399704e-03 1.12100191e+02] [ 9.51435440e-03 1.81255595e-04 9.99954721e-01 1.71871645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.607628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:127.65, Y:112.10, Z:1.72 [[-5.10645570e-02 -9.98695142e-01 6.51599071e-04 1.27646087e+02] [ 9.98650030e-01 -5.10684446e-02 -9.49374523e-03 1.12096611e+02] [ 9.51463339e-03 1.65925538e-04 9.99954721e-01 1.71646060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.10, Z:1.72 [[-5.17772706e-02 -9.98658443e-01 6.55265367e-04 1.27648708e+02] [ 9.98613331e-01 -5.17811609e-02 -9.49349217e-03 1.12095411e+02] [ 9.51468651e-03 1.62809617e-04 9.99954721e-01 1.71831591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:112.09, Z:1.72 [[-5.35671184e-02 -9.98564034e-01 6.58931564e-04 1.27651366e+02] [ 9.98518918e-01 -5.35709626e-02 -9.49323770e-03 1.12091218e+02] [ 9.51490533e-03 1.49430245e-04 9.99954721e-01 1.71794011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.09, Z:1.72 [[-5.65870773e-02 -9.98397448e-01 6.62596426e-04 1.27657466e+02] [ 9.98352324e-01 -5.65908199e-02 -9.49298190e-03 1.12087132e+02] [ 9.51526577e-03 1.24324581e-04 9.99954721e-01 1.71654683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.08, Z:1.72 [[-5.80659795e-02 -9.98312525e-01 6.66254445e-04 1.27660630e+02] [ 9.98267399e-01 -5.80696900e-02 -9.49272515e-03 1.12082712e+02] [ 9.51539561e-03 1.13895707e-04 9.99954721e-01 1.71632707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:112.08, Z:1.72 [[-5.91474490e-02 -9.98249032e-01 6.69906875e-04 1.27663093e+02] [ 9.98203905e-01 -5.91511454e-02 -9.49246739e-03 1.12084585e+02] [ 9.51547215e-03 1.07248427e-04 9.99954721e-01 1.71569626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.08, Z:1.72 [[-6.01154120e-02 -9.98191206e-01 6.73561663e-04 1.27665574e+02] [ 9.98146077e-01 -6.01190994e-02 -9.49220805e-03 1.12079043e+02] [ 9.51553252e-03 1.01684934e-04 9.99954721e-01 1.71541978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.08, Z:1.71 [[-6.17197707e-02 -9.98093288e-01 6.77216352e-04 1.27669502e+02] [ 9.98048156e-01 -6.17234203e-02 -9.49194730e-03 1.12075836e+02] [ 9.51564900e-03 9.00537199e-05 9.99954721e-01 1.71389697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.07, Z:1.71 [[-6.30313991e-02 -9.98011312e-01 6.80404760e-04 1.27671964e+02] [ 9.97966179e-01 -6.30350196e-02 -9.49171875e-03 1.12070643e+02] [ 9.51573201e-03 8.07446259e-05 9.99954721e-01 1.71321323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.87762800000002 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:127.67, Y:112.08, Z:1.71 [[-6.50189649e-02 -9.97883794e-01 6.84045871e-04 1.27673812e+02] [ 9.97838656e-01 -6.50225301e-02 -9.49145633e-03 1.12078609e+02] [ 9.51584885e-03 6.54427471e-05 9.99954721e-01 1.71001661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:112.07, Z:1.71 [[-6.64928390e-02 -9.97786665e-01 6.87696583e-04 1.27677024e+02] [ 9.97741525e-01 -6.64963724e-02 -9.49119181e-03 1.12066601e+02] [ 9.51591396e-03 5.50471475e-05 9.99954721e-01 1.71359479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:112.07, Z:1.72 [[-6.95636726e-02 -9.97577274e-01 6.91348420e-04 1.27679459e+02] [ 9.97532125e-01 -6.95671017e-02 -9.49092580e-03 1.12074931e+02] [ 9.51602700e-03 2.94186032e-05 9.99954721e-01 1.71551819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:112.07, Z:1.72 [[-7.08469312e-02 -9.97486959e-01 6.92486720e-04 1.27680268e+02] [ 9.97441806e-01 -7.08503130e-02 -9.49084275e-03 1.12065115e+02] [ 9.51605477e-03 1.83181217e-05 9.99954721e-01 1.71706016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:112.06, Z:1.72 [[-7.25326733e-02 -9.97365794e-01 6.95681581e-04 1.27680827e+02] [ 9.97320638e-01 -7.25360093e-02 -9.49060856e-03 1.12059669e+02] [ 9.51607031e-03 5.43838783e-06 9.99954721e-01 1.71842228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:112.06, Z:1.72 [[-7.66005180e-02 -9.97061619e-01 6.99322264e-04 1.27681241e+02] [ 9.97016452e-01 -7.66037044e-02 -9.49034029e-03 1.12058407e+02] [ 9.51602472e-03 -2.97291797e-05 9.99954721e-01 1.72052247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:112.02, Z:1.72 [[-8.73959154e-02 -9.96173409e-01 7.02959185e-04 1.27679607e+02] [ 9.96128212e-01 -8.73986470e-02 -9.49007089e-03 1.12020105e+02] [ 9.51519394e-03 -1.29155956e-04 9.99954721e-01 1.71929231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:112.05, Z:1.72 [[-8.08342708e-02 -9.96727209e-01 8.31580796e-04 1.27681805e+02] [ 9.96682123e-01 -8.08385240e-02 -9.48043476e-03 1.12047854e+02] [ 9.51663105e-03 6.24776827e-05 9.99954714e-01 1.72123641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:112.03, Z:1.72 [[-9.09404779e-02 -9.95856078e-01 7.07992286e-04 1.27678965e+02] [ 9.95810875e-01 -9.09430966e-02 -9.48965537e-03 1.12026772e+02] [ 9.51471799e-03 -1.57967377e-04 9.99954722e-01 1.71866368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:112.04, Z:1.72 [[-8.54954047e-02 -9.96338221e-01 8.27237431e-04 1.27681608e+02] [ 9.96293114e-01 -8.54994057e-02 -9.48067980e-03 1.12040518e+02] [ 9.51669196e-03 1.36163991e-05 9.99954715e-01 1.72141861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:112.04, Z:1.72 [[-8.70709624e-02 -9.96201857e-01 7.12822043e-04 1.27680402e+02] [ 9.96156668e-01 -8.70738027e-02 -9.48927460e-03 1.12041932e+02] [ 9.51530110e-03 -1.16157840e-04 9.99954722e-01 1.72139944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:112.03, Z:1.72 [[-8.81623571e-02 -9.96105861e-01 7.16439906e-04 1.27679625e+02] [ 9.96060671e-01 -8.81651823e-02 -9.48900144e-03 1.12034669e+02] [ 9.51521500e-03 -1.22955120e-04 9.99954722e-01 1.72073202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:112.03, Z:1.72 [[-8.92753253e-02 -9.96006726e-01 7.20056460e-04 1.27678573e+02] [ 9.95961535e-01 -8.92781345e-02 -9.48872700e-03 1.12030885e+02] [ 9.51512121e-03 -1.29960652e-04 9.99954722e-01 1.71967587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:112.03, Z:1.72 [[-9.05956272e-02 -9.95887498e-01 7.23663385e-04 1.27676073e+02] [ 9.95842305e-01 -9.05984108e-02 -9.48845191e-03 1.12029645e+02] [ 9.51499338e-03 -1.38957638e-04 9.99954722e-01 1.71834932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:112.02, Z:1.72 [[-9.18632920e-02 -9.95771363e-01 7.27270206e-04 1.27675145e+02] [ 9.95726169e-01 -9.18660525e-02 -9.48817544e-03 1.12024030e+02] [ 9.51486483e-03 -1.47453056e-04 9.99954722e-01 1.71771363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.32762800000003 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:127.67, Y:112.02, Z:1.71 [[-9.34827307e-02 -9.95620633e-01 7.30874525e-04 1.27674232e+02] [ 9.95575437e-01 -9.34854520e-02 -9.48789779e-03 1.12023621e+02] [ 9.51467294e-03 -1.59313870e-04 9.99954722e-01 1.71429931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.357628 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:127.67, Y:112.02, Z:1.71 [[-9.38610547e-02 -9.95585036e-01 7.34477542e-04 1.27674486e+02] [ 9.95539840e-01 -9.38637932e-02 -9.48761887e-03 1.12021283e+02] [ 9.51467222e-03 -1.59316259e-04 9.99954722e-01 1.71427537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.02, Z:1.72 [[-9.46659486e-02 -9.95508821e-01 7.38082846e-04 1.27673851e+02] [ 9.95463626e-01 -9.46686848e-02 -9.48733839e-03 1.12016560e+02] [ 9.51460239e-03 -1.63393262e-04 9.99954722e-01 1.71667362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.01, Z:1.72 [[-9.67349423e-02 -9.95309902e-01 7.41685650e-04 1.27673086e+02] [ 9.95264703e-01 -9.67376189e-02 -9.48705673e-03 1.12013276e+02] [ 9.51431040e-03 -1.79556337e-04 9.99954722e-01 1.71719990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.01, Z:1.72 [[-9.80186686e-02 -9.95184297e-01 7.45284210e-04 1.27672828e+02] [ 9.95139097e-01 -9.80213212e-02 -9.48677402e-03 1.12010765e+02] [ 9.51414228e-03 -1.88219503e-04 9.99954722e-01 1.71694850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.01, Z:1.72 [[-9.90047633e-02 -9.95086678e-01 7.48881470e-04 1.27672440e+02] [ 9.95041477e-01 -9.90074054e-02 -9.48649005e-03 1.12009762e+02] [ 9.51402467e-03 -1.94039579e-04 9.99954722e-01 1.71657249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.01, Z:1.72 [[-9.95221904e-02 -9.95035058e-01 7.52479814e-04 1.27672495e+02] [ 9.94989858e-01 -9.95248433e-02 -9.48620461e-03 1.12005264e+02] [ 9.51399660e-03 -1.95378078e-04 9.99954722e-01 1.71626126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.00, Z:1.72 [[-9.98752110e-02 -9.94999684e-01 7.56076857e-04 1.27672005e+02] [ 9.94954484e-01 -9.98778822e-02 -9.48591791e-03 1.12002652e+02] [ 9.51400068e-03 -1.95145994e-04 9.99954722e-01 1.71536685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.01, Z:1.72 [[-9.97899644e-02 -9.95008234e-01 7.59670857e-04 1.27671249e+02] [ 9.94963037e-01 -9.97926737e-02 -9.48563008e-03 1.12007858e+02] [ 9.51408962e-03 -1.90726265e-04 9.99954722e-01 1.71523480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.59762800000001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:127.67, Y:112.01, Z:1.71 [[-9.93429136e-02 -9.95052965e-01 7.63274205e-04 1.27671377e+02] [ 9.95007771e-01 -9.93456775e-02 -9.48534012e-03 1.12006167e+02] [ 9.51424381e-03 -1.82837559e-04 9.99954722e-01 1.71447451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.00, Z:1.72 [[-9.60971799e-02 -9.95371661e-01 7.66889356e-04 1.27672291e+02] [ 9.95326479e-01 -9.61001256e-02 -9.48504783e-03 1.12003576e+02] [ 9.51484598e-03 -1.48181065e-04 9.99954722e-01 1.71608966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.00, Z:1.72 [[-9.44290596e-02 -9.95531295e-01 7.70504395e-04 1.27672563e+02] [ 9.95486120e-01 -9.44321155e-02 -9.48475416e-03 1.11999400e+02] [ 9.51512995e-03 -1.28609985e-04 9.99954722e-01 1.71655612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.00, Z:1.72 [[-9.23358272e-02 -9.95727621e-01 7.74116359e-04 1.27672484e+02] [ 9.95682455e-01 -9.23390125e-02 -9.48445935e-03 1.11997112e+02] [ 9.51541929e-03 -1.04981324e-04 9.99954722e-01 1.71646224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.00, Z:1.72 [[-9.01421560e-02 -9.95928605e-01 7.77725806e-04 1.27671956e+02] [ 9.95883449e-01 -9.01454752e-02 -9.48416337e-03 1.11996953e+02] [ 9.51565806e-03 -8.03986759e-05 9.99954722e-01 1.71589425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.00, Z:1.71 [[-8.52745598e-02 -9.96357184e-01 7.81337544e-04 1.27670634e+02] [ 9.96312048e-01 -8.52781339e-02 -9.48386581e-03 1.12001093e+02] [ 9.51594884e-03 -3.02764738e-05 9.99954722e-01 1.71399867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.00, Z:1.71 [[-8.33250483e-02 -9.96522112e-01 7.84961139e-04 1.27670924e+02] [ 9.96476985e-01 -8.33287452e-02 -9.48356588e-03 1.11996477e+02] [ 9.51599293e-03 -8.02287580e-06 9.99954722e-01 1.71295073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:112.00, Z:1.71 [[-8.12422101e-02 -9.96694076e-01 7.88590027e-04 1.27671462e+02] [ 9.96648960e-01 -8.12460358e-02 -9.48326412e-03 1.11998402e+02] [ 9.51598298e-03 1.55060946e-05 9.99954722e-01 1.71221218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:111.99, Z:1.71 [[-7.94914496e-02 -9.96835233e-01 7.92221228e-04 1.27673013e+02] [ 9.96790127e-01 -7.94953891e-02 -9.48296076e-03 1.11994190e+02] [ 9.51592734e-03 3.58640005e-05 9.99954722e-01 1.71138236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:112.00, Z:1.71 [[-7.71821343e-02 -9.97016692e-01 7.95856526e-04 1.27675292e+02] [ 9.96971598e-01 -7.71862129e-02 -9.48265566e-03 1.11995985e+02] [ 9.51579513e-03 6.15547492e-05 9.99954722e-01 1.70932467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.99, Z:1.71 [[-7.69581605e-02 -9.97034003e-01 7.99494143e-04 1.27676970e+02] [ 9.96988913e-01 -7.69622838e-02 -9.48234896e-03 1.11991359e+02] [ 9.51575523e-03 6.73426634e-05 9.99954722e-01 1.70840410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.92762800000003 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:127.68, Y:111.99, Z:1.71 [[-7.80603666e-02 -9.96948311e-01 8.03132863e-04 1.27677787e+02] [ 9.96903219e-01 -7.80644746e-02 -9.48204076e-03 1.11994114e+02] [ 9.51580066e-03 6.04741591e-05 9.99954722e-01 1.70598262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.95762800000003 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:127.68, Y:111.99, Z:1.71 [[-8.06285040e-02 -9.96743896e-01 8.06775694e-04 1.27681214e+02] [ 9.96698797e-01 -8.06325305e-02 -9.48173080e-03 1.11986734e+02] [ 9.51590966e-03 3.96145942e-05 9.99954722e-01 1.70600733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.98, Z:1.71 [[-8.22411214e-02 -9.96612132e-01 8.10417183e-04 1.27683750e+02] [ 9.96567030e-01 -8.22451096e-02 -9.48141955e-03 1.11982119e+02] [ 9.51595060e-03 2.78724690e-05 9.99954722e-01 1.70818889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:112.00, Z:1.71 [[-8.42550068e-02 -9.96443893e-01 8.14048891e-04 1.27684268e+02] [ 9.96398786e-01 -8.42589383e-02 -9.48110773e-03 1.11995482e+02] [ 9.51598279e-03 1.22865305e-05 9.99954722e-01 1.71121590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.99, Z:1.71 [[-8.51848001e-02 -9.96364834e-01 8.17237552e-04 1.27684756e+02] [ 9.96319726e-01 -8.51887199e-02 -9.48083287e-03 1.11988072e+02] [ 9.51598789e-03 6.60704144e-06 9.99954722e-01 1.71214932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.98, Z:1.71 [[-8.77707025e-02 -9.96140367e-01 8.20898837e-04 1.27684495e+02] [ 9.96095251e-01 -8.77745401e-02 -9.48051585e-03 1.11982808e+02] [ 9.51597855e-03 -1.44181026e-05 9.99954722e-01 1.71255295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.97, Z:1.71 [[-9.06419245e-02 -9.95883207e-01 8.24549001e-04 1.27684991e+02] [ 9.95838084e-01 -9.06456667e-02 -9.48019837e-03 1.11971180e+02] [ 9.51591215e-03 -3.81861274e-05 9.99954722e-01 1.71225270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.97, Z:1.71 [[-9.10222926e-02 -9.95848511e-01 8.28183235e-04 1.27685268e+02] [ 9.95803389e-01 -9.10260522e-02 -9.47988087e-03 1.11968847e+02] [ 9.51591150e-03 -3.81728188e-05 9.99954722e-01 1.71222875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.97, Z:1.71 [[-9.14026474e-02 -9.95813669e-01 8.31804091e-04 1.27685546e+02] [ 9.95768549e-01 -9.14064243e-02 -9.47956315e-03 1.11966514e+02] [ 9.51591081e-03 -3.81728160e-05 9.99954722e-01 1.71220480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.96, Z:1.71 [[-9.37591986e-02 -9.95594553e-01 8.35424825e-04 1.27685809e+02] [ 9.95549427e-01 -9.37629032e-02 -9.47924405e-03 1.11964253e+02] [ 9.51581561e-03 -5.70596199e-05 9.99954722e-01 1.71237490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.96, Z:1.71 [[-9.44659687e-02 -9.95527738e-01 8.39045437e-04 1.27685977e+02] [ 9.95482612e-01 -9.44696757e-02 -9.47892357e-03 1.11959458e+02] [ 9.51579569e-03 -6.01805542e-05 9.99954722e-01 1.71236967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.96, Z:1.71 [[-9.38294874e-02 -9.95587925e-01 8.42662952e-04 1.27685206e+02] [ 9.95542805e-01 -9.38332576e-02 -9.47860196e-03 1.11957845e+02] [ 9.51585148e-03 -5.04653242e-05 9.99954722e-01 1.71162953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.96, Z:1.71 [[-9.32307633e-02 -9.95644168e-01 8.46277932e-04 1.27684179e+02] [ 9.95599052e-01 -9.32345951e-02 -9.47827920e-03 1.11961425e+02] [ 9.51589578e-03 -4.11136974e-05 9.99954722e-01 1.71067371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.317628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:127.68, Y:111.95, Z:1.71 [[-9.29632247e-02 -9.95669180e-01 8.49901804e-04 1.27683711e+02] [ 9.95624069e-01 -9.29671031e-02 -9.47795424e-03 1.11954737e+02] [ 9.51591984e-03 -3.49184981e-05 9.99954722e-01 1.70734404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.95, Z:1.71 [[-9.14986038e-02 -9.95804839e-01 8.53528535e-04 1.27682753e+02] [ 9.95759736e-01 -9.15025831e-02 -9.47762763e-03 1.11954084e+02] [ 9.51596752e-03 -1.72803464e-05 9.99954722e-01 1.70877043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.37762800000002 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:127.68, Y:111.95, Z:1.71 [[-9.06882096e-02 -9.95878966e-01 8.57150946e-04 1.27682160e+02] [ 9.95833869e-01 -9.06922601e-02 -9.47730001e-03 1.11949770e+02] [ 9.51598068e-03 -5.89942693e-06 9.99954722e-01 1.70520577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.95, Z:1.71 [[-8.71654437e-02 -9.96193477e-01 8.60773231e-04 1.27680790e+02] [ 9.96148399e-01 -8.71696881e-02 -9.47697100e-03 1.11952890e+02] [ 9.51593003e-03 3.13934927e-05 9.99954722e-01 1.70704386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.95, Z:1.71 [[-8.61298236e-02 -9.96283547e-01 8.64400797e-04 1.27681110e+02] [ 9.96238476e-01 -8.61341493e-02 -9.47664012e-03 1.11949013e+02] [ 9.51587506e-03 4.49279918e-05 9.99954722e-01 1.70728814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.95, Z:1.71 [[-8.54805207e-02 -9.96339464e-01 8.68033661e-04 1.27680950e+02] [ 9.96294399e-01 -8.54849104e-02 -9.47630735e-03 1.11949686e+02] [ 9.51582276e-03 5.47773884e-05 9.99954722e-01 1.70767559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.95, Z:1.71 [[-8.55171890e-02 -9.96336314e-01 8.71668833e-04 1.27680753e+02] [ 9.96291253e-01 -8.55216116e-02 -9.47597296e-03 1.11954933e+02] [ 9.51580249e-03 5.80774630e-05 9.99954722e-01 1.70795680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.94, Z:1.71 [[-8.66778317e-02 -9.96236010e-01 8.75317241e-04 1.27682746e+02] [ 9.96190947e-01 -8.66822365e-02 -9.47563593e-03 1.11944139e+02] [ 9.51584419e-03 5.06555342e-05 9.99954722e-01 1.70912424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.95, Z:1.71 [[-8.82601986e-02 -9.96097066e-01 8.78504055e-04 1.27683299e+02] [ 9.96051999e-01 -8.82645621e-02 -9.47534047e-03 1.11945630e+02] [ 9.51589962e-03 3.87402892e-05 9.99954722e-01 1.70950755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.94, Z:1.71 [[-9.18083735e-02 -9.95776302e-01 8.82143079e-04 1.27685519e+02] [ 9.95731223e-01 -9.18126110e-02 -9.47500167e-03 1.11941210e+02] [ 9.51597398e-03 8.49291565e-06 9.99954722e-01 1.71023595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.94, Z:1.71 [[-9.40147069e-02 -9.95570415e-01 8.85783195e-04 1.27687405e+02] [ 9.95525329e-01 -9.40188792e-02 -9.47466135e-03 1.11935159e+02] [ 9.51597287e-03 -8.93790365e-06 9.99954722e-01 1.71077859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.93, Z:1.71 [[-9.57363032e-02 -9.95406334e-01 8.89415297e-04 1.27689439e+02] [ 9.95361244e-01 -9.57404320e-02 -9.47432039e-03 1.11930613e+02] [ 9.51595152e-03 -2.17468921e-05 9.99954722e-01 1.71135593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.93, Z:1.71 [[-9.77705793e-02 -9.95208579e-01 8.93039419e-04 1.27690222e+02] [ 9.95163485e-01 -9.77746505e-02 -9.47397877e-03 1.11930126e+02] [ 9.51590157e-03 -3.75561712e-05 9.99954722e-01 1.71154926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.93, Z:1.71 [[-9.86433533e-02 -9.95122447e-01 8.96661640e-04 1.27690387e+02] [ 9.95077352e-01 -9.86474195e-02 -9.47363593e-03 1.11929939e+02] [ 9.51588113e-03 -4.22635259e-05 9.99954722e-01 1.71270264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.94, Z:1.71 [[-9.87703761e-02 -9.95109844e-01 9.00289139e-04 1.27689564e+02] [ 9.95064752e-01 -9.87744711e-02 -9.47329119e-03 1.11937477e+02] [ 9.51589091e-03 -3.98345459e-05 9.99954722e-01 1.71309492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.93, Z:1.71 [[-9.89418380e-02 -9.95092808e-01 9.03932831e-04 1.27690332e+02] [ 9.95047718e-01 -9.89459598e-02 -9.47294350e-03 1.11926225e+02] [ 9.51589845e-03 -3.78141411e-05 9.99954722e-01 1.71361230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.93, Z:1.71 [[-9.88901793e-02 -9.95097939e-01 9.07577614e-04 1.27689569e+02] [ 9.95052853e-01 -9.88943382e-02 -9.47259429e-03 1.11926206e+02] [ 9.51591335e-03 -3.36588539e-05 9.99954722e-01 1.71303833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.92, Z:1.71 [[-9.87556213e-02 -9.95111299e-01 9.11214359e-04 1.27687477e+02] [ 9.95066216e-01 -9.87598209e-02 -9.47224444e-03 1.11923112e+02] [ 9.51592884e-03 -2.87187618e-05 9.99954722e-01 1.70961858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.92, Z:1.71 [[-9.89785033e-02 -9.95089151e-01 9.14853410e-04 1.27687172e+02] [ 9.95044071e-01 -9.89827274e-02 -9.47189296e-03 1.11916073e+02] [ 9.51593261e-03 -2.71943271e-05 9.99954722e-01 1.70781419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.887628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:127.69, Y:111.93, Z:1.71 [[-9.95499359e-02 -9.95032144e-01 9.18485664e-04 1.27685590e+02] [ 9.94987064e-01 -9.95541687e-02 -9.47154073e-03 1.11926291e+02] [ 9.51592655e-03 -2.90099190e-05 9.99954722e-01 1.70567636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.917628 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:127.69, Y:111.92, Z:1.70 [[-1.00531192e-01 -9.94933480e-01 9.22128680e-04 1.27685921e+02] [ 9.94888399e-01 -1.00535415e-01 -9.47118604e-03 1.11917373e+02] [ 9.51590668e-03 -3.47345001e-05 9.99954722e-01 1.70344886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.92, Z:1.71 [[-1.01426861e-01 -9.94842568e-01 9.25779491e-04 1.27686120e+02] [ 9.94797487e-01 -1.01431078e-01 -9.47082917e-03 1.11915834e+02] [ 9.51588683e-03 -3.96333594e-05 9.99954722e-01 1.70647331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.977628 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:127.69, Y:111.91, Z:1.70 [[-1.02904763e-01 -9.94690779e-01 9.29422233e-04 1.27686113e+02] [ 9.94645695e-01 -1.02908948e-01 -9.47047168e-03 1.11910910e+02] [ 9.51583672e-03 -5.01108174e-05 9.99954722e-01 1.70423972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.90, Z:1.71 [[-1.03304262e-01 -9.94649365e-01 9.33061823e-04 1.27686732e+02] [ 9.94604282e-01 -1.03308463e-01 -9.47011308e-03 1.11900124e+02] [ 9.51583514e-03 -5.02757577e-05 9.99954722e-01 1.70711457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.91, Z:1.71 [[-1.03891632e-01 -9.94588182e-01 9.36686754e-04 1.27685790e+02] [ 9.94543100e-01 -1.03895841e-01 -9.46975453e-03 1.11906682e+02] [ 9.51582379e-03 -5.22529051e-05 9.99954722e-01 1.70714881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.067628 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:127.69, Y:111.90, Z:1.70 [[-1.04973121e-01 -9.94474615e-01 9.40312761e-04 1.27686062e+02] [ 9.94429532e-01 -1.04977316e-01 -9.46939446e-03 1.11897152e+02] [ 9.51578392e-03 -5.89571122e-05 9.99954722e-01 1.70435984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.90, Z:1.71 [[-1.04583722e-01 -9.94515638e-01 9.43941620e-04 1.27686364e+02] [ 9.94470560e-01 -1.04587969e-01 -9.46903271e-03 1.11900019e+02] [ 9.51582604e-03 -5.15845362e-05 9.99954722e-01 1.70732391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.89, Z:1.71 [[-1.05053694e-01 -9.94466100e-01 9.47567349e-04 1.27687700e+02] [ 9.94421023e-01 -1.05057954e-01 -9.46866987e-03 1.11888947e+02] [ 9.51582068e-03 -5.24378572e-05 9.99954722e-01 1.70756352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.15762800000002 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:127.69, Y:111.89, Z:1.71 [[-1.06237722e-01 -9.94340305e-01 9.51187531e-04 1.27687123e+02] [ 9.94295226e-01 -1.06241963e-01 -9.46830619e-03 1.11894413e+02] [ 9.51577449e-03 -6.01300571e-05 9.99954722e-01 1.70589187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.89, Z:1.71 [[-1.06089317e-01 -9.94356146e-01 9.54806365e-04 1.27687930e+02] [ 9.94311071e-01 -1.06093599e-01 -9.46794124e-03 1.11890430e+02] [ 9.51580441e-03 -5.50728797e-05 9.99954722e-01 1.70944470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.89, Z:1.71 [[-1.06222623e-01 -9.94341911e-01 9.58432888e-04 1.27688318e+02] [ 9.94296839e-01 -1.06226934e-01 -9.46757412e-03 1.11886553e+02] [ 9.51581713e-03 -5.27037698e-05 9.99954722e-01 1.70971793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.88, Z:1.71 [[-1.06602783e-01 -9.94301223e-01 9.62055631e-04 1.27688628e+02] [ 9.94256152e-01 -1.06607111e-01 -9.46720597e-03 1.11884222e+02] [ 9.51581645e-03 -5.27007694e-05 9.99954722e-01 1.70969399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.88, Z:1.71 [[-1.06475961e-01 -9.94314808e-01 9.65675252e-04 1.27688806e+02] [ 9.94269741e-01 -1.06480329e-01 -9.46683675e-03 1.11880186e+02] [ 9.51584138e-03 -4.78488582e-05 9.99954722e-01 1.70965316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.88, Z:1.71 [[-1.04964303e-01 -9.94475518e-01 9.69293522e-04 1.27688157e+02] [ 9.94430461e-01 -1.04968774e-01 -9.46646627e-03 1.11882048e+02] [ 9.51591450e-03 -2.97460277e-05 9.99954722e-01 1.71001387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.88, Z:1.71 [[-1.04365960e-01 -9.94538486e-01 9.72914629e-04 1.27688569e+02] [ 9.94493436e-01 -1.04370493e-01 -9.46609409e-03 1.11879811e+02] [ 9.51593847e-03 -2.03807874e-05 9.99954722e-01 1.71018423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.88, Z:1.71 [[-1.03795030e-01 -9.94598230e-01 9.76542218e-04 1.27689049e+02] [ 9.94553185e-01 -1.03799623e-01 -9.46571985e-03 1.11877320e+02] [ 9.51595292e-03 -1.12715040e-05 9.99954722e-01 1.70990657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.88, Z:1.71 [[-1.03655150e-01 -9.94612814e-01 9.80169663e-04 1.27689171e+02] [ 9.94567774e-01 -1.03659784e-01 -9.46534421e-03 1.11877968e+02] [ 9.51595682e-03 -6.28651818e-06 9.99954722e-01 1.70938373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.87, Z:1.71 [[-1.03329081e-01 -9.94646738e-01 9.83799396e-04 1.27690626e+02] [ 9.94601703e-01 -1.03333765e-01 -9.46496694e-03 1.11871354e+02] [ 9.51595818e-03 4.82216286e-07 9.99954722e-01 1.70790734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.87, Z:1.71 [[-1.03705956e-01 -9.94607510e-01 9.87427767e-04 1.27691089e+02] [ 9.94562477e-01 -1.03710656e-01 -9.46458839e-03 1.11870209e+02] [ 9.51595748e-03 5.24420744e-07 9.99954722e-01 1.70744419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.87, Z:1.71 [[-1.04049987e-01 -9.94571575e-01 9.91051787e-04 1.27691670e+02] [ 9.94526544e-01 -1.04054707e-01 -9.46420890e-03 1.11868612e+02] [ 9.51595676e-03 8.76493214e-07 9.99954722e-01 1.70695258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.87, Z:1.71 [[-1.04786348e-01 -9.94494259e-01 9.94678652e-04 1.27693205e+02] [ 9.94449228e-01 -1.04791068e-01 -9.46382771e-03 1.11868462e+02] [ 9.51595576e-03 -2.52252175e-06 9.99954722e-01 1.70687282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.87, Z:1.71 [[-1.06051873e-01 -9.94360098e-01 9.98307800e-04 1.27693895e+02] [ 9.94315064e-01 -1.06056571e-01 -9.46344486e-03 1.11866879e+02] [ 9.51594906e-03 -1.09835684e-05 9.99954722e-01 1.70649201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.86, Z:1.71 [[-1.07197677e-01 -9.94237222e-01 1.00194102e-03 1.27695185e+02] [ 9.94192187e-01 -1.07202357e-01 -9.46306018e-03 1.11858466e+02] [ 9.51593711e-03 -1.82961332e-05 9.99954722e-01 1.70604729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.86, Z:1.71 [[-1.08856893e-01 -9.94056923e-01 1.00556744e-03 1.27694225e+02] [ 9.94011883e-01 -1.08861533e-01 -9.46267481e-03 1.11858528e+02] [ 9.51590502e-03 -3.05313908e-05 9.99954722e-01 1.70515124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.85, Z:1.70 [[-1.09912861e-01 -9.93940715e-01 1.00918830e-03 1.27693964e+02] [ 9.93895674e-01 -1.09917488e-01 -9.46228864e-03 1.11853995e+02] [ 9.51588137e-03 -3.69993261e-05 9.99954722e-01 1.70452330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.85, Z:1.70 [[-1.11287398e-01 -9.93787749e-01 1.01280902e-03 1.27693859e+02] [ 9.93742705e-01 -1.11291997e-01 -9.46190107e-03 1.11851429e+02] [ 9.51583890e-03 -4.65187765e-05 9.99954722e-01 1.70397195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.85, Z:1.70 [[-1.12680218e-01 -9.93630784e-01 1.01642660e-03 1.27693912e+02] [ 9.93585738e-01 -1.12684788e-01 -9.46151244e-03 1.11848073e+02] [ 9.51578585e-03 -5.62183065e-05 9.99954722e-01 1.70354861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.727628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:127.69, Y:111.84, Z:1.70 [[-1.15394247e-01 -9.93319247e-01 1.02004283e-03 1.27694948e+02] [ 9.93274192e-01 -1.15398729e-01 -9.46112256e-03 1.11843673e+02] [ 9.51562679e-03 -7.85769006e-05 9.99954722e-01 1.70029701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.757628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:127.70, Y:111.84, Z:1.70 [[-1.16762331e-01 -9.93159358e-01 1.02365529e-03 1.27695177e+02] [ 9.93114300e-01 -1.16766785e-01 -9.46073169e-03 1.11840505e+02] [ 9.51554315e-03 -8.80503857e-05 9.99954722e-01 1.69984060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.84, Z:1.70 [[-1.17828002e-01 -9.93033487e-01 1.02726342e-03 1.27694786e+02] [ 9.92988428e-01 -1.17832442e-01 -9.46033990e-03 1.11836422e+02] [ 9.51547928e-03 -9.46322565e-05 9.99954722e-01 1.70196081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.84, Z:1.70 [[-1.18922852e-01 -9.92902962e-01 1.03086725e-03 1.27694177e+02] [ 9.92857901e-01 -1.18927277e-01 -9.45994718e-03 1.11835780e+02] [ 9.51540782e-03 -1.01499204e-04 9.99954722e-01 1.70113002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.84762800000001 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:127.69, Y:111.83, Z:1.70 [[-1.20768811e-01 -9.92680122e-01 1.03447093e-03 1.27693866e+02] [ 9.92635056e-01 -1.20773186e-01 -9.45955310e-03 1.11830045e+02] [ 9.51524667e-03 -1.15566869e-04 9.99954722e-01 1.69960607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.87762800000002 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:127.69, Y:111.83, Z:1.70 [[-1.21774085e-01 -9.92557300e-01 1.03807326e-03 1.27694081e+02] [ 9.92512234e-01 -1.21778449e-01 -9.45915777e-03 1.11827050e+02] [ 9.51517105e-03 -1.21579873e-04 9.99954722e-01 1.69853015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.83, Z:1.70 [[-1.22232895e-01 -9.92500899e-01 1.04167009e-03 1.27693654e+02] [ 9.92455833e-01 -1.22237273e-01 -9.45876166e-03 1.11827049e+02] [ 9.51516036e-03 -1.22360264e-04 9.99954722e-01 1.70111846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.82, Z:1.70 [[-1.22596800e-01 -9.92456010e-01 1.04526972e-03 1.27693772e+02] [ 9.92410946e-01 -1.22601195e-01 -9.45836385e-03 1.11823366e+02] [ 9.51516137e-03 -1.22228028e-04 9.99954722e-01 1.70119723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.96762800000002 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:127.69, Y:111.83, Z:1.70 [[-1.21738251e-01 -9.92561685e-01 1.04887040e-03 1.27692506e+02] [ 9.92516628e-01 -1.21742719e-01 -9.45796454e-03 1.11829715e+02] [ 9.51530556e-03 -1.10374753e-04 9.99954722e-01 1.69912450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.99762800000002 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:127.69, Y:111.82, Z:1.70 [[-1.20733376e-01 -9.92684413e-01 1.05247988e-03 1.27692288e+02] [ 9.92639365e-01 -1.20737924e-01 -9.45756286e-03 1.11822094e+02] [ 9.51544948e-03 -9.71105295e-05 9.99954722e-01 1.69935565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.02762800000002 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:127.69, Y:111.82, Z:1.70 [[-1.19230365e-01 -9.92866056e-01 1.05609459e-03 1.27692061e+02] [ 9.92821018e-01 -1.19235016e-01 -9.45715920e-03 1.11817292e+02] [ 9.51561581e-03 -7.90676358e-05 9.99954722e-01 1.69807425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.82, Z:1.70 [[-1.15838781e-01 -9.93267463e-01 1.05969896e-03 1.27691640e+02] [ 9.93222445e-01 -1.15843620e-01 -9.45675531e-03 1.11818768e+02] [ 9.51584672e-03 -4.29422136e-05 9.99954722e-01 1.70075421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.82, Z:1.70 [[-1.14553285e-01 -9.93416536e-01 1.06330558e-03 1.27691518e+02] [ 9.93371528e-01 -1.14558216e-01 -9.45634977e-03 1.11820988e+02] [ 9.51590462e-03 -2.69984393e-05 9.99954722e-01 1.70068819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.82, Z:1.70 [[-1.13481092e-01 -9.93539583e-01 1.06692280e-03 1.27692343e+02] [ 9.93494584e-01 -1.13486106e-01 -9.45594163e-03 1.11817182e+02] [ 9.51593322e-03 -1.30885544e-05 9.99954722e-01 1.70021750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.82, Z:1.70 [[-1.11365556e-01 -9.93778933e-01 1.07054350e-03 1.27693641e+02] [ 9.93733948e-01 -1.11370701e-01 -9.45553170e-03 1.11815478e+02] [ 9.51593538e-03 1.08148716e-05 9.99954722e-01 1.69958736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.81, Z:1.70 [[-1.10391505e-01 -9.93887600e-01 1.07416283e-03 1.27694803e+02] [ 9.93842625e-01 -1.10396728e-01 -9.45512052e-03 1.11813515e+02] [ 9.51591111e-03 2.37838198e-05 9.99954722e-01 1.69903950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.81, Z:1.70 [[-1.09839057e-01 -9.93948802e-01 1.07778321e-03 1.27695287e+02] [ 9.93903833e-01 -1.09844340e-01 -9.45470782e-03 1.11814778e+02] [ 9.51588389e-03 3.27166758e-05 9.99954722e-01 1.69898161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.81, Z:1.70 [[-1.09134799e-01 -9.94026371e-01 1.08140885e-03 1.27696462e+02] [ 9.93981411e-01 -1.09140148e-01 -9.45429311e-03 1.11809989e+02] [ 9.51584179e-03 4.31079176e-05 9.99954722e-01 1.69888522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.81, Z:1.70 [[-1.08950032e-01 -9.94046635e-01 1.08503555e-03 1.27697422e+02] [ 9.94001680e-01 -1.08955424e-01 -9.45387687e-03 1.11809297e+02] [ 9.51581500e-03 4.85269683e-05 9.99954722e-01 1.69948606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.81, Z:1.70 [[-1.08070671e-01 -9.94142618e-01 1.08866086e-03 1.27699266e+02] [ 9.94097672e-01 -1.08076138e-01 -9.45345938e-03 1.11807095e+02] [ 9.51574511e-03 6.05935289e-05 9.99954722e-01 1.69960374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.81, Z:1.70 [[-1.08184420e-01 -9.94130242e-01 1.09228724e-03 1.27699481e+02] [ 9.94085299e-01 -1.08189916e-01 -9.45304035e-03 1.11807334e+02] [ 9.51572776e-03 6.31549983e-05 9.99954722e-01 1.69955339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.80, Z:1.70 [[-1.08038784e-01 -9.94146076e-01 1.09591767e-03 1.27700356e+02] [ 9.94101138e-01 -1.08044321e-01 -9.45261945e-03 1.11803132e+02] [ 9.51569221e-03 6.82034883e-05 9.99954722e-01 1.70006023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.81, Z:1.70 [[-1.08283111e-01 -9.94119489e-01 1.09954793e-03 1.27700166e+02] [ 9.94074554e-01 -1.08288671e-01 -9.45219715e-03 1.11807136e+02] [ 9.51568199e-03 6.95193056e-05 9.99954722e-01 1.70033331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.80, Z:1.70 [[-1.09217077e-01 -9.94017310e-01 1.10318470e-03 1.27700468e+02] [ 9.93972374e-01 -1.09222630e-01 -9.45177268e-03 1.11803398e+02] [ 9.51571839e-03 6.42401346e-05 9.99954722e-01 1.70057235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.80, Z:1.70 [[-1.10613401e-01 -9.93862893e-01 1.10682801e-03 1.27700556e+02] [ 9.93817954e-01 -1.10618925e-01 -9.45134602e-03 1.11802181e+02] [ 9.51577822e-03 5.45400210e-05 9.99954722e-01 1.70065974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.80, Z:1.70 [[-1.12690813e-01 -9.93629482e-01 1.11046991e-03 1.27701585e+02] [ 9.93584536e-01 -1.12696277e-01 -9.45091810e-03 1.11795365e+02] [ 9.51585668e-03 3.83140937e-05 9.99954722e-01 1.70039071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.80, Z:1.70 [[-1.17876048e-01 -9.93027692e-01 1.11410742e-03 1.27702849e+02] [ 9.92982721e-01 -1.17881312e-01 -9.45048928e-03 1.11795268e+02] [ 9.51592999e-03 -7.69691145e-06 9.99954722e-01 1.69960057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:111.79, Z:1.70 [[-1.21009833e-01 -9.92650679e-01 1.11774231e-03 1.27705078e+02] [ 9.92605696e-01 -1.21014990e-01 -9.45005935e-03 1.11786604e+02] [ 9.51587140e-03 -3.40727216e-05 9.99954722e-01 1.70045524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.567628 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:127.71, Y:111.78, Z:1.70 [[-1.24652440e-01 -9.92199835e-01 1.12137037e-03 1.27706463e+02] [ 9.92154837e-01 -1.24657467e-01 -9.44962881e-03 1.11780236e+02] [ 9.51570733e-03 -6.53462536e-05 9.99954723e-01 1.69812306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:111.78, Z:1.70 [[-1.27510794e-01 -9.91836545e-01 1.12498501e-03 1.27706895e+02] [ 9.91791537e-01 -1.27515726e-01 -9.44919846e-03 1.11775044e+02] [ 9.51551364e-03 -8.91241905e-05 9.99954723e-01 1.70001822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:111.77, Z:1.70 [[-1.34065578e-01 -9.90971820e-01 1.12858994e-03 1.27706919e+02] [ 9.90926783e-01 -1.34070246e-01 -9.44876788e-03 1.11769729e+02] [ 9.51477303e-03 -1.48404531e-04 9.99954723e-01 1.69961038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:111.76, Z:1.70 [[-1.37756905e-01 -9.90465423e-01 1.13218695e-03 1.27707185e+02] [ 9.90420373e-01 -1.37761440e-01 -9.44833685e-03 1.11762426e+02] [ 9.51422266e-03 -1.80232628e-04 9.99954723e-01 1.69922972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.68762800000002 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:127.71, Y:111.76, Z:1.70 [[-1.41548646e-01 -9.89930650e-01 1.13577314e-03 1.27706546e+02] [ 9.89885586e-01 -1.41553042e-01 -9.44790574e-03 1.11761883e+02] [ 9.51354361e-03 -2.13052804e-04 9.99954723e-01 1.69623468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:111.75, Z:1.70 [[-1.47340727e-01 -9.89085139e-01 1.13935561e-03 1.27706125e+02] [ 9.89040054e-01 -1.47344893e-01 -9.44747370e-03 1.11750668e+02] [ 9.51223407e-03 -2.65129311e-04 9.99954723e-01 1.69717568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:111.75, Z:1.70 [[-1.50375134e-01 -9.88628349e-01 1.14292852e-03 1.27705667e+02] [ 9.88583254e-01 -1.50379196e-01 -9.44704144e-03 1.11745745e+02] [ 9.51148566e-03 -2.90720124e-04 9.99954723e-01 1.69606139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.75, Z:1.70 [[-1.53089384e-01 -9.88211681e-01 1.14648725e-03 1.27704356e+02] [ 9.88166578e-01 -1.53093357e-01 -9.44660954e-03 1.11745043e+02] [ 9.51076947e-03 -3.13255260e-04 9.99954723e-01 1.69598173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.74, Z:1.70 [[-1.58519544e-01 -9.87355170e-01 1.15004463e-03 1.27701324e+02] [ 9.87310049e-01 -1.58523302e-01 -9.44617643e-03 1.11736929e+02] [ 9.50904001e-03 -3.61952953e-04 9.99954723e-01 1.69662401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.83762800000002 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:127.70, Y:111.73, Z:1.70 [[-1.60905118e-01 -9.86969205e-01 1.15359781e-03 1.27700155e+02] [ 9.86924078e-01 -1.60908801e-01 -9.44574249e-03 1.11733008e+02] [ 9.50828100e-03 -3.81354851e-04 9.99954723e-01 1.69625102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.73, Z:1.70 [[-1.61687112e-01 -9.86841395e-01 1.15714213e-03 1.27698297e+02] [ 9.86796267e-01 -1.61690794e-01 -9.44530828e-03 1.11734691e+02] [ 9.50812042e-03 -3.85321090e-04 9.99954723e-01 1.69916437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.73, Z:1.70 [[-1.60259469e-01 -9.87074241e-01 1.16024189e-03 1.27695769e+02] [ 9.87029121e-01 -1.60263245e-01 -9.44492749e-03 1.11730106e+02] [ 9.50878876e-03 -3.68446528e-04 9.99954723e-01 1.70222051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.74, Z:1.70 [[-1.58061470e-01 -9.87428588e-01 1.16379109e-03 1.27693453e+02] [ 9.87383480e-01 -1.58065381e-01 -9.44449014e-03 1.11737239e+02] [ 9.50971465e-03 -3.43701895e-04 9.99954723e-01 1.70305711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.73, Z:1.71 [[-1.54474660e-01 -9.87996056e-01 1.17149695e-03 1.27692237e+02] [ 9.87950969e-01 -1.54478808e-01 -9.44353799e-03 1.11731423e+02] [ 9.51114974e-03 -3.01405777e-04 9.99954723e-01 1.70547500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.73, Z:1.71 [[-1.44449523e-01 -9.89511481e-01 1.16823197e-03 1.27686575e+02] [ 9.89466435e-01 -1.44454097e-01 -9.44394188e-03 1.11734700e+02] [ 9.51364480e-03 -2.08246581e-04 9.99954723e-01 1.70642010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.74, Z:1.71 [[-1.39114054e-01 -9.90275672e-01 1.17180118e-03 1.27683411e+02] [ 9.90230655e-01 -1.39118904e-01 -9.44349899e-03 1.11737214e+02] [ 9.51468700e-03 -1.53369975e-04 9.99954723e-01 1.70582202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.74, Z:1.71 [[-1.33544672e-01 -9.91042098e-01 1.17538435e-03 1.27680678e+02] [ 9.90997113e-01 -1.33549810e-01 -9.44305299e-03 1.11741278e+02] [ 9.51543540e-03 -9.62669213e-05 9.99954723e-01 1.70539456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.07762800000003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:127.68, Y:111.75, Z:1.70 [[-1.24720049e-01 -9.92191272e-01 1.17898332e-03 1.27677083e+02] [ 9.92146338e-01 -1.24725621e-01 -9.44260363e-03 1.11746817e+02] [ 9.51591833e-03 -7.95800306e-06 9.99954723e-01 1.70222667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.74, Z:1.70 [[-1.20721060e-01 -9.92685765e-01 1.18260188e-03 1.27676879e+02] [ 9.92640859e-01 -1.20726848e-01 -9.44215041e-03 1.11742465e+02] [ 9.51586010e-03 3.40325303e-05 9.99954723e-01 1.70399881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.74, Z:1.70 [[-1.18112490e-01 -9.92999515e-01 1.18418536e-03 1.27677183e+02] [ 9.92954627e-01 -1.18118411e-01 -9.44195182e-03 1.11741176e+02] [ 9.51572767e-03 6.06298920e-05 9.99954723e-01 1.70393293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.74, Z:1.70 [[-1.18494226e-01 -9.92954031e-01 1.18781395e-03 1.27677550e+02] [ 9.92909145e-01 -1.18500164e-01 -9.44149531e-03 1.11738842e+02] [ 9.51572698e-03 6.06286587e-05 9.99954723e-01 1.70390899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.74, Z:1.70 [[-1.16655276e-01 -9.93171751e-01 1.19144359e-03 1.27678046e+02] [ 9.93126880e-01 -1.16661332e-01 -9.44103726e-03 1.11736898e+02] [ 9.51556690e-03 8.19078471e-05 9.99954723e-01 1.70345134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.73, Z:1.70 [[-1.15463048e-01 -9.93311057e-01 1.19507305e-03 1.27679931e+02] [ 9.93266199e-01 -1.15469191e-01 -9.44057781e-03 1.11733980e+02] [ 9.51542444e-03 9.69877793e-05 9.99954723e-01 1.70279866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.73, Z:1.70 [[-1.15788735e-01 -9.93273141e-01 1.19870233e-03 1.27681504e+02] [ 9.93228285e-01 -1.15794899e-01 -9.44011696e-03 1.11731295e+02] [ 9.51541824e-03 9.75258578e-05 9.99954723e-01 1.70238684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.73, Z:1.70 [[-1.16506061e-01 -9.93189253e-01 1.20232900e-03 1.27683033e+02] [ 9.93144397e-01 -1.16512226e-01 -9.43965504e-03 1.11729488e+02] [ 9.51544996e-03 9.43092852e-05 9.99954723e-01 1.70188546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:111.73, Z:1.70 [[-1.17620193e-01 -9.93057922e-01 1.20595548e-03 1.27684655e+02] [ 9.93013064e-01 -1.17626343e-01 -9.43919171e-03 1.11729123e+02] [ 9.51551624e-03 8.72899948e-05 9.99954723e-01 1.70079811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.72, Z:1.70 [[-1.20071807e-01 -9.92764473e-01 1.20958423e-03 1.27690153e+02] [ 9.92719604e-01 -1.20077881e-01 -9.43872669e-03 1.11721399e+02] [ 9.51567683e-03 6.74530065e-05 9.99954723e-01 1.69901307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:111.72, Z:1.70 [[-1.21823113e-01 -9.92551086e-01 1.21274986e-03 1.27692802e+02] [ 9.92506211e-01 -1.21829137e-01 -9.43831993e-03 1.11721127e+02] [ 9.51576296e-03 5.38562575e-05 9.99954723e-01 1.69768128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.72, Z:1.70 [[-1.23607276e-01 -9.92330470e-01 1.21636500e-03 1.27695851e+02] [ 9.92285589e-01 -1.23613254e-01 -9.43785400e-03 1.11717560e+02] [ 9.51582894e-03 4.03940380e-05 9.99954723e-01 1.69785015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.71, Z:1.70 [[-1.27857409e-01 -9.91791810e-01 1.21975255e-03 1.27701434e+02] [ 9.91746908e-01 -1.27863227e-01 -9.43741617e-03 1.11714343e+02] [ 9.51591357e-03 3.04223817e-06 9.99954723e-01 1.69747300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.71, Z:1.70 [[-1.30802085e-01 -9.91407746e-01 1.22336074e-03 1.27704843e+02] [ 9.91362831e-01 -1.30807804e-01 -9.43694843e-03 1.11710022e+02] [ 9.51588890e-03 -2.15781649e-05 9.99954723e-01 1.69703129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:111.71, Z:1.70 [[-1.34210073e-01 -9.90952144e-01 1.22696394e-03 1.27707711e+02] [ 9.90907214e-01 -1.34215672e-01 -9.43647993e-03 1.11711329e+02] [ 9.51577780e-03 -5.06632420e-05 9.99954723e-01 1.69786408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:111.71, Z:1.70 [[-1.37392533e-01 -9.90515915e-01 1.23056816e-03 1.27711357e+02] [ 9.90470972e-01 -1.37398022e-01 -9.43600989e-03 1.11705013e+02] [ 9.51559560e-03 -7.75952588e-05 9.99954723e-01 1.69872900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.70, Z:1.70 [[-1.44088093e-01 -9.89564095e-01 1.23417100e-03 1.27718340e+02] [ 9.89519120e-01 -1.44093312e-01 -9.43553864e-03 1.11696134e+02] [ 9.51490604e-03 -1.38312971e-04 9.99954723e-01 1.69919414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.69, Z:1.70 [[-1.47314009e-01 -9.89089000e-01 1.23775882e-03 1.27720567e+02] [ 9.89044012e-01 -1.47319115e-01 -9.43506796e-03 1.11694998e+02] [ 9.51446748e-03 -1.65719734e-04 9.99954723e-01 1.69930576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.69, Z:1.70 [[-1.47860058e-01 -9.89007514e-01 1.24133759e-03 1.27721086e+02] [ 9.88962526e-01 -1.47865174e-01 -9.43459710e-03 1.11690123e+02] [ 9.51443802e-03 -1.67363715e-04 9.99954723e-01 1.69996399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.69, Z:1.70 [[-1.48301869e-01 -9.88941356e-01 1.24491499e-03 1.27721062e+02] [ 9.88896370e-01 -1.48306999e-01 -9.43412503e-03 1.11687301e+02] [ 9.51442600e-03 -1.68006456e-04 9.99954723e-01 1.69969847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.69, Z:1.70 [[-1.48811450e-01 -9.88864800e-01 1.24848812e-03 1.27721439e+02] [ 9.88819816e-01 -1.48816591e-01 -9.43365214e-03 1.11685299e+02] [ 9.51440229e-03 -1.69305670e-04 9.99954723e-01 1.69936480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.70762800000003 meters Centerline goodness : 0.999887 Centerline is valid? [True, True] Translation: X:127.72, Y:111.68, Z:1.70 [[-1.50281081e-01 -9.88642519e-01 1.25161015e-03 1.27720362e+02] [ 9.88597530e-01 -1.50286185e-01 -9.43323791e-03 1.11684853e+02] [ 9.51419980e-03 -1.80298489e-04 9.99954723e-01 1.69694793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.73762800000003 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:127.72, Y:111.68, Z:1.70 [[-1.53386965e-01 -9.88165403e-01 1.25518294e-03 1.27719313e+02] [ 9.88120402e-01 -1.53391961e-01 -9.43276249e-03 1.11680229e+02] [ 9.51366452e-03 -2.06590940e-04 9.99954723e-01 1.69533682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.68, Z:1.70 [[-1.55161461e-01 -9.87888323e-01 1.25830467e-03 1.27719621e+02] [ 9.87843316e-01 -1.55166406e-01 -9.43234604e-03 1.11675524e+02] [ 9.51335112e-03 -2.20528728e-04 9.99954723e-01 1.69644486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.67, Z:1.70 [[-1.58123507e-01 -9.87418535e-01 1.26186950e-03 1.27719434e+02] [ 9.87373518e-01 -1.58128352e-01 -9.43186911e-03 1.11670124e+02] [ 9.51273973e-03 -2.45463702e-04 9.99954723e-01 1.69624041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.67, Z:1.70 [[-1.61155084e-01 -9.86928284e-01 1.26542771e-03 1.27718646e+02] [ 9.86883255e-01 -1.61159825e-01 -9.43139170e-03 1.11667944e+02] [ 9.51204333e-03 -2.71087304e-04 9.99954723e-01 1.69653986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.67, Z:1.70 [[-1.67050793e-01 -9.85947474e-01 1.26898169e-03 1.27716335e+02] [ 9.85902422e-01 -1.67055297e-01 -9.43091349e-03 1.11669721e+02] [ 9.51037545e-03 -3.24349447e-04 9.99954723e-01 1.69753834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.66, Z:1.70 [[-1.69631439e-01 -9.85506751e-01 1.27209251e-03 1.27716821e+02] [ 9.85461690e-01 -1.69635856e-01 -9.43049387e-03 1.11662411e+02] [ 9.50960788e-03 -3.46109809e-04 9.99954723e-01 1.69919261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.917628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.72, Y:111.66, Z:1.70 [[-1.71889150e-01 -9.85115472e-01 1.27520134e-03 1.27716865e+02] [ 9.85070404e-01 -1.71893493e-01 -9.43007347e-03 1.11657142e+02] [ 9.50891010e-03 -3.64764210e-04 9.99954723e-01 1.70071970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.66, Z:1.70 [[-1.72802006e-01 -9.84955752e-01 1.27829889e-03 1.27715694e+02] [ 9.84910682e-01 -1.72806337e-01 -9.42965356e-03 1.11658558e+02] [ 9.50868966e-03 -3.70452818e-04 9.99954723e-01 1.70327452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:111.66, Z:1.71 [[-1.71284034e-01 -9.85220857e-01 1.28139629e-03 1.27711763e+02] [ 9.85175797e-01 -1.71288464e-01 -9.42923264e-03 1.11658180e+02] [ 9.50936507e-03 -3.52676384e-04 9.99954723e-01 1.70566155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:111.65, Z:1.71 [[-1.69397858e-01 -9.85546912e-01 1.28449912e-03 1.27710403e+02] [ 9.85501864e-01 -1.69402404e-01 -9.42880994e-03 1.11653853e+02] [ 9.51013176e-03 -3.31343925e-04 9.99954723e-01 1.70606447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:111.66, Z:1.71 [[-1.66860812e-01 -9.85979620e-01 1.28804862e-03 1.27707886e+02] [ 9.85934587e-01 -1.66865508e-01 -9.42832502e-03 1.11659834e+02] [ 9.51106721e-03 -3.03286281e-04 9.99954723e-01 1.70656439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.65, Z:1.71 [[-1.63969222e-01 -9.86464610e-01 1.29160550e-03 1.27703133e+02] [ 9.86419594e-01 -1.63974084e-01 -9.42783773e-03 1.11652568e+02] [ 9.51201810e-03 -2.71810244e-04 9.99954723e-01 1.70561235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.67, Z:1.71 [[-1.56014273e-01 -9.87753888e-01 1.34309991e-03 1.27701897e+02] [ 9.87708972e-01 -1.56019988e-01 -9.42076053e-03 1.11665195e+02] [ 9.51494327e-03 -1.43181268e-04 9.99954722e-01 1.70708798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.66, Z:1.71 [[-1.52096936e-01 -9.88364732e-01 1.29590017e-03 1.27701163e+02] [ 9.88319783e-01 -1.52102379e-01 -9.42724877e-03 1.11658828e+02] [ 9.51466970e-03 -1.53091876e-04 9.99954723e-01 1.70640496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.66, Z:1.71 [[-1.48005371e-01 -9.88985703e-01 1.29949016e-03 1.27699378e+02] [ 9.88940782e-01 -1.48011034e-01 -9.42675388e-03 1.11661341e+02] [ 9.51526370e-03 -1.10091388e-04 9.99954723e-01 1.70558877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.66, Z:1.70 [[-1.40285958e-01 -9.90110172e-01 1.30308115e-03 1.27696906e+02] [ 9.90065300e-01 -1.40292007e-01 -9.42625746e-03 1.11662843e+02] [ 9.51584527e-03 -3.22361307e-05 9.99954723e-01 1.70404949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.66, Z:1.70 [[-1.37368977e-01 -9.90519084e-01 1.30668386e-03 1.27696511e+02] [ 9.90474236e-01 -1.37375192e-01 -9.42575802e-03 1.11661824e+02] [ 9.51589916e-03 -5.70039721e-07 9.99954723e-01 1.70346470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.64, Z:1.70 [[-1.42849941e-01 -9.89743491e-01 1.31029418e-03 1.27695590e+02] [ 9.89698613e-01 -1.42855941e-01 -9.42525612e-03 1.11639570e+02] [ 9.51576920e-03 -4.96009473e-05 9.99954723e-01 1.69905592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.66, Z:1.70 [[-1.33307995e-01 -9.91073639e-01 1.42173616e-03 1.27697070e+02] [ 9.91028980e-01 -1.33315487e-01 -9.40968178e-03 1.11658893e+02] [ 9.51522701e-03 1.54595919e-04 9.99954717e-01 1.70293364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.66, Z:1.70 [[-1.32190060e-01 -9.91223516e-01 1.31490200e-03 1.27698843e+02] [ 9.91178712e-01 -1.32196587e-01 -9.42458715e-03 1.11656682e+02] [ 9.51569797e-03 5.74661373e-05 9.99954723e-01 1.70147200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.66, Z:1.70 [[-1.32848225e-01 -9.91135516e-01 1.31851606e-03 1.27700040e+02] [ 9.91090712e-01 -1.32854757e-01 -9.42408151e-03 1.11656702e+02] [ 9.51571302e-03 5.47965147e-05 9.99954723e-01 1.70110104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:111.65, Z:1.70 [[-1.35039176e-01 -9.90839378e-01 1.32213234e-03 1.27703963e+02] [ 9.90794565e-01 -1.35045643e-01 -9.42357415e-03 1.11652160e+02] [ 9.51579656e-03 3.74098477e-05 9.99954723e-01 1.70076620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:111.65, Z:1.70 [[-1.36587085e-01 -9.90627180e-01 1.32574843e-03 1.27706093e+02] [ 9.90582363e-01 -1.36593516e-01 -9.42306539e-03 1.11650020e+02] [ 9.51583334e-03 2.61939775e-05 9.99954723e-01 1.70033172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:111.65, Z:1.70 [[-1.38027255e-01 -9.90427539e-01 1.32936069e-03 1.27708783e+02] [ 9.90382717e-01 -1.38033655e-01 -9.42255576e-03 1.11645471e+02] [ 9.51585523e-03 1.60063433e-05 9.99954723e-01 1.70021432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:111.64, Z:1.70 [[-1.39375559e-01 -9.90238697e-01 1.33296856e-03 1.27711786e+02] [ 9.90193871e-01 -1.39381933e-01 -9.42204535e-03 1.11642228e+02] [ 9.51586564e-03 6.69446428e-06 9.99954723e-01 1.70014316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.64, Z:1.70 [[-1.42147524e-01 -9.89844584e-01 1.33454114e-03 1.27717218e+02] [ 9.89799742e-01 -1.42153787e-01 -9.42182260e-03 1.11642769e+02] [ 9.51585015e-03 -1.83602724e-05 9.99954723e-01 1.70085349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.64, Z:1.70 [[-1.43505386e-01 -9.89648631e-01 1.33814753e-03 1.27720229e+02] [ 9.89603786e-01 -1.43511623e-01 -9.42131037e-03 1.11638634e+02] [ 9.51582664e-03 -2.77729255e-05 9.99954723e-01 1.70096907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.64, Z:1.70 [[-1.44879834e-01 -9.89448348e-01 1.34175372e-03 1.27722810e+02] [ 9.89403499e-01 -1.44886042e-01 -9.42079676e-03 1.11635244e+02] [ 9.51579318e-03 -3.73476482e-05 9.99954723e-01 1.70056634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.63, Z:1.70 [[-1.46577446e-01 -9.89198283e-01 1.34535554e-03 1.27726853e+02] [ 9.89153427e-01 -1.46583612e-01 -9.42028237e-03 1.11633413e+02] [ 9.51573421e-03 -5.00378906e-05 9.99954723e-01 1.69996525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.63, Z:1.70 [[-1.47218777e-01 -9.89103034e-01 1.34895476e-03 1.27728689e+02] [ 9.89058180e-01 -1.47224948e-01 -9.41976694e-03 1.11633740e+02] [ 9.51571986e-03 -5.25718370e-05 9.99954723e-01 1.70104688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.63, Z:1.70 [[-1.45298206e-01 -9.89386989e-01 1.34819829e-03 1.27729296e+02] [ 9.89342145e-01 -1.45304457e-01 -9.41987537e-03 1.11632449e+02] [ 9.51580135e-03 -3.48616014e-05 9.99954723e-01 1.70009465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.64, Z:1.70 [[-1.50992948e-01 -9.88533913e-01 1.35360835e-03 1.27724861e+02] [ 9.88489042e-01 -1.50998991e-01 -9.41909790e-03 1.11637865e+02] [ 9.51549120e-03 -8.41903385e-05 9.99954723e-01 1.69807742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.62, Z:1.70 [[-1.44085224e-01 -9.89564222e-01 1.44897692e-03 1.27729824e+02] [ 9.89519527e-01 -1.44092489e-01 -9.40533338e-03 1.11624880e+02] [ 9.51596810e-03 7.86213883e-05 9.99954719e-01 1.69915744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.62, Z:1.70 [[-1.45748417e-01 -9.89320754e-01 1.35841697e-03 1.27728760e+02] [ 9.89275921e-01 -1.45754745e-01 -9.41839490e-03 1.11623438e+02] [ 9.51580926e-03 -2.88669512e-05 9.99954723e-01 1.69697870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.62, Z:1.70 [[-1.48044738e-01 -9.88979727e-01 1.36201546e-03 1.27729147e+02] [ 9.88934885e-01 -1.48050996e-01 -9.41787449e-03 1.11617751e+02] [ 9.51573468e-03 -4.73221601e-05 9.99954723e-01 1.69640841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.61, Z:1.70 [[-1.50849325e-01 -9.88555824e-01 1.36560960e-03 1.27729568e+02] [ 9.88510969e-01 -1.50855489e-01 -9.41735330e-03 1.11613732e+02] [ 9.51558915e-03 -7.06813154e-05 9.99954723e-01 1.69628352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.61, Z:1.70 [[-1.54348048e-01 -9.88015590e-01 1.36919701e-03 1.27729563e+02] [ 9.87970718e-01 -1.54354088e-01 -9.41683170e-03 1.11612193e+02] [ 9.51531768e-03 -1.00743040e-04 9.99954723e-01 1.69700850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.84762800000001 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:127.73, Y:111.60, Z:1.69 [[-1.59085815e-01 -9.87263804e-01 1.37278302e-03 1.27730227e+02] [ 9.87218908e-01 -1.59091673e-01 -9.41630890e-03 1.11604260e+02] [ 9.51477929e-03 -1.42763821e-04 9.99954723e-01 1.69442734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.87762800000002 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:127.73, Y:111.60, Z:1.70 [[-1.67472111e-01 -9.85875853e-01 1.37636351e-03 1.27731063e+02] [ 9.85830913e-01 -1.67477622e-01 -9.41578552e-03 1.11604744e+02] [ 9.51330567e-03 -2.20019780e-04 9.99954723e-01 1.69532058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.60, Z:1.70 [[-1.71840315e-01 -9.85123852e-01 1.37948903e-03 1.27731871e+02] [ 9.85078891e-01 -1.71845657e-01 -9.41532758e-03 1.11602782e+02] [ 9.51232297e-03 -2.59027331e-04 9.99954723e-01 1.69798620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.59, Z:1.70 [[-1.75446164e-01 -9.84488055e-01 1.38306677e-03 1.27733255e+02] [ 9.84443079e-01 -1.75451376e-01 -9.41480200e-03 1.11591217e+02] [ 9.51142108e-03 -2.90240385e-04 9.99954723e-01 1.69917034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.59, Z:1.70 [[-1.81090838e-01 -9.83465396e-01 1.38663256e-03 1.27732481e+02] [ 9.83420395e-01 -1.81095825e-01 -9.41427679e-03 1.11585244e+02] [ 9.50972882e-03 -3.41196533e-04 9.99954723e-01 1.69981986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.58, Z:1.70 [[-1.83049463e-01 -9.83102722e-01 1.39018295e-03 1.27731862e+02] [ 9.83057714e-01 -1.83054394e-01 -9.41375249e-03 1.11584184e+02] [ 9.50916479e-03 -3.56552260e-04 9.99954723e-01 1.69991153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.58, Z:1.70 [[-1.84075795e-01 -9.82911064e-01 1.39372910e-03 1.27731584e+02] [ 9.82866055e-01 -1.84080714e-01 -9.41322744e-03 1.11579241e+02] [ 9.50892404e-03 -3.62898305e-04 9.99954723e-01 1.70010035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.58, Z:1.70 [[-1.84445682e-01 -9.82841716e-01 1.39727388e-03 1.27732002e+02] [ 9.82796709e-01 -1.84450617e-01 -9.41270123e-03 1.11576922e+02] [ 9.50892346e-03 -3.62895923e-04 9.99954723e-01 1.70007640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.58, Z:1.70 [[-1.83584647e-01 -9.83002907e-01 1.40081613e-03 1.27729286e+02] [ 9.82957908e-01 -1.83589656e-01 -9.41217404e-03 1.11578694e+02] [ 9.50936979e-03 -3.50987352e-04 9.99954723e-01 1.70066968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.57, Z:1.70 [[-1.82028802e-01 -9.83292196e-01 1.40436285e-03 1.27728914e+02] [ 9.83247209e-01 -1.82033916e-01 -9.41164481e-03 1.11574435e+02] [ 9.51003857e-03 -3.32354574e-04 9.99954723e-01 1.70090351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.57, Z:1.70 [[-1.79665553e-01 -9.83726744e-01 1.40791342e-03 1.27728134e+02] [ 9.83681773e-01 -1.79670809e-01 -9.41111364e-03 1.11572883e+02] [ 9.51092513e-03 -3.05914169e-04 9.99954723e-01 1.70103311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.58, Z:1.70 [[-1.76635359e-01 -9.84275346e-01 1.41146262e-03 1.27725903e+02] [ 9.84230396e-01 -1.76640787e-01 -9.41058131e-03 1.11578425e+02] [ 9.51192505e-03 -2.73036998e-04 9.99954723e-01 1.70075395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.57, Z:1.70 [[-1.73427586e-01 -9.84845607e-01 1.41502326e-03 1.27724706e+02] [ 9.84800679e-01 -1.73433195e-01 -9.41004589e-03 1.11572789e+02] [ 9.51285436e-03 -2.38445673e-04 9.99954723e-01 1.70007690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.58, Z:1.70 [[-1.65838405e-01 -9.86151921e-01 1.41859015e-03 1.27721039e+02] [ 9.86107042e-01 -1.65844393e-01 -9.40950814e-03 1.11575459e+02] [ 9.51446975e-03 -1.61576085e-04 9.99954723e-01 1.69847030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.58, Z:1.70 [[-1.62599379e-01 -9.86691147e-01 1.42216038e-03 1.27720416e+02] [ 9.86646293e-01 -1.62605549e-01 -9.40896850e-03 1.11575402e+02] [ 9.51499709e-03 -1.26723171e-04 9.99954723e-01 1.69796674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.58, Z:1.70 [[-1.59937128e-01 -9.87126174e-01 1.42574100e-03 1.27719912e+02] [ 9.87081341e-01 -1.59943453e-01 -9.40842590e-03 1.11575211e+02] [ 9.51534139e-03 -9.74342705e-05 9.99954723e-01 1.69724847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.58, Z:1.70 [[-1.55781912e-01 -9.87790440e-01 1.42932794e-03 1.27719965e+02] [ 9.87745639e-01 -1.55788460e-01 -9.40788094e-03 1.11575614e+02] [ 9.51568765e-03 -5.37652459e-05 9.99954723e-01 1.69686622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.57, Z:1.70 [[-1.54782566e-01 -9.87947521e-01 1.43292001e-03 1.27721116e+02] [ 9.87902732e-01 -1.54789193e-01 -9.40733379e-03 1.11572400e+02] [ 9.51575263e-03 -4.05056753e-05 9.99954723e-01 1.69654843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.58, Z:1.70 [[-1.54194384e-01 -9.88039487e-01 1.43651426e-03 1.27721069e+02] [ 9.87994707e-01 -1.54201072e-01 -9.40678491e-03 1.11575385e+02] [ 9.51578698e-03 -3.12049156e-05 9.99954723e-01 1.69648687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.57, Z:1.70 [[-1.54076186e-01 -9.88057921e-01 1.44011488e-03 1.27722114e+02] [ 9.88013147e-01 -1.54082914e-01 -9.40623365e-03 1.11573122e+02] [ 9.51580076e-03 -2.64241707e-05 9.99954723e-01 1.69534738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:111.57, Z:1.70 [[-1.55204648e-01 -9.87881285e-01 1.44372188e-03 1.27724194e+02] [ 9.87836508e-01 -1.55211359e-01 -9.40568000e-03 1.11568017e+02] [ 9.51577727e-03 -3.36440809e-05 9.99954723e-01 1.69509863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.56, Z:1.70 [[-1.56855357e-01 -9.87620525e-01 1.44732448e-03 1.27726868e+02] [ 9.87575743e-01 -1.56862028e-01 -9.40512560e-03 1.11563729e+02] [ 9.51572534e-03 -4.59017881e-05 9.99954723e-01 1.69526391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.56, Z:1.70 [[-1.59326522e-01 -9.87224875e-01 1.45091909e-03 1.27729131e+02] [ 9.87180081e-01 -1.59333114e-01 -9.40457103e-03 1.11560206e+02] [ 9.51560592e-03 -6.60791635e-05 9.99954723e-01 1.69597936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.56, Z:1.70 [[-1.64200069e-01 -9.86425984e-01 1.45450989e-03 1.27732951e+02] [ 9.86381163e-01 -1.64206475e-01 -9.40401565e-03 1.11557108e+02] [ 9.51520533e-03 -1.09438862e-04 9.99954723e-01 1.69641646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.56, Z:1.70 [[-1.67105993e-01 -9.85937859e-01 1.45809634e-03 1.27734776e+02] [ 9.85893024e-01 -1.67112301e-01 -9.40345954e-03 1.11555015e+02] [ 9.51489259e-03 -1.33847440e-04 9.99954723e-01 1.69623933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.55, Z:1.70 [[-1.70072581e-01 -9.85430455e-01 1.46168137e-03 1.27737208e+02] [ 9.85385605e-01 -1.70078788e-01 -9.40290224e-03 1.11549359e+02] [ 9.51450723e-03 -1.58856066e-04 9.99954723e-01 1.69617099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.55, Z:1.70 [[-1.72631057e-01 -9.84985467e-01 1.46526087e-03 1.27739821e+02] [ 9.84940607e-01 -1.72637182e-01 -9.40234441e-03 1.11545278e+02] [ 9.51413112e-03 -1.79941724e-04 9.99954723e-01 1.69647818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.54, Z:1.70 [[-1.76782631e-01 -9.84248822e-01 1.46883248e-03 1.27742660e+02] [ 9.84203941e-01 -1.76788600e-01 -9.40178643e-03 1.11543351e+02] [ 9.51337005e-03 -2.16441822e-04 9.99954723e-01 1.69586276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.54, Z:1.70 [[-1.77512177e-01 -9.84117503e-01 1.47240096e-03 1.27743208e+02] [ 9.84072622e-01 -1.77518147e-01 -9.40122754e-03 1.11537761e+02] [ 9.51329046e-03 -2.19882896e-04 9.99954723e-01 1.69577984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.54, Z:1.70 [[-1.77630729e-01 -9.84096106e-01 1.47596567e-03 1.27741984e+02] [ 9.84051229e-01 -1.77636728e-01 -9.40066785e-03 1.11541092e+02] [ 9.51334634e-03 -2.17421653e-04 9.99954723e-01 1.69511796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.53, Z:1.69 [[-1.77742273e-01 -9.84075960e-01 1.47953372e-03 1.27742977e+02] [ 9.84031087e-01 -1.77748301e-01 -9.40010626e-03 1.11533010e+02] [ 9.51340320e-03 -2.14889080e-04 9.99954723e-01 1.69361336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.53, Z:1.69 [[-1.78361556e-01 -9.83963900e-01 1.48310156e-03 1.27742693e+02] [ 9.83919027e-01 -1.78367589e-01 -9.39954331e-03 1.11530284e+02] [ 9.51334854e-03 -2.17265321e-04 9.99954723e-01 1.69241400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.53, Z:1.69 [[-1.78247110e-01 -9.83984633e-01 1.48666155e-03 1.27741184e+02] [ 9.83939765e-01 -1.78253183e-01 -9.39898022e-03 1.11533241e+02] [ 9.51345425e-03 -2.12555645e-04 9.99954723e-01 1.69325733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.53, Z:1.69 [[-1.77652256e-01 -9.84092220e-01 1.47608704e-03 1.27741243e+02] [ 9.84047342e-01 -1.77658255e-01 -9.40065510e-03 1.11525945e+02] [ 9.51335059e-03 -2.17508060e-04 9.99954723e-01 1.69100673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.52, Z:1.69 [[-1.77637682e-01 -9.84094828e-01 1.49109293e-03 1.27740930e+02] [ 9.84049970e-01 -1.77643825e-01 -9.39827433e-03 1.11522528e+02] [ 9.51367661e-03 -2.02177712e-04 9.99954724e-01 1.68989474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.89762800000003 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:127.74, Y:111.52, Z:1.69 [[-1.77822835e-01 -9.84061383e-01 1.49465008e-03 1.27739497e+02] [ 9.84016529e-01 -1.77829004e-01 -9.39770858e-03 1.11523066e+02] [ 9.51371424e-03 -2.00366799e-04 9.99954724e-01 1.68717386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.52, Z:1.69 [[-1.77327556e-01 -9.84150748e-01 1.49776019e-03 1.27739169e+02] [ 9.84105901e-01 -1.77333777e-01 -9.39721288e-03 1.11518680e+02] [ 9.51387756e-03 -1.92430152e-04 9.99954724e-01 1.68690227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.52, Z:1.69 [[-1.76183135e-01 -9.84356261e-01 1.50131930e-03 1.27738073e+02] [ 9.84311426e-01 -1.76189442e-01 -9.39664424e-03 1.11519850e+02] [ 9.51416220e-03 -1.77764503e-04 9.99954724e-01 1.69052604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.52, Z:1.69 [[-1.75256494e-01 -9.84521659e-01 1.50488109e-03 1.27738008e+02] [ 9.84476835e-01 -1.75262877e-01 -9.39607378e-03 1.11517467e+02] [ 9.51438793e-03 -1.65202368e-04 9.99954724e-01 1.69174918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.52, Z:1.69 [[-1.73905266e-01 -9.84761232e-01 1.50844621e-03 1.27737225e+02] [ 9.84716421e-01 -1.73911744e-01 -9.39550140e-03 1.11519968e+02] [ 9.51466204e-03 -1.48535409e-04 9.99954724e-01 1.69273503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.51, Z:1.69 [[-1.72110953e-01 -9.85076410e-01 1.51201759e-03 1.27737894e+02] [ 9.85031616e-01 -1.72117548e-01 -9.39492662e-03 1.11514088e+02] [ 9.51496535e-03 -1.27584650e-04 9.99954724e-01 1.69364824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.51, Z:1.69 [[-1.67707305e-01 -9.85835667e-01 1.51559166e-03 1.27737571e+02] [ 9.85790909e-01 -1.67714133e-01 -9.39435002e-03 1.11514905e+02] [ 9.51547146e-03 -8.14446374e-05 9.99954724e-01 1.69481671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.52, Z:1.69 [[-1.65616074e-01 -9.86189134e-01 1.51916379e-03 1.27737052e+02] [ 9.86144395e-01 -1.65623031e-01 -9.39377233e-03 1.11516221e+02] [ 9.51564471e-03 -5.76448381e-05 9.99954724e-01 1.69465211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.51, Z:1.69 [[-1.63931012e-01 -9.86470630e-01 1.52274512e-03 1.27737190e+02] [ 9.86425909e-01 -1.63938080e-01 -9.39319176e-03 1.11514352e+02] [ 9.51574370e-03 -3.77601908e-05 9.99954724e-01 1.69438333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.51, Z:1.69 [[-1.60617013e-01 -9.87015626e-01 1.52633276e-03 1.27737949e+02] [ 9.86970934e-01 -1.60624265e-01 -9.39260875e-03 1.11514423e+02] [ 9.51581768e-03 -2.16668739e-06 9.99954724e-01 1.69453528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.51, Z:1.69 [[-1.59474279e-01 -9.87200898e-01 1.52992258e-03 1.27738964e+02] [ 9.87156221e-01 -1.59481617e-01 -9.39202398e-03 1.11513300e+02] [ 9.51580904e-03 1.24863356e-05 9.99954724e-01 1.69460561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.51, Z:1.69 [[-1.58439017e-01 -9.87367574e-01 1.53351753e-03 1.27739828e+02] [ 9.87322910e-01 -1.58446436e-01 -9.39143697e-03 1.11513020e+02] [ 9.51578072e-03 2.61069467e-05 9.99954724e-01 1.69441841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.51, Z:1.69 [[-1.57999899e-01 -9.87437932e-01 1.53711643e-03 1.27740428e+02] [ 9.87393276e-01 -1.58007372e-01 -9.39084789e-03 1.11514463e+02] [ 9.51575515e-03 3.39854072e-05 9.99954724e-01 1.69387533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:111.51, Z:1.69 [[-1.57191459e-01 -9.87566945e-01 1.54072169e-03 1.27743276e+02] [ 9.87522302e-01 -1.57199003e-01 -9.39025635e-03 1.11508941e+02] [ 9.51570670e-03 4.54289322e-05 9.99954724e-01 1.69181484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.50, Z:1.69 [[-1.57135980e-01 -9.87575769e-01 1.54432673e-03 1.27745076e+02] [ 9.87531131e-01 -1.57143561e-01 -9.38966343e-03 1.11504914e+02] [ 9.51568508e-03 4.96167570e-05 9.99954724e-01 1.69115367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.51, Z:1.69 [[-1.57245458e-01 -9.87558337e-01 1.54792495e-03 1.27745384e+02] [ 9.87513705e-01 -1.57253068e-01 -9.38907021e-03 1.11510449e+02] [ 9.51567052e-03 5.22084523e-05 9.99954724e-01 1.69072486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.50, Z:1.69 [[-1.57787292e-01 -9.87471905e-01 1.55153074e-03 1.27748791e+02] [ 9.87427275e-01 -1.57794911e-01 -9.38847432e-03 1.11503918e+02] [ 9.51567828e-03 5.06418324e-05 9.99954724e-01 1.68969132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.50, Z:1.69 [[-1.59049421e-01 -9.87269397e-01 1.55513994e-03 1.27750472e+02] [ 9.87224763e-01 -1.59057019e-01 -9.38787644e-03 1.11501594e+02] [ 9.51571904e-03 4.21363368e-05 9.99954724e-01 1.68902623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.50, Z:1.69 [[-1.60124820e-01 -9.87095544e-01 1.55874229e-03 1.27751750e+02] [ 9.87050907e-01 -1.60132403e-01 -9.38727828e-03 1.11498048e+02] [ 9.51574570e-03 3.54217440e-05 9.99954724e-01 1.69006740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.50, Z:1.69 [[-1.60553351e-01 -9.87025927e-01 1.56234200e-03 1.27750521e+02] [ 9.86981293e-01 -1.60560948e-01 -9.38667913e-03 1.11495991e+02] [ 9.51574679e-03 3.49395380e-05 9.99954724e-01 1.69020384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.49, Z:1.69 [[-1.60575817e-01 -9.87022267e-01 1.56594148e-03 1.27749661e+02] [ 9.86977638e-01 -1.60583448e-01 -9.38607861e-03 1.11492808e+02] [ 9.51573287e-03 3.83719827e-05 9.99954724e-01 1.68975106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.49, Z:1.69 [[-1.60395587e-01 -9.87051565e-01 1.56953952e-03 1.27749156e+02] [ 9.87006944e-01 -1.60403261e-01 -9.38547691e-03 1.11489705e+02] [ 9.51570893e-03 4.37573251e-05 9.99954724e-01 1.69019740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.49, Z:1.69 [[-1.60700091e-01 -9.87002029e-01 1.57313613e-03 1.27747715e+02] [ 9.86957412e-01 -1.60707785e-01 -9.38487403e-03 1.11490761e+02] [ 9.51570493e-03 4.44682503e-05 9.99954724e-01 1.68979026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.48, Z:1.69 [[-1.61014575e-01 -9.86950769e-01 1.57673612e-03 1.27747740e+02] [ 9.86906155e-01 -1.61022289e-01 -9.38426916e-03 1.11483491e+02] [ 9.51570132e-03 4.50864695e-05 9.99954724e-01 1.68933688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.48, Z:1.69 [[-1.62582075e-01 -9.86693758e-01 1.58033467e-03 1.27746458e+02] [ 9.86649137e-01 -1.62589752e-01 -9.38366311e-03 1.11481170e+02] [ 9.51574804e-03 3.36204251e-05 9.99954724e-01 1.68792813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.48, Z:1.69 [[-1.63628358e-01 -9.86520781e-01 1.58392642e-03 1.27746585e+02] [ 9.86476158e-01 -1.63636022e-01 -9.38305680e-03 1.11481445e+02] [ 9.51576794e-03 2.71714680e-05 9.99954724e-01 1.68698394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.48, Z:1.69 [[-1.64669910e-01 -9.86347454e-01 1.58752209e-03 1.27748085e+02] [ 9.86302829e-01 -1.64677561e-01 -9.38244841e-03 1.11475762e+02] [ 9.51578337e-03 2.07706009e-05 9.99954724e-01 1.68642344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.70762800000003 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:127.75, Y:111.47, Z:1.68 [[-1.66520885e-01 -9.86036644e-01 1.59111578e-03 1.27748480e+02] [ 9.85992010e-01 -1.66528486e-01 -9.38183894e-03 1.11474863e+02] [ 9.51580308e-03 6.55532128e-06 9.99954724e-01 1.68297693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.73762800000003 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:127.75, Y:111.47, Z:1.68 [[-1.68377505e-01 -9.85721297e-01 1.59402832e-03 1.27748549e+02] [ 9.85676653e-01 -1.68385050e-01 -9.38134405e-03 1.11470014e+02] [ 9.51580116e-03 -8.41081304e-06 9.99954724e-01 1.68156006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.76762800000003 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:127.75, Y:111.47, Z:1.68 [[-1.68753861e-01 -9.85656929e-01 1.59761382e-03 1.27749016e+02] [ 9.85612289e-01 -1.68761423e-01 -9.38073342e-03 1.11467705e+02] [ 9.51580047e-03 -8.40717077e-06 9.99954724e-01 1.68153612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.46, Z:1.68 [[-1.70426390e-01 -9.85369109e-01 1.60119549e-03 1.27749426e+02] [ 9.85324462e-01 -1.70433910e-01 -9.38012202e-03 1.11463003e+02] [ 9.51578049e-03 -2.09232429e-05 9.99954724e-01 1.68227751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.47, Z:1.68 [[-1.71761031e-01 -9.85137337e-01 1.60477400e-03 1.27749362e+02] [ 9.85092685e-01 -1.71768525e-01 -9.37950976e-03 1.11465246e+02] [ 9.51575493e-03 -3.01831434e-05 9.99954724e-01 1.68314515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.46, Z:1.68 [[-1.73026442e-01 -9.84915867e-01 1.60790254e-03 1.27750199e+02] [ 9.84871211e-01 -1.73033908e-01 -9.37897341e-03 1.11464722e+02] [ 9.51572139e-03 -3.92334700e-05 9.99954724e-01 1.68481834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.46, Z:1.69 [[-1.74326735e-01 -9.84686546e-01 1.61103661e-03 1.27752086e+02] [ 9.84641885e-01 -1.74334173e-01 -9.37843504e-03 1.11459903e+02] [ 9.51567754e-03 -4.86178339e-05 9.99954724e-01 1.68648125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.917628 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:127.75, Y:111.46, Z:1.69 [[-1.77287595e-01 -9.84157763e-01 1.61416767e-03 1.27752448e+02] [ 9.84113085e-01 -1.77294928e-01 -9.37789611e-03 1.11460675e+02] [ 9.51551300e-03 -7.40611255e-05 9.99954724e-01 1.68541204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.46, Z:1.69 [[-1.77765849e-01 -9.84071485e-01 1.61729760e-03 1.27753834e+02] [ 9.84026808e-01 -1.77773190e-01 -9.37735629e-03 1.11455349e+02] [ 9.51550108e-03 -7.55095102e-05 9.99954724e-01 1.68767854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.45, Z:1.69 [[-1.78141015e-01 -9.84003634e-01 1.62087624e-03 1.27754306e+02] [ 9.83958959e-01 -1.78148373e-01 -9.37673768e-03 1.11453042e+02] [ 9.51550042e-03 -7.55058739e-05 9.99954724e-01 1.68765460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.45, Z:1.69 [[-1.78843684e-01 -9.83876160e-01 1.62445106e-03 1.27754093e+02] [ 9.83831486e-01 -1.78851044e-01 -9.37611833e-03 1.11454402e+02] [ 9.51547407e-03 -7.86734389e-05 9.99954724e-01 1.68754388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.45, Z:1.69 [[-1.79637169e-01 -9.83731588e-01 1.62803098e-03 1.27756273e+02] [ 9.83686914e-01 -1.79644528e-01 -9.37549669e-03 1.11448317e+02] [ 9.51543910e-03 -8.27149219e-05 9.99954724e-01 1.68755880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.45, Z:1.69 [[-1.80103220e-01 -9.83646363e-01 1.63160890e-03 1.27757282e+02] [ 9.83601691e-01 -1.80110591e-01 -9.37487398e-03 1.11448451e+02] [ 9.51543074e-03 -8.35917139e-05 9.99954724e-01 1.68859498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.44, Z:1.69 [[-1.80466713e-01 -9.83579733e-01 1.63518540e-03 1.27758872e+02] [ 9.83535064e-01 -1.80474102e-01 -9.37425012e-03 1.11444274e+02] [ 9.51543105e-03 -8.34779292e-05 9.99954724e-01 1.68926941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.44, Z:1.69 [[-1.80498329e-01 -9.83573926e-01 1.63876166e-03 1.27759314e+02] [ 9.83529262e-01 -1.80505750e-01 -9.37362490e-03 1.11442748e+02] [ 9.51545894e-03 -8.01535869e-05 9.99954724e-01 1.68931897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.44, Z:1.69 [[-1.78776412e-01 -9.83888356e-01 1.64233648e-03 1.27757726e+02] [ 9.83843711e-01 -1.78783946e-01 -9.37299852e-03 1.11440272e+02] [ 9.51560750e-03 -5.98686270e-05 9.99954724e-01 1.68773383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.44, Z:1.69 [[-1.77647107e-01 -9.84092880e-01 1.64591226e-03 1.27756243e+02] [ 9.84048249e-01 -1.77654726e-01 -9.37237056e-03 1.11439236e+02] [ 9.51568723e-03 -4.53174394e-05 9.99954724e-01 1.68687767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.44, Z:1.69 [[-1.76485260e-01 -9.84301901e-01 1.64948899e-03 1.27754388e+02] [ 9.84257285e-01 -1.76492965e-01 -9.37174103e-03 1.11437656e+02] [ 9.51574572e-03 -3.04525910e-05 9.99954724e-01 1.68561324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.43, Z:1.68 [[-1.74195877e-01 -9.84709634e-01 1.65306962e-03 1.27751220e+02] [ 9.84665043e-01 -1.74203720e-01 -9.37110941e-03 1.11434783e+02] [ 9.51579260e-03 -4.68875357e-06 9.99954724e-01 1.68265799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.43, Z:1.68 [[-1.73968087e-01 -9.84749897e-01 1.65665120e-03 1.27750091e+02] [ 9.84705314e-01 -1.73975975e-01 -9.37047620e-03 1.11433012e+02] [ 9.51579299e-03 1.14942132e-06 9.99954724e-01 1.68158637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.43, Z:1.68 [[-1.74026170e-01 -9.84739629e-01 1.66023374e-03 1.27749520e+02] [ 9.84695050e-01 -1.74034089e-01 -9.36984142e-03 1.11428911e+02] [ 9.51579142e-03 4.22632843e-06 9.99954724e-01 1.68053532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.43, Z:1.68 [[-1.74802065e-01 -9.84602189e-01 1.66381483e-03 1.27749108e+02] [ 9.84557610e-01 -1.74809983e-01 -9.36920548e-03 1.11428175e+02] [ 9.51579166e-03 3.65085330e-07 9.99954724e-01 1.68002735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.42, Z:1.68 [[-1.77405988e-01 -9.84136340e-01 1.66739688e-03 1.27750249e+02] [ 9.84091747e-01 -1.77413822e-01 -9.36856795e-03 1.11424352e+02] [ 9.51576743e-03 -2.11685469e-05 9.99954724e-01 1.68124051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.42, Z:1.68 [[-1.79246387e-01 -9.83802796e-01 1.67097868e-03 1.27751097e+02] [ 9.83758194e-01 -1.79254172e-01 -9.36792906e-03 1.11421370e+02] [ 9.51572469e-03 -3.53284640e-05 9.99954724e-01 1.68218985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.42, Z:1.68 [[-1.81056940e-01 -9.83471189e-01 1.67455665e-03 1.27751039e+02] [ 9.83426579e-01 -1.81064677e-01 -9.36728944e-03 1.11421176e+02] [ 9.51566234e-03 -4.92092365e-05 9.99954724e-01 1.68268400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.42, Z:1.68 [[-1.83142253e-01 -9.83084991e-01 1.67813677e-03 1.27751323e+02] [ 9.83040370e-01 -1.83149930e-01 -9.36664802e-03 1.11417923e+02] [ 9.51556171e-03 -6.57528304e-05 9.99954724e-01 1.68321005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.41, Z:1.68 [[-1.85601248e-01 -9.82623706e-01 1.68171784e-03 1.27753176e+02] [ 9.82579073e-01 -1.85608847e-01 -9.36600502e-03 1.11412710e+02] [ 9.51540027e-03 -8.59214688e-05 9.99954724e-01 1.68474446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.41, Z:1.68 [[-1.86236005e-01 -9.82503572e-01 1.69770972e-03 1.27753229e+02] [ 9.82458959e-01 -1.86243727e-01 -9.36312941e-03 1.11414535e+02] [ 9.51549588e-03 -7.58216892e-05 9.99954724e-01 1.68359698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.41, Z:1.68 [[-1.86450505e-01 -9.82462908e-01 1.68620164e-03 1.27754417e+02] [ 9.82418275e-01 -1.86458108e-01 -9.36520144e-03 1.11408961e+02] [ 9.51536901e-03 -8.95912276e-05 9.99954724e-01 1.68187519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.41, Z:1.68 [[-1.85984998e-01 -9.82551133e-01 1.68842777e-03 1.27755753e+02] [ 9.82506507e-01 -1.85992643e-01 -9.36480008e-03 1.11405491e+02] [ 9.51543008e-03 -8.28210510e-05 9.99954724e-01 1.68135995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.607628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.76, Y:111.40, Z:1.68 [[-1.85129867e-01 -9.82712608e-01 1.69199510e-03 1.27756747e+02] [ 9.82667994e-01 -1.85137586e-01 -9.36415550e-03 1.11403463e+02] [ 9.51552556e-03 -7.09154298e-05 9.99954724e-01 1.67972931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.40, Z:1.68 [[-1.83867015e-01 -9.82949666e-01 1.69556101e-03 1.27756773e+02] [ 9.82905069e-01 -1.83874824e-01 -9.36350978e-03 1.11402789e+02] [ 9.51562980e-03 -5.50650815e-05 9.99954724e-01 1.67929519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.40, Z:1.68 [[-1.80795098e-01 -9.83519316e-01 1.69912959e-03 1.27755739e+02] [ 9.83474750e-01 -1.80803081e-01 -9.36286217e-03 1.11402678e+02] [ 9.51576367e-03 -2.17085361e-05 9.99954724e-01 1.67789093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.40, Z:1.68 [[-1.79811666e-01 -9.83699582e-01 1.70225163e-03 1.27755523e+02] [ 9.83655028e-01 -1.79819723e-01 -9.36229452e-03 1.11399426e+02] [ 9.51578362e-03 -9.02139756e-06 9.99954724e-01 1.67782062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.727628 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:127.75, Y:111.40, Z:1.68 [[-1.79355342e-01 -9.83782878e-01 1.70582451e-03 1.27754910e+02] [ 9.83738335e-01 -1.79363454e-01 -9.36164350e-03 1.11397590e+02] [ 9.51578716e-03 -9.75814341e-07 9.99954724e-01 1.67531647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:111.40, Z:1.68 [[-1.78500661e-01 -9.83938307e-01 1.70939714e-03 1.27754032e+02] [ 9.83893777e-01 -1.78508845e-01 -9.36099110e-03 1.11399013e+02] [ 9.51578025e-03 1.09221087e-05 9.99954724e-01 1.67743730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.39, Z:1.68 [[-1.78900168e-01 -9.83865741e-01 1.71297484e-03 1.27755953e+02] [ 9.83821213e-01 -1.78908369e-01 -9.36033637e-03 1.11392691e+02] [ 9.51577981e-03 1.06952363e-05 9.99954724e-01 1.67763159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.39, Z:1.68 [[-1.79566418e-01 -9.83744355e-01 1.71655230e-03 1.27756939e+02] [ 9.83699828e-01 -1.79574622e-01 -9.35968027e-03 1.11392209e+02] [ 9.51578186e-03 7.88794069e-06 9.99954724e-01 1.67802370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.39, Z:1.68 [[-1.80607834e-01 -9.83553685e-01 1.72012592e-03 1.27758550e+02] [ 9.83509156e-01 -1.80616025e-01 -9.35902346e-03 1.11389223e+02] [ 9.51578432e-03 1.44663355e-06 9.99954724e-01 1.67856416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.40, Z:1.68 [[-1.81414172e-01 -9.83405271e-01 1.72370048e-03 1.27757583e+02] [ 9.83360742e-01 -1.81422361e-01 -9.35836507e-03 1.11398252e+02] [ 9.51578335e-03 -2.72066865e-06 9.99954724e-01 1.67921112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.39, Z:1.68 [[-1.81909797e-01 -9.83313705e-01 1.72728908e-03 1.27759846e+02] [ 9.83269178e-01 -1.81917997e-01 -9.35770267e-03 1.11390235e+02] [ 9.51578225e-03 -3.86767868e-06 9.99954724e-01 1.67929487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.39, Z:1.68 [[-1.82026550e-01 -9.83292092e-01 1.73088400e-03 1.27760717e+02] [ 9.83247570e-01 -1.82034780e-01 -9.35703767e-03 1.11386317e+02] [ 9.51578224e-03 -1.34180011e-06 9.99954724e-01 1.67953442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.96762800000002 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:127.76, Y:111.38, Z:1.68 [[-1.82310238e-01 -9.83239528e-01 1.73446969e-03 1.27761370e+02] [ 9.83195010e-01 -1.82318488e-01 -9.35637296e-03 1.11383354e+02] [ 9.51578163e-03 -4.40638572e-07 9.99954724e-01 1.67831110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.38, Z:1.68 [[-1.81858527e-01 -9.83323169e-01 1.73805096e-03 1.27762537e+02] [ 9.83278662e-01 -1.81866832e-01 -9.35570766e-03 1.11378110e+02] [ 9.51577793e-03 7.57321012e-06 9.99954724e-01 1.67982755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.38, Z:1.68 [[-1.80819447e-01 -9.83514766e-01 1.74162784e-03 1.27761803e+02] [ 9.83470273e-01 -1.80827834e-01 -9.35504175e-03 1.11381510e+02] [ 9.51575648e-03 2.12657245e-05 9.99954724e-01 1.67928700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.38, Z:1.68 [[-1.80455804e-01 -9.83581546e-01 1.74520740e-03 1.27762632e+02] [ 9.83537063e-01 -1.80464241e-01 -9.35437392e-03 1.11376395e+02] [ 9.51573709e-03 2.84250960e-05 9.99954724e-01 1.67873630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.38, Z:1.68 [[-1.80175218e-01 -9.83632977e-01 1.74879031e-03 1.27762342e+02] [ 9.83588502e-01 -1.80183701e-01 -9.35370406e-03 1.11376305e+02] [ 9.51571527e-03 3.47843786e-05 9.99954724e-01 1.67904818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.38, Z:1.68 [[-1.79656139e-01 -9.83727910e-01 1.75237296e-03 1.27761603e+02] [ 9.83683447e-01 -1.79664680e-01 -9.35303281e-03 1.11377813e+02] [ 9.51567895e-03 4.34505097e-05 9.99954724e-01 1.67990860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.37, Z:1.68 [[-1.78794430e-01 -9.83884886e-01 1.75596367e-03 1.27761906e+02] [ 9.83840437e-01 -1.78803044e-01 -9.35235864e-03 1.11368916e+02] [ 9.51561596e-03 5.54384321e-05 9.99954724e-01 1.67934345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.37, Z:1.68 [[-1.78932769e-01 -9.83859730e-01 1.75955117e-03 1.27761354e+02] [ 9.83815286e-01 -1.78941411e-01 -9.35168364e-03 1.11370969e+02] [ 9.51560151e-03 5.77506825e-05 9.99954724e-01 1.67933024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.37, Z:1.68 [[-1.79495156e-01 -9.83757277e-01 1.76313599e-03 1.27762463e+02] [ 9.83712835e-01 -1.79503806e-01 -9.35100772e-03 1.11366435e+02] [ 9.51561151e-03 5.59589227e-05 9.99954724e-01 1.67908985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.36, Z:1.68 [[-1.80433883e-01 -9.83585529e-01 1.76672297e-03 1.27763519e+02] [ 9.83541085e-01 -1.80442525e-01 -9.35032997e-03 1.11363821e+02] [ 9.51564120e-03 5.05282779e-05 9.99954724e-01 1.67952296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.26762800000003 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:127.77, Y:111.36, Z:1.68 [[-1.84129533e-01 -9.82900392e-01 1.77030607e-03 1.27766038e+02] [ 9.82855923e-01 -1.84138042e-01 -9.34965152e-03 1.11357312e+02] [ 9.51575684e-03 1.84088395e-05 9.99954724e-01 1.67901445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.35, Z:1.68 [[-1.86219804e-01 -9.82506508e-01 1.77388238e-03 1.27767305e+02] [ 9.82462027e-01 -1.86228252e-01 -9.34897295e-03 1.11353855e+02] [ 9.51577378e-03 1.80816818e-06 9.99954724e-01 1.68005820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.35, Z:1.68 [[-1.88595115e-01 -9.82053320e-01 1.77745190e-03 1.27767485e+02] [ 9.82008825e-01 -1.88603490e-01 -9.34829426e-03 1.11352662e+02] [ 9.51575704e-03 -1.75691789e-05 9.99954724e-01 1.67936020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.357628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.35, Z:1.68 [[-1.90459222e-01 -9.81693492e-01 1.78101943e-03 1.27768711e+02] [ 9.81648988e-01 -1.90467547e-01 -9.34761453e-03 1.11348692e+02] [ 9.51571875e-03 -3.20034739e-05 9.99954724e-01 1.67891021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.387628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:127.77, Y:111.34, Z:1.68 [[-1.94795567e-01 -9.80842241e-01 1.78458669e-03 1.27770488e+02] [ 9.80797707e-01 -1.94803729e-01 -9.34693344e-03 1.11342906e+02] [ 9.51551129e-03 -7.04226652e-05 9.99954724e-01 1.67704671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.35, Z:1.68 [[-1.95875159e-01 -9.80627211e-01 1.78769775e-03 1.27770395e+02] [ 9.80582673e-01 -1.95883301e-01 -9.34633838e-03 1.11345481e+02] [ 9.51545387e-03 -7.77300778e-05 9.99954724e-01 1.67855030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.34, Z:1.68 [[-1.96895511e-01 -9.80422842e-01 1.79125685e-03 1.27771003e+02] [ 9.80378302e-01 -1.96903641e-01 -9.34565622e-03 1.11340535e+02] [ 9.51539982e-03 -8.40084025e-05 9.99954724e-01 1.67801691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.34, Z:1.68 [[-1.97380943e-01 -9.80325223e-01 1.79481861e-03 1.27770794e+02] [ 9.80280685e-01 -1.97389085e-01 -9.34497214e-03 1.11337209e+02] [ 9.51538949e-03 -8.50933895e-05 9.99954724e-01 1.67791623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.33, Z:1.68 [[-1.96910848e-01 -9.80419749e-01 1.79837601e-03 1.27770292e+02] [ 9.80375221e-01 -1.96919045e-01 -9.34428749e-03 1.11334307e+02] [ 9.51545848e-03 -7.69082918e-05 9.99954724e-01 1.67879634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.33, Z:1.68 [[-1.96760093e-01 -9.80450008e-01 1.80193197e-03 1.27770137e+02] [ 9.80405488e-01 -1.96768331e-01 -9.34360172e-03 1.11332008e+02] [ 9.51549753e-03 -7.18239565e-05 9.99954724e-01 1.67950764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.33, Z:1.68 [[-1.96371378e-01 -9.80527930e-01 1.80548648e-03 1.27769767e+02] [ 9.80483420e-01 -1.96379667e-01 -9.34291482e-03 1.11330498e+02] [ 9.51554976e-03 -6.44315005e-05 9.99954724e-01 1.68063543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.33, Z:1.68 [[-1.96002736e-01 -9.80601681e-01 1.80859433e-03 1.27769115e+02] [ 9.80557179e-01 -1.96011071e-01 -9.34231317e-03 1.11329986e+02] [ 9.51559250e-03 -5.76887879e-05 9.99954724e-01 1.68188634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.33, Z:1.68 [[-1.94028396e-01 -9.80994239e-01 1.81215189e-03 1.27767416e+02] [ 9.80949761e-01 -1.94036855e-01 -9.34162304e-03 1.11329131e+02] [ 9.51570265e-03 -3.49101711e-05 9.99954724e-01 1.68329527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.33, Z:1.68 [[-1.93148223e-01 -9.81167911e-01 1.81526497e-03 1.27766362e+02] [ 9.81123445e-01 -1.93156751e-01 -9.34101807e-03 1.11327634e+02] [ 9.51573787e-03 -2.32020221e-05 9.99954724e-01 1.68346717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.33, Z:1.68 [[-1.92434637e-01 -9.81308108e-01 1.81882852e-03 1.27765468e+02] [ 9.81263655e-01 -1.92443232e-01 -9.34032415e-03 1.11325313e+02] [ 9.51575705e-03 -1.26515717e-05 9.99954724e-01 1.68308481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.32, Z:1.68 [[-1.91671227e-01 -9.81457498e-01 1.82239299e-03 1.27764784e+02] [ 9.81413058e-01 -1.91679891e-01 -9.33962863e-03 1.11324558e+02] [ 9.51576463e-03 -1.61780169e-06 9.99954724e-01 1.68216588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.32, Z:1.68 [[-1.90208573e-01 -9.81742005e-01 1.82596013e-03 1.27764417e+02] [ 9.81697585e-01 -1.90217337e-01 -9.33893118e-03 1.11323275e+02] [ 9.51575029e-03 1.61958782e-05 9.99954724e-01 1.68191967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.32, Z:1.68 [[-1.90303925e-01 -9.81723520e-01 1.82953058e-03 1.27764321e+02] [ 9.81679106e-01 -1.90312718e-01 -9.33823166e-03 1.11323209e+02] [ 9.51574459e-03 1.89098063e-05 9.99954724e-01 1.68170735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:111.32, Z:1.68 [[-1.90786592e-01 -9.81629826e-01 1.83310610e-03 1.27764955e+02] [ 9.81585415e-01 -1.90795398e-01 -9.33752973e-03 1.11320355e+02] [ 9.51574589e-03 1.78747277e-05 9.99954724e-01 1.68207262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.31, Z:1.68 [[-1.93234278e-01 -9.81150927e-01 1.83668254e-03 1.27766301e+02] [ 9.81106500e-01 -1.93243006e-01 -9.33682620e-03 1.11314375e+02] [ 9.51576173e-03 -2.21369142e-06 9.99954724e-01 1.68258242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.31, Z:1.68 [[-1.93609011e-01 -9.81077043e-01 1.84025392e-03 1.27766829e+02] [ 9.81032620e-01 -1.93617757e-01 -9.33612224e-03 1.11312073e+02] [ 9.51576103e-03 -2.20826809e-06 9.99954724e-01 1.68255847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.31, Z:1.68 [[-1.95273495e-01 -9.80747094e-01 1.84381972e-03 1.27767259e+02] [ 9.80702663e-01 -1.95282199e-01 -9.33541796e-03 1.11312115e+02] [ 9.51574921e-03 -1.47207810e-05 9.99954724e-01 1.68262803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.31, Z:1.68 [[-1.96809237e-01 -9.80440060e-01 1.84738882e-03 1.27769020e+02] [ 9.80395622e-01 -1.96817906e-01 -9.33471162e-03 1.11306936e+02] [ 9.51572442e-03 -2.59855573e-05 9.99954724e-01 1.68281048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.31, Z:1.68 [[-1.99781067e-01 -9.79838813e-01 1.85095646e-03 1.27771054e+02] [ 9.79794355e-01 -1.99789635e-01 -9.33400415e-03 1.11305272e+02] [ 9.51562146e-03 -5.12006148e-05 9.99954724e-01 1.68243774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.31, Z:1.68 [[-2.01136518e-01 -9.79561464e-01 1.85452026e-03 1.27771816e+02] [ 9.79517001e-01 -2.01145058e-01 -9.33329602e-03 1.11305025e+02] [ 9.51556470e-03 -6.07325347e-05 9.99954724e-01 1.68171388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.30, Z:1.68 [[-2.02576054e-01 -9.79264770e-01 1.85808617e-03 1.27773842e+02] [ 9.79220301e-01 -2.02584563e-01 -9.33258606e-03 1.11296328e+02] [ 9.51549232e-03 -7.10827633e-05 9.99954724e-01 1.68114198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.30, Z:1.68 [[-2.04852744e-01 -9.78791034e-01 1.86164650e-03 1.27774343e+02] [ 9.78746551e-01 -2.04861183e-01 -9.33187580e-03 1.11295212e+02] [ 9.51533546e-03 -8.95802734e-05 9.99954724e-01 1.68042890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.29, Z:1.68 [[-2.05991270e-01 -9.78552052e-01 1.86519890e-03 1.27774788e+02] [ 9.78507566e-01 -2.05999691e-01 -9.33116571e-03 1.11293081e+02] [ 9.51526175e-03 -9.70274380e-05 9.99954724e-01 1.68048980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.107628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.29, Z:1.68 [[-2.06676146e-01 -9.78407624e-01 1.86875340e-03 1.27776138e+02] [ 9.78363139e-01 -2.06684570e-01 -9.33045380e-03 1.11287601e+02] [ 9.51522962e-03 -1.00062788e-04 9.99954724e-01 1.68080941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.29, Z:1.68 [[-2.07054936e-01 -9.78327526e-01 1.87230408e-03 1.27776654e+02] [ 9.78283044e-01 -2.07063376e-01 -9.32974125e-03 1.11286237e+02] [ 9.51522827e-03 -1.00125642e-04 9.99954724e-01 1.68367789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.29, Z:1.68 [[-2.06921830e-01 -9.78355680e-01 1.87585040e-03 1.27776799e+02] [ 9.78311206e-01 -2.06930311e-01 -9.32902816e-03 1.11285628e+02] [ 9.51527800e-03 -9.52141185e-05 9.99954724e-01 1.68434798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.28, Z:1.68 [[-2.07044122e-01 -9.78329801e-01 1.87940053e-03 1.27777184e+02] [ 9.78285332e-01 -2.07052631e-01 -9.32831291e-03 1.11282219e+02] [ 9.51530133e-03 -9.27823795e-05 9.99954724e-01 1.68440953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.28, Z:1.68 [[-2.07270283e-01 -9.78281904e-01 1.88295158e-03 1.27776562e+02] [ 9.78237440e-01 -2.07278816e-01 -9.32759606e-03 1.11282907e+02] [ 9.51531441e-03 -9.13597506e-05 9.99954724e-01 1.68442216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.28, Z:1.68 [[-2.06932950e-01 -9.78353308e-01 1.88650471e-03 1.27776567e+02] [ 9.78308853e-01 -2.06941532e-01 -9.32687739e-03 1.11279692e+02] [ 9.51537752e-03 -8.44539960e-05 9.99954724e-01 1.68373193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.28, Z:1.68 [[-2.06867843e-01 -9.78367070e-01 1.89006049e-03 1.27777279e+02] [ 9.78322622e-01 -2.06876462e-01 -9.32615676e-03 1.11276762e+02] [ 9.51541369e-03 -8.01930051e-05 9.99954724e-01 1.68394990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.27, Z:1.68 [[-2.07040366e-01 -9.78330569e-01 1.89361480e-03 1.27777707e+02] [ 9.78286126e-01 -2.07049010e-01 -9.32543503e-03 1.11274621e+02] [ 9.51542922e-03 -7.82443891e-05 9.99954724e-01 1.68428379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.27, Z:1.68 [[-2.07460607e-01 -9.78241533e-01 1.89716711e-03 1.27777800e+02] [ 9.78197093e-01 -2.07469266e-01 -9.32471229e-03 1.11272734e+02] [ 9.51542472e-03 -7.87071153e-05 9.99954724e-01 1.68455333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.27, Z:1.68 [[-2.08104340e-01 -9.78104785e-01 1.90072088e-03 1.27777470e+02] [ 9.78060346e-01 -2.08113004e-01 -9.32398785e-03 1.11271276e+02] [ 9.51540186e-03 -8.13426225e-05 9.99954724e-01 1.68491071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.27, Z:1.68 [[-2.09143903e-01 -9.77883020e-01 1.90427555e-03 1.27778384e+02] [ 9.77838579e-01 -2.09152554e-01 -9.32326180e-03 1.11266414e+02] [ 9.51534351e-03 -8.78292699e-05 9.99954724e-01 1.68490587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.26, Z:1.68 [[-2.11082767e-01 -9.77466330e-01 1.90782876e-03 1.27778852e+02] [ 9.77421878e-01 -2.11091363e-01 -9.32253465e-03 1.11263064e+02] [ 9.51518990e-03 -1.03072838e-04 9.99954724e-01 1.68482899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.26, Z:1.69 [[-2.12238642e-01 -9.77215997e-01 1.91137642e-03 1.27779032e+02] [ 9.77171542e-01 -2.12247219e-01 -9.32180723e-03 1.11261011e+02] [ 9.51510348e-03 -1.10705062e-04 9.99954724e-01 1.68512027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.26, Z:1.69 [[-2.13212045e-01 -9.77004072e-01 1.91492262e-03 1.27779148e+02] [ 9.76959614e-01 -2.13220612e-01 -9.32107869e-03 1.11257700e+02] [ 9.51503281e-03 -1.16564185e-04 9.99954724e-01 1.68555167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.25, Z:1.69 [[-2.14043271e-01 -9.76822296e-01 1.91846854e-03 1.27779314e+02] [ 9.76777837e-01 -2.14051834e-01 -9.32034881e-03 1.11254520e+02] [ 9.51497624e-03 -1.21040393e-04 9.99954724e-01 1.68551781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.26, Z:1.69 [[-2.15187524e-01 -9.76570855e-01 1.92201129e-03 1.27778048e+02] [ 9.76526393e-01 -2.15196069e-01 -9.31961818e-03 1.11255933e+02] [ 9.51487677e-03 -1.28570812e-04 9.99954724e-01 1.68552485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.25, Z:1.69 [[-2.15793391e-01 -9.76437148e-01 1.92555784e-03 1.27779245e+02] [ 9.76392687e-01 -2.15801942e-01 -9.31888536e-03 1.11249053e+02] [ 9.51484497e-03 -1.30853284e-04 9.99954724e-01 1.68578305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.25, Z:1.69 [[-2.16315357e-01 -9.76321640e-01 1.92910410e-03 1.27778934e+02] [ 9.76277181e-01 -2.16323918e-01 -9.31815119e-03 1.11247881e+02] [ 9.51482401e-03 -1.32318886e-04 9.99954724e-01 1.68650414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.25, Z:1.69 [[-2.16454076e-01 -9.76290888e-01 1.93264483e-03 1.27779056e+02] [ 9.76246434e-01 -2.16462664e-01 -9.31741676e-03 1.11245090e+02] [ 9.51485453e-03 -1.30055204e-04 9.99954724e-01 1.68720932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.23, Z:1.69 [[-2.24373426e-01 -9.74501317e-01 1.93618646e-03 1.27775610e+02] [ 9.74456801e-01 -2.24381687e-01 -9.31668074e-03 1.11229865e+02] [ 9.51356244e-03 -2.03685509e-04 9.99954724e-01 1.68668369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.22, Z:1.69 [[-2.22331871e-01 -9.74968856e-01 2.06603034e-03 1.27775135e+02] [ 9.74924601e-01 -2.22341464e-01 -9.28958270e-03 1.11224999e+02] [ 9.51641803e-03 -5.11464995e-05 9.99954717e-01 1.68663176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.25, Z:1.69 [[-2.13107724e-01 -9.77026614e-01 2.02310578e-03 1.27773858e+02] [ 9.76982365e-01 -2.13117326e-01 -9.29853945e-03 1.11247053e+02] [ 9.51607941e-03 -5.05190459e-06 9.99954721e-01 1.68950125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.24, Z:1.69 [[-2.12113002e-01 -9.77243212e-01 1.94415080e-03 1.27773294e+02] [ 9.77198819e-01 -2.12121898e-01 -9.31501829e-03 1.11241799e+02] [ 9.51543535e-03 -7.60146272e-05 9.99954724e-01 1.68858993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.24, Z:1.69 [[-2.09818920e-01 -9.77738322e-01 1.94770971e-03 1.27770594e+02] [ 9.77693957e-01 -2.09827954e-01 -9.31427409e-03 1.11239892e+02] [ 9.51560666e-03 -5.00469174e-05 9.99954724e-01 1.68612982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.24, Z:1.69 [[-2.08996173e-01 -9.77914512e-01 1.95126715e-03 1.27770311e+02] [ 9.77870161e-01 -2.09005278e-01 -9.31352877e-03 1.11236757e+02] [ 9.51566007e-03 -3.84059512e-05 9.99954724e-01 1.68543725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.857628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.23, Z:1.69 [[-2.08377602e-01 -9.78046499e-01 1.95482430e-03 1.27770449e+02] [ 9.78002161e-01 -2.08386769e-01 -9.31278210e-03 1.11234335e+02] [ 9.51569344e-03 -2.87528121e-05 9.99954724e-01 1.68502987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.23, Z:1.68 [[-2.07416053e-01 -9.78250860e-01 1.95837998e-03 1.27769889e+02] [ 9.78206538e-01 -2.07425298e-01 -9.31203432e-03 1.11232981e+02] [ 9.51572313e-03 -1.57653072e-05 9.99954724e-01 1.68451143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.23, Z:1.68 [[-2.07267747e-01 -9.78282286e-01 1.96193775e-03 1.27770147e+02] [ 9.78237973e-01 -2.07277033e-01 -9.31128467e-03 1.11230462e+02] [ 9.51572949e-03 -1.06869973e-05 9.99954724e-01 1.68433768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.23, Z:1.68 [[-2.06982090e-01 -9.78342758e-01 1.96549641e-03 1.27769623e+02] [ 9.78298454e-01 -2.06991422e-01 -9.31053342e-03 1.11232605e+02] [ 9.51573384e-03 -4.27156051e-06 9.99954724e-01 1.68431288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.23, Z:1.68 [[-2.06644585e-01 -9.78414093e-01 1.96906011e-03 1.27770171e+02] [ 9.78369800e-01 -2.06653966e-01 -9.30977969e-03 1.11230076e+02] [ 9.51573373e-03 2.65338208e-06 9.99954724e-01 1.68463710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.23, Z:1.69 [[-2.06600706e-01 -9.78423353e-01 1.97262884e-03 1.27769990e+02] [ 9.78379067e-01 -2.06610123e-01 -9.30902345e-03 1.11228877e+02] [ 9.51573103e-03 6.72795039e-06 9.99954724e-01 1.68516276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.22, Z:1.68 [[-2.07245239e-01 -9.78287026e-01 1.97619848e-03 1.27771087e+02] [ 9.78242742e-01 -2.07254661e-01 -9.30826560e-03 1.11221377e+02] [ 9.51573182e-03 4.10809379e-06 9.99954724e-01 1.68491335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.22, Z:1.68 [[-2.08278007e-01 -9.78067663e-01 1.97976250e-03 1.27771133e+02] [ 9.78023375e-01 -2.08287416e-01 -9.30750751e-03 1.11217935e+02] [ 9.51573173e-03 -2.29510955e-06 9.99954724e-01 1.68472313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.22, Z:1.68 [[-2.10550930e-01 -9.77580878e-01 1.98331853e-03 1.27769970e+02] [ 9.77536576e-01 -2.10560269e-01 -9.30674970e-03 1.11219678e+02] [ 9.51570863e-03 -2.07783933e-05 9.99954724e-01 1.68383250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.21, Z:1.68 [[-2.12019602e-01 -9.77263394e-01 1.98687839e-03 1.27771853e+02] [ 9.77219085e-01 -2.12028909e-01 -9.30598965e-03 1.11211922e+02] [ 9.51567869e-03 -3.14367325e-05 9.99954724e-01 1.68424416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.18, Z:1.68 [[-2.22731570e-01 -9.74877780e-01 1.99043622e-03 1.27773423e+02] [ 9.74833379e-01 -2.22740424e-01 -9.30522861e-03 1.11181807e+02] [ 9.51481122e-03 -1.32224504e-04 9.99954724e-01 1.68404683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.21, Z:1.68 [[-2.16596763e-01 -9.76258852e-01 2.12044833e-03 1.27771597e+02] [ 9.76214772e-01 -2.16607134e-01 -9.27731725e-03 1.11209863e+02] [ 9.51636732e-03 6.05760991e-05 9.99954717e-01 1.68465890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.20, Z:1.68 [[-2.18098495e-01 -9.75924725e-01 1.99447263e-03 1.27771705e+02] [ 9.75880374e-01 -2.18107598e-01 -9.30432145e-03 1.11204211e+02] [ 9.51532699e-03 -8.28918034e-05 9.99954725e-01 1.68471733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.24762800000002 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:127.77, Y:111.20, Z:1.68 [[-2.20098664e-01 -9.75475584e-01 1.99076693e-03 1.27771625e+02] [ 9.75431208e-01 -2.20107642e-01 -9.30511635e-03 1.11198483e+02] [ 9.51509682e-03 -1.06187494e-04 9.99954725e-01 1.68187853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.20, Z:1.68 [[-2.20686309e-01 -9.75342790e-01 1.99887292e-03 1.27771085e+02] [ 9.75298424e-01 -2.20695337e-01 -9.30337474e-03 1.11197188e+02] [ 9.51512141e-03 -1.03629827e-04 9.99954725e-01 1.68385138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.19, Z:1.68 [[-2.21794519e-01 -9.75091371e-01 2.00240920e-03 1.27771764e+02] [ 9.75047002e-01 -2.21803530e-01 -9.30261355e-03 1.11193213e+02] [ 9.51503963e-03 -1.10825610e-04 9.99954725e-01 1.68397440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.19, Z:1.68 [[-2.22403293e-01 -9.74952692e-01 2.00594519e-03 1.27772053e+02] [ 9.74908324e-01 -2.22412310e-01 -9.30185101e-03 1.11190430e+02] [ 9.51501159e-03 -1.13149629e-04 9.99954725e-01 1.68424701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.19, Z:1.68 [[-2.22719697e-01 -9.74880454e-01 2.00947737e-03 1.27772155e+02] [ 9.74836089e-01 -2.22728733e-01 -9.30108789e-03 1.11187605e+02] [ 9.51501713e-03 -1.12624415e-04 9.99954725e-01 1.68414784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.17, Z:1.68 [[-2.29839406e-01 -9.73226487e-01 2.01300926e-03 1.27772371e+02] [ 9.73182065e-01 -2.29848152e-01 -9.30032343e-03 1.11166689e+02] [ 9.51400756e-03 -1.78556308e-04 9.99954725e-01 1.68444848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.16, Z:1.68 [[-2.31519079e-01 -9.72828060e-01 2.11698286e-03 1.27770694e+02] [ 9.72783823e-01 -2.31528740e-01 -9.27773248e-03 1.11161463e+02] [ 9.51578087e-03 -8.86053942e-05 9.99954720e-01 1.68457495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.16, Z:1.68 [[-2.30779869e-01 -9.73003670e-01 2.12350720e-03 1.27770004e+02] [ 9.72959454e-01 -2.30789627e-01 -9.27631273e-03 1.11162712e+02] [ 9.51596977e-03 -7.46998371e-05 9.99954719e-01 1.68376404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.18, Z:1.68 [[-2.23539061e-01 -9.74692632e-01 2.13563992e-03 1.27769645e+02] [ 9.74648514e-01 -2.23549262e-01 -9.27366998e-03 1.11179672e+02] [ 9.51639853e-03 8.47079666e-06 9.99954718e-01 1.68219407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.18, Z:1.68 [[-2.23950626e-01 -9.74598390e-01 2.02372406e-03 1.27769661e+02] [ 9.74554042e-01 -2.23959742e-01 -9.29802862e-03 1.11180071e+02] [ 9.51507645e-03 -1.10070860e-04 9.99954725e-01 1.68156575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.18, Z:1.68 [[-2.24372549e-01 -9.74501334e-01 2.02725714e-03 1.27770859e+02] [ 9.74456989e-01 -2.24381680e-01 -9.29725824e-03 1.11175325e+02] [ 9.51506992e-03 -1.10574648e-04 9.99954725e-01 1.68184314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.17, Z:1.68 [[-2.24931927e-01 -9.74372364e-01 2.03078991e-03 1.27771113e+02] [ 9.74328021e-01 -2.24941066e-01 -9.29648652e-03 1.11173291e+02] [ 9.51504760e-03 -1.12421109e-04 9.99954725e-01 1.68181289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.607628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.17, Z:1.68 [[-2.25571295e-01 -9.74224539e-01 2.03432005e-03 1.27770684e+02] [ 9.74180197e-01 -2.25580439e-01 -9.29571396e-03 1.11168020e+02] [ 9.51501546e-03 -1.15051928e-04 9.99954725e-01 1.68062748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.17, Z:1.68 [[-2.26026928e-01 -9.74118922e-01 2.03784585e-03 1.27771213e+02] [ 9.74074583e-01 -2.26036085e-01 -9.29494096e-03 1.11167461e+02] [ 9.51500457e-03 -1.15893109e-04 9.99954725e-01 1.68075677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.13, Z:1.68 [[-2.36489211e-01 -9.71631971e-01 2.04137018e-03 1.27774482e+02] [ 9.71587541e-01 -2.36497924e-01 -9.29416688e-03 1.11132856e+02] [ 9.51328948e-03 -2.14600355e-04 9.99954725e-01 1.68148429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.16, Z:1.68 [[-2.27302708e-01 -9.73821732e-01 2.17079527e-03 1.27773346e+02] [ 9.73777651e-01 -2.27313074e-01 -9.26563551e-03 1.11162715e+02] [ 9.51652737e-03 7.76787319e-06 9.99954717e-01 1.68419922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.16, Z:1.69 [[-2.27612043e-01 -9.73749749e-01 2.04568846e-03 1.27773739e+02] [ 9.73705410e-01 -2.27621202e-01 -9.29317510e-03 1.11162530e+02] [ 9.51486899e-03 -1.23340644e-04 9.99954725e-01 1.68532767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.16, Z:1.69 [[-2.27231080e-01 -9.73838713e-01 2.04877040e-03 1.27774294e+02] [ 9.73794384e-01 -2.27240286e-01 -9.29249561e-03 1.11162362e+02] [ 9.51495514e-03 -1.16462700e-04 9.99954725e-01 1.68664992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.16, Z:1.69 [[-2.27601117e-01 -9.73752290e-01 2.05185493e-03 1.27774876e+02] [ 9.73707963e-01 -2.27610336e-01 -9.29181447e-03 1.11160062e+02] [ 9.51494901e-03 -1.16919871e-04 9.99954725e-01 1.68662615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.16, Z:1.69 [[-2.27123681e-01 -9.73863753e-01 2.05538563e-03 1.27775147e+02] [ 9.73819438e-01 -2.27132955e-01 -9.29103340e-03 1.11159805e+02] [ 9.51504647e-03 -1.08639223e-04 9.99954725e-01 1.68640811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.16, Z:1.69 [[-2.26446249e-01 -9.74021487e-01 2.05891839e-03 1.27775457e+02] [ 9.73977186e-01 -2.26455587e-01 -9.29025047e-03 1.11158513e+02] [ 9.51515715e-03 -9.84028282e-05 9.99954725e-01 1.68640456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.16, Z:1.69 [[-2.25427859e-01 -9.74257680e-01 2.06245492e-03 1.27775983e+02] [ 9.74213395e-01 -2.25437278e-01 -9.28946528e-03 1.11157598e+02] [ 9.51528712e-03 -8.48330649e-05 9.99954725e-01 1.68620501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.16, Z:1.69 [[-2.24057379e-01 -9.74573765e-01 2.06599350e-03 1.27777055e+02] [ 9.74529501e-01 -2.24066893e-01 -9.28867823e-03 1.11156986e+02] [ 9.51542286e-03 -6.78252837e-05 9.99954725e-01 1.68613380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.15, Z:1.68 [[-2.21553870e-01 -9.75145938e-01 2.06953587e-03 1.27778916e+02] [ 9.75101706e-01 -2.21563532e-01 -9.28788892e-03 1.11154612e+02] [ 9.51558082e-03 -3.97597796e-05 9.99954725e-01 1.68434447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.13, Z:1.68 [[-2.28337426e-01 -9.73579849e-01 2.07307911e-03 1.27781663e+02] [ 9.73535558e-01 -2.28346814e-01 -9.28709799e-03 1.11127074e+02] [ 9.51511247e-03 -1.02375820e-04 9.99954725e-01 1.68315261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.16, Z:1.68 [[-2.18104609e-01 -9.75922927e-01 2.19570876e-03 1.27781828e+02] [ 9.75879005e-01 -2.18115626e-01 -9.25962065e-03 1.11156671e+02] [ 9.51559447e-03 1.23180141e-04 9.99954718e-01 1.68244797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.15, Z:1.68 [[-2.17255721e-01 -9.76112507e-01 2.07956022e-03 1.27784853e+02] [ 9.76068340e-01 -2.17265673e-01 -9.28563272e-03 1.11151233e+02] [ 9.51563928e-03 1.24360552e-05 9.99954725e-01 1.68208089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.79, Y:111.15, Z:1.68 [[-2.16570118e-01 -9.76264844e-01 2.08311199e-03 1.27786714e+02] [ 9.76220691e-01 -2.16580135e-01 -9.28483585e-03 1.11150595e+02] [ 9.51561950e-03 2.27590279e-05 9.99954725e-01 1.68203268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.79, Y:111.15, Z:1.68 [[-2.15911122e-01 -9.76410791e-01 2.08665798e-03 1.27788905e+02] [ 9.76366653e-01 -2.15921202e-01 -9.28403887e-03 1.11148255e+02] [ 9.51558944e-03 3.28160183e-05 9.99954725e-01 1.68011925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.79, Y:111.15, Z:1.68 [[-2.15096334e-01 -9.76590599e-01 2.09020621e-03 1.27792997e+02] [ 9.76546477e-01 -2.15106485e-01 -9.28323995e-03 1.11147755e+02] [ 9.51554177e-03 4.43926303e-05 9.99954725e-01 1.67878985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.80, Y:111.15, Z:1.68 [[-2.15365255e-01 -9.76531323e-01 2.09330730e-03 1.27795986e+02] [ 9.76487205e-01 -2.15375424e-01 -9.28254062e-03 1.11145978e+02] [ 9.51553862e-03 4.49510687e-05 9.99954725e-01 1.67831027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.80, Y:111.15, Z:1.68 [[-2.16128774e-01 -9.76362615e-01 2.09685497e-03 1.27798174e+02] [ 9.76318497e-01 -2.16138942e-01 -9.28173916e-03 1.11147233e+02] [ 9.51555513e-03 4.11473845e-05 9.99954725e-01 1.67927010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.80, Y:111.14, Z:1.68 [[-2.16754031e-01 -9.76223990e-01 2.10040643e-03 1.27801405e+02] [ 9.76179873e-01 -2.16764204e-01 -9.28093542e-03 1.11143956e+02] [ 9.51556473e-03 3.86943232e-05 9.99954725e-01 1.67904160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.81, Y:111.14, Z:1.68 [[-2.17540295e-01 -9.76049073e-01 2.10395997e-03 1.27807481e+02] [ 9.76004956e-01 -2.17550466e-01 -9.28012977e-03 1.11142503e+02] [ 9.51557953e-03 3.46731844e-05 9.99954725e-01 1.68041345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.81, Y:111.14, Z:1.68 [[-2.17794515e-01 -9.75992372e-01 2.10706286e-03 1.27810728e+02] [ 9.75948258e-01 -2.17804704e-01 -9.27942520e-03 1.11140924e+02] [ 9.51557641e-03 3.53764176e-05 9.99954725e-01 1.68209105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.29762800000003 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:127.81, Y:111.14, Z:1.68 [[-2.18451328e-01 -9.75845563e-01 2.11061052e-03 1.27813209e+02] [ 9.75801451e-01 -2.18461521e-01 -9.27861821e-03 1.11140471e+02] [ 9.51558560e-03 3.26103341e-05 9.99954725e-01 1.68082651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.82, Y:111.14, Z:1.68 [[-2.17481100e-01 -9.76062243e-01 2.11416079e-03 1.27816818e+02] [ 9.76018148e-01 -2.17491371e-01 -9.27780921e-03 1.11142619e+02] [ 9.51553099e-03 4.57111458e-05 9.99954725e-01 1.68470455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.82, Y:111.14, Z:1.69 [[-2.17148493e-01 -9.76136286e-01 2.11726858e-03 1.27819228e+02] [ 9.76092202e-01 -2.17158808e-01 -9.27709993e-03 1.11140111e+02] [ 9.51549739e-03 5.21410797e-05 9.99954725e-01 1.68513920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.82, Y:111.14, Z:1.69 [[-2.16595294e-01 -9.76259177e-01 2.12082595e-03 1.27822210e+02] [ 9.76215107e-01 -2.16605669e-01 -9.27628661e-03 1.11136777e+02] [ 9.51544286e-03 6.11823033e-05 9.99954725e-01 1.68520145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.82, Y:111.14, Z:1.69 [[-2.16149675e-01 -9.76357929e-01 2.12438063e-03 1.27824821e+02] [ 9.76313871e-01 -2.16160103e-01 -9.27547248e-03 1.11135487e+02] [ 9.51538743e-03 6.91719199e-05 9.99954725e-01 1.68531843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:111.14, Z:1.68 [[-2.15632787e-01 -9.76472208e-01 2.12793326e-03 1.27829686e+02] [ 9.76428164e-01 -2.15643272e-01 -9.27465738e-03 1.11135807e+02] [ 9.51531966e-03 7.78537471e-05 9.99954725e-01 1.68499067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:111.13, Z:1.68 [[-2.17090456e-01 -9.76149164e-01 2.13148850e-03 1.27832019e+02] [ 9.76105113e-01 -2.17100909e-01 -9.27384024e-03 1.11133839e+02] [ 9.51539950e-03 6.72946168e-05 9.99954725e-01 1.68414792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:111.13, Z:1.68 [[-2.20082014e-01 -9.75479036e-01 2.13504463e-03 1.27833874e+02] [ 9.75434960e-01 -2.20092366e-01 -9.27302147e-03 1.11129790e+02] [ 9.51554507e-03 4.17719310e-05 9.99954725e-01 1.68284648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:111.13, Z:1.68 [[-2.25061541e-01 -9.74342205e-01 2.13792577e-03 1.27834283e+02] [ 9.74298083e-01 -2.25071695e-01 -9.27235717e-03 1.11126326e+02] [ 9.51563550e-03 -3.87401765e-06 9.99954725e-01 1.67957180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.567628 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:127.83, Y:111.12, Z:1.68 [[-2.28135797e-01 -9.73626969e-01 2.14102321e-03 1.27834434e+02] [ 9.73582822e-01 -2.28145841e-01 -9.27164190e-03 1.11121374e+02] [ 9.51558614e-03 -3.07299880e-05 9.99954725e-01 1.67781209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:111.12, Z:1.68 [[-2.29950541e-01 -9.73199954e-01 2.14456025e-03 1.27834407e+02] [ 9.73155796e-01 -2.29960537e-01 -9.27082370e-03 1.11122153e+02] [ 9.51552942e-03 -4.48396887e-05 9.99954725e-01 1.68054514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.11, Z:1.68 [[-2.35382671e-01 -9.71900399e-01 2.14765155e-03 1.27837501e+02] [ 9.71856193e-01 -2.35392449e-01 -9.27010752e-03 1.11113662e+02] [ 9.51516216e-03 -9.48142070e-05 9.99954725e-01 1.68343457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.11, Z:1.68 [[-2.38482090e-01 -9.71144514e-01 2.15073700e-03 1.27838928e+02] [ 9.71100283e-01 -2.38491757e-01 -9.26939162e-03 1.11109791e+02] [ 9.51485187e-03 -1.22002583e-04 9.99954725e-01 1.68401675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.11, Z:1.69 [[-2.42010542e-01 -9.70271228e-01 2.15425512e-03 1.27840092e+02] [ 9.70226970e-01 -2.42020082e-01 -9.26857392e-03 1.11105744e+02] [ 9.51440360e-03 -1.52976177e-04 9.99954725e-01 1.68546628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.10, Z:1.69 [[-2.45213836e-01 -9.69466616e-01 2.15776827e-03 1.27840560e+02] [ 9.69422333e-01 -2.45223263e-01 -9.26775597e-03 1.11104070e+02] [ 9.51391499e-03 -1.80793239e-04 9.99954725e-01 1.68593953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.10, Z:1.69 [[-2.51131913e-01 -9.67950460e-01 2.16083622e-03 1.27839635e+02] [ 9.67906127e-01 -2.51141099e-01 -9.26704060e-03 1.11099614e+02] [ 9.51271100e-03 -2.35763017e-04 9.99954725e-01 1.68673714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.09, Z:1.69 [[-2.53834127e-01 -9.67245347e-01 2.16192961e-03 1.27839601e+02] [ 9.67200991e-01 -2.53843199e-01 -9.26678551e-03 1.11093773e+02] [ 9.51204630e-03 -2.61205943e-04 9.99954725e-01 1.68684547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.09, Z:1.69 [[-2.55740784e-01 -9.66742966e-01 2.16543173e-03 1.27839276e+02] [ 9.66698599e-01 -2.55749803e-01 -9.26596708e-03 1.11089772e+02] [ 9.51161723e-03 -2.76365868e-04 9.99954725e-01 1.68845177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.09, Z:1.69 [[-2.56584524e-01 -9.66519362e-01 2.16892723e-03 1.27836998e+02] [ 9.66474994e-01 -2.56593537e-01 -9.26514880e-03 1.11093855e+02] [ 9.51147842e-03 -2.81079861e-04 9.99954725e-01 1.69111614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.09, Z:1.69 [[-2.55712690e-01 -9.66750382e-01 2.17242873e-03 1.27838019e+02] [ 9.66706028e-01 -2.55721777e-01 -9.26432772e-03 1.11085952e+02] [ 9.51182969e-03 -2.68906217e-04 9.99954725e-01 1.69300252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.08, Z:1.69 [[-2.53717200e-01 -9.67275993e-01 2.17593223e-03 1.27836747e+02] [ 9.67231666e-01 -2.53726412e-01 -9.26350477e-03 1.11084159e+02] [ 9.51245726e-03 -2.45679941e-04 9.99954725e-01 1.69395401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:111.09, Z:1.69 [[-2.45912448e-01 -9.69289594e-01 2.17942911e-03 1.27830293e+02] [ 9.69245350e-01 -2.45922050e-01 -9.26268199e-03 1.11087854e+02] [ 9.51419094e-03 -1.65407279e-04 9.99954725e-01 1.69260115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:111.09, Z:1.69 [[-2.41539591e-01 -9.70388510e-01 2.18293600e-03 1.27827719e+02] [ 9.70344317e-01 -2.41549426e-01 -9.26185544e-03 1.11088638e+02] [ 9.51488504e-03 -1.18905235e-04 9.99954725e-01 1.69079062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.82, Y:111.09, Z:1.69 [[-2.37327278e-01 -9.71427291e-01 2.18645647e-03 1.27824267e+02] [ 9.71383149e-01 -2.37337338e-01 -9.26102429e-03 1.11094645e+02] [ 9.51533950e-03 -7.40067170e-05 9.99954725e-01 1.68951125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.82, Y:111.09, Z:1.69 [[-2.29886028e-01 -9.73215093e-01 2.18999353e-03 1.27823370e+02] [ 9.73171037e-01 -2.29896459e-01 -9.26018779e-03 1.11087946e+02] [ 9.51562628e-03 2.45048682e-06 9.99954725e-01 1.68705398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.82, Y:111.09, Z:1.69 [[-2.26674172e-01 -9.73968177e-01 2.19308975e-03 1.27822509e+02] [ 9.73924162e-01 -2.26684778e-01 -9.25945445e-03 1.11088826e+02] [ 9.51555404e-03 3.70239267e-05 9.99954725e-01 1.68573050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.82, Y:111.09, Z:1.68 [[-2.24382087e-01 -9.74498772e-01 2.19618288e-03 1.27821831e+02] [ 9.74454789e-01 -2.24392825e-01 -9.25872076e-03 1.11090316e+02] [ 9.51541969e-03 6.25898448e-05 9.99954725e-01 1.68407747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.82, Y:111.09, Z:1.68 [[-2.21316795e-01 -9.75199487e-01 2.19928235e-03 1.27822607e+02] [ 9.75155546e-01 -2.21327701e-01 -9.25798446e-03 1.11089080e+02] [ 9.51514381e-03 9.56949353e-05 9.99954725e-01 1.68388992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.82, Y:111.09, Z:1.68 [[-2.21041793e-01 -9.75261850e-01 2.20238537e-03 1.27823729e+02] [ 9.75217919e-01 -2.21052741e-01 -9.25724623e-03 1.11087093e+02] [ 9.51508240e-03 1.01567375e-04 9.99954725e-01 1.68461866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.82, Y:111.09, Z:1.69 [[-2.20955613e-01 -9.75281370e-01 2.20593631e-03 1.27824485e+02] [ 9.75237449e-01 -2.20966599e-01 -9.25639999e-03 1.11086463e+02] [ 9.51503270e-03 1.06058164e-04 9.99954725e-01 1.68563281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.82, Y:111.09, Z:1.69 [[-2.21507260e-01 -9.75156224e-01 2.20754813e-03 1.27824980e+02] [ 9.75112300e-01 -2.21518236e-01 -9.25601557e-03 1.11086444e+02] [ 9.51507336e-03 1.02332693e-04 9.99954725e-01 1.68641065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:111.08, Z:1.69 [[-2.23638977e-01 -9.74669545e-01 2.21065711e-03 1.27827101e+02] [ 9.74625604e-01 -2.23649887e-01 -9.25527297e-03 1.11082518e+02] [ 9.51524591e-03 8.47232465e-05 9.99954725e-01 1.68887789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:111.08, Z:1.69 [[-2.25415673e-01 -9.74260167e-01 2.21376396e-03 1.27829029e+02] [ 9.74216214e-01 -2.25426532e-01 -9.25452979e-03 1.11080347e+02] [ 9.51536087e-03 7.05686845e-05 9.99954725e-01 1.68923760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:111.07, Z:1.69 [[-2.33088369e-01 -9.72453030e-01 2.21731386e-03 1.27829315e+02] [ 9.72409001e-01 -2.33098915e-01 -9.25367918e-03 1.11072756e+02] [ 9.51562182e-03 -7.89036962e-07 9.99954725e-01 1.68960257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.08, Z:1.69 [[-2.30449348e-01 -9.73081613e-01 2.29631994e-03 1.27835311e+02] [ 9.73037798e-01 -2.30460764e-01 -9.23470762e-03 1.11075856e+02] [ 9.51533584e-03 1.06273754e-04 9.99954723e-01 1.69079880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.06, Z:1.69 [[-2.36126339e-01 -9.71719823e-01 2.22190222e-03 1.27839056e+02] [ 9.71675772e-01 -2.36136792e-01 -9.25257823e-03 1.11059268e+02] [ 9.51558654e-03 -2.58088766e-05 9.99954725e-01 1.68977839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.07, Z:1.69 [[-2.32173841e-01 -9.72671605e-01 2.29268094e-03 1.27840127e+02] [ 9.72627762e-01 -2.32185145e-01 -9.23553913e-03 1.11071886e+02] [ 9.51547313e-03 8.56745372e-05 9.99954723e-01 1.68935390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.07, Z:1.69 [[-2.31336428e-01 -9.72871266e-01 2.22644406e-03 1.27840122e+02] [ 9.72827277e-01 -2.31347140e-01 -9.25147960e-03 1.11072170e+02] [ 9.51558014e-03 2.57412724e-05 9.99954726e-01 1.68897376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.07, Z:1.69 [[-2.28507033e-01 -9.73539708e-01 2.22998922e-03 1.27838309e+02] [ 9.73495759e-01 -2.28517907e-01 -9.25062499e-03 1.11069393e+02] [ 9.51544322e-03 5.70521769e-05 9.99954726e-01 1.68616709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.07, Z:1.68 [[-2.27877649e-01 -9.73687213e-01 2.23353761e-03 1.27837302e+02] [ 9.73643279e-01 -2.27888585e-01 -9.24976816e-03 1.11069386e+02] [ 9.51537871e-03 6.68534632e-05 9.99954726e-01 1.68496252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.06, Z:1.68 [[-2.28078284e-01 -9.73640228e-01 2.23664167e-03 1.27838442e+02] [ 9.73596299e-01 -2.28089240e-01 -9.24901752e-03 1.11062236e+02] [ 9.51536943e-03 6.80860066e-05 9.99954726e-01 1.68331195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.06, Z:1.68 [[-2.30363324e-01 -9.73102113e-01 2.23974074e-03 1.27838115e+02] [ 9.73058166e-01 -2.30374207e-01 -9.24826699e-03 1.11061731e+02] [ 9.51548665e-03 4.89364906e-05 9.99954726e-01 1.68050043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.07, Z:1.68 [[-2.32388195e-01 -9.72620531e-01 2.24283390e-03 1.27837362e+02] [ 9.72576568e-01 -2.32399016e-01 -9.24751680e-03 1.11065633e+02] [ 9.51555708e-03 3.23139601e-05 9.99954726e-01 1.68200297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.05, Z:1.68 [[-2.34833955e-01 -9.72032904e-01 2.24638229e-03 1.27840886e+02] [ 9.71988923e-01 -2.34844699e-01 -9.24665475e-03 1.11052723e+02] [ 9.51560365e-03 1.20301960e-05 9.99954726e-01 1.68143278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.05, Z:1.68 [[-2.40833788e-01 -9.70563766e-01 2.24992386e-03 1.27841221e+02] [ 9.70519728e-01 -2.40844293e-01 -9.24579293e-03 1.11053312e+02] [ 9.51551293e-03 -4.31038370e-05 9.99954726e-01 1.68353417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.05, Z:1.68 [[-2.44592963e-01 -9.69623228e-01 2.25345510e-03 1.27842959e+02] [ 9.69579157e-01 -2.44603332e-01 -9.24493219e-03 1.11046071e+02] [ 9.51530361e-03 -7.63422660e-05 9.99954726e-01 1.68393761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.04, Z:1.68 [[-2.44962190e-01 -9.69530006e-01 2.25698310e-03 1.27843589e+02] [ 9.69485938e-01 -2.44972575e-01 -9.24407081e-03 1.11043798e+02] [ 9.51530298e-03 -7.63344485e-05 9.99954726e-01 1.68391367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.04, Z:1.68 [[-2.48810980e-01 -9.68549424e-01 2.26050319e-03 1.27844981e+02] [ 9.68505323e-01 -2.48821224e-01 -9.24320994e-03 1.11036194e+02] [ 9.51496683e-03 -1.10502751e-04 9.99954726e-01 1.68406246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:111.03, Z:1.68 [[-2.56560356e-01 -9.66525560e-01 2.26401656e-03 1.27845402e+02] [ 9.66481386e-01 -2.56570280e-01 -9.24234930e-03 1.11028314e+02] [ 9.51384620e-03 -1.83090563e-04 9.99954726e-01 1.68402293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.03, Z:1.68 [[-2.60381135e-01 -9.65503248e-01 2.26751574e-03 1.27844439e+02] [ 9.65459044e-01 -2.60390918e-01 -9.24149073e-03 1.11030168e+02] [ 9.51312983e-03 -2.17116269e-04 9.99954726e-01 1.68482901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:111.02, Z:1.69 [[-2.63945931e-01 -9.64534804e-01 2.27101344e-03 1.27846473e+02] [ 9.64490571e-01 -2.63955584e-01 -9.24063112e-03 1.11019487e+02] [ 9.51235701e-03 -2.48655936e-04 9.99954726e-01 1.68517672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.03, Z:1.69 [[-2.72488435e-01 -9.62156369e-01 2.27450566e-03 1.27838970e+02] [ 9.62112059e-01 -2.72497729e-01 -9.23977146e-03 1.11034293e+02] [ 9.50990259e-03 -3.29401548e-04 9.99954726e-01 1.68597280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:111.01, Z:1.69 [[-2.70859987e-01 -9.62615890e-01 2.34877505e-03 1.27846845e+02] [ 9.62571749e-01 -2.70870067e-01 -9.22144939e-03 1.11011268e+02] [ 9.51292657e-03 -2.36857148e-04 9.99954723e-01 1.68938910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:111.01, Z:1.69 [[-2.71523321e-01 -9.62429163e-01 2.27887365e-03 1.27846195e+02] [ 9.62384871e-01 -2.71532701e-01 -9.23869174e-03 1.11010171e+02] [ 9.51037507e-03 -3.15366741e-04 9.99954726e-01 1.69045507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.01, Z:1.69 [[-2.71555012e-01 -9.62420213e-01 2.28234633e-03 1.27843747e+02] [ 9.62375928e-01 -2.71564424e-01 -9.23783376e-03 1.11014467e+02] [ 9.51048200e-03 -3.12104888e-04 9.99954726e-01 1.68991505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:111.05, Z:1.69 [[-2.73034380e-01 -9.62001561e-01 2.28583005e-03 1.27830363e+02] [ 9.61957268e-01 -2.73043757e-01 -9.23697166e-03 1.11046020e+02] [ 9.51011278e-03 -3.23139997e-04 9.99954726e-01 1.69016976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.01, Z:1.69 [[-2.66732914e-01 -9.63767651e-01 2.33851431e-03 1.27840901e+02] [ 9.63723532e-01 -2.66743085e-01 -9.22390871e-03 1.11005604e+02] [ 9.51348735e-03 -2.06638776e-04 9.99954724e-01 1.68958866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:111.01, Z:1.68 [[-2.72386251e-01 -9.62185265e-01 2.29042480e-03 1.27833727e+02] [ 9.62140988e-01 -2.72395702e-01 -9.23583460e-03 1.11007817e+02] [ 9.51048583e-03 -3.12002786e-04 9.99954726e-01 1.68487744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:111.03, Z:1.69 [[-2.60220611e-01 -9.65546229e-01 2.39021774e-03 1.27830612e+02] [ 9.65502297e-01 -2.60231573e-01 -9.21104530e-03 1.11025672e+02] [ 9.51570018e-03 -8.91431179e-05 9.99954721e-01 1.68922570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.067628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:127.84, Y:111.00, Z:1.69 [[-2.59221272e-01 -9.65815235e-01 2.29429040e-03 1.27835630e+02] [ 9.65771100e-01 -2.59231364e-01 -9.23486743e-03 1.11003493e+02] [ 9.51392769e-03 -1.78114723e-04 9.99954726e-01 1.68689238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.00, Z:1.69 [[-2.58588985e-01 -9.65984711e-01 2.29656195e-03 1.27835795e+02] [ 9.65940588e-01 -2.58599128e-01 -9.23430250e-03 1.11001272e+02] [ 9.51408395e-03 -1.69546520e-04 9.99954726e-01 1.68887709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.00, Z:1.69 [[-2.58919572e-01 -9.65896146e-01 2.30005576e-03 1.27835899e+02] [ 9.65852027e-01 -2.58929733e-01 -9.23343219e-03 1.11000327e+02] [ 9.51408939e-03 -1.69202794e-04 9.99954726e-01 1.68918465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:111.00, Z:1.69 [[-2.62375820e-01 -9.64963016e-01 2.30355156e-03 1.27835527e+02] [ 9.64918868e-01 -2.62385856e-01 -9.23255998e-03 1.11003395e+02] [ 9.51349827e-03 -1.99660128e-04 9.99954726e-01 1.69135461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:110.99, Z:1.69 [[-2.65128976e-01 -9.64210198e-01 2.30661337e-03 1.27838355e+02] [ 9.64166028e-01 -2.65138915e-01 -9.23179497e-03 1.10993401e+02] [ 9.51296382e-03 -2.23658096e-04 9.99954726e-01 1.69196025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:110.99, Z:1.69 [[-2.67970361e-01 -9.63424387e-01 2.31011256e-03 1.27839075e+02] [ 9.63380195e-01 -2.67980203e-01 -9.23091927e-03 1.10989653e+02] [ 9.51235717e-03 -2.48096077e-04 9.99954726e-01 1.69241775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:110.98, Z:1.69 [[-2.73269812e-01 -9.61934643e-01 2.31359880e-03 1.27839303e+02] [ 9.61890405e-01 -2.73279445e-01 -9.23004541e-03 1.10984334e+02] [ 9.51095943e-03 -2.96864292e-04 9.99954726e-01 1.69305740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:110.98, Z:1.69 [[-2.75568817e-01 -9.61278554e-01 2.31707957e-03 1.27840218e+02] [ 9.61234300e-01 -2.75578377e-01 -9.22917152e-03 1.10979852e+02] [ 9.51034168e-03 -3.16015518e-04 9.99954726e-01 1.69297783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:110.98, Z:1.69 [[-2.77431402e-01 -9.60742646e-01 2.32055377e-03 1.27840443e+02] [ 9.60698382e-01 -2.77440909e-01 -9.22829790e-03 1.10977819e+02] [ 9.50983589e-03 -3.30867373e-04 9.99954726e-01 1.69292743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.80, Y:111.11, Z:1.69 [[-2.82250234e-01 -9.59338003e-01 2.32402482e-03 1.27804934e+02] [ 9.59293698e-01 -2.82259553e-01 -9.22742368e-03 1.11105411e+02] [ 9.50819641e-03 -3.75020134e-04 9.99954726e-01 1.69227984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:110.97, Z:1.69 [[-2.77828291e-01 -9.60627826e-01 2.37070354e-03 1.27839870e+02] [ 9.60583663e-01 -2.77838261e-01 -9.21564019e-03 1.10972951e+02] [ 9.51147255e-03 -2.83106472e-04 9.99954725e-01 1.69192607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:110.97, Z:1.69 [[-2.76751627e-01 -9.60938657e-01 2.33096316e-03 1.27839635e+02] [ 9.60894421e-01 -2.76761266e-01 -9.22568101e-03 1.10971155e+02] [ 9.51043384e-03 -3.13412734e-04 9.99954726e-01 1.69190919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:110.97, Z:1.69 [[-2.75242662e-01 -9.61371951e-01 2.33443323e-03 1.27839133e+02] [ 9.61327737e-01 -2.75252404e-01 -9.22480287e-03 1.10969321e+02] [ 9.51102509e-03 -2.94903889e-04 9.99954726e-01 1.69173362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:110.97, Z:1.69 [[-2.71718179e-01 -9.62374026e-01 2.33790463e-03 1.27836687e+02] [ 9.62329855e-01 -2.71728115e-01 -9.22392301e-03 1.10970500e+02] [ 9.51213834e-03 -2.56472131e-04 9.99954726e-01 1.69091280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:110.97, Z:1.69 [[-2.70443868e-01 -9.62732898e-01 2.34138195e-03 1.27837046e+02] [ 9.62688748e-01 -2.70453897e-01 -9.22304025e-03 1.10967030e+02] [ 9.51256013e-03 -2.40292621e-04 9.99954726e-01 1.69122788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:110.97, Z:1.69 [[-2.69228821e-01 -9.63073384e-01 2.34486238e-03 1.27836654e+02] [ 9.63029255e-01 -2.69238939e-01 -9.22215530e-03 1.10969695e+02] [ 9.51294057e-03 -2.24698931e-04 9.99954726e-01 1.69189487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:110.97, Z:1.69 [[-2.66374405e-01 -9.63866776e-01 2.34834760e-03 1.27837259e+02] [ 9.63822685e-01 -2.66384686e-01 -9.22126773e-03 1.10967246e+02] [ 9.51363744e-03 -1.92919011e-04 9.99954726e-01 1.69179398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.57762800000003 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:127.84, Y:110.97, Z:1.69 [[-2.65220990e-01 -9.64184783e-01 2.35183879e-03 1.27836928e+02] [ 9.64140712e-01 -2.65231357e-01 -9.22037723e-03 1.10967063e+02] [ 9.51392882e-03 -1.77934051e-04 9.99954726e-01 1.68816363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:110.96, Z:1.69 [[-2.63218426e-01 -9.64733390e-01 2.35489103e-03 1.27836834e+02] [ 9.64689348e-01 -2.63228915e-01 -9.21959762e-03 1.10964695e+02] [ 9.51432908e-03 -1.55029689e-04 9.99954726e-01 1.68897063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:110.96, Z:1.69 [[-2.60159112e-01 -9.65562880e-01 2.35838559e-03 1.27837277e+02] [ 9.65518878e-01 -2.60169773e-01 -9.21870363e-03 1.10964655e+02] [ 9.51481866e-03 -1.21263944e-04 9.99954726e-01 1.68751850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:110.97, Z:1.69 [[-2.59174151e-01 -9.65827719e-01 2.36144096e-03 1.27837486e+02] [ 9.65783736e-01 -2.59184887e-01 -9.21792090e-03 1.10965785e+02] [ 9.51497333e-03 -1.08405552e-04 9.99954726e-01 1.68731518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:110.97, Z:1.69 [[-2.58393396e-01 -9.66036883e-01 2.36494238e-03 1.27837752e+02] [ 9.65992917e-01 -2.58404200e-01 -9.21702249e-03 1.10967682e+02] [ 9.51509473e-03 -9.71001568e-05 9.99954726e-01 1.68874770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:110.96, Z:1.69 [[-2.58335043e-01 -9.66052481e-01 2.36845332e-03 1.27840776e+02] [ 9.66008524e-01 -2.58345883e-01 -9.21612021e-03 1.10962221e+02] [ 9.51513596e-03 -9.29007140e-05 9.99954726e-01 1.69058531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:110.96, Z:1.69 [[-2.59153294e-01 -9.65833291e-01 2.37152077e-03 1.27841989e+02] [ 9.65789332e-01 -2.59164126e-01 -9.21533082e-03 1.10962076e+02] [ 9.51508640e-03 -9.77938731e-05 9.99954726e-01 1.69175721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.787628 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:127.84, Y:110.96, Z:1.69 [[-2.61345391e-01 -9.65242428e-01 2.37502757e-03 1.27844841e+02] [ 9.65198453e-01 -2.61356157e-01 -9.21442694e-03 1.10955948e+02] [ 9.51488392e-03 -1.15775082e-04 9.99954726e-01 1.68992787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:110.96, Z:1.69 [[-2.65566962e-01 -9.64089483e-01 2.37852998e-03 1.27845779e+02] [ 9.64045469e-01 -2.65577568e-01 -9.21352277e-03 1.10960559e+02] [ 9.51434462e-03 -1.53796198e-04 9.99954726e-01 1.69270948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:110.95, Z:1.69 [[-2.68784267e-01 -9.63197459e-01 2.38159380e-03 1.27849534e+02] [ 9.63153417e-01 -2.68794756e-01 -9.21273074e-03 1.10950595e+02] [ 9.51383877e-03 -1.82396871e-04 9.99954726e-01 1.69306155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:110.95, Z:1.69 [[-2.71991183e-01 -9.62296788e-01 2.38509441e-03 1.27851977e+02] [ 9.62252718e-01 -2.72001559e-01 -9.21182437e-03 1.10945809e+02] [ 9.51325840e-03 -2.10471433e-04 9.99954726e-01 1.69376430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:110.94, Z:1.69 [[-2.75203742e-01 -9.61382960e-01 2.38858086e-03 1.27853530e+02] [ 9.61338864e-01 -2.75214004e-01 -9.21092027e-03 1.10943408e+02] [ 9.51259269e-03 -2.38644110e-04 9.99954726e-01 1.69435650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:110.93, Z:1.69 [[-2.84349284e-01 -9.58717770e-01 2.39206298e-03 1.27857115e+02] [ 9.58673586e-01 -2.84359159e-01 -9.21001587e-03 1.10926475e+02] [ 9.51001090e-03 -3.25653821e-04 9.99954726e-01 1.69381288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:110.93, Z:1.69 [[-2.82573116e-01 -9.59242624e-01 2.45397858e-03 1.27858074e+02] [ 9.59198595e-01 -2.82583666e-01 -9.19389493e-03 1.10933574e+02] [ 9.51263016e-03 -2.44094733e-04 9.99954724e-01 1.69457628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:110.93, Z:1.69 [[-2.84976190e-01 -9.58531594e-01 2.39881981e-03 1.27858912e+02] [ 9.58487418e-01 -2.84986101e-01 -9.20826420e-03 1.10932978e+02] [ 9.51004247e-03 -3.24897442e-04 9.99954726e-01 1.69398271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:110.93, Z:1.69 [[-2.88684033e-01 -9.57421411e-01 2.40228612e-03 1.27860855e+02] [ 9.57377204e-01 -2.88693806e-01 -9.20735981e-03 1.10927445e+02] [ 9.50884854e-03 -3.58123797e-04 9.99954726e-01 1.69306111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:110.92, Z:1.69 [[-2.90662543e-01 -9.56822605e-01 2.40574928e-03 1.27862029e+02] [ 9.56778386e-01 -2.90672258e-01 -9.20645485e-03 1.10922078e+02] [ 9.50822869e-03 -3.74202664e-04 9.99954726e-01 1.69234637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:110.91, Z:1.69 [[-2.95999432e-01 -9.55185077e-01 2.40920363e-03 1.27863400e+02] [ 9.55140811e-01 -2.96008933e-01 -9.20555080e-03 1.10908258e+02] [ 9.50615055e-03 -4.23709099e-04 9.99954726e-01 1.69138700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:110.92, Z:1.69 [[-2.93666134e-01 -9.55904868e-01 2.46687657e-03 1.27862556e+02] [ 9.55860747e-01 -2.93676297e-01 -9.19043481e-03 1.10919108e+02] [ 9.50964454e-03 -3.40928979e-04 9.99954724e-01 1.69037009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:110.91, Z:1.69 [[-2.95430436e-01 -9.55361205e-01 2.41355759e-03 1.27864393e+02] [ 9.55316954e-01 -2.95440005e-01 -9.20441598e-03 1.10914894e+02] [ 9.50660341e-03 -4.13552140e-04 9.99954726e-01 1.68988472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.87, Y:110.91, Z:1.69 [[-2.95983461e-01 -9.55190007e-01 2.41700726e-03 1.27865771e+02] [ 9.55145757e-01 -2.95993038e-01 -9.20351004e-03 1.10910180e+02] [ 9.50651813e-03 -4.15492531e-04 9.99954726e-01 1.69034700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.87, Y:110.91, Z:1.69 [[-2.95785397e-01 -9.55251349e-01 2.42045042e-03 1.27865560e+02] [ 9.55207109e-01 -2.95795017e-01 -9.20260442e-03 1.10910254e+02] [ 9.50675746e-03 -4.09964561e-04 9.99954726e-01 1.69061255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:110.89, Z:1.69 [[-3.03522548e-01 -9.52821173e-01 2.42389324e-03 1.27861900e+02] [ 9.52776863e-01 -3.03531842e-01 -9.20169752e-03 1.10890581e+02] [ 9.50330100e-03 -4.83493284e-04 9.99954726e-01 1.68593585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:110.91, Z:1.69 [[-2.91135726e-01 -9.56678294e-01 2.57501871e-03 1.27860744e+02] [ 9.56634445e-01 -2.91147042e-01 -9.16176960e-03 1.10911706e+02] [ 9.51457520e-03 -2.03966842e-04 9.99954715e-01 1.68792068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:110.91, Z:1.69 [[-2.88934784e-01 -9.57345703e-01 2.42785494e-03 1.27860751e+02] [ 9.57301549e-01 -2.88944791e-01 -9.20060329e-03 1.10906352e+02] [ 9.50967407e-03 -3.34185037e-04 9.99954726e-01 1.68751603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:110.91, Z:1.69 [[-2.86367229e-01 -9.58116850e-01 2.43131328e-03 1.27859765e+02] [ 9.58072731e-01 -2.86377387e-01 -9.19968931e-03 1.10906142e+02] [ 9.51065049e-03 -3.05114581e-04 9.99954726e-01 1.68723624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:110.91, Z:1.69 [[-2.80928027e-01 -9.59725750e-01 2.43477128e-03 1.27855730e+02] [ 9.59681697e-01 -2.80938469e-01 -9.19877403e-03 1.10911546e+02] [ 9.51232123e-03 -2.47588007e-04 9.99954726e-01 1.68805481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:110.91, Z:1.69 [[-2.78241485e-01 -9.60508059e-01 2.43824254e-03 1.27853659e+02] [ 9.60464043e-01 -2.78252083e-01 -9.19785385e-03 1.10913411e+02] [ 9.51305881e-03 -2.17380228e-04 9.99954726e-01 1.68825211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:110.91, Z:1.69 [[-2.75406637e-01 -9.61324723e-01 2.44172999e-03 1.27853979e+02] [ 9.61280746e-01 -2.75417398e-01 -9.19692795e-03 1.10906307e+02] [ 9.51372913e-03 -1.85706966e-04 9.99954726e-01 1.68901764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:110.91, Z:1.69 [[-2.72397787e-01 -9.62181618e-01 2.44521710e-03 1.27852389e+02] [ 9.62137684e-01 -2.72408720e-01 -9.19600072e-03 1.10906503e+02] [ 9.51432132e-03 -1.52334732e-04 9.99954726e-01 1.68963566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:110.91, Z:1.69 [[-2.66704031e-01 -9.63775370e-01 2.44870270e-03 1.27849378e+02] [ 9.63731510e-01 -2.66715256e-01 -9.19507249e-03 1.10908940e+02] [ 9.51509076e-03 -9.24709477e-05 9.99954726e-01 1.69053445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:110.91, Z:1.69 [[-2.64579408e-01 -9.64360785e-01 2.45219775e-03 1.27848586e+02] [ 9.64316958e-01 -2.64590763e-01 -9.19414031e-03 1.10908206e+02] [ 9.51529724e-03 -6.78843250e-05 9.99954726e-01 1.69050764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:111.19, Z:1.69 [[-2.66914522e-01 -9.63717079e-01 2.45570166e-03 1.27769783e+02] [ 9.63673233e-01 -2.66925804e-01 -9.19320434e-03 1.11190180e+02] [ 9.51513817e-03 -8.73057816e-05 9.99954726e-01 1.69293979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:110.91, Z:1.69 [[-2.59048920e-01 -9.65860863e-01 2.53991162e-03 1.27847289e+02] [ 9.65817328e-01 -2.59061360e-01 -9.17066040e-03 1.10908627e+02] [ 9.51557492e-03 7.74409734e-05 9.99954723e-01 1.69027668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:110.91, Z:1.69 [[-2.59418607e-01 -9.65761840e-01 2.46053900e-03 1.27848009e+02] [ 9.65718096e-01 -2.59430276e-01 -9.19190732e-03 1.10906366e+02] [ 9.51553164e-03 -8.36475960e-06 9.99954726e-01 1.69028550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.79, Y:111.13, Z:1.69 [[-2.58850138e-01 -9.65914352e-01 2.46405721e-03 1.27787831e+02] [ 9.65870623e-01 -2.58861866e-01 -9.19096410e-03 1.11131566e+02] [ 9.51553458e-03 8.78144769e-07 9.99954726e-01 1.69182469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:110.90, Z:1.69 [[-2.58785715e-01 -9.65931592e-01 2.47272465e-03 1.27849671e+02] [ 9.65887886e-01 -2.58797528e-01 -9.18863698e-03 1.10902215e+02] [ 9.51552977e-03 1.04867948e-05 9.99954726e-01 1.68903313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:110.90, Z:1.69 [[-2.59324644e-01 -9.65787054e-01 2.46887173e-03 1.27850600e+02] [ 9.65743332e-01 -2.59336396e-01 -9.18967210e-03 1.10901504e+02] [ 9.51553464e-03 1.18796741e-06 9.99954726e-01 1.68773317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:110.90, Z:1.69 [[-2.61043388e-01 -9.65323903e-01 2.47238909e-03 1.27855362e+02] [ 9.65280169e-01 -2.61055095e-01 -9.18872569e-03 1.10897159e+02] [ 9.51552631e-03 -1.21079285e-05 9.99954726e-01 1.68635331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:110.89, Z:1.69 [[-2.62477760e-01 -9.64934866e-01 2.47590490e-03 1.27858731e+02] [ 9.64891124e-01 -2.62489436e-01 -9.18777826e-03 1.10893860e+02] [ 9.51550646e-03 -2.26087939e-05 9.99954726e-01 1.68572132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:110.89, Z:1.68 [[-2.64229350e-01 -9.64456688e-01 2.47941395e-03 1.27861824e+02] [ 9.64412934e-01 -2.64240980e-01 -9.18683121e-03 1.10891467e+02] [ 9.51546357e-03 -3.62515563e-05 9.99954726e-01 1.68497470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.87, Y:110.89, Z:1.68 [[-2.67141568e-01 -9.63654097e-01 2.48291858e-03 1.27868017e+02] [ 9.63610316e-01 -2.67153099e-01 -9.18588392e-03 1.10888688e+02] [ 9.51533406e-03 -6.13654795e-05 9.99954726e-01 1.68441414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.87, Y:110.89, Z:1.68 [[-2.68343239e-01 -9.63320156e-01 2.48642051e-03 1.27871063e+02] [ 9.63276370e-01 -2.68354749e-01 -9.18493592e-03 1.10888590e+02] [ 9.51527666e-03 -6.96053351e-05 9.99954726e-01 1.68457424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.87, Y:110.89, Z:1.69 [[-2.69546264e-01 -9.62984222e-01 2.48992091e-03 1.27874766e+02] [ 9.62940430e-01 -2.69557753e-01 -9.18398691e-03 1.10885712e+02] [ 9.51521197e-03 -7.78638470e-05 9.99954726e-01 1.68509071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.88, Y:110.88, Z:1.69 [[-2.71560378e-01 -9.62418175e-01 2.49342095e-03 1.27881245e+02] [ 9.62374368e-01 -2.71571809e-01 -9.18303656e-03 1.10884929e+02] [ 9.51506413e-03 -9.41444634e-05 9.99954726e-01 1.68577700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.88, Y:110.88, Z:1.69 [[-2.72995144e-01 -9.62012171e-01 2.49691893e-03 1.27884833e+02] [ 9.61968355e-01 -2.73006543e-01 -9.18208534e-03 1.10884045e+02] [ 9.51495306e-03 -1.04707717e-04 9.99954726e-01 1.68643235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.89, Y:110.89, Z:1.69 [[-2.74713856e-01 -9.61522774e-01 2.50041654e-03 1.27887511e+02] [ 9.61478947e-01 -2.74725209e-01 -9.18113279e-03 1.10886219e+02] [ 9.51479573e-03 -1.18086524e-04 9.99954726e-01 1.68648092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.89, Y:110.88, Z:1.69 [[-2.76166999e-01 -9.61106404e-01 2.50392016e-03 1.27893055e+02] [ 9.61062568e-01 -2.76178320e-01 -9.18017717e-03 1.10878213e+02] [ 9.51465553e-03 -1.28838034e-04 9.99954726e-01 1.68649098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.01762800000003 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:127.90, Y:110.87, Z:1.69 [[-2.79752904e-01 -9.60068761e-01 2.50741992e-03 1.27899641e+02] [ 9.60024892e-01 -2.79764094e-01 -9.17922117e-03 1.10873200e+02] [ 9.51416955e-03 -1.60728240e-04 9.99954726e-01 1.68555970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:110.88, Z:1.69 [[-2.78402574e-01 -9.60461193e-01 2.51090376e-03 1.27898641e+02] [ 9.60417348e-01 -2.78413859e-01 -9.17826809e-03 1.10877286e+02] [ 9.51444072e-03 -1.43737926e-04 9.99954726e-01 1.68678959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:110.87, Z:1.69 [[-2.76682606e-01 -9.60958071e-01 2.51439125e-03 1.27899541e+02] [ 9.60914255e-01 -2.76694003e-01 -9.17731259e-03 1.10874461e+02] [ 9.51472958e-03 -1.23088365e-04 9.99954726e-01 1.68747212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:110.87, Z:1.69 [[-2.75968430e-01 -9.61163402e-01 2.51788588e-03 1.27901489e+02] [ 9.61119604e-01 -2.75979893e-01 -9.17635370e-03 1.10869184e+02] [ 9.51486122e-03 -1.12394442e-04 9.99954726e-01 1.68723900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:110.87, Z:1.69 [[-2.75949754e-01 -9.61168755e-01 2.52137496e-03 1.27901938e+02] [ 9.61124966e-01 -2.75961251e-01 -9.17539491e-03 1.10867332e+02] [ 9.51490470e-03 -1.08591543e-04 9.99954726e-01 1.68663561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:110.87, Z:1.69 [[-2.76486174e-01 -9.61014579e-01 2.52486020e-03 1.27900838e+02] [ 9.60970792e-01 -2.76497680e-01 -9.17443576e-03 1.10874449e+02] [ 9.51488450e-03 -1.10287730e-04 9.99954726e-01 1.68612475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:110.88, Z:1.69 [[-2.77501766e-01 -9.60721801e-01 2.52791656e-03 1.27900793e+02] [ 9.60678010e-01 -2.77513255e-01 -9.17359353e-03 1.10875106e+02] [ 9.51480166e-03 -1.17174563e-04 9.99954726e-01 1.68598346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:110.86, Z:1.69 [[-2.79258492e-01 -9.60212626e-01 2.53142775e-03 1.27904098e+02] [ 9.60168822e-01 -2.79269934e-01 -9.17262453e-03 1.10861513e+02] [ 9.51462154e-03 -1.30935293e-04 9.99954726e-01 1.68611555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:110.86, Z:1.69 [[-2.83010803e-01 -9.59113372e-01 2.53492695e-03 1.27902345e+02] [ 9.59069532e-01 -2.83022107e-01 -9.17165739e-03 1.10861643e+02] [ 9.51409961e-03 -1.64506917e-04 9.99954726e-01 1.68607907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:110.86, Z:1.69 [[-2.84931336e-01 -9.58544569e-01 2.53841594e-03 1.27903334e+02] [ 9.58500715e-01 -2.84942586e-01 -9.17069165e-03 1.10856578e+02] [ 9.51381948e-03 -1.79943934e-04 9.99954726e-01 1.68720793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.91, Y:110.85, Z:1.69 [[-2.86485331e-01 -9.58081256e-01 2.54190456e-03 1.27905577e+02] [ 9.58037393e-01 -2.86496544e-01 -9.16972459e-03 1.10848336e+02] [ 9.51358812e-03 -1.91751972e-04 9.99954726e-01 1.68788849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.91, Y:110.85, Z:1.69 [[-2.88301324e-01 -9.57536353e-01 2.54538133e-03 1.27905982e+02] [ 9.57492477e-01 -2.88312486e-01 -9.16875938e-03 1.10846144e+02] [ 9.51328564e-03 -2.06181988e-04 9.99954726e-01 1.68806097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:110.85, Z:1.69 [[-2.89400607e-01 -9.57204676e-01 2.54885031e-03 1.27904917e+02] [ 9.57160796e-01 -2.89411752e-01 -9.16779493e-03 1.10845901e+02] [ 9.51312341e-03 -2.13505821e-04 9.99954726e-01 1.69045481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:110.85, Z:1.69 [[-2.89582691e-01 -9.57149598e-01 2.55188422e-03 1.27903720e+02] [ 9.57105723e-01 -2.89593857e-01 -9.16695036e-03 1.10846976e+02] [ 9.51315284e-03 -2.12167163e-04 9.99954726e-01 1.69111526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:110.84, Z:1.69 [[-2.89341261e-01 -9.57222599e-01 2.55536109e-03 1.27904731e+02] [ 9.57178736e-01 -2.89352472e-01 -9.16598105e-03 1.10840422e+02] [ 9.51328425e-03 -2.06159216e-04 9.99954726e-01 1.69205025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:110.84, Z:1.69 [[-2.87214937e-01 -9.57862742e-01 2.55883645e-03 1.27903381e+02] [ 9.57818912e-01 -2.87226278e-01 -9.16501074e-03 1.10839953e+02] [ 9.51378739e-03 -1.81426036e-04 9.99954726e-01 1.69304328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:110.84, Z:1.69 [[-2.85642075e-01 -9.58332948e-01 2.56230860e-03 1.27902723e+02] [ 9.58289146e-01 -2.85653521e-01 -9.16403991e-03 1.10839603e+02] [ 9.51413386e-03 -1.62202850e-04 9.99954726e-01 1.69290788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:110.84, Z:1.69 [[-2.84067183e-01 -9.58800945e-01 2.56578668e-03 1.27902573e+02] [ 9.58757170e-01 -2.84078735e-01 -9.16306600e-03 1.10837584e+02] [ 9.51444177e-03 -1.42959974e-04 9.99954726e-01 1.69273151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:110.84, Z:1.69 [[-2.80651371e-01 -9.59806338e-01 2.56926838e-03 1.27900723e+02] [ 9.59762613e-01 -2.80663111e-01 -9.16208965e-03 1.10838647e+02] [ 9.51493057e-03 -1.05465280e-04 9.99954726e-01 1.69200663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:110.85, Z:1.69 [[-2.79025098e-01 -9.60280363e-01 2.57275489e-03 1.27898254e+02] [ 9.60236667e-01 -2.79036945e-01 -9.16111052e-03 1.10845582e+02] [ 9.51512820e-03 -8.57261812e-05 9.99954726e-01 1.69085752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:110.84, Z:1.69 [[-2.77510961e-01 -9.60719017e-01 2.57625895e-03 1.27900173e+02] [ 9.60675349e-01 -2.77522910e-01 -9.16012501e-03 1.10837677e+02] [ 9.51527718e-03 -6.70866252e-05 9.99954726e-01 1.69031743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:110.84, Z:1.69 [[-2.75838367e-01 -9.61200572e-01 2.57976615e-03 1.27900603e+02] [ 9.61156934e-01 -2.75850427e-01 -9.15913717e-03 1.10838324e+02] [ 9.51539748e-03 -4.68813170e-05 9.99954726e-01 1.69001632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:110.83, Z:1.69 [[-2.75765268e-01 -9.61221537e-01 2.58327063e-03 1.27902185e+02] [ 9.61177910e-01 -2.75777364e-01 -9.15814865e-03 1.10834267e+02] [ 9.51541729e-03 -4.25166535e-05 9.99954726e-01 1.68977235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:110.83, Z:1.69 [[-2.76262458e-01 -9.61078749e-01 2.58677473e-03 1.27902240e+02] [ 9.61035125e-01 -2.76274565e-01 -9.15715879e-03 1.10833969e+02] [ 9.51541078e-03 -4.37978234e-05 9.99954727e-01 1.68891680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.91, Y:110.83, Z:1.69 [[-2.78129176e-01 -9.60540188e-01 2.59027845e-03 1.27905072e+02] [ 9.60496549e-01 -2.78141231e-01 -9.15616759e-03 1.10829783e+02] [ 9.51533017e-03 -5.86438320e-05 9.99954727e-01 1.68773524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.91, Y:110.83, Z:1.69 [[-2.80233595e-01 -9.59928333e-01 2.59378179e-03 1.27907729e+02] [ 9.59884677e-01 -2.80245588e-01 -9.15517504e-03 1.10825780e+02] [ 9.51520782e-03 -7.58562142e-05 9.99954727e-01 1.68720032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.91, Y:110.82, Z:1.69 [[-2.82485478e-01 -9.59268059e-01 2.59727836e-03 1.27910335e+02] [ 9.59224384e-01 -2.82497402e-01 -9.15418297e-03 1.10822856e+02] [ 9.51503972e-03 -9.45510097e-05 9.99954727e-01 1.68673034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:110.81, Z:1.69 [[-2.86380387e-01 -9.58112473e-01 2.60077052e-03 1.27915980e+02] [ 9.58068758e-01 -2.86392167e-01 -9.15319072e-03 1.10806573e+02] [ 9.51462650e-03 -1.29577317e-04 9.99954727e-01 1.68720581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.91, Y:110.83, Z:1.69 [[-2.91470038e-01 -9.56576325e-01 2.63671533e-03 1.27912346e+02] [ 9.56532640e-01 -2.91481929e-01 -9.14296645e-03 1.10826659e+02] [ 9.51450011e-03 -1.42796503e-04 9.99954726e-01 1.68588260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:110.82, Z:1.69 [[-2.89149759e-01 -9.57280191e-01 2.65581059e-03 1.27915976e+02] [ 9.57236585e-01 -2.89161938e-01 -9.13753047e-03 1.10816373e+02] [ 9.51513625e-03 -9.98756691e-05 9.99954725e-01 1.68510395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:110.81, Z:1.69 [[-2.89233730e-01 -9.57254960e-01 2.60591252e-03 1.27916636e+02] [ 9.57211224e-01 -2.89245429e-01 -9.15173871e-03 1.10810171e+02] [ 9.51429556e-03 -1.52582811e-04 9.99954726e-01 1.68504527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:110.81, Z:1.68 [[-2.87923220e-01 -9.57649942e-01 2.60939508e-03 1.27916356e+02] [ 9.57606231e-01 -2.87935012e-01 -9.15074564e-03 1.10808344e+02] [ 9.51454723e-03 -1.35939165e-04 9.99954726e-01 1.68238059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:110.81, Z:1.68 [[-2.87452756e-01 -9.57791254e-01 2.61287325e-03 1.27916461e+02] [ 9.57747558e-01 -2.87464602e-01 -9.14975238e-03 1.10806541e+02] [ 9.51466138e-03 -1.27648563e-04 9.99954726e-01 1.68217235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.91, Y:110.82, Z:1.68 [[-2.86989946e-01 -9.57930021e-01 2.61635220e-03 1.27912677e+02] [ 9.57886340e-01 -2.87001847e-01 -9.14875748e-03 1.10818839e+02] [ 9.51476736e-03 -1.19433383e-04 9.99954726e-01 1.68143688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:110.80, Z:1.68 [[-2.86240692e-01 -9.58154164e-01 2.61985153e-03 1.27915913e+02] [ 9.58110501e-01 -2.86252661e-01 -9.14775529e-03 1.10803633e+02] [ 9.51489930e-03 -1.08352541e-04 9.99954726e-01 1.68079686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:110.80, Z:1.68 [[-2.85918989e-01 -9.58250202e-01 2.62335282e-03 1.27917038e+02] [ 9.58206552e-01 -2.85931006e-01 -9.14675110e-03 1.10797917e+02] [ 9.51497400e-03 -1.01515965e-04 9.99954726e-01 1.68035669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:110.80, Z:1.68 [[-2.85537959e-01 -9.58363800e-01 2.62683232e-03 1.27916597e+02] [ 9.58320164e-01 -2.85550027e-01 -9.14575172e-03 1.10797229e+02] [ 9.51504941e-03 -9.41129035e-05 9.99954726e-01 1.67962518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:110.80, Z:1.68 [[-2.84806458e-01 -9.58581433e-01 2.63030859e-03 1.27916408e+02] [ 9.58537815e-01 -2.84818592e-01 -9.14475184e-03 1.10795787e+02] [ 9.51515011e-03 -8.32341347e-05 9.99954726e-01 1.67901763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:110.79, Z:1.68 [[-2.82369136e-01 -9.59302212e-01 2.63378849e-03 1.27916329e+02] [ 9.59258635e-01 -2.82381413e-01 -9.14374948e-03 1.10794789e+02] [ 9.51535202e-03 -5.54282891e-05 9.99954726e-01 1.67860891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:110.80, Z:1.68 [[-2.81202833e-01 -9.59644732e-01 2.63727147e-03 1.27916312e+02] [ 9.59601179e-01 -2.81215196e-01 -9.14274480e-03 1.10796656e+02] [ 9.51542770e-03 -4.02369196e-05 9.99954726e-01 1.67895038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:110.79, Z:1.68 [[-2.80177561e-01 -9.59944561e-01 2.64076042e-03 1.27917680e+02] [ 9.59901031e-01 -2.80190005e-01 -9.14173695e-03 1.10793497e+02] [ 9.51547534e-03 -2.64409095e-05 9.99954727e-01 1.67977077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:110.80, Z:1.68 [[-2.79824067e-01 -9.60047655e-01 2.64425302e-03 1.27917542e+02] [ 9.60004139e-01 -2.79836559e-01 -9.14072660e-03 1.10796747e+02] [ 9.51549180e-03 -1.93014437e-05 9.99954727e-01 1.68028777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:110.79, Z:1.68 [[-2.79303914e-01 -9.60199101e-01 2.64775162e-03 1.27920666e+02] [ 9.60155601e-01 -2.79316464e-01 -9.13971307e-03 1.10791680e+02] [ 9.51550489e-03 -1.05040907e-05 9.99954727e-01 1.68368702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:110.80, Z:1.69 [[-2.78986056e-01 -9.60291494e-01 2.65081027e-03 1.27919308e+02] [ 9.60248008e-01 -2.78998649e-01 -9.13882587e-03 1.10799129e+02] [ 9.51550924e-03 -4.16970275e-06 9.99954727e-01 1.68560558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:110.79, Z:1.69 [[-2.78886425e-01 -9.60320424e-01 2.65431689e-03 1.27922140e+02] [ 9.60276948e-01 -2.78899056e-01 -9.13780728e-03 1.10790887e+02] [ 9.51550944e-03 4.68917702e-07 9.99954727e-01 1.68661564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:110.79, Z:1.69 [[-2.77559238e-01 -9.60704848e-01 2.65782838e-03 1.27923553e+02] [ 9.60661400e-01 -2.77571963e-01 -9.13678582e-03 1.10790316e+02] [ 9.51549307e-03 1.72738178e-05 9.99954727e-01 1.68765994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:110.79, Z:1.69 [[-2.77044649e-01 -9.60853360e-01 2.66133304e-03 1.27924376e+02] [ 9.60809928e-01 -2.77057430e-01 -9.13576488e-03 1.10789450e+02] [ 9.51547247e-03 2.60204311e-05 9.99954727e-01 1.68710105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:110.79, Z:1.69 [[-2.76345236e-01 -9.61054738e-01 2.66484020e-03 1.27923932e+02] [ 9.61011325e-01 -2.76358082e-01 -9.13474174e-03 1.10793762e+02] [ 9.51543696e-03 3.65992501e-05 9.99954727e-01 1.68666760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:110.79, Z:1.69 [[-2.74660577e-01 -9.61537537e-01 2.67076982e-03 1.27926823e+02] [ 9.61494163e-01 -2.74673555e-01 -9.13300961e-03 1.10790702e+02] [ 9.51532141e-03 5.94519037e-05 9.99954727e-01 1.68604125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:110.79, Z:1.69 [[-2.75031318e-01 -9.61431555e-01 2.67187913e-03 1.27927555e+02] [ 9.61388180e-01 -2.75044290e-01 -9.13268507e-03 1.10788464e+02] [ 9.51533671e-03 5.69386003e-05 9.99954727e-01 1.68601837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:110.78, Z:1.69 [[-2.74462147e-01 -9.61594183e-01 2.67540038e-03 1.27930346e+02] [ 9.61550825e-01 -2.74475178e-01 -9.13165341e-03 1.10784490e+02] [ 9.51527580e-03 6.62402392e-05 9.99954727e-01 1.68543540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:110.78, Z:1.69 [[-2.73986820e-01 -9.61729716e-01 2.67891886e-03 1.27932881e+02] [ 9.61686375e-01 -2.73999906e-01 -9.13062109e-03 1.10781488e+02] [ 9.51521314e-03 7.46099290e-05 9.99954727e-01 1.68506263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:110.79, Z:1.68 [[-2.73492278e-01 -9.61870458e-01 2.68243167e-03 1.27932407e+02] [ 9.61827134e-01 -2.73505420e-01 -9.12958897e-03 1.10786607e+02] [ 9.51514152e-03 8.31634792e-05 9.99954727e-01 1.68481203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:110.78, Z:1.68 [[-2.72036408e-01 -9.62283211e-01 2.68595172e-03 1.27933707e+02] [ 9.62239917e-01 -2.72049648e-01 -9.12855324e-03 1.10778384e+02] [ 9.51496575e-03 1.01231133e-04 9.99954727e-01 1.68229134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:110.78, Z:1.68 [[-2.71728676e-01 -9.62370144e-01 2.68947375e-03 1.27933874e+02] [ 9.62326864e-01 -2.71741964e-01 -9.12751545e-03 1.10776410e+02] [ 9.51489124e-03 1.07945152e-04 9.99954727e-01 1.68098046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:110.78, Z:1.68 [[-2.71259745e-01 -9.62502415e-01 2.69298773e-03 1.27932586e+02] [ 9.62459152e-01 -2.71273088e-01 -9.12647857e-03 1.10780130e+02] [ 9.51479276e-03 1.16244431e-04 9.99954727e-01 1.67996771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:110.78, Z:1.68 [[-2.71663393e-01 -9.62388554e-01 2.69651069e-03 1.27931809e+02] [ 9.62345296e-01 -2.71676751e-01 -9.12543756e-03 1.10782491e+02] [ 9.51479592e-03 1.15927051e-04 9.99954727e-01 1.67856665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:110.77, Z:1.68 [[-2.71921705e-01 -9.62315534e-01 2.72022791e-03 1.27932900e+02] [ 9.62272342e-01 -2.71935275e-01 -9.11841784e-03 1.10773497e+02] [ 9.51452106e-03 1.38104366e-04 9.99954726e-01 1.67770916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:110.77, Z:1.68 [[-2.72507444e-01 -9.62149877e-01 2.70319814e-03 1.27933544e+02] [ 9.62106627e-01 -2.72520827e-01 -9.12346360e-03 1.10768354e+02] [ 9.51481718e-03 1.14553093e-04 9.99954727e-01 1.67727526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:110.77, Z:1.68 [[-2.73018789e-01 -9.62004893e-01 2.70671702e-03 1.27933350e+02] [ 9.61961646e-01 -2.73032183e-01 -9.12241952e-03 1.10766539e+02] [ 9.51483307e-03 1.13166026e-04 9.99954727e-01 1.67685574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:110.76, Z:1.68 [[-2.73412181e-01 -9.61893151e-01 2.71023312e-03 1.27931996e+02] [ 9.61849909e-01 -2.73425590e-01 -9.12137478e-03 1.10764215e+02] [ 9.51483501e-03 1.12942507e-04 9.99954727e-01 1.67516018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:110.76, Z:1.67 [[-2.73927047e-01 -9.61746645e-01 2.71375000e-03 1.27932082e+02] [ 9.61703406e-01 -2.73940466e-01 -9.12032833e-03 1.10760722e+02] [ 9.51485111e-03 1.11518014e-04 9.99954727e-01 1.67472060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:110.75, Z:1.67 [[-2.75245389e-01 -9.61370164e-01 2.71726649e-03 1.27934361e+02] [ 9.61326917e-01 -2.75258783e-01 -9.11928052e-03 1.10745217e+02] [ 9.51495568e-03 1.02141496e-04 9.99954727e-01 1.67469682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:110.75, Z:1.67 [[-2.74045148e-01 -9.61712891e-01 2.75167984e-03 1.27931332e+02] [ 9.61669763e-01 -2.74058921e-01 -9.10901501e-03 1.10754453e+02] [ 9.51437957e-03 1.49925936e-04 9.99954726e-01 1.67468991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:110.75, Z:1.67 [[-2.74351422e-01 -9.61625651e-01 2.72110777e-03 1.27930369e+02] [ 9.61582428e-01 -2.74364892e-01 -9.11813858e-03 1.10754590e+02] [ 9.51481239e-03 1.14995138e-04 9.99954727e-01 1.67419736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:110.75, Z:1.67 [[-2.74810610e-01 -9.61494517e-01 2.72461813e-03 1.27930477e+02] [ 9.61451297e-01 -2.74824092e-01 -9.11708952e-03 1.10752511e+02] [ 9.51482228e-03 1.14114706e-04 9.99954727e-01 1.67479533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:110.75, Z:1.68 [[-2.74975191e-01 -9.61447451e-01 2.72813218e-03 1.27932743e+02] [ 9.61404240e-01 -2.74988699e-01 -9.11603788e-03 1.10746642e+02] [ 9.51479691e-03 1.16153588e-04 9.99954727e-01 1.67630075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:110.75, Z:1.68 [[-2.76014897e-01 -9.61149447e-01 2.74180488e-03 1.27932718e+02] [ 9.61106262e-01 -2.76028488e-01 -9.11194303e-03 1.10748426e+02] [ 9.51475526e-03 1.20133819e-04 9.99954726e-01 1.67560023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:110.75, Z:1.68 [[-2.76978256e-01 -9.60872304e-01 2.73165647e-03 1.27934661e+02] [ 9.60829075e-01 -2.76991708e-01 -9.11498439e-03 1.10745080e+02] [ 9.51498224e-03 1.00002483e-04 9.99954727e-01 1.67594814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.94, Y:110.74, Z:1.68 [[-2.78657190e-01 -9.60386740e-01 2.73516208e-03 1.27937015e+02] [ 9.60343498e-01 -2.78670599e-01 -9.11393233e-03 1.10743943e+02] [ 9.51510901e-03 8.70323461e-05 9.99954727e-01 1.67678829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:110.72, Z:1.68 [[-2.79526311e-01 -9.60134127e-01 2.73866727e-03 1.27946117e+02] [ 9.60090883e-01 -2.79539714e-01 -9.11287892e-03 1.10719446e+02] [ 9.51515232e-03 8.20800547e-05 9.99954727e-01 1.67952745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.94, Y:110.75, Z:1.68 [[-2.79843652e-01 -9.60041599e-01 2.76735668e-03 1.27937183e+02] [ 9.59998436e-01 -2.79857313e-01 -9.10424626e-03 1.10750482e+02] [ 9.51492014e-03 1.08892562e-04 9.99954726e-01 1.67716933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.94, Y:110.74, Z:1.68 [[-2.80842284e-01 -9.59750015e-01 2.74222296e-03 1.27940886e+02] [ 9.59706763e-01 -2.80855662e-01 -9.11181032e-03 1.10740889e+02] [ 9.51522894e-03 7.27482974e-05 9.99954727e-01 1.67704811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.94, Y:110.74, Z:1.68 [[-2.82337709e-01 -9.59311148e-01 2.74573852e-03 1.27943379e+02] [ 9.59267886e-01 -2.82351053e-01 -9.11075082e-03 1.10735782e+02] [ 9.51530699e-03 6.15902747e-05 9.99954727e-01 1.67611777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:110.73, Z:1.68 [[-2.84279282e-01 -9.58737572e-01 2.74923959e-03 1.27946047e+02] [ 9.58694293e-01 -2.84292572e-01 -9.10969422e-03 1.10725649e+02] [ 9.51539451e-03 4.59829724e-05 9.99954727e-01 1.67683734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.94, Y:110.73, Z:1.67 [[-2.84021353e-01 -9.58813919e-01 2.78214009e-03 1.27942684e+02] [ 9.58770740e-01 -2.84034967e-01 -9.09975310e-03 1.10731875e+02] [ 9.51519500e-03 8.29103274e-05 9.99954726e-01 1.67295428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.94, Y:110.73, Z:1.67 [[-2.85432541e-01 -9.58394848e-01 2.75319419e-03 1.27942190e+02] [ 9.58351565e-01 -2.85445816e-01 -9.10850248e-03 1.10729355e+02] [ 9.51542961e-03 3.86649556e-05 9.99954727e-01 1.67170549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.94, Y:110.73, Z:1.67 [[-2.87014492e-01 -9.57922274e-01 2.75668916e-03 1.27941717e+02] [ 9.57878978e-01 -2.87027729e-01 -9.10744460e-03 1.10729033e+02] [ 9.51547027e-03 2.66060142e-05 9.99954727e-01 1.67105982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.94, Y:110.72, Z:1.67 [[-2.89505426e-01 -9.57172393e-01 2.76018661e-03 1.27943852e+02] [ 9.57129074e-01 -2.89518584e-01 -9.10638451e-03 1.10721179e+02] [ 9.51550517e-03 5.50712946e-06 9.99954727e-01 1.67075599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:110.72, Z:1.67 [[-2.94207370e-01 -9.55737613e-01 2.76367842e-03 1.27946630e+02] [ 9.55694240e-01 -2.94220348e-01 -9.10532466e-03 1.10715787e+02] [ 9.51543169e-03 -3.76220682e-05 9.99954727e-01 1.67371564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:110.71, Z:1.67 [[-2.96842588e-01 -9.54922416e-01 2.76715825e-03 1.27947813e+02] [ 9.54879017e-01 -2.96855479e-01 -9.10426700e-03 1.10714022e+02] [ 9.51531473e-03 -6.02328239e-05 9.99954727e-01 1.67450685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:110.68, Z:1.68 [[-3.01896998e-01 -9.53336523e-01 2.77063420e-03 1.27956639e+02] [ 9.53293066e-01 -3.01909693e-01 -9.10320907e-03 1.10683145e+02] [ 9.51490300e-03 -1.07005125e-04 9.99954727e-01 1.67693165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:110.71, Z:1.68 [[-3.03096434e-01 -9.52955703e-01 2.82480042e-03 1.27947045e+02] [ 9.52912382e-01 -3.03109590e-01 -9.08669947e-03 1.10713915e+02] [ 9.51544618e-03 -6.23589020e-05 9.99954725e-01 1.67747994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:110.71, Z:1.68 [[-3.04543121e-01 -9.52494509e-01 2.77449354e-03 1.27947812e+02] [ 9.52451027e-01 -3.04555732e-01 -9.10203409e-03 1.10706725e+02] [ 9.51462540e-03 -1.29392644e-04 9.99954727e-01 1.67694132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:110.70, Z:1.68 [[-3.05879114e-01 -9.52066306e-01 2.77797095e-03 1.27947781e+02] [ 9.52022816e-01 -3.05891697e-01 -9.10097265e-03 1.10702926e+02] [ 9.51448765e-03 -1.39105724e-04 9.99954727e-01 1.67597377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:110.70, Z:1.67 [[-3.06546112e-01 -9.51851745e-01 2.78144047e-03 1.27948970e+02] [ 9.51808256e-01 -3.06558698e-01 -9.09991217e-03 1.10698520e+02] [ 9.51444205e-03 -1.42144693e-04 9.99954727e-01 1.67427281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:110.70, Z:1.67 [[-3.06739791e-01 -9.51789339e-01 2.78490443e-03 1.27950424e+02] [ 9.51745857e-01 -3.06752401e-01 -9.09885195e-03 1.10695357e+02] [ 9.51446640e-03 -1.40458692e-04 9.99954727e-01 1.67381246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:110.69, Z:1.67 [[-3.06435529e-01 -9.51887331e-01 2.78836400e-03 1.27951989e+02] [ 9.51843863e-01 -3.06448185e-01 -9.09779163e-03 1.10691764e+02] [ 9.51456168e-03 -1.33799428e-04 9.99954727e-01 1.67269483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:110.69, Z:1.67 [[-3.04046925e-01 -9.52652966e-01 2.79182087e-03 1.27951663e+02] [ 9.52609539e-01 -3.04059724e-01 -9.09673070e-03 1.10691025e+02] [ 9.51490777e-03 -1.06317810e-04 9.99954727e-01 1.66941719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:110.70, Z:1.67 [[-3.02197148e-01 -9.53241351e-01 2.79484123e-03 1.27948590e+02] [ 9.53197958e-01 -3.02210059e-01 -9.09580265e-03 1.10698626e+02] [ 9.51512433e-03 -8.46886619e-05 9.99954727e-01 1.66719416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:110.69, Z:1.67 [[-3.00352269e-01 -9.53824244e-01 2.79765459e-03 1.27950072e+02] [ 9.53780884e-01 -3.00365291e-01 -9.09493724e-03 1.10692505e+02] [ 9.51528997e-03 -6.33355694e-05 9.99954727e-01 1.66564270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:110.69, Z:1.66 [[-2.96846391e-01 -9.54921136e-01 2.80068807e-03 1.27951359e+02] [ 9.54877833e-01 -2.96859601e-01 -9.09400302e-03 1.10690251e+02] [ 9.51546684e-03 -2.52070110e-05 9.99954727e-01 1.66465917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:110.69, Z:1.66 [[-2.95907187e-01 -9.55212582e-01 2.80371574e-03 1.27951966e+02] [ 9.55169300e-01 -2.95920469e-01 -9.09306948e-03 1.10689905e+02] [ 9.51549125e-03 -1.26814078e-05 9.99954727e-01 1.66425355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.80762800000002 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:127.95, Y:110.69, Z:1.66 [[-2.95655344e-01 -9.55290551e-01 2.80718108e-03 1.27952285e+02] [ 9.55247284e-01 -2.95668671e-01 -9.09199954e-03 1.10690347e+02] [ 9.51549676e-03 -6.54614982e-06 9.99954727e-01 1.66404329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.83762800000002 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:127.95, Y:110.69, Z:1.67 [[-2.95318318e-01 -9.55394783e-01 2.81065064e-03 1.27953654e+02] [ 9.55351530e-01 -2.95331693e-01 -9.09092686e-03 1.10691824e+02] [ 9.51549830e-03 4.42163684e-07 9.99954727e-01 1.66541190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:110.69, Z:1.67 [[-2.95299721e-01 -9.55400522e-01 2.81368832e-03 1.27956178e+02] [ 9.55357279e-01 -2.95313125e-01 -9.08998658e-03 1.10687872e+02] [ 9.51549702e-03 3.80711580e-06 9.99954727e-01 1.66747629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:110.69, Z:1.67 [[-2.96029891e-01 -9.55174523e-01 2.81672568e-03 1.27957142e+02] [ 9.55131278e-01 -2.96043291e-01 -9.08904529e-03 1.10686742e+02] [ 9.51549725e-03 -2.86286204e-07 9.99954727e-01 1.66842164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:110.68, Z:1.67 [[-2.96610860e-01 -9.54994265e-01 2.81975998e-03 1.27958670e+02] [ 9.54951021e-01 -2.96624262e-01 -9.08810384e-03 1.10683830e+02] [ 9.51549628e-03 -2.89761580e-06 9.99954727e-01 1.66906482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:110.69, Z:1.67 [[-2.97245933e-01 -9.54796777e-01 2.82322911e-03 1.27957778e+02] [ 9.54753534e-01 -2.97259340e-01 -9.08702603e-03 1.10688781e+02] [ 9.51549438e-03 -5.59355975e-06 9.99954727e-01 1.66964777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:110.69, Z:1.67 [[-2.98190747e-01 -9.54502115e-01 2.82670712e-03 1.27960181e+02] [ 9.54458870e-01 -2.98204144e-01 -9.08594399e-03 1.10685413e+02] [ 9.51548854e-03 -1.13687373e-05 9.99954727e-01 1.66994247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:110.68, Z:1.67 [[-2.98705402e-01 -9.54341172e-01 2.83019225e-03 1.27962658e+02] [ 9.54297930e-01 -2.98718809e-01 -9.08485827e-03 1.10678467e+02] [ 9.51548595e-03 -1.28496365e-05 9.99954727e-01 1.67026435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:110.68, Z:1.67 [[-2.98978930e-01 -9.54255506e-01 2.83366827e-03 1.27960467e+02] [ 9.54212269e-01 -2.98992358e-01 -9.08377394e-03 1.10683811e+02] [ 9.51548645e-03 -1.19359774e-05 9.99954727e-01 1.67033076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:110.68, Z:1.67 [[-2.98206225e-01 -9.54497249e-01 2.83714737e-03 1.27961446e+02] [ 9.54454034e-01 -2.98219721e-01 -9.08268718e-03 1.10677875e+02] [ 9.51549322e-03 -5.87107693e-07 9.99954727e-01 1.66952246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:110.68, Z:1.67 [[-2.97968757e-01 -9.54571396e-01 2.84063242e-03 1.27960633e+02] [ 9.54528195e-01 -2.97982297e-01 -9.08159709e-03 1.10680172e+02] [ 9.51549099e-03 5.43153579e-06 9.99954727e-01 1.66917147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.137628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:127.96, Y:110.67, Z:1.67 [[-2.97987413e-01 -9.54565562e-01 2.84411876e-03 1.27963193e+02] [ 9.54522371e-01 -2.98000985e-01 -9.08050513e-03 1.10671831e+02] [ 9.51548767e-03 8.89874971e-06 9.99954727e-01 1.66691481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:110.67, Z:1.67 [[-2.96851900e-01 -9.54919285e-01 2.84760180e-03 1.27962516e+02] [ 9.54876120e-01 -2.96865557e-01 -9.07941273e-03 1.10671966e+02] [ 9.51546120e-03 2.38660399e-05 9.99954727e-01 1.66656684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:110.67, Z:1.67 [[-2.96645120e-01 -9.54983531e-01 2.85108093e-03 1.27963800e+02] [ 9.54940380e-01 -2.96658820e-01 -9.07832010e-03 1.10667559e+02] [ 9.51544448e-03 2.95729436e-05 9.99954727e-01 1.66599873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:110.66, Z:1.66 [[-2.96626015e-01 -9.54989455e-01 2.85455963e-03 1.27965044e+02] [ 9.54946315e-01 -2.96639748e-01 -9.07722613e-03 1.10664093e+02] [ 9.51543108e-03 3.34097875e-05 9.99954727e-01 1.66472563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:110.66, Z:1.66 [[-2.96800698e-01 -9.54935169e-01 2.85803272e-03 1.27965364e+02] [ 9.54892037e-01 -2.96814456e-01 -9.07613247e-03 1.10664275e+02] [ 9.51542352e-03 3.53102363e-05 9.99954727e-01 1.66319949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:110.66, Z:1.67 [[-2.97647202e-01 -9.54671649e-01 2.86106916e-03 1.27966222e+02] [ 9.54628514e-01 -2.97660951e-01 -9.07517519e-03 1.10660395e+02] [ 9.51544103e-03 3.00576953e-05 9.99954727e-01 1.66561801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:110.66, Z:1.67 [[-2.98455409e-01 -9.54419281e-01 2.86454263e-03 1.27967392e+02] [ 9.54376144e-01 -2.98469155e-01 -9.07407868e-03 1.10655910e+02] [ 9.51545326e-03 2.56432827e-05 9.99954727e-01 1.66576315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.34762800000001 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:127.97, Y:110.65, Z:1.67 [[-3.00900489e-01 -9.53651231e-01 2.86801050e-03 1.27968656e+02] [ 9.53608070e-01 -3.00914157e-01 -9.07298247e-03 1.10653763e+02] [ 9.51548586e-03 4.89309699e-06 9.99954727e-01 1.66508150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:110.65, Z:1.67 [[-3.02376355e-01 -9.53184292e-01 2.87147564e-03 1.27969099e+02] [ 9.53141120e-01 -3.02389989e-01 -9.07188566e-03 1.10653123e+02] [ 9.51548440e-03 -6.20221429e-06 9.99954727e-01 1.66744853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:110.65, Z:1.67 [[-3.02740764e-01 -9.53068604e-01 2.87494151e-03 1.27969880e+02] [ 9.53025438e-01 -3.02754414e-01 -9.07078717e-03 1.10650899e+02] [ 9.51548370e-03 -6.20464405e-06 9.99954727e-01 1.66742459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:110.65, Z:1.67 [[-3.04501194e-01 -9.52507605e-01 2.87840928e-03 1.27971234e+02] [ 9.52464424e-01 -3.04514797e-01 -9.06968662e-03 1.10647459e+02] [ 9.51546370e-03 -2.01479621e-05 9.99954727e-01 1.66844887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.46762800000002 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:127.97, Y:110.64, Z:1.67 [[-3.07602839e-01 -9.51510479e-01 2.88143803e-03 1.27972014e+02] [ 9.51467262e-01 -3.07616331e-01 -9.06872429e-03 1.10644561e+02] [ 9.51536358e-03 -4.79713834e-05 9.99954727e-01 1.66763648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:110.64, Z:1.67 [[-3.09029598e-01 -9.51048047e-01 2.88446185e-03 1.27972692e+02] [ 9.51004820e-01 -3.09043053e-01 -9.06776241e-03 1.10640775e+02] [ 9.51530062e-03 -5.90698434e-05 9.99954727e-01 1.67064353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:110.64, Z:1.67 [[-3.10592428e-01 -9.50538797e-01 2.88791754e-03 1.27973274e+02] [ 9.50495557e-01 -3.10605845e-01 -9.06666170e-03 1.10638667e+02] [ 9.51521777e-03 -7.10836757e-05 9.99954727e-01 1.67149292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:110.64, Z:1.67 [[-3.11979859e-01 -9.50084316e-01 2.89137112e-03 1.27972096e+02] [ 9.50041068e-01 -3.11993246e-01 -9.06556021e-03 1.10641866e+02] [ 9.51513484e-03 -8.13508867e-05 9.99954727e-01 1.67221528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:110.63, Z:1.67 [[-3.13491853e-01 -9.49586478e-01 2.89483227e-03 1.27973100e+02] [ 9.49543218e-01 -3.13505204e-01 -9.06445486e-03 1.10633232e+02] [ 9.51502874e-03 -9.28644004e-05 9.99954727e-01 1.67207022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:110.63, Z:1.67 [[-3.13916513e-01 -9.49446166e-01 2.89829130e-03 1.27973003e+02] [ 9.49402911e-01 -3.13929878e-01 -9.06334872e-03 1.10629661e+02] [ 9.51502193e-03 -9.34886279e-05 9.99954727e-01 1.67043390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.64762800000003 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:127.97, Y:110.63, Z:1.67 [[-3.14442783e-01 -9.49271993e-01 2.90174132e-03 1.27971939e+02] [ 9.49228740e-01 -3.14456157e-01 -9.06224402e-03 1.10627721e+02] [ 9.51500487e-03 -9.51409661e-05 9.99954727e-01 1.66654376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.67762800000003 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:127.97, Y:110.63, Z:1.67 [[-3.14755816e-01 -9.49168235e-01 2.90475568e-03 1.27971009e+02] [ 9.49124987e-01 -3.14769204e-01 -9.06127771e-03 1.10628422e+02] [ 9.51500461e-03 -9.51136575e-05 9.99954727e-01 1.66595896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.70762800000003 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:127.97, Y:110.62, Z:1.67 [[-3.15120015e-01 -9.49047374e-01 2.90820721e-03 1.27972513e+02] [ 9.49004131e-01 -3.15133421e-01 -9.06016981e-03 1.10621994e+02] [ 9.51500366e-03 -9.51401910e-05 9.99954727e-01 1.66534844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.73762800000003 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:127.97, Y:110.62, Z:1.66 [[-3.15387245e-01 -9.48958591e-01 2.91165832e-03 1.27973470e+02] [ 9.48915355e-01 -3.15400671e-01 -9.05906060e-03 1.10617629e+02] [ 9.51501237e-03 -9.41948713e-05 9.99954727e-01 1.66386891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:110.62, Z:1.67 [[-3.15189428e-01 -9.49024303e-01 2.91510045e-03 1.27972116e+02] [ 9.48981079e-01 -3.15202896e-01 -9.05795283e-03 1.10619109e+02] [ 9.51506547e-03 -8.85957943e-05 9.99954727e-01 1.66591137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.79762800000003 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:127.97, Y:110.62, Z:1.66 [[-3.15880980e-01 -9.48794334e-01 2.91854445e-03 1.27973700e+02] [ 9.48751111e-01 -3.15894449e-01 -9.05684301e-03 1.10615366e+02] [ 9.51503332e-03 -9.19121471e-05 9.99954727e-01 1.66428392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.82762800000003 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:127.97, Y:110.61, Z:1.66 [[-3.16209987e-01 -9.48684726e-01 2.92155702e-03 1.27974666e+02] [ 9.48641507e-01 -3.16223470e-01 -9.05587111e-03 1.10612767e+02] [ 9.51503149e-03 -9.20466384e-05 9.99954727e-01 1.66471265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.85762800000003 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:127.98, Y:110.61, Z:1.66 [[-3.16713021e-01 -9.48516898e-01 2.92499908e-03 1.27975127e+02] [ 9.48473683e-01 -3.16726514e-01 -9.05475920e-03 1.10611115e+02] [ 9.51501688e-03 -9.34754993e-05 9.99954727e-01 1.66482495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.98, Y:110.61, Z:1.67 [[-3.17000489e-01 -9.48420853e-01 2.92844072e-03 1.27975641e+02] [ 9.48377643e-01 -3.17014002e-01 -9.05364599e-03 1.10611369e+02] [ 9.51502336e-03 -9.27425020e-05 9.99954727e-01 1.66801424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.98, Y:110.61, Z:1.67 [[-3.17487347e-01 -9.48257977e-01 2.93145221e-03 1.27978352e+02] [ 9.48214769e-01 -3.17500866e-01 -9.05267080e-03 1.10607276e+02] [ 9.51500592e-03 -9.44621531e-05 9.99954727e-01 1.66885871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.947628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:127.98, Y:110.61, Z:1.67 [[-3.18227347e-01 -9.48009885e-01 2.93489588e-03 1.27979406e+02] [ 9.47966677e-01 -3.18240865e-01 -9.05155422e-03 1.10608619e+02] [ 9.51496668e-03 -9.82685968e-05 9.99954727e-01 1.66791933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.98, Y:110.61, Z:1.67 [[-3.17363066e-01 -9.48299558e-01 2.93834026e-03 1.27981571e+02] [ 9.48256372e-01 -3.17376656e-01 -9.05043596e-03 1.10605815e+02] [ 9.51508502e-03 -8.59742295e-05 9.99954727e-01 1.67115652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.98, Y:110.60, Z:1.67 [[-3.17276431e-01 -9.48328538e-01 2.94135159e-03 1.27982706e+02] [ 9.48285363e-01 -3.17290054e-01 -9.04945718e-03 1.10603763e+02] [ 9.51512010e-03 -8.19388142e-05 9.99954727e-01 1.67130792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.98, Y:110.60, Z:1.67 [[-3.17080637e-01 -9.48394010e-01 2.94479517e-03 1.27983388e+02] [ 9.48350848e-01 -3.17094302e-01 -9.04833647e-03 1.10602996e+02] [ 9.51516587e-03 -7.63532914e-05 9.99954727e-01 1.67142425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.98, Y:110.61, Z:1.67 [[-3.16766920e-01 -9.48498828e-01 2.94823947e-03 1.27981914e+02] [ 9.48455681e-01 -3.16780632e-01 -9.04721406e-03 1.10607767e+02] [ 9.51521710e-03 -6.95836520e-05 9.99954727e-01 1.67039286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.09762800000001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:127.98, Y:110.60, Z:1.67 [[-3.15856522e-01 -9.48802374e-01 2.95169476e-03 1.27983936e+02] [ 9.48759251e-01 -3.15870308e-01 -9.04608662e-03 1.10601632e+02] [ 9.51530119e-03 -5.68177495e-05 9.99954727e-01 1.66658854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.12762800000002 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:127.99, Y:110.60, Z:1.66 [[-3.15279819e-01 -9.48994155e-01 2.95471652e-03 1.27985066e+02] [ 9.48951049e-01 -3.15293661e-01 -9.04509951e-03 1.10599859e+02] [ 9.51534995e-03 -4.78559968e-05 9.99954727e-01 1.66457996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.15762800000002 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:127.99, Y:110.60, Z:1.66 [[-3.14521846e-01 -9.49245627e-01 2.95773246e-03 1.27986314e+02] [ 9.49202542e-01 -3.14535751e-01 -9.04411320e-03 1.10597358e+02] [ 9.51539750e-03 -3.70840118e-05 9.99954727e-01 1.66431469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.99, Y:110.59, Z:1.66 [[-3.13168107e-01 -9.49693093e-01 2.96074625e-03 1.27986988e+02] [ 9.49650037e-01 -3.13182102e-01 -9.04312648e-03 1.10594882e+02] [ 9.51544749e-03 -2.03460125e-05 9.99954727e-01 1.66407085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.99, Y:110.59, Z:1.66 [[-3.11665644e-01 -9.50187213e-01 2.96419254e-03 1.27985543e+02] [ 9.50144190e-01 -3.11679740e-01 -9.04199670e-03 1.10594538e+02] [ 9.51546840e-03 -1.66940827e-06 9.99954727e-01 1.66391352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:110.75, Z:1.66 [[-3.11354271e-01 -9.50289279e-01 2.96720563e-03 1.27932422e+02] [ 9.50246270e-01 -3.11368410e-01 -9.04100782e-03 1.10754296e+02] [ 9.51546690e-03 4.61967614e-06 9.99954727e-01 1.66397373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:110.31, Z:2.61 [[-3.86730861e-01 9.22187841e-01 -2.97088354e-03 1.27253262e+02] [ 9.22143844e-01 3.86741533e-01 9.03979909e-03 1.10307621e+02] [ 9.48535687e-03 7.56387318e-04 -9.99954727e-01 2.60736065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.30, Y:110.29, Z:2.61 [[-4.57892463e-01 8.89000059e-01 -3.65904742e-03 1.27301628e+02] [ 8.88957296e-01 4.57906460e-01 8.75209669e-03 1.10291516e+02] [ 9.45611592e-03 7.54782207e-04 -9.99955005e-01 2.60594455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.35, Y:110.28, Z:2.61 [[-5.26148415e-01 8.50381785e-01 -4.32035580e-03 1.27349539e+02] [ 8.50340506e-01 5.26165614e-01 8.41247453e-03 1.10279252e+02] [ 9.42703777e-03 7.52436593e-04 -9.99955281e-01 2.60636149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:110.29, Z:2.61 [[-5.90864864e-01 8.06755354e-01 -4.95093768e-03 1.27381649e+02] [ 8.06715801e-01 5.90885134e-01 8.02336769e-03 1.10294403e+02] [ 9.39833032e-03 7.46726399e-04 -9.99955556e-01 2.60504665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.45, Y:110.27, Z:2.61 [[-6.52083627e-01 7.58126756e-01 -5.54664759e-03 1.27447791e+02] [ 7.58089147e-01 6.52106793e-01 7.58791628e-03 1.10267350e+02] [ 9.36960893e-03 7.43102629e-04 -9.99955828e-01 2.60552348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.50, Y:110.27, Z:2.61 [[-7.09018298e-01 7.05163658e-01 -6.10483159e-03 1.27497850e+02] [ 7.05128211e-01 7.09044198e-01 7.10855054e-03 1.10265255e+02] [ 9.34128693e-03 7.35403425e-04 -9.99956099e-01 2.60554876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:110.27, Z:2.61 [[-7.62122569e-01 6.47398897e-01 -6.62259831e-03 1.27544818e+02] [ 6.47365791e-01 7.62150989e-01 6.58807409e-03 1.10269103e+02] [ 9.31253175e-03 7.33676361e-04 -9.99956368e-01 2.60566662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:110.27, Z:2.60 [[-8.10535325e-01 5.85646758e-01 -7.09664507e-03 1.27594056e+02] [ 5.85616169e-01 8.10566061e-01 6.03019525e-03 1.10274656e+02] [ 9.28386393e-03 7.31776170e-04 -9.99956636e-01 2.60357498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:110.28, Z:2.60 [[-8.54045461e-01 5.20143957e-01 -7.52424961e-03 1.27642601e+02] [ 5.20116037e-01 8.54078292e-01 5.43861434e-03 1.10284319e+02] [ 9.25516064e-03 7.31341001e-04 -9.99956903e-01 2.60342069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:110.30, Z:2.60 [[-8.92443000e-01 4.51090940e-01 -7.90294250e-03 1.27687562e+02] [ 4.51065814e-01 8.92477689e-01 4.81736963e-03 1.10299484e+02] [ 9.22627165e-03 7.34480613e-04 -9.99957167e-01 2.60358169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:110.31, Z:2.60 [[-9.22253419e-01 3.86498243e-01 -8.23034748e-03 1.27751032e+02] [ 3.86476306e-01 9.22289903e-01 4.17138958e-03 1.10314843e+02] [ 9.20300112e-03 6.66244015e-04 -9.99957430e-01 2.60416827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:110.34, Z:2.60 [[-9.52326800e-01 3.04962990e-01 -8.44035919e-03 1.27779402e+02] [ 3.04942347e-01 9.52363762e-01 3.66461833e-03 1.10337174e+02] [ 9.15586519e-03 9.16091306e-04 -9.99957665e-01 2.60239988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.82, Y:110.36, Z:2.60 [[-9.73639102e-01 2.27927501e-01 -8.71514018e-03 1.27821654e+02] [ 2.27911380e-01 9.73677815e-01 2.81344911e-03 1.10361465e+02] [ 9.12700107e-03 7.53004436e-04 -9.99958065e-01 2.60360185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:110.39, Z:2.60 [[-9.88666801e-01 1.49863527e-01 -8.88138679e-03 1.27860189e+02] [ 1.49850526e-01 9.88706400e-01 2.11552281e-03 1.10389644e+02] [ 9.09812367e-03 7.60666695e-04 -9.99958322e-01 2.60434546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:110.42, Z:2.60 [[-9.97446840e-01 7.08445104e-02 -8.99207467e-03 1.27895974e+02] [ 7.08346633e-02 9.97487075e-01 1.40928194e-03 1.10421265e+02] [ 9.06931815e-03 7.68733238e-04 -9.99958577e-01 2.60437891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:111.25, Z:1.67 [[-9.96356312e-01 -8.48071484e-02 9.04695520e-03 1.27959744e+02] [ 8.48043020e-02 -9.96397382e-01 -6.98470107e-04 1.11251473e+02] [ 9.07359774e-03 7.12956214e-05 9.99958832e-01 1.66686166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:111.25, Z:1.67 [[-9.96315352e-01 -8.52869734e-02 9.04722142e-03 1.27960587e+02] [ 8.52841783e-02 -9.96356425e-01 -6.95004612e-04 1.11250407e+02] [ 9.07353203e-03 7.91410795e-05 9.99958832e-01 1.66597612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.787628 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:127.96, Y:111.25, Z:1.66 [[-9.96339402e-01 -8.50055281e-02 9.04748583e-03 1.27962263e+02] [ 8.50027528e-02 -9.96380476e-01 -6.91545344e-04 1.11249534e+02] [ 9.07352342e-03 8.00473273e-05 9.99958832e-01 1.66489058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.94, Y:110.46, Z:2.60 [[-9.99879086e-01 -1.26471691e-02 -9.04774913e-03 1.27941599e+02] [-1.26539092e-02 9.99919699e-01 6.88083125e-04 1.10459229e+02] [ 9.03832029e-03 8.02489322e-04 -9.99958832e-01 2.60408854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:110.50, Z:2.60 [[-9.95793492e-01 -9.11783472e-02 -9.04596917e-03 1.27970261e+02] [-9.11818737e-02 9.95834256e-01 -2.26827424e-05 1.10495924e+02] [ 9.01035416e-03 8.02241091e-04 -9.99959084e-01 2.60241538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.00, Y:110.53, Z:2.60 [[-9.85640284e-01 -1.68619195e-01 -8.98874443e-03 1.27997399e+02] [-1.68619507e-01 9.85680948e-01 -7.28647178e-04 1.10534515e+02] [ 8.98289803e-03 7.97493642e-04 -9.99959335e-01 2.60073999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:111.35, Z:1.67 [[-9.88894127e-01 1.48356352e-01 8.87686502e-03 1.27858217e+02] [-1.48349534e-01 -9.88933964e-01 1.42540333e-03 1.11348681e+02] [ 8.99010095e-03 9.26941917e-05 9.99959584e-01 1.67208957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.02, Y:110.58, Z:2.60 [[-9.69706343e-01 -2.44112269e-01 -8.87741183e-03 1.28022844e+02] [-2.44109400e-01 9.69746657e-01 -1.42198962e-03 1.10575850e+02] [ 8.95596556e-03 7.88147323e-04 -9.99959584e-01 2.59952751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.05, Y:110.62, Z:2.60 [[-9.47846060e-01 -3.18609385e-01 -8.71236695e-03 1.28046566e+02] [-3.18603387e-01 9.47885779e-01 -2.10507694e-03 1.10618728e+02] [ 8.92902601e-03 7.80500732e-04 -9.99959831e-01 2.60057446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.40, Z:1.67 [[-9.53298348e-01 3.01910737e-01 8.49507180e-03 1.27777238e+02] [-3.01898028e-01 -9.53336195e-01 2.77119922e-03 1.11401173e+02] [ 8.93531423e-03 7.71342145e-05 9.99960076e-01 1.67085206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:111.40, Z:1.67 [[-9.53349877e-01 3.01747953e-01 8.49613193e-03 1.27775095e+02] [-3.01735267e-01 -9.53387732e-01 2.76794518e-03 1.11401716e+02] [ 8.93532974e-03 7.52375581e-05 9.99960076e-01 1.67098714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.06, Y:110.66, Z:2.60 [[-9.20585550e-01 -3.90448516e-01 -8.49719153e-03 1.28056635e+02] [-3.90439492e-01 9.20624440e-01 -2.76468855e-03 1.10657096e+02] [ 8.90219073e-03 7.72506815e-04 -9.99960076e-01 2.60247722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.42, Z:1.67 [[-9.27681361e-01 3.73282133e-01 8.23051270e-03 1.27730512e+02] [-3.73266581e-01 -9.27717867e-01 3.40862127e-03 1.11423245e+02] [ 8.90797110e-03 8.99390856e-05 9.99960319e-01 1.66797034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:111.42, Z:1.67 [[-9.28257631e-01 3.71846756e-01 8.23164969e-03 1.27727496e+02] [-3.71831171e-01 -9.28294124e-01 3.40587327e-03 1.11421333e+02] [ 8.90785496e-03 1.00743915e-04 9.99960319e-01 1.66638366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.05, Y:110.69, Z:2.61 [[-8.85278678e-01 -4.64988059e-01 -8.23205640e-03 1.28046292e+02] [-4.64976304e-01 8.85316578e-01 -3.40488995e-03 1.10693245e+02] [ 8.87120917e-03 8.13434687e-04 -9.99960319e-01 2.60768875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:111.43, Z:1.66 [[-8.98256471e-01 4.39400281e-01 7.91872705e-03 1.27666530e+02] [-4.39381895e-01 -8.98291364e-01 4.02182149e-03 1.11430053e+02] [ 8.88051362e-03 1.33281875e-04 9.99960559e-01 1.66370988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:111.43, Z:1.67 [[-8.98556512e-01 4.38786353e-01 7.92027242e-03 1.27664148e+02] [-4.38767970e-01 -8.98591408e-01 4.01877584e-03 1.11428406e+02] [ 8.88047274e-03 1.35935349e-04 9.99960559e-01 1.66591569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.23762800000003 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:127.66, Y:111.43, Z:1.66 [[-8.98474693e-01 4.38953837e-01 7.92181328e-03 1.27664191e+02] [-4.38935487e-01 -8.98509606e-01 4.01573620e-03 1.11428313e+02] [ 8.88054814e-03 1.30872383e-04 9.99960559e-01 1.66498905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:111.43, Z:1.67 [[-8.98445474e-01 4.39013611e-01 7.92335170e-03 1.27657812e+02] [-4.38995290e-01 -8.98480403e-01 4.01269849e-03 1.11425265e+02] [ 8.88060547e-03 1.26876717e-04 9.99960559e-01 1.66855702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.99, Y:110.70, Z:2.60 [[-8.49424257e-01 -5.27650957e-01 -7.93087249e-03 1.27993169e+02] [-5.27636401e-01 8.49460915e-01 -3.99782745e-03 1.10703793e+02] [ 8.84642368e-03 7.88765405e-04 -9.99960559e-01 2.60454039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:111.40, Z:1.67 [[-8.62924521e-01 5.05275963e-01 7.58108487e-03 1.27548833e+02] [-5.05255229e-01 -8.62957813e-01 4.57902938e-03 1.11404754e+02] [ 8.85582990e-03 1.20973967e-04 9.99960779e-01 1.67004633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:111.41, Z:1.67 [[-8.62314106e-01 5.06316881e-01 7.58938839e-03 1.27556978e+02] [-5.06296308e-01 -8.62347498e-01 4.56522532e-03 1.11410391e+02] [ 8.85614073e-03 9.41788667e-05 9.99960779e-01 1.67370846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:111.41, Z:1.68 [[-8.60533250e-01 5.09337711e-01 7.59092321e-03 1.27554977e+02] [-5.09317278e-01 -8.60566728e-01 4.56267184e-03 1.11410866e+02] [ 8.85643678e-03 6.01424870e-05 9.99960779e-01 1.67667840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:111.41, Z:1.68 [[-8.59581113e-01 5.10942908e-01 7.59311960e-03 1.27555365e+02] [-5.10922570e-01 -8.59614648e-01 4.55901372e-03 1.11411458e+02] [ 8.85655256e-03 3.93459063e-05 9.99960779e-01 1.67765807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:111.41, Z:1.68 [[-8.58862648e-01 5.12149656e-01 7.59486177e-03 1.27551712e+02] [-5.12129390e-01 -8.58896227e-01 4.55610959e-03 1.11409715e+02] [ 8.85660808e-03 2.35204162e-05 9.99960779e-01 1.67763163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:111.41, Z:1.68 [[-8.57783689e-01 5.13954695e-01 7.59704778e-03 1.27549094e+02] [-5.13934532e-01 -8.57817330e-01 4.55246161e-03 1.11408491e+02] [ 8.85663826e-03 6.42111920e-07 9.99960779e-01 1.67717313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:111.41, Z:1.68 [[-8.55601621e-01 5.17579100e-01 7.59878652e-03 1.27550811e+02] [-5.17559105e-01 -8.55635363e-01 4.54955753e-03 1.11410804e+02] [ 8.85654635e-03 -4.02123488e-05 9.99960779e-01 1.67641792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:111.41, Z:1.68 [[-8.55034960e-01 5.18514656e-01 7.60052098e-03 1.27545174e+02] [-5.18494725e-01 -8.55068739e-01 4.54665809e-03 1.11407268e+02] [ 8.85647674e-03 -5.32784156e-05 9.99960779e-01 1.67575131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:111.42, Z:1.67 [[-8.49723850e-01 5.27173201e-01 7.60225433e-03 1.27569761e+02] [-5.27153640e-01 -8.49757845e-01 4.54375798e-03 1.11415390e+02] [ 8.85542269e-03 -1.46616514e-04 9.99960779e-01 1.67421989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:111.42, Z:1.67 [[-8.49542885e-01 5.27465697e-01 7.53822160e-03 1.27571996e+02] [-5.27445194e-01 -8.49576328e-01 4.65080260e-03 1.11415643e+02] [ 8.85743346e-03 -2.49424944e-05 9.99960772e-01 1.67369211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:111.41, Z:1.67 [[-8.54677440e-01 5.19104736e-01 7.53306152e-03 1.27549092e+02] [-5.19083829e-01 -8.54710634e-01 4.65943469e-03 1.11406470e+02] [ 8.85732240e-03 7.20232955e-05 9.99960771e-01 1.67469992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:111.41, Z:1.67 [[-8.54584689e-01 5.19256359e-01 7.60547648e-03 1.27548893e+02] [-5.19236533e-01 -8.54618528e-01 4.53807271e-03 1.11405273e+02] [ 8.85620423e-03 -7.08737844e-05 9.99960781e-01 1.67401206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:111.40, Z:1.67 [[-8.54452139e-01 5.19474419e-01 7.60719830e-03 1.27542297e+02] [-5.19454628e-01 -8.54485999e-01 4.53518457e-03 1.11400479e+02] [ 8.85615681e-03 -7.64962041e-05 9.99960781e-01 1.67257053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.71762800000002 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:127.54, Y:111.40, Z:1.67 [[-8.53615329e-01 5.20848321e-01 7.60892158e-03 1.27543272e+02] [-5.20828610e-01 -8.53649236e-01 4.53229150e-03 1.11399903e+02] [ 8.85598651e-03 -9.41105516e-05 9.99960781e-01 1.67125336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:111.40, Z:1.67 [[-8.53698118e-01 5.20712584e-01 7.61108740e-03 1.27542002e+02] [-5.20692900e-01 -8.53732040e-01 4.52865150e-03 1.11398635e+02] [ 8.85595500e-03 -9.69379046e-05 9.99960781e-01 1.67335004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:111.40, Z:1.67 [[-8.53540783e-01 5.20970421e-01 7.61258834e-03 1.27539170e+02] [-5.20950769e-01 -8.53574724e-01 4.52612705e-03 1.11396512e+02] [ 8.85589130e-03 -1.02549727e-04 9.99960781e-01 1.67418057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:111.40, Z:1.68 [[-8.53471140e-01 5.21084481e-01 7.61430760e-03 1.27541425e+02] [-5.21064860e-01 -8.53505098e-01 4.52323288e-03 1.11397592e+02] [ 8.85583681e-03 -1.07099396e-04 9.99960781e-01 1.67517960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:111.40, Z:1.68 [[-8.53786010e-01 5.20568387e-01 7.61602321e-03 1.27537519e+02] [-5.20548771e-01 -8.53819971e-01 4.52034235e-03 1.11395062e+02] [ 8.85586005e-03 -1.05106463e-04 9.99960781e-01 1.67714132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:111.39, Z:1.68 [[-8.54386399e-01 5.19582382e-01 7.61773345e-03 1.27536326e+02] [-5.19562753e-01 -8.54420352e-01 4.51745841e-03 1.11393490e+02] [ 8.85593830e-03 -9.82355337e-05 9.99960781e-01 1.67778400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:111.39, Z:1.68 [[-8.55287569e-01 5.18097595e-01 7.61944630e-03 1.27533798e+02] [-5.18077932e-01 -8.55321504e-01 4.51456754e-03 1.11391255e+02] [ 8.85606286e-03 -8.62134839e-05 9.99960781e-01 1.67802753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:111.39, Z:1.68 [[-8.56519566e-01 5.16058282e-01 7.62116462e-03 1.27527606e+02] [-5.16038565e-01 -8.56553469e-01 4.51166493e-03 1.11386706e+02] [ 8.85621705e-03 -6.84855627e-05 9.99960781e-01 1.67980755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.88, Y:110.68, Z:2.60 [[-8.23634887e-01 -5.67069116e-01 -7.62828098e-03 1.27882934e+02] [-5.67051602e-01 8.23669979e-01 -4.49963016e-03 1.10678147e+02] [ 8.83478733e-03 6.19576572e-04 -9.99960781e-01 2.59602969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.80, Y:110.66, Z:2.60 [[-7.80652389e-01 -6.24922847e-01 -7.29955569e-03 1.27803879e+02] [-6.24903419e-01 7.80686221e-01 -4.97414577e-03 1.10661803e+02] [ 8.80711988e-03 6.78438526e-04 -9.99960986e-01 2.59789370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:111.30, Z:1.68 [[-7.82013938e-01 6.23223036e-01 6.87378968e-03 1.27289386e+02] [-6.23198716e-01 -7.82044147e-01 5.50571092e-03 1.11301070e+02] [ 8.80689285e-03 2.18057730e-05 9.99961218e-01 1.67930495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:111.30, Z:1.68 [[-7.84806468e-01 6.19702776e-01 6.87589737e-03 1.27285049e+02] [-6.19678344e-01 -7.84836586e-01 5.50307743e-03 1.11296530e+02] [ 8.80672818e-03 5.80060648e-05 9.99961218e-01 1.67869025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.28, Y:111.29, Z:1.68 [[-7.85961803e-01 6.18236797e-01 6.87800021e-03 1.27280723e+02] [-6.18212332e-01 -7.85991894e-01 5.50044794e-03 1.11292857e+02] [ 8.80663174e-03 7.10774287e-05 9.99961218e-01 1.67812422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.28, Y:111.29, Z:1.68 [[-7.86720717e-01 6.17270749e-01 6.88011545e-03 1.27281737e+02] [-6.17246270e-01 -7.86750797e-01 5.49780088e-03 1.11293671e+02] [ 8.80656798e-03 7.85082460e-05 9.99961218e-01 1.67750762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.28, Y:111.29, Z:1.68 [[-7.86994124e-01 6.16922105e-01 6.88222152e-03 1.27276595e+02] [-6.16897636e-01 -7.87024212e-01 5.49516320e-03 1.11290479e+02] [ 8.80656262e-03 7.90349637e-05 9.99961218e-01 1.67683849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.28, Y:111.29, Z:1.68 [[-7.86691892e-01 6.17307438e-01 6.88433401e-03 1.27276990e+02] [-6.17283007e-01 -7.86722010e-01 5.49251540e-03 1.11292241e+02] [ 8.80662770e-03 7.13349250e-05 9.99961218e-01 1.67647020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:111.29, Z:1.68 [[-7.86003948e-01 6.18183121e-01 6.88643806e-03 1.27272478e+02] [-6.18158747e-01 -7.86034112e-01 5.48987610e-03 1.11290448e+02] [ 8.80672397e-03 5.81523715e-05 9.99961218e-01 1.67643907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:111.29, Z:1.68 [[-7.85346724e-01 6.19017838e-01 6.88765988e-03 1.27266301e+02] [-6.18993509e-01 -7.85376925e-01 5.48834276e-03 1.11288003e+02] [ 8.80679121e-03 4.68352444e-05 9.99961218e-01 1.67609419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:111.29, Z:1.68 [[-7.83326429e-01 6.21572390e-01 6.88976477e-03 1.27268098e+02] [-6.21548183e-01 -7.83356728e-01 5.48569913e-03 1.11293941e+02] [ 8.80690271e-03 1.47723359e-05 9.99961218e-01 1.67816883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:111.29, Z:1.68 [[-7.82396785e-01 6.22742137e-01 6.89213325e-03 1.27265178e+02] [-6.22718001e-01 -7.82427141e-01 5.48272179e-03 1.11293745e+02] [ 8.80691400e-03 -2.19154216e-06 9.99961218e-01 1.67873255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:111.29, Z:1.68 [[-7.81462616e-01 6.23913976e-01 6.89423325e-03 1.27263734e+02] [-6.23889909e-01 -7.81493027e-01 5.48007988e-03 1.11294925e+02] [ 8.80689364e-03 -1.87649930e-05 9.99961218e-01 1.67972224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:111.29, Z:1.68 [[-7.80811763e-01 6.24728287e-01 6.89632349e-03 1.27261151e+02] [-6.24704275e-01 -7.80842216e-01 5.47744820e-03 1.11294745e+02] [ 8.80685734e-03 -3.13067806e-05 9.99961218e-01 1.68039362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:111.29, Z:1.68 [[-7.80820935e-01 6.24716799e-01 6.89841100e-03 1.27256062e+02] [-6.24692810e-01 -7.80851407e-01 5.47481788e-03 1.11290010e+02] [ 8.80684463e-03 -3.45353395e-05 9.99961218e-01 1.68171499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:111.29, Z:1.68 [[-7.80837265e-01 6.24696365e-01 6.90050131e-03 1.27255969e+02] [-6.24672398e-01 -7.80867755e-01 5.47218196e-03 1.11289432e+02] [ 8.80683115e-03 -3.76691075e-05 9.99961218e-01 1.68184726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.43762800000002 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:127.26, Y:111.29, Z:1.68 [[-7.80420109e-01 6.25217409e-01 6.90259234e-03 1.27255544e+02] [-6.25193486e-01 -7.80450632e-01 5.46954307e-03 1.11289081e+02] [ 8.80678610e-03 -4.69143663e-05 9.99961218e-01 1.67998706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:111.29, Z:1.68 [[-7.80722521e-01 6.24839716e-01 6.90467925e-03 1.27257409e+02] [-6.24815801e-01 -7.80753051e-01 5.46690732e-03 1.11288937e+02] [ 8.80679021e-03 -4.60150299e-05 9.99961218e-01 1.68167918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:111.28, Z:1.68 [[-7.80523128e-01 6.25088749e-01 6.90676135e-03 1.27251942e+02] [-6.25064867e-01 -7.80553684e-01 5.46427557e-03 1.11283789e+02] [ 8.80675520e-03 -5.21804061e-05 9.99961218e-01 1.68157330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:111.28, Z:1.68 [[-7.80163168e-01 6.25537927e-01 6.90884315e-03 1.27253123e+02] [-6.25514087e-01 -7.80193757e-01 5.46164215e-03 1.11283715e+02] [ 8.80670060e-03 -6.06066669e-05 9.99961218e-01 1.68103968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:111.28, Z:1.68 [[-7.78931683e-01 6.27070708e-01 6.91092565e-03 1.27256458e+02] [-6.27046951e-01 -7.78962336e-01 5.45900577e-03 1.11284034e+02] [ 8.80653340e-03 -8.12823000e-05 9.99961218e-01 1.67998006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:111.28, Z:1.68 [[-7.78507079e-01 6.27597751e-01 6.91300825e-03 1.27254670e+02] [-6.27574039e-01 -7.78537767e-01 5.45636720e-03 1.11281182e+02] [ 8.80644179e-03 -9.06040101e-05 9.99961218e-01 1.67949135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:111.28, Z:1.68 [[-7.77844729e-01 6.28418458e-01 6.91507880e-03 1.27253457e+02] [-6.28394801e-01 -7.77875459e-01 5.45374183e-03 1.11278800e+02] [ 8.80630214e-03 -1.03235232e-04 9.99961218e-01 1.67856460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.64762800000003 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:127.26, Y:111.28, Z:1.68 [[-7.76567582e-01 6.29995987e-01 6.91714905e-03 1.27255689e+02] [-6.29972416e-01 -7.76598378e-01 5.45111481e-03 1.11279649e+02] [ 8.80602719e-03 -1.24454051e-04 9.99961218e-01 1.67616116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.67762800000003 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:127.26, Y:111.28, Z:1.68 [[-7.75766681e-01 6.30981919e-01 6.91922246e-03 1.27255190e+02] [-6.30958410e-01 -7.75797525e-01 5.44848172e-03 1.11278400e+02] [ 8.80580910e-03 -1.38991026e-04 9.99961218e-01 1.67818408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:111.28, Z:1.68 [[-7.73656124e-01 6.33567911e-01 6.92128324e-03 1.27255029e+02] [-6.33544529e-01 -7.73687064e-01 5.44586262e-03 1.11277201e+02] [ 8.80523111e-03 -1.71716164e-04 9.99961218e-01 1.68048676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:111.27, Z:1.68 [[-7.72744409e-01 6.34679562e-01 6.92334099e-03 1.27252310e+02] [-6.34656247e-01 -7.72775400e-01 5.44324534e-03 1.11274495e+02] [ 8.80490417e-03 -1.87704205e-04 9.99961218e-01 1.68107381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:111.27, Z:1.68 [[-7.72133084e-01 6.35423119e-01 6.92540492e-03 1.27250823e+02] [-6.35399858e-01 -7.72164115e-01 5.44061814e-03 1.11272936e+02] [ 8.80464371e-03 -1.99520037e-04 9.99961218e-01 1.68259514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.79762800000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:127.25, Y:111.27, Z:1.68 [[-7.71069587e-01 6.36713202e-01 6.92746136e-03 1.27251880e+02] [-6.36690017e-01 -7.71100675e-01 5.43799844e-03 1.11272408e+02] [ 8.80421553e-03 -2.17570276e-04 9.99961218e-01 1.68311896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.82762800000003 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:127.27, Y:111.28, Z:1.68 [[-7.67573191e-01 6.40923848e-01 6.92951447e-03 1.27268016e+02] [-6.40900856e-01 -7.67604422e-01 5.43538096e-03 1.11280211e+02] [ 8.80279123e-03 -2.69079045e-04 9.99961218e-01 1.68294756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:111.27, Z:1.69 [[-7.71608899e-01 6.36059905e-01 6.89229849e-03 1.27248214e+02] [-6.36036292e-01 -7.71639665e-01 5.48286073e-03 1.11266857e+02] [ 8.80579878e-03 -1.53127849e-04 9.99961216e-01 1.68652368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:111.26, Z:1.69 [[-7.72260254e-01 6.35268461e-01 6.93418544e-03 1.27245441e+02] [-6.35245294e-01 -7.72291356e-01 5.42936429e-03 1.11262343e+02] [ 8.80431537e-03 -2.12026422e-04 9.99961219e-01 1.68776644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:111.26, Z:1.69 [[-7.72928428e-01 6.34455305e-01 6.93623528e-03 1.27244426e+02] [-6.34432130e-01 -7.72959522e-01 5.42674427e-03 1.11260306e+02] [ 8.80445580e-03 -2.06085604e-04 9.99961219e-01 1.68857643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:111.26, Z:1.69 [[-7.73962358e-01 6.33193595e-01 6.93828580e-03 1.27241664e+02] [-6.33170392e-01 -7.73993433e-01 5.42412134e-03 1.11257009e+02] [ 8.80470653e-03 -1.95051390e-04 9.99961219e-01 1.68899383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:111.25, Z:1.69 [[-7.75256790e-01 6.31608060e-01 6.94033668e-03 1.27240276e+02] [-6.31584818e-01 -7.75287834e-01 5.42149590e-03 1.11254936e+02] [ 8.80501910e-03 -1.80359765e-04 9.99961219e-01 1.68893098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:111.25, Z:1.69 [[-7.76673135e-01 6.29865577e-01 6.94238792e-03 1.27235818e+02] [-6.29842288e-01 -7.76704144e-01 5.41886795e-03 1.11250237e+02] [ 8.80533986e-03 -1.63920333e-04 9.99961219e-01 1.68899145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:111.25, Z:1.69 [[-7.79929867e-01 6.25828393e-01 6.94444120e-03 1.27236197e+02] [-6.25804967e-01 -7.79960773e-01 5.41623534e-03 1.11247969e+02] [ 8.80602558e-03 -1.21582090e-04 9.99961219e-01 1.68870792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.23, Y:111.24, Z:1.69 [[-7.82032025e-01 6.23199533e-01 6.94649583e-03 1.27232379e+02] [-6.23176027e-01 -7.82062870e-01 5.41359892e-03 1.11243193e+02] [ 8.80634879e-03 -9.52819473e-05 9.99961219e-01 1.68806650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.23, Y:111.24, Z:1.69 [[-7.86312252e-01 6.17790224e-01 6.94855802e-03 1.27228874e+02] [-6.17766528e-01 -7.86342952e-01 5.41095072e-03 1.11237878e+02] [ 8.80678209e-03 -3.78897192e-05 9.99961219e-01 1.68810801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.23, Y:111.23, Z:1.69 [[-7.88512868e-01 6.14978981e-01 6.95061743e-03 1.27225073e+02] [-6.14955199e-01 -7.88543501e-01 5.40830402e-03 1.11234004e+02] [ 8.80685750e-03 -9.80101055e-06 9.99961219e-01 1.68814980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:111.24, Z:1.69 [[-7.86307450e-01 6.17796288e-01 6.95268095e-03 1.27237630e+02] [-6.17772640e-01 -7.86338187e-01 5.40564995e-03 1.11238510e+02] [ 8.80674901e-03 -4.46732397e-05 9.99961219e-01 1.68693577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.22, Y:111.23, Z:1.69 [[-7.92166972e-01 6.10265402e-01 6.90131614e-03 1.27220271e+02] [-6.10240884e-01 -7.92197024e-01 5.47171356e-03 1.11228897e+02] [ 8.80639958e-03 1.23045504e-04 9.99961215e-01 1.68827154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.22, Y:111.23, Z:1.69 [[-7.92400443e-01 6.09961603e-01 6.95565764e-03 1.27218424e+02] [-6.09937685e-01 -7.92430970e-01 5.40173971e-03 1.11227419e+02] [ 8.80673234e-03 3.78232175e-05 9.99961219e-01 1.68832770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:111.23, Z:1.69 [[-7.94304557e-01 6.07479926e-01 6.95772380e-03 1.27214852e+02] [-6.07455936e-01 -7.94335027e-01 5.39907708e-03 1.11225186e+02] [ 8.80659467e-03 6.20009041e-05 9.99961219e-01 1.68801172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:111.22, Z:1.69 [[-7.94851736e-01 6.06763775e-01 6.95979064e-03 1.27207952e+02] [-6.06739781e-01 -7.94882203e-01 5.39641146e-03 1.11221221e+02] [ 8.80656070e-03 6.65651714e-05 9.99961219e-01 1.68823028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:111.22, Z:1.69 [[-7.95076845e-01 6.06468749e-01 6.96186163e-03 1.27207902e+02] [-6.06444767e-01 -7.95107321e-01 5.39373837e-03 1.11222694e+02] [ 8.80656091e-03 6.64519334e-05 9.99961219e-01 1.68851057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:111.22, Z:1.69 [[-7.95086562e-01 6.06455985e-01 6.96394065e-03 1.27207371e+02] [-6.06432027e-01 -7.95117057e-01 5.39105278e-03 1.11223687e+02] [ 8.80658421e-03 6.31969796e-05 9.99961219e-01 1.68834107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.20, Y:111.22, Z:1.69 [[-7.94533799e-01 6.07179971e-01 6.96600750e-03 1.27200294e+02] [-6.07156063e-01 -7.94564334e-01 5.38838078e-03 1.11221349e+02] [ 8.80665800e-03 5.17969682e-05 9.99961219e-01 1.68804346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.20, Y:111.22, Z:1.69 [[-7.94310362e-01 6.07472217e-01 6.96807471e-03 1.27201645e+02] [-6.07448344e-01 -7.94340924e-01 5.38570621e-03 1.11224109e+02] [ 8.80669380e-03 4.51768009e-05 9.99961219e-01 1.68768962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.22, Y:111.23, Z:1.68 [[-7.87738396e-01 6.15970483e-01 6.97014021e-03 1.27219656e+02] [-6.15946964e-01 -7.87769231e-01 5.38303173e-03 1.11232664e+02] [ 8.80665065e-03 -5.28159129e-05 9.99961219e-01 1.68413056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.19, Y:111.22, Z:1.69 [[-7.93900589e-01 6.08008558e-01 6.88828571e-03 1.27190993e+02] [-6.07983804e-01 -7.93930453e-01 5.48906923e-03 1.11221328e+02] [ 8.80622087e-03 1.69809143e-04 9.99961210e-01 1.68688731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.19, Y:111.22, Z:1.69 [[-7.94043960e-01 6.07820310e-01 6.97567689e-03 1.27189087e+02] [-6.07796539e-01 -7.94074600e-01 5.37566716e-03 1.11221636e+02] [ 8.80664751e-03 2.87237746e-05 9.99961220e-01 1.68661400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.19, Y:111.22, Z:1.69 [[-7.94323930e-01 6.07454365e-01 6.97774513e-03 1.27190448e+02] [-6.07430603e-01 -7.94354577e-01 5.37298119e-03 1.11224222e+02] [ 8.80664466e-03 2.93916065e-05 9.99961220e-01 1.68562971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:111.23, Z:1.68 [[-7.87150382e-01 6.16721622e-01 6.97980028e-03 1.27210340e+02] [-6.16698245e-01 -7.87181323e-01 5.37031011e-03 1.11233007e+02] [ 8.80635478e-03 -7.71889227e-05 9.99961220e-01 1.68072495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.19, Y:111.23, Z:1.68 [[-7.94767502e-01 6.06874957e-01 6.88517228e-03 1.27186931e+02] [-6.06850124e-01 -7.94797302e-01 5.49318835e-03 1.11225528e+02] [ 8.80599480e-03 1.87539936e-04 9.99961209e-01 1.68240712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.18, Y:111.23, Z:1.68 [[-7.94933796e-01 6.06656006e-01 6.98219121e-03 1.27183784e+02] [-6.06632266e-01 -7.94964458e-01 5.36697121e-03 1.11225551e+02] [ 8.80649917e-03 3.07643197e-05 9.99961222e-01 1.68106418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.18, Y:111.22, Z:1.68 [[-7.95020129e-01 6.06542839e-01 6.98420614e-03 1.27178202e+02] [-6.06519118e-01 -7.95050806e-01 5.36434783e-03 1.11223389e+02] [ 8.80650549e-03 2.87099547e-05 9.99961222e-01 1.68082743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.667628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.18, Y:111.22, Z:1.68 [[-7.95602735e-01 6.05778410e-01 6.98623271e-03 1.27175519e+02] [-6.05754682e-01 -7.95633406e-01 5.36170725e-03 1.11221798e+02] [ 8.80648662e-03 3.38457775e-05 9.99961222e-01 1.68011309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.17, Y:111.22, Z:1.68 [[-7.96365572e-01 6.04775185e-01 6.98934243e-03 1.27170082e+02] [-6.04751455e-01 -7.96396242e-01 5.35765045e-03 1.11217108e+02] [ 8.80646009e-03 3.98333664e-05 9.99961222e-01 1.68137513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.17, Y:111.21, Z:1.68 [[-7.96557856e-01 6.04521880e-01 6.99139893e-03 1.27165862e+02] [-6.04498163e-01 -7.96588536e-01 5.35496550e-03 1.11213849e+02] [ 8.80646205e-03 3.92520287e-05 9.99961222e-01 1.68240760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.17, Y:111.22, Z:1.68 [[-7.96246025e-01 6.04932525e-01 6.99346058e-03 1.27170227e+02] [-6.04908847e-01 -7.96276736e-01 5.35227168e-03 1.11217229e+02] [ 8.80649318e-03 3.13188670e-05 9.99961222e-01 1.68454128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.17, Y:111.21, Z:1.69 [[-7.96043375e-01 6.05199147e-01 6.99550145e-03 1.27165683e+02] [-6.05175504e-01 -7.96074112e-01 5.34960291e-03 1.11213621e+02] [ 8.80651272e-03 2.50098402e-05 9.99961222e-01 1.68544399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:111.21, Z:1.69 [[-7.95629228e-01 6.05743482e-01 6.99754628e-03 1.27164224e+02] [-6.05719883e-01 -7.95659999e-01 5.34692682e-03 1.11212377e+02] [ 8.80653374e-03 1.56183534e-05 9.99961222e-01 1.68594266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.17, Y:111.21, Z:1.69 [[-7.95202397e-01 6.06303680e-01 6.99959245e-03 1.27166123e+02] [-6.06280127e-01 -7.95233203e-01 5.34424686e-03 1.11214039e+02] [ 8.80654487e-03 6.04411347e-06 9.99961222e-01 1.68595596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.17, Y:111.21, Z:1.68 [[-7.93913913e-01 6.07989865e-01 7.00163387e-03 1.27165749e+02] [-6.07966401e-01 -7.93944786e-01 5.34157100e-03 1.11213311e+02] [ 8.80653174e-03 -1.60106107e-05 9.99961222e-01 1.68422390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.90762800000002 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:127.16, Y:111.21, Z:1.68 [[-7.92716007e-01 6.09550884e-01 7.00366889e-03 1.27162467e+02] [-6.09527504e-01 -7.92746945e-01 5.33890144e-03 1.11210795e+02] [ 8.80646920e-03 -3.66961859e-05 9.99961222e-01 1.68259646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:111.21, Z:1.68 [[-7.92262252e-01 6.10140512e-01 7.00571070e-03 1.27163565e+02] [-6.10117178e-01 -7.92293224e-01 5.33622082e-03 1.11212148e+02] [ 8.80642162e-03 -4.66181243e-05 9.99961222e-01 1.68450588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:111.21, Z:1.68 [[-7.90721878e-01 6.12135445e-01 7.00774232e-03 1.27162640e+02] [-6.12112213e-01 -7.90752927e-01 5.33355148e-03 1.11211327e+02] [ 8.80624866e-03 -7.21688206e-05 9.99961222e-01 1.68405702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:111.21, Z:1.68 [[-7.90161563e-01 6.12858522e-01 7.00976924e-03 1.27161583e+02] [-6.12835342e-01 -7.90192651e-01 5.33088621e-03 1.11209623e+02] [ 8.80614718e-03 -8.35729489e-05 9.99961222e-01 1.68396813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:111.21, Z:1.68 [[-7.90011821e-01 6.13051512e-01 7.01179447e-03 1.27161369e+02] [-6.13028364e-01 -7.90042932e-01 5.32822106e-03 1.11208954e+02] [ 8.80609265e-03 -8.90712646e-05 9.99961222e-01 1.68448891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.05762800000002 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:127.16, Y:111.21, Z:1.68 [[-7.89532987e-01 6.13668045e-01 7.01381636e-03 1.27158724e+02] [-6.13644945e-01 -7.89564133e-01 5.32555821e-03 1.11207344e+02] [ 8.80598273e-03 -9.92890735e-05 9.99961222e-01 1.68321899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:111.20, Z:1.69 [[-7.89542616e-01 6.13655633e-01 7.01584364e-03 1.27154758e+02] [-6.13632556e-01 -7.89573780e-01 5.32288615e-03 1.11204226e+02] [ 8.80594525e-03 -1.02504617e-04 9.99961222e-01 1.68777095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.11762800000002 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:127.15, Y:111.20, Z:1.69 [[-7.89705513e-01 6.13445963e-01 7.01812334e-03 1.27154117e+02] [-6.13422904e-01 -7.89736690e-01 5.31987871e-03 1.11202754e+02] [ 8.80592762e-03 -1.03940055e-04 9.99961222e-01 1.68723597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:111.20, Z:1.69 [[-7.90401233e-01 6.12549271e-01 7.02014439e-03 1.27151726e+02] [-6.12526200e-01 -7.90432402e-01 5.31721039e-03 1.11199697e+02] [ 8.80600293e-03 -9.72927222e-05 9.99961222e-01 1.68835482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.17762800000003 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:127.15, Y:111.20, Z:1.69 [[-7.90906265e-01 6.11897025e-01 7.02216442e-03 1.27149793e+02] [-6.11873953e-01 -7.90937432e-01 5.31454130e-03 1.11197475e+02] [ 8.80604470e-03 -9.33754958e-05 9.99961222e-01 1.68629719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:111.19, Z:1.69 [[-7.93000524e-01 6.09180458e-01 7.02418478e-03 1.27147673e+02] [-6.09157302e-01 -7.93031629e-01 5.31186966e-03 1.11192745e+02] [ 8.80628789e-03 -6.65180260e-05 9.99961222e-01 1.68719138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:111.19, Z:1.69 [[-7.94208156e-01 6.07605163e-01 7.02646389e-03 1.27147264e+02] [-6.07581972e-01 -7.94239235e-01 5.30885317e-03 1.11190728e+02] [ 8.80637990e-03 -5.28183065e-05 9.99961222e-01 1.68627621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.14, Y:111.18, Z:1.69 [[-7.95544883e-01 6.05853893e-01 7.02848441e-03 1.27140348e+02] [-6.05830657e-01 -7.95575929e-01 5.30617682e-03 1.11184834e+02] [ 8.80646090e-03 -3.67695159e-05 9.99961222e-01 1.68592059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.14, Y:111.19, Z:1.69 [[-7.97797267e-01 6.02884809e-01 7.03050759e-03 1.27141682e+02] [-6.02861481e-01 -7.97828244e-01 5.30349482e-03 1.11186045e+02] [ 8.80653399e-03 -7.30854834e-06 9.99961222e-01 1.68687060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.14, Y:111.18, Z:1.69 [[-7.98805421e-01 6.01548371e-01 7.03253177e-03 1.27137489e+02] [-6.01525015e-01 -7.98836377e-01 5.30080937e-03 1.11182653e+02] [ 8.80653544e-03 4.07148447e-06 9.99961222e-01 1.68735450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.13, Y:111.18, Z:1.69 [[-7.99716326e-01 6.00336834e-01 7.03455424e-03 1.27130707e+02] [-6.00313455e-01 -7.99747264e-01 5.29812404e-03 1.11177484e+02] [ 8.80652451e-03 1.40587280e-05 9.99961222e-01 1.68754390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.13, Y:111.18, Z:1.69 [[-8.00620447e-01 5.99130525e-01 7.03658241e-03 1.27133287e+02] [-5.99107123e-01 -8.00651368e-01 5.29542900e-03 1.11179679e+02] [ 8.80650249e-03 2.39620934e-05 9.99961222e-01 1.68772460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.13, Y:111.18, Z:1.69 [[-8.00981091e-01 5.98648270e-01 7.03861021e-03 1.27130287e+02] [-5.98624873e-01 -8.01012015e-01 5.29273230e-03 1.11178111e+02] [ 8.80649638e-03 2.58913414e-05 9.99961222e-01 1.68806447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.13, Y:111.18, Z:1.69 [[-8.01172489e-01 5.98392072e-01 7.04063329e-03 1.27127302e+02] [-5.98368689e-01 -8.01203425e-01 5.29003974e-03 1.11176674e+02] [ 8.80649734e-03 2.53397910e-05 9.99961222e-01 1.68734679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.12, Y:111.17, Z:1.69 [[-8.01213645e-01 5.98336933e-01 7.04343642e-03 1.27123504e+02] [-5.98313581e-01 -8.01244603e-01 5.28630487e-03 1.11174483e+02] [ 8.80650686e-03 2.12759239e-05 9.99961222e-01 1.68669497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.12, Y:111.17, Z:1.69 [[-8.00909754e-01 5.98743625e-01 7.04546416e-03 1.27117246e+02] [-5.98720312e-01 -8.00940742e-01 5.28360096e-03 1.11173511e+02] [ 8.80652168e-03 1.34250423e-05 9.99961222e-01 1.68694788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.11, Y:111.17, Z:1.69 [[-8.00604165e-01 5.99152121e-01 7.05031785e-03 1.27114553e+02] [-5.99128881e-01 -8.00635208e-01 5.27711635e-03 1.11173522e+02] [ 8.80652815e-03 8.32284917e-07 9.99961222e-01 1.68730960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.11, Y:111.17, Z:1.69 [[-8.00472967e-01 5.99327368e-01 7.05234071e-03 1.27109288e+02] [-5.99304158e-01 -8.00504033e-01 5.27441160e-03 1.11171368e+02] [ 8.80652640e-03 -4.47320816e-06 9.99961222e-01 1.68690647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.11, Y:111.17, Z:1.69 [[-8.01092896e-01 5.98498458e-01 7.05461454e-03 1.27109809e+02] [-5.98475243e-01 -8.01123958e-01 5.27136856e-03 1.11172727e+02] [ 8.80652668e-03 8.43753256e-07 9.99961222e-01 1.68702485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.11, Y:111.17, Z:1.69 [[-8.02211706e-01 5.96997975e-01 7.05662878e-03 1.27105369e+02] [-5.96974726e-01 -8.02242742e-01 5.26867079e-03 1.11168643e+02] [ 8.80651501e-03 1.39603539e-05 9.99961222e-01 1.68739458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.12, Y:111.18, Z:1.68 [[-8.01596159e-01 5.97824200e-01 7.05864198e-03 1.27119035e+02] [-5.97801007e-01 -8.01627236e-01 5.26597225e-03 1.11175621e+02] [ 8.80652530e-03 1.51984629e-06 9.99961222e-01 1.68482781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.68762800000002 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:127.10, Y:111.17, Z:1.68 [[-8.03898602e-01 5.94724808e-01 7.03134989e-03 1.27103448e+02] [-5.94701175e-01 -8.03929348e-01 5.30255871e-03 1.11165979e+02] [ 8.80627174e-03 8.11674964e-05 9.99961221e-01 1.68439301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.11, Y:111.17, Z:1.68 [[-8.03047021e-01 5.95873926e-01 7.05310286e-03 1.27108832e+02] [-5.95850593e-01 -8.03077993e-01 5.27337751e-03 1.11168655e+02] [ 8.80645985e-03 3.21745819e-05 9.99961222e-01 1.68345220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:111.17, Z:1.68 [[-8.05002061e-01 5.93230271e-01 7.03757560e-03 1.27102694e+02] [-5.93206653e-01 -8.05032818e-01 5.29421050e-03 1.11165495e+02] [ 8.80616525e-03 8.71136960e-05 9.99961221e-01 1.68410196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:111.16, Z:1.69 [[-8.04845794e-01 5.93441955e-01 7.06363702e-03 1.27101008e+02] [-5.93418652e-01 -8.04876789e-01 5.25920744e-03 1.11163631e+02] [ 8.80639183e-03 4.11570268e-05 9.99961222e-01 1.68536350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:111.16, Z:1.69 [[-8.04700405e-01 5.93639061e-01 7.06565369e-03 1.27096102e+02] [-5.93615790e-01 -8.04731423e-01 5.25649669e-03 1.11159352e+02] [ 8.80641531e-03 3.56214172e-05 9.99961222e-01 1.68582300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:111.16, Z:1.69 [[-8.04033567e-01 5.94541894e-01 7.06818077e-03 1.27095811e+02] [-5.94518687e-01 -8.04064634e-01 5.25309643e-03 1.11158487e+02] [ 8.80646009e-03 2.15003104e-05 9.99961222e-01 1.68622951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:111.16, Z:1.69 [[-8.01852644e-01 5.97480000e-01 7.07019101e-03 1.27096837e+02] [-5.97456931e-01 -8.01883813e-01 5.25038943e-03 1.11159402e+02] [ 8.80647441e-03 -1.40959768e-05 9.99961222e-01 1.68798061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:111.16, Z:1.69 [[-8.00496101e-01 5.99296235e-01 7.07219366e-03 1.27097435e+02] [-5.99273260e-01 -8.00527340e-01 5.24769051e-03 1.11160095e+02] [ 8.80640554e-03 -3.74207589e-05 9.99961222e-01 1.68868010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:111.16, Z:1.69 [[-7.98783219e-01 6.01577365e-01 7.07406959e-03 1.27097526e+02] [-6.01554502e-01 -7.98814540e-01 5.24516048e-03 1.11160114e+02] [ 8.80623946e-03 -6.56922398e-05 9.99961222e-01 1.68910214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.95762800000003 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:127.09, Y:111.16, Z:1.69 [[-7.96650356e-01 6.04398991e-01 7.07606488e-03 1.27093242e+02] [-6.04376262e-01 -7.96681775e-01 5.24246732e-03 1.11156685e+02] [ 8.80591388e-03 -1.00192186e-04 9.99961222e-01 1.68621059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:111.16, Z:1.69 [[-7.93812803e-01 6.08120987e-01 7.07805914e-03 1.27096764e+02] [-6.08098430e-01 -7.93844345e-01 5.23977341e-03 1.11160362e+02] [ 8.80529339e-03 -1.44757434e-04 9.99961222e-01 1.68810087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.09, Y:111.16, Z:1.69 [[-7.92429313e-01 6.09922659e-01 7.08055981e-03 1.27094924e+02] [-6.09900204e-01 -7.92460927e-01 5.23639204e-03 1.11159389e+02] [ 8.80486115e-03 -1.68964322e-04 9.99961222e-01 1.68847670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.04762800000003 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:127.10, Y:111.16, Z:1.69 [[-7.91164507e-01 6.11562392e-01 7.08254096e-03 1.27095388e+02] [-6.11540027e-01 -7.91196185e-01 5.23371104e-03 1.11159396e+02] [ 8.80442024e-03 -1.90530871e-04 9.99961222e-01 1.68585874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.07762800000003 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:127.09, Y:111.16, Z:1.69 [[-7.90476509e-01 6.12451385e-01 7.08451914e-03 1.27091251e+02] [-6.12429079e-01 -7.90508229e-01 5.23103194e-03 1.11155812e+02] [ 8.80412343e-03 -2.03757661e-04 9.99961222e-01 1.68504094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.10762800000003 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:127.09, Y:111.15, Z:1.69 [[-7.90708391e-01 6.12151959e-01 7.08649695e-03 1.27089397e+02] [-6.12129665e-01 -7.90740120e-01 5.22835122e-03 1.11154353e+02] [ 8.80412289e-03 -2.03753827e-04 9.99961222e-01 1.68506312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.137628 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:127.09, Y:111.16, Z:1.68 [[-7.90251526e-01 6.12741609e-01 7.08847602e-03 1.27093189e+02] [-6.12719362e-01 -7.90283288e-01 5.22566666e-03 1.11155040e+02] [ 8.80388753e-03 -2.13655451e-04 9.99961222e-01 1.68384727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.09, Y:111.15, Z:1.69 [[-7.90996212e-01 6.11779960e-01 7.09042559e-03 1.27089004e+02] [-6.11757699e-01 -7.91027963e-01 5.22302006e-03 1.11151205e+02] [ 8.80406391e-03 -2.06233356e-04 9.99961222e-01 1.68602382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.197628 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:127.09, Y:111.15, Z:1.68 [[-7.91337019e-01 6.11339039e-01 7.09239616e-03 1.27087003e+02] [-6.11316784e-01 -7.91368775e-01 5.22034282e-03 1.11148971e+02] [ 8.80410023e-03 -2.04650289e-04 9.99961222e-01 1.68425328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.09, Y:111.15, Z:1.69 [[-7.93121884e-01 6.09021628e-01 7.09462065e-03 1.27085138e+02] [-6.08999308e-01 -7.93153593e-01 5.21731792e-03 1.11145076e+02] [ 8.80458332e-03 -1.82650043e-04 9.99961222e-01 1.68825251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.08, Y:111.14, Z:1.69 [[-7.94363338e-01 6.07401453e-01 7.09659262e-03 1.27081969e+02] [-6.07379092e-01 -7.94395019e-01 5.21463426e-03 1.11141191e+02] [ 8.80487426e-03 -1.68007704e-04 9.99961222e-01 1.68963923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.08, Y:111.14, Z:1.69 [[-7.95767669e-01 6.05560412e-01 7.09958382e-03 1.27079089e+02] [-6.05538014e-01 -7.95799324e-01 5.21055865e-03 1.11137631e+02] [ 8.80515204e-03 -1.52673778e-04 9.99961222e-01 1.69003639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.08, Y:111.13, Z:1.69 [[-7.98979048e-01 6.01316928e-01 7.10156141e-03 1.27075603e+02] [-6.01294386e-01 -7.99010601e-01 5.20786196e-03 1.11131811e+02] [ 8.80579840e-03 -1.09156418e-04 9.99961222e-01 1.69050770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.07, Y:111.13, Z:1.69 [[-8.00844719e-01 5.98829922e-01 7.10353533e-03 1.27072927e+02] [-5.98807306e-01 -8.00876218e-01 5.20516814e-03 1.11128341e+02] [ 8.80606294e-03 -8.51174359e-05 9.99961222e-01 1.69008043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.07, Y:111.13, Z:1.69 [[-8.02566206e-01 5.96520743e-01 7.10551180e-03 1.27071291e+02] [-5.96498060e-01 -8.02597657e-01 5.20246868e-03 1.11126333e+02] [ 8.80624760e-03 -6.30984526e-05 9.99961222e-01 1.69049317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.07, Y:111.12, Z:1.69 [[-8.04134128e-01 5.94405406e-01 7.10748886e-03 1.27066774e+02] [-5.94382664e-01 -8.04165537e-01 5.19976626e-03 1.11123192e+02] [ 8.80636677e-03 -4.32586564e-05 9.99961222e-01 1.69093486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.06, Y:111.12, Z:1.69 [[-8.05614342e-01 5.92397660e-01 7.10946783e-03 1.27058783e+02] [-5.92374863e-01 -8.05645711e-01 5.19705907e-03 1.11118461e+02] [ 8.80643790e-03 -2.46447093e-05 9.99961222e-01 1.69067747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.05, Y:111.12, Z:1.69 [[-8.07674897e-01 5.89585183e-01 7.11145298e-03 1.27051820e+02] [-5.89562301e-01 -8.07706204e-01 5.19434124e-03 1.11116293e+02] [ 8.80647133e-03 2.69444877e-06 9.99961222e-01 1.69149160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.06, Y:111.12, Z:1.69 [[-8.08651753e-01 5.88244628e-01 7.11344503e-03 1.27055263e+02] [-5.88221718e-01 -8.08683039e-01 5.19161178e-03 1.11119769e+02] [ 8.80646008e-03 1.39231140e-05 9.99961222e-01 1.69140260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.05, Y:111.12, Z:1.69 [[-8.10465554e-01 5.85743081e-01 7.11543438e-03 1.27049958e+02] [-5.85720098e-01 -8.10496787e-01 5.18888381e-03 1.11116681e+02] [ 8.80638950e-03 3.77586705e-05 9.99961222e-01 1.68893401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:111.11, Z:1.69 [[-8.11326046e-01 5.84550576e-01 7.11844497e-03 1.27042937e+02] [-5.84527584e-01 -8.11357272e-01 5.18475040e-03 1.11112636e+02] [ 8.80635092e-03 4.55956062e-05 9.99961222e-01 1.68849779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:111.11, Z:1.69 [[-8.12178411e-01 5.83365690e-01 7.12043103e-03 1.27040756e+02] [-5.83342676e-01 -8.12209621e-01 5.18202143e-03 1.11113149e+02] [ 8.80629609e-03 5.50746433e-05 9.99961222e-01 1.68719281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:111.11, Z:1.69 [[-8.12781940e-01 5.82524497e-01 7.12241967e-03 1.27039613e+02] [-5.82501474e-01 -8.12813144e-01 5.17928670e-03 1.11114760e+02] [ 8.80625770e-03 6.08107264e-05 9.99961222e-01 1.68664814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.64762800000003 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:127.04, Y:111.12, Z:1.68 [[-8.13374210e-01 5.81697203e-01 7.12453348e-03 1.27036017e+02] [-5.81674174e-01 -8.13405409e-01 5.17637735e-03 1.11116625e+02] [ 8.80621830e-03 6.61747096e-05 9.99961222e-01 1.68270447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.03, Y:111.11, Z:1.69 [[-8.15089528e-01 5.79291185e-01 7.12626335e-03 1.27033793e+02] [-5.79268086e-01 -8.15120675e-01 5.17399475e-03 1.11114755e+02] [ 8.80601415e-03 8.92520124e-05 9.99961222e-01 1.68667753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.03, Y:111.11, Z:1.69 [[-8.16375482e-01 5.77477499e-01 7.12816436e-03 1.27028043e+02] [-5.77454353e-01 -8.16406594e-01 5.17137442e-03 1.11110169e+02] [ 8.80583276e-03 1.05593744e-04 9.99961222e-01 1.68697175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.03, Y:111.11, Z:1.69 [[-8.18179714e-01 5.74918356e-01 7.13014826e-03 1.27025479e+02] [-5.74895137e-01 -8.18210772e-01 5.16863763e-03 1.11107486e+02] [ 8.80550876e-03 1.29786907e-04 9.99961222e-01 1.68847207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.02, Y:111.10, Z:1.69 [[-8.18834078e-01 5.73985951e-01 7.13316133e-03 1.27022000e+02] [-5.73962732e-01 -8.18865136e-01 5.16447599e-03 1.11103783e+02] [ 8.80543378e-03 1.34680173e-04 9.99961222e-01 1.68937156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:111.10, Z:1.69 [[-8.19637864e-01 5.72837552e-01 7.13515257e-03 1.27013511e+02] [-5.72814314e-01 -8.19668908e-01 5.16172345e-03 1.11096520e+02] [ 8.80529174e-03 1.43626458e-04 9.99961222e-01 1.69016456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:111.09, Z:1.69 [[-8.19500688e-01 5.73033719e-01 7.13993113e-03 1.27009189e+02] [-5.73010546e-01 -8.19531780e-01 5.15510505e-03 1.11092419e+02] [ 8.80544949e-03 1.33356306e-04 9.99961222e-01 1.69093286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:111.09, Z:1.69 [[-8.19188205e-01 5.73480320e-01 7.14192203e-03 1.27010867e+02] [-5.73457188e-01 -8.19219328e-01 5.15234537e-03 1.11093451e+02] [ 8.80556923e-03 1.25154037e-04 9.99961222e-01 1.69053745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:111.10, Z:1.69 [[-8.18563551e-01 5.74371550e-01 7.14391088e-03 1.27013567e+02] [-5.74348476e-01 -8.18594717e-01 5.14958628e-03 1.11095450e+02] [ 8.80574355e-03 1.12169308e-04 9.99961222e-01 1.68931633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:111.09, Z:1.69 [[-8.16786231e-01 5.76896169e-01 7.14589136e-03 1.27010413e+02] [-5.76873215e-01 -8.16817485e-01 5.14683657e-03 1.11094788e+02] [ 8.80607931e-03 8.15919176e-05 9.99961222e-01 1.68675003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:111.10, Z:1.68 [[-8.15937354e-01 5.78096137e-01 7.14781530e-03 1.27010552e+02] [-5.78073253e-01 -8.15968659e-01 5.14416325e-03 1.11095737e+02] [ 8.80621417e-03 6.53541041e-05 9.99961222e-01 1.68499766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:111.10, Z:1.68 [[-8.14583750e-01 5.80001892e-01 7.14978103e-03 1.27011722e+02] [-5.79979105e-01 -8.14615126e-01 5.14142966e-03 1.11095292e+02] [ 8.80635871e-03 4.14014465e-05 9.99961222e-01 1.68386122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:111.09, Z:1.68 [[-8.14236251e-01 5.80489606e-01 7.15150026e-03 1.27012890e+02] [-5.80466859e-01 -8.14267656e-01 5.13903718e-03 1.11094963e+02] [ 8.80639303e-03 3.31814735e-05 9.99961222e-01 1.68351585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.037628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:127.01, Y:111.10, Z:1.68 [[-8.13171201e-01 5.81980606e-01 7.15346389e-03 1.27013911e+02] [-5.81957940e-01 -8.13202665e-01 5.13630238e-03 1.11095242e+02] [ 8.80644427e-03 1.36780704e-05 9.99961222e-01 1.68140783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:111.09, Z:1.68 [[-8.12357613e-01 5.83115691e-01 7.15542224e-03 1.27012549e+02] [-5.83093093e-01 -8.12389125e-01 5.13357273e-03 1.11094113e+02] [ 8.80645403e-03 -1.98040104e-06 9.99961222e-01 1.68418326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:111.09, Z:1.68 [[-8.10960943e-01 5.85056511e-01 7.15737665e-03 1.27011290e+02] [-5.85034013e-01 -8.10992527e-01 5.13084640e-03 1.11093178e+02] [ 8.80641406e-03 -2.63927533e-05 9.99961222e-01 1.68491611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:111.09, Z:1.69 [[-8.07568089e-01 5.89730893e-01 7.15932937e-03 1.27011956e+02] [-5.89708602e-01 -8.07599819e-01 5.12812022e-03 1.11094752e+02] [ 8.80608402e-03 -8.06118646e-05 9.99961222e-01 1.68608450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.03, Y:111.10, Z:1.69 [[-8.01731881e-01 5.97640952e-01 7.16127734e-03 1.27027192e+02] [-5.97618998e-01 -8.01763845e-01 5.12539849e-03 1.11100814e+02] [ 8.80480129e-03 -1.70520019e-04 9.99961222e-01 1.68734998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:111.11, Z:1.69 [[-7.99889309e-01 6.00105448e-01 7.10954085e-03 1.27035482e+02] [-6.00082948e-01 -7.99920896e-01 5.19768346e-03 1.11105783e+02] [ 8.80622845e-03 -1.08742798e-04 9.99961219e-01 1.68826469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.21762800000002 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:127.01, Y:111.09, Z:1.69 [[-8.01299451e-01 5.98221330e-01 7.10141100e-03 1.27012243e+02] [-5.98198655e-01 -8.01330915e-01 5.20905002e-03 1.11091273e+02] [ 8.80674500e-03 -7.40455851e-05 9.99961217e-01 1.68651414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:111.10, Z:1.69 [[-7.94652731e-01 6.07021983e-01 7.16591890e-03 1.27040531e+02] [-6.07000466e-01 -7.94684990e-01 5.11874310e-03 1.11104053e+02] [ 8.80183778e-03 -2.82092929e-04 9.99961223e-01 1.68741692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:111.09, Z:1.69 [[-7.99401159e-01 6.00755754e-01 7.09304965e-03 1.27008167e+02] [-6.00733075e-01 -7.99432622e-01 5.22071993e-03 1.11086326e+02] [ 8.80679281e-03 -8.75799657e-05 9.99961216e-01 1.68898270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:111.09, Z:1.69 [[-7.97679849e-01 6.03038535e-01 7.16827682e-03 1.27010428e+02] [-6.03016888e-01 -7.97712020e-01 5.11530121e-03 1.11088146e+02] [ 8.80294432e-03 -2.42219285e-04 9.99961224e-01 1.69078949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.33762800000002 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:127.01, Y:111.09, Z:1.69 [[-7.97119678e-01 6.03778774e-01 7.17020956e-03 1.27009975e+02] [-6.03757181e-01 -7.97151885e-01 5.11259060e-03 1.11088388e+02] [ 8.80261976e-03 -2.53718938e-04 9.99961224e-01 1.68928006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.03, Y:111.10, Z:1.69 [[-7.93841525e-01 6.08082391e-01 7.17213561e-03 1.27027873e+02] [-6.08060997e-01 -7.93873865e-01 5.10988724e-03 1.11097186e+02] [ 8.80100347e-03 -3.04655249e-04 9.99961224e-01 1.69094912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.00, Y:111.08, Z:1.69 [[-7.97879486e-01 6.02774886e-01 7.12482366e-03 1.27004937e+02] [-6.02752682e-01 -7.97911280e-01 5.17629135e-03 1.11083173e+02] [ 8.80511558e-03 -1.64449891e-04 9.99961221e-01 1.69202361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.00, Y:111.08, Z:1.69 [[-8.00512369e-01 5.99273283e-01 7.17492490e-03 1.27004316e+02] [-5.99251569e-01 -8.00544494e-01 5.10588785e-03 1.11078249e+02] [ 8.80366880e-03 -2.12258622e-04 9.99961224e-01 1.68965380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.45762800000003 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:127.00, Y:111.07, Z:1.68 [[-8.01890670e-01 5.97427689e-01 7.17709664e-03 1.27003264e+02] [-5.97405928e-01 -8.01922763e-01 5.10283331e-03 1.11074923e+02] [ 8.80405108e-03 -1.95725656e-04 9.99961224e-01 1.68435934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.00, Y:111.07, Z:1.68 [[-8.05034708e-01 5.93184275e-01 7.17877790e-03 1.27001061e+02] [-5.93162366e-01 -8.05066701e-01 5.10046698e-03 1.11070168e+02] [ 8.80491185e-03 -1.52127940e-04 9.99961224e-01 1.68478715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.00, Y:111.07, Z:1.68 [[-8.06148503e-01 5.91669695e-01 7.18070504e-03 1.26997226e+02] [-5.91647750e-01 -8.06180472e-01 5.09775241e-03 1.11067550e+02] [ 8.80512979e-03 -1.38902506e-04 9.99961224e-01 1.68449954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.54762800000003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:126.99, Y:111.06, Z:1.68 [[-8.06904268e-01 5.90638560e-01 7.18287955e-03 1.26992098e+02] [-5.90616602e-01 -8.06936227e-01 5.09468661e-03 1.11064738e+02] [ 8.80524409e-03 -1.31403537e-04 9.99961224e-01 1.68348363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:111.07, Z:1.69 [[-8.07688428e-01 5.89565760e-01 7.18457020e-03 1.26993283e+02] [-5.89543780e-01 -8.07720372e-01 5.09230133e-03 1.11065541e+02] [ 8.80537022e-03 -1.22625814e-04 9.99961224e-01 1.68539311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.60762800000003 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:126.99, Y:111.06, Z:1.68 [[-8.08608958e-01 5.88302565e-01 7.18650122e-03 1.26991389e+02] [-5.88280559e-01 -8.08640884e-01 5.08957473e-03 1.11063357e+02] [ 8.80550856e-03 -1.12203241e-04 9.99961224e-01 1.68345874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.63762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:111.06, Z:1.69 [[-8.09372774e-01 5.87251258e-01 7.18842835e-03 1.26985060e+02] [-5.87229235e-01 -8.09404689e-01 5.08685142e-03 1.11058089e+02] [ 8.80560750e-03 -1.04096235e-04 9.99961224e-01 1.68592287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.667628 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:126.99, Y:111.06, Z:1.68 [[-8.10063847e-01 5.86297589e-01 7.19035897e-03 1.26985637e+02] [-5.86275553e-01 -8.10095752e-01 5.08412099e-03 1.11058821e+02] [ 8.80568713e-03 -9.70690700e-05 9.99961224e-01 1.68422640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.98, Y:111.06, Z:1.69 [[-8.11833253e-01 5.83845049e-01 7.19229715e-03 1.26979607e+02] [-5.83822941e-01 -8.11865108e-01 5.08137764e-03 1.11056256e+02] [ 8.80591228e-03 -7.37967332e-05 9.99961224e-01 1.68616392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.727628 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:126.98, Y:111.06, Z:1.68 [[-8.12349467e-01 5.83126555e-01 7.19472215e-03 1.26976859e+02] [-5.83104450e-01 -8.12381324e-01 5.07794176e-03 1.11055607e+02] [ 8.80594059e-03 -7.02112164e-05 9.99961224e-01 1.68456491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.97, Y:111.05, Z:1.69 [[-8.13337723e-01 5.81747331e-01 7.19665249e-03 1.26971911e+02] [-5.81725195e-01 -8.13369559e-01 5.07520453e-03 1.11053710e+02] [ 8.80602475e-03 -5.86187815e-05 9.99961225e-01 1.68682046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:111.05, Z:1.69 [[-8.13981286e-01 5.80846491e-01 7.19859080e-03 1.26963980e+02] [-5.80824344e-01 -8.14013115e-01 5.07245377e-03 1.11049585e+02] [ 8.80606430e-03 -5.22343374e-05 9.99961225e-01 1.68714120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.97, Y:111.05, Z:1.69 [[-8.15004041e-01 5.79410533e-01 7.20052737e-03 1.26966831e+02] [-5.79388355e-01 -8.15035847e-01 5.06970325e-03 1.11052993e+02] [ 8.80612739e-03 -4.00730776e-05 9.99961225e-01 1.68695102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:111.05, Z:1.69 [[-8.15637393e-01 5.78518597e-01 7.20246289e-03 1.26963422e+02] [-5.78496409e-01 -8.15669192e-01 5.06695199e-03 1.11050795e+02] [ 8.80615305e-03 -3.38034090e-05 9.99961225e-01 1.68579399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:111.05, Z:1.68 [[-8.16748382e-01 5.76949025e-01 7.20439384e-03 1.26962233e+02] [-5.76926799e-01 -8.16780155e-01 5.06420500e-03 1.11051373e+02] [ 8.80619406e-03 -2.02266423e-05 9.99961225e-01 1.68375740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.90762800000002 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:126.96, Y:111.05, Z:1.68 [[-8.16779150e-01 5.76905441e-01 7.20632375e-03 1.26960725e+02] [-5.76883238e-01 -8.16810940e-01 5.06145727e-03 1.11051469e+02] [ 8.80618631e-03 -2.31146071e-05 9.99961225e-01 1.68097136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:111.05, Z:1.68 [[-8.17107628e-01 5.76440082e-01 7.20801152e-03 1.26956586e+02] [-5.76417882e-01 -8.17139420e-01 5.05905258e-03 1.11050451e+02] [ 8.80619103e-03 -2.10362771e-05 9.99961225e-01 1.68173097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:111.05, Z:1.68 [[-8.17054560e-01 5.76515275e-01 7.20993881e-03 1.26956122e+02] [-5.76493102e-01 -8.17086371e-01 5.05630439e-03 1.11051864e+02] [ 8.80617945e-03 -2.52034292e-05 9.99961225e-01 1.68142976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.95, Y:111.05, Z:1.68 [[-8.16219181e-01 5.77697358e-01 7.21187118e-03 1.26949730e+02] [-5.77675256e-01 -8.16251040e-01 5.05354672e-03 1.11050756e+02] [ 8.80611794e-03 -4.13177634e-05 9.99961225e-01 1.67817869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.95, Y:111.05, Z:1.68 [[-8.16439713e-01 5.77385624e-01 7.21355281e-03 1.26947841e+02] [-5.77363531e-01 -8.16471579e-01 5.05114518e-03 1.11049345e+02] [ 8.80611947e-03 -4.08867995e-05 9.99961225e-01 1.67820069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.95, Y:111.05, Z:1.68 [[-8.16561297e-01 5.77213640e-01 7.21548060e-03 1.26949133e+02] [-5.77191564e-01 -8.16593174e-01 5.04838987e-03 1.11050415e+02] [ 8.80611170e-03 -4.23947556e-05 9.99961225e-01 1.67819761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.95, Y:111.05, Z:1.68 [[-8.17368816e-01 5.76069551e-01 7.21741122e-03 1.26946275e+02] [-5.76047455e-01 -8.17400680e-01 5.04562824e-03 1.11047925e+02] [ 8.80614964e-03 -3.34321815e-05 9.99961225e-01 1.67899101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.94, Y:111.05, Z:1.68 [[-8.18813236e-01 5.74014604e-01 7.21933212e-03 1.26943344e+02] [-5.73992453e-01 -8.18845061e-01 5.04287831e-03 1.11045087e+02] [ 8.80620025e-03 -1.46666460e-05 9.99961225e-01 1.67987517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.94, Y:111.04, Z:1.68 [[-8.19700942e-01 5.72746208e-01 7.22125389e-03 1.26942039e+02] [-5.72724031e-01 -8.19732750e-01 5.04012489e-03 1.11043424e+02] [ 8.80621073e-03 -4.39051830e-06 9.99961225e-01 1.68071997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.94, Y:111.04, Z:1.68 [[-8.20797585e-01 5.71173486e-01 7.22317618e-03 1.26940939e+02] [-5.71151272e-01 -8.20829367e-01 5.03736847e-03 1.11040700e+02] [ 8.80620644e-03 9.13360918e-06 9.99961225e-01 1.68203685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:111.04, Z:1.68 [[-8.21294559e-01 5.70458630e-01 7.22485396e-03 1.26934851e+02] [-5.70436410e-01 -8.21326337e-01 5.03496097e-03 1.11035705e+02] [ 8.80619977e-03 1.38662945e-05 9.99961225e-01 1.68242264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.94, Y:111.04, Z:1.68 [[-8.21533966e-01 5.70113775e-01 7.22677907e-03 1.26936598e+02] [-5.70091566e-01 -8.21565751e-01 5.03219630e-03 1.11036585e+02] [ 8.80619861e-03 1.41943889e-05 9.99961225e-01 1.68233479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:111.03, Z:1.68 [[-8.21390868e-01 5.70319899e-01 7.22870377e-03 1.26931004e+02] [-5.70297723e-01 -8.21422676e-01 5.02942997e-03 1.11032612e+02] [ 8.80620519e-03 8.61455058e-06 9.99961225e-01 1.68214714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.29762800000003 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:126.93, Y:111.04, Z:1.68 [[-8.19784159e-01 5.72626973e-01 7.23062741e-03 1.26934745e+02] [-5.72604911e-01 -8.19816046e-01 5.02666290e-03 1.11036495e+02] [ 8.80618714e-03 -1.95141430e-05 9.99961225e-01 1.68129147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:111.04, Z:1.69 [[-8.19594430e-01 5.72898474e-01 7.23255484e-03 1.26932949e+02] [-5.72876446e-01 -8.19626341e-01 5.02388812e-03 1.11036863e+02] [ 8.80617029e-03 -2.58095939e-05 9.99961225e-01 1.68506801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:111.03, Z:1.69 [[-8.18920454e-01 5.73861440e-01 7.23446809e-03 1.26929410e+02] [-5.73839475e-01 -8.18952407e-01 5.02113150e-03 1.11034589e+02] [ 8.80611881e-03 -3.95160830e-05 9.99961225e-01 1.68614240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.38762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.92, Y:111.03, Z:1.69 [[-8.17018732e-01 5.76565717e-01 7.23638092e-03 1.26923085e+02] [-5.76543881e-01 -8.17050775e-01 5.01837323e-03 1.11029379e+02] [ 8.80591260e-03 -7.19862107e-05 9.99961225e-01 1.68779864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:111.03, Z:1.69 [[-8.15834158e-01 5.78240637e-01 7.23829841e-03 1.26928445e+02] [-5.78218891e-01 -8.15866262e-01 5.01560600e-03 1.11032824e+02] [ 8.80571067e-03 -9.34181824e-05 9.99961225e-01 1.68823642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:111.03, Z:1.69 [[-8.14233641e-01 5.80492168e-01 7.24021935e-03 1.26929973e+02] [-5.80470536e-01 -8.14265822e-01 5.01283151e-03 1.11033837e+02] [ 8.80537259e-03 -1.21117959e-04 9.99961225e-01 1.68860491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:111.03, Z:1.69 [[-8.12466076e-01 5.82963488e-01 7.24212366e-03 1.26929705e+02] [-5.82941978e-01 -8.12498338e-01 5.01007881e-03 1.11033452e+02] [ 8.80490645e-03 -1.51218824e-04 9.99961225e-01 1.68871777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.507628 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:126.93, Y:111.03, Z:1.69 [[-8.08101865e-01 5.88998218e-01 7.24402255e-03 1.26929559e+02] [-5.88976974e-01 -8.08134303e-01 5.00733171e-03 1.11032517e+02] [ 8.80345257e-03 -2.20128384e-04 9.99961225e-01 1.68731259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:111.03, Z:1.69 [[-8.06710448e-01 5.90902487e-01 7.24591789e-03 1.26932593e+02] [-5.90881344e-01 -8.06742952e-01 5.00458754e-03 1.11034256e+02] [ 8.80281642e-03 -2.44224651e-04 9.99961225e-01 1.68884113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.94, Y:111.04, Z:1.69 [[-8.01938772e-01 5.97362265e-01 7.24780724e-03 1.26941854e+02] [-5.97341408e-01 -8.01971461e-01 5.00184983e-03 1.11036831e+02] [ 8.80045090e-03 -3.18238074e-04 9.99961225e-01 1.68866647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:111.03, Z:1.69 [[-8.02886035e-01 5.96088968e-01 7.20812225e-03 1.26932603e+02] [-5.96067542e-01 -8.02918357e-01 5.05935749e-03 1.11032693e+02] [ 8.80336086e-03 -2.34440235e-04 9.99961222e-01 1.68928898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:111.03, Z:1.69 [[-8.02424612e-01 5.96709458e-01 7.25017052e-03 1.26932166e+02] [-5.96688606e-01 -8.02457303e-01 4.99836617e-03 1.11031032e+02] [ 8.80052466e-03 -3.15282108e-04 9.99961225e-01 1.68960076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:111.03, Z:1.69 [[-8.02020887e-01 5.97251960e-01 7.25204889e-03 1.26932347e+02] [-5.97231155e-01 -8.02053608e-01 4.99563940e-03 1.11027158e+02] [ 8.80018740e-03 -3.24542395e-04 9.99961225e-01 1.68858955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:111.02, Z:1.69 [[-8.02322572e-01 5.96846606e-01 7.25392471e-03 1.26929123e+02] [-5.96825809e-01 -8.02355298e-01 4.99291412e-03 1.11023335e+02] [ 8.80022877e-03 -3.23401787e-04 9.99961225e-01 1.68790026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:111.02, Z:1.69 [[-8.03012665e-01 5.95917788e-01 7.25604072e-03 1.26926719e+02] [-5.95896981e-01 -8.03045385e-01 4.98983710e-03 1.11020609e+02] [ 8.80046270e-03 -3.16950368e-04 9.99961225e-01 1.68816231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.74762800000002 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:126.93, Y:111.02, Z:1.69 [[-8.03876642e-01 5.94751770e-01 7.25791711e-03 1.26926909e+02] [-5.94730940e-01 -8.03909347e-01 4.98710632e-03 1.11019730e+02] [ 8.80079771e-03 -3.07489580e-04 9.99961225e-01 1.68660388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.92, Y:111.01, Z:1.69 [[-8.07586846e-01 5.89703978e-01 7.25979835e-03 1.26918565e+02] [-5.89682968e-01 -8.07619436e-01 4.98436626e-03 1.11011141e+02] [ 8.80245486e-03 -2.55670814e-04 9.99961225e-01 1.68843486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.92, Y:111.01, Z:1.69 [[-8.09721762e-01 5.86769065e-01 7.26167729e-03 1.26919704e+02] [-5.86747962e-01 -8.09754292e-01 4.98162735e-03 1.11009973e+02] [ 8.80323917e-03 -2.27042276e-04 9.99961225e-01 1.68792819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.92, Y:111.00, Z:1.69 [[-8.13588132e-01 5.81396244e-01 7.26356012e-03 1.26917433e+02] [-5.81374951e-01 -8.13620537e-01 4.97888054e-03 1.11004890e+02] [ 8.80448413e-03 -1.72093783e-04 9.99961225e-01 1.68701293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.92, Y:111.00, Z:1.69 [[-8.15190204e-01 5.79147774e-01 7.26544128e-03 1.26915763e+02] [-5.79126416e-01 -8.15222566e-01 4.97613394e-03 1.11002150e+02] [ 8.80486858e-03 -1.51113323e-04 9.99961225e-01 1.68682431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.91, Y:111.00, Z:1.69 [[-8.16541622e-01 5.77240821e-01 7.26732327e-03 1.26912651e+02] [-5.77219412e-01 -8.16573950e-01 4.97338390e-03 1.10998713e+02] [ 8.80514707e-03 -1.33865106e-04 9.99961225e-01 1.68685336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.91, Y:111.00, Z:1.69 [[-8.17620736e-01 5.75711292e-01 7.26920637e-03 1.26910326e+02] [-5.75689846e-01 -8.17653040e-01 4.97062999e-03 1.10995879e+02] [ 8.80533650e-03 -1.20718148e-04 9.99961225e-01 1.68739450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.91, Y:110.99, Z:1.69 [[-8.19338858e-01 5.73263436e-01 7.27109030e-03 1.26907298e+02] [-5.73241918e-01 -8.19371115e-01 4.96787263e-03 1.10991475e+02] [ 8.80562109e-03 -9.77226590e-05 9.99961225e-01 1.68863530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.91, Y:110.99, Z:1.69 [[-8.19917746e-01 5.72435143e-01 7.27298257e-03 1.26905434e+02] [-5.72413617e-01 -8.19949998e-01 4.96510079e-03 1.10989198e+02] [ 8.80568022e-03 -9.21800067e-05 9.99961225e-01 1.68977073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:110.99, Z:1.69 [[-8.20416442e-01 5.71720157e-01 7.27486935e-03 1.26902780e+02] [-5.71698628e-01 -8.20448691e-01 4.96233473e-03 1.10986445e+02] [ 8.80572383e-03 -8.78518219e-05 9.99961225e-01 1.69055448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:110.98, Z:1.69 [[-8.21171384e-01 5.70635266e-01 7.27675634e-03 1.26897953e+02] [-5.70613719e-01 -8.21203621e-01 4.95956611e-03 1.10981337e+02] [ 8.80580198e-03 -7.95632277e-05 9.99961225e-01 1.69151212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:110.98, Z:1.69 [[-8.21480186e-01 5.70190605e-01 7.27864633e-03 1.26899569e+02] [-5.70169065e-01 -8.21512427e-01 4.95679081e-03 1.10980978e+02] [ 8.80581397e-03 -7.81535358e-05 9.99961225e-01 1.69105739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:110.98, Z:1.69 [[-8.22018613e-01 5.69414080e-01 7.28053619e-03 1.26899099e+02] [-5.69392534e-01 -8.22050850e-01 4.95401343e-03 1.10979628e+02] [ 8.80585597e-03 -7.31916984e-05 9.99961225e-01 1.69076322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.13762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:110.98, Z:1.69 [[-8.23055051e-01 5.67914914e-01 7.28242155e-03 1.26896413e+02] [-5.67893333e-01 -8.23087266e-01 4.95124039e-03 1.10975612e+02] [ 8.80595170e-03 -6.04952406e-05 9.99961225e-01 1.68982341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.89, Y:110.97, Z:1.69 [[-8.23906318e-01 5.66679202e-01 7.28430649e-03 1.26894057e+02] [-5.66657598e-01 -8.23938517e-01 4.94846570e-03 1.10972632e+02] [ 8.80601328e-03 -5.06354642e-05 9.99961225e-01 1.68934787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.89, Y:110.97, Z:1.69 [[-8.24755613e-01 5.65442381e-01 7.28643342e-03 1.26892730e+02] [-5.65420756e-01 -8.24787798e-01 4.94533189e-03 1.10970593e+02] [ 8.80606162e-03 -4.12104579e-05 9.99961225e-01 1.68831081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:110.30, Z:2.61 [[-7.87217590e-01 -6.16632262e-01 -7.28831798e-03 1.27248470e+02] [-6.16612749e-01 7.87251097e-01 -4.94255290e-03 1.10301302e+02] [ 8.78547390e-03 6.03205202e-04 -9.99961225e-01 2.60634936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:110.33, Z:2.60 [[-7.39669071e-01 -6.72931309e-01 -7.28831798e-03 1.27243638e+02] [-6.72914316e-01 7.39703924e-01 -4.94255290e-03 1.10333236e+02] [ 8.71719600e-03 1.24856000e-03 -9.99961225e-01 2.60341825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.287628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:126.70, Y:110.91, Z:1.68 [[-7.33115273e-01 6.80074112e-01 6.41866049e-03 1.26701000e+02] [-6.80048604e-01 -7.33143370e-01 5.89023920e-03 1.10910065e+02] [ 8.71159757e-03 -4.67767864e-05 9.99962052e-01 1.68260248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.70, Y:110.91, Z:1.68 [[-7.30894920e-01 6.82459799e-01 6.42177061e-03 1.26698500e+02] [-6.82434414e-01 -7.30923126e-01 5.88684647e-03 1.10910431e+02] [ 8.71135671e-03 -7.97710781e-05 9.99962052e-01 1.68276628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.69, Y:110.91, Z:1.68 [[-7.29443762e-01 6.84010619e-01 6.42429397e-03 1.26693913e+02] [-6.83985317e-01 -7.29472044e-01 5.88409145e-03 1.10907972e+02] [ 8.71112388e-03 -1.02008949e-04 9.99962052e-01 1.68243365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.37762800000002 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:126.69, Y:110.91, Z:1.68 [[-7.27548199e-01 6.86026470e-01 6.42653104e-03 1.26694107e+02] [-6.86001269e-01 -7.27576570e-01 5.88164713e-03 1.10910500e+02] [ 8.71075903e-03 -1.29426668e-04 9.99962052e-01 1.68080535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.69, Y:110.91, Z:1.68 [[-7.24077441e-01 6.89688717e-01 6.42905127e-03 1.26689345e+02] [-6.89663684e-01 -7.24105961e-01 5.87889105e-03 1.10911726e+02] [ 8.70991917e-03 -1.77110798e-04 9.99962052e-01 1.68420129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.43762800000002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:126.69, Y:110.92, Z:1.68 [[-7.22366959e-01 6.91480018e-01 6.43128084e-03 1.26692699e+02] [-6.91455077e-01 -7.22395559e-01 5.87645098e-03 1.10916783e+02] [ 8.70937714e-03 -2.01987767e-04 9.99962052e-01 1.68406917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.69, Y:110.92, Z:1.69 [[-7.21364782e-01 6.92525420e-01 6.43378607e-03 1.26691126e+02] [-6.92500545e-01 -7.21393439e-01 5.87370686e-03 1.10916618e+02] [ 8.70898238e-03 -2.18315090e-04 9.99962052e-01 1.68651959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.69, Y:110.92, Z:1.69 [[-7.19730770e-01 6.94223448e-01 6.43600606e-03 1.26687969e+02] [-6.94198663e-01 -7.19759505e-01 5.87127334e-03 1.10915440e+02] [ 8.70835216e-03 -2.42130718e-04 9.99962052e-01 1.68755726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.69, Y:110.91, Z:1.69 [[-7.19408813e-01 6.94557060e-01 6.43821745e-03 1.26686362e+02] [-6.94532309e-01 -7.19437578e-01 5.86884741e-03 1.10914511e+02] [ 8.70814497e-03 -2.49449479e-04 9.99962052e-01 1.68871709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.68, Y:110.91, Z:1.69 [[-7.19254308e-01 6.94717037e-01 6.44043560e-03 1.26684300e+02] [-6.94692314e-01 -7.19283097e-01 5.86641221e-03 1.10912485e+02] [ 8.70799298e-03 -2.54678855e-04 9.99962052e-01 1.68958449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.68, Y:110.91, Z:1.69 [[-7.19876119e-01 6.94072666e-01 6.44264516e-03 1.26682863e+02] [-6.94047939e-01 -7.19904905e-01 5.86398462e-03 1.10911803e+02] [ 8.70812329e-03 -2.50162100e-04 9.99962052e-01 1.69011025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.68, Y:110.91, Z:1.69 [[-7.20856911e-01 6.93053947e-01 6.44513518e-03 1.26680283e+02] [-6.93029204e-01 -7.20885683e-01 5.86124655e-03 1.10910077e+02] [ 8.70836573e-03 -2.41546817e-04 9.99962052e-01 1.69070980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.64762800000003 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:126.68, Y:110.91, Z:1.69 [[-7.22198443e-01 6.91655869e-01 6.44734864e-03 1.26676104e+02] [-6.91631092e-01 -7.22227186e-01 5.85881073e-03 1.10906477e+02] [ 8.70873129e-03 -2.27962792e-04 9.99962052e-01 1.68882494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.67, Y:110.90, Z:1.69 [[-7.27239424e-01 6.86353565e-01 6.45012173e-03 1.26672997e+02] [-6.86328606e-01 -7.27268008e-01 5.85575617e-03 1.10901128e+02] [ 8.71008631e-03 -1.68366314e-04 9.99962052e-01 1.69000959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:110.88, Z:1.68 [[-7.23760721e-01 6.90020860e-01 6.45233894e-03 1.26662724e+02] [-6.89996067e-01 -7.23789449e-01 5.85331206e-03 1.10883305e+02] [ 8.70904226e-03 -2.15691135e-04 9.99962052e-01 1.68426443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.60, Y:110.83, Z:1.68 [[-7.28512334e-01 6.85002949e-01 6.38274336e-03 1.26604956e+02] [-6.84977282e-01 -7.28540292e-01 5.93010214e-03 1.10830863e+02] [ 8.71222317e-03 -5.18816455e-05 9.99962047e-01 1.68481604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:110.89, Z:1.69 [[-7.40905447e-01 6.71578966e-01 6.38836876e-03 1.26661362e+02] [-6.71552846e-01 -7.40932981e-01 5.92389171e-03 1.10887398e+02] [ 8.71171418e-03 9.89164141e-05 9.99962047e-01 1.68524317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.79762800000003 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:126.66, Y:110.88, Z:1.68 [[-7.43274175e-01 6.68955719e-01 6.46117918e-03 1.26656042e+02] [-6.68930198e-01 -7.43302257e-01 5.84338344e-03 1.10883216e+02] [ 8.71157384e-03 2.11581437e-05 9.99962053e-01 1.68452576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.65, Y:110.88, Z:1.69 [[-7.46133078e-01 6.65765465e-01 6.46341595e-03 1.26650760e+02] [-6.65739845e-01 -7.46161070e-01 5.84090828e-03 1.10879383e+02] [ 8.71142438e-03 5.51413307e-05 9.99962053e-01 1.68509023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.65, Y:110.88, Z:1.69 [[-7.46356875e-01 6.65514546e-01 6.46565924e-03 1.26650916e+02] [-6.65488938e-01 -7.46384878e-01 5.83842399e-03 1.10880622e+02] [ 8.71142637e-03 5.47231887e-05 9.99962053e-01 1.68575166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.88762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.65, Y:110.88, Z:1.69 [[-7.46098906e-01 6.65803716e-01 6.46789367e-03 1.26648873e+02] [-6.65778141e-01 -7.46126939e-01 5.83594760e-03 1.10881059e+02] [ 8.71146531e-03 4.80118968e-05 9.99962053e-01 1.68708637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.65, Y:110.88, Z:1.69 [[-7.46354193e-01 6.65517510e-01 6.47012383e-03 1.26647168e+02] [-6.65491945e-01 -7.46382236e-01 5.83347405e-03 1.10879422e+02] [ 8.71146461e-03 4.80225260e-05 9.99962053e-01 1.68710832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.64, Y:110.88, Z:1.69 [[-7.46023764e-01 6.65887868e-01 6.47236015e-03 1.26642747e+02] [-6.65862338e-01 -7.46051839e-01 5.83099175e-03 1.10878377e+02] [ 8.71150285e-03 4.03575471e-05 9.99962053e-01 1.68938494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.64, Y:110.88, Z:1.69 [[-7.44610599e-01 6.67467699e-01 6.47515950e-03 1.26639660e+02] [-6.67442256e-01 -7.44638752e-01 5.82788148e-03 1.10879613e+02] [ 8.71157733e-03 1.77072533e-05 9.99962053e-01 1.69325883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.64, Y:110.88, Z:1.69 [[-7.44074608e-01 6.68065132e-01 6.47734368e-03 1.26635027e+02] [-6.68039733e-01 -7.44102801e-01 5.82545288e-03 1.10876245e+02] [ 8.71159153e-03 7.44862717e-06 9.99962053e-01 1.69420227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.64, Y:110.88, Z:1.69 [[-7.43355018e-01 6.68865705e-01 6.47957842e-03 1.26635543e+02] [-6.68840358e-01 -7.43383258e-01 5.82296615e-03 1.10877309e+02] [ 8.71159248e-03 -5.27244011e-06 9.99962053e-01 1.69437191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.64, Y:110.88, Z:1.69 [[-7.41558451e-01 6.70856952e-01 6.48181220e-03 1.26635198e+02] [-6.70831702e-01 -7.41586778e-01 5.82047856e-03 1.10878252e+02] [ 8.71153473e-03 -3.19800416e-05 9.99962053e-01 1.69427267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.63, Y:110.87, Z:1.69 [[-7.40970574e-01 6.71506191e-01 6.48403946e-03 1.26626230e+02] [-6.71480988e-01 -7.40998943e-01 5.81799633e-03 1.10870514e+02] [ 8.71148694e-03 -4.29451494e-05 9.99962053e-01 1.69455891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.63, Y:110.87, Z:1.70 [[-7.39867060e-01 6.72721831e-01 6.48626350e-03 1.26627932e+02] [-6.72696696e-01 -7.39895489e-01 5.81551578e-03 1.10873657e+02] [ 8.71138152e-03 -6.05794607e-05 9.99962053e-01 1.69545579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.63, Y:110.87, Z:1.70 [[-7.39555302e-01 6.73064525e-01 6.48849777e-03 1.26628511e+02] [-6.73039425e-01 -7.39583762e-01 5.81302189e-03 1.10874269e+02] [ 8.71132640e-03 -6.79636528e-05 9.99962053e-01 1.69572259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.64, Y:110.88, Z:1.69 [[-7.33547733e-01 6.79606941e-01 6.49071585e-03 1.26640325e+02] [-6.79582117e-01 -7.33576434e-01 5.81054416e-03 1.10878154e+02] [ 8.71032232e-03 -1.48662919e-04 9.99962053e-01 1.69272369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.63, Y:110.87, Z:1.69 [[-7.39810966e-01 6.72784168e-01 6.41857519e-03 1.26628426e+02] [-6.72758376e-01 -7.39838808e-01 5.89111377e-03 1.10873384e+02] [ 8.71215910e-03 4.01603490e-05 9.99962048e-01 1.69475920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.63, Y:110.87, Z:1.69 [[-7.40549045e-01 6.71970934e-01 6.49431452e-03 1.26626091e+02] [-6.71945850e-01 -7.40577518e-01 5.80640131e-03 1.10870803e+02] [ 8.71127624e-03 -6.39027419e-05 9.99962054e-01 1.69375025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.62, Y:110.87, Z:1.69 [[-7.41687675e-01 6.70713939e-01 6.49652277e-03 1.26620968e+02] [-6.70688829e-01 -7.41716124e-01 5.80392956e-03 1.10865809e+02] [ 8.71135214e-03 -5.24422312e-05 9.99962054e-01 1.69229980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.62, Y:110.87, Z:1.69 [[-7.43891600e-01 6.68268699e-01 6.49874259e-03 1.26622935e+02] [-6.68243517e-01 -7.43919986e-01 5.80144292e-03 1.10867163e+02] [ 8.71146721e-03 -2.70979478e-05 9.99962054e-01 1.68964841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.33762800000002 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:126.62, Y:110.86, Z:1.69 [[-7.44942248e-01 6.67097283e-01 6.50096146e-03 1.26617457e+02] [-6.67072078e-01 -7.44970613e-01 5.79895544e-03 1.10861966e+02] [ 8.71149267e-03 -1.67229729e-05 9.99962054e-01 1.68745717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.62, Y:110.86, Z:1.69 [[-7.46616855e-01 6.65222501e-01 6.50345432e-03 1.26616394e+02] [-6.65197250e-01 -7.46645179e-01 5.79615838e-03 1.10860981e+02] [ 8.71150779e-03 1.42961982e-06 9.99962054e-01 1.68622194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.61, Y:110.86, Z:1.69 [[-7.47467435e-01 6.64266591e-01 6.50608358e-03 1.26614313e+02] [-6.64241329e-01 -7.47495750e-01 5.79320558e-03 1.10858889e+02] [ 8.71150275e-03 8.62291401e-06 9.99962054e-01 1.68535659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.61, Y:110.86, Z:1.68 [[-7.47959524e-01 6.63712433e-01 6.50821307e-03 1.26612866e+02] [-6.63687171e-01 -7.47987838e-01 5.79081228e-03 1.10859920e+02] [ 8.71149833e-03 1.18756691e-05 9.99962054e-01 1.68434537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.61, Y:110.86, Z:1.69 [[-7.47873172e-01 6.63809711e-01 6.51042640e-03 1.26607054e+02] [-6.63784474e-01 -7.47901509e-01 5.78832283e-03 1.10855793e+02] [ 8.71150264e-03 7.41139013e-06 9.99962054e-01 1.68555262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.60, Y:110.86, Z:1.69 [[-7.47805165e-01 6.63886298e-01 6.51291469e-03 1.26604659e+02] [-6.63861088e-01 -7.47833527e-01 5.78552170e-03 1.10855165e+02] [ 8.71150454e-03 2.77238298e-06 9.99962054e-01 1.68811391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.60, Y:110.85, Z:1.69 [[-7.47901413e-01 6.63777846e-01 6.51512300e-03 1.26599478e+02] [-6.63752654e-01 -7.47929790e-01 5.78303383e-03 1.10851181e+02] [ 8.71150432e-03 7.08989735e-07 9.99962054e-01 1.69018819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.60, Y:110.85, Z:1.69 [[-7.47923891e-01 6.63752498e-01 6.51733366e-03 1.26600550e+02] [-6.63727326e-01 -7.47952286e-01 5.78054140e-03 1.10852981e+02] [ 8.71150340e-03 -2.32743187e-06 9.99962054e-01 1.69126374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.60, Y:110.85, Z:1.69 [[-7.47537938e-01 6.64187118e-01 6.51954337e-03 1.26599935e+02] [-6.64161984e-01 -7.47566367e-01 5.77804812e-03 1.10853508e+02] [ 8.71149647e-03 -1.07226821e-05 9.99962054e-01 1.69411245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.60, Y:110.85, Z:1.69 [[-7.47511493e-01 6.64216858e-01 6.52172363e-03 1.26597282e+02] [-6.64191747e-01 -7.47539942e-01 5.77558619e-03 1.10850582e+02] [ 8.71149062e-03 -1.43579564e-05 9.99962054e-01 1.69498785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.63762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.59, Y:110.85, Z:1.70 [[-7.47765736e-01 6.63930601e-01 6.52392595e-03 1.26594487e+02] [-6.63905501e-01 -7.47794195e-01 5.77309745e-03 1.10847088e+02] [ 8.71149001e-03 -1.43458629e-05 9.99962054e-01 1.69557882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.59, Y:110.85, Z:1.70 [[-7.48552613e-01 6.63043284e-01 6.52613801e-03 1.26594146e+02] [-6.63018172e-01 -7.48581060e-01 5.77059576e-03 1.10845085e+02] [ 8.71149808e-03 -7.35356082e-06 9.99962054e-01 1.69597728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.59, Y:110.84, Z:1.70 [[-7.49051886e-01 6.62479172e-01 6.52835021e-03 1.26593430e+02] [-6.62454060e-01 -7.49080334e-01 5.76809198e-03 1.10843505e+02] [ 8.71149956e-03 -4.13192935e-06 9.99962054e-01 1.69610586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.59, Y:110.84, Z:1.70 [[-7.49342836e-01 6.62150032e-01 6.53055187e-03 1.26591490e+02] [-6.62124930e-01 -7.49371293e-01 5.76559822e-03 1.10840523e+02] [ 8.71149915e-03 -3.63148043e-06 9.99962054e-01 1.69535352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.59, Y:110.84, Z:1.69 [[-7.49522822e-01 6.61946269e-01 6.53275331e-03 1.26590825e+02] [-6.61921181e-01 -7.49551290e-01 5.76310278e-03 1.10838645e+02] [ 8.71149806e-03 -4.59073055e-06 9.99962054e-01 1.69310556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.59, Y:110.84, Z:1.69 [[-7.49652316e-01 6.61799589e-01 6.53523438e-03 1.26587982e+02] [-6.61774520e-01 -7.49680802e-01 5.76028792e-03 1.10836122e+02] [ 8.71149593e-03 -6.63841472e-06 9.99962054e-01 1.69240889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.58, Y:110.83, Z:1.69 [[-7.49461699e-01 6.62015426e-01 6.53743306e-03 1.26583377e+02] [-6.61990386e-01 -7.49490211e-01 5.75779153e-03 1.10832385e+02] [ 8.71148889e-03 -1.24736170e-05 9.99962054e-01 1.69179386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.06, Y:110.17, Z:2.60 [[-7.06997001e-01 -7.07186328e-01 -6.53743306e-03 1.27063411e+02] [-7.07163104e-01 7.07027009e-01 -5.75779153e-03 1.10173140e+02] [ 8.69397320e-03 5.52290117e-04 -9.99962054e-01 2.60413429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.43, Y:110.74, Z:1.69 [[-7.00866949e-01 7.13265770e-01 6.12049753e-03 1.26432493e+02] [-7.13239073e-01 -7.00893672e-01 6.17129713e-03 1.10736880e+02] [ 8.69159299e-03 -4.01197929e-05 9.99962227e-01 1.68852508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.45, Y:110.76, Z:1.69 [[-7.00632426e-01 7.13496142e-01 6.12042511e-03 1.26453567e+02] [-7.13469453e-01 -7.00659157e-01 6.17136902e-03 1.10757750e+02] [ 8.69157988e-03 -4.28751094e-05 9.99962227e-01 1.68778028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.45, Y:110.76, Z:1.69 [[-7.00947662e-01 7.13186408e-01 6.12557787e-03 1.26453713e+02] [-7.13159752e-01 -7.00974426e-01 6.16625024e-03 1.10755569e+02] [ 8.69155929e-03 -4.62969038e-05 9.99962227e-01 1.68515644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.45, Y:110.75, Z:1.69 [[-7.01151652e-01 7.12985838e-01 6.12822593e-03 1.26452421e+02] [-7.12959198e-01 -7.01178431e-01 6.16361739e-03 1.10754086e+02] [ 8.69155175e-03 -4.75445229e-05 9.99962227e-01 1.68643655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.45, Y:110.75, Z:1.69 [[-7.01118910e-01 7.13018005e-01 6.13178169e-03 1.26450087e+02] [-7.12991397e-01 -7.01145721e-01 6.16007796e-03 1.10751515e+02] [ 8.69151899e-03 -5.29604486e-05 9.99962227e-01 1.68729363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:110.74, Z:1.69 [[-7.00349267e-01 7.13773965e-01 6.13441842e-03 1.26443653e+02] [-7.13747408e-01 -7.00376130e-01 6.15745109e-03 1.10744590e+02] [ 8.69142851e-03 -6.60588911e-05 9.99962227e-01 1.68983643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.45, Y:110.75, Z:1.69 [[-7.00083887e-01 7.14034237e-01 6.13676221e-03 1.26446951e+02] [-7.14007711e-01 -7.00110779e-01 6.15511430e-03 1.10747243e+02] [ 8.69137571e-03 -7.25991927e-05 9.99962227e-01 1.69024522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:110.74, Z:1.69 [[-6.99876262e-01 7.14237723e-01 6.13940453e-03 1.26443812e+02] [-7.14211228e-01 -6.99903185e-01 6.15247759e-03 1.10742780e+02] [ 8.69132037e-03 -7.88586361e-05 9.99962227e-01 1.69292096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:110.74, Z:1.69 [[-7.00372079e-01 7.13751518e-01 6.14174217e-03 1.26440559e+02] [-7.13725025e-01 -7.00399004e-01 6.15014314e-03 1.10739248e+02] [ 8.69134410e-03 -7.61265452e-05 9.99962227e-01 1.69338599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:110.74, Z:1.69 [[-7.00859298e-01 7.13273086e-01 6.14409217e-03 1.26439116e+02] [-7.13246595e-01 -7.00886225e-01 6.14779455e-03 1.10737467e+02] [ 8.69136596e-03 -7.35138460e-05 9.99962227e-01 1.69403075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.17762800000003 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:126.44, Y:110.74, Z:1.69 [[-7.01520755e-01 7.12622517e-01 6.14644284e-03 1.26440762e+02] [-7.12596021e-01 -7.01547678e-01 6.14544350e-03 1.10737327e+02] [ 8.69140412e-03 -6.87745440e-05 9.99962227e-01 1.69040972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:110.73, Z:1.69 [[-7.03019553e-01 7.11143938e-01 6.14879026e-03 1.26436206e+02] [-7.11117406e-01 -7.03046440e-01 6.14309390e-03 1.10732086e+02] [ 8.69150909e-03 -5.37966537e-05 9.99962227e-01 1.69240944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.43, Y:110.73, Z:1.69 [[-7.03920013e-01 7.10252611e-01 6.15172788e-03 1.26432874e+02] [-7.10226072e-01 -7.03946891e-01 6.14015074e-03 1.10727705e+02] [ 8.69154782e-03 -4.69425396e-05 9.99962227e-01 1.69231479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.43, Y:110.73, Z:1.69 [[-7.05463230e-01 7.08719803e-01 6.15407757e-03 1.26434673e+02] [-7.08693225e-01 -7.05490071e-01 6.13779482e-03 1.10727725e+02] [ 8.69161736e-03 -3.13645238e-05 9.99962227e-01 1.69117122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.43, Y:110.72, Z:1.69 [[-7.06212245e-01 7.07973420e-01 6.15642519e-03 1.26431541e+02] [-7.07946834e-01 -7.06239079e-01 6.13543917e-03 1.10723571e+02] [ 8.69163591e-03 -2.54994546e-05 9.99962227e-01 1.69074924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.45, Y:110.73, Z:1.69 [[-7.04844398e-01 7.09335210e-01 6.15906189e-03 1.26446955e+02] [-7.09308699e-01 -7.04871306e-01 6.13279118e-03 1.10734983e+02] [ 8.69155072e-03 -4.60126697e-05 9.99962227e-01 1.68528734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.42, Y:110.71, Z:1.69 [[-7.07798163e-01 7.06388113e-01 6.13136321e-03 1.26422752e+02] [-7.06361249e-01 -7.07824719e-01 6.16062617e-03 1.10714896e+02] [ 8.69172353e-03 2.95225081e-05 9.99962226e-01 1.68670925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.38762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.43, Y:110.72, Z:1.69 [[-7.08059164e-01 7.06126213e-01 6.16372205e-03 1.26428062e+02] [-7.06099622e-01 -7.08085991e-01 6.12807913e-03 1.10721605e+02] [ 8.69164255e-03 -1.31592169e-05 9.99962227e-01 1.68677827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.42, Y:110.72, Z:1.69 [[-7.08310921e-01 7.05873653e-01 6.16636238e-03 1.26421835e+02] [-7.05847076e-01 -7.08337762e-01 6.12542116e-03 1.10717056e+02] [ 8.69164074e-03 -1.38061476e-05 9.99962227e-01 1.68783605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:110.09, Z:2.61 [[-6.62264860e-01 -7.49244440e-01 -6.16636238e-03 1.26931301e+02] [-7.49219612e-01 6.62293328e-01 -6.12542116e-03 1.10085970e+02] [ 8.67337840e-03 5.63308443e-04 -9.99962227e-01 2.61032949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.30, Y:110.64, Z:1.69 [[-6.58541286e-01 7.52522812e-01 5.72638158e-03 1.26295660e+02] [-7.52494633e-01 -6.58566183e-01 6.51230576e-03 1.10635462e+02] [ 8.67185990e-03 -2.04491884e-05 9.99962399e-01 1.68694566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.507628 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:126.29, Y:110.63, Z:1.69 [[-6.59440026e-01 7.51735347e-01 5.72886925e-03 1.26289440e+02] [-7.51707157e-01 -6.59464910e-01 6.51011662e-03 1.10631099e+02] [ 8.67187302e-03 -1.34005426e-05 9.99962399e-01 1.68780854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.29, Y:110.63, Z:1.69 [[-6.60913652e-01 7.50440066e-01 5.73166511e-03 1.26288095e+02] [-7.50411849e-01 -6.60938505e-01 6.50765415e-03 1.10629663e+02] [ 8.67188258e-03 -1.11949986e-07 9.99962399e-01 1.69103167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.28, Y:110.62, Z:1.69 [[-6.62598855e-01 7.48952517e-01 5.73446292e-03 1.26283597e+02] [-7.48924266e-01 -6.62623669e-01 6.50518782e-03 1.10623509e+02] [ 8.67186765e-03 1.56515766e-05 9.99962399e-01 1.69211815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.28, Y:110.62, Z:1.69 [[-6.65957031e-01 7.45968040e-01 5.73726377e-03 1.26279226e+02] [-7.45939699e-01 -6.65981742e-01 6.50271667e-03 1.10615655e+02] [ 8.67173173e-03 5.08770740e-05 9.99962399e-01 1.69285265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.28, Y:110.61, Z:1.69 [[-6.67546072e-01 7.44546360e-01 5.74104161e-03 1.26275078e+02] [-7.44517994e-01 -6.67570756e-01 6.49937961e-03 1.10609815e+02] [ 8.67164092e-03 6.43265449e-05 9.99962399e-01 1.69341115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:110.61, Z:1.69 [[-6.68913795e-01 7.43317794e-01 5.74385437e-03 1.26273550e+02] [-7.43289405e-01 -6.68938451e-01 6.49689287e-03 1.10607704e+02] [ 8.67154113e-03 7.65151692e-05 9.99962399e-01 1.69366712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:110.61, Z:1.69 [[-6.68798177e-01 7.43421804e-01 5.74635984e-03 1.26272715e+02] [-7.43393437e-01 -6.68822859e-01 6.49467609e-03 1.10607628e+02] [ 8.67158063e-03 7.18213403e-05 9.99962399e-01 1.69381565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:110.60, Z:1.69 [[-6.68500319e-01 7.43689636e-01 5.74886360e-03 1.26269480e+02] [-7.43661299e-01 -6.68525034e-01 6.49245909e-03 1.10604499e+02] [ 8.67163377e-03 6.50035963e-05 9.99962399e-01 1.69393190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:110.61, Z:1.69 [[-6.68097799e-01 7.44051241e-01 5.75167651e-03 1.26270977e+02] [-7.44022938e-01 -6.68122554e-01 6.48996618e-03 1.10605947e+02] [ 8.67169219e-03 5.65528635e-05 9.99962399e-01 1.69284043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:110.60, Z:1.69 [[-6.66675563e-01 7.45325823e-01 5.75417469e-03 1.26268288e+02] [-7.45297587e-01 -6.66700395e-01 6.48775046e-03 1.10603735e+02] [ 8.67179849e-03 3.66521788e-05 9.99962399e-01 1.69177797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:110.61, Z:1.69 [[-6.66309512e-01 7.45653064e-01 5.75697727e-03 1.26268824e+02] [-7.45624861e-01 -6.66334381e-01 6.48526261e-03 1.10605480e+02] [ 8.67182782e-03 2.86467863e-05 9.99962399e-01 1.69219264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:110.60, Z:1.69 [[-6.66595286e-01 7.45397581e-01 5.75946616e-03 1.26267313e+02] [-7.45369388e-01 -6.66620166e-01 6.48305151e-03 1.10603669e+02] [ 8.67182720e-03 2.86418009e-05 9.99962399e-01 1.69221449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:110.60, Z:1.69 [[-6.66312230e-01 7.45650596e-01 5.76195049e-03 1.26265045e+02] [-7.45622432e-01 -6.66337143e-01 6.48084276e-03 1.10601623e+02] [ 8.67184589e-03 2.20252619e-05 9.99962399e-01 1.69159483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.89762800000003 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:126.26, Y:110.60, Z:1.69 [[-6.65289229e-01 7.46563469e-01 5.76443519e-03 1.26260583e+02] [-7.46535358e-01 -6.65314202e-01 6.47863196e-03 1.10596526e+02] [ 8.67187055e-03 6.80937354e-06 9.99962399e-01 1.68834593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.26, Y:110.60, Z:1.69 [[-6.65922923e-01 7.45998255e-01 5.76755050e-03 1.26259360e+02] [-7.45970147e-01 -6.65947899e-01 6.47585739e-03 1.10595001e+02] [ 8.67186645e-03 1.00013909e-05 9.99962399e-01 1.69081161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.95762800000003 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:126.26, Y:110.59, Z:1.69 [[-6.66150597e-01 7.45794938e-01 5.77003868e-03 1.26262341e+02] [-7.45766841e-01 -6.66175586e-01 6.47363965e-03 1.10593271e+02] [ 8.67186658e-03 9.31539411e-06 9.99962399e-01 1.68733176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.26, Y:110.59, Z:1.69 [[-6.67519551e-01 7.44569889e-01 5.77314806e-03 1.26259758e+02] [-7.44541770e-01 -6.67544516e-01 6.47086554e-03 1.10587981e+02] [ 8.67184496e-03 2.10793854e-05 9.99962399e-01 1.68885576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.01762800000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:126.26, Y:110.59, Z:1.69 [[-6.68304541e-01 7.43865366e-01 5.77562771e-03 1.26260387e+02] [-7.43837240e-01 -6.68329497e-01 6.46865155e-03 1.10586869e+02] [ 8.67182821e-03 2.69022292e-05 9.99962399e-01 1.68737625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.26, Y:110.58, Z:1.69 [[-6.69531378e-01 7.42761299e-01 5.77810857e-03 1.26257057e+02] [-7.42733151e-01 -6.69556310e-01 6.46643477e-03 1.10582975e+02] [ 8.67178653e-03 3.78882020e-05 9.99962399e-01 1.68846703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:110.58, Z:1.69 [[-6.70215178e-01 7.42144323e-01 5.78089581e-03 1.26252019e+02] [-7.42116174e-01 -6.70240107e-01 6.46394205e-03 1.10578432e+02] [ 8.67176613e-03 4.21357864e-05 9.99962399e-01 1.69023145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:110.58, Z:1.69 [[-6.70219775e-01 7.42140153e-01 5.78337150e-03 1.26253161e+02] [-7.42112023e-01 -6.70244725e-01 6.46172626e-03 1.10580739e+02] [ 8.67178076e-03 3.88671996e-05 9.99962399e-01 1.69211355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:110.58, Z:1.69 [[-6.70132864e-01 7.42218612e-01 5.78584633e-03 1.26250518e+02] [-7.42190504e-01 -6.70157840e-01 6.45950953e-03 1.10578711e+02] [ 8.67179848e-03 3.45294138e-05 9.99962399e-01 1.69366063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:110.58, Z:1.69 [[-6.69412623e-01 7.42868247e-01 5.78863159e-03 1.26250111e+02] [-7.42840185e-01 -6.69437650e-01 6.45701258e-03 1.10576697e+02] [ 8.67183755e-03 2.23775661e-05 9.99962399e-01 1.69371056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:110.57, Z:1.69 [[-6.69058189e-01 7.43187463e-01 5.79094789e-03 1.26248379e+02] [-7.43159430e-01 -6.69083250e-01 6.45493454e-03 1.10574210e+02] [ 8.67185266e-03 1.51292790e-05 9.99962399e-01 1.69353656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:110.59, Z:1.69 [[-6.61445354e-01 7.49970986e-01 5.79342597e-03 1.26266270e+02] [-7.49943230e-01 -6.61470720e-01 6.45270966e-03 1.10589516e+02] [ 8.67152668e-03 -7.66257627e-05 9.99962399e-01 1.69264868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:110.57, Z:1.69 [[-6.66474642e-01 7.45505691e-01 5.72858006e-03 1.26245148e+02] [-7.45477261e-01 -6.66499258e-01 6.51093426e-03 1.10573980e+02] [ 8.67203290e-03 6.88464088e-05 9.99962395e-01 1.69455037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.24, Y:110.57, Z:1.70 [[-6.65542166e-01 7.46337725e-01 5.79870380e-03 1.26239999e+02] [-7.46309873e-01 -6.65567426e-01 6.44787058e-03 1.10569618e+02] [ 8.67171742e-03 -3.63001431e-05 9.99962399e-01 1.69509172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.24, Y:110.57, Z:1.70 [[-6.63593967e-01 7.48070446e-01 5.80117751e-03 1.26240598e+02] [-7.48042680e-01 -6.63619321e-01 6.44564421e-03 1.10572287e+02] [ 8.67156942e-03 -6.22377553e-05 9.99962399e-01 1.69524876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.34762800000001 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:126.24, Y:110.57, Z:1.69 [[-6.62892587e-01 7.48692014e-01 5.80395579e-03 1.26240095e+02] [-7.48664293e-01 -6.62917991e-01 6.44314154e-03 1.10572157e+02] [ 8.67147533e-03 -7.41036838e-05 9.99962399e-01 1.69255184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.24, Y:110.57, Z:1.69 [[-6.62613525e-01 7.48938982e-01 5.80672484e-03 1.26238492e+02] [-7.48911292e-01 -6.62638963e-01 6.44064503e-03 1.10569332e+02] [ 8.67141226e-03 -8.10632872e-05 9.99962399e-01 1.69428943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.24, Y:110.57, Z:1.69 [[-6.62718932e-01 7.48845688e-01 5.80980489e-03 1.26237256e+02] [-7.48818018e-01 -6.62744392e-01 6.43786546e-03 1.10566431e+02] [ 8.67138340e-03 -8.39912665e-05 9.99962399e-01 1.69310979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.24, Y:110.56, Z:1.69 [[-6.63027151e-01 7.48572785e-01 5.81226289e-03 1.26238186e+02] [-7.48545125e-01 -6.63052621e-01 6.43564556e-03 1.10564454e+02] [ 8.67138526e-03 -8.37333163e-05 9.99962399e-01 1.69077551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.24, Y:110.56, Z:1.69 [[-6.63703515e-01 7.47973150e-01 5.81471923e-03 1.26237637e+02] [-7.47945487e-01 -6.63728981e-01 6.43342545e-03 1.10562865e+02] [ 8.67142717e-03 -7.92059198e-05 9.99962399e-01 1.68985206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.23, Y:110.56, Z:1.69 [[-6.65212045e-01 7.46631834e-01 5.81717309e-03 1.26234501e+02] [-7.46604139e-01 -6.65237476e-01 6.43120588e-03 1.10558095e+02] [ 8.67154458e-03 -6.50098896e-05 9.99962399e-01 1.68892117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.26, Y:110.58, Z:1.68 [[-6.56446446e-01 7.54350174e-01 5.82056296e-03 1.26261823e+02] [-7.54322804e-01 -6.56472228e-01 6.42813641e-03 1.10576745e+02] [ 8.67010375e-03 -1.70856076e-04 9.99962399e-01 1.68339961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.55762800000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.23, Y:110.55, Z:1.69 [[-6.67406069e-01 7.44672169e-01 5.70090116e-03 1.26230062e+02] [-7.44643490e-01 -6.67430407e-01 6.53643870e-03 1.10551461e+02] [ 8.67245876e-03 1.17319918e-04 9.99962387e-01 1.68665741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.23, Y:110.55, Z:1.69 [[-6.69739862e-01 7.42572949e-01 5.82519168e-03 1.26230470e+02] [-7.42545164e-01 -6.69765194e-01 6.42372925e-03 1.10549468e+02] [ 8.67159820e-03 -2.32403690e-05 9.99962401e-01 1.68765763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.23, Y:110.54, Z:1.69 [[-6.70939785e-01 7.41488937e-01 5.82764875e-03 1.26225076e+02] [-7.41461131e-01 -6.70965093e-01 6.42149940e-03 1.10542217e+02] [ 8.67161965e-03 -1.25356114e-05 9.99962401e-01 1.68700478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.22, Y:110.54, Z:1.69 [[-6.72064640e-01 7.40469528e-01 5.83072974e-03 1.26224403e+02] [-7.40441708e-01 -6.72089933e-01 6.41870064e-03 1.10541116e+02] [ 8.67162699e-03 -3.53375275e-06 9.99962401e-01 1.68678911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.22, Y:110.54, Z:1.69 [[-6.73136476e-01 7.39495273e-01 5.83319142e-03 1.26223497e+02] [-7.39467435e-01 -6.73161750e-01 6.41646272e-03 1.10540629e+02] [ 8.67162520e-03 5.70000738e-06 9.99962401e-01 1.68742155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.22, Y:110.54, Z:1.69 [[-6.73297415e-01 7.39348725e-01 5.83565021e-03 1.26222532e+02] [-7.39320901e-01 -6.73322704e-01 6.41422573e-03 1.10539937e+02] [ 8.67162539e-03 4.26342852e-06 9.99962401e-01 1.68765459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.22, Y:110.54, Z:1.69 [[-6.73181042e-01 7.39454665e-01 5.83810568e-03 1.26218428e+02] [-7.39426865e-01 -6.73206356e-01 6.41199002e-03 1.10536629e+02] [ 8.67162579e-03 -4.22057123e-07 9.99962401e-01 1.68811762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.22, Y:110.54, Z:1.69 [[-6.72701652e-01 7.39890784e-01 5.84086538e-03 1.26217975e+02] [-7.39863022e-01 -6.72727009e-01 6.40947515e-03 1.10537186e+02] [ 8.67161949e-03 -9.77579322e-06 9.99962401e-01 1.68919586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.21, Y:110.54, Z:1.69 [[-6.71834715e-01 7.40678048e-01 5.84331985e-03 1.26214037e+02] [-7.40650335e-01 -6.71860125e-01 6.40723670e-03 1.10535917e+02] [ 8.67159318e-03 -2.32527676e-05 9.99962401e-01 1.69151667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.21, Y:110.54, Z:1.69 [[-6.71742365e-01 7.40761785e-01 5.84577265e-03 1.26212476e+02] [-7.40734095e-01 -6.71767800e-01 6.40499806e-03 1.10535244e+02] [ 8.67157963e-03 -2.76545661e-05 9.99962401e-01 1.69237145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.21, Y:110.53, Z:1.69 [[-6.71568850e-01 7.40919077e-01 5.84822459e-03 1.26209108e+02] [-7.40891412e-01 -6.71594313e-01 6.40275848e-03 1.10532070e+02] [ 8.67156027e-03 -3.30062204e-05 9.99962401e-01 1.69226216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.88762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.21, Y:110.53, Z:1.69 [[-6.71072578e-01 7.41368573e-01 5.85098031e-03 1.26205899e+02] [-7.41340947e-01 -6.71098083e-01 6.40023925e-03 1.10528082e+02] [ 8.67151791e-03 -4.25462307e-05 9.99962401e-01 1.69117363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.21, Y:110.53, Z:1.69 [[-6.71235884e-01 7.41220697e-01 5.85373801e-03 1.26206039e+02] [-7.41193087e-01 -6.71261407e-01 6.39771603e-03 1.10528559e+02] [ 8.67150795e-03 -4.43735766e-05 9.99962401e-01 1.69004334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.20, Y:110.53, Z:1.69 [[-6.71665243e-01 7.40831632e-01 5.85618961e-03 1.26202522e+02] [-7.40804027e-01 -6.71690771e-01 6.39547115e-03 1.10525302e+02] [ 8.67151584e-03 -4.26731585e-05 9.99962401e-01 1.68958489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.20, Y:110.52, Z:1.69 [[-6.73500651e-01 7.39163409e-01 5.85894318e-03 1.26197796e+02] [-7.39135763e-01 -6.73526134e-01 6.39294759e-03 1.10520438e+02] [ 8.67158429e-03 -2.49000757e-05 9.99962401e-01 1.68864513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.20, Y:110.52, Z:1.69 [[-6.74711004e-01 7.38058734e-01 5.86233147e-03 1.26196205e+02] [-7.38031073e-01 -6.74736471e-01 6.38983902e-03 1.10517218e+02] [ 8.67160534e-03 -1.52880865e-05 9.99962401e-01 1.68787128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.037628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:126.20, Y:110.52, Z:1.68 [[-6.75681841e-01 7.37170029e-01 5.86508864e-03 1.26197901e+02] [-7.37142356e-01 -6.75707295e-01 6.38730727e-03 1.10516846e+02] [ 8.67161466e-03 -7.61772255e-06 9.99962401e-01 1.68490092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.067628 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:126.20, Y:110.51, Z:1.68 [[-6.76885540e-01 7.36064898e-01 5.86784076e-03 1.26195441e+02] [-7.36037206e-01 -6.76910974e-01 6.38477797e-03 1.10511610e+02] [ 8.67161675e-03 2.81476786e-06 9.99962401e-01 1.68370709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.19, Y:110.51, Z:1.69 [[-6.78584133e-01 7.34499219e-01 5.87121983e-03 1.26194828e+02] [-7.34471496e-01 -6.78609532e-01 6.38166919e-03 1.10507389e+02] [ 8.67159677e-03 1.82558466e-05 9.99962401e-01 1.68693190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.19, Y:110.50, Z:1.69 [[-6.79538887e-01 7.33615977e-01 5.87366445e-03 1.26191068e+02] [-7.33588239e-01 -6.79564271e-01 6.37941837e-03 1.10502931e+02] [ 8.67157574e-03 2.62116918e-05 9.99962401e-01 1.68793201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.19, Y:110.50, Z:1.69 [[-6.80089560e-01 7.33105492e-01 5.87611270e-03 1.26189803e+02] [-7.33077755e-01 -6.80114944e-01 6.37716248e-03 1.10501170e+02] [ 8.67156490e-03 2.93941202e-05 9.99962401e-01 1.68840719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.19, Y:110.50, Z:1.69 [[-6.80590293e-01 7.32640632e-01 5.87856293e-03 1.26186045e+02] [-7.32612897e-01 -6.80615680e-01 6.37490302e-03 1.10497650e+02] [ 8.67155508e-03 3.19861045e-05 9.99962401e-01 1.68927809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.18, Y:110.50, Z:1.69 [[-6.79607027e-01 7.33552792e-01 5.88131770e-03 1.26184655e+02] [-7.33525113e-01 -6.79632475e-01 6.37236053e-03 1.10497240e+02] [ 8.67159736e-03 1.66067588e-05 9.99962401e-01 1.68895231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.18, Y:110.49, Z:1.69 [[-6.78608168e-01 7.34476910e-01 5.88407138e-03 1.26177331e+02] [-7.34449288e-01 -6.78633678e-01 6.36981684e-03 1.10490611e+02] [ 8.67161239e-03 1.05770336e-06 9.99962401e-01 1.69034956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.71, Y:109.89, Z:2.61 [[-6.30213248e-01 -7.76399794e-01 -5.88407138e-03 1.26712210e+02] [-7.76373861e-01 6.30240472e-01 -6.36981684e-03 1.09889262e+02] [ 8.65390441e-03 5.53896258e-04 -9.99962401e-01 2.61193682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.06, Y:110.40, Z:1.69 [[-6.23588388e-01 7.81734002e-01 5.42888214e-03 1.26056659e+02] [-7.81704976e-01 -6.23612017e-01 6.73664365e-03 1.10404139e+02] [ 8.65177954e-03 -4.28914276e-05 9.99962572e-01 1.69141724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.33762800000002 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:126.05, Y:110.40, Z:1.69 [[-6.22027414e-01 7.82976623e-01 5.43178492e-03 1.26052891e+02] [-7.82947665e-01 -6.22051126e-01 6.73430231e-03 1.10399490e+02] [ 8.65164921e-03 -6.38826692e-05 9.99962572e-01 1.69007935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.06, Y:110.41, Z:1.69 [[-6.19424847e-01 7.85037147e-01 5.43468878e-03 1.26056752e+02] [-7.85008288e-01 -6.19448681e-01 6.73195804e-03 1.10405184e+02] [ 8.65134793e-03 -9.63336566e-05 9.99962572e-01 1.69028101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.39762800000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.05, Y:110.40, Z:1.69 [[-6.18325390e-01 7.85903392e-01 5.43791418e-03 1.26053816e+02] [-7.85874589e-01 -6.18349291e-01 6.72935162e-03 1.10401977e+02] [ 8.65115065e-03 -1.12589607e-04 9.99962572e-01 1.68828751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:110.40, Z:1.69 [[-6.17878977e-01 7.86254387e-01 5.44145768e-03 1.26051409e+02] [-7.86225623e-01 -6.17902925e-01 6.72648508e-03 1.10399535e+02] [ 8.65102101e-03 -1.22059732e-04 9.99962572e-01 1.68795926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:110.40, Z:1.69 [[-6.17180577e-01 7.86802699e-01 5.44499689e-03 1.26047042e+02] [-7.86773982e-01 -6.17204581e-01 6.72361891e-03 1.10395304e+02] [ 8.65083853e-03 -1.34294879e-04 9.99962572e-01 1.68720744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.04, Y:110.39, Z:1.69 [[-6.17897335e-01 7.86239908e-01 5.44886746e-03 1.26042432e+02] [-7.86211197e-01 -6.17921346e-01 6.72048071e-03 1.10389036e+02] [ 8.65088165e-03 -1.31393480e-04 9.99962572e-01 1.68761649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.04, Y:110.39, Z:1.69 [[-6.18687766e-01 7.85618054e-01 5.45174747e-03 1.26044832e+02] [-7.85589339e-01 -6.18711773e-01 6.71814359e-03 1.10390311e+02] [ 8.65095524e-03 -1.26401436e-04 9.99962572e-01 1.68776051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.04, Y:110.39, Z:1.69 [[-6.20015737e-01 7.84570413e-01 5.45462535e-03 1.26044365e+02] [-7.84541678e-01 -6.20039719e-01 6.71580616e-03 1.10386193e+02] [ 8.65110718e-03 -1.15475425e-04 9.99962572e-01 1.68796379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.04, Y:110.38, Z:1.69 [[-6.20952082e-01 7.83829527e-01 5.45749701e-03 1.26040735e+02] [-7.83800784e-01 -6.20976054e-01 6.71347174e-03 1.10380134e+02] [ 8.65119234e-03 -1.08846185e-04 9.99962572e-01 1.68825294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.04, Y:110.38, Z:1.69 [[-6.21869737e-01 7.83101663e-01 5.46037186e-03 1.26041138e+02] [-7.83072912e-01 -6.21893700e-01 6.71113267e-03 1.10379329e+02] [ 8.65127002e-03 -1.02418990e-04 9.99962572e-01 1.68922378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63762800000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:126.04, Y:110.37, Z:1.69 [[-6.22715211e-01 7.82429498e-01 5.46324674e-03 1.26037676e+02] [-7.82400741e-01 -6.22739169e-01 6.70879155e-03 1.10374584e+02] [ 8.65133413e-03 -9.67817545e-05 9.99962572e-01 1.68909682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.03, Y:110.37, Z:1.69 [[-6.24985277e-01 7.80617400e-01 5.46612061e-03 1.26034190e+02] [-7.80588595e-01 -6.25009175e-01 6.70644918e-03 1.10370138e+02] [ 8.65154646e-03 -7.53594091e-05 9.99962572e-01 1.69199178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.03, Y:110.36, Z:1.69 [[-6.26296433e-01 7.79565820e-01 5.46899871e-03 1.26029128e+02] [-7.79536995e-01 -6.26320308e-01 6.70410132e-03 1.10363055e+02] [ 8.65163320e-03 -6.45320758e-05 9.99962572e-01 1.69194859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.03, Y:110.36, Z:1.69 [[-6.26632511e-01 7.79295676e-01 5.47221300e-03 1.26027166e+02] [-7.79266864e-01 -6.26656401e-01 6.70147663e-03 1.10360555e+02] [ 8.65162907e-03 -6.49511343e-05 9.99962572e-01 1.69197779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.03, Y:110.36, Z:1.69 [[-6.28194115e-01 7.78037388e-01 5.47510165e-03 1.26028378e+02] [-7.78008549e-01 -6.28217972e-01 6.69911577e-03 1.10360668e+02] [ 8.65171979e-03 -5.13307864e-05 9.99962572e-01 1.69180224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.03, Y:110.36, Z:1.69 [[-6.29860124e-01 7.76689266e-01 5.47798505e-03 1.26026861e+02] [-7.76660396e-01 -6.29883944e-01 6.69675714e-03 1.10357891e+02] [ 8.65179421e-03 -3.65137527e-05 9.99962572e-01 1.69171778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.02, Y:110.35, Z:1.69 [[-6.33111055e-01 7.74041568e-01 5.48119115e-03 1.26021093e+02] [-7.74012621e-01 -6.33134781e-01 6.69413197e-03 1.10351514e+02] [ 8.65186916e-03 -4.38217963e-06 9.99962572e-01 1.69205766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.02, Y:110.35, Z:1.69 [[-6.34841493e-01 7.72622940e-01 5.48375472e-03 1.26020703e+02] [-7.72593958e-01 -6.34865177e-01 6.69203126e-03 1.10350034e+02] [ 8.65186178e-03 1.16633596e-05 9.99962572e-01 1.69115708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.02, Y:110.35, Z:1.69 [[-6.37685767e-01 7.70277064e-01 5.48696910e-03 1.26018375e+02] [-7.70248018e-01 -6.37709372e-01 6.68939467e-03 1.10345928e+02] [ 8.65177890e-03 3.94046973e-05 9.99962572e-01 1.69038578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.02, Y:110.34, Z:1.69 [[-6.39019924e-01 7.69170594e-01 5.48953469e-03 1.26016494e+02] [-7.69141525e-01 -6.39043500e-01 6.68728860e-03 1.10344700e+02] [ 8.65171720e-03 5.10815694e-05 9.99962572e-01 1.69052631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.01, Y:110.34, Z:1.69 [[-6.39967700e-01 7.68382182e-01 5.49241826e-03 1.26012162e+02] [-7.68353104e-01 -6.39991265e-01 6.68491942e-03 1.10340993e+02] [ 8.65167268e-03 5.80158898e-05 9.99962572e-01 1.69037971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.01, Y:110.34, Z:1.69 [[-6.41301769e-01 7.67269081e-01 5.49530183e-03 1.26008161e+02] [-7.67239983e-01 -6.41325309e-01 6.68254815e-03 1.10339020e+02] [ 8.65158873e-03 6.93146632e-05 9.99962572e-01 1.69099564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.01, Y:110.34, Z:1.69 [[-6.41750544e-01 7.66893738e-01 5.49851756e-03 1.26005731e+02] [-7.66864649e-01 -6.41774096e-01 6.67990115e-03 1.10337371e+02] [ 8.65158049e-03 7.02114652e-05 9.99962572e-01 1.69133914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.00, Y:110.34, Z:1.69 [[-6.42080181e-01 7.66617751e-01 5.50140114e-03 1.26002006e+02] [-7.66588672e-01 -6.42103745e-01 6.67752545e-03 1.10335269e+02] [ 8.65157982e-03 7.01949573e-05 9.99962572e-01 1.69206219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.00, Y:110.33, Z:1.69 [[-6.42443345e-01 7.66313416e-01 5.50428474e-03 1.26000261e+02] [-7.66284346e-01 -6.42466920e-01 6.67514766e-03 1.10334039e+02] [ 8.65157607e-03 7.05569585e-05 9.99962572e-01 1.69210332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.00, Y:110.33, Z:1.69 [[-6.43019388e-01 7.65830097e-01 5.50716731e-03 1.25995831e+02] [-7.65801030e-01 -6.43042967e-01 6.67276862e-03 1.10330005e+02] [ 8.65155224e-03 7.33251964e-05 9.99962572e-01 1.69277085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.99, Y:110.33, Z:1.69 [[-6.43579231e-01 7.65359658e-01 5.51071059e-03 1.25992914e+02] [-7.65330598e-01 -6.43602819e-01 6.66984111e-03 1.10328337e+02] [ 8.65153618e-03 7.50557754e-05 9.99962572e-01 1.69301767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.99, Y:110.33, Z:1.69 [[-6.44253346e-01 7.64792274e-01 5.51392019e-03 1.25989566e+02] [-7.64763216e-01 -6.44276937e-01 6.66718670e-03 1.10326643e+02] [ 8.65150449e-03 7.85139967e-05 9.99962572e-01 1.69398911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.97, Y:110.31, Z:1.70 [[-6.45191457e-01 7.64001013e-01 5.51679829e-03 1.25974480e+02] [-7.63971947e-01 -6.45215037e-01 6.66480435e-03 1.10312476e+02] [ 8.65143849e-03 8.53957026e-05 9.99962572e-01 1.69518445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.98, Y:110.32, Z:1.70 [[-6.46083759e-01 7.63246553e-01 5.52053685e-03 1.25980629e+02] [-7.63217486e-01 -6.46107337e-01 6.66170622e-03 1.10320890e+02] [ 8.65138367e-03 9.06499438e-05 9.99962572e-01 1.69589257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.98, Y:110.32, Z:1.70 [[-6.46778811e-01 7.62657625e-01 5.52409533e-03 1.25977125e+02] [-7.62628562e-01 -6.46802395e-01 6.65875410e-03 1.10317262e+02] [ 8.65134768e-03 9.39081852e-05 9.99962572e-01 1.69576890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.98, Y:110.31, Z:1.70 [[-6.48376606e-01 7.61299698e-01 5.52697392e-03 1.25975204e+02] [-7.61270605e-01 -6.48400153e-01 6.65636393e-03 1.10314055e+02] [ 8.65117858e-03 1.08307873e-04 9.99962572e-01 1.69552863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.97, Y:110.31, Z:1.70 [[-6.49242919e-01 7.60561012e-01 5.52985364e-03 1.25972746e+02] [-7.60531913e-01 -6.49266459e-01 6.65397070e-03 1.10309771e+02] [ 8.65109918e-03 1.14413195e-04 9.99962572e-01 1.69510661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.97, Y:110.30, Z:1.70 [[-6.49862430e-01 7.60031717e-01 5.53273441e-03 1.25968533e+02] [-7.60002620e-01 -6.49885971e-01 6.65157450e-03 1.10303860e+02] [ 8.65105406e-03 1.17715722e-04 9.99962572e-01 1.69506294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.97, Y:110.31, Z:1.70 [[-6.49525566e-01 7.60319602e-01 5.53562048e-03 1.25972747e+02] [-7.60290535e-01 -6.49549145e-01 6.64917177e-03 1.10307925e+02] [ 8.65115318e-03 1.10127203e-04 9.99962572e-01 1.69560274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.38762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.97, Y:110.30, Z:1.70 [[-6.49182619e-01 7.60612419e-01 5.53850020e-03 1.25968830e+02] [-7.60583383e-01 -6.49206236e-01 6.64677221e-03 1.10303356e+02] [ 8.65124636e-03 1.02477770e-04 9.99962572e-01 1.69618870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.97, Y:110.30, Z:1.70 [[-6.48689104e-01 7.61033337e-01 5.54137257e-03 1.25966292e+02] [-7.61004337e-01 -6.48712765e-01 6.64437667e-03 1.10299733e+02] [ 8.65135127e-03 9.31261897e-05 9.99962572e-01 1.69605652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.96, Y:110.30, Z:1.70 [[-6.46645051e-01 7.62770891e-01 5.54490727e-03 1.25963985e+02] [-7.62741980e-01 -6.46668821e-01 6.64142555e-03 1.10297111e+02] [ 8.65160473e-03 6.53114158e-05 9.99962572e-01 1.69611794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.96, Y:110.30, Z:1.70 [[-6.45013017e-01 7.64151445e-01 5.54778053e-03 1.25963999e+02] [-7.64122605e-01 -6.45036873e-01 6.63902456e-03 1.10297546e+02] [ 8.65174322e-03 4.30727467e-05 9.99962572e-01 1.69652859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.96, Y:110.30, Z:1.70 [[-6.42953902e-01 7.65884763e-01 5.55064852e-03 1.25964489e+02] [-7.65856008e-01 -6.42977861e-01 6.63662588e-03 1.10297924e+02] [ 8.65183475e-03 1.60469865e-05 9.99962572e-01 1.69633680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.97, Y:110.30, Z:1.70 [[-6.36970998e-01 7.70867762e-01 5.55350817e-03 1.25965626e+02] [-7.70839216e-01 -6.36995204e-01 6.63423207e-03 1.10299132e+02] [ 8.65167370e-03 -5.50484607e-05 9.99962572e-01 1.69580233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.97, Y:110.30, Z:1.70 [[-6.33337328e-01 7.73855902e-01 5.55635739e-03 1.25965490e+02] [-7.73827490e-01 -6.33361693e-01 6.63184491e-03 1.10299825e+02] [ 8.65127624e-03 -9.94671605e-05 9.99962572e-01 1.69579020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.96, Y:110.30, Z:1.70 [[-6.29640213e-01 7.76866975e-01 5.55919726e-03 1.25964661e+02] [-7.76838702e-01 -6.29664738e-01 6.62946351e-03 1.10300743e+02] [ 8.65064175e-03 -1.44422762e-04 9.99962572e-01 1.69733830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.96, Y:110.30, Z:1.70 [[-6.22228690e-01 7.82815764e-01 5.56202894e-03 1.25964775e+02] [-7.82787746e-01 -6.22253506e-01 6.62708691e-03 1.10302724e+02] [ 8.64878012e-03 -2.30324490e-04 9.99962572e-01 1.69966625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.96, Y:110.30, Z:1.70 [[-6.19272208e-01 7.85156644e-01 5.56567169e-03 1.25964235e+02] [-7.85128747e-01 -6.19297160e-01 6.62402619e-03 1.10301766e+02] [ 8.64770284e-03 -2.67693515e-04 9.99962572e-01 1.70119963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.96, Y:110.30, Z:1.70 [[-6.17117303e-01 7.86851464e-01 5.56848266e-03 1.25963322e+02] [-7.86823657e-01 -6.17142355e-01 6.62166230e-03 1.10300097e+02] [ 8.64681118e-03 -2.95071512e-04 9.99962572e-01 1.70215503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.96, Y:110.30, Z:1.70 [[-6.15819788e-01 7.87867343e-01 5.57128966e-03 1.25960481e+02] [-7.87839598e-01 -6.15844909e-01 6.61929973e-03 1.10295888e+02] [ 8.64618046e-03 -3.12986854e-04 9.99962572e-01 1.70209416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.74762800000002 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:125.96, Y:110.29, Z:1.70 [[-6.15430804e-01 7.88171210e-01 5.57409565e-03 1.25962908e+02] [-7.88143499e-01 -6.15455962e-01 6.61693596e-03 1.10293851e+02] [ 8.64588882e-03 -3.20921037e-04 9.99962572e-01 1.69936871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.96, Y:110.29, Z:1.70 [[-6.19053838e-01 7.85328749e-01 5.57689956e-03 1.25963408e+02] [-7.85300944e-01 -6.19078892e-01 6.61457192e-03 1.10287996e+02] [ 8.64715430e-03 -2.84768355e-04 9.99962572e-01 1.69984630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.96, Y:110.28, Z:1.70 [[-6.21484231e-01 7.83406802e-01 5.57970048e-03 1.25961984e+02] [-7.83378941e-01 -6.21509223e-01 6.61220837e-03 1.10283054e+02] [ 8.64788432e-03 -2.61636625e-04 9.99962572e-01 1.69919529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.90, Y:110.21, Z:1.70 [[-6.24204899e-01 7.81240731e-01 5.58250238e-03 1.25904709e+02] [-7.81212804e-01 -6.24229817e-01 6.60984196e-03 1.10213248e+02] [ 8.64864220e-03 -2.35226609e-04 9.99962572e-01 1.70090269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.50, Y:109.69, Z:2.61 [[-6.11576668e-01 -7.91165479e-01 -5.58250238e-03 1.26502517e+02] [-7.91137956e-01 6.11602032e-01 -6.60984195e-03 1.09687624e+02] [ 8.64374858e-03 3.74104407e-04 -9.99962572e-01 2.60646339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.89762800000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:125.83, Y:110.16, Z:1.70 [[-5.75382648e-01 8.17868370e-01 5.11260592e-03 1.25825997e+02] [-8.17838815e-01 -5.75405334e-01 6.95525121e-03 1.10162478e+02] [ 8.63030068e-03 -1.79356713e-04 9.99962742e-01 1.70048241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:110.14, Z:1.70 [[-5.73723380e-01 8.19033158e-01 5.11557257e-03 1.25820300e+02] [-8.19003668e-01 -5.73746151e-01 6.95306856e-03 1.10140870e+02] [ 8.62983377e-03 -2.00534705e-04 9.99962742e-01 1.70036194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.83, Y:110.15, Z:1.70 [[-5.83801560e-01 8.11880874e-01 5.01853239e-03 1.25825900e+02] [-8.11850486e-01 -5.83823129e-01 7.02444781e-03 1.10153020e+02] [ 8.63295011e-03 2.65856331e-05 9.99962735e-01 1.70422532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:110.14, Z:1.70 [[-5.86648148e-01 8.09825742e-01 5.12034038e-03 1.25822079e+02] [-8.09795926e-01 -5.86670489e-01 6.94943583e-03 1.10144982e+02] [ 8.63178462e-03 -6.95571189e-05 9.99962743e-01 1.70442505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:110.14, Z:1.70 [[-5.88862458e-01 8.08217021e-01 5.12366026e-03 1.25822904e+02] [-8.08187166e-01 -5.88884746e-01 6.94698729e-03 1.10142695e+02] [ 8.63191875e-03 -5.00564485e-05 9.99962743e-01 1.70406357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:110.14, Z:1.70 [[-5.91921843e-01 8.05979063e-01 5.12664169e-03 1.25821340e+02] [-8.05949142e-01 -5.91944043e-01 6.94478640e-03 1.10137487e+02] [ 8.63203744e-03 -2.10417035e-05 9.99962743e-01 1.70318232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:110.13, Z:1.70 [[-5.92992897e-01 8.05191351e-01 5.12962217e-03 1.25817220e+02] [-8.05161420e-01 -5.93015083e-01 6.94258424e-03 1.10132339e+02] [ 8.63205209e-03 -1.32707268e-05 9.99962743e-01 1.70237319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.81, Y:110.13, Z:1.70 [[-5.93461214e-01 8.04846223e-01 5.13260832e-03 1.25813814e+02] [-8.04816299e-01 -5.93483409e-01 6.94037589e-03 1.10127992e+02] [ 8.63205321e-03 -1.19629209e-05 9.99962743e-01 1.70268264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.13762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.81, Y:110.13, Z:1.70 [[-5.93271057e-01 8.04986380e-01 5.13628466e-03 1.25813982e+02] [-8.04956484e-01 -5.93293290e-01 6.93765411e-03 1.10128032e+02] [ 8.63204030e-03 -1.85762507e-05 9.99962743e-01 1.70371337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.81, Y:110.13, Z:1.70 [[-5.93288170e-01 8.04973748e-01 5.13926976e-03 1.25812134e+02] [-8.04943871e-01 -5.93310429e-01 6.93544211e-03 1.10125146e+02] [ 8.63203117e-03 -2.21079269e-05 9.99962743e-01 1.70454569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.81, Y:110.12, Z:1.71 [[-5.93537676e-01 8.04789777e-01 5.14225059e-03 1.25810737e+02] [-8.04759912e-01 -5.93559950e-01 6.93323129e-03 1.10123142e+02] [ 8.63202766e-03 -2.31431492e-05 9.99962743e-01 1.70524481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.81, Y:110.12, Z:1.71 [[-5.94587764e-01 8.04014252e-01 5.14523047e-03 1.25807029e+02] [-8.03984377e-01 -5.94610025e-01 6.93101918e-03 1.10118251e+02] [ 8.63204382e-03 -1.55857208e-05 9.99962743e-01 1.70699829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.81, Y:110.12, Z:1.71 [[-5.95701611e-01 8.03189322e-01 5.14821164e-03 1.25805179e+02] [-8.03159435e-01 -5.95723856e-01 6.92880412e-03 1.10115369e+02] [ 8.63205397e-03 -7.33497909e-06 9.99962743e-01 1.70735708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:110.11, Z:1.71 [[-5.97115206e-01 8.02138948e-01 5.15153503e-03 1.25802324e+02] [-8.02109044e-01 -5.97137428e-01 6.92633231e-03 1.10111581e+02] [ 8.63205529e-03 3.72550625e-06 9.99962743e-01 1.70745335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.79, Y:110.10, Z:1.71 [[-5.99290700e-01 8.00514890e-01 5.15451738e-03 1.25790618e+02] [-8.00484944e-01 -5.99312866e-01 6.92411216e-03 1.10095584e+02] [ 8.63202346e-03 2.34424577e-05 9.99962743e-01 1.70686119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.36, Y:109.57, Z:2.60 [[-5.38739966e-01 -8.42456337e-01 -5.15451739e-03 1.26361539e+02] [-8.42428105e-01 5.38764276e-01 -6.92411216e-03 1.09566803e+02] [ 8.61033199e-03 6.12014368e-04 -9.99962743e-01 2.60450719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.28, Y:109.50, Z:2.61 [[-4.79584129e-01 -8.77480766e-01 -5.15451739e-03 1.26284493e+02] [-8.77454270e-01 4.79610322e-01 -6.92411216e-03 1.09502881e+02] [ 8.54793498e-03 1.20215899e-03 -9.99962743e-01 2.60817819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.57, Y:109.88, Z:1.71 [[-4.88841302e-01 8.72362930e-01 4.13518030e-03 1.25572251e+02] [-8.72330802e-01 -4.88858789e-01 7.48710571e-03 1.09880820e+02] [ 8.55299271e-03 5.27613498e-05 9.99963421e-01 1.70581477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.57, Y:109.88, Z:1.71 [[-4.89235563e-01 8.72141866e-01 4.13878113e-03 1.25569893e+02] [-8.72109747e-01 -4.89253067e-01 7.48511469e-03 1.09878630e+02] [ 8.55299325e-03 5.25129392e-05 9.99963421e-01 1.70529276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.57, Y:109.87, Z:1.70 [[-4.89327219e-01 8.72090428e-01 4.14238216e-03 1.25566110e+02] [-8.72058323e-01 -4.89344749e-01 7.48312129e-03 1.09874051e+02] [ 8.55301140e-03 4.92960899e-05 9.99963421e-01 1.70480898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.57, Y:109.87, Z:1.70 [[-4.89185490e-01 8.72169919e-01 4.14598359e-03 1.25565203e+02] [-8.72137834e-01 -4.89203057e-01 7.48112540e-03 1.09873988e+02] [ 8.55304038e-03 4.37888481e-05 9.99963421e-01 1.70414724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.56, Y:109.87, Z:1.70 [[-4.87980393e-01 8.72844727e-01 4.14958153e-03 1.25561179e+02] [-8.72812684e-01 -4.87998035e-01 7.47912919e-03 1.09871301e+02] [ 8.55310610e-03 2.78610075e-05 9.99963421e-01 1.70268827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.56, Y:109.87, Z:1.70 [[-4.87138275e-01 8.73314979e-01 4.15317443e-03 1.25559099e+02] [-8.73282970e-01 -4.87155979e-01 7.47713351e-03 1.09870955e+02] [ 8.55313645e-03 1.55014178e-05 9.99963421e-01 1.70257793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.56, Y:109.87, Z:1.70 [[-4.86259570e-01 8.73804527e-01 4.15676386e-03 1.25555277e+02] [-8.73772553e-01 -4.86277336e-01 7.47513750e-03 1.09868220e+02] [ 8.55314905e-03 2.79097466e-06 9.99963421e-01 1.70295536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.55, Y:109.87, Z:1.70 [[-4.85415602e-01 8.74273633e-01 4.16034827e-03 1.25551219e+02] [-8.74241693e-01 -4.85433430e-01 7.47314204e-03 1.09865090e+02] [ 8.55314317e-03 -9.57016867e-06 9.99963421e-01 1.70272188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.55, Y:109.86, Z:1.70 [[-4.85834708e-01 8.74040784e-01 4.16467647e-03 1.25549318e+02] [-8.74008856e-01 -4.85852558e-01 7.47072922e-03 1.09861577e+02] [ 8.55314074e-03 -1.04245701e-05 9.99963421e-01 1.70275809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.54, Y:109.86, Z:1.70 [[-4.83848119e-01 8.75142059e-01 4.16825741e-03 1.25542243e+02] [-8.75110189e-01 -4.83866072e-01 7.46873071e-03 1.09855739e+02] [ 8.55307871e-03 -3.39532180e-05 9.99963421e-01 1.70167044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.54, Y:109.86, Z:1.70 [[-4.83393190e-01 8.75393409e-01 4.17184280e-03 1.25542535e+02] [-8.75361565e-01 -4.83411190e-01 7.46672747e-03 1.09859431e+02] [ 8.55303950e-03 -4.25056311e-05 9.99963421e-01 1.70111103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.54, Y:109.86, Z:1.70 [[-4.83642243e-01 8.75255818e-01 4.17542452e-03 1.25538273e+02] [-8.75223987e-01 -4.83660264e-01 7.46472402e-03 1.09858097e+02] [ 8.55303005e-03 -4.41758272e-05 9.99963421e-01 1.70097542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.76762800000003 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:125.53, Y:109.85, Z:1.70 [[-4.84423539e-01 8.74823623e-01 4.17899355e-03 1.25534931e+02] [-8.74791792e-01 -4.84441563e-01 7.46272543e-03 1.09854846e+02] [ 8.55304666e-03 -4.06293912e-05 9.99963421e-01 1.69875862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.53, Y:109.85, Z:1.70 [[-4.86210174e-01 8.73831889e-01 4.18292938e-03 1.25528900e+02] [-8.73800041e-01 -4.86228166e-01 7.46051870e-03 1.09847678e+02] [ 8.55309723e-03 -2.76637714e-05 9.99963421e-01 1.70207050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.52, Y:109.84, Z:1.70 [[-4.87551760e-01 8.73084042e-01 4.18761605e-03 1.25524727e+02] [-8.73052189e-01 -4.87569743e-01 7.45788713e-03 1.09842748e+02] [ 8.55311712e-03 -1.99013587e-05 9.99963421e-01 1.70417460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.52, Y:109.84, Z:1.71 [[-4.90214080e-01 8.71591986e-01 4.19119082e-03 1.25521920e+02] [-8.71560095e-01 -4.90231997e-01 7.45587763e-03 1.09840124e+02] [ 8.55313904e-03 2.10152433e-06 9.99963421e-01 1.70582025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.88762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.52, Y:109.84, Z:1.71 [[-4.91433565e-01 8.70904963e-01 4.19476733e-03 1.25520566e+02] [-8.70873065e-01 -4.91451467e-01 7.45386490e-03 1.09836935e+02] [ 8.55313250e-03 9.96951419e-06 9.99963421e-01 1.70584840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.52, Y:109.83, Z:1.71 [[-4.92633490e-01 8.70226763e-01 4.19834153e-03 1.25517539e+02] [-8.70194857e-01 -4.92651379e-01 7.45185121e-03 1.09831974e+02] [ 8.55311910e-03 1.76562675e-05 9.99963421e-01 1.70585854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.51, Y:109.82, Z:1.71 [[-4.93852726e-01 8.69535410e-01 4.20191611e-03 1.25510892e+02] [-8.69503496e-01 -4.93870600e-01 7.44983505e-03 1.09824692e+02] [ 8.55309821e-03 2.55406013e-05 9.99963421e-01 1.70770503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.51, Y:109.82, Z:1.71 [[-4.94553339e-01 8.69137104e-01 4.20586995e-03 1.25507254e+02] [-8.69105195e-01 -4.94571222e-01 7.44760221e-03 1.09821489e+02] [ 8.55308965e-03 2.78931158e-05 9.99963421e-01 1.70885858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.51, Y:109.82, Z:1.71 [[-4.95584510e-01 8.68549522e-01 4.20982991e-03 1.25505506e+02] [-8.68517610e-01 -4.95602389e-01 7.44536313e-03 1.09820296e+02] [ 8.55306834e-03 3.34952262e-05 9.99963421e-01 1.70985482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.50, Y:109.82, Z:1.71 [[-4.96624180e-01 8.67955455e-01 4.21341314e-03 1.25504104e+02] [-8.67923539e-01 -4.96642051e-01 7.44333478e-03 1.09816928e+02] [ 8.55304117e-03 3.96195812e-05 9.99963421e-01 1.71017231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.50, Y:109.81, Z:1.71 [[-4.97725076e-01 8.67324602e-01 4.21699289e-03 1.25500369e+02] [-8.67292681e-01 -4.97742938e-01 7.44130614e-03 1.09808967e+02] [ 8.55300632e-03 4.63575932e-05 9.99963421e-01 1.70985088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.50, Y:109.80, Z:1.71 [[-4.98858560e-01 8.66673134e-01 4.22094793e-03 1.25495419e+02] [-8.66641208e-01 -4.98876414e-01 7.43906203e-03 1.09798042e+02] [ 8.55296657e-03 5.29923550e-05 9.99963421e-01 1.70983942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.12762800000002 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:125.50, Y:109.80, Z:1.71 [[-5.00146600e-01 8.65930439e-01 4.22529192e-03 1.25498900e+02] [-8.65898508e-01 -5.00164444e-01 7.43659389e-03 1.09799225e+02] [ 8.55291379e-03 6.07131756e-05 9.99963421e-01 1.70707809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.50, Y:109.80, Z:1.71 [[-5.01394675e-01 8.65208354e-01 4.22888551e-03 1.25497076e+02] [-8.65176415e-01 -5.01412504e-01 7.43454980e-03 1.09795161e+02] [ 8.55285067e-03 6.89116817e-05 9.99963421e-01 1.70822446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.49, Y:109.78, Z:1.71 [[-5.01743950e-01 8.65005835e-01 4.23247012e-03 1.25491241e+02] [-8.64973906e-01 -5.01761796e-01 7.43250853e-03 1.09783755e+02] [ 8.55285506e-03 6.82399692e-05 9.99963421e-01 1.70738898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.49, Y:109.79, Z:1.71 [[-5.01488061e-01 8.65154194e-01 4.23606563e-03 1.25494516e+02] [-8.65122287e-01 -5.01505948e-01 7.43045875e-03 1.09789593e+02] [ 8.55290466e-03 6.15715606e-05 9.99963421e-01 1.70633025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.49, Y:109.79, Z:1.71 [[-5.00970465e-01 8.65453995e-01 4.23965762e-03 1.25492918e+02] [-8.65422116e-01 -5.00988402e-01 7.42840867e-03 1.09786387e+02] [ 8.55296526e-03 5.23198823e-05 9.99963421e-01 1.70561540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.49, Y:109.78, Z:1.71 [[-5.00062872e-01 8.65978706e-01 4.24323404e-03 1.25487350e+02] [-8.65946863e-01 -5.00080872e-01 7.42636520e-03 1.09776275e+02] [ 8.55303431e-03 3.92342964e-05 9.99963421e-01 1.70521637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.49, Y:109.78, Z:1.71 [[-4.99515427e-01 8.66294582e-01 4.24681995e-03 1.25487972e+02] [-8.66262768e-01 -4.99533479e-01 7.42431400e-03 1.09777554e+02] [ 8.55307174e-03 2.96973759e-05 9.99963421e-01 1.70515670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.49, Y:109.78, Z:1.71 [[-4.95428185e-01 8.68638479e-01 4.25521302e-03 1.25486619e+02] [-8.68606791e-01 -4.95446458e-01 7.41950043e-03 1.09775580e+02] [ 8.55309379e-03 -2.02772944e-05 9.99963421e-01 1.70530413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.48, Y:109.77, Z:1.71 [[-4.93453709e-01 8.69761632e-01 4.25913887e-03 1.25480934e+02] [-8.69730006e-01 -4.93472088e-01 7.41724613e-03 1.09765511e+02] [ 8.55300225e-03 -4.42332618e-05 9.99963421e-01 1.70553928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.48, Y:109.77, Z:1.71 [[-4.91501888e-01 8.70866072e-01 4.26381470e-03 1.25482881e+02] [-8.70834510e-01 -4.91520377e-01 7.41455724e-03 1.09768525e+02] [ 8.55283815e-03 -6.88081090e-05 9.99963421e-01 1.70571650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.48, Y:109.76, Z:1.71 [[-4.89331665e-01 8.72087328e-01 4.26773639e-03 1.25478802e+02] [-8.72055832e-01 -4.89350266e-01 7.41229927e-03 1.09761369e+02] [ 8.55259021e-03 -9.46316698e-05 9.99963421e-01 1.70567729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.48, Y:109.76, Z:1.71 [[-4.85159877e-01 8.74415031e-01 4.27164970e-03 1.25479472e+02] [-8.74383644e-01 -4.85178662e-01 7.41004338e-03 1.09762174e+02] [ 8.55196660e-03 -1.40004901e-04 9.99963421e-01 1.70710250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.49, Y:109.78, Z:1.70 [[-4.74537755e-01 8.80224766e-01 4.27555925e-03 1.25494607e+02] [-8.80193629e-01 -4.74556951e-01 7.40778690e-03 1.09776660e+02] [ 8.54951385e-03 -2.48045450e-04 9.99963421e-01 1.70318103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.48, Y:109.76, Z:1.71 [[-4.82387317e-01 8.75948109e-01 4.16972785e-03 1.25477562e+02] [-8.75916268e-01 -4.82405335e-01 7.46886681e-03 1.09758264e+02] [ 8.55383872e-03 -4.94458360e-05 9.99963414e-01 1.70795129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.48, Y:109.76, Z:1.71 [[-4.80293849e-01 8.77097187e-01 4.28282573e-03 1.25476359e+02] [-8.77065964e-01 -4.80312902e-01 7.40344076e-03 1.09756509e+02] [ 8.55063352e-03 -2.00493622e-04 9.99963423e-01 1.70792713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.48, Y:109.75, Z:1.71 [[-4.79898311e-01 8.77313649e-01 4.28634614e-03 1.25475456e+02] [-8.77282453e-01 -4.79917407e-01 7.40140200e-03 1.09754333e+02] [ 8.55044312e-03 -2.08415941e-04 9.99963423e-01 1.70748777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:109.75, Z:1.71 [[-4.79870277e-01 8.77328966e-01 4.28986163e-03 1.25471918e+02] [-8.77297788e-01 -4.79889404e-01 7.39936385e-03 1.09747081e+02] [ 8.55033538e-03 -2.12751343e-04 9.99963423e-01 1.70638467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.63762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:109.74, Z:1.70 [[-4.80250257e-01 8.77121001e-01 4.29410621e-03 1.25470996e+02] [-8.77089837e-01 -4.80269407e-01 7.39689976e-03 1.09743558e+02] [ 8.55030397e-03 -2.13953906e-04 9.99963423e-01 1.70455478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:109.74, Z:1.70 [[-4.81263076e-01 8.76565675e-01 4.29762219e-03 1.25469756e+02] [-8.76534507e-01 -4.81282219e-01 7.39485640e-03 1.09740246e+02] [ 8.55044643e-03 -2.08142813e-04 9.99963423e-01 1.70393055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:109.74, Z:1.70 [[-4.82550039e-01 8.75857843e-01 4.30113588e-03 1.25469238e+02] [-8.75826665e-01 -4.82569166e-01 7.39281213e-03 1.09737866e+02] [ 8.55064804e-03 -1.99647715e-04 9.99963423e-01 1.70350534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:109.73, Z:1.70 [[-4.85642319e-01 8.74147018e-01 4.30464617e-03 1.25467017e+02] [-8.74115790e-01 -4.85661365e-01 7.39076762e-03 1.09730629e+02] [ 8.55121780e-03 -1.73489670e-04 9.99963423e-01 1.70400137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:109.73, Z:1.70 [[-4.87138127e-01 8.73314311e-01 4.30815792e-03 1.25465411e+02] [-8.73283069e-01 -4.87157150e-01 7.38872001e-03 1.09725153e+02] [ 8.55142486e-03 -1.62914143e-04 9.99963423e-01 1.70429053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:109.72, Z:1.71 [[-4.89081813e-01 8.72227258e-01 4.31167508e-03 1.25466057e+02] [-8.72195992e-01 -4.89100795e-01 7.38666701e-03 1.09721982e+02] [ 8.55169602e-03 -1.47941233e-04 9.99963423e-01 1.70517429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.46, Y:109.72, Z:1.71 [[-4.89569401e-01 8.71953657e-01 4.31519126e-03 1.25464388e+02] [-8.71922399e-01 -4.89588396e-01 7.38461234e-03 1.09717344e+02] [ 8.55170730e-03 -1.47231671e-04 9.99963423e-01 1.70517991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.46, Y:109.71, Z:1.71 [[-4.89845948e-01 8.71798312e-01 4.31870514e-03 1.25463286e+02] [-8.71767065e-01 -4.89864963e-01 7.38255676e-03 1.09714166e+02] [ 8.55168285e-03 -1.48589393e-04 9.99963423e-01 1.70570022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.87762800000002 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:125.46, Y:109.71, Z:1.70 [[-4.89384233e-01 8.72057562e-01 4.32221804e-03 1.25461967e+02] [-8.72026343e-01 -4.89403295e-01 7.38049951e-03 1.09710983e+02] [ 8.55152815e-03 -1.57187903e-04 9.99963423e-01 1.70352964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.48, Y:109.73, Z:1.71 [[-4.80453842e-01 8.77009347e-01 4.32572885e-03 1.25480594e+02] [-8.76978343e-01 -4.80473250e-01 7.37844124e-03 1.09733784e+02] [ 8.54935893e-03 -2.48570074e-04 9.99963423e-01 1.70511673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.46, Y:109.71, Z:1.71 [[-4.88139944e-01 8.72755116e-01 4.23104417e-03 1.25459631e+02] [-8.72723458e-01 -4.88158276e-01 7.43395978e-03 1.09707559e+02] [ 8.55344566e-03 -6.37187889e-05 9.99963417e-01 1.70752825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.96762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.46, Y:109.70, Z:1.71 [[-4.87839659e-01 8.72922504e-01 4.33235930e-03 1.25455702e+02] [-8.72891373e-01 -4.87858861e-01 7.37443891e-03 1.09701131e+02] [ 8.55089355e-03 -1.84135296e-04 9.99963423e-01 1.70805382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.45, Y:109.70, Z:1.71 [[-4.87814825e-01 8.72936363e-01 4.33622727e-03 1.25454420e+02] [-8.72905253e-01 -4.87834060e-01 7.37216381e-03 1.09698681e+02] [ 8.55078922e-03 -1.88864764e-04 9.99963424e-01 1.70871172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:109.71, Z:1.71 [[-4.78656548e-01 8.77991501e-01 4.33973410e-03 1.25470159e+02] [-8.77960613e-01 -4.78676137e-01 7.37009888e-03 1.09713546e+02] [ 8.54821134e-03 -2.82369520e-04 9.99963424e-01 1.70748665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.05762800000002 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:125.45, Y:109.69, Z:1.71 [[-4.89612326e-01 8.71930021e-01 4.22004369e-03 1.25450580e+02] [-8.71898275e-01 -4.89630511e-01 7.44056130e-03 1.09691628e+02] [ 8.55391092e-03 -3.64582911e-05 9.99963414e-01 1.70767702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.45, Y:109.69, Z:1.71 [[-4.91707834e-01 8.70749396e-01 4.34682886e-03 1.25447573e+02] [-8.70718257e-01 -4.91727020e-01 7.36574022e-03 1.09686236e+02] [ 8.55116705e-03 -1.63071077e-04 9.99963425e-01 1.71002103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.46, Y:109.70, Z:1.71 [[-4.82723558e-01 8.75761978e-01 4.35033506e-03 1.25462512e+02] [-8.75731056e-01 -4.82743093e-01 7.36366881e-03 1.09699519e+02] [ 8.54891536e-03 -2.55107111e-04 9.99963425e-01 1.70589147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.46, Y:109.70, Z:1.70 [[-4.82482829e-01 8.75895213e-01 4.23026979e-03 1.25462542e+02] [-8.75863668e-01 -4.82501359e-01 7.43456623e-03 1.09696841e+02] [ 8.55301190e-03 -1.18089073e-04 9.99963415e-01 1.70333250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.46, Y:109.69, Z:1.70 [[-4.84102778e-01 8.75000932e-01 4.22722494e-03 1.25461343e+02] [-8.74969337e-01 -4.84121224e-01 7.43636647e-03 1.09694933e+02] [ 8.55331690e-03 -9.87265313e-05 9.99963415e-01 1.70031470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.44, Y:109.67, Z:1.70 [[-4.93983964e-01 8.69460686e-01 4.23776010e-03 1.25438183e+02] [-8.69428938e-01 -4.94002140e-01 7.43012955e-03 1.09669500e+02] [ 8.55366809e-03 -1.40664193e-05 9.99963417e-01 1.70233000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.44, Y:109.67, Z:1.70 [[-4.93326209e-01 8.69833441e-01 4.36305696e-03 1.25438878e+02] [-8.69802354e-01 -4.93345474e-01 7.35581053e-03 1.09672388e+02] [ 8.55082439e-03 -1.66183096e-04 9.99963427e-01 1.70161476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.44, Y:109.67, Z:1.70 [[-4.90020473e-01 8.71699988e-01 4.36656238e-03 1.25437560e+02] [-8.71668993e-01 -4.90039886e-01 7.35372905e-03 1.09672357e+02] [ 8.55003526e-03 -2.02719244e-04 9.99963427e-01 1.70092126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.29762800000003 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:125.44, Y:109.67, Z:1.70 [[-4.87468994e-01 8.73129358e-01 4.37077644e-03 1.25435468e+02] [-8.73098442e-01 -4.87488533e-01 7.35122352e-03 1.09670730e+02] [ 8.54927247e-03 -2.32624569e-04 9.99963427e-01 1.69914952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.32762800000003 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:125.43, Y:109.67, Z:1.70 [[-4.85515804e-01 8.74216947e-01 4.37425675e-03 1.25432864e+02] [-8.74186093e-01 -4.85535441e-01 7.34915203e-03 1.09668603e+02] [ 8.54860992e-03 -2.55784961e-04 9.99963427e-01 1.69983491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.45, Y:109.69, Z:1.70 [[-4.70701158e-01 8.82281844e-01 4.37809198e-03 1.25447948e+02] [-8.82251347e-01 -4.70721344e-01 7.34686656e-03 1.09685323e+02] [ 8.54286832e-03 -4.04398951e-04 9.99963427e-01 1.70167182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.38762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.44, Y:109.67, Z:1.70 [[-4.69702123e-01 8.82814705e-01 4.25591432e-03 1.25435304e+02] [-8.82783567e-01 -4.69721325e-01 7.41966817e-03 1.09666115e+02] [ 8.54928588e-03 -2.72017330e-04 9.99963417e-01 1.70221081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.43, Y:109.67, Z:1.71 [[-4.78432176e-01 8.78114171e-01 4.26098585e-03 1.25426978e+02] [-8.78082871e-01 -4.78451111e-01 7.41664237e-03 1.09665364e+02] [ 8.55133218e-03 -1.93138342e-04 9.99963418e-01 1.70617703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.42, Y:109.66, Z:1.71 [[-4.77911763e-01 8.78396878e-01 4.38997110e-03 1.25424854e+02] [-8.78366284e-01 -4.77931798e-01 7.33949253e-03 1.09661688e+02] [ 8.54509410e-03 -3.48372781e-04 9.99963429e-01 1.70688281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.43, Y:109.65, Z:1.70 [[-4.68517176e-01 8.83443464e-01 4.39342472e-03 1.25428547e+02] [-8.83413104e-01 -4.68537565e-01 7.33742460e-03 1.09653837e+02] [ 8.54068433e-03 -4.43499520e-04 9.99963429e-01 1.70323534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.42, Y:109.65, Z:1.71 [[-4.80090259e-01 8.77208670e-01 4.27693326e-03 1.25422963e+02] [-8.77177418e-01 -4.80109270e-01 7.40715505e-03 1.09654678e+02] [ 8.55101593e-03 -1.95526288e-04 9.99963420e-01 1.70687099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.42, Y:109.65, Z:1.71 [[-4.80503106e-01 8.76981987e-01 4.39993459e-03 1.25420899e+02] [-8.76951390e-01 -4.80523133e-01 7.33335568e-03 1.09651262e+02] [ 8.54549119e-03 -3.34828575e-04 9.99963431e-01 1.70696583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.42, Y:109.64, Z:1.70 [[-4.74095161e-01 8.80462599e-01 4.40338532e-03 1.25423576e+02] [-8.80432168e-01 -4.74115440e-01 7.33128306e-03 1.09642673e+02] [ 8.54263351e-03 -4.01156261e-04 9.99963431e-01 1.70329546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.42, Y:109.64, Z:1.71 [[-4.88595653e-01 8.72499735e-01 4.30118975e-03 1.25415497e+02] [-8.72468427e-01 -4.88614564e-01 7.39266176e-03 1.09636282e+02] [ 8.55171938e-03 -1.40629863e-04 9.99963424e-01 1.70760837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.41, Y:109.63, Z:1.71 [[-4.92041165e-01 8.70560760e-01 4.41079367e-03 1.25412294e+02] [-8.70529961e-01 -4.92060878e-01 7.32667829e-03 1.09627617e+02] [ 8.54869763e-03 -2.34700724e-04 9.99963432e-01 1.70940163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.65762800000002 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:125.41, Y:109.63, Z:1.71 [[-4.95064135e-01 8.68845220e-01 4.41426863e-03 1.25413147e+02] [-8.68814370e-01 -4.95083771e-01 7.32458405e-03 1.09625385e+02] [ 8.54936260e-03 -2.09041148e-04 9.99963432e-01 1.70661748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.68762800000002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:125.36, Y:109.52, Z:1.71 [[-4.91633028e-01 8.70791278e-01 4.41774649e-03 1.25355141e+02] [-8.70760525e-01 -4.91652814e-01 7.32248582e-03 1.09517689e+02] [ 8.54835428e-03 -2.46823371e-04 9.99963432e-01 1.70503805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.41, Y:109.61, Z:1.71 [[-5.03962841e-01 8.63714415e-01 4.34328817e-03 1.25409333e+02] [-8.63682994e-01 -5.03981555e-01 7.36740898e-03 1.09612234e+02] [ 8.55227446e-03 -3.83237715e-05 9.99963428e-01 1.70982784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.41, Y:109.60, Z:1.71 [[-5.06570074e-01 8.62187436e-01 4.42559060e-03 1.25406081e+02] [-8.62156388e-01 -5.06589394e-01 7.31763380e-03 1.09604369e+02] [ 8.55112918e-03 -1.08656909e-04 9.99963433e-01 1.71003352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.41, Y:109.60, Z:1.71 [[-5.09211740e-01 8.60629878e-01 4.42908023e-03 1.25405793e+02] [-8.60598790e-01 -5.09230994e-01 7.31552106e-03 1.09601459e+02] [ 8.55138092e-03 -8.65118794e-05 9.99963433e-01 1.70961317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.40, Y:109.60, Z:1.71 [[-5.11628125e-01 8.59195560e-01 4.43293430e-03 1.25402921e+02] [-8.59164438e-01 -5.11647325e-01 7.31318489e-03 1.09595362e+02] [ 8.55155496e-03 -6.69884317e-05 9.99963433e-01 1.70938228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.40, Y:109.59, Z:1.71 [[-5.14898932e-01 8.57239409e-01 4.43678563e-03 1.25400300e+02] [-8.57208235e-01 -5.14918046e-01 7.31084760e-03 1.09589949e+02] [ 8.55172766e-03 -3.89015485e-05 9.99963433e-01 1.71024600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.40, Y:109.59, Z:1.71 [[-5.16397036e-01 8.56337777e-01 4.43992226e-03 1.25398119e+02] [-8.56306586e-01 -5.16416122e-01 7.30894221e-03 1.09585446e+02] [ 8.55177076e-03 -2.76185823e-05 9.99963433e-01 1.71107319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.39, Y:109.58, Z:1.71 [[-5.17421767e-01 8.55718979e-01 4.44342180e-03 1.25394671e+02] [-8.55687783e-01 -5.17440845e-01 7.30681407e-03 1.09579252e+02] [ 8.55178741e-03 -2.14771093e-05 9.99963433e-01 1.71176028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.39, Y:109.58, Z:1.71 [[-5.17875856e-01 8.55444227e-01 4.44656704e-03 1.25393304e+02] [-8.55413038e-01 -5.17894944e-01 7.30489953e-03 1.09577158e+02] [ 8.55178872e-03 -2.06203266e-05 9.99963433e-01 1.71271517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.39, Y:109.57, Z:1.71 [[-5.17674706e-01 8.55565950e-01 4.45007370e-03 1.25390912e+02] [-8.55534783e-01 -5.17693832e-01 7.30276268e-03 1.09572819e+02] [ 8.55177080e-03 -2.67373105e-05 9.99963433e-01 1.71288911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.39, Y:109.57, Z:1.71 [[-5.17202779e-01 8.55851300e-01 4.45394074e-03 1.25389009e+02] [-8.55820164e-01 -5.17221956e-01 7.30040342e-03 1.09568662e+02] [ 8.55173570e-03 -3.59833601e-05 9.99963433e-01 1.71314818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.39, Y:109.56, Z:1.71 [[-5.15943252e-01 8.56611169e-01 4.45708547e-03 1.25386679e+02] [-8.56580078e-01 -5.15962501e-01 7.29848297e-03 1.09564995e+02] [ 8.55165100e-03 -5.22475768e-05 9.99963433e-01 1.71451470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.39, Y:109.57, Z:1.72 [[-5.15666941e-01 8.56777515e-01 4.46059150e-03 1.25386500e+02] [-8.56746448e-01 -5.15686229e-01 7.29633958e-03 1.09566020e+02] [ 8.55160530e-03 -5.91148148e-05 9.99963433e-01 1.71535999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.38, Y:109.56, Z:1.72 [[-5.14918625e-01 8.57227439e-01 4.46409140e-03 1.25383947e+02] [-8.57196408e-01 -5.14937970e-01 7.29419762e-03 1.09563130e+02] [ 8.55151651e-03 -7.06849059e-05 9.99963433e-01 1.71656133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.38, Y:109.56, Z:1.72 [[-5.14772189e-01 8.57315364e-01 4.46758387e-03 1.25380631e+02] [-8.57284355e-01 -5.14791570e-01 7.29205791e-03 1.09556795e+02] [ 8.55146779e-03 -7.62411436e-05 9.99963433e-01 1.71560432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.13762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.38, Y:109.56, Z:1.71 [[-5.14484757e-01 8.57487870e-01 4.47072050e-03 1.25380355e+02] [-8.57456885e-01 -5.14504174e-01 7.29013435e-03 1.09555778e+02] [ 8.55140614e-03 -8.27870803e-05 9.99963433e-01 1.71430426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.38, Y:109.56, Z:1.71 [[-5.12310404e-01 8.58788700e-01 4.47421610e-03 1.25381202e+02] [-8.58757782e-01 -5.12329930e-01 7.28798834e-03 1.09557407e+02] [ 8.55111685e-03 -1.08555643e-04 9.99963433e-01 1.71201135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.38, Y:109.55, Z:1.71 [[-5.11122968e-01 8.59495935e-01 4.47769923e-03 1.25379260e+02] [-8.59465063e-01 -5.11142566e-01 7.28584770e-03 1.09554873e+02] [ 8.55089915e-03 -1.24461952e-04 9.99963433e-01 1.71165769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.38, Y:109.55, Z:1.71 [[-5.09521005e-01 8.60446548e-01 4.48153165e-03 1.25377141e+02] [-8.60415733e-01 -5.09540692e-01 7.28348961e-03 1.09551902e+02] [ 8.55057623e-03 -1.44889395e-04 9.99963433e-01 1.71183178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.38, Y:109.55, Z:1.71 [[-5.07965927e-01 8.61365487e-01 4.48500126e-03 1.25375349e+02] [-8.61334726e-01 -5.07985700e-01 7.28135248e-03 1.09550431e+02] [ 8.55022222e-03 -1.64408372e-04 9.99963433e-01 1.71166524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.37, Y:109.55, Z:1.71 [[-5.03204761e-01 8.64155554e-01 4.48846725e-03 1.25373599e+02] [-8.64124922e-01 -5.03224733e-01 7.27921530e-03 1.09549479e+02] [ 8.54908206e-03 -2.15660622e-04 9.99963433e-01 1.71249392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.37, Y:109.55, Z:1.71 [[-5.00617408e-01 8.65656996e-01 4.49192724e-03 1.25373082e+02] [-8.65626443e-01 -5.00637500e-01 7.27707955e-03 1.09548495e+02] [ 8.54828204e-03 -2.45298294e-04 9.99963433e-01 1.71182623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.37, Y:109.55, Z:1.71 [[-4.94611298e-01 8.69102671e-01 4.49573566e-03 1.25374364e+02] [-8.69072279e-01 -4.94631633e-01 7.27472597e-03 1.09549900e+02] [ 8.54621684e-03 -3.08957579e-04 9.99963433e-01 1.71199635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.37, Y:109.55, Z:1.71 [[-4.92001586e-01 8.70582677e-01 4.49917350e-03 1.25372026e+02] [-8.70552366e-01 -4.92022040e-01 7.27259916e-03 1.09547116e+02] [ 8.54509137e-03 -3.38635811e-04 9.99963433e-01 1.71233478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.37, Y:109.55, Z:1.71 [[-4.89713709e-01 8.71871670e-01 4.50260286e-03 1.25371365e+02] [-8.71841432e-01 -4.89734272e-01 7.27047536e-03 1.09547824e+02] [ 8.54400043e-03 -3.65104269e-04 9.99963433e-01 1.71377637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.37, Y:109.54, Z:1.72 [[-4.86052006e-01 8.73918270e-01 4.50602506e-03 1.25367736e+02] [-8.73888138e-01 -4.86072724e-01 7.26835376e-03 1.09541281e+02] [ 8.54220302e-03 -4.04963918e-04 9.99963433e-01 1.71670598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.99, Y:109.04, Z:2.61 [[-5.11396797e-01 -8.59332887e-01 -4.50602506e-03 1.25993958e+02] [-8.59302163e-01 5.11416625e-01 -7.26835376e-03 1.09044113e+02] [ 8.55039155e-03 1.55024239e-04 -9.99963433e-01 2.60565224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.26, Y:109.42, Z:1.72 [[-4.24507621e-01 9.05415537e-01 3.99819732e-03 1.25261022e+02] [-9.05384257e-01 -4.24526241e-01 7.53772003e-03 1.09418491e+02] [ 8.52210851e-03 -4.20085310e-04 9.99963598e-01 1.71767994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.26, Y:109.41, Z:1.72 [[-4.25282818e-01 9.05051662e-01 4.00173163e-03 1.25260025e+02] [-9.05020384e-01 -4.25301440e-01 7.53584322e-03 1.09413241e+02] [ 8.52226966e-03 -4.16784060e-04 9.99963598e-01 1.71791935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.26, Y:109.41, Z:1.72 [[-4.28871346e-01 9.03356700e-01 4.00526748e-03 1.25259908e+02] [-9.03325365e-01 -4.28889874e-01 7.53396346e-03 1.09406180e+02] [ 8.52367503e-03 -3.86958657e-04 9.99963598e-01 1.71828434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.26, Y:109.40, Z:1.72 [[-4.32412040e-01 9.01667210e-01 4.00880748e-03 1.25259040e+02] [-9.01635821e-01 -4.32430474e-01 7.53207936e-03 1.09399996e+02] [ 8.52495950e-03 -3.57522623e-04 9.99963598e-01 1.71853223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.26, Y:109.39, Z:1.72 [[-4.41253861e-01 8.97373351e-01 4.01235184e-03 1.25259643e+02] [-8.97341799e-01 -4.41272016e-01 7.53019080e-03 1.09390557e+02] [ 8.52793114e-03 -2.77725250e-04 9.99963598e-01 1.71858020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.26, Y:109.38, Z:1.72 [[-4.46374660e-01 8.94837156e-01 4.01590281e-03 1.25257363e+02] [-8.94805518e-01 -4.46392664e-01 7.52829657e-03 1.09380733e+02] [ 8.52926904e-03 -2.33011174e-04 9.99963598e-01 1.71837677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.26, Y:109.37, Z:1.72 [[-4.51461548e-01 8.92281522e-01 4.01946459e-03 1.25256031e+02] [-8.92249799e-01 -4.51479401e-01 7.52639440e-03 1.09372668e+02] [ 8.53036812e-03 -1.88488809e-04 9.99963598e-01 1.71799559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.27, Y:109.38, Z:1.71 [[-4.51763530e-01 8.92128650e-01 4.02303839e-03 1.25268811e+02] [-8.92096938e-01 -4.51781402e-01 7.52448364e-03 1.09375465e+02] [ 8.53034136e-03 -1.89652942e-04 9.99963598e-01 1.71393675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.25, Y:109.36, Z:1.72 [[-4.64774525e-01 8.85420423e-01 3.91346025e-03 1.25254049e+02] [-8.85387953e-01 -4.64790997e-01 7.58307792e-03 1.09355431e+02] [ 8.53315315e-03 5.94908802e-05 9.99963590e-01 1.71738093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.26, Y:109.36, Z:1.71 [[-4.64067721e-01 8.85790554e-01 4.03046272e-03 1.25264137e+02] [-8.85758633e-01 -4.64085217e-01 7.52037178e-03 1.09358284e+02] [ 8.53195245e-03 -8.00553546e-05 9.99963599e-01 1.71447305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.26, Y:109.35, Z:1.71 [[-4.67548689e-01 8.83958544e-01 3.93899403e-03 1.25263778e+02] [-8.83926137e-01 -4.67565278e-01 7.56939389e-03 1.09354186e+02] [ 8.53276724e-03 5.72804176e-05 9.99963594e-01 1.71399928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.25, Y:109.34, Z:1.72 [[-4.77283583e-01 8.78740430e-01 3.95460923e-03 1.25250416e+02] [-8.78707910e-01 -4.77299947e-01 7.56101289e-03 1.09336707e+02] [ 8.53170250e-03 1.33800908e-04 9.99963595e-01 1.71629897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.24, Y:109.33, Z:1.72 [[-4.79747151e-01 8.77397482e-01 4.04101443e-03 1.25244602e+02] [-8.77365304e-01 -4.79764166e-01 7.51454778e-03 1.09325614e+02] [ 8.53197922e-03 5.96370313e-05 9.99963600e-01 1.71577472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.88762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.25, Y:109.33, Z:1.71 [[-4.81898119e-01 8.76217921e-01 4.04464180e-03 1.25245058e+02] [-8.76185717e-01 -4.81915086e-01 7.51259487e-03 1.09327931e+02] [ 8.53184416e-03 7.64479538e-05 9.99963600e-01 1.71486921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.24, Y:109.33, Z:1.71 [[-4.82077586e-01 8.76119177e-01 4.04827079e-03 1.25242413e+02] [-8.76086987e-01 -4.82094578e-01 7.51063883e-03 1.09325447e+02] [ 8.53186411e-03 7.40732853e-05 9.99963600e-01 1.71441258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.24, Y:109.32, Z:1.71 [[-4.81709625e-01 8.76321529e-01 4.05151934e-03 1.25239879e+02] [-8.76289361e-01 -4.81726658e-01 7.50888604e-03 1.09324143e+02] [ 8.53192336e-03 6.67993847e-05 9.99963600e-01 1.71414165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.24, Y:109.32, Z:1.71 [[-4.81026095e-01 8.76696900e-01 4.05476712e-03 1.25237232e+02] [-8.76664760e-01 -4.81043181e-01 7.50713183e-03 1.09323372e+02] [ 8.53199728e-03 5.64548638e-05 9.99963600e-01 1.71341338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.23, Y:109.32, Z:1.71 [[-4.78148847e-01 8.78269442e-01 4.05801170e-03 1.25232783e+02] [-8.78237373e-01 -4.78166066e-01 7.50537755e-03 1.09323614e+02] [ 8.53214725e-03 2.47900869e-05 9.99963600e-01 1.71254678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.23, Y:109.32, Z:1.71 [[-4.76756084e-01 8.79026247e-01 4.06125202e-03 1.25226586e+02] [-8.78994220e-01 -4.76773382e-01 7.50362377e-03 1.09316555e+02] [ 8.53217910e-03 7.58123353e-06 9.99963600e-01 1.71271288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.23, Y:109.32, Z:1.71 [[-4.74982653e-01 8.79985770e-01 4.06486745e-03 1.25227436e+02] [-8.79953795e-01 -4.75000046e-01 7.50166470e-03 1.09322080e+02] [ 8.53217042e-03 -1.37349317e-05 9.99963600e-01 1.71263755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.22, Y:109.32, Z:1.71 [[-4.70593457e-01 8.82340777e-01 4.06847646e-03 1.25223870e+02] [-8.82308905e-01 -4.70611039e-01 7.49970687e-03 1.09324376e+02] [ 8.53196712e-03 -6.03400281e-05 9.99963600e-01 1.71211875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.12762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.22, Y:109.32, Z:1.71 [[-4.68205378e-01 8.83610289e-01 4.07206609e-03 1.25220991e+02] [-8.83578482e-01 -4.68223077e-01 7.49775732e-03 1.09323467e+02] [ 8.53173083e-03 -8.74996794e-05 9.99963600e-01 1.71173882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.22, Y:109.32, Z:1.71 [[-4.65766069e-01 8.84898501e-01 4.07564690e-03 1.25217528e+02] [-8.84866761e-01 -4.65783887e-01 7.49581036e-03 1.09322122e+02] [ 8.53140200e-03 -1.15110344e-04 9.99963600e-01 1.71080547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.21, Y:109.33, Z:1.71 [[-4.59752669e-01 8.88037636e-01 4.07922294e-03 1.25213857e+02] [-8.88006034e-01 -4.59770731e-01 7.49386377e-03 1.09326121e+02] [ 8.53034038e-03 -1.77050723e-04 9.99963600e-01 1.71047036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.21, Y:109.32, Z:1.71 [[-4.57105084e-01 8.89403322e-01 4.08315670e-03 1.25210585e+02] [-8.89371793e-01 -4.57123274e-01 7.49171978e-03 1.09324701e+02] [ 8.52966642e-03 -2.06941200e-04 9.99963600e-01 1.70993099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.23, Y:109.35, Z:1.71 [[-4.46375658e-01 8.94836337e-01 4.08671136e-03 1.25225750e+02] [-8.94805047e-01 -4.46394255e-01 7.48978022e-03 1.09345890e+02] [ 8.52641197e-03 -3.13554376e-04 9.99963600e-01 1.70854079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.20, Y:109.32, Z:1.71 [[-4.50157823e-01 8.92940093e-01 3.99054367e-03 1.25204117e+02] [-8.92908255e-01 -4.50175479e-01 7.54226416e-03 1.09324319e+02] [ 8.53123497e-03 -1.67980169e-04 9.99963594e-01 1.70957929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.20, Y:109.32, Z:1.71 [[-4.48962535e-01 8.93541203e-01 4.09392306e-03 1.25200804e+02] [-8.93509896e-01 -4.48981101e-01 7.48572632e-03 1.09322278e+02] [ 8.52689899e-03 -2.97150103e-04 9.99963601e-01 1.70961852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.20, Y:109.32, Z:1.71 [[-4.48359427e-01 8.93843966e-01 4.09746072e-03 1.25199502e+02] [-8.93812688e-01 -4.48378045e-01 7.48378941e-03 1.09322969e+02] [ 8.52655143e-03 -3.06934852e-04 9.99963601e-01 1.70961015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.21, Y:109.33, Z:1.71 [[-4.44317705e-01 8.95859897e-01 4.10135473e-03 1.25208042e+02] [-8.95828724e-01 -4.44336496e-01 7.48165476e-03 1.09332771e+02] [ 8.52489606e-03 -3.49879701e-04 9.99963601e-01 1.70820829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.19, Y:109.31, Z:1.71 [[-4.50452524e-01 8.92791239e-01 4.04067112e-03 1.25193983e+02] [-8.92759638e-01 -4.50470592e-01 7.51493976e-03 1.09313785e+02] [ 8.52947589e-03 -2.22224503e-04 9.99963599e-01 1.71073921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.42762800000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:125.19, Y:109.31, Z:1.71 [[-4.51132132e-01 8.92447712e-01 4.10865642e-03 1.25189368e+02] [-8.92416433e-01 -4.51150746e-01 7.47758438e-03 1.09305452e+02] [ 8.52697647e-03 -2.93253917e-04 9.99963602e-01 1.70882844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.45762800000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:125.19, Y:109.30, Z:1.71 [[-4.51554542e-01 8.92234040e-01 4.11255574e-03 1.25187488e+02] [-8.92202772e-01 -4.51573174e-01 7.47543919e-03 1.09301930e+02] [ 8.52696116e-03 -2.93665111e-04 9.99963602e-01 1.70886438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.48762800000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:125.19, Y:109.30, Z:1.71 [[-4.53124806e-01 8.91437585e-01 4.11609361e-03 1.25185902e+02] [-8.91406302e-01 -4.53143412e-01 7.47349068e-03 1.09297553e+02] [ 8.52733119e-03 -2.82687768e-04 9.99963602e-01 1.70913772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:109.29, Z:1.71 [[-4.54111384e-01 8.90935391e-01 4.12073430e-03 1.25182794e+02] [-8.90904110e-01 -4.54129994e-01 7.47093102e-03 1.09291015e+02] [ 8.52746589e-03 -2.78544306e-04 9.99963602e-01 1.71062026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.54762800000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:125.18, Y:109.29, Z:1.71 [[-4.53943379e-01 8.91020985e-01 4.12463469e-03 1.25183268e+02] [-8.90989727e-01 -4.53962028e-01 7.46877703e-03 1.09291247e+02] [ 8.52726459e-03 -2.84605252e-04 9.99963602e-01 1.70964272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:109.29, Z:1.71 [[-4.54610325e-01 8.90680869e-01 4.12816565e-03 1.25182447e+02] [-8.90649615e-01 -4.54628981e-01 7.46682487e-03 1.09287061e+02] [ 8.52734181e-03 -2.82253459e-04 9.99963602e-01 1.71235063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.60762800000003 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:125.18, Y:109.28, Z:1.71 [[-4.54278521e-01 8.90850130e-01 4.13169063e-03 1.25182292e+02] [-8.90818901e-01 -4.54297218e-01 7.46487385e-03 1.09284056e+02] [ 8.52709940e-03 -2.89456249e-04 9.99963602e-01 1.70995486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.63762800000003 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:125.18, Y:109.28, Z:1.71 [[-4.54248911e-01 8.90865213e-01 4.13504122e-03 1.25181513e+02] [-8.90834001e-01 -4.54267637e-01 7.46301739e-03 1.09280233e+02] [ 8.52695798e-03 -2.93567788e-04 9.99963602e-01 1.71138584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.667628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:109.27, Z:1.71 [[-4.54534505e-01 8.90719516e-01 4.13856309e-03 1.25180650e+02] [-8.90688316e-01 -4.54553250e-01 7.46106385e-03 1.09273353e+02] [ 8.52691248e-03 -2.94858828e-04 9.99963602e-01 1.71469760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:109.27, Z:1.71 [[-4.55090774e-01 8.90435415e-01 4.14244977e-03 1.25179327e+02] [-8.90404222e-01 -4.55109532e-01 7.45890531e-03 1.09268729e+02] [ 8.52694181e-03 -2.93975778e-04 9.99963602e-01 1.71483266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:109.26, Z:1.72 [[-4.57150745e-01 8.89379563e-01 4.14597474e-03 1.25178532e+02] [-8.89348345e-01 -4.57169460e-01 7.45694546e-03 1.09263345e+02] [ 8.52746793e-03 -2.78267608e-04 9.99963602e-01 1.71560753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.17, Y:109.25, Z:1.72 [[-4.59163723e-01 8.88341971e-01 4.14950011e-03 1.25174593e+02] [-8.88310728e-01 -4.59182397e-01 7.45498322e-03 1.09253909e+02] [ 8.52795189e-03 -2.62987610e-04 9.99963602e-01 1.71634589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.17, Y:109.25, Z:1.72 [[-4.61241807e-01 8.87264756e-01 4.15303467e-03 1.25174803e+02] [-8.87233488e-01 -4.61260437e-01 7.45301365e-03 1.09251579e+02] [ 8.52842693e-03 -2.47069953e-04 9.99963602e-01 1.71678388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.19, Y:109.26, Z:1.72 [[-4.56815759e-01 8.89551620e-01 4.15657359e-03 1.25186186e+02] [-8.89520462e-01 -4.56834575e-01 7.45103947e-03 1.09260010e+02] [ 8.52695076e-03 -2.93605007e-04 9.99963602e-01 1.71625244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.17, Y:109.24, Z:1.72 [[-4.68346940e-01 8.83535217e-01 4.08222205e-03 1.25172344e+02] [-8.83503452e-01 -4.68364721e-01 7.49253029e-03 1.09236218e+02] [ 8.53188317e-03 -9.75536416e-05 9.99963598e-01 1.71707057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:109.24, Z:1.71 [[-4.66110019e-01 8.84716968e-01 4.16373848e-03 1.25180635e+02] [-8.84685651e-01 -4.66128568e-01 7.44695289e-03 1.09241153e+02] [ 8.52928303e-03 -2.12500332e-04 9.99963602e-01 1.71449151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.17, Y:109.23, Z:1.72 [[-4.73993408e-01 8.80518823e-01 4.10509837e-03 1.25170559e+02] [-8.80487056e-01 -4.74011179e-01 7.47975475e-03 1.09228032e+02] [ 8.53192737e-03 -6.91315327e-05 9.99963600e-01 1.71516110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.17, Y:109.22, Z:1.71 [[-4.78941235e-01 8.77837057e-01 4.17064708e-03 1.25166472e+02] [-8.77805508e-01 -4.78959384e-01 7.44302502e-03 1.09220992e+02] [ 8.53133374e-03 -9.62453798e-05 9.99963603e-01 1.71423970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.96762800000002 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:125.16, Y:109.22, Z:1.71 [[-4.80664661e-01 8.76894555e-01 4.17420439e-03 1.25164049e+02] [-8.76862987e-01 -4.80682778e-01 7.44102947e-03 1.09217604e+02] [ 8.53146639e-03 -8.35654249e-05 9.99963603e-01 1.71056222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.16, Y:109.21, Z:1.71 [[-4.84499160e-01 8.74781750e-01 4.17776725e-03 1.25159130e+02] [-8.74750120e-01 -4.84517170e-01 7.43902856e-03 1.09211449e+02] [ 8.53172639e-03 -5.02993152e-05 9.99963603e-01 1.71302365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.15, Y:109.20, Z:1.71 [[-4.86037352e-01 8.73928036e-01 4.18096832e-03 1.25154358e+02] [-8.73896390e-01 -4.86055333e-01 7.43722903e-03 1.09203888e+02] [ 8.53178490e-03 -3.89620161e-05 9.99963603e-01 1.71234245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.17, Y:109.22, Z:1.71 [[-4.80352154e-01 8.77065734e-01 4.18418150e-03 1.25166875e+02] [-8.77034221e-01 -4.80370367e-01 7.43542085e-03 1.09218799e+02] [ 8.53130965e-03 -9.80499391e-05 9.99963603e-01 1.70909000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.15, Y:109.21, Z:1.71 [[-4.88796273e-01 8.72388287e-01 4.10849868e-03 1.25150568e+02] [-8.72356239e-01 -4.88813535e-01 7.47801858e-03 1.09205132e+02] [ 8.53202558e-03 7.11531591e-05 9.99963599e-01 1.71126660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.11762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.15, Y:109.20, Z:1.71 [[-4.89263713e-01 8.72125826e-01 4.19076654e-03 1.25145298e+02] [-8.72094162e-01 -4.89281660e-01 7.43162698e-03 1.09200061e+02] [ 8.53177903e-03 -1.87176294e-05 9.99963604e-01 1.71177199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.14, Y:109.20, Z:1.71 [[-4.89898797e-01 8.71769222e-01 4.19434182e-03 1.25143283e+02] [-8.71737563e-01 -4.89916751e-01 7.42960858e-03 1.09200479e+02] [ 8.53178241e-03 -1.66090128e-05 9.99963604e-01 1.71231848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.14, Y:109.19, Z:1.71 [[-4.90679188e-01 8.71330197e-01 4.19791497e-03 1.25135170e+02] [-8.71298539e-01 -4.90697144e-01 7.42758911e-03 1.09192628e+02] [ 8.53178757e-03 -1.30737860e-05 9.99963604e-01 1.71148559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.13, Y:109.19, Z:1.71 [[-4.91329621e-01 8.70963576e-01 4.20149236e-03 1.25131944e+02] [-8.70931922e-01 -4.91347584e-01 7.42556497e-03 1.09189889e+02] [ 8.53178974e-03 -1.08137953e-05 9.99963604e-01 1.71042654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.13, Y:109.19, Z:1.71 [[-4.91713930e-01 8.70746646e-01 4.20582043e-03 1.25130539e+02] [-8.70715005e-01 -4.91731917e-01 7.42311276e-03 1.09194294e+02] [ 8.53178668e-03 -1.20230033e-05 9.99963604e-01 1.70950263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.13, Y:109.19, Z:1.71 [[-4.91710606e-01 8.70748506e-01 4.20939045e-03 1.25125644e+02] [-8.70716882e-01 -4.91728624e-01 7.42108777e-03 1.09189042e+02] [ 8.53177886e-03 -1.61597589e-05 9.99963604e-01 1.70953935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:109.19, Z:1.71 [[-4.91222868e-01 8.71023734e-01 4.21295410e-03 1.25123310e+02] [-8.70992137e-01 -4.91240933e-01 7.41906413e-03 1.09187724e+02] [ 8.53175644e-03 -2.50359340e-05 9.99963604e-01 1.70920355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:109.19, Z:1.71 [[-4.90688094e-01 8.71325092e-01 4.21651812e-03 1.25121787e+02] [-8.71293524e-01 -4.90706209e-01 7.41703801e-03 1.09186307e+02] [ 8.53172295e-03 -3.43726903e-05 9.99963604e-01 1.70913419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.35762800000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.12, Y:109.18, Z:1.71 [[-4.90497325e-01 8.71432479e-01 4.22007734e-03 1.25120947e+02] [-8.71400932e-01 -4.90515477e-01 7.41501237e-03 1.09182407e+02] [ 8.53169586e-03 -4.03355894e-05 9.99963604e-01 1.70885046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.38762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:109.18, Z:1.71 [[-4.90417826e-01 8.71477204e-01 4.22363155e-03 1.25120179e+02] [-8.71445676e-01 -4.90436011e-01 7.41298732e-03 1.09180456e+02] [ 8.53167047e-03 -4.52043246e-05 9.99963604e-01 1.70909367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.417628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:109.18, Z:1.71 [[-4.89492736e-01 8.71997128e-01 4.22718231e-03 1.25119019e+02] [-8.71965638e-01 -4.89510985e-01 7.41096198e-03 1.09176551e+02] [ 8.53158974e-03 -5.83456540e-05 9.99963604e-01 1.70932266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:109.17, Z:1.71 [[-4.88340021e-01 8.72643181e-01 4.23109645e-03 1.25117907e+02] [-8.72611734e-01 -4.88358345e-01 7.40872663e-03 1.09174422e+02] [ 8.53146603e-03 -7.41266930e-05 9.99963604e-01 1.70956434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:109.17, Z:1.71 [[-4.86865583e-01 8.73466641e-01 4.23463869e-03 1.25116248e+02] [-8.73435242e-01 -4.86883990e-01 7.40670143e-03 1.09171619e+02] [ 8.53128439e-03 -9.26146597e-05 9.99963604e-01 1.71000623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:109.17, Z:1.71 [[-4.81894070e-01 8.76219231e-01 4.23854189e-03 1.25116683e+02] [-8.76187956e-01 -4.81912688e-01 7.40446711e-03 1.09170056e+02] [ 8.53054359e-03 -1.45590566e-04 9.99963604e-01 1.71041004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.11, Y:109.16, Z:1.71 [[-4.79401966e-01 8.77585186e-01 4.24207298e-03 1.25113522e+02] [-8.77553983e-01 -4.79420703e-01 7.40244357e-03 1.09162838e+02] [ 8.53001243e-03 -1.73902039e-04 9.99963604e-01 1.71050803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.11, Y:109.16, Z:1.71 [[-4.76659327e-01 8.79077845e-01 4.24596834e-03 1.25113687e+02] [-8.79046720e-01 -4.76678194e-01 7.40020856e-03 1.09162206e+02] [ 8.52931991e-03 -2.05026111e-04 9.99963604e-01 1.71061710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.59762800000001 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:125.12, Y:109.16, Z:1.71 [[-4.70455147e-01 8.82413673e-01 4.25022804e-03 1.25115439e+02] [-8.82382704e-01 -4.70474268e-01 7.39776124e-03 1.09163336e+02] [ 8.52750859e-03 -2.70012858e-04 9.99963604e-01 1.70566636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.13, Y:109.18, Z:1.71 [[-4.63406471e-01 8.86135625e-01 4.25410122e-03 1.25127895e+02] [-8.86104829e-01 -4.63425871e-01 7.39553329e-03 1.09177380e+02] [ 8.52490607e-03 -3.42441650e-04 9.99963604e-01 1.70827726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.13, Y:109.18, Z:1.71 [[-4.61348532e-01 8.87209065e-01 4.19599216e-03 1.25129628e+02] [-8.87178011e-01 -4.61367519e-01 7.42896778e-03 1.09178521e+02] [ 8.52694205e-03 -2.95248601e-04 9.99963601e-01 1.70798031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:109.17, Z:1.71 [[-4.61650777e-01 8.87051868e-01 4.18860692e-03 1.25123440e+02] [-8.87020769e-01 -4.61669691e-01 7.43322044e-03 1.09166756e+02] [ 8.52740494e-03 -2.83829337e-04 9.99963601e-01 1.70786180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:109.16, Z:1.71 [[-4.62354026e-01 8.86685374e-01 4.21931333e-03 1.25120363e+02] [-8.86654419e-01 -4.62373173e-01 7.41550959e-03 1.09157306e+02] [ 8.52612118e-03 -3.12482097e-04 9.99963603e-01 1.70866645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.74762800000002 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:125.13, Y:109.16, Z:1.71 [[-4.64165737e-01 8.85738323e-01 4.21811479e-03 1.25125257e+02] [-8.85707323e-01 -4.64184809e-01 7.41620175e-03 1.09163274e+02] [ 8.52679891e-03 -2.93668417e-04 9.99963603e-01 1.70715689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.11, Y:109.14, Z:1.71 [[-4.72535201e-01 8.81301749e-01 4.20859467e-03 1.25111874e+02] [-8.81270521e-01 -4.72553899e-01 7.42170450e-03 1.09141634e+02] [ 8.52954897e-03 -2.01893794e-04 9.99963602e-01 1.71015321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.11, Y:109.13, Z:1.71 [[-4.79746680e-01 8.77396632e-01 4.27469364e-03 1.25111728e+02] [-8.77365590e-01 -4.79765679e-01 7.38343605e-03 1.09131596e+02] [ 8.52905322e-03 -2.08290171e-04 9.99963605e-01 1.71202008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.11, Y:109.12, Z:1.71 [[-4.84468616e-01 8.74798181e-01 4.27818922e-03 1.25107268e+02] [-8.74767055e-01 -4.84487476e-01 7.38141005e-03 1.09119934e+02] [ 8.52997318e-03 -1.66357476e-04 9.99963605e-01 1.71290348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.11, Y:109.12, Z:1.71 [[-4.82777450e-01 8.75732592e-01 4.28489789e-03 1.25113982e+02] [-8.75701537e-01 -4.82796428e-01 7.37751362e-03 1.09121046e+02] [ 8.52946252e-03 -1.90594453e-04 9.99963605e-01 1.71231659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.10, Y:109.10, Z:1.71 [[-4.96368305e-01 8.68101805e-01 4.21444283e-03 1.25101806e+02] [-8.68070107e-01 -4.96386196e-01 7.41843948e-03 1.09102444e+02] [ 8.53195194e-03 2.38463927e-05 9.99963602e-01 1.71479264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.11, Y:109.11, Z:1.71 [[-4.93436027e-01 8.69771512e-01 4.29010487e-03 1.25111071e+02] [-8.69740254e-01 -4.93454668e-01 7.37442277e-03 1.09108970e+02] [ 8.53103511e-03 -9.24710296e-05 9.99963606e-01 1.71454001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.10, Y:109.09, Z:1.72 [[-5.02823217e-01 8.64378955e-01 4.22312603e-03 1.25097420e+02] [-8.64347167e-01 -5.02840946e-01 7.41338698e-03 1.09092815e+02] [ 8.53153638e-03 7.73760752e-05 9.99963603e-01 1.71508747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.10, Y:109.09, Z:1.71 [[-5.06919350e-01 8.61982789e-01 4.29467165e-03 1.25095502e+02] [-8.61951268e-01 -5.06937541e-01 7.37170535e-03 1.09087135e+02] [ 8.53141342e-03 3.50624119e-05 9.99963606e-01 1.71449864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:109.08, Z:1.71 [[-5.08401987e-01 8.61109131e-01 4.29933602e-03 1.25093382e+02] [-8.61077601e-01 -5.08420164e-01 7.36898399e-03 1.09082328e+02] [ 8.53136852e-03 4.43441565e-05 9.99963606e-01 1.71365833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:109.08, Z:1.71 [[-5.05324149e-01 8.62918878e-01 4.30288650e-03 1.25093401e+02] [-8.62887431e-01 -5.05342468e-01 7.36691021e-03 1.09076659e+02] [ 8.53147718e-03 9.77095119e-06 9.99963606e-01 1.70976824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.07762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:109.08, Z:1.71 [[-5.10500698e-01 8.59866841e-01 4.24889172e-03 1.25089835e+02] [-8.59835021e-01 -5.10518364e-01 7.39845281e-03 1.09078123e+02] [ 8.53082150e-03 1.23569427e-04 9.99963604e-01 1.71059323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:109.07, Z:1.71 [[-5.10700228e-01 8.59748055e-01 4.30805479e-03 1.25085398e+02] [-8.59716520e-01 -5.10718395e-01 7.36384077e-03 1.09073331e+02] [ 8.53125060e-03 5.70092924e-05 9.99963607e-01 1.70998551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.13762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.08, Y:109.07, Z:1.71 [[-5.10555468e-01 8.59834008e-01 4.31196862e-03 1.25081483e+02] [-8.59802495e-01 -5.10573674e-01 7.36154827e-03 1.09069787e+02] [ 8.53128721e-03 5.10373496e-05 9.99963607e-01 1.70972629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.167628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.08, Y:109.07, Z:1.71 [[-5.08575887e-01 8.61006357e-01 4.31515491e-03 1.25079076e+02] [-8.60974902e-01 -5.08594193e-01 7.35968008e-03 1.09071842e+02] [ 8.53139406e-03 2.77157524e-05 9.99963607e-01 1.70795182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.07, Y:109.07, Z:1.71 [[-5.07541448e-01 8.61616520e-01 4.31870090e-03 1.25074641e+02] [-8.61585105e-01 -5.07559822e-01 7.35759868e-03 1.09068432e+02] [ 8.53142763e-03 1.33579208e-05 9.99963607e-01 1.70783391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.07, Y:109.07, Z:1.71 [[-5.04368550e-01 8.63477663e-01 4.32334576e-03 1.25069767e+02] [-8.63446339e-01 -5.04387079e-01 7.35486833e-03 1.09067439e+02] [ 8.53140426e-03 -2.34127900e-05 9.99963607e-01 1.70753341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.07, Y:109.07, Z:1.71 [[-5.02803744e-01 8.64389769e-01 4.32687891e-03 1.25068213e+02] [-8.64358497e-01 -5.02822359e-01 7.35278919e-03 1.09068009e+02] [ 8.53132721e-03 -4.29646250e-05 9.99963607e-01 1.70779898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.07, Y:109.07, Z:1.71 [[-5.01304783e-01 8.65259939e-01 4.33040593e-03 1.25065352e+02] [-8.65228717e-01 -5.01323482e-01 7.35071137e-03 1.09066651e+02] [ 8.53121026e-03 -6.18447969e-05 9.99963607e-01 1.70792669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.07, Y:109.08, Z:1.71 [[-4.91584300e-01 8.70819202e-01 4.33504869e-03 1.25073894e+02] [-8.70788216e-01 -4.91603387e-01 7.34797230e-03 1.09084256e+02] [ 8.52988000e-03 -1.62761492e-04 9.99963607e-01 1.70743332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.07, Y:109.08, Z:1.71 [[-4.92016531e-01 8.70575384e-01 4.27007629e-03 1.25071936e+02] [-8.70544054e-01 -4.92035053e-01 7.38631858e-03 1.09080783e+02] [ 8.53137435e-03 -8.30986802e-05 9.99963604e-01 1.70743599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.07, Y:109.08, Z:1.71 [[-4.90655282e-01 8.71343293e-01 4.27322007e-03 1.25066305e+02] [-8.71312007e-01 -4.90673880e-01 7.38446100e-03 1.09075415e+02] [ 8.53115804e-03 -1.00083159e-04 9.99963604e-01 1.70794065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.05, Y:109.06, Z:1.71 [[-4.95223399e-01 8.68755067e-01 4.29165615e-03 1.25053968e+02] [-8.68723779e-01 -4.95241988e-01 7.37355274e-03 1.09060174e+02] [ 8.53121963e-03 -7.67079066e-05 9.99963606e-01 1.71186384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.05, Y:109.05, Z:1.71 [[-4.93333278e-01 8.69829503e-01 4.34897895e-03 1.25050690e+02] [-8.69798552e-01 -4.93352420e-01 7.33958686e-03 1.09054011e+02] [ 8.52976848e-03 -1.61873152e-04 9.99963608e-01 1.71227956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.05, Y:109.05, Z:1.71 [[-4.92693014e-01 8.70192301e-01 4.35357177e-03 1.25048395e+02] [-8.70161388e-01 -4.92712217e-01 7.33686156e-03 1.09048338e+02] [ 8.52953844e-03 -1.73489616e-04 9.99963608e-01 1.71213224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.05, Y:109.05, Z:1.71 [[-4.91379334e-01 8.70934762e-01 4.35779588e-03 1.25049318e+02] [-8.70903900e-01 -4.91398620e-01 7.33435175e-03 1.09047785e+02] [ 8.52915678e-03 -1.91272550e-04 9.99963608e-01 1.71189137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.05, Y:109.04, Z:1.71 [[-4.91236015e-01 8.71015587e-01 4.36164682e-03 1.25047300e+02] [-8.70984749e-01 -4.91255339e-01 7.33206093e-03 1.09044401e+02] [ 8.52902165e-03 -1.97155465e-04 9.99963608e-01 1.71170827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.05, Y:109.04, Z:1.71 [[-4.91964262e-01 8.70604450e-01 4.36548955e-03 1.25045810e+02] [-8.70573615e-01 -4.91983592e-01 7.32977227e-03 1.09038306e+02] [ 8.52908158e-03 -1.94494020e-04 9.99963608e-01 1.71036838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:109.03, Z:1.71 [[-4.92756831e-01 8.70156088e-01 4.36897230e-03 1.25043260e+02] [-8.70125255e-01 -4.92776162e-01 7.32769576e-03 1.09031096e+02] [ 8.52916448e-03 -1.90780989e-04 9.99963608e-01 1.70983403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:109.03, Z:1.71 [[-4.93395731e-01 8.69793961e-01 4.37246038e-03 1.25044188e+02] [-8.69763132e-01 -4.93415069e-01 7.32561382e-03 1.09029435e+02] [ 8.52921250e-03 -1.88578252e-04 9.99963608e-01 1.70902148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:109.03, Z:1.71 [[-4.94177384e-01 8.69350082e-01 4.37594878e-03 1.25044324e+02] [-8.69319254e-01 -4.94196723e-01 7.32352943e-03 1.09025827e+02] [ 8.52929046e-03 -1.84973918e-04 9.99963608e-01 1.70894167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:109.02, Z:1.71 [[-4.95185472e-01 8.68776246e-01 4.37979003e-03 1.25044040e+02] [-8.68745416e-01 -4.95204809e-01 7.32123148e-03 1.09021930e+02] [ 8.52940508e-03 -1.79555041e-04 9.99963608e-01 1.70869848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:109.01, Z:1.71 [[-4.97457281e-01 8.67477401e-01 4.38326630e-03 1.25041678e+02] [-8.67446538e-01 -4.97476566e-01 7.31914962e-03 1.09012694e+02] [ 8.52976915e-03 -1.61284907e-04 9.99963608e-01 1.70921925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:109.01, Z:1.71 [[-4.99385916e-01 8.66368548e-01 4.38710674e-03 1.25039341e+02] [-8.66337663e-01 -4.99405165e-01 7.31684693e-03 1.09006705e+02] [ 8.53002981e-03 -1.46785494e-04 9.99963608e-01 1.70970767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:109.00, Z:1.71 [[-5.03030878e-01 8.64257286e-01 4.39095448e-03 1.25037926e+02] [-8.64226340e-01 -5.03050029e-01 7.31453711e-03 1.08999156e+02] [ 8.53051177e-03 -1.15340499e-04 9.99963608e-01 1.71132850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:108.99, Z:1.71 [[-5.04836729e-01 8.63203663e-01 4.39480654e-03 1.25035760e+02] [-8.63172697e-01 -5.04855847e-01 7.31222194e-03 1.08992682e+02] [ 8.53068054e-03 -1.01998810e-04 9.99963608e-01 1.71185214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.03, Y:108.99, Z:1.71 [[-5.06144363e-01 8.62437551e-01 4.39939337e-03 1.25033982e+02] [-8.62406581e-01 -5.06163473e-01 7.30946123e-03 1.08986450e+02] [ 8.53076607e-03 -9.44231947e-05 9.99963608e-01 1.71204227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.03, Y:108.98, Z:1.71 [[-5.06858461e-01 8.62018050e-01 4.40253054e-03 1.25034450e+02] [-8.61987080e-01 -5.06877572e-01 7.30757121e-03 1.08982561e+02] [ 8.53080228e-03 -9.10201443e-05 9.99963608e-01 1.71208635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.88762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.03, Y:108.98, Z:1.71 [[-5.06362966e-01 8.62309187e-01 4.40602811e-03 1.25032836e+02] [-8.62278246e-01 -5.06382125e-01 7.30546178e-03 1.08979804e+02] [ 8.53070068e-03 -1.00006899e-04 9.99963608e-01 1.71332034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.917628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.03, Y:108.98, Z:1.71 [[-5.05394022e-01 8.62877418e-01 4.40952223e-03 1.25029666e+02] [-8.62846518e-01 -5.05413245e-01 7.30335214e-03 1.08975891e+02] [ 8.53052858e-03 -1.13670393e-04 9.99963608e-01 1.71488905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.03, Y:108.98, Z:1.72 [[-5.02039055e-01 8.64833693e-01 4.41265801e-03 1.25030184e+02] [-8.64802883e-01 -5.02058424e-01 7.30145702e-03 1.08978350e+02] [ 8.52995817e-03 -1.50462788e-04 9.99963608e-01 1.71599456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.03, Y:108.97, Z:1.72 [[-5.00670808e-01 8.65626501e-01 4.41614628e-03 1.25026806e+02] [-8.65595741e-01 -5.00690256e-01 7.29934660e-03 1.08973774e+02] [ 8.52962927e-03 -1.68027647e-04 9.99963608e-01 1.71616402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.03, Y:108.97, Z:1.72 [[-4.99467519e-01 8.66321342e-01 4.41927118e-03 1.25026855e+02] [-8.66290626e-01 -4.99487036e-01 7.29745419e-03 1.08974696e+02] [ 8.52930897e-03 -1.83531853e-04 9.99963608e-01 1.71619190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.037628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.98, Y:108.89, Z:1.71 [[-4.94220050e-01 8.69325590e-01 4.42274987e-03 1.24977629e+02] [-8.69295011e-01 -4.94239782e-01 7.29534526e-03 1.08888176e+02] [ 8.52792925e-03 -2.39168499e-04 9.99963608e-01 1.71398557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.02, Y:108.97, Z:1.71 [[-4.97202822e-01 8.67623214e-01 4.39460814e-03 1.25024896e+02] [-8.67592417e-01 -4.97222211e-01 7.31241609e-03 1.08969132e+02] [ 8.52951873e-03 -1.76974780e-04 9.99963607e-01 1.71254651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.09762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.02, Y:108.97, Z:1.71 [[-4.97134627e-01 8.67662109e-01 4.43021883e-03 1.25022512e+02] [-8.67631505e-01 -4.97154318e-01 7.29077737e-03 1.08965057e+02] [ 8.52843370e-03 -2.19299544e-04 9.99963608e-01 1.71164809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.12762800000002 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:125.02, Y:108.96, Z:1.71 [[-4.96813411e-01 8.67846054e-01 4.43403741e-03 1.25021882e+02] [-8.67815478e-01 -4.96833145e-01 7.28845428e-03 1.08963117e+02] [ 8.52823305e-03 -2.26924466e-04 9.99963608e-01 1.70815467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.15762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.02, Y:108.96, Z:1.71 [[-4.98481946e-01 8.66888723e-01 4.43749423e-03 1.25018713e+02] [-8.66858128e-01 -4.98501651e-01 7.28634903e-03 1.08959816e+02] [ 8.52855201e-03 -2.14564496e-04 9.99963608e-01 1.71143776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.18762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.90, Y:108.77, Z:1.71 [[-4.99551929e-01 8.66272562e-01 4.44059445e-03 1.24903599e+02] [-8.66241959e-01 -4.99571622e-01 7.28445914e-03 1.08772400e+02] [ 8.52872206e-03 -2.07663628e-04 9.99963608e-01 1.71379950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.21762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.90, Y:108.77, Z:1.71 [[-5.00974374e-01 8.65450719e-01 4.44172194e-03 1.24904823e+02] [-8.65420090e-01 -5.00994026e-01 7.28377109e-03 1.08774943e+02] [ 8.52902109e-03 -1.94972740e-04 9.99963608e-01 1.71475636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.24762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.01, Y:108.94, Z:1.71 [[-5.04135650e-01 8.63613071e-01 4.43957700e-03 1.25009794e+02] [-8.63582359e-01 -5.04155172e-01 7.28508160e-03 1.08942861e+02] [ 8.52972740e-03 -1.61271030e-04 9.99963608e-01 1.71271836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.27762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.98, Y:108.89, Z:1.71 [[-5.05828653e-01 8.62622472e-01 4.45472597e-03 1.24976716e+02] [-8.62591803e-01 -5.05848242e-01 7.27580641e-03 1.08886889e+02] [ 8.52968942e-03 -1.62298747e-04 9.99963608e-01 1.71236682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.30762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.86, Y:108.70, Z:1.71 [[-5.08340968e-01 8.61144408e-01 4.44633012e-03 1.24861065e+02] [-8.61113636e-01 -5.08360397e-01 7.28095307e-03 1.08697000e+02] [ 8.53029016e-03 -1.27588762e-04 9.99963608e-01 1.71361982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.33762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.00, Y:108.92, Z:1.71 [[-5.14123548e-01 8.57704594e-01 4.45057814e-03 1.24998678e+02] [-8.57673715e-01 -5.14142805e-01 7.27834675e-03 1.08921051e+02] [ 8.53090418e-03 -7.51744327e-05 9.99963608e-01 1.71196472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.36762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.00, Y:108.92, Z:1.71 [[-5.16843122e-01 8.56068451e-01 4.47145946e-03 1.24996932e+02] [-8.56037622e-01 -5.16862459e-01 7.26549561e-03 1.08918443e+02] [ 8.53089110e-03 -7.26160909e-05 9.99963609e-01 1.71153325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.39762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.99, Y:108.91, Z:1.71 [[-5.19766978e-01 8.54296356e-01 4.47494081e-03 1.24993173e+02] [-8.54265480e-01 -5.19786239e-01 7.26335075e-03 1.08913361e+02] [ 8.53106673e-03 -4.75375854e-05 9.99963609e-01 1.71089748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.42762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.99, Y:108.91, Z:1.71 [[-5.24873219e-01 8.51168636e-01 4.47842356e-03 1.24989962e+02] [-8.51137663e-01 -5.24892325e-01 7.26120273e-03 1.08909490e+02] [ 8.53119818e-03 -5.44110826e-07 9.99963609e-01 1.70979850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.45762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.99, Y:108.91, Z:1.71 [[-5.27326258e-01 8.49651066e-01 4.48155263e-03 1.24987512e+02] [-8.49620054e-01 -5.27345301e-01 7.25927098e-03 1.08905402e+02] [ 8.53117304e-03 2.03872165e-05 9.99963609e-01 1.70953221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.99, Y:108.90, Z:1.71 [[-5.29708471e-01 8.48167920e-01 4.48504112e-03 1.24985375e+02] [-8.48136874e-01 -5.29727456e-01 7.25711502e-03 1.08901703e+02] [ 8.53110158e-03 4.02265403e-05 9.99963609e-01 1.70875439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.51762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.98, Y:108.89, Z:1.71 [[-5.33391091e-01 8.45856842e-01 4.48852991e-03 1.24979035e+02] [-8.45825731e-01 -5.33409972e-01 7.25495657e-03 1.08892988e+02] [ 8.53088126e-03 7.32151098e-05 9.99963609e-01 1.70766427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.54762800000003 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:124.98, Y:108.89, Z:1.70 [[-5.34381013e-01 8.45231776e-01 4.49202652e-03 1.24976811e+02] [-8.45200661e-01 -5.34399887e-01 7.25279093e-03 1.08890739e+02] [ 8.53082782e-03 7.90899817e-05 9.99963609e-01 1.70492583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.57762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.97, Y:108.89, Z:1.71 [[-5.36343606e-01 8.43987752e-01 4.49552987e-03 1.24972517e+02] [-8.43956612e-01 -5.36362438e-01 7.25061879e-03 1.08887143e+02] [ 8.53066681e-03 9.47908700e-05 9.99963609e-01 1.70807447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.97, Y:108.88, Z:1.71 [[-5.37703575e-01 8.43121945e-01 4.50012606e-03 1.24965840e+02] [-8.43090799e-01 -5.37722396e-01 7.24776502e-03 1.08879570e+02] [ 8.53056831e-03 1.03134290e-04 9.99963609e-01 1.70920200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.63762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.96, Y:108.87, Z:1.71 [[-5.38088662e-01 8.42876211e-01 4.50399239e-03 1.24961442e+02] [-8.42845076e-01 -5.38107502e-01 7.24536156e-03 1.08874093e+02] [ 8.53057499e-03 1.02479102e-04 9.99963609e-01 1.70961360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.96, Y:108.88, Z:1.71 [[-5.38185332e-01 8.42814472e-01 4.50714572e-03 1.24960930e+02] [-8.42783351e-01 -5.38204195e-01 7.24339943e-03 1.08875787e+02] [ 8.53060660e-03 9.97439519e-05 9.99963609e-01 1.71033189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.96, Y:108.87, Z:1.71 [[-5.37978402e-01 8.42946556e-01 4.51029705e-03 1.24957907e+02] [-8.42915457e-01 -5.37997300e-01 7.24143663e-03 1.08874051e+02] [ 8.53067171e-03 9.39374068e-05 9.99963609e-01 1.71123827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.727628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.95, Y:108.87, Z:1.71 [[-5.35745581e-01 8.44367391e-01 4.51452817e-03 1.24952436e+02] [-8.44336364e-01 -5.35764597e-01 7.23879787e-03 1.08868614e+02] [ 8.53092924e-03 6.63736688e-05 9.99963609e-01 1.71197800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.95, Y:108.87, Z:1.71 [[-5.34618772e-01 8.45081268e-01 4.51875680e-03 1.24952025e+02] [-8.45050289e-01 -5.34637866e-01 7.23615722e-03 1.08867842e+02] [ 8.53103941e-03 5.00087461e-05 9.99963609e-01 1.71194084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.787628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.95, Y:108.87, Z:1.71 [[-5.32686090e-01 8.46300823e-01 4.52189566e-03 1.24952190e+02] [-8.46269904e-01 -5.32705281e-01 7.23419520e-03 1.08866698e+02] [ 8.53114305e-03 2.68109483e-05 9.99963609e-01 1.71078578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.95, Y:108.86, Z:1.71 [[-5.32119110e-01 8.46657412e-01 4.52538623e-03 1.24948236e+02] [-8.46626524e-01 -5.32138353e-01 7.23201100e-03 1.08859000e+02] [ 8.53116729e-03 1.69792457e-05 9.99963609e-01 1.71040540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.84762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.95, Y:108.86, Z:1.71 [[-5.31791180e-01 8.46863407e-01 4.52887820e-03 1.24950271e+02] [-8.46832545e-01 -5.31810464e-01 7.22982357e-03 1.08861240e+02] [ 8.53117784e-03 9.55495740e-06 9.99963609e-01 1.70964758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.87762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.95, Y:108.86, Z:1.71 [[-5.31635105e-01 8.46961376e-01 4.53236533e-03 1.24949988e+02] [-8.46930537e-01 -5.31654425e-01 7.22763683e-03 1.08858114e+02] [ 8.53118132e-03 3.86686551e-06 9.99963609e-01 1.70751830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.90762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.95, Y:108.85, Z:1.71 [[-5.32223316e-01 8.46591855e-01 4.53584124e-03 1.24948777e+02] [-8.46561020e-01 -5.32242644e-01 7.22545480e-03 1.08854751e+02] [ 8.53117932e-03 5.68912200e-06 9.99963609e-01 1.70594162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.93762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.95, Y:108.85, Z:1.70 [[-5.33201095e-01 8.45976351e-01 4.53931347e-03 1.24946760e+02] [-8.45945513e-01 -5.33220417e-01 7.22327275e-03 1.08851037e+02] [ 8.53117255e-03 1.14450741e-05 9.99963609e-01 1.70479163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.96762800000002 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:124.95, Y:108.85, Z:1.70 [[-5.33734433e-01 8.45639948e-01 4.54242953e-03 1.24945985e+02] [-8.45609115e-01 -5.33753762e-01 7.22131266e-03 1.08849954e+02] [ 8.53116931e-03 1.31433990e-05 9.99963609e-01 1.70050557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.99762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.94, Y:108.84, Z:1.70 [[-5.35026871e-01 8.44822811e-01 4.54589846e-03 1.24940975e+02] [-8.44791967e-01 -5.35046182e-01 7.21912827e-03 1.08843774e+02] [ 8.53114985e-03 2.20891101e-05 9.99963609e-01 1.70267899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.02762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.94, Y:108.84, Z:1.70 [[-5.35329408e-01 8.44631122e-01 4.54901272e-03 1.24940199e+02] [-8.44600287e-01 -5.35348735e-01 7.21716533e-03 1.08842947e+02] [ 8.53115065e-03 2.14633909e-05 9.99963609e-01 1.70236342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.05762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.94, Y:108.84, Z:1.70 [[-5.35156655e-01 8.44740570e-01 4.55248471e-03 1.24935540e+02] [-8.44709758e-01 -5.35176018e-01 7.21497458e-03 1.08835063e+02] [ 8.53116238e-03 1.56134023e-05 9.99963609e-01 1.70254242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.08762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.94, Y:108.84, Z:1.70 [[-5.34031500e-01 8.45452303e-01 4.55631630e-03 1.24938014e+02] [-8.45421537e-01 -5.34050937e-01 7.21255409e-03 1.08835534e+02] [ 8.53117546e-03 -2.76853013e-07 9.99963609e-01 1.70169733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.11762800000002 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:124.94, Y:108.83, Z:1.70 [[-5.33653115e-01 8.45691174e-01 4.55978607e-03 1.24937441e+02] [-8.45660435e-01 -5.33672595e-01 7.21035983e-03 1.08832845e+02] [ 8.53117053e-03 -8.19969277e-06 9.99963609e-01 1.69819245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.14762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.94, Y:108.83, Z:1.70 [[-5.33604342e-01 8.45721926e-01 4.56396190e-03 1.24935120e+02] [-8.45691212e-01 -5.33623860e-01 7.20771568e-03 1.08828323e+02] [ 8.53116215e-03 -1.36340811e-05 9.99963609e-01 1.70216540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.17762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.93, Y:108.82, Z:1.70 [[-5.34019726e-01 8.45459680e-01 4.56741553e-03 1.24932210e+02] [-8.45428975e-01 -5.34039258e-01 7.20552650e-03 1.08824715e+02] [ 8.53116133e-03 -1.35321354e-05 9.99963609e-01 1.70081956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.20762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.54, Y:108.33, Z:2.63 [[-4.80398857e-01 -8.77038242e-01 -4.56741553e-03 1.25538445e+02] [-8.77008810e-01 4.80420261e-01 -7.20552650e-03 1.08325467e+02] [ 8.51380125e-03 5.44136964e-04 -9.99963609e-01 2.63222140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.82, Y:108.70, Z:1.71 [[-4.75133101e-01 8.79904551e-01 4.06423452e-03 1.24821996e+02] [-8.79872766e-01 -4.75150483e-01 7.47896765e-03 1.08701423e+02] [ 8.51190066e-03 -2.25041717e-05 9.99963773e-01 1.70627613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.26762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.82, Y:108.70, Z:1.71 [[-4.75555067e-01 8.79676549e-01 4.06782078e-03 1.24820130e+02] [-8.79644773e-01 -4.75572464e-01 7.47701657e-03 1.08697887e+02] [ 8.51189968e-03 -2.25041691e-05 9.99963773e-01 1.70631182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.82, Y:108.69, Z:1.71 [[-4.77321821e-01 8.78719126e-01 4.07140611e-03 1.24817723e+02] [-8.78687331e-01 -4.77339185e-01 7.47506377e-03 1.08693644e+02] [ 8.51192317e-03 -9.48191761e-06 9.99963773e-01 1.70747979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.32762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:108.68, Z:1.71 [[-4.79031573e-01 8.77788213e-01 4.07499185e-03 1.24812883e+02] [-8.77756401e-01 -4.79048905e-01 7.47310851e-03 1.08684069e+02] [ 8.51192694e-03 3.00474537e-06 9.99963773e-01 1.70732207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:108.68, Z:1.71 [[-4.80371298e-01 8.77055741e-01 4.07970779e-03 1.24812401e+02] [-8.77023924e-01 -4.80388622e-01 7.47053310e-03 1.08682013e+02] [ 8.51191914e-03 1.06283501e-05 9.99963773e-01 1.70647715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.38762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:108.68, Z:1.70 [[-4.82235558e-01 8.76032073e-01 4.08330065e-03 1.24808677e+02] [-8.76000237e-01 -4.82252844e-01 7.46856877e-03 1.08676791e+02] [ 8.51188914e-03 2.46370939e-05 9.99963773e-01 1.70443349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:108.68, Z:1.70 [[-4.83258719e-01 8.75468051e-01 4.08689372e-03 1.24806496e+02] [-8.75436211e-01 -4.83275999e-01 7.46660208e-03 1.08675120e+02] [ 8.51186921e-03 3.04857994e-05 9.99963773e-01 1.70389631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.80, Y:108.67, Z:1.70 [[-4.84058226e-01 8.75026227e-01 4.09085756e-03 1.24803069e+02] [-8.74994390e-01 -4.84075511e-01 7.46442971e-03 1.08671708e+02] [ 8.51185573e-03 3.37411973e-05 9.99963773e-01 1.70335098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.477628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.80, Y:108.67, Z:1.70 [[-4.86366308e-01 8.73745415e-01 4.09444612e-03 1.24797636e+02] [-8.73713548e-01 -4.86383540e-01 7.46246077e-03 1.08665112e+02] [ 8.51176207e-03 5.21164437e-05 9.99963773e-01 1.70394411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.507628 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:124.79, Y:108.66, Z:1.70 [[-4.87646704e-01 8.73031438e-01 4.09878591e-03 1.24794911e+02] [-8.72999566e-01 -4.87663926e-01 7.46007636e-03 1.08659517e+02] [ 8.51171122e-03 5.96433232e-05 9.99963773e-01 1.70036764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.537628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.79, Y:108.66, Z:1.70 [[-4.89532024e-01 8.71975667e-01 4.10275516e-03 1.24794175e+02] [-8.71943777e-01 -4.89549211e-01 7.45789279e-03 1.08657431e+02] [ 8.51160159e-03 7.35055256e-05 9.99963773e-01 1.70371931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.79, Y:108.65, Z:1.70 [[-4.92006882e-01 8.70581625e-01 4.10634970e-03 1.24791235e+02] [-8.70549702e-01 -4.92024009e-01 7.45591309e-03 1.08649052e+02] [ 8.51140357e-03 9.35790487e-05 9.99963773e-01 1.70303512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.59762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.79, Y:108.65, Z:1.70 [[-4.93002749e-01 8.70018043e-01 4.11031986e-03 1.24790453e+02] [-8.69986119e-01 -4.93019873e-01 7.45372376e-03 1.08646023e+02] [ 8.51134354e-03 9.87850840e-05 9.99963773e-01 1.70219136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.62762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.79, Y:108.64, Z:1.70 [[-4.93631790e-01 8.69661272e-01 4.11429149e-03 1.24787248e+02] [-8.69629354e-01 -4.93648926e-01 7.45153087e-03 1.08639391e+02] [ 8.51132339e-03 1.00403873e-04 9.99963773e-01 1.70227779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.65762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.79, Y:108.64, Z:1.70 [[-4.93646046e-01 8.69653163e-01 4.11789095e-03 1.24785810e+02] [-8.69621261e-01 -4.93663212e-01 7.44954119e-03 1.08636667e+02] [ 8.51136833e-03 9.64310300e-05 9.99963773e-01 1.70272370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.68762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.78, Y:108.63, Z:1.70 [[-4.92115350e-01 8.70520244e-01 4.12149356e-03 1.24782476e+02] [-8.70488389e-01 -4.92132603e-01 7.44754750e-03 1.08631859e+02] [ 8.51156222e-03 7.73401549e-05 9.99963773e-01 1.70416387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.71762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.78, Y:108.63, Z:1.70 [[-4.91046793e-01 8.71123429e-01 4.12546818e-03 1.24781824e+02] [-8.71091613e-01 -4.91064118e-01 7.44534516e-03 1.08630950e+02] [ 8.51168399e-03 6.23521287e-05 9.99963773e-01 1.70436332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.74762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.78, Y:108.63, Z:1.70 [[-4.89860951e-01 8.71790800e-01 4.12906602e-03 1.24781446e+02] [-8.71759025e-01 -4.89878351e-01 7.44334932e-03 1.08630775e+02] [ 8.51178351e-03 4.66556099e-05 9.99963773e-01 1.70400737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.77762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.77, Y:108.60, Z:1.70 [[-4.88970599e-01 8.72290476e-01 4.13265354e-03 1.24766233e+02] [-8.72258736e-01 -4.88988062e-01 7.44135694e-03 1.08604002e+02] [ 8.51184303e-03 3.38616106e-05 9.99963773e-01 1.70373888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.80762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.78, Y:108.62, Z:1.70 [[-4.87805784e-01 8.72942387e-01 4.13590061e-03 1.24776555e+02] [-8.72910685e-01 -4.87823317e-01 7.43955178e-03 1.08623795e+02] [ 8.51188885e-03 1.87845529e-05 9.99963773e-01 1.70092700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.83762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.78, Y:108.62, Z:1.70 [[-4.88027022e-01 8.72818702e-01 4.13989423e-03 1.24776150e+02] [-8.72787015e-01 -4.88044581e-01 7.43732879e-03 1.08622568e+02] [ 8.51189260e-03 1.63714919e-05 9.99963773e-01 1.69983926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.86762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.77, Y:108.62, Z:1.70 [[-4.88998629e-01 8.72274712e-01 4.14347226e-03 1.24774955e+02] [-8.72243022e-01 -4.89016183e-01 7.43533487e-03 1.08619952e+02] [ 8.51187957e-03 2.17537883e-05 9.99963773e-01 1.69836444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.89762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.77, Y:108.61, Z:1.70 [[-4.91221121e-01 8.71025035e-01 4.14704412e-03 1.24771862e+02] [-8.70993317e-01 -4.91238625e-01 7.43334213e-03 1.08610603e+02] [ 8.51181535e-03 3.93669429e-05 9.99963773e-01 1.69621845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.92762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.77, Y:108.61, Z:1.70 [[-4.92625417e-01 8.70231562e-01 4.15062159e-03 1.24772350e+02] [-8.70199832e-01 -4.92642900e-01 7.43134402e-03 1.08608889e+02] [ 8.51176436e-03 4.89987373e-05 9.99963773e-01 1.69520000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.95762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.77, Y:108.61, Z:1.69 [[-4.94712234e-01 8.69046919e-01 4.15437535e-03 1.24772726e+02] [-8.69015165e-01 -4.94729673e-01 7.42924494e-03 1.08605196e+02] [ 8.51165518e-03 6.51231786e-05 9.99963773e-01 1.69356865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.77, Y:108.60, Z:1.69 [[-4.95892434e-01 8.68374001e-01 4.15794698e-03 1.24770057e+02] [-8.68342240e-01 -4.95909861e-01 7.42724546e-03 1.08598949e+02] [ 8.51159376e-03 7.25938346e-05 9.99963773e-01 1.69245326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.01762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.77, Y:108.59, Z:1.69 [[-4.96702862e-01 8.67910682e-01 4.16115354e-03 1.24766290e+02] [-8.67878920e-01 -4.96720286e-01 7.42544853e-03 1.08589876e+02] [ 8.51155547e-03 7.68640918e-05 9.99963773e-01 1.69342841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.39, Y:108.14, Z:2.65 [[-4.22806764e-01 -9.06210310e-01 -4.16115354e-03 1.25394463e+02] [-9.06180107e-01 4.22826769e-01 -7.42544853e-03 1.08135660e+02] [ 8.48846512e-03 6.31224701e-04 -9.99963773e-01 2.64905135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.07762800000003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:124.67, Y:108.47, Z:1.69 [[-4.34254569e-01 9.00782817e-01 3.64500671e-03 1.24665815e+02] [-9.00750157e-01 -4.34269864e-01 7.67071516e-03 1.08465852e+02] [ 8.49256498e-03 4.78027374e-05 9.99963936e-01 1.69125237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.67, Y:108.47, Z:1.69 [[-4.33135163e-01 9.01321595e-01 3.64869717e-03 1.24665380e+02] [-9.01288969e-01 -4.33150529e-01 7.66895933e-03 1.08465142e+02] [ 8.49263377e-03 3.31654393e-05 9.99963936e-01 1.69194860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.13762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:108.46, Z:1.69 [[-4.29414516e-01 9.03100124e-01 3.65238558e-03 1.24663913e+02] [-9.03067577e-01 -4.29430048e-01 7.66720230e-03 1.08462310e+02] [ 8.49269546e-03 -5.94303397e-06 9.99963936e-01 1.69324551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:108.46, Z:1.69 [[-4.27759687e-01 9.03885105e-01 3.65606758e-03 1.24664131e+02] [-9.03852601e-01 -4.27775310e-01 7.66544616e-03 1.08463987e+02] [ 8.49265805e-03 -2.55773440e-05 9.99963936e-01 1.69400119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:108.46, Z:1.70 [[-4.25236533e-01 9.05074857e-01 3.65974081e-03 1.24661312e+02] [-9.05042412e-01 -4.25252278e-01 7.66369203e-03 1.08460583e+02] [ 8.49252809e-03 -5.33388210e-05 9.99963936e-01 1.69629008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.227628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:108.46, Z:1.70 [[-4.24542102e-01 9.05400784e-01 3.66378439e-03 1.24659840e+02] [-9.05368368e-01 -4.24557906e-01 7.66175843e-03 1.08457642e+02] [ 8.49245072e-03 -6.43354685e-05 9.99963936e-01 1.69674633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.67, Y:108.46, Z:1.70 [[-4.17705512e-01 9.08575067e-01 3.66782379e-03 1.24666341e+02] [-9.08542788e-01 -4.17721594e-01 7.65982421e-03 1.08463074e+02] [ 8.49165449e-03 -1.32824057e-04 9.99963936e-01 1.69524844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.287628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.65, Y:108.45, Z:1.70 [[-4.24765114e-01 9.05296511e-01 3.58130845e-03 1.24653733e+02] [-9.05263754e-01 -4.24780210e-01 7.70126328e-03 1.08446521e+02] [ 8.49319573e-03 2.91992438e-05 9.99963932e-01 1.69760203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.65, Y:108.45, Z:1.70 [[-4.25834790e-01 9.04793473e-01 3.67460490e-03 1.24652621e+02] [-9.04761080e-01 -4.25850639e-01 7.65648724e-03 1.08446803e+02] [ 8.49237253e-03 -6.42408601e-05 9.99963937e-01 1.69637712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.34762800000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.65, Y:108.44, Z:1.70 [[-4.27227004e-01 9.04136911e-01 3.67864733e-03 1.24649564e+02] [-9.04104510e-01 -4.27242838e-01 7.65454452e-03 1.08441919e+02] [ 8.49243196e-03 -5.56535217e-05 9.99963937e-01 1.69631680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.37762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.65, Y:108.44, Z:1.70 [[-4.28672762e-01 9.03452325e-01 3.68230725e-03 1.24647307e+02] [-9.03419914e-01 -4.28688574e-01 7.65278346e-03 1.08438636e+02] [ 8.49248806e-03 -4.61298780e-05 9.99963937e-01 1.69650476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.40762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.64, Y:108.43, Z:1.70 [[-4.32929678e-01 9.01420161e-01 3.68596771e-03 1.24642293e+02] [-9.01387691e-01 -4.32945369e-01 7.65102000e-03 1.08431832e+02] [ 8.49260633e-03 -1.01322925e-05 9.99963937e-01 1.69733572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.43762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.64, Y:108.43, Z:1.70 [[-4.35869879e-01 9.00002128e-01 3.69039276e-03 1.24639970e+02] [-8.99969624e-01 -4.35885501e-01 7.64888502e-03 1.08426364e+02] [ 8.49260149e-03 1.26772013e-05 9.99963937e-01 1.69669655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.46762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.64, Y:108.42, Z:1.70 [[-4.39172250e-01 8.98395286e-01 3.69406199e-03 1.24635900e+02] [-8.98362740e-01 -4.39187784e-01 7.64711254e-03 1.08416773e+02] [ 8.49251675e-03 3.97919655e-05 9.99963937e-01 1.69697981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.49762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.63, Y:108.41, Z:1.70 [[-4.42569545e-01 8.96726559e-01 3.69812071e-03 1.24632912e+02] [-8.96693971e-01 -4.42584991e-01 7.64514925e-03 1.08409525e+02] [ 8.49234110e-03 6.74276833e-05 9.99963937e-01 1.69684003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.52762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.63, Y:108.41, Z:1.70 [[-4.48585585e-01 8.93732214e-01 3.70180982e-03 1.24631815e+02] [-8.93699537e-01 -4.48600843e-01 7.64336255e-03 1.08407494e+02] [ 8.49175434e-03 1.20396539e-04 9.99963937e-01 1.69832884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.55762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.63, Y:108.40, Z:1.70 [[-4.51296749e-01 8.92366241e-01 3.70626686e-03 1.24628126e+02] [-8.92333536e-01 -4.51311946e-01 7.64120072e-03 1.08400947e+02] [ 8.49143207e-03 1.41222834e-04 9.99963937e-01 1.69879292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.58762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:108.28, Z:1.70 [[-4.54023851e-01 8.90981806e-01 3.70995546e-03 1.24568942e+02] [-8.90949070e-01 -4.54038979e-01 7.63940941e-03 1.08282700e+02] [ 8.49103919e-03 1.63092711e-04 9.99963937e-01 1.70137884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.61762800000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.63, Y:108.40, Z:1.70 [[-4.54312929e-01 8.90834427e-01 3.71304084e-03 1.24625058e+02] [-8.90801698e-01 -4.54328073e-01 7.63790951e-03 1.08399570e+02] [ 8.49105143e-03 1.62417952e-04 9.99963937e-01 1.69931415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.64762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:108.39, Z:1.70 [[-4.53540892e-01 8.91227764e-01 3.70562292e-03 1.24620395e+02] [-8.91195019e-01 -4.53556001e-01 7.64152244e-03 1.08390555e+02] [ 8.49104447e-03 1.63310220e-04 9.99963937e-01 1.70037827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.67762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:108.39, Z:1.70 [[-4.49315397e-01 8.93365443e-01 3.72295946e-03 1.24619359e+02] [-8.93332839e-01 -4.49330808e-01 7.63306670e-03 1.08389947e+02] [ 8.49195840e-03 1.03812451e-04 9.99963937e-01 1.69913886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.70762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:108.39, Z:1.70 [[-4.46866345e-01 8.94592970e-01 3.72664532e-03 1.24617275e+02] [-8.94560424e-01 -4.46881877e-01 7.63126675e-03 1.08386999e+02] [ 8.49224785e-03 7.64468574e-05 9.99963937e-01 1.69927950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:108.39, Z:1.70 [[-4.41800055e-01 8.97105787e-01 3.73070418e-03 1.24617466e+02] [-8.97073346e-01 -4.41815806e-01 7.62928198e-03 1.08389296e+02] [ 8.49255709e-03 2.39019186e-05 9.99963937e-01 1.69888460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.76762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:108.38, Z:1.70 [[-4.39897577e-01 8.98040186e-01 3.73437210e-03 1.24614756e+02] [-8.98007794e-01 -4.39913428e-01 7.62748618e-03 1.08382740e+02] [ 8.49258955e-03 1.81743920e-06 9.99963937e-01 1.70013628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:108.38, Z:1.70 [[-4.38537061e-01 8.98705332e-01 3.73803500e-03 1.24614245e+02] [-8.98672978e-01 -4.38552992e-01 7.62569067e-03 1.08380219e+02] [ 8.49257530e-03 -1.51230757e-05 9.99963937e-01 1.69895133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.82762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:108.38, Z:1.70 [[-4.37013184e-01 8.99447317e-01 3.74169843e-03 1.24615487e+02] [-8.99415006e-01 -4.37029201e-01 7.62389271e-03 1.08380549e+02] [ 8.49252132e-03 -3.35980817e-05 9.99963937e-01 1.69940104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:108.38, Z:1.70 [[-4.36030075e-01 8.99924300e-01 3.74535290e-03 1.24615035e+02] [-8.99892022e-01 -4.36046158e-01 7.62209698e-03 1.08377783e+02] [ 8.49245703e-03 -4.69496739e-05 9.99963937e-01 1.70003700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.88762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:108.37, Z:1.70 [[-4.33495725e-01 9.01147824e-01 3.74899865e-03 1.24616114e+02] [-9.01115607e-01 -4.33511930e-01 7.62030335e-03 1.08373186e+02] [ 8.49225543e-03 -7.49122719e-05 9.99963937e-01 1.69918325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:108.37, Z:1.70 [[-4.32064190e-01 9.01835045e-01 3.75339604e-03 1.24614691e+02] [-9.01802872e-01 -4.32080482e-01 7.61813680e-03 1.08367016e+02] [ 8.49207191e-03 -9.32992306e-05 9.99963937e-01 1.69875768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:108.37, Z:1.70 [[-4.30720434e-01 9.02477585e-01 3.75703579e-03 1.24615468e+02] [-9.02445453e-01 -4.30736806e-01 7.61634136e-03 1.08366418e+02] [ 8.49187095e-03 -1.10006013e-04 9.99963937e-01 1.69842975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.977628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:108.36, Z:1.70 [[-4.27481316e-01 9.04016357e-01 3.76180690e-03 1.24615099e+02] [-9.03984304e-01 -4.27497843e-01 7.61398412e-03 1.08363181e+02] [ 8.49133052e-03 -1.45778447e-04 9.99963937e-01 1.70026368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:108.35, Z:1.70 [[-4.26733925e-01 9.04369379e-01 3.76618008e-03 1.24610951e+02] [-9.04337359e-01 -4.26750515e-01 7.61182035e-03 1.08353478e+02] [ 8.49111653e-03 -1.57675376e-04 9.99963937e-01 1.70113784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:108.35, Z:1.70 [[-4.25839698e-01 9.04790758e-01 3.77310624e-03 1.24612350e+02] [-9.04758784e-01 -4.25856378e-01 7.60838557e-03 1.08354971e+02] [ 8.49079830e-03 -1.73798396e-04 9.99963937e-01 1.70298191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:108.34, Z:1.70 [[-4.24607479e-01 9.05369662e-01 3.77672154e-03 1.24609506e+02] [-9.05337727e-01 -4.24624233e-01 7.60659056e-03 1.08344651e+02] [ 8.49046381e-03 -1.89393250e-04 9.99963937e-01 1.70346030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:108.34, Z:1.70 [[-4.24785804e-01 9.05285993e-01 3.78033733e-03 1.24610332e+02] [-9.05254071e-01 -4.24802582e-01 7.60479315e-03 1.08343791e+02] [ 8.49040978e-03 -1.91757586e-04 9.99963937e-01 1.70359911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:108.34, Z:1.70 [[-4.25723596e-01 9.04845347e-01 3.78395613e-03 1.24612258e+02] [-9.04813423e-01 -4.25740371e-01 7.60299209e-03 1.08341457e+02] [ 8.49051491e-03 -1.87001168e-04 9.99963937e-01 1.70488104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:108.34, Z:1.70 [[-4.26152653e-01 9.04643339e-01 3.78756501e-03 1.24610518e+02] [-9.04611424e-01 -4.26169443e-01 7.60119384e-03 1.08337850e+02] [ 8.49051385e-03 -1.87005661e-04 9.99963937e-01 1.70491664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:108.33, Z:1.70 [[-4.27314594e-01 9.04095053e-01 3.79116900e-03 1.24608718e+02] [-9.04063132e-01 -4.27331373e-01 7.59939589e-03 1.08331965e+02] [ 8.49066169e-03 -1.80123350e-04 9.99963937e-01 1.70499764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:108.33, Z:1.71 [[-4.28570266e-01 9.03500482e-01 3.79552233e-03 1.24606520e+02] [-9.03468557e-01 -4.28587038e-01 7.59722100e-03 1.08326477e+02] [ 8.49080451e-03 -1.73192055e-04 9.99963937e-01 1.70558971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:108.32, Z:1.71 [[-4.30519826e-01 9.02573125e-01 3.79912847e-03 1.24605278e+02] [-9.02541179e-01 -4.30536559e-01 7.59541726e-03 1.08322874e+02] [ 8.49108319e-03 -1.58892169e-04 9.99963937e-01 1.70636006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:108.32, Z:1.71 [[-4.31699675e-01 9.02009384e-01 3.80273624e-03 1.24603328e+02] [-9.01977433e-01 -4.31716397e-01 7.59361055e-03 1.08317060e+02] [ 8.49121157e-03 -1.51823068e-04 9.99963937e-01 1.70668237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:108.31, Z:1.71 [[-4.33226624e-01 9.01276985e-01 3.80634586e-03 1.24603115e+02] [-9.01245022e-01 -4.33243322e-01 7.59180077e-03 1.08313966e+02] [ 8.49138924e-03 -1.41480041e-04 9.99963938e-01 1.70638062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.337628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:124.60, Y:108.31, Z:1.71 [[-4.34102098e-01 9.00855623e-01 3.80995597e-03 1.24602174e+02] [-9.00823658e-01 -4.34118795e-01 7.58998860e-03 1.08308733e+02] [ 8.49145740e-03 -1.37268497e-04 9.99963938e-01 1.70500657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:108.30, Z:1.71 [[-4.37608867e-01 8.99157348e-01 3.81356521e-03 1.24600469e+02] [-8.99125335e-01 -4.37625470e-01 7.58817472e-03 1.08300512e+02] [ 8.49187632e-03 -1.08220561e-04 9.99963938e-01 1.70607085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:108.29, Z:1.71 [[-4.39264789e-01 8.98349525e-01 3.81792801e-03 1.24597053e+02] [-8.98317500e-01 -4.39281370e-01 7.58597898e-03 1.08291974e+02] [ 8.49200525e-03 -9.74580923e-05 9.99963938e-01 1.70568339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:108.29, Z:1.71 [[-4.40992931e-01 8.97502442e-01 3.82117935e-03 1.24596102e+02] [-8.97470400e-01 -4.41009477e-01 7.58434087e-03 1.08289402e+02] [ 8.49214076e-03 -8.47546540e-05 9.99963938e-01 1.70589661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:108.29, Z:1.71 [[-4.42745486e-01 8.96639174e-01 3.82443591e-03 1.24594966e+02] [-8.96607114e-01 -4.42761997e-01 7.58269838e-03 1.08287108e+02] [ 8.49225930e-03 -7.18109697e-05 9.99963938e-01 1.70609012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:108.28, Z:1.71 [[-4.45803892e-01 8.95122468e-01 3.82843514e-03 1.24593205e+02] [-8.95090369e-01 -4.45820328e-01 7.58067867e-03 1.08281016e+02] [ 8.49243001e-03 -4.72993627e-05 9.99963938e-01 1.70593018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:108.28, Z:1.71 [[-4.47116182e-01 8.94467684e-01 3.83168768e-03 1.24593808e+02] [-8.94435575e-01 -4.47132599e-01 7.57903430e-03 1.08279010e+02] [ 8.49247373e-03 -3.84888951e-05 9.99963938e-01 1.70540642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:108.27, Z:1.71 [[-4.48531681e-01 8.93758706e-01 3.83494197e-03 1.24592936e+02] [-8.93726585e-01 -4.48548075e-01 7.57738730e-03 1.08272185e+02] [ 8.49251170e-03 -2.86913208e-05 9.99963938e-01 1.70519407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:108.27, Z:1.70 [[-4.49140572e-01 8.93452861e-01 3.83819670e-03 1.24590630e+02] [-8.93420743e-01 -4.49156971e-01 7.57573831e-03 1.08266413e+02] [ 8.49251787e-03 -2.65531126e-05 9.99963938e-01 1.70377362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:108.26, Z:1.70 [[-4.49734529e-01 8.93154015e-01 3.84183080e-03 1.24589819e+02] [-8.93121901e-01 -4.49750937e-01 7.57389492e-03 1.08263755e+02] [ 8.49252166e-03 -2.49811678e-05 9.99963938e-01 1.70354027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:108.26, Z:1.70 [[-4.49846391e-01 8.93097663e-01 3.84564119e-03 1.24588328e+02] [-8.93065564e-01 -4.49862828e-01 7.57195970e-03 1.08259651e+02] [ 8.49251054e-03 -2.81909752e-05 9.99963938e-01 1.70352241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:108.26, Z:1.70 [[-4.50003061e-01 8.93018718e-01 3.84889837e-03 1.24587903e+02] [-8.92986631e-01 -4.50019520e-01 7.57030369e-03 1.08258695e+02] [ 8.49250229e-03 -3.03549528e-05 9.99963938e-01 1.70248402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:108.26, Z:1.70 [[-4.50068116e-01 8.92985916e-01 3.85289994e-03 1.24586775e+02] [-8.92953844e-01 -4.50084606e-01 7.56826654e-03 1.08256382e+02] [ 8.49248638e-03 -3.42263499e-05 9.99963938e-01 1.70183480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.72762800000004 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:124.59, Y:108.25, Z:1.70 [[-4.49038365e-01 8.93504156e-01 3.85614716e-03 1.24585263e+02] [-8.93472118e-01 -4.49054919e-01 7.56661167e-03 1.08254798e+02] [ 8.49242083e-03 -4.76610375e-05 9.99963938e-01 1.69982197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.58, Y:108.25, Z:1.70 [[-4.50137676e-01 8.92950826e-01 3.85939250e-03 1.24581247e+02] [-8.92918782e-01 -4.50154218e-01 7.56495601e-03 1.08247932e+02] [ 8.49245553e-03 -4.08523418e-05 9.99963938e-01 1.70272750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.78762800000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:124.58, Y:108.25, Z:1.70 [[-4.49956810e-01 8.93041959e-01 3.86376144e-03 1.24580775e+02] [-8.93009937e-01 -4.49973396e-01 7.56272394e-03 1.08247035e+02] [ 8.49241966e-03 -4.74782245e-05 9.99963938e-01 1.70182330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.58, Y:108.24, Z:1.70 [[-4.52339867e-01 8.91837256e-01 3.86700627e-03 1.24577182e+02] [-8.91805204e-01 -4.52356395e-01 7.56106441e-03 1.08241211e+02] [ 8.49250395e-03 -2.84454493e-05 9.99963938e-01 1.70308294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:108.24, Z:1.70 [[-4.53680192e-01 8.91156160e-01 3.87062280e-03 1.24574419e+02] [-8.91124099e-01 -4.53696703e-01 7.55921260e-03 1.08236980e+02] [ 8.49252768e-03 -1.97402366e-05 9.99963938e-01 1.70238065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.877628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:124.57, Y:108.24, Z:1.70 [[-4.54619273e-01 8.90677445e-01 3.87387205e-03 1.24572301e+02] [-8.90645381e-01 -4.54635777e-01 7.55754709e-03 1.08237441e+02] [ 8.49253756e-03 -1.44396832e-05 9.99963938e-01 1.69916842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:108.23, Z:1.70 [[-4.56027186e-01 8.89957400e-01 3.87711941e-03 1.24567052e+02] [-8.89925324e-01 -4.56043667e-01 7.55588078e-03 1.08230740e+02] [ 8.49254777e-03 -4.65969672e-06 9.99963938e-01 1.70197798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:108.23, Z:1.70 [[-4.54117919e-01 8.90933139e-01 3.88036967e-03 1.24567690e+02] [-8.90901113e-01 -4.54134497e-01 7.55421123e-03 1.08231794e+02] [ 8.49250685e-03 -2.65229707e-05 9.99963938e-01 1.70267299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.96762800000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.57, Y:108.23, Z:1.70 [[-4.54558735e-01 8.90708428e-01 3.85378457e-03 1.24567369e+02] [-8.90676278e-01 -4.54575071e-01 7.56787550e-03 1.08233732e+02] [ 8.49260489e-03 7.56941634e-06 9.99963937e-01 1.70182357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.56, Y:108.22, Z:1.70 [[-4.57927465e-01 8.88981189e-01 3.85769729e-03 1.24560422e+02] [-8.88948994e-01 -4.57943712e-01 7.56586204e-03 1.08224502e+02] [ 8.49251725e-03 3.53198984e-05 9.99963937e-01 1.70208256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.56, Y:108.23, Z:1.70 [[-4.56508260e-01 8.89710668e-01 3.89052644e-03 1.24561109e+02] [-8.89678642e-01 -4.56524838e-01 7.54894277e-03 1.08225404e+02] [ 8.49249686e-03 -1.51635487e-05 9.99963938e-01 1.70274539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.55, Y:108.21, Z:1.70 [[-4.59444640e-01 8.88197990e-01 3.86707906e-03 1.24552379e+02] [-8.88165807e-01 -4.59460912e-01 7.56103522e-03 1.08214537e+02] [ 8.49246795e-03 3.92697055e-05 9.99963938e-01 1.70204629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.087628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:124.55, Y:108.22, Z:1.70 [[-4.59823163e-01 8.88001960e-01 3.89575745e-03 1.24550550e+02] [-8.87969896e-01 -4.59839666e-01 7.54622994e-03 1.08218328e+02] [ 8.49249078e-03 1.06159794e-05 9.99963938e-01 1.70109758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.55, Y:108.22, Z:1.70 [[-4.59712704e-01 8.88059134e-01 3.89938266e-03 1.24552920e+02] [-8.88027087e-01 -4.59729241e-01 7.54435621e-03 1.08224566e+02] [ 8.49249467e-03 5.47896817e-06 9.99963938e-01 1.70346101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.55, Y:108.23, Z:1.70 [[-4.58896615e-01 8.88481158e-01 3.88970741e-03 1.24551339e+02] [-8.88449084e-01 -4.58913099e-01 7.54936169e-03 1.08226107e+02] [ 8.49250329e-03 8.56953502e-06 9.99963938e-01 1.70404821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.55, Y:108.22, Z:1.70 [[-4.59025319e-01 8.88414675e-01 3.88870761e-03 1.24546227e+02] [-8.88382595e-01 -4.59041790e-01 7.54987961e-03 1.08218858e+02] [ 8.49250315e-03 1.09257341e-05 9.99963938e-01 1.70420230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.207628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:124.54, Y:108.21, Z:1.70 [[-4.56755420e-01 8.89583750e-01 3.90358538e-03 1.24538903e+02] [-8.89551778e-01 -4.56772099e-01 7.54216122e-03 1.08208981e+02] [ 8.49243295e-03 -2.75183043e-05 9.99963938e-01 1.70210945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.54, Y:108.21, Z:1.70 [[-4.56283101e-01 8.89826058e-01 3.91380176e-03 1.24536211e+02] [-8.89794140e-01 -4.56299884e-01 7.53685597e-03 1.08206706e+02] [ 8.49235813e-03 -4.35378612e-05 9.99963938e-01 1.70382100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.53, Y:108.21, Z:1.70 [[-4.55651856e-01 8.90149448e-01 3.91740670e-03 1.24533498e+02] [-8.90117558e-01 -4.55668692e-01 7.53498178e-03 1.08205563e+02] [ 8.49229946e-03 -5.36240522e-05 9.99963938e-01 1.70389945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.29762800000003 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:124.53, Y:108.20, Z:1.70 [[-4.54084586e-01 8.90949951e-01 3.92100668e-03 1.24528360e+02] [-8.90918106e-01 -4.54101508e-01 7.53310798e-03 1.08203972e+02] [ 8.49215723e-03 -7.26276297e-05 9.99963938e-01 1.70336660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.53, Y:108.20, Z:1.70 [[-4.54939374e-01 8.90513764e-01 3.92460325e-03 1.24525124e+02] [-8.90481919e-01 -4.54956297e-01 7.53123377e-03 1.08199414e+02] [ 8.49219029e-03 -6.85334589e-05 9.99963938e-01 1.70454428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:108.20, Z:1.70 [[-4.55586595e-01 8.90182804e-01 3.92820144e-03 1.24523593e+02] [-8.90150963e-01 -4.55603525e-01 7.52935653e-03 1.08196802e+02] [ 8.49220613e-03 -6.64183903e-05 9.99963938e-01 1.70457054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:108.19, Z:1.70 [[-4.57007386e-01 8.89454207e-01 3.93216938e-03 1.24522404e+02] [-8.89422358e-01 -4.57024299e-01 7.52728372e-03 1.08191385e+02] [ 8.49227113e-03 -5.73351037e-05 9.99963938e-01 1.70393099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:108.19, Z:1.70 [[-4.58391537e-01 8.88741643e-01 3.93576433e-03 1.24520213e+02] [-8.88709784e-01 -4.58408430e-01 7.52540358e-03 1.08185383e+02] [ 8.49232709e-03 -4.81709514e-05 9.99963938e-01 1.70384630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.447628 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:124.52, Y:108.18, Z:1.70 [[-4.59153170e-01 8.88348382e-01 3.93936378e-03 1.24519893e+02] [-8.88316524e-01 -4.59170067e-01 7.52351888e-03 1.08182937e+02] [ 8.49234375e-03 -4.49543972e-05 9.99963938e-01 1.70169688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:108.17, Z:1.70 [[-4.61604345e-01 8.87077156e-01 3.94296233e-03 1.24515021e+02] [-8.87045268e-01 -4.61621185e-01 7.52163246e-03 1.08173036e+02] [ 8.49242328e-03 -2.55678522e-05 9.99963938e-01 1.70319411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.51, Y:108.17, Z:1.70 [[-4.63668954e-01 8.85999729e-01 3.94731421e-03 1.24512722e+02] [-8.85967821e-01 -4.63685756e-01 7.51934792e-03 1.08168758e+02] [ 8.49245359e-03 -1.07051863e-05 9.99963938e-01 1.70483937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:108.18, Z:1.71 [[-4.63293000e-01 8.86196359e-01 3.95092396e-03 1.24518727e+02] [-8.86164474e-01 -4.63309846e-01 7.51745076e-03 1.08175999e+02] [ 8.49243946e-03 -1.83861303e-05 9.99963938e-01 1.70604049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.51, Y:108.16, Z:1.70 [[-4.66328178e-01 8.84602956e-01 3.95488717e-03 1.24510073e+02] [-8.84571031e-01 -4.66344948e-01 7.51536516e-03 1.08159419e+02] [ 8.49245588e-03 6.24791451e-06 9.99963938e-01 1.70484826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.51, Y:108.15, Z:1.70 [[-4.67229570e-01 8.84127174e-01 3.95847911e-03 1.24507640e+02] [-8.84095248e-01 -4.67246339e-01 7.51347274e-03 1.08154115e+02] [ 8.49245029e-03 1.08440663e-05 9.99963938e-01 1.70462504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.51, Y:108.15, Z:1.71 [[-4.67999250e-01 8.83719980e-01 3.96209129e-03 1.24507090e+02] [-8.83688056e-01 -4.68016021e-01 7.51156744e-03 1.08152687e+02] [ 8.49244443e-03 1.41551753e-05 9.99963938e-01 1.70503854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.51, Y:108.15, Z:1.71 [[-4.65511301e-01 8.85033051e-01 3.96570256e-03 1.24508139e+02] [-8.85001190e-01 -4.65528192e-01 7.50966040e-03 1.08149901e+02] [ 8.49244400e-03 -1.38196996e-05 9.99963938e-01 1.70537520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.50, Y:108.14, Z:1.71 [[-4.70241415e-01 8.82529097e-01 3.92494371e-03 1.24499881e+02] [-8.82496965e-01 -4.70257788e-01 7.53124106e-03 1.08138013e+02] [ 8.49227472e-03 7.77505422e-05 9.99963937e-01 1.70638588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.50, Y:108.13, Z:1.71 [[-4.70926620e-01 8.82163414e-01 3.97873647e-03 1.24497202e+02] [-8.82131508e-01 -4.70943427e-01 7.50271444e-03 1.08133775e+02] [ 8.49237997e-03 2.34591438e-05 9.99963939e-01 1.70728561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.50, Y:108.14, Z:1.71 [[-4.68136158e-01 8.83647372e-01 3.98234211e-03 1.24502759e+02] [-8.83615537e-01 -4.68153096e-01 7.50080013e-03 1.08141710e+02] [ 8.49240811e-03 -7.46361218e-06 9.99963939e-01 1.70684465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.49, Y:108.13, Z:1.71 [[-4.72997636e-01 8.81054899e-01 3.93710735e-03 1.24491804e+02] [-8.81022770e-01 -4.73014013e-01 7.52483171e-03 1.08125134e+02] [ 8.49209679e-03 9.05463924e-05 9.99963937e-01 1.70649651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.49, Y:108.12, Z:1.70 [[-4.74294420e-01 8.80357250e-01 3.98935589e-03 1.24491246e+02] [-8.80325329e-01 -4.74311195e-01 7.49702898e-03 1.08123431e+02] [ 8.49225998e-03 4.38679794e-05 9.99963939e-01 1.70470805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.49, Y:108.12, Z:1.70 [[-4.76152724e-01 8.79353535e-01 3.99296405e-03 1.24487421e+02] [-8.79321594e-01 -4.76169463e-01 7.49510676e-03 1.08117208e+02] [ 8.49217617e-03 5.77159947e-05 9.99963939e-01 1.70241840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.48, Y:108.11, Z:1.70 [[-4.77235586e-01 8.78766307e-01 3.99657265e-03 1.24483578e+02] [-8.78734362e-01 -4.77252316e-01 7.49318207e-03 1.08111717e+02] [ 8.49212949e-03 6.40874263e-05 9.99963939e-01 1.70138093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.48, Y:108.11, Z:1.70 [[-4.78131326e-01 8.78279246e-01 4.00018834e-03 1.24484514e+02] [-8.78247300e-01 -4.78148055e-01 7.49125136e-03 1.08114693e+02] [ 8.49209287e-03 6.86473461e-05 9.99963939e-01 1.70088610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.48, Y:108.10, Z:1.70 [[-4.78921829e-01 8.77848422e-01 4.00379781e-03 1.24478764e+02] [-8.77816477e-01 -4.78938559e-01 7.48932173e-03 1.08103767e+02] [ 8.49206242e-03 7.21999749e-05 9.99963939e-01 1.70042511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.47, Y:108.09, Z:1.70 [[-4.79255982e-01 8.77666021e-01 4.00740753e-03 1.24472580e+02] [-8.77634086e-01 -4.79272731e-01 7.48738974e-03 1.08092185e+02] [ 8.49206871e-03 7.13388775e-05 9.99963939e-01 1.70045952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.48, Y:108.10, Z:1.70 [[-4.78128846e-01 8.78280546e-01 4.01104051e-03 1.24477879e+02] [-8.78248649e-01 -4.78145667e-01 7.48544302e-03 1.08101904e+02] [ 8.49218063e-03 5.63153277e-05 9.99963939e-01 1.70172552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.48, Y:108.10, Z:1.70 [[-4.74908294e-01 8.80026131e-01 4.01503805e-03 1.24478448e+02] [-8.79994314e-01 -4.74925265e-01 7.48329821e-03 1.08099764e+02] [ 8.49234098e-03 2.06697347e-05 9.99963939e-01 1.70161286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.48, Y:108.10, Z:1.70 [[-4.75330933e-01 8.79797906e-01 4.01863570e-03 1.24476601e+02] [-8.79766097e-01 -4.75347919e-01 7.48136572e-03 1.08096218e+02] [ 8.49234001e-03 2.06651016e-05 9.99963939e-01 1.70164846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.47, Y:108.09, Z:1.70 [[-4.75797188e-01 8.79545825e-01 4.02222835e-03 1.24474356e+02] [-8.79514023e-01 -4.75814188e-01 7.47943370e-03 1.08091960e+02] [ 8.49233800e-03 2.10872823e-05 9.99963939e-01 1.70169101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.47, Y:108.09, Z:1.70 [[-4.70648963e-01 8.82311364e-01 4.02619171e-03 1.24473194e+02] [-8.82279681e-01 -4.70666183e-01 7.47729961e-03 1.08089914e+02] [ 8.49229870e-03 -3.30438295e-05 9.99963939e-01 1.70110762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.137628 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:124.47, Y:108.09, Z:1.70 [[-4.67203518e-01 8.84140619e-01 4.02978124e-03 1.24473130e+02] [-8.84109019e-01 -4.67220892e-01 7.47536458e-03 1.08092020e+02] [ 8.49207145e-03 -7.02493123e-05 9.99963939e-01 1.69907155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.47, Y:108.09, Z:1.70 [[-4.64528561e-01 8.85548953e-01 4.03335923e-03 1.24471772e+02] [-8.85517423e-01 -4.64546060e-01 7.47343356e-03 1.08090569e+02] [ 8.49177241e-03 -9.99865342e-05 9.99963939e-01 1.70184206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.197628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:124.47, Y:108.09, Z:1.70 [[-4.54809463e-01 8.90579618e-01 4.03692594e-03 1.24473106e+02] [-8.90548298e-01 -4.54827336e-01 7.47150643e-03 1.08091710e+02] [ 8.49007562e-03 -1.96965697e-04 9.99963939e-01 1.70036162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.47, Y:108.09, Z:1.70 [[-4.51583337e-01 8.92219934e-01 4.00987491e-03 1.24473290e+02] [-8.92188549e-01 -4.51601097e-01 7.48613337e-03 1.08088614e+02] [ 8.49014132e-03 -1.96951387e-04 9.99963939e-01 1.70293335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.257628 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:124.47, Y:108.09, Z:1.70 [[-4.49950469e-01 8.93044568e-01 3.99679329e-03 1.24473750e+02] [-8.93013153e-01 -4.49968177e-01 7.49321324e-03 1.08090251e+02] [ 8.49020317e-03 -1.97614164e-04 9.99963938e-01 1.70111930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.47, Y:108.09, Z:1.70 [[-4.48731790e-01 8.93657316e-01 4.04755120e-03 1.24473834e+02] [-8.93626170e-01 -4.48749965e-01 7.46569469e-03 1.08085901e+02] [ 8.48811113e-03 -2.66903134e-04 9.99963940e-01 1.70252468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.47, Y:108.08, Z:1.70 [[-4.47501874e-01 8.94273818e-01 4.05107941e-03 1.24472216e+02] [-8.94242715e-01 -4.47520121e-01 7.46377970e-03 1.08079653e+02] [ 8.48760232e-03 -2.82592846e-04 9.99963940e-01 1.70156770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.46, Y:108.05, Z:1.70 [[-4.44997330e-01 8.95522715e-01 4.05497305e-03 1.24458795e+02] [-8.95491683e-01 -4.45015696e-01 7.46166373e-03 1.08050973e+02] [ 8.48661602e-03 -3.10774205e-04 9.99963940e-01 1.70306939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.47, Y:108.07, Z:1.70 [[-4.45556184e-01 8.95244850e-01 4.04301906e-03 1.24472984e+02] [-8.95213747e-01 -4.45574431e-01 7.46816500e-03 1.08074720e+02] [ 8.48730217e-03 -2.91879145e-04 9.99963940e-01 1.70263010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.40, Y:107.94, Z:1.70 [[-4.48839770e-01 8.93603093e-01 4.04634584e-03 1.24403025e+02] [-8.93571940e-01 -4.48857931e-01 7.46635310e-03 1.07938958e+02] [ 8.48819065e-03 -2.64504894e-04 9.99963940e-01 1.70461259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.39, Y:107.91, Z:1.70 [[-4.53282784e-01 8.91357540e-01 4.05628108e-03 1.24391158e+02] [-8.91326345e-01 -4.53300873e-01 7.46093662e-03 1.07914752e+02] [ 8.48907787e-03 -2.33556065e-04 9.99963940e-01 1.70331881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.46762800000005 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:125.05, Y:107.54, Z:2.65 [[-4.44100986e-01 -8.95967556e-01 -4.05628108e-03 1.25052667e+02] [-8.95936548e-01 4.44119394e-01 -7.46093662e-03 1.07544999e+02] [ 8.48623024e-03 3.20761161e-04 -9.99963940e-01 2.65011657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.34, Y:107.88, Z:1.71 [[-3.96217553e-01 9.18149828e-01 3.54190565e-03 1.24344903e+02] [-9.18117577e-01 -3.96233332e-01 7.69810333e-03 1.07881328e+02] [ 8.47143333e-03 -2.01762174e-04 9.99964096e-01 1.70639883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.52762800000005 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:125.00, Y:107.52, Z:2.65 [[-3.75150006e-01 -9.26957350e-01 -3.54190565e-03 1.25000672e+02] [-9.26925468e-01 3.75166518e-01 -7.69810333e-03 1.07523703e+02] [ 8.46461787e-03 3.95139041e-04 -9.99964096e-01 2.64943367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:107.77, Z:1.71 [[-3.40227813e-01 9.40338201e-01 3.01715157e-03 1.24269381e+02] [-9.40305040e-01 -3.40241158e-01 7.89855443e-03 1.07770859e+02] [ 8.45387160e-03 -1.49734927e-04 9.99964254e-01 1.70770884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:107.78, Z:1.71 [[-3.45249251e-01 9.38506205e-01 3.00958343e-03 1.24273652e+02] [-9.38472948e-01 -3.45262355e-01 7.90144810e-03 1.07779183e+02] [ 8.45465393e-03 -9.64435891e-05 9.99964254e-01 1.70994298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:107.77, Z:1.71 [[-3.50469766e-01 9.36569163e-01 3.02439760e-03 1.24274452e+02] [-9.36535881e-01 -3.50482809e-01 7.89577368e-03 1.07769521e+02] [ 8.45493751e-03 -6.52269219e-05 9.99964254e-01 1.71193428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:107.76, Z:1.71 [[-3.53034407e-01 9.35605439e-01 3.02817304e-03 1.24274182e+02] [-9.35572135e-01 -3.53047390e-01 7.89432547e-03 1.07761187e+02] [ 8.45506244e-03 -4.61058103e-05 9.99964254e-01 1.71233119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:107.75, Z:1.71 [[-3.56726649e-01 9.34203887e-01 3.03234891e-03 1.24274920e+02] [-9.34170546e-01 -3.56739536e-01 7.89272112e-03 1.07752651e+02] [ 8.45516949e-03 -1.71870797e-05 9.99964254e-01 1.71223284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:107.75, Z:1.71 [[-3.58784186e-01 9.33415605e-01 3.03575412e-03 1.24275673e+02] [-9.33382246e-01 -3.58797028e-01 7.89141116e-03 1.07750531e+02] [ 8.45518588e-03 -2.20546814e-06 9.99964254e-01 1.71213747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:107.76, Z:1.71 [[-3.55888911e-01 9.34523325e-01 3.03955091e-03 1.24283724e+02] [-9.34490018e-01 -3.55901889e-01 7.88994847e-03 1.07760866e+02] [ 8.45512279e-03 -3.24848174e-05 9.99964254e-01 1.71119473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:107.74, Z:1.71 [[-3.62890645e-01 9.31826883e-01 3.00659437e-03 1.24276256e+02] [-9.31793374e-01 -3.62903094e-01 7.90265719e-03 1.07741396e+02] [ 8.45501082e-03 6.62756596e-05 9.99964254e-01 1.71228101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:107.74, Z:1.71 [[-3.63976709e-01 9.31403068e-01 3.04645346e-03 1.24275808e+02] [-9.31369672e-01 -3.63989457e-01 7.88726164e-03 1.07737260e+02] [ 8.45509662e-03 3.34051769e-05 9.99964254e-01 1.71216230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.26, Y:107.69, Z:1.71 [[-3.62450120e-01 9.31998181e-01 3.04986132e-03 1.24262707e+02] [-9.31964818e-01 -3.62462951e-01 7.88594366e-03 1.07694137e+02] [ 8.45514688e-03 1.58977733e-05 9.99964254e-01 1.71074784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:107.73, Z:1.71 [[-3.66051828e-01 9.30589458e-01 3.05294276e-03 1.24275993e+02] [-9.30556055e-01 -3.66064556e-01 7.88475054e-03 1.07726618e+02] [ 8.45503986e-03 4.52929797e-05 9.99964254e-01 1.70921599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:107.72, Z:1.71 [[-3.66846812e-01 9.30276342e-01 3.05680609e-03 1.24275073e+02] [-9.30242941e-01 -3.66859544e-01 7.88325249e-03 1.07723756e+02] [ 8.45502178e-03 4.83737551e-05 9.99964255e-01 1.70905862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:107.73, Z:1.71 [[-3.65176816e-01 9.30933145e-01 3.06139952e-03 1.24279313e+02] [-9.30899782e-01 -3.65189647e-01 7.88146827e-03 1.07728185e+02] [ 8.45511145e-03 2.82733374e-05 9.99964255e-01 1.70955935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:107.72, Z:1.71 [[-3.68346107e-01 9.29683683e-01 3.06518457e-03 1.24272707e+02] [-9.29650288e-01 -3.68358856e-01 7.87999594e-03 1.07718335e+02] [ 8.45499153e-03 5.30161068e-05 9.99964255e-01 1.71087505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:107.71, Z:1.71 [[-3.69013058e-01 9.29419145e-01 3.06857929e-03 1.24270031e+02] [-9.29385752e-01 -3.69025813e-01 7.87867377e-03 1.07712516e+02] [ 8.45497521e-03 5.54396366e-05 9.99964255e-01 1.71243336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:107.71, Z:1.71 [[-3.68226821e-01 9.29730912e-01 3.07237693e-03 1.24269869e+02] [-9.29697542e-01 -3.68239636e-01 7.87719256e-03 1.07710743e+02] [ 8.45504039e-03 4.42123003e-05 9.99964255e-01 1.71363281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:107.71, Z:1.71 [[-3.67592007e-01 9.29982073e-01 3.07578546e-03 1.24268923e+02] [-9.29948723e-01 -3.67604873e-01 7.87586142e-03 1.07707363e+02] [ 8.45508365e-03 3.47809428e-05 9.99964255e-01 1.71398352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.067628 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:124.27, Y:107.71, Z:1.71 [[-3.64007177e-01 9.31391052e-01 3.07958052e-03 1.24269947e+02] [-9.31357764e-01 -3.64020204e-01 7.87437722e-03 1.07710028e+02] [ 8.45515400e-03 -1.86139958e-06 9.99964255e-01 1.71233379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:107.71, Z:1.71 [[-3.61844089e-01 9.32233528e-01 3.08297658e-03 1.24269458e+02] [-9.32200282e-01 -3.61857222e-01 7.87304736e-03 1.07707701e+02] [ 8.45511606e-03 -2.51359849e-05 9.99964255e-01 1.71314537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:107.70, Z:1.71 [[-3.60145255e-01 9.32891135e-01 3.08636344e-03 1.24266550e+02] [-9.32857925e-01 -3.60158477e-01 7.87171943e-03 1.07701272e+02] [ 8.45503723e-03 -4.41761931e-05 9.99964255e-01 1.71303834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:107.72, Z:1.71 [[-3.53327185e-01 9.35494698e-01 3.09357954e-03 1.24275878e+02] [-9.35461610e-01 -3.53340710e-01 7.86888249e-03 1.07724338e+02] [ 8.45438544e-03 -1.13634795e-04 9.99964255e-01 1.71225812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:107.70, Z:1.71 [[-3.48851830e-01 9.37172881e-01 3.06468452e-03 1.24266660e+02] [-9.37139757e-01 -3.48865270e-01 7.88025217e-03 1.07697267e+02] [ 8.45432062e-03 -1.22997310e-04 9.99964254e-01 1.71368435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:107.72, Z:1.71 [[-3.45093533e-01 9.38563392e-01 3.03542888e-03 1.24275639e+02] [-9.38530221e-01 -3.45106859e-01 7.89177258e-03 1.07717078e+02] [ 8.45447616e-03 -1.25442061e-04 9.99964252e-01 1.71408221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:107.70, Z:1.71 [[-3.47450910e-01 9.37693237e-01 3.04261920e-03 1.24268224e+02] [-9.37660058e-01 -3.47464214e-01 7.88893794e-03 1.07703267e+02] [ 8.45460505e-03 -1.11923831e-04 9.99964253e-01 1.71395395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:107.70, Z:1.71 [[-3.45563366e-01 9.38390280e-01 3.10538482e-03 1.24266499e+02] [-9.38357347e-01 -3.45577263e-01 7.86415317e-03 1.07698062e+02] [ 8.45279528e-03 -1.96397416e-04 9.99964255e-01 1.71365943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:107.70, Z:1.71 [[-3.43647490e-01 9.39093570e-01 3.10949509e-03 1.24266639e+02] [-9.39060680e-01 -3.43661489e-01 7.86252763e-03 1.07698817e+02] [ 8.45226285e-03 -2.18066685e-04 9.99964255e-01 1.71403423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:107.71, Z:1.72 [[-3.32219027e-01 9.43197131e-01 3.11283226e-03 1.24276933e+02] [-9.43164426e-01 -3.32233452e-01 7.86120620e-03 1.07712916e+02] [ 8.44885414e-03 -3.24270375e-04 9.99964255e-01 1.71669375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:107.72, Z:1.72 [[-3.28154803e-01 9.44619105e-01 3.02859357e-03 1.24280394e+02] [-9.44586154e-01 -3.28168667e-01 7.89456593e-03 1.07716491e+02] [ 8.45124732e-03 -2.70127829e-04 9.99964251e-01 1.71732718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:107.71, Z:1.72 [[-3.27756119e-01 9.44757589e-01 3.00421956e-03 1.24280380e+02] [-9.44724555e-01 -3.27769794e-01 7.90422360e-03 1.07712608e+02] [ 8.45226765e-03 -2.47502332e-04 9.99964248e-01 1.71753396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.427628 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:124.28, Y:107.71, Z:1.72 [[-3.25167744e-01 9.45651495e-01 3.03119719e-03 1.24282004e+02] [-9.45618598e-01 -3.25181734e-01 7.89352224e-03 1.07708709e+02] [ 8.45021107e-03 -2.99637619e-04 9.99964251e-01 1.71643892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:107.69, Z:1.72 [[-3.33759934e-01 9.42653256e-01 3.02421799e-03 1.24271213e+02] [-9.42620207e-01 -3.33773566e-01 7.89629353e-03 1.07691190e+02] [ 8.45287083e-03 -2.15222582e-04 9.99964251e-01 1.71747497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.48762800000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:124.27, Y:107.68, Z:1.72 [[-3.34814522e-01 9.42278864e-01 3.12696608e-03 1.24269072e+02] [-9.42246173e-01 -3.34828975e-01 7.85539305e-03 1.07682135e+02] [ 8.44896969e-03 -3.16272151e-04 9.99964257e-01 1.71849246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.517628 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:124.27, Y:107.68, Z:1.72 [[-3.36388274e-01 9.41718178e-01 3.13104061e-03 1.24270181e+02] [-9.41685477e-01 -3.36402705e-01 7.85376867e-03 1.07682505e+02] [ 8.44932725e-03 -3.06539790e-04 9.99964257e-01 1.71901822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:107.68, Z:1.72 [[-3.39110549e-01 9.40741310e-01 3.13435382e-03 1.24269304e+02] [-9.40708580e-01 -3.39124913e-01 7.85244618e-03 1.07675751e+02] [ 8.45005797e-03 -2.85666193e-04 9.99964257e-01 1.72137574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:107.66, Z:1.72 [[-3.46529897e-01 9.38033680e-01 3.13766646e-03 1.24268810e+02] [-9.38000850e-01 -3.46544031e-01 7.85112230e-03 1.07659894e+02] [ 8.45195673e-03 -2.22485203e-04 9.99964257e-01 1.72172413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:107.65, Z:1.72 [[-3.51086467e-01 9.36337759e-01 3.14554235e-03 1.24268525e+02] [-9.36304888e-01 -3.51100507e-01 7.84796557e-03 1.07650717e+02] [ 8.45274800e-03 -1.89872176e-04 9.99964257e-01 1.72134051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:107.64, Z:1.72 [[-3.60554596e-01 9.32732797e-01 3.14851027e-03 1.24269501e+02] [-9.32699796e-01 -3.60568327e-01 7.84677469e-03 1.07642866e+02] [ 8.45419718e-03 -1.07424212e-04 9.99964257e-01 1.72185145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:107.64, Z:1.72 [[-3.65451625e-01 9.30824997e-01 3.15185766e-03 1.24268338e+02] [-9.30791937e-01 -3.65465210e-01 7.84542990e-03 1.07637469e+02] [ 8.45461659e-03 -6.65985881e-05 9.99964257e-01 1.72176255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:107.65, Z:1.72 [[-3.60751881e-01 9.32656487e-01 3.15559393e-03 1.24279446e+02] [-9.32623508e-01 -3.60765664e-01 7.84392680e-03 1.07646534e+02] [ 8.45411916e-03 -1.13269739e-04 9.99964257e-01 1.71755294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:107.62, Z:1.72 [[-3.78288828e-01 9.25682624e-01 3.04024763e-03 1.24265879e+02] [-9.25649011e-01 -3.78301006e-01 7.89032940e-03 1.07621784e+02] [ 8.45406956e-03 1.70621253e-04 9.99964249e-01 1.72140272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.26, Y:107.62, Z:1.72 [[-3.81846241e-01 9.24220454e-01 3.16250562e-03 1.24264857e+02] [-9.24187194e-01 -3.81859330e-01 7.84101936e-03 1.07615972e+02] [ 8.45446275e-03 7.13165697e-05 9.99964258e-01 1.72075628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.26, Y:107.61, Z:1.72 [[-3.84890331e-01 9.22956886e-01 3.16551538e-03 1.24264269e+02] [-9.22923594e-01 -3.84903336e-01 7.83980410e-03 1.07611838e+02] [ 8.45421861e-03 9.59359637e-05 9.99964258e-01 1.71926343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.26, Y:107.61, Z:1.72 [[-3.87004768e-01 9.22072267e-01 3.16929017e-03 1.24263102e+02] [-9.22038957e-01 -3.87017729e-01 7.83827782e-03 1.07608034e+02] [ 8.45403008e-03 1.11241882e-04 9.99964258e-01 1.71813829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.26, Y:107.61, Z:1.72 [[-3.89177929e-01 9.21157140e-01 3.17230440e-03 1.24258578e+02] [-9.21123810e-01 -3.89190836e-01 7.83705771e-03 1.07605921e+02] [ 8.45379347e-03 1.27924772e-04 9.99964258e-01 1.71937358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.26, Y:107.60, Z:1.72 [[-3.89531539e-01 9.21007652e-01 3.17569433e-03 1.24255272e+02] [-9.20974328e-01 -3.89544463e-01 7.83568382e-03 1.07603910e+02] [ 8.45379890e-03 1.27513033e-04 9.99964258e-01 1.71977826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.25, Y:107.60, Z:1.72 [[-3.88789009e-01 9.21321335e-01 3.17871108e-03 1.24250068e+02] [-9.21288032e-01 -3.88801985e-01 7.83445982e-03 1.07601316e+02] [ 8.45394416e-03 1.17443399e-04 9.99964258e-01 1.72063695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.25, Y:107.60, Z:1.72 [[-3.88413364e-01 9.21479752e-01 3.18210354e-03 1.24248264e+02] [-9.21446465e-01 -3.88426383e-01 7.83308167e-03 1.07600590e+02] [ 8.45403912e-03 1.10335546e-04 9.99964258e-01 1.72061866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.25, Y:107.60, Z:1.72 [[-3.88812114e-01 9.21311561e-01 3.18549541e-03 1.24247113e+02] [-9.21278280e-01 -3.88825147e-01 7.83170205e-03 1.07597597e+02] [ 8.45403836e-03 1.10332900e-04 9.99964258e-01 1.72064702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.24, Y:107.59, Z:1.72 [[-3.88470773e-01 9.21455528e-01 3.18888423e-03 1.24242761e+02] [-9.21422263e-01 -3.88483847e-01 7.83032196e-03 1.07590705e+02] [ 8.45412347e-03 1.03542298e-04 9.99964258e-01 1.72042715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.82, Y:107.25, Z:2.64 [[-3.04531622e-01 -9.52496888e-01 -3.18888423e-03 1.24823992e+02] [-9.52464925e-01 3.04547618e-01 -7.83032196e-03 1.07254773e+02] [ 8.42952440e-03 6.52719736e-04 -9.99964258e-01 2.64043614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.15, Y:107.46, Z:1.72 [[-3.22487717e-01 9.46569941e-01 2.64923687e-03 1.24153695e+02] [-9.46536063e-01 -3.22498590e-01 8.00883301e-03 1.07464129e+02] [ 8.43529574e-03 7.51520403e-05 9.99964419e-01 1.72054900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.15, Y:107.47, Z:1.72 [[-3.21127477e-01 9.47032263e-01 2.65270370e-03 1.24151405e+02] [-9.46998409e-01 -3.21138427e-01 8.00768455e-03 1.07466017e+02] [ 8.43542072e-03 5.93813490e-05 9.99964419e-01 1.72045231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.14, Y:107.46, Z:1.72 [[-3.17180365e-01 9.48361513e-01 2.65655946e-03 1.24143748e+02] [-9.48327716e-01 -3.17191489e-01 8.00640519e-03 1.07461771e+02] [ 8.43560459e-03 2.01855579e-05 9.99964419e-01 1.72068322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.14, Y:107.47, Z:1.72 [[-3.14902687e-01 9.49120233e-01 2.66120945e-03 1.24141672e+02] [-9.49086476e-01 -3.14913931e-01 8.00485931e-03 1.07465554e+02] [ 8.43562586e-03 -4.96619950e-06 9.99964419e-01 1.72056597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.14, Y:107.47, Z:1.72 [[-3.12293100e-01 9.49982062e-01 2.66504972e-03 1.24138553e+02] [-9.49948347e-01 -3.12304469e-01 8.00358057e-03 1.07465185e+02] [ 8.43556491e-03 -3.21965965e-05 9.99964419e-01 1.72045238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.15, Y:107.49, Z:1.72 [[-2.95655950e-01 9.55290760e-01 2.66887536e-03 1.24147105e+02] [-9.55257260e-01 -2.95667939e-01 8.00230466e-03 1.07487604e+02] [ 8.43362858e-03 -1.83533574e-04 9.99964419e-01 1.71652102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.13, Y:107.46, Z:1.72 [[-3.03925167e-01 9.52692512e-01 2.54360432e-03 1.24129494e+02] [-9.52658552e-01 -3.03935810e-01 8.04407587e-03 1.07463953e+02] [ 8.43662329e-03 2.16106950e-05 9.99964411e-01 1.72088722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.13, Y:107.47, Z:1.72 [[-3.01533935e-01 9.53451691e-01 2.67547813e-03 1.24127799e+02] [-9.53418139e-01 -3.01545773e-01 7.99997262e-03 1.07467463e+02] [ 8.43436655e-03 -1.38586149e-04 9.99964421e-01 1.72138616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.12, Y:107.46, Z:1.72 [[-2.99317451e-01 9.54149823e-01 2.67928263e-03 1.24123629e+02] [-9.54116310e-01 -2.99329398e-01 7.99869825e-03 1.07462888e+02] [ 8.43394458e-03 -1.62197284e-04 9.99964421e-01 1.72052495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.12, Y:107.47, Z:1.72 [[-2.94469063e-01 9.55657246e-01 2.68307963e-03 1.24119384e+02] [-9.55623805e-01 -2.94481212e-01 7.99742438e-03 1.07466618e+02] [ 8.43291310e-03 -2.09020702e-04 9.99964421e-01 1.72086970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.12, Y:107.46, Z:1.72 [[-2.92533064e-01 9.56251636e-01 2.68623827e-03 1.24115514e+02] [-9.56218229e-01 -2.92545307e-01 7.99636329e-03 1.07463479e+02] [ 8.43238188e-03 -2.29429351e-04 9.99964421e-01 1.72100512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.11, Y:107.46, Z:1.72 [[-2.89757974e-01 9.57096169e-01 2.69080644e-03 1.24111195e+02] [-9.57062812e-01 -2.89770352e-01 7.99482579e-03 1.07464890e+02] [ 8.43153306e-03 -2.58706260e-04 9.99964421e-01 1.71811471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.11, Y:107.46, Z:1.72 [[-2.89083047e-01 9.57300230e-01 2.69457967e-03 1.24108371e+02] [-9.57266894e-01 -2.89095480e-01 7.99355386e-03 1.07461183e+02] [ 8.43122175e-03 -2.68631002e-04 9.99964421e-01 1.71988334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.10, Y:107.46, Z:1.72 [[-2.88803436e-01 9.57384611e-01 2.69834830e-03 1.24104740e+02] [-9.57351290e-01 -2.88815911e-01 7.99228150e-03 1.07456395e+02] [ 8.43101323e-03 -2.75068866e-04 9.99964421e-01 1.72020602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.11, Y:107.48, Z:1.72 [[-2.79045786e-01 9.60273995e-01 2.70250734e-03 1.24113741e+02] [-9.60240816e-01 -2.79058633e-01 7.99087491e-03 1.07476882e+02] [ 8.42758738e-03 -3.65237880e-04 9.99964421e-01 1.72110887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.10, Y:107.45, Z:1.72 [[-2.89009717e-01 9.57322643e-01 2.59636211e-03 1.24097819e+02] [-9.57289005e-01 -2.89021332e-01 8.02680893e-03 1.07450272e+02] [ 8.43464997e-03 -1.65643121e-04 9.99964414e-01 1.72332974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.10, Y:107.44, Z:1.72 [[-2.90396772e-01 9.56902479e-01 2.71321753e-03 1.24095769e+02] [-9.56869184e-01 -2.90409314e-01 7.98711328e-03 1.07444769e+02] [ 8.43083214e-03 -2.76762331e-04 9.99964422e-01 1.72393361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.09, Y:107.44, Z:1.73 [[-2.95010182e-01 9.55490246e-01 2.71698431e-03 1.24093000e+02] [-9.55456904e-01 -2.95022596e-01 7.98583173e-03 1.07437299e+02] [ 8.43195609e-03 -2.40059741e-04 9.99964422e-01 1.72503698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.59762800000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:124.09, Y:107.43, Z:1.72 [[-2.97952127e-01 9.54576936e-01 2.72075868e-03 1.24090654e+02] [-9.54543567e-01 -2.97964469e-01 7.98454560e-03 1.07432286e+02] [ 8.43255249e-03 -2.18070355e-04 9.99964422e-01 1.72497832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.09, Y:107.43, Z:1.73 [[-3.01854220e-01 9.53350202e-01 2.72453928e-03 1.24087771e+02] [-9.53316794e-01 -3.01866457e-01 7.98325535e-03 1.07426058e+02] [ 8.43328512e-03 -1.87569732e-04 9.99964422e-01 1.72789138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.09, Y:107.42, Z:1.73 [[-3.05457512e-01 9.52201797e-01 2.72871625e-03 1.24085072e+02] [-9.52168356e-01 -3.05469658e-01 7.98182739e-03 1.07419030e+02] [ 8.43385040e-03 -1.60088133e-04 9.99964422e-01 1.72869849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:107.41, Z:1.73 [[-3.12417336e-01 9.49941019e-01 2.73290008e-03 1.24082839e+02] [-9.49907502e-01 -3.12429272e-01 7.98039463e-03 1.07408892e+02] [ 8.43474219e-03 -1.02788652e-04 9.99964422e-01 1.72970565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:107.40, Z:1.73 [[-3.15744948e-01 9.48840153e-01 2.73709569e-03 1.24081318e+02] [-9.48806607e-01 -3.15756802e-01 7.97895537e-03 1.07401954e+02] [ 8.43500981e-03 -7.76596224e-05 9.99964422e-01 1.72967739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:107.40, Z:1.73 [[-3.19140061e-01 9.47703596e-01 2.74130261e-03 1.24079641e+02] [-9.47670021e-01 -3.19151830e-01 7.97750975e-03 1.07395481e+02] [ 8.43520642e-03 -5.19073508e-05 9.99964422e-01 1.72979620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:107.39, Z:1.73 [[-3.23841454e-01 9.46107380e-01 2.74551483e-03 1.24078010e+02] [-9.46073759e-01 -3.23853092e-01 7.97605982e-03 1.07388823e+02] [ 8.43535253e-03 -1.44807251e-05 9.99964422e-01 1.72990076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:107.38, Z:1.73 [[-3.25898569e-01 9.45400742e-01 2.74933715e-03 1.24075772e+02] [-9.45367107e-01 -3.25910166e-01 7.97474205e-03 1.07383482e+02] [ 8.43536399e-03 -1.75879737e-07 9.99964422e-01 1.73022142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.07, Y:107.38, Z:1.73 [[-3.27579872e-01 9.44819479e-01 2.75316584e-03 1.24072561e+02] [-9.44785834e-01 -3.27591441e-01 7.97342003e-03 1.07377303e+02] [ 8.43535613e-03 1.07798338e-05 9.99964422e-01 1.73078894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.07, Y:107.37, Z:1.73 [[-3.29265085e-01 9.44233499e-01 2.75739639e-03 1.24069627e+02] [-9.44199846e-01 -3.29276630e-01 7.97195674e-03 1.07373646e+02] [ 8.43533480e-03 2.13537729e-05 9.99964422e-01 1.72966559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.07, Y:107.37, Z:1.73 [[-3.30150257e-01 9.43924351e-01 2.76162782e-03 1.24067172e+02] [-9.43890700e-01 -3.30161806e-01 7.97049063e-03 1.07369206e+02] [ 8.43532423e-03 2.47847149e-05 9.99964422e-01 1.72839931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.06, Y:107.37, Z:1.73 [[-3.30258209e-01 9.43886573e-01 2.76625692e-03 1.24064877e+02] [-9.43852934e-01 -3.30269794e-01 7.96888372e-03 1.07365389e+02] [ 8.43533345e-03 2.08495609e-05 9.99964422e-01 1.72700684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.957628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:124.06, Y:107.36, Z:1.72 [[-3.29416221e-01 9.44180744e-01 2.77048339e-03 1.24060172e+02] [-9.44147128e-01 -3.29427870e-01 7.96741406e-03 1.07362965e+02] [ 8.43535338e-03 8.85149458e-06 9.99964422e-01 1.72251389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.06, Y:107.36, Z:1.73 [[-3.29805955e-01 9.44044667e-01 2.77470741e-03 1.24055744e+02] [-9.44011058e-01 -3.29817627e-01 7.96594275e-03 1.07359343e+02] [ 8.43535318e-03 7.86087223e-06 9.99964422e-01 1.72529621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.05, Y:107.36, Z:1.73 [[-3.29637187e-01 9.44103597e-01 2.77892900e-03 1.24051064e+02] [-9.44070003e-01 -3.29648900e-01 7.96446977e-03 1.07355579e+02] [ 8.43535545e-03 1.88190391e-06 9.99964422e-01 1.72562305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.04, Y:107.36, Z:1.73 [[-3.29230738e-01 9.44245399e-01 2.78354793e-03 1.24044346e+02] [-9.44211823e-01 -3.29242505e-01 7.96285514e-03 1.07355785e+02] [ 8.43535162e-03 -6.64219019e-06 9.99964422e-01 1.72613516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.04, Y:107.34, Z:1.73 [[-3.29487481e-01 9.44155828e-01 2.78776178e-03 1.24037507e+02] [-9.44122262e-01 -3.29499274e-01 7.96137962e-03 1.07344147e+02] [ 8.43534845e-03 -8.81304313e-06 9.99964422e-01 1.72588813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.04, Y:107.35, Z:1.73 [[-3.30760542e-01 9.43710585e-01 2.79198427e-03 1.24037644e+02] [-9.43677015e-01 -3.30772325e-01 7.95989856e-03 1.07347134e+02] [ 8.43535165e-03 -1.91101876e-06 9.99964422e-01 1.72652262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.04, Y:107.34, Z:1.73 [[-3.32887151e-01 9.42962525e-01 2.79660532e-03 1.24035263e+02] [-9.42928942e-01 -3.32898898e-01 7.95827468e-03 1.07339684e+02] [ 8.43534162e-03 1.22072875e-05 9.99964422e-01 1.72663354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.03, Y:107.33, Z:1.73 [[-3.35532457e-01 9.42024483e-01 2.80081674e-03 1.24033097e+02] [-9.41990879e-01 -3.35544145e-01 7.95679225e-03 1.07332410e+02] [ 8.43529076e-03 3.14182274e-05 9.99964422e-01 1.72691243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.04, Y:107.34, Z:1.73 [[-3.31460038e-01 9.43465089e-01 2.80503679e-03 1.24037445e+02] [-9.43431549e-01 -3.31471907e-01 7.95530426e-03 1.07337195e+02] [ 8.43534274e-03 -9.49474882e-06 9.99964422e-01 1.72869633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.04, Y:107.33, Z:1.73 [[-3.31541300e-01 9.43436673e-01 2.75877381e-03 1.24035421e+02] [-9.43402995e-01 -3.31552775e-01 7.97163198e-03 1.07333201e+02] [ 8.43540906e-03 4.02897487e-05 9.99964421e-01 1.72820090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.03, Y:107.32, Z:1.73 [[-3.32726908e-01 9.43019111e-01 2.78592629e-03 1.24030251e+02] [-9.42985498e-01 -3.32738570e-01 7.96203319e-03 1.07323129e+02] [ 8.43533459e-03 2.20945947e-05 9.99964422e-01 1.72754466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.03, Y:107.32, Z:1.73 [[-3.31171704e-01 9.43566301e-01 2.81757151e-03 1.24028679e+02] [-9.43532802e-01 -3.31183689e-01 7.95081892e-03 1.07318943e+02] [ 8.43525852e-03 -2.53848930e-05 9.99964422e-01 1.72788375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.03, Y:107.31, Z:1.73 [[-3.29242481e-01 9.44241188e-01 2.82257606e-03 1.24025397e+02] [-9.44207730e-01 -3.29254577e-01 7.94904189e-03 1.07308770e+02] [ 8.43515884e-03 -4.79358520e-05 9.99964422e-01 1.72807723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.96, Y:107.13, Z:1.73 [[-3.25295000e-01 9.45608361e-01 2.82678755e-03 1.23964728e+02] [-9.45574966e-01 -3.25307270e-01 7.94754394e-03 1.07134769e+02] [ 8.43483854e-03 -8.76432332e-05 9.99964422e-01 1.72925727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.76, Y:106.94, Z:2.64 [[-2.83444905e-01 -9.58984356e-01 -2.82678755e-03 1.24757381e+02] [-9.58951532e-01 2.83458630e-01 -7.94754394e-03 1.06940489e+02] [ 8.42284764e-03 4.58061413e-04 -9.99964422e-01 2.63760314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.94, Y:107.16, Z:1.73 [[-2.56597845e-01 9.66515574e-01 2.27843196e-03 1.23940234e+02] [-9.66481625e-01 -2.56607931e-01 8.10175769e-03 1.07160335e+02] [ 8.41513869e-03 -1.23169054e-04 9.99964585e-01 1.72751666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.94, Y:107.17, Z:1.73 [[-2.54634462e-01 9.67034675e-01 2.28665329e-03 1.23942438e+02] [-9.67000767e-01 -2.54644685e-01 8.09943662e-03 1.07165973e+02] [ 8.41472016e-03 -1.48799805e-04 9.99964585e-01 1.72794303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:107.08, Z:1.73 [[-2.51513457e-01 9.67851095e-01 2.28904518e-03 1.23918378e+02] [-9.67817226e-01 -2.51523809e-01 8.09875988e-03 1.07076657e+02] [ 8.41414297e-03 -1.78430268e-04 9.99964585e-01 1.72650511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.94, Y:107.15, Z:1.73 [[-2.51102329e-01 9.67957827e-01 2.29483580e-03 1.23939620e+02] [-9.67923977e-01 -2.51112745e-01 8.09711873e-03 1.07149922e+02] [ 8.41393197e-03 -1.88021222e-04 9.99964585e-01 1.72700753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.94, Y:107.14, Z:1.73 [[-2.51423201e-01 9.67874519e-01 2.30003527e-03 1.23937748e+02] [-9.67840680e-01 -2.51433648e-01 8.09564152e-03 1.07142458e+02] [ 8.41387140e-03 -1.90635598e-04 9.99964585e-01 1.72804918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.94, Y:107.15, Z:1.73 [[-2.52828304e-01 9.67508418e-01 2.30427612e-03 1.23941233e+02] [-9.67474575e-01 -2.52838739e-01 8.09443426e-03 1.07148898e+02] [ 8.41404356e-03 -1.82826468e-04 9.99964585e-01 1.72935852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.94, Y:107.13, Z:1.73 [[-2.55067001e-01 9.66920626e-01 2.30843861e-03 1.23937755e+02] [-9.66886769e-01 -2.55077392e-01 8.09324656e-03 1.07132087e+02] [ 8.41435753e-03 -1.67678624e-04 9.99964585e-01 1.72960917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.94, Y:107.12, Z:1.73 [[-2.58827659e-01 9.65920748e-01 2.31341418e-03 1.23937395e+02] [-9.65886864e-01 -2.58837960e-01 8.09182407e-03 1.07123016e+02] [ 8.41486016e-03 -1.40108482e-04 9.99964585e-01 1.73058520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.94, Y:107.12, Z:1.73 [[-2.61053525e-01 9.65321544e-01 2.31806049e-03 1.23936107e+02] [-9.65287648e-01 -2.61063786e-01 8.09049282e-03 1.07115042e+02] [ 8.41508867e-03 -1.25543490e-04 9.99964585e-01 1.73248131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:107.11, Z:1.73 [[-2.63512614e-01 9.64653154e-01 2.32271642e-03 1.23934878e+02] [-9.64619243e-01 -2.63522828e-01 8.08915592e-03 1.07107800e+02] [ 8.41531857e-03 -1.08942333e-04 9.99964585e-01 1.73349297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:107.10, Z:1.74 [[-2.68249026e-01 9.63346794e-01 2.32697711e-03 1.23934248e+02] [-9.63312844e-01 -2.68259109e-01 8.08793008e-03 1.07103046e+02] [ 8.41571432e-03 -7.20275723e-05 9.99964585e-01 1.73558696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:107.10, Z:1.74 [[-2.71058669e-01 9.62560005e-01 2.33123995e-03 1.23931742e+02] [-9.62526037e-01 -2.71068688e-01 8.08670118e-03 1.07095127e+02] [ 8.41586129e-03 -5.19086919e-05 9.99964585e-01 1.73622375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:107.09, Z:1.74 [[-2.74039341e-01 9.61715645e-01 2.33631569e-03 1.23928952e+02] [-9.61681658e-01 -2.74049299e-01 8.08523449e-03 1.07086471e+02] [ 8.41596218e-03 -3.11196133e-05 9.99964585e-01 1.73763740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:107.08, Z:1.74 [[-2.77055822e-01 9.60850973e-01 2.34058995e-03 1.23928257e+02] [-9.60816966e-01 -2.77065708e-01 8.08399695e-03 1.07082140e+02] [ 8.41601355e-03 -9.16010911e-06 9.99964585e-01 1.73789201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:107.07, Z:1.74 [[-2.82301018e-01 9.59323010e-01 2.34486972e-03 1.23927160e+02] [-9.59288959e-01 -2.82310755e-01 8.08275536e-03 1.07072180e+02] [ 8.41595514e-03 3.23624359e-05 9.99964585e-01 1.73708812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:107.06, Z:1.74 [[-2.84921192e-01 9.58548067e-01 2.34915671e-03 1.23924534e+02] [-9.58514000e-01 -2.84930871e-01 8.08150920e-03 1.07061036e+02] [ 8.41586229e-03 5.08936367e-05 9.99964585e-01 1.73659695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:107.06, Z:1.74 [[-2.85432981e-01 9.58395782e-01 2.35346059e-03 1.23923228e+02] [-9.58361720e-01 -2.85442678e-01 8.08025565e-03 1.07056407e+02] [ 8.41586103e-03 5.09049177e-05 9.99964585e-01 1.73663928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:107.06, Z:1.74 [[-2.87628434e-01 9.57739174e-01 2.35777463e-03 1.23923650e+02] [-9.57705100e-01 -2.87638090e-01 8.07899664e-03 1.07055747e+02] [ 8.41575736e-03 6.56963600e-05 9.99964585e-01 1.73598991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:107.05, Z:1.73 [[-2.89273894e-01 9.57243457e-01 2.36208172e-03 1.23922658e+02] [-9.57209377e-01 -2.89283528e-01 8.07773717e-03 1.07051665e+02] [ 8.41567238e-03 7.56717080e-05 9.99964585e-01 1.73466539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:107.05, Z:1.73 [[-2.89276150e-01 9.57242764e-01 2.36638019e-03 1.23919988e+02] [-9.57208695e-01 -2.89285820e-01 8.07647773e-03 1.07046854e+02] [ 8.41571010e-03 7.12126935e-05 9.99964585e-01 1.73324493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:107.04, Z:1.73 [[-2.88126829e-01 9.57589322e-01 2.37067798e-03 1.23917738e+02] [-9.57555275e-01 -2.88136576e-01 8.07521601e-03 1.07044151e+02] [ 8.41581966e-03 5.66311784e-05 9.99964585e-01 1.73257295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:107.04, Z:1.73 [[-2.82547684e-01 9.59250313e-01 2.37537865e-03 1.23915227e+02] [-9.59216335e-01 -2.82557669e-01 8.07383304e-03 1.07044838e+02] [ 8.41600833e-03 2.74083063e-06 9.99964585e-01 1.73105868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.91, Y:107.04, Z:1.73 [[-2.79031442e-01 9.60279017e-01 2.38006409e-03 1.23912605e+02] [-9.60245087e-01 -2.79041590e-01 8.07245160e-03 1.07040891e+02] [ 8.41594275e-03 -3.29770441e-05 9.99964585e-01 1.73071216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.91, Y:107.05, Z:1.73 [[-2.70684942e-01 9.62665039e-01 2.38433438e-03 1.23909837e+02] [-9.62631209e-01 -2.70695420e-01 8.07119010e-03 1.07046042e+02] [ 8.41528093e-03 -1.10485066e-04 9.99964585e-01 1.73088771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.91, Y:107.04, Z:1.73 [[-2.67113075e-01 9.63662233e-01 2.38859004e-03 1.23906366e+02] [-9.63628454e-01 -2.67123714e-01 8.06993048e-03 1.07042895e+02] [ 8.41473627e-03 -1.46129387e-04 9.99964585e-01 1.73020361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:107.04, Z:1.73 [[-2.64837064e-01 9.64290206e-01 2.39322850e-03 1.23904921e+02] [-9.64256465e-01 -2.64847822e-01 8.06855466e-03 1.07040824e+02] [ 8.41426959e-03 -1.70833725e-04 9.99964585e-01 1.73119250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:107.03, Z:1.73 [[-2.64999417e-01 9.64245592e-01 2.39745954e-03 1.23904312e+02] [-9.64211860e-01 -2.65010205e-01 8.06729727e-03 1.07034478e+02] [ 8.41420707e-03 -1.73829843e-04 9.99964585e-01 1.73194293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:107.03, Z:1.73 [[-2.64551645e-01 9.64368529e-01 2.40168826e-03 1.23902544e+02] [-9.64334813e-01 -2.64562483e-01 8.06603815e-03 1.07027903e+02] [ 8.41402996e-03 -1.82147941e-04 9.99964585e-01 1.73202979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:107.03, Z:1.73 [[-2.64456122e-01 9.64394717e-01 2.40592292e-03 1.23902802e+02] [-9.64361014e-01 -2.64467000e-01 8.06477485e-03 1.07026042e+02] [ 8.41391348e-03 -1.87399183e-04 9.99964585e-01 1.73133991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:107.02, Z:1.73 [[-2.64748734e-01 9.64314419e-01 2.41015526e-03 1.23901688e+02] [-9.64280724e-01 -2.64759637e-01 8.06350981e-03 1.07020200e+02] [ 8.41387061e-03 -1.89262248e-04 9.99964585e-01 1.73139100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:107.01, Z:1.73 [[-2.66087943e-01 9.63945733e-01 2.41478156e-03 1.23901414e+02] [-9.63912035e-01 -2.66098837e-01 8.06212414e-03 1.07014061e+02] [ 8.41402072e-03 -1.82402983e-04 9.99964585e-01 1.73040627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:107.01, Z:1.73 [[-2.67729928e-01 9.63490962e-01 2.41900922e-03 1.23901334e+02] [-9.63457257e-01 -2.67740800e-01 8.06085545e-03 1.07010626e+02] [ 8.41422883e-03 -1.72479739e-04 9.99964585e-01 1.73086636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:107.00, Z:1.73 [[-2.69468899e-01 9.63006044e-01 2.42323621e-03 1.23900817e+02] [-9.62972331e-01 -2.69479746e-01 8.05958454e-03 1.07004451e+02] [ 8.41444170e-03 -1.61702046e-04 9.99964585e-01 1.73063015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:107.00, Z:1.73 [[-2.73023249e-01 9.62004373e-01 2.42746253e-03 1.23901576e+02] [-9.61970631e-01 -2.73034006e-01 8.05831141e-03 1.06997963e+02] [ 8.41491064e-03 -1.35041297e-04 9.99964585e-01 1.73129761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.427628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.90, Y:106.99, Z:1.73 [[-2.75407655e-01 9.61324456e-01 2.43169147e-03 1.23899879e+02] [-9.61290699e-01 -2.75418365e-01 8.05703508e-03 1.06988542e+02] [ 8.41515735e-03 -1.18593256e-04 9.99964585e-01 1.73068455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:106.98, Z:1.73 [[-2.78334756e-01 9.60481041e-01 2.43592912e-03 1.23899741e+02] [-9.60447263e-01 -2.78345398e-01 8.05575368e-03 1.06984295e+02] [ 8.41542834e-03 -9.73852174e-05 9.99964585e-01 1.73152194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:106.98, Z:1.73 [[-2.84983978e-01 9.58529174e-01 2.44017218e-03 1.23899564e+02] [-9.58495334e-01 -2.84994422e-01 8.05446821e-03 1.06976043e+02] [ 8.41587822e-03 -4.34992570e-05 9.99964585e-01 1.72970190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:106.97, Z:1.73 [[-2.88493277e-01 9.57478801e-01 2.44441735e-03 1.23898442e+02] [-9.57444934e-01 -2.88503632e-01 8.05317965e-03 1.06968898e+02] [ 8.41597208e-03 -1.71068186e-05 9.99964585e-01 1.72957898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:106.96, Z:1.73 [[-2.91836173e-01 9.56465186e-01 2.44867128e-03 1.23896093e+02] [-9.56431294e-01 -2.91846445e-01 8.05188598e-03 1.06960148e+02] [ 8.41598464e-03 7.84574890e-06 9.99964585e-01 1.72961710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.89, Y:106.95, Z:1.73 [[-2.97040608e-01 9.54861697e-01 2.45293402e-03 1.23894958e+02] [-9.54827760e-01 -2.97050732e-01 8.05058717e-03 1.06953949e+02] [ 8.41584317e-03 4.92218155e-05 9.99964585e-01 1.72998079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.89, Y:106.95, Z:1.73 [[-2.99121390e-01 9.54211903e-01 2.45720560e-03 1.23894061e+02] [-9.54177955e-01 -2.99131475e-01 8.04928318e-03 1.06948633e+02] [ 8.41574936e-03 6.31013551e-05 9.99964585e-01 1.72937870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.89, Y:106.94, Z:1.73 [[-3.00625435e-01 9.53739107e-01 2.46231682e-03 1.23891967e+02] [-9.53705156e-01 -3.00635510e-01 8.04771933e-03 1.06941409e+02] [ 8.41568453e-03 7.10248758e-05 9.99964585e-01 1.72961854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.89, Y:106.93, Z:1.73 [[-3.01722415e-01 9.53392627e-01 2.46658970e-03 1.23889263e+02] [-9.53358674e-01 -3.01732487e-01 8.04640950e-03 1.06934663e+02] [ 8.41563773e-03 7.62374233e-05 9.99964585e-01 1.72978840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.89, Y:106.93, Z:1.73 [[-2.99806119e-01 9.53996945e-01 2.47400478e-03 1.23885869e+02] [-9.53963031e-01 -2.99816322e-01 8.04412896e-03 1.06931956e+02] [ 8.41582147e-03 5.15699845e-05 9.99964585e-01 1.73194056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.88, Y:106.93, Z:1.73 [[-2.98289764e-01 9.54472145e-01 2.47827912e-03 1.23883284e+02] [-9.54438259e-01 -2.98300057e-01 8.04281189e-03 1.06928434e+02] [ 8.41591071e-03 3.37240484e-05 9.99964585e-01 1.73210315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:106.90, Z:1.73 [[-2.96856418e-01 9.54918899e-01 2.48254939e-03 1.23872976e+02] [-9.54885040e-01 -2.96866797e-01 8.04149358e-03 1.06900995e+02] [ 8.41596068e-03 1.66197067e-05 9.99964585e-01 1.73400141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:106.90, Z:1.73 [[-2.95109095e-01 9.55460263e-01 2.51169264e-03 1.23870904e+02] [-9.55426499e-01 -2.95119782e-01 8.03238061e-03 1.06897845e+02] [ 8.41587067e-03 -2.93091327e-05 9.99964586e-01 1.73463255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:106.90, Z:1.73 [[-2.93708138e-01 9.55891835e-01 2.51595622e-03 1.23870109e+02] [-9.55858098e-01 -2.93718910e-01 8.03104492e-03 1.06898334e+02] [ 8.41579418e-03 -4.61138841e-05 9.99964586e-01 1.73493120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:106.89, Z:1.73 [[-2.92290148e-01 9.56326365e-01 2.52061008e-03 1.23868349e+02] [-9.56292657e-01 -2.92301010e-01 8.02958400e-03 1.06893780e+02] [ 8.41567975e-03 -6.34726172e-05 9.99964586e-01 1.73473506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:106.89, Z:1.73 [[-2.89230590e-01 9.57256124e-01 2.52565408e-03 1.23866804e+02] [-9.57222465e-01 -2.89241602e-01 8.02799713e-03 1.06891747e+02] [ 8.41537364e-03 -9.56704792e-05 9.99964586e-01 1.73276499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:106.89, Z:1.73 [[-2.88075044e-01 9.57604495e-01 2.52988527e-03 1.23864793e+02] [-9.57570861e-01 -2.88086131e-01 8.02666352e-03 1.06886796e+02] [ 8.41519393e-03 -1.10262975e-04 9.99964586e-01 1.73158591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:106.88, Z:1.73 [[-2.86749973e-01 9.58002104e-01 2.53411298e-03 1.23863166e+02] [-9.57968497e-01 -2.86761142e-01 8.02532856e-03 1.06882673e+02] [ 8.41496678e-03 -1.26337660e-04 9.99964586e-01 1.73079357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.88, Y:106.91, Z:1.73 [[-2.74675217e-01 9.61533712e-01 2.53873981e-03 1.23875349e+02] [-9.61500262e-01 -2.74686847e-01 8.02386464e-03 1.06906389e+02] [ 8.41257479e-03 -2.37042232e-04 9.99964586e-01 1.72775227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:106.88, Z:1.73 [[-2.81488661e-01 9.59561496e-01 2.42251500e-03 1.23861681e+02] [-9.59527641e-01 -2.81499080e-01 8.06063738e-03 1.06879971e+02] [ 8.41661301e-03 -5.54920789e-05 9.99964578e-01 1.72758712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:106.88, Z:1.73 [[-2.76638256e-01 9.60970753e-01 2.54694183e-03 1.23860502e+02] [-9.60937304e-01 -2.76649886e-01 8.02112831e-03 1.06880917e+02] [ 8.41268088e-03 -2.28500467e-04 9.99964587e-01 1.72805907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.057628 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:123.86, Y:106.88, Z:1.73 [[-2.73498842e-01 9.61868948e-01 2.55153438e-03 1.23859274e+02] [-9.61835550e-01 -2.73510620e-01 8.01966715e-03 1.06879268e+02] [ 8.41174055e-03 -2.60786798e-04 9.99964587e-01 1.72630308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:106.87, Z:1.73 [[-2.71520884e-01 9.62429155e-01 2.55571527e-03 1.23857982e+02] [-9.62395794e-01 -2.71532765e-01 8.01833456e-03 1.06874882e+02] [ 8.41103938e-03 -2.82464339e-04 9.99964587e-01 1.72886358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:106.90, Z:1.73 [[-2.63038231e-01 9.64782014e-01 2.56028407e-03 1.23869110e+02] [-9.64748773e-01 -2.63050443e-01 8.01687546e-03 1.06897980e+02] [ 8.40802110e-03 -3.61286178e-04 9.99964587e-01 1.72717606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:106.87, Z:1.73 [[-2.64845045e-01 9.64287800e-01 2.47790639e-03 1.23857333e+02] [-9.64254290e-01 -2.64856510e-01 8.04320223e-03 1.06866781e+02] [ 8.41225143e-03 -2.59129611e-04 9.99964583e-01 1.72696759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:106.87, Z:1.73 [[-2.63767612e-01 9.64582837e-01 2.56869000e-03 1.23858349e+02] [-9.64549613e-01 -2.63779869e-01 8.01410421e-03 1.06868619e+02] [ 8.40783608e-03 -3.63767810e-04 9.99964587e-01 1.72821509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:106.86, Z:1.73 [[-2.62730719e-01 9.64865768e-01 2.57284701e-03 1.23855876e+02] [-9.64832570e-01 -2.62743046e-01 8.01276942e-03 1.06860353e+02] [ 8.40724457e-03 -3.77165927e-04 9.99964587e-01 1.73046854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:106.86, Z:1.73 [[-2.61662348e-01 9.65156036e-01 2.57699906e-03 1.23856567e+02] [-9.65122865e-01 -2.61674746e-01 8.01143385e-03 1.06859344e+02] [ 8.40661931e-03 -3.90830124e-04 9.99964587e-01 1.73235739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:106.85, Z:1.73 [[-2.62144445e-01 9.65025196e-01 2.58115041e-03 1.23856581e+02] [-9.64992031e-01 -2.62156860e-01 8.01009613e-03 1.06854389e+02] [ 8.40661087e-03 -3.90987380e-04 9.99964587e-01 1.73325597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:106.85, Z:1.73 [[-2.63123605e-01 9.64758667e-01 2.58529521e-03 1.23856966e+02] [-9.64725502e-01 -2.63136021e-01 8.00875815e-03 1.06848602e+02] [ 8.40680313e-03 -3.86806904e-04 9.99964587e-01 1.73378100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:106.84, Z:1.73 [[-2.67051970e-01 9.63678650e-01 2.58943932e-03 1.23858593e+02] [-9.63645448e-01 -2.67064285e-01 8.00741803e-03 1.06835961e+02] [ 8.40812456e-03 -3.56904651e-04 9.99964587e-01 1.73489939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:106.83, Z:1.74 [[-2.69713067e-01 9.62937235e-01 2.59663445e-03 1.23860697e+02] [-9.62904021e-01 -2.69725350e-01 8.00508412e-03 1.06830336e+02] [ 8.40877171e-03 -3.41233970e-04 9.99964587e-01 1.73514592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:106.82, Z:1.74 [[-2.72592803e-01 9.62125979e-01 2.60079159e-03 1.23862267e+02] [-9.62092741e-01 -2.72605022e-01 8.00373327e-03 1.06822962e+02] [ 8.40958856e-03 -3.20442622e-04 9.99964587e-01 1.73510112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:106.81, Z:1.73 [[-2.78468734e-01 9.60441762e-01 2.60494910e-03 1.23866380e+02] [-9.60408463e-01 -2.78480784e-01 8.00237991e-03 1.06813862e+02] [ 8.41124813e-03 -2.73402559e-04 9.99964587e-01 1.73435395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:106.80, Z:1.73 [[-2.81866957e-01 9.59449953e-01 2.60872311e-03 1.23865592e+02] [-9.59416623e-01 -2.81878920e-01 8.00114942e-03 1.06802797e+02] [ 8.41204649e-03 -2.47592673e-04 9.99964587e-01 1.73410547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:106.80, Z:1.73 [[-2.84608478e-01 9.58640280e-01 2.61290189e-03 1.23867118e+02] [-9.58606928e-01 -2.84620381e-01 7.99978454e-03 1.06798157e+02] [ 8.41260083e-03 -2.27939346e-04 9.99964587e-01 1.73415130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:106.79, Z:1.73 [[-2.89536485e-01 9.57163400e-01 2.61708754e-03 1.23870569e+02] [-9.57129999e-01 -2.89548251e-01 7.99841499e-03 1.06790006e+02] [ 8.41356321e-03 -1.89060032e-04 9.99964587e-01 1.73402837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:106.79, Z:1.73 [[-2.91913888e-01 9.56441014e-01 2.62088159e-03 1.23872630e+02] [-9.56407595e-01 -2.91925602e-01 7.99717159e-03 1.06785347e+02] [ 8.41392533e-03 -1.72145606e-04 9.99964587e-01 1.73387069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:106.77, Z:1.73 [[-2.94129189e-01 9.55762068e-01 2.62467929e-03 1.23872317e+02] [-9.55728633e-01 -2.94140858e-01 7.99592498e-03 1.06774681e+02] [ 8.41422722e-03 -1.56646221e-04 9.99964588e-01 1.73367618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:106.77, Z:1.73 [[-2.95926481e-01 9.55207103e-01 2.62848452e-03 1.23872595e+02] [-9.55173657e-01 -2.95938119e-01 7.99467390e-03 1.06766836e+02] [ 8.41443806e-03 -1.44823455e-04 9.99964588e-01 1.73309201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:106.76, Z:1.73 [[-2.99073064e-01 9.54226584e-01 2.63230181e-03 1.23873495e+02] [-9.54193111e-01 -2.99084623e-01 7.99341683e-03 1.06757694e+02] [ 8.41481183e-03 -1.21108589e-04 9.99964588e-01 1.73200450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.88, Y:106.76, Z:1.73 [[-3.01145318e-01 9.53574616e-01 2.63612958e-03 1.23875645e+02] [-9.53541129e-01 -3.01156837e-01 7.99215428e-03 1.06759655e+02] [ 8.41500390e-03 -1.06858137e-04 9.99964588e-01 1.73145937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.89, Y:106.77, Z:1.73 [[-2.98456011e-01 9.54419740e-01 2.63995387e-03 1.23885009e+02] [-9.54386297e-01 -2.98467656e-01 7.99089085e-03 1.06771057e+02] [ 8.41460481e-03 -1.34606390e-04 9.99964588e-01 1.73031321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:106.75, Z:1.73 [[-3.07203363e-01 9.51640457e-01 2.55612150e-03 1.23874224e+02] [-9.51606674e-01 -3.07213996e-01 8.01860507e-03 1.06748365e+02] [ 8.41610530e-03 3.09201636e-05 9.99964583e-01 1.73110687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:106.74, Z:1.73 [[-3.09953227e-01 9.50748119e-01 2.64774662e-03 1.23872435e+02] [-9.50714561e-01 -3.09964533e-01 7.98823544e-03 1.06742245e+02] [ 8.41550737e-03 -4.12719137e-05 9.99964588e-01 1.73133892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:106.74, Z:1.73 [[-3.10408872e-01 9.50599443e-01 2.65157191e-03 1.23871219e+02] [-9.50565890e-01 -3.10420194e-01 7.98696549e-03 1.06738419e+02] [ 8.41550642e-03 -4.12688687e-05 9.99964588e-01 1.73137419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:106.73, Z:1.73 [[-3.15350473e-01 9.48971563e-01 2.65539947e-03 1.23869670e+02] [-9.48937962e-01 -3.15361653e-01 7.98569275e-03 1.06730509e+02] [ 8.41560650e-03 -1.51737844e-06 9.99964588e-01 1.73138218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:106.72, Z:1.73 [[-3.18382595e-01 9.47958570e-01 2.65962711e-03 1.23867070e+02] [-9.47924945e-01 -3.18393703e-01 7.98428449e-03 1.06721889e+02] [ 8.41557943e-03 2.09303363e-05 9.99964588e-01 1.73156531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:106.71, Z:1.73 [[-3.21728723e-01 9.46828135e-01 2.66696846e-03 1.23864087e+02] [-9.46794491e-01 -3.21739773e-01 7.98183153e-03 1.06713490e+02] [ 8.41549248e-03 4.29134114e-05 9.99964588e-01 1.73080199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:106.71, Z:1.73 [[-3.23199415e-01 9.46327111e-01 2.67161087e-03 1.23862841e+02] [-9.46293463e-01 -3.23210453e-01 7.98027736e-03 1.06711829e+02] [ 8.41544537e-03 5.10930743e-05 9.99964588e-01 1.73078046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:106.71, Z:1.73 [[-3.23693686e-01 9.46158147e-01 2.67545488e-03 1.23860861e+02] [-9.46124504e-01 -3.23704739e-01 7.97898841e-03 1.06708550e+02] [ 8.41544232e-03 5.14347473e-05 9.99964588e-01 1.72971290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:106.70, Z:1.73 [[-3.23759770e-01 9.46135526e-01 2.67929536e-03 1.23857708e+02] [-9.46101893e-01 -3.23770852e-01 7.97769859e-03 1.06701638e+02] [ 8.41546180e-03 4.79714494e-05 9.99964588e-01 1.73002523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.98762800000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.87, Y:106.73, Z:1.73 [[-3.13909140e-01 9.49449236e-01 2.68313958e-03 1.23868704e+02] [-9.49415731e-01 -3.13920604e-01 7.97640546e-03 1.06725316e+02] [ 8.41548487e-03 -4.35483498e-05 9.99964588e-01 1.73136179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:106.70, Z:1.73 [[-3.20916125e-01 9.47104105e-01 2.57985819e-03 1.23855290e+02] [-9.47070231e-01 -3.20926469e-01 8.01115501e-03 1.06701347e+02] [ 8.41534258e-03 1.27601929e-04 9.99964582e-01 1.72917036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.85, Y:106.70, Z:1.73 [[-3.17078631e-01 9.48395436e-01 2.69044908e-03 1.23851806e+02] [-9.48361915e-01 -3.17090045e-01 7.97384067e-03 1.06700684e+02] [ 8.41546871e-03 -2.31849564e-05 9.99964589e-01 1.73016297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.85, Y:106.70, Z:1.73 [[-3.15644179e-01 9.48873801e-01 2.69467043e-03 1.23849136e+02] [-9.48840310e-01 -3.15655679e-01 7.97241385e-03 1.06700730e+02] [ 8.41540266e-03 -4.03658977e-05 9.99964589e-01 1.72943699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:106.72, Z:1.73 [[-3.04476852e-01 9.52515913e-01 2.69848669e-03 1.23857117e+02] [-9.52482570e-01 -3.04488776e-01 7.97112192e-03 1.06716054e+02] [ 8.41427939e-03 -1.43239424e-04 9.99964589e-01 1.72995442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.84, Y:106.69, Z:1.73 [[-3.11300621e-01 9.50307987e-01 2.57937675e-03 1.23840069e+02] [-9.50274218e-01 -3.11311304e-01 8.01144791e-03 1.06694558e+02] [ 8.41633207e-03 4.28534875e-05 9.99964581e-01 1.73208264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.84, Y:106.70, Z:1.73 [[-3.10576142e-01 9.50544653e-01 2.70627251e-03 1.23838832e+02] [-9.50511258e-01 -3.10587917e-01 7.96835067e-03 1.06695527e+02] [ 8.41480866e-03 -9.75628837e-05 9.99964590e-01 1.73270323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.84, Y:106.69, Z:1.73 [[-3.09721309e-01 9.50823519e-01 2.71047385e-03 1.23836786e+02] [-9.50790147e-01 -3.09733150e-01 7.96692131e-03 1.06693898e+02] [ 8.41465976e-03 -1.09566535e-04 9.99964590e-01 1.73214406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.22762800000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:123.83, Y:106.69, Z:1.73 [[-3.08722051e-01 9.51148426e-01 2.71427094e-03 1.23832704e+02] [-9.51115078e-01 -3.08733958e-01 7.96562746e-03 1.06687284e+02] [ 8.41448163e-03 -1.22419178e-04 9.99964590e-01 1.73126339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.83, Y:106.69, Z:1.73 [[-3.07574180e-01 9.51520224e-01 2.71806864e-03 1.23828454e+02] [-9.51486902e-01 -3.07586159e-01 7.96433138e-03 1.06689212e+02] [ 8.41426267e-03 -1.36584011e-04 9.99964590e-01 1.73230247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.82, Y:106.69, Z:1.73 [[-3.07062506e-01 9.51685456e-01 2.72225744e-03 1.23824582e+02] [-9.51652153e-01 -3.07074538e-01 7.96289936e-03 1.06685567e+02] [ 8.41411146e-03 -1.45534319e-04 9.99964590e-01 1.73293650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.317628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:123.82, Y:106.68, Z:1.73 [[-3.05020862e-01 9.52341767e-01 2.72643622e-03 1.23819494e+02] [-9.52308502e-01 -3.05033000e-01 7.96146832e-03 1.06683240e+02] [ 8.41369183e-03 -1.67994468e-04 9.99964590e-01 1.73112113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.34762800000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:123.82, Y:106.68, Z:1.73 [[-3.04995258e-01 9.52349955e-01 2.73061263e-03 1.23816070e+02] [-9.52316704e-01 -3.05007432e-01 7.96003565e-03 1.06679346e+02] [ 8.41359674e-03 -1.72634892e-04 9.99964590e-01 1.73112870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.81, Y:106.68, Z:1.73 [[-3.05623981e-01 9.52148362e-01 2.73478665e-03 1.23812087e+02] [-9.52115116e-01 -3.05636168e-01 7.95860134e-03 1.06677644e+02] [ 8.41361894e-03 -1.71492287e-04 9.99964590e-01 1.73291556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.81, Y:106.67, Z:1.73 [[-3.06627041e-01 9.51825801e-01 2.73895721e-03 1.23808939e+02] [-9.51792555e-01 -3.06639228e-01 7.95716578e-03 1.06671803e+02] [ 8.41370742e-03 -1.67036879e-04 9.99964590e-01 1.73353954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.437628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:123.81, Y:106.67, Z:1.73 [[-3.07630498e-01 9.51501945e-01 2.74312700e-03 1.23807101e+02] [-9.51468699e-01 -3.07642685e-01 7.95572804e-03 1.06668801e+02] [ 8.41379367e-03 -1.62574902e-04 9.99964590e-01 1.73224883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.46762800000005 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:123.80, Y:106.66, Z:1.73 [[-3.09496450e-01 9.50896630e-01 2.74729714e-03 1.23803429e+02] [-9.50863372e-01 -3.09508606e-01 7.95428774e-03 1.06662181e+02] [ 8.41401751e-03 -1.50480410e-04 9.99964590e-01 1.73050810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.497628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:123.80, Y:106.66, Z:1.73 [[-3.13001403e-01 9.49748677e-01 2.75186066e-03 1.23797229e+02] [-9.49715388e-01 -3.13013475e-01 7.95270863e-03 1.06655427e+02] [ 8.41444397e-03 -1.24275452e-04 9.99964590e-01 1.73396566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.79, Y:106.65, Z:1.74 [[-3.15215391e-01 9.49016152e-01 2.75682877e-03 1.23793355e+02] [-9.48982851e-01 -3.15227427e-01 7.95098605e-03 1.06650065e+02] [ 8.41464223e-03 -1.09910048e-04 9.99964590e-01 1.73599939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.79, Y:106.64, Z:1.74 [[-3.17468893e-01 9.48264667e-01 2.76100727e-03 1.23789969e+02] [-9.48231350e-01 -3.17480885e-01 7.94953478e-03 1.06642398e+02] [ 8.41482999e-03 -9.43436434e-05 9.99964590e-01 1.73658327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.79, Y:106.64, Z:1.74 [[-3.22963861e-01 9.46407258e-01 2.76519265e-03 1.23787641e+02] [-9.46373884e-01 -3.22975694e-01 7.94807866e-03 1.06636558e+02] [ 8.41520935e-03 -4.99639439e-05 9.99964590e-01 1.73641487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.78, Y:106.63, Z:1.74 [[-3.26281696e-01 9.45268526e-01 2.76938493e-03 1.23784913e+02] [-9.45235123e-01 -3.26293447e-01 7.94661766e-03 1.06629829e+02] [ 8.41531971e-03 -2.48840186e-05 9.99964590e-01 1.73617218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.78, Y:106.62, Z:1.74 [[-3.29779657e-01 9.44053856e-01 2.77397757e-03 1.23780107e+02] [-9.44020423e-01 -3.29791324e-01 7.94501415e-03 1.06619278e+02] [ 8.41535498e-03 1.41255767e-06 9.99964590e-01 1.73644368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.78, Y:106.61, Z:1.73 [[-3.36327011e-01 9.41741163e-01 2.77898265e-03 1.23776036e+02] [-9.41707665e-01 -3.36338488e-01 7.94326311e-03 1.06613964e+02] [ 8.41517666e-03 5.45446808e-05 9.99964590e-01 1.73494303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.77, Y:106.60, Z:1.74 [[-3.39951434e-01 9.40438874e-01 2.78319884e-03 1.23771668e+02] [-9.40405344e-01 -3.39962817e-01 7.94178554e-03 1.06602308e+02] [ 8.41494797e-03 8.24863209e-05 9.99964590e-01 1.73505496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.77, Y:106.60, Z:1.73 [[-3.44256885e-01 9.38871347e-01 2.79134167e-03 1.23767425e+02] [-9.38837788e-01 -3.44268183e-01 7.93892251e-03 1.06596188e+02] [ 8.41459699e-03 1.12411698e-04 9.99964590e-01 1.73382984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.767628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:123.76, Y:106.59, Z:1.73 [[-3.45751012e-01 9.38322131e-01 2.79557228e-03 1.23763875e+02] [-9.38288567e-01 -3.45762293e-01 7.93743248e-03 1.06591192e+02] [ 8.41447204e-03 1.21321814e-04 9.99964590e-01 1.73171609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:106.59, Z:1.73 [[-3.46253552e-01 9.38136789e-01 2.80063855e-03 1.23761557e+02] [-9.38103232e-01 -3.46264857e-01 7.93564450e-03 1.06588267e+02] [ 8.41448275e-03 1.20457024e-04 9.99964590e-01 1.73167591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:106.58, Z:1.73 [[-3.45724066e-01 9.38332032e-01 2.80486740e-03 1.23758582e+02] [-9.38298494e-01 -3.45735426e-01 7.93414952e-03 1.06578137e+02] [ 8.41460867e-03 1.11223575e-04 9.99964590e-01 1.73120087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:106.58, Z:1.73 [[-3.44085718e-01 9.38934038e-01 2.80928893e-03 1.23762381e+02] [-9.38900532e-01 -3.44097173e-01 7.93258366e-03 1.06580202e+02] [ 8.41484118e-03 9.18458644e-05 9.99964590e-01 1.72735658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:106.57, Z:1.73 [[-3.43390183e-01 9.39188620e-01 2.81391497e-03 1.23762035e+02] [-9.39155137e-01 -3.43401703e-01 7.93094233e-03 1.06574104e+02] [ 8.41495397e-03 8.07050360e-05 9.99964590e-01 1.72605467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:106.57, Z:1.73 [[-3.43126335e-01 9.39285032e-01 2.81892553e-03 1.23762659e+02] [-9.39251567e-01 -3.43137906e-01 7.92916101e-03 1.06570870e+02] [ 8.41502246e-03 7.30237307e-05 9.99964590e-01 1.72699260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:106.56, Z:1.73 [[-3.41987609e-01 9.39700221e-01 2.82313092e-03 1.23762481e+02] [-9.39666782e-01 -3.41999257e-01 7.92766342e-03 1.06562963e+02] [ 8.41513574e-03 5.83603198e-05 9.99964590e-01 1.72649783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:106.56, Z:1.73 [[-3.41728480e-01 9.39794473e-01 2.82733716e-03 1.23761722e+02] [-9.39761050e-01 -3.41740172e-01 7.92616301e-03 1.06561041e+02] [ 8.41517888e-03 5.15743053e-05 9.99964590e-01 1.72935519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:106.55, Z:1.73 [[-3.40455799e-01 9.40256257e-01 2.83193861e-03 1.23757129e+02] [-9.40222863e-01 -3.40467575e-01 7.92451862e-03 1.06552483e+02] [ 8.41526149e-03 3.52948851e-05 9.99964590e-01 1.73060757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.03762800000004 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:123.76, Y:106.55, Z:1.73 [[-3.39356797e-01 9.40653454e-01 2.83614484e-03 1.23757631e+02] [-9.40620086e-01 -3.39368648e-01 7.92301295e-03 1.06554367e+02] [ 8.41530813e-03 2.09934893e-05 9.99964590e-01 1.72802870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:106.55, Z:1.73 [[-3.38291294e-01 9.41037158e-01 2.84034696e-03 1.23755689e+02] [-9.41003816e-01 -3.38303218e-01 7.92150623e-03 1.06548531e+02] [ 8.41533022e-03 6.99926445e-06 9.99964590e-01 1.73026615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.75, Y:106.54, Z:1.73 [[-3.37214980e-01 9.41423372e-01 2.84453890e-03 1.23753458e+02] [-9.41390057e-01 -3.37226977e-01 7.92000065e-03 1.06544045e+02] [ 8.41532898e-03 -7.07777936e-06 9.99964590e-01 1.72903222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.75, Y:106.54, Z:1.73 [[-3.32212009e-01 9.43200426e-01 2.85261417e-03 1.23750457e+02] [-9.43167200e-01 -3.32224251e-01 7.91709105e-03 1.06542000e+02] [ 8.41511125e-03 -6.03394003e-05 9.99964591e-01 1.72936308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.75, Y:106.54, Z:1.73 [[-3.29818786e-01 9.44039940e-01 2.85679171e-03 1.23748267e+02] [-9.44006758e-01 -3.29831147e-01 7.91558334e-03 1.06539019e+02] [ 8.41488571e-03 -8.61225966e-05 9.99964591e-01 1.72949523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:106.53, Z:1.73 [[-3.26014619e-01 9.45360399e-01 2.86096355e-03 1.23742823e+02] [-9.45327280e-01 -3.26027148e-01 7.91407521e-03 1.06527869e+02] [ 8.41440508e-03 -1.24442679e-04 9.99964591e-01 1.73270467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:106.53, Z:1.73 [[-3.25718132e-01 9.45462580e-01 2.86514388e-03 1.23744818e+02] [-9.45429478e-01 -3.25730707e-01 7.91256151e-03 1.06534177e+02] [ 8.41429616e-03 -1.31526727e-04 9.99964591e-01 1.73294409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:106.53, Z:1.73 [[-3.25679233e-01 9.45475967e-01 2.86931739e-03 1.23744351e+02] [-9.45442880e-01 -3.25691844e-01 7.91104779e-03 1.06531113e+02] [ 8.41421883e-03 -1.36311720e-04 9.99964591e-01 1.73454413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:106.53, Z:1.73 [[-3.26441471e-01 9.45213050e-01 2.87347054e-03 1.23744883e+02] [-9.45179965e-01 -3.26454090e-01 7.90953899e-03 1.06525784e+02] [ 8.41425567e-03 -1.33945235e-04 9.99964591e-01 1.73304960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.307628 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:123.74, Y:106.52, Z:1.73 [[-3.26982178e-01 9.45026124e-01 2.87761965e-03 1.23743451e+02] [-9.44993045e-01 -3.26994813e-01 7.90802918e-03 1.06519465e+02] [ 8.41426086e-03 -1.33545956e-04 9.99964591e-01 1.72908878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:106.52, Z:1.73 [[-3.27289982e-01 9.44919554e-01 2.88177121e-03 1.23744558e+02] [-9.44886484e-01 -3.27302641e-01 7.90651602e-03 1.06516068e+02] [ 8.41423292e-03 -1.35223185e-04 9.99964591e-01 1.72850012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.367628 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:123.74, Y:106.51, Z:1.73 [[-3.26973691e-01 9.45029035e-01 2.88592198e-03 1.23743845e+02] [-9.44995983e-01 -3.26986395e-01 7.90500067e-03 1.06511948e+02] [ 8.41411238e-03 -1.42457431e-04 9.99964591e-01 1.72511789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:106.51, Z:1.73 [[-3.26919308e-01 9.45047835e-01 2.89045716e-03 1.23742888e+02] [-9.45014799e-01 -3.26932053e-01 7.90334204e-03 1.06508590e+02] [ 8.41401938e-03 -1.47769682e-04 9.99964591e-01 1.72646308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.427628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:123.74, Y:106.50, Z:1.72 [[-3.26049405e-01 9.45348299e-01 2.89459549e-03 1.23739805e+02] [-9.45315288e-01 -3.26062214e-01 7.90182609e-03 1.06501829e+02] [ 8.41379607e-03 -1.59919677e-04 9.99964591e-01 1.72333423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.75, Y:106.52, Z:1.73 [[-3.19521872e-01 9.47574467e-01 2.89873463e-03 1.23747820e+02] [-9.47541559e-01 -3.19534943e-01 7.90030738e-03 1.06516215e+02] [ 8.41237656e-03 -2.22350523e-04 9.99964591e-01 1.72934236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.75, Y:106.52, Z:1.73 [[-3.19825175e-01 9.47472302e-01 2.84507392e-03 1.23747298e+02] [-9.47439213e-01 -3.19837788e-01 7.92001638e-03 1.06516461e+02] [ 8.41395829e-03 -1.62513970e-04 9.99964589e-01 1.73233631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:106.47, Z:1.73 [[-3.24396660e-01 9.45916835e-01 2.85458084e-03 1.23725750e+02] [-9.45883716e-01 -3.24409192e-01 7.91651816e-03 1.06465088e+02] [ 8.41442007e-03 -1.32009482e-04 9.99964589e-01 1.73221018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:106.49, Z:1.74 [[-3.26473078e-01 9.45202077e-01 2.89205407e-03 1.23733198e+02] [-9.45169052e-01 -3.26485851e-01 7.90270123e-03 1.06485427e+02] [ 8.41386434e-03 -1.53460807e-04 9.99964591e-01 1.73673929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:106.48, Z:1.74 [[-3.28464511e-01 9.44511811e-01 2.91597118e-03 1.23730377e+02] [-9.44478838e-01 -3.28477415e-01 7.89386632e-03 1.06476329e+02] [ 8.41368065e-03 -1.61218129e-04 9.99964591e-01 1.73876171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:106.47, Z:1.74 [[-3.32991604e-01 9.42925270e-01 2.92011638e-03 1.23730215e+02] [-9.42892248e-01 -3.33004384e-01 7.89233262e-03 1.06471610e+02] [ 8.41429142e-03 -1.25274605e-04 9.99964591e-01 1.74070821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:106.46, Z:1.74 [[-3.35846576e-01 9.41912165e-01 2.92426725e-03 1.23728122e+02] [-9.41879118e-01 -3.35859291e-01 7.89079434e-03 1.06464596e+02] [ 8.41457750e-03 -1.04209999e-04 9.99964591e-01 1.74136925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:106.46, Z:1.74 [[-3.38946763e-01 9.40800997e-01 2.92842003e-03 1.23725458e+02] [-9.40767922e-01 -3.38959403e-01 7.88925286e-03 1.06456899e+02] [ 8.41483247e-03 -8.09269088e-05 9.99964591e-01 1.74223063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:106.45, Z:1.74 [[-3.39443411e-01 9.40621905e-01 2.93297293e-03 1.23723819e+02] [-9.40588838e-01 -3.39456073e-01 7.88755987e-03 1.06452378e+02] [ 8.41482707e-03 -8.13413725e-05 9.99964591e-01 1.74227312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:106.45, Z:1.74 [[-3.43029914e-01 9.39319888e-01 2.93713650e-03 1.23721633e+02] [-9.39286785e-01 -3.43042484e-01 7.88600916e-03 1.06446355e+02] [ 8.41504784e-03 -5.36764565e-05 9.99964591e-01 1.74293722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:106.43, Z:1.74 [[-3.50455085e-01 9.36574921e-01 2.94130034e-03 1.23716591e+02] [-9.36541733e-01 -3.50467427e-01 7.88445584e-03 1.06432278e+02] [ 8.41521356e-03 8.49711863e-06 9.99964591e-01 1.74468997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:106.43, Z:1.75 [[-3.54827221e-01 9.34927254e-01 2.94509115e-03 1.23714936e+02] [-9.34894020e-01 -3.54839440e-01 7.88303959e-03 1.06427373e+02] [ 8.41510306e-03 4.37689249e-05 9.99964591e-01 1.74526093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.817628 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:123.71, Y:106.42, Z:1.74 [[-3.58003469e-01 9.33715598e-01 2.94929081e-03 1.23713654e+02] [-9.33682336e-01 -3.58015610e-01 7.88146806e-03 1.06422407e+02] [ 8.41494181e-03 6.78921702e-05 9.99964591e-01 1.74236993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:106.40, Z:1.74 [[-3.64264018e-01 9.31291038e-01 2.95428557e-03 1.23707787e+02] [-9.31257710e-01 -3.64275979e-01 7.87959538e-03 1.06404836e+02] [ 8.41437183e-03 1.19051857e-04 9.99964591e-01 1.74107134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:106.41, Z:1.74 [[-3.66192970e-01 9.30534229e-01 2.95929992e-03 1.23708361e+02] [-9.30500892e-01 -3.66204904e-01 7.87771172e-03 1.06406662e+02] [ 8.41419054e-03 1.31131436e-04 9.99964591e-01 1.73879078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:106.40, Z:1.74 [[-3.67207008e-01 9.30134523e-01 2.96352015e-03 1.23706472e+02] [-9.30101186e-01 -3.67218941e-01 7.87612379e-03 1.06403875e+02] [ 8.41411537e-03 1.35794247e-04 9.99964591e-01 1.73586298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:106.40, Z:1.73 [[-3.67279711e-01 9.30105803e-01 2.96812277e-03 1.23701903e+02] [-9.30072478e-01 -3.67291681e-01 7.87438891e-03 1.06400740e+02] [ 8.41418161e-03 1.31533988e-04 9.99964592e-01 1.73129606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:106.40, Z:1.73 [[-3.66659375e-01 9.30350508e-01 2.97250740e-03 1.23697948e+02] [-9.30317205e-01 -3.66671404e-01 7.87273340e-03 1.06395444e+02] [ 8.41433497e-03 1.21236735e-04 9.99964592e-01 1.72996432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:106.39, Z:1.73 [[-3.64394382e-01 9.31239966e-01 2.97670600e-03 1.23693009e+02] [-9.31206705e-01 -3.64406528e-01 7.87114558e-03 1.06391680e+02] [ 8.41465643e-03 9.62726457e-05 9.99964592e-01 1.73046377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:106.39, Z:1.73 [[-3.63827990e-01 9.31461383e-01 2.98090708e-03 1.23691903e+02] [-9.31428143e-01 -3.63840191e-01 7.86955425e-03 1.06388021e+02] [ 8.41475968e-03 8.66633618e-05 9.99964592e-01 1.73120545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:106.41, Z:1.73 [[-3.51669404e-01 9.36119501e-01 2.98510564e-03 1.23706977e+02] [-9.36086436e-01 -3.51682072e-01 7.86796131e-03 1.06408006e+02] [ 8.41516015e-03 -2.73956389e-05 9.99964592e-01 1.72789456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:106.39, Z:1.73 [[-3.58377244e-01 9.33572489e-01 2.85651469e-03 1.23694274e+02] [-9.33538936e-01 -3.58388587e-01 7.91673371e-03 1.06385513e+02] [ 8.41458705e-03 1.70509521e-04 9.99964582e-01 1.73379119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:106.38, Z:1.73 [[-3.55738046e-01 9.34580913e-01 2.99316159e-03 1.23693667e+02] [-9.34547821e-01 -3.55750638e-01 7.86472867e-03 1.06384181e+02] [ 8.41504445e-03 5.30569996e-07 9.99964593e-01 1.73441554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:106.38, Z:1.74 [[-3.52955818e-01 9.35635189e-01 2.99732835e-03 1.23692279e+02] [-9.35602148e-01 -3.52968543e-01 7.86314035e-03 1.06381920e+02] [ 8.41499343e-03 -2.89657085e-05 9.99964593e-01 1.73534078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:106.39, Z:1.73 [[-3.40718796e-01 9.40160461e-01 3.00148662e-03 1.23701748e+02] [-9.40127603e-01 -3.40731986e-01 7.86155275e-03 1.06393506e+02] [ 8.41382356e-03 -1.43201636e-04 9.99964593e-01 1.73148100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:106.38, Z:1.74 [[-3.43921945e-01 9.38993773e-01 2.89648882e-03 1.23689121e+02] [-9.38960526e-01 -3.43934142e-01 7.90166071e-03 1.06380933e+02] [ 8.41581160e-03 -2.13414251e-06 9.99964586e-01 1.73599832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:106.38, Z:1.74 [[-3.41690872e-01 9.39807576e-01 3.01130108e-03 1.23688033e+02] [-9.39774738e-01 -3.41704110e-01 7.85766114e-03 1.06378195e+02] [ 8.41366342e-03 -1.45053598e-04 9.99964594e-01 1.73597326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.267628 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:123.69, Y:106.38, Z:1.73 [[-3.39675595e-01 9.40537824e-01 3.01542724e-03 1.23687964e+02] [-9.40505028e-01 -3.39688938e-01 7.85607738e-03 1.06375366e+02] [ 8.41324520e-03 -1.67506727e-04 9.99964594e-01 1.73272499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:106.37, Z:1.73 [[-3.36619251e-01 9.41636003e-01 3.01954667e-03 1.23688340e+02] [-9.41603265e-01 -3.36632735e-01 7.85449373e-03 1.06368417e+02] [ 8.41255233e-03 -1.99241204e-04 9.99964594e-01 1.73292860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:106.37, Z:1.73 [[-3.34867151e-01 9.42260500e-01 3.02366365e-03 1.23690339e+02] [-9.42227801e-01 -3.34880729e-01 7.85290853e-03 1.06370067e+02] [ 8.41205221e-03 -2.19298853e-04 9.99964594e-01 1.73166911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:106.36, Z:1.73 [[-3.32018495e-01 9.43268017e-01 3.02777233e-03 1.23689177e+02] [-9.43235374e-01 -3.32032207e-01 7.85132407e-03 1.06363766e+02] [ 8.41122081e-03 -2.49117165e-04 9.99964594e-01 1.73264871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:106.36, Z:1.73 [[-3.31505012e-01 9.43448586e-01 3.03187166e-03 1.23689482e+02] [-9.43415965e-01 -3.31518776e-01 7.84974075e-03 1.06362234e+02] [ 8.41094919e-03 -2.58087727e-04 9.99964594e-01 1.73216434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.68, Y:106.33, Z:1.73 [[-3.24449737e-01 9.45898065e-01 3.03635235e-03 1.23682289e+02] [-9.45865563e-01 -3.24463781e-01 7.84800719e-03 1.06329418e+02] [ 8.40860118e-03 -3.25697262e-04 9.99964594e-01 1.73344156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:106.36, Z:1.73 [[-3.24429901e-01 9.45905104e-01 2.96193134e-03 1.23695934e+02] [-9.45872339e-01 -3.24443328e-01 7.87680335e-03 1.06361726e+02] [ 8.41168736e-03 -2.46138391e-04 9.99964591e-01 1.73485090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:106.35, Z:1.74 [[-3.32213652e-01 9.43199521e-01 2.95851781e-03 1.23687075e+02] [-9.43166635e-01 -3.32226780e-01 7.87812613e-03 1.06346287e+02] [ 8.41354364e-03 -1.73154236e-04 9.99964591e-01 1.73743019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:106.34, Z:1.74 [[-3.33191267e-01 9.42854332e-01 3.04751969e-03 1.23686929e+02] [-9.42821743e-01 -3.33205103e-01 7.84354551e-03 1.06343684e+02] [ 8.41076997e-03 -2.59866955e-04 9.99964595e-01 1.73801273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:106.33, Z:1.74 [[-3.36166721e-01 9.41797549e-01 3.05160754e-03 1.23685403e+02] [-9.41764930e-01 -3.36180487e-01 7.84195477e-03 1.06334631e+02] [ 8.41142469e-03 -2.37692743e-04 9.99964595e-01 1.74090042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.68, Y:106.33, Z:1.74 [[-3.38195023e-01 9.41071086e-01 3.05569721e-03 1.23684919e+02] [-9.41038452e-01 -3.38208753e-01 7.84036086e-03 1.06330376e+02] [ 8.41180046e-03 -2.23957557e-04 9.99964595e-01 1.74262328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.68, Y:106.32, Z:1.74 [[-3.40792448e-01 9.40133580e-01 3.05940807e-03 1.23681984e+02] [-9.40100921e-01 -3.40806119e-01 7.83891257e-03 1.06321211e+02] [ 8.41228992e-03 -2.04710134e-04 9.99964595e-01 1.74441567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.68, Y:106.32, Z:1.75 [[-3.43501815e-01 9.39147016e-01 3.06350941e-03 1.23680559e+02] [-9.39114332e-01 -3.43515425e-01 7.83730941e-03 1.06315736e+02] [ 8.41274848e-03 -1.84855593e-04 9.99964595e-01 1.74610223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.68, Y:106.31, Z:1.75 [[-3.46459836e-01 9.38059793e-01 3.06723367e-03 1.23679450e+02] [-9.38027079e-01 -3.46473375e-01 7.83585160e-03 1.06311360e+02] [ 8.41321212e-03 -1.62340381e-04 9.99964595e-01 1.74790807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.68, Y:106.30, Z:1.75 [[-3.51604927e-01 9.36143442e-01 3.07096002e-03 1.23678364e+02] [-9.36110667e-01 -3.51618317e-01 7.83439092e-03 1.06304423e+02] [ 8.41391948e-03 -1.20147989e-04 9.99964595e-01 1.74890687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.68, Y:106.30, Z:1.75 [[-3.54205423e-01 9.35162587e-01 3.07469106e-03 1.23676458e+02] [-9.35129788e-01 -3.54218753e-01 7.83292637e-03 1.06298284e+02] [ 8.41417292e-03 -1.00770204e-04 9.99964595e-01 1.74853198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:106.29, Z:1.75 [[-3.57327719e-01 9.33973996e-01 3.07842819e-03 1.23673264e+02] [-9.33941164e-01 -3.57340972e-01 7.83145735e-03 1.06289124e+02] [ 8.41442604e-03 -7.66740166e-05 9.99964595e-01 1.74878030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:106.28, Z:1.75 [[-3.61421405e-01 9.32397471e-01 3.08598607e-03 1.23672355e+02] [-9.32364608e-01 -3.61434577e-01 7.82847804e-03 1.06283176e+02] [ 8.41463520e-03 -4.78846587e-05 9.99964595e-01 1.74822884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.68, Y:106.30, Z:1.74 [[-3.55106977e-01 9.34820563e-01 3.09011840e-03 1.23684314e+02] [-9.34787804e-01 -3.55120405e-01 7.82684655e-03 1.06298335e+02] [ 8.41406120e-03 -1.09237168e-04 9.99964595e-01 1.74387727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:106.27, Z:1.75 [[-3.63862402e-01 9.31447902e-01 2.99319219e-03 1.23670773e+02] [-9.31414697e-01 -3.63874706e-01 7.86512802e-03 1.06272742e+02] [ 8.41510391e-03 7.39211745e-05 9.99964590e-01 1.74541997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:106.27, Z:1.74 [[-3.63291127e-01 9.31670519e-01 3.09847992e-03 1.23669661e+02] [-9.31637672e-01 -3.63304337e-01 7.82342872e-03 1.06269522e+02] [ 8.41454909e-03 -4.44783848e-05 9.99964596e-01 1.74484837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:106.27, Z:1.74 [[-3.61996866e-01 9.32174150e-01 3.10222617e-03 1.23668515e+02] [-9.32141334e-01 -3.62010153e-01 7.82194294e-03 1.06266736e+02] [ 8.41445038e-03 -6.01944138e-05 9.99964596e-01 1.74430947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:106.26, Z:1.74 [[-3.60241842e-01 9.32853775e-01 3.10635613e-03 1.23666045e+02] [-9.32820999e-01 -3.60255226e-01 7.82030245e-03 1.06262387e+02] [ 8.41427969e-03 -8.04740743e-05 9.99964596e-01 1.74402774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.66, Y:106.26, Z:1.74 [[-3.54472871e-01 9.35061125e-01 3.11087100e-03 1.23664125e+02] [-9.35028447e-01 -3.54486494e-01 7.81850605e-03 1.06264798e+02] [ 8.41354281e-03 -1.37304600e-04 9.99964596e-01 1.74356667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.66, Y:106.26, Z:1.74 [[-3.51770618e-01 9.36081048e-01 3.11498407e-03 1.23661518e+02] [-9.36048425e-01 -3.51784371e-01 7.81686701e-03 1.06261988e+02] [ 8.41302377e-03 -1.66031789e-04 9.99964596e-01 1.74401178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.66, Y:106.26, Z:1.74 [[-3.46542957e-01 9.38028916e-01 3.11947221e-03 1.23658490e+02] [-9.37996386e-01 -3.46556928e-01 7.81507552e-03 1.06260153e+02] [ 8.41184153e-03 -2.17794286e-04 9.99964596e-01 1.74388530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.66, Y:106.25, Z:1.74 [[-3.45097554e-01 9.38561623e-01 3.12395115e-03 1.23655288e+02] [-9.38529130e-01 -3.45111612e-01 7.81328473e-03 1.06254951e+02] [ 8.41136101e-03 -2.35573708e-04 9.99964596e-01 1.74360203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.077628 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:123.65, Y:106.26, Z:1.74 [[-3.43619639e-01 9.39103698e-01 3.12842546e-03 1.23654702e+02] [-9.39071244e-01 -3.43633787e-01 7.81149281e-03 1.06255080e+02] [ 8.41083447e-03 -2.53632043e-04 9.99964596e-01 1.74096057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.65, Y:106.25, Z:1.74 [[-3.44005819e-01 9.38962291e-01 3.13250502e-03 1.23651742e+02] [-9.38929846e-01 -3.44019986e-01 7.80985651e-03 1.06250075e+02] [ 8.41080510e-03 -2.54566376e-04 9.99964596e-01 1.74375942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.65, Y:106.24, Z:1.74 [[-3.44178384e-01 9.38899037e-01 3.13657951e-03 1.23647464e+02] [-9.38866604e-01 -3.44192580e-01 7.80821978e-03 1.06242799e+02] [ 8.41071742e-03 -2.57409284e-04 9.99964596e-01 1.74424767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.65, Y:106.24, Z:1.74 [[-3.45177176e-01 9.38532287e-01 3.14065895e-03 1.23646831e+02] [-9.38499853e-01 -3.45191371e-01 7.80657858e-03 1.06242530e+02] [ 8.41085442e-03 -2.52855208e-04 9.99964596e-01 1.74485498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:106.24, Z:1.75 [[-3.46652319e-01 9.37988422e-01 3.14473594e-03 1.23643784e+02] [-9.37955981e-01 -3.46666497e-01 7.80493590e-03 1.06235523e+02] [ 8.41111410e-03 -2.44024757e-04 9.99964596e-01 1.74506989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:106.23, Z:1.75 [[-3.49596959e-01 9.36894896e-01 3.14958090e-03 1.23641909e+02] [-9.36862428e-01 -3.49611075e-01 7.80298029e-03 1.06229320e+02] [ 8.41170077e-03 -2.22825829e-04 9.99964596e-01 1.74537852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:106.22, Z:1.75 [[-3.51510637e-01 9.36178576e-01 3.15365601e-03 1.23640114e+02] [-9.36146094e-01 -3.51524721e-01 7.80133294e-03 1.06224268e+02] [ 8.41202881e-03 -2.10031246e-04 9.99964596e-01 1.74530303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:106.22, Z:1.75 [[-3.53585992e-01 9.35396695e-01 3.15735250e-03 1.23637980e+02] [-9.35364196e-01 -3.53600034e-01 7.79983661e-03 1.06218955e+02] [ 8.41238134e-03 -1.95361515e-04 9.99964596e-01 1.74559583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.63, Y:106.21, Z:1.74 [[-3.57581905e-01 9.33876430e-01 3.16143337e-03 1.23634742e+02] [-9.33843885e-01 -3.57595843e-01 7.79818220e-03 1.06210517e+02] [ 8.41305398e-03 -1.63796371e-04 9.99964596e-01 1.74489537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.63, Y:106.20, Z:1.74 [[-3.60152454e-01 9.32888091e-01 3.16552080e-03 1.23632543e+02] [-9.32855522e-01 -3.60166336e-01 7.79652264e-03 1.06203738e+02] [ 8.41339714e-03 -1.45036796e-04 9.99964596e-01 1.74410518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:106.07, Z:1.74 [[-3.64791360e-01 9.31083895e-01 3.16923517e-03 1.23580547e+02] [-9.31051271e-01 -3.64805111e-01 7.79501248e-03 1.06074087e+02] [ 8.41396376e-03 -1.07167227e-04 9.99964596e-01 1.74384642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.63, Y:106.19, Z:1.74 [[-3.68135809e-01 9.29766705e-01 3.14649196e-03 1.23629371e+02] [-9.29733952e-01 -3.68149251e-01 7.80426313e-03 1.06193878e+02] [ 8.41452267e-03 -5.23716889e-05 9.99964596e-01 1.74249079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.63, Y:106.19, Z:1.74 [[-3.70851668e-01 9.28686677e-01 3.17764052e-03 1.23625837e+02] [-9.28653993e-01 -3.70865276e-01 7.79155978e-03 1.06185352e+02] [ 8.41439429e-03 -6.14156218e-05 9.99964596e-01 1.74313509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.62, Y:106.18, Z:1.74 [[-3.73197053e-01 9.27746644e-01 3.18175172e-03 1.23623830e+02] [-9.27713941e-01 -3.73210613e-01 7.78988057e-03 1.06179651e+02] [ 8.41449907e-03 -4.45949532e-05 9.99964596e-01 1.74337430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.62, Y:106.17, Z:1.74 [[-3.76088135e-01 9.26578415e-01 3.18664982e-03 1.23621537e+02] [-9.26545687e-01 -3.76101635e-01 7.78787637e-03 1.06173066e+02] [ 8.41458235e-03 -2.36487448e-05 9.99964597e-01 1.74475052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.62, Y:106.17, Z:1.75 [[-3.76786929e-01 9.26294463e-01 3.19038304e-03 1.23618432e+02] [-9.26261737e-01 -3.76800435e-01 7.78634671e-03 1.06166050e+02] [ 8.41458756e-03 -2.13360704e-05 9.99964597e-01 1.74511937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.62, Y:106.16, Z:1.75 [[-3.77388555e-01 9.26049500e-01 3.19412520e-03 1.23615471e+02] [-9.26016778e-01 -3.77402071e-01 7.78481130e-03 1.06159963e+02] [ 8.41459007e-03 -1.99148412e-05 9.99964597e-01 1.74503503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.61, Y:106.16, Z:1.75 [[-3.77834804e-01 9.25867502e-01 3.19826152e-03 1.23614000e+02] [-9.25834789e-01 -3.77848339e-01 7.78311159e-03 1.06156250e+02] [ 8.41458789e-03 -2.03313354e-05 9.99964597e-01 1.74507047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.61, Y:106.16, Z:1.74 [[-3.77429803e-01 9.26032662e-01 3.20201184e-03 1.23614218e+02] [-9.25999967e-01 -3.77443384e-01 7.78156838e-03 1.06159237e+02] [ 8.41456467e-03 -2.80670358e-05 9.99964597e-01 1.74499127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.61, Y:106.15, Z:1.75 [[-3.76624026e-01 9.26360654e-01 3.20652737e-03 1.23611829e+02] [-9.26327987e-01 -3.76637673e-01 7.77970723e-03 1.06154095e+02] [ 8.41451369e-03 -4.02713876e-05 9.99964597e-01 1.74508098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.61, Y:106.15, Z:1.75 [[-3.73993324e-01 9.27425840e-01 3.21025547e-03 1.23609364e+02] [-9.27393225e-01 -3.74007095e-01 7.77816855e-03 1.06152542e+02] [ 8.41433282e-03 -6.81860602e-05 9.99964597e-01 1.74557378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.61, Y:106.15, Z:1.75 [[-3.72648946e-01 9.27966824e-01 3.21514416e-03 1.23607397e+02] [-9.27934246e-01 -3.72662806e-01 7.77614726e-03 1.06149521e+02] [ 8.41417132e-03 -8.56692823e-05 9.99964597e-01 1.74523394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.61, Y:106.15, Z:1.74 [[-3.71031256e-01 9.28614798e-01 3.21924400e-03 1.23605374e+02] [-9.28582259e-01 -3.71045207e-01 7.77444960e-03 1.06145598e+02] [ 8.41395400e-03 -1.04769059e-04 9.99964597e-01 1.74437703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:106.14, Z:1.74 [[-3.67751158e-01 9.29918649e-01 3.22372774e-03 1.23602969e+02] [-9.29886176e-01 -3.67765261e-01 7.77258994e-03 1.06143292e+02] [ 8.41345141e-03 -1.39320906e-04 9.99964597e-01 1.74318515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79762800000003 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:123.60, Y:106.14, Z:1.74 [[-3.65616413e-01 9.30760021e-01 3.22820317e-03 1.23601153e+02] [-9.30727597e-01 -3.65630628e-01 7.77073071e-03 1.06141594e+02] [ 8.41301543e-03 -1.63471096e-04 9.99964597e-01 1.74069666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:106.14, Z:1.74 [[-3.64479202e-01 9.31205919e-01 3.23228362e-03 1.23598793e+02] [-9.31173527e-01 -3.64493490e-01 7.76903305e-03 1.06138559e+02] [ 8.41271590e-03 -1.78165972e-04 9.99964597e-01 1.74299234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:106.13, Z:1.74 [[-3.60631366e-01 9.32702816e-01 3.23635733e-03 1.23595425e+02] [-9.32670499e-01 -3.60645822e-01 7.76733569e-03 1.06133503e+02] [ 8.41179462e-03 -2.17310122e-04 9.99964597e-01 1.74274373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.59, Y:106.13, Z:1.74 [[-3.59105039e-01 9.33291525e-01 3.24043015e-03 1.23593985e+02] [-9.33259246e-01 -3.59119582e-01 7.76563619e-03 1.06130172e+02] [ 8.41130436e-03 -2.35482315e-04 9.99964597e-01 1.74317891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:106.14, Z:1.74 [[-3.55180591e-01 9.34792074e-01 3.24450208e-03 1.23598252e+02] [-9.34759872e-01 -3.55195303e-01 7.76393455e-03 1.06136571e+02] [ 8.41009638e-03 -2.75231483e-04 9.99964597e-01 1.74315855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:106.14, Z:1.74 [[-3.54689949e-01 9.34978451e-01 3.21505286e-03 1.23599412e+02] [-9.34946146e-01 -3.54704433e-01 7.77625382e-03 1.06139362e+02] [ 8.41102325e-03 -2.47742212e-04 9.99964596e-01 1.74329246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.59, Y:106.12, Z:1.74 [[-3.58984818e-01 9.33337871e-01 3.21233320e-03 1.23588966e+02] [-9.33305489e-01 -3.58999131e-01 7.77739355e-03 1.06120624e+02] [ 8.41216077e-03 -2.06122000e-04 9.99964596e-01 1.74387395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.007628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:123.59, Y:106.12, Z:1.74 [[-3.59873240e-01 9.32995522e-01 3.25691988e-03 1.23587217e+02] [-9.32963294e-01 -3.59887893e-01 7.75867707e-03 1.06115845e+02] [ 8.41093700e-03 -2.46446441e-04 9.99964597e-01 1.74165502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.59, Y:106.11, Z:1.74 [[-3.65348164e-01 9.30865235e-01 3.26097339e-03 1.23585223e+02] [-9.30832936e-01 -3.65362662e-01 7.75697301e-03 1.06106269e+02] [ 8.41213441e-03 -2.01425589e-04 9.99964597e-01 1.74287633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:106.10, Z:1.74 [[-3.68955102e-01 9.29441484e-01 3.26503338e-03 1.23582936e+02] [-9.29409145e-01 -3.68969508e-01 7.75526372e-03 1.06097543e+02] [ 8.41276158e-03 -1.73207767e-04 9.99964597e-01 1.74226307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:106.09, Z:1.74 [[-3.73574108e-01 9.27594577e-01 3.26910569e-03 1.23581001e+02] [-9.27562181e-01 -3.73588387e-01 7.75354672e-03 1.06090997e+02] [ 8.41344781e-03 -1.35774504e-04 9.99964597e-01 1.74199140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:106.08, Z:1.74 [[-3.82326612e-01 9.24021456e-01 3.27280490e-03 1.23579228e+02] [-9.23988940e-01 -3.82340615e-01 7.75198495e-03 1.06083441e+02] [ 8.41432666e-03 -6.02453904e-05 9.99964597e-01 1.74352587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:106.07, Z:1.74 [[-3.86756146e-01 9.22176203e-01 3.27651151e-03 1.23575927e+02] [-9.22143633e-01 -3.86770023e-01 7.75041797e-03 1.06074693e+02] [ 8.41450745e-03 -2.38924512e-05 9.99964597e-01 1.74408683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.57, Y:106.07, Z:1.75 [[-3.90857178e-01 9.20445493e-01 3.28022956e-03 1.23574713e+02] [-9.20412876e-01 -3.90870942e-01 7.74884405e-03 1.06071417e+02] [ 8.41453501e-03 9.52580135e-06 9.99964597e-01 1.74515785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.57, Y:106.06, Z:1.75 [[-3.97480639e-01 9.17604685e-01 3.28395367e-03 1.23571515e+02] [-9.17571982e-01 -3.97494199e-01 7.74726546e-03 1.06064035e+02] [ 8.41427961e-03 6.61241486e-05 9.99964597e-01 1.74696609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.57, Y:106.06, Z:1.75 [[-4.00368659e-01 9.16348257e-01 3.28768245e-03 1.23568567e+02] [-9.16315525e-01 -4.00382147e-01 7.74568276e-03 1.06058176e+02] [ 8.41407226e-03 8.85741453e-05 9.99964597e-01 1.74752979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.57, Y:106.05, Z:1.75 [[-4.02982625e-01 9.15201709e-01 3.29180393e-03 1.23566317e+02] [-9.15168952e-01 -4.02996055e-01 7.74393080e-03 1.06053885e+02] [ 8.41384270e-03 1.08112804e-04 9.99964597e-01 1.74780398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.56, Y:106.05, Z:1.75 [[-4.05190036e-01 9.14226544e-01 3.29554223e-03 1.23564029e+02] [-9.14193768e-01 -4.05203419e-01 7.74233958e-03 1.06049005e+02] [ 8.41361734e-03 1.24354691e-04 9.99964597e-01 1.74797522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.56, Y:106.04, Z:1.75 [[-4.07966881e-01 9.12990765e-01 3.29966791e-03 1.23558769e+02] [-9.12957962e-01 -4.07980199e-01 7.74058088e-03 1.06037899e+02] [ 8.41327803e-03 1.45442543e-04 9.99964597e-01 1.74786333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:106.02, Z:1.75 [[-4.08876304e-01 9.12583833e-01 3.30380523e-03 1.23551244e+02] [-9.12551032e-01 -4.08889625e-01 7.73881460e-03 1.06022438e+02] [ 8.41320877e-03 1.49327048e-04 9.99964597e-01 1.74800426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.56, Y:106.03, Z:1.75 [[-4.08960417e-01 9.12546127e-01 3.30797253e-03 1.23555431e+02] [-9.12513339e-01 -4.08973770e-01 7.73703287e-03 1.06033303e+02] [ 8.41327338e-03 1.45571138e-04 9.99964597e-01 1.74750299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:106.03, Z:1.75 [[-4.07931403e-01 9.13006572e-01 3.31213275e-03 1.23553285e+02] [-9.12973813e-01 -4.07944828e-01 7.73525152e-03 1.06030306e+02] [ 8.41350290e-03 1.31561540e-04 9.99964597e-01 1.74562859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:106.03, Z:1.75 [[-4.07059753e-01 9.13395511e-01 3.31626557e-03 1.23551007e+02] [-9.13362780e-01 -4.07073244e-01 7.73347929e-03 1.06026479e+02] [ 8.41368825e-03 1.19034625e-04 9.99964597e-01 1.74501230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:106.03, Z:1.74 [[-4.05989181e-01 9.13871851e-01 3.32039417e-03 1.23549528e+02] [-9.13839150e-01 -4.06002745e-01 7.73170625e-03 1.06025786e+02] [ 8.41387785e-03 1.04682907e-04 9.99964597e-01 1.74499979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:106.02, Z:1.75 [[-4.03102979e-01 9.15148587e-01 3.32451581e-03 1.23544605e+02] [-9.15115943e-01 -4.03116682e-01 7.72993360e-03 1.06022839e+02] [ 8.41420559e-03 7.36418459e-05 9.99964597e-01 1.74581189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:106.02, Z:1.75 [[-4.02229472e-01 9.15532834e-01 3.32901795e-03 1.23540997e+02] [-9.15500219e-01 -4.02243244e-01 7.72799420e-03 1.06018834e+02] [ 8.41430741e-03 6.07103610e-05 9.99964597e-01 1.74679942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:106.01, Z:1.75 [[-4.00355077e-01 9.16354027e-01 3.33313001e-03 1.23535964e+02] [-9.16321455e-01 -4.00368950e-01 7.72622024e-03 1.06011828e+02] [ 8.41443479e-03 3.90129620e-05 9.99964597e-01 1.74865832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:106.01, Z:1.75 [[-4.00370431e-01 9.16347301e-01 3.33802621e-03 1.23534941e+02] [-9.16314747e-01 -4.00384344e-01 7.72410431e-03 1.06010900e+02] [ 8.41445557e-03 3.38203285e-05 9.99964597e-01 1.74890387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:106.00, Z:1.75 [[-4.00796546e-01 9.16160990e-01 3.34213781e-03 1.23530932e+02] [-9.16128444e-01 -4.00810479e-01 7.72232485e-03 1.06003756e+02] [ 8.41445664e-03 3.32536206e-05 9.99964597e-01 1.74853285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:106.00, Z:1.75 [[-4.01516050e-01 9.15845872e-01 3.34663552e-03 1.23529842e+02] [-9.15813332e-01 -4.01529995e-01 7.72037518e-03 1.06003423e+02] [ 8.41444829e-03 3.49611239e-05 9.99964597e-01 1.74838699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:106.00, Z:1.75 [[-4.03682091e-01 9.14893186e-01 3.35074079e-03 1.23526185e+02] [-9.14860628e-01 -4.03695994e-01 7.71859303e-03 1.05995318e+02] [ 8.41436881e-03 5.03969512e-05 9.99964597e-01 1.74739000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:105.99, Z:1.75 [[-4.05588238e-01 9.14049740e-01 3.35484511e-03 1.23526388e+02] [-9.14017167e-01 -4.05602108e-01 7.71680870e-03 1.05993188e+02] [ 8.41427923e-03 6.34608166e-05 9.99964597e-01 1.74703806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:105.99, Z:1.75 [[-4.07493028e-01 9.13202141e-01 3.35894958e-03 1.23525129e+02] [-9.13169554e-01 -4.07506864e-01 7.71502170e-03 1.05986431e+02] [ 8.41416935e-03 7.65270646e-05 9.99964597e-01 1.74628324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.52, Y:105.98, Z:1.75 [[-4.07824011e-01 9.13054361e-01 3.36305200e-03 1.23523481e+02] [-9.13021784e-01 -4.07837870e-01 7.71323300e-03 1.05979645e+02] [ 8.41418100e-03 7.51018855e-05 9.99964597e-01 1.74519543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.52, Y:105.97, Z:1.74 [[-4.07827336e-01 9.13052861e-01 3.36715943e-03 1.23519777e+02] [-9.13020298e-01 -4.07841229e-01 7.71143952e-03 1.05967889e+02] [ 8.41421835e-03 7.06509216e-05 9.99964597e-01 1.74428401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.51, Y:105.96, Z:1.74 [[-4.06284105e-01 9.13740587e-01 3.37128115e-03 1.23514797e+02] [-9.13708063e-01 -4.06298088e-01 7.70963717e-03 1.05955721e+02] [ 8.41435348e-03 5.19362682e-05 9.99964597e-01 1.74445087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.52, Y:105.97, Z:1.75 [[-4.05545628e-01 9.14068570e-01 3.37542496e-03 1.23520657e+02] [-9.14036072e-01 -4.05559673e-01 7.70782250e-03 1.05971340e+02] [ 8.41441453e-03 4.06135423e-05 9.99964597e-01 1.74609242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.90762800000005 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:123.52, Y:105.96, Z:1.74 [[-4.04285978e-01 9.14626387e-01 3.37954748e-03 1.23516109e+02] [-9.14593924e-01 -4.04300102e-01 7.70601453e-03 1.05962470e+02] [ 8.41447561e-03 2.45200221e-05 9.99964597e-01 1.74472523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.52, Y:105.97, Z:1.75 [[-4.04668774e-01 9.14457071e-01 3.38364511e-03 1.23517232e+02] [-9.14424617e-01 -4.04682919e-01 7.70421487e-03 1.05965816e+02] [ 8.41447715e-03 2.35668012e-05 9.99964597e-01 1.74918041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.52, Y:105.96, Z:1.75 [[-4.04014705e-01 9.14746217e-01 3.38773693e-03 1.23517013e+02] [-9.14713788e-01 -4.04028908e-01 7.70241518e-03 1.05960862e+02] [ 8.41449880e-03 1.30793138e-05 9.99964597e-01 1.74926563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.52, Y:105.96, Z:1.75 [[-4.03654784e-01 9.14905083e-01 3.39181436e-03 1.23516751e+02] [-9.14872675e-01 -4.03669034e-01 7.70061923e-03 1.05956300e+02] [ 8.41450611e-03 5.31351061e-06 9.99964597e-01 1.74861278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.02762800000005 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:123.52, Y:105.95, Z:1.75 [[-4.01716462e-01 9.15757801e-01 3.39627461e-03 1.23515400e+02] [-9.15725439e-01 -4.01730818e-01 7.69865159e-03 1.05948663e+02] [ 8.41448842e-03 -1.73799778e-05 9.99964597e-01 1.74568548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.057628 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:123.52, Y:105.95, Z:1.75 [[-4.00911508e-01 9.16110474e-01 3.40035005e-03 1.23515130e+02] [-9.16078140e-01 -4.00925927e-01 7.69685112e-03 1.05948081e+02] [ 8.41445442e-03 -2.92301547e-05 9.99964597e-01 1.74724568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.51, Y:105.94, Z:1.75 [[-3.97927196e-01 9.17410680e-01 3.40442293e-03 1.23511208e+02] [-9.17378410e-01 -3.97941754e-01 7.69504921e-03 1.05943382e+02] [ 8.41428236e-03 -6.10747374e-05 9.99964597e-01 1.75173830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.51, Y:105.94, Z:1.75 [[-3.96277185e-01 9.18124597e-01 3.40849058e-03 1.23509172e+02] [-9.18092367e-01 -3.96291835e-01 7.69324704e-03 1.05940901e+02] [ 8.41411632e-03 -8.06509059e-05 9.99964597e-01 1.75247802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.51, Y:105.94, Z:1.75 [[-3.94697733e-01 9.18804688e-01 3.41255568e-03 1.23507687e+02] [-9.18772500e-01 -3.94712472e-01 7.69144342e-03 1.05938743e+02] [ 8.41391256e-03 -9.95670335e-05 9.99964597e-01 1.75240893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.51, Y:105.94, Z:1.75 [[-3.92771137e-01 9.19629904e-01 3.41661398e-03 1.23506174e+02] [-9.19597763e-01 -3.92785978e-01 7.68964027e-03 1.05937443e+02] [ 8.41362120e-03 -1.21641820e-04 9.99964597e-01 1.75134064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:105.93, Z:1.75 [[-3.92913130e-01 9.19569232e-01 3.42066390e-03 1.23504464e+02] [-9.19537103e-01 -3.92928000e-01 7.68783827e-03 1.05933617e+02] [ 8.41357416e-03 -1.24774777e-04 9.99964597e-01 1.75079400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:105.93, Z:1.75 [[-3.93573187e-01 9.19286907e-01 3.42470706e-03 1.23501288e+02] [-9.19254784e-01 -3.93588068e-01 7.68603674e-03 1.05925925e+02] [ 8.41359678e-03 -1.23160374e-04 9.99964597e-01 1.74936612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.267628 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:123.50, Y:105.92, Z:1.74 [[-3.94147438e-01 9.19040826e-01 3.42875350e-03 1.23500073e+02] [-9.19008709e-01 -3.94162333e-01 7.68423119e-03 1.05922094e+02] [ 8.41360767e-03 -1.22334290e-04 9.99964598e-01 1.74401001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29762800000003 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:123.50, Y:105.92, Z:1.74 [[-3.95084765e-01 9.18638254e-01 3.43318513e-03 1.23499923e+02] [-9.18606139e-01 -3.95099664e-01 7.68225071e-03 1.05921683e+02] [ 8.41365967e-03 -1.18604719e-04 9.99964598e-01 1.74319707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.327628 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:123.50, Y:105.91, Z:1.74 [[-3.96965226e-01 9.17827214e-01 3.43722377e-03 1.23496640e+02] [-9.17795084e-01 -3.96980093e-01 7.68044330e-03 1.05913316e+02] [ 8.41382929e-03 -1.05798169e-04 9.99964598e-01 1.74358046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:105.91, Z:1.74 [[-3.98678896e-01 9.17084125e-01 3.44164154e-03 1.23495289e+02] [-9.17051985e-01 -3.98693740e-01 7.67846317e-03 1.05908842e+02] [ 8.41395761e-03 -9.49229799e-05 9.99964598e-01 1.74476154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:105.90, Z:1.75 [[-4.01593846e-01 9.15811394e-01 3.44568082e-03 1.23492272e+02] [-9.15779222e-01 -4.01608622e-01 7.67665012e-03 1.05899716e+02] [ 8.41417878e-03 -7.25874538e-05 9.99964598e-01 1.74593787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:105.89, Z:1.75 [[-4.03452664e-01 9.14994016e-01 3.44934861e-03 1.23487415e+02] [-9.14961829e-01 -4.03467404e-01 7.67500172e-03 1.05887549e+02] [ 8.41428038e-03 -5.95224181e-05 9.99964598e-01 1.74679582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:105.91, Z:1.75 [[-3.99104301e-01 9.16899028e-01 3.45379941e-03 1.23500939e+02] [-9.16866928e-01 -3.99119231e-01 7.67299831e-03 1.05907277e+02] [ 8.41384246e-03 -1.04347827e-04 9.99964598e-01 1.74687113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:105.89, Z:1.75 [[-4.07590943e-01 9.13158354e-01 3.38275652e-03 1.23488312e+02] [-9.13125849e-01 -4.07604977e-01 7.70500288e-03 1.05886363e+02] [ 8.41471614e-03 5.16069710e-05 9.99964594e-01 1.74791513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:105.88, Z:1.75 [[-4.08073116e-01 9.12942680e-01 3.46329700e-03 1.23486336e+02] [-9.12910472e-01 -4.08087811e-01 7.66862933e-03 1.05881982e+02] [ 8.41434830e-03 -3.23186279e-05 9.99964598e-01 1.74799297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:105.87, Z:1.75 [[-4.10101142e-01 9.12033459e-01 3.46734589e-03 1.23481521e+02] [-9.12001234e-01 -4.10115799e-01 7.66679819e-03 1.05869043e+02] [ 8.41438981e-03 -1.80610421e-05 9.99964598e-01 1.74790677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:105.86, Z:1.75 [[-4.13634895e-01 9.10436225e-01 3.47179012e-03 1.23480732e+02] [-9.10403960e-01 -4.13649465e-01 7.66478516e-03 1.05863097e+02] [ 8.41440220e-03 9.69113048e-06 9.99964598e-01 1.74747027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:105.86, Z:1.75 [[-4.15685390e-01 9.09501829e-01 3.47548196e-03 1.23479358e+02] [-9.09469546e-01 -4.15699918e-01 7.66311079e-03 1.05858847e+02] [ 8.41437085e-03 2.45982013e-05 9.99964598e-01 1.74729714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:105.85, Z:1.75 [[-4.20141325e-01 9.07452015e-01 3.47955782e-03 1.23477431e+02] [-9.07419676e-01 -4.20155729e-01 7.66125963e-03 1.05854919e+02] [ 8.41418164e-03 6.13925410e-05 9.99964598e-01 1.74728345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.47, Y:105.85, Z:1.75 [[-4.22375653e-01 9.06414172e-01 3.48661182e-03 1.23473258e+02] [-9.06381824e-01 -4.22390036e-01 7.65804803e-03 1.05845780e+02] [ 8.41407337e-03 7.43714497e-05 9.99964598e-01 1.74681673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.47, Y:105.84, Z:1.75 [[-4.24787561e-01 9.05286333e-01 3.49030300e-03 1.23472411e+02] [-9.05253961e-01 -4.24801890e-01 7.65636534e-03 1.05843813e+02] [ 8.41389022e-03 9.27181442e-05 9.99964598e-01 1.74665842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.47, Y:105.84, Z:1.75 [[-4.26504793e-01 9.04478552e-01 3.49438011e-03 1.23470552e+02] [-9.04446168e-01 -4.26519095e-01 7.65450409e-03 1.05838484e+02] [ 8.41375461e-03 1.04203989e-04 9.99964598e-01 1.74515215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.47, Y:105.83, Z:1.74 [[-4.28633792e-01 9.03471547e-01 3.49807237e-03 1.23468111e+02] [-9.03439143e-01 -4.28648049e-01 7.65281637e-03 1.05833565e+02] [ 8.41354374e-03 1.19960193e-04 9.99964598e-01 1.74198264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.47, Y:105.83, Z:1.74 [[-4.29199298e-01 9.03203023e-01 3.50176783e-03 1.23466387e+02] [-9.03170623e-01 -4.29213566e-01 7.65112503e-03 1.05830917e+02] [ 8.41352551e-03 1.21163663e-04 9.99964598e-01 1.74081973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.46, Y:105.82, Z:1.74 [[-4.29325470e-01 9.03143039e-01 3.50584484e-03 1.23462013e+02] [-9.03110653e-01 -4.29339768e-01 7.64925644e-03 1.05822454e+02] [ 8.41357132e-03 1.17854796e-04 9.99964598e-01 1.74030503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.837628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.46, Y:105.83, Z:1.74 [[-4.27976495e-01 9.03783048e-01 3.51031002e-03 1.23460313e+02] [-9.03750700e-01 -4.27990879e-01 7.64720678e-03 1.05825122e+02] [ 8.41379652e-03 1.00379622e-04 9.99964598e-01 1.73932682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.46, Y:105.82, Z:1.74 [[-4.26483569e-01 9.04488482e-01 3.51456352e-03 1.23455228e+02] [-9.04456174e-01 -4.26498042e-01 7.64525142e-03 1.05818496e+02] [ 8.41399631e-03 8.18054413e-05 9.99964598e-01 1.74031103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:105.82, Z:1.74 [[-4.24672746e-01 9.05340090e-01 3.51862879e-03 1.23451579e+02] [-9.05307826e-01 -4.24687319e-01 7.64337998e-03 1.05815224e+02] [ 8.41417534e-03 6.04929861e-05 9.99964598e-01 1.74173073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.927628 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:123.46, Y:105.82, Z:1.74 [[-4.13257349e-01 9.10607464e-01 3.52269736e-03 1.23458282e+02] [-9.10575403e-01 -4.13272360e-01 7.64150438e-03 1.05823633e+02] [ 8.41424438e-03 -4.97737203e-05 9.99964598e-01 1.74027500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.957628 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:123.45, Y:105.81, Z:1.74 [[-4.18526859e-01 9.08197848e-01 3.45496418e-03 1.23449976e+02] [-9.08165440e-01 -4.18541113e-01 7.67275139e-03 1.05814676e+02] [ 8.41442085e-03 7.35734725e-05 9.99964595e-01 1.74289509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:105.81, Z:1.75 [[-4.16545070e-01 9.09108211e-01 3.53046915e-03 1.23447764e+02] [-9.09076127e-01 -4.16560031e-01 7.63785050e-03 1.05809748e+02] [ 8.41428495e-03 -2.79562456e-05 9.99964599e-01 1.74884765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:105.81, Z:1.75 [[-4.15785534e-01 9.09455825e-01 3.53433523e-03 1.23446978e+02] [-9.09423768e-01 -4.15800554e-01 7.63606110e-03 1.05807519e+02] [ 8.41423879e-03 -3.92447179e-05 9.99964599e-01 1.75043827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:105.80, Z:1.75 [[-4.15352592e-01 9.09653618e-01 3.53837908e-03 1.23445307e+02] [-9.09621584e-01 -4.15367660e-01 7.63418681e-03 1.05802865e+02] [ 8.41419389e-03 -4.77067051e-05 9.99964599e-01 1.75158479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:105.80, Z:1.75 [[-4.13955252e-01 9.10290339e-01 3.54241717e-03 1.23446299e+02] [-9.10258344e-01 -4.13970403e-01 7.63231259e-03 1.05800593e+02] [ 8.41407628e-03 -6.50789033e-05 9.99964599e-01 1.75189364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:105.79, Z:1.75 [[-4.13296263e-01 9.10589711e-01 3.54645003e-03 1.23444206e+02] [-9.10557743e-01 -4.13311471e-01 7.63043822e-03 1.05792063e+02] [ 8.41398701e-03 -7.56159354e-05 9.99964599e-01 1.75029841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:105.79, Z:1.75 [[-4.12384342e-01 9.11003045e-01 3.55048348e-03 1.23446116e+02] [-9.10971109e-01 -4.12399616e-01 7.62856097e-03 1.05791801e+02] [ 8.41386030e-03 -8.84887745e-05 9.99964599e-01 1.74830333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:105.79, Z:1.75 [[-4.09193343e-01 9.12440778e-01 3.55451277e-03 1.23446382e+02] [-9.12408912e-01 -4.09208763e-01 7.62668306e-03 1.05787368e+02] [ 8.41343440e-03 -1.22381190e-04 9.99964599e-01 1.74508790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.46, Y:105.81, Z:1.74 [[-3.99365058e-01 9.16785082e-01 3.55853212e-03 1.23462427e+02] [-9.16753400e-01 -3.99380853e-01 7.62480721e-03 1.05809314e+02] [ 8.41151910e-03 -2.17214845e-04 9.99964599e-01 1.74173582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:105.78, Z:1.74 [[-4.04289775e-01 9.14624382e-01 3.46652987e-03 1.23445329e+02] [-9.14592243e-01 -4.04304631e-01 7.66775012e-03 1.05784747e+02] [ 8.41464530e-03 -7.04683509e-05 9.99964594e-01 1.74175429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.46, Y:105.80, Z:1.74 [[-3.94581770e-01 9.18853911e-01 3.56599797e-03 1.23460393e+02] [-9.18822344e-01 -3.94597792e-01 7.62120860e-03 1.05803832e+02] [ 8.40991226e-03 -2.69328633e-04 9.99964600e-01 1.74019543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:105.78, Z:1.74 [[-4.00981284e-01 9.16079655e-01 3.47495997e-03 1.23445357e+02] [-9.16047604e-01 -4.00996326e-01 7.66380999e-03 1.05781046e+02] [ 8.41410660e-03 -1.10184378e-04 9.99964595e-01 1.74126499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.46, Y:105.80, Z:1.74 [[-3.91709352e-01 9.20082070e-01 3.57329439e-03 1.23460088e+02] [-9.20050584e-01 -3.91725533e-01 7.61768345e-03 1.05799035e+02] [ 8.40864460e-03 -3.03693739e-04 9.99964601e-01 1.74113550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:105.77, Z:1.74 [[-3.96964777e-01 9.17827258e-01 3.47726050e-03 1.23445524e+02] [-9.17795282e-01 -3.96979978e-01 7.66274640e-03 1.05774224e+02] [ 8.41348031e-03 -1.49572865e-04 9.99964595e-01 1.74317147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:105.77, Z:1.75 [[-3.96679397e-01 9.17950234e-01 3.58111390e-03 1.23444194e+02] [-9.17918696e-01 -3.96695471e-01 7.61390016e-03 1.05770379e+02] [ 8.40979310e-03 -2.66894077e-04 9.99964601e-01 1.74546984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:105.76, Z:1.75 [[-3.96546935e-01 9.18007449e-01 3.58508447e-03 1.23441438e+02] [-9.17975929e-01 -3.96563047e-01 7.61203011e-03 1.05763823e+02] [ 8.40961236e-03 -2.72494037e-04 9.99964601e-01 1.74760461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:105.76, Z:1.75 [[-3.96953780e-01 9.17831583e-01 3.58905714e-03 1.23440115e+02] [-9.17800074e-01 -3.96969911e-01 7.61015655e-03 1.05758969e+02] [ 8.40958973e-03 -2.73156504e-04 9.99964601e-01 1.75119612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:105.76, Z:1.75 [[-3.97817589e-01 9.17457497e-01 3.59266024e-03 1.23440043e+02] [-9.17425988e-01 -3.97833720e-01 7.60845519e-03 1.05756149e+02] [ 8.40971564e-03 -2.69222574e-04 9.99964601e-01 1.75261534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:105.75, Z:1.76 [[-4.00065383e-01 9.16479544e-01 3.59663362e-03 1.23438720e+02] [-9.16448011e-01 -4.00081470e-01 7.60657645e-03 1.05745511e+02] [ 8.41021817e-03 -2.52999813e-04 9.99964601e-01 1.75638784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:105.74, Z:1.76 [[-4.02470988e-01 9.15425662e-01 3.60023905e-03 1.23438336e+02] [-9.15394103e-01 -4.02487022e-01 7.60486959e-03 1.05741192e+02] [ 8.41074227e-03 -2.34898219e-04 9.99964602e-01 1.75820626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:105.73, Z:1.76 [[-4.05000254e-01 9.14309468e-01 3.60422502e-03 1.23436076e+02] [-9.14277882e-01 -4.05016233e-01 7.60298003e-03 1.05732704e+02] [ 8.41124627e-03 -2.16054372e-04 9.99964602e-01 1.75957612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.587628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:123.44, Y:105.73, Z:1.76 [[-4.07403160e-01 9.13241287e-01 3.60784048e-03 1.23436010e+02] [-9.13209674e-01 -4.07419087e-01 7.60126399e-03 1.05728231e+02] [ 8.41169119e-03 -1.97935859e-04 9.99964602e-01 1.75698965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:105.72, Z:1.76 [[-4.09946435e-01 9.12102448e-01 3.61183493e-03 1.23440282e+02] [-9.12070807e-01 -4.09962307e-01 7.59936551e-03 1.05724236e+02] [ 8.41211606e-03 -1.78916402e-04 9.99964602e-01 1.75741810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:105.71, Z:1.76 [[-4.16907704e-01 9.08941827e-01 3.56672922e-03 1.23434390e+02] [-9.08909881e-01 -4.16922956e-01 7.62082131e-03 1.05712105e+02] [ 8.41393453e-03 -6.46563163e-05 9.99964600e-01 1.75632617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:105.71, Z:1.75 [[-4.21163216e-01 9.06977642e-01 3.61975022e-03 1.23436610e+02] [-9.06945841e-01 -4.21178762e-01 7.59555354e-03 1.05707719e+02] [ 8.41355916e-03 -8.39496516e-05 9.99964602e-01 1.75173191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:105.70, Z:1.75 [[-4.22989390e-01 9.06127390e-01 3.62338194e-03 1.23435850e+02] [-9.06095572e-01 -4.23004902e-01 7.59382067e-03 1.05702740e+02] [ 8.41367723e-03 -7.10247639e-05 9.99964602e-01 1.74970022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:105.70, Z:1.75 [[-4.24761116e-01 9.05298205e-01 3.62701283e-03 1.23434346e+02] [-9.05266371e-01 -4.24776597e-01 7.59208607e-03 1.05697473e+02] [ 8.41377205e-03 -5.85897937e-05 9.99964602e-01 1.74762832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:105.69, Z:1.75 [[-4.25326564e-01 9.05032669e-01 3.63064543e-03 1.23432626e+02] [-9.05000841e-01 -4.25342056e-01 7.59034851e-03 1.05694620e+02] [ 8.41377956e-03 -5.73603094e-05 9.99964602e-01 1.74780270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:105.69, Z:1.75 [[-4.25689319e-01 9.04862087e-01 3.63427855e-03 1.23430392e+02] [-9.04830267e-01 -4.25704828e-01 7.58860856e-03 1.05690489e+02] [ 8.41377410e-03 -5.80156247e-05 9.99964602e-01 1.74779293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:105.69, Z:1.75 [[-4.25930154e-01 9.04748733e-01 3.63791085e-03 1.23428372e+02] [-9.04716924e-01 -4.25945685e-01 7.58686687e-03 1.05687076e+02] [ 8.41376062e-03 -5.98041430e-05 9.99964602e-01 1.74769620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:105.68, Z:1.75 [[-4.26442580e-01 9.04507304e-01 3.64191809e-03 1.23426483e+02] [-9.04475503e-01 -4.26458127e-01 7.58494279e-03 1.05683998e+02] [ 8.41376172e-03 -5.94831249e-05 9.99964602e-01 1.74766781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.42, Y:105.67, Z:1.75 [[-4.22120569e-01 9.06532369e-01 3.64554726e-03 1.23420971e+02] [-9.06500657e-01 -4.22136297e-01 7.58319810e-03 1.05668170e+02] [ 8.41333236e-03 -1.03667095e-04 9.99964602e-01 1.74633278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.42, Y:105.68, Z:1.75 [[-4.27917868e-01 9.03810491e-01 3.59084374e-03 1.23421064e+02] [-9.03778457e-01 -4.27932934e-01 7.60950119e-03 1.05676635e+02] [ 8.41418730e-03 1.09143114e-05 9.99964600e-01 1.74783691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.41, Y:105.66, Z:1.75 [[-4.29509978e-01 9.03054732e-01 3.65093781e-03 1.23411526e+02] [-9.03022916e-01 -4.29525492e-01 7.58055879e-03 1.05660378e+02] [ 8.41383035e-03 -4.09548751e-05 9.99964602e-01 1.74921857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.07, Y:105.25, Z:2.65 [[-3.76378924e-01 -9.26458621e-01 -3.65093781e-03 1.24065321e+02] [-9.26427758e-01 3.76396259e-01 -7.58055879e-03 1.05245986e+02] [ 8.39727337e-03 5.29167577e-04 -9.99964602e-01 2.64774201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.32, Y:105.53, Z:1.75 [[-3.70100952e-01 9.28986286e-01 3.12503095e-03 1.23315716e+02] [-9.28953612e-01 -3.70114145e-01 7.79149226e-03 1.05533349e+02] [ 8.39480762e-03 -1.93700815e-05 9.99964763e-01 1.74842630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.31, Y:105.53, Z:1.75 [[-3.71380098e-01 9.28475649e-01 3.12916485e-03 1.23313911e+02] [-9.28442971e-01 -3.71393281e-01 7.78983168e-03 1.05530141e+02] [ 8.39481983e-03 -1.22626512e-05 9.99964763e-01 1.74806500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.31, Y:105.53, Z:1.75 [[-3.72858623e-01 9.27882875e-01 3.13329623e-03 1.23312375e+02] [-9.27850189e-01 -3.72871788e-01 7.78816956e-03 1.05528309e+02] [ 8.39482694e-03 -3.34332016e-06 9.99964763e-01 1.74779803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.31, Y:105.52, Z:1.75 [[-3.76345105e-01 9.26474242e-01 3.13703524e-03 1.23306759e+02] [-9.26441520e-01 -3.76358178e-01 7.78666322e-03 1.05520396e+02] [ 8.39479177e-03 2.41928876e-05 9.99964763e-01 1.74707457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.30, Y:105.51, Z:1.75 [[-3.78466625e-01 9.25609598e-01 3.14418918e-03 1.23302278e+02] [-9.25576870e-01 -3.78479683e-01 7.78377345e-03 1.05513227e+02] [ 8.39474714e-03 3.57096861e-05 9.99964763e-01 1.74649013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.25, Y:105.38, Z:1.75 [[-3.80700912e-01 9.24692869e-01 3.14871252e-03 1.23248815e+02] [-9.24660124e-01 -3.80713929e-01 7.78194322e-03 1.05384990e+02] [ 8.39466612e-03 5.11039666e-05 9.99964763e-01 1.74696810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.99, Y:105.11, Z:2.65 [[-3.04610012e-01 -9.52471956e-01 -3.14871252e-03 1.23987335e+02] [-9.52440372e-01 3.04625637e-01 -7.78194322e-03 1.05114022e+02] [ 8.37126124e-03 6.28503110e-04 -9.99964763e-01 2.65384673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.20, Y:105.36, Z:1.74 [[-3.22042074e-01 9.46721759e-01 2.61023147e-03 1.23200792e+02] [-9.46688311e-01 -3.22052639e-01 7.95855462e-03 1.05361608e+02] [ 8.37516876e-03 9.19138106e-05 9.99964923e-01 1.74317133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.20, Y:105.36, Z:1.74 [[-3.22871589e-01 9.46439161e-01 2.61757906e-03 1.23197037e+02] [-9.46405724e-01 -3.22882186e-01 7.95613726e-03 1.05358079e+02] [ 8.37516952e-03 9.15188738e-05 9.99964923e-01 1.74192381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.27762800000005 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:123.19, Y:105.35, Z:1.74 [[-3.22558148e-01 9.46546020e-01 2.62180826e-03 1.23192867e+02] [-9.46512597e-01 -3.22568792e-01 7.95474335e-03 1.05354305e+02] [ 8.37524418e-03 8.42927401e-05 9.99964923e-01 1.73897974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:105.35, Z:1.74 [[-3.21611773e-01 9.46867980e-01 2.62603672e-03 1.23184407e+02] [-9.46834580e-01 -3.21622486e-01 7.95334720e-03 1.05349464e+02] [ 8.37536225e-03 7.14677188e-05 9.99964923e-01 1.74329400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:105.34, Z:1.75 [[-3.22854663e-01 9.46444899e-01 2.63066736e-03 1.23181674e+02] [-9.46411497e-01 -3.22865371e-01 7.95181526e-03 1.05343368e+02] [ 8.37530638e-03 7.75867992e-05 9.99964924e-01 1.74602060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:105.33, Z:1.75 [[-3.23764850e-01 9.46133912e-01 2.63490208e-03 1.23179262e+02] [-9.46100511e-01 -3.23775561e-01 7.95041180e-03 1.05334973e+02] [ 8.37527112e-03 8.11816783e-05 9.99964924e-01 1.74884630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:105.33, Z:1.75 [[-3.24270606e-01 9.45960681e-01 2.63914557e-03 1.23177787e+02] [-9.45927285e-01 -3.24281335e-01 7.94900292e-03 1.05330404e+02] [ 8.37526986e-03 8.11881904e-05 9.99964924e-01 1.74888842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.19, Y:105.34, Z:1.75 [[-3.20022535e-01 9.47406243e-01 2.64339450e-03 1.23185420e+02] [-9.47372908e-01 -3.20033449e-01 7.94758972e-03 1.05341263e+02] [ 8.37557077e-03 3.91274721e-05 9.99964924e-01 1.74832586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:105.32, Z:1.75 [[-3.25086142e-01 9.45680868e-01 2.58775323e-03 1.23176912e+02] [-9.45647326e-01 -3.25096411e-01 7.96613605e-03 1.05317172e+02] [ 8.37469174e-03 1.42578521e-04 9.99964922e-01 1.74812700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:105.32, Z:1.75 [[-3.24493124e-01 9.45884327e-01 2.65557561e-03 1.23180986e+02] [-9.45850975e-01 -3.24503983e-01 7.94346240e-03 1.05319035e+02] [ 8.37534145e-03 6.58201471e-05 9.99964924e-01 1.74670575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:105.30, Z:1.75 [[-3.24267611e-01 9.45961649e-01 2.65980868e-03 1.23176145e+02] [-9.45928311e-01 -3.24278514e-01 7.94204474e-03 1.05302485e+02] [ 8.37538855e-03 5.93595481e-05 9.99964924e-01 1.74682913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:105.31, Z:1.75 [[-3.24600828e-01 9.45847394e-01 2.64773590e-03 1.23177797e+02] [-9.45814018e-01 -3.24611618e-01 7.94609371e-03 1.05306598e+02] [ 8.37527786e-03 7.50428707e-05 9.99964924e-01 1.74756188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:105.30, Z:1.75 [[-3.25482469e-01 9.45544311e-01 2.66797262e-03 1.23176192e+02] [-9.45510981e-01 -3.25493397e-01 7.93929323e-03 1.05304757e+02] [ 8.37536102e-03 6.15033524e-05 9.99964924e-01 1.74879775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:105.29, Z:1.75 [[-3.26351395e-01 9.45244744e-01 2.67220065e-03 1.23171537e+02] [-9.45211416e-01 -3.26362328e-01 7.93786991e-03 1.05292061e+02] [ 8.37533544e-03 6.47403543e-05 9.99964924e-01 1.74971589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:105.29, Z:1.75 [[-3.27799596e-01 9.44743489e-01 2.67683653e-03 1.23171117e+02] [-9.44710157e-01 -3.27810517e-01 7.93630627e-03 1.05291907e+02] [ 8.37526884e-03 7.26833301e-05 9.99964924e-01 1.75045747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:105.29, Z:1.75 [[-3.29148460e-01 9.44274378e-01 2.68147632e-03 1.23169789e+02] [-9.44241043e-01 -3.29159373e-01 7.93473830e-03 1.05287305e+02] [ 8.37520313e-03 7.97468944e-05 9.99964924e-01 1.75018030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:105.28, Z:1.75 [[-3.30805406e-01 9.43695168e-01 2.68570473e-03 1.23169150e+02] [-9.43661826e-01 -3.30816296e-01 7.93330683e-03 1.05283045e+02] [ 8.37509821e-03 8.99837608e-05 9.99964924e-01 1.74873044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:105.28, Z:1.75 [[-3.31572134e-01 9.43426035e-01 2.68993237e-03 1.23167373e+02] [-9.43392696e-01 -3.31583033e-01 7.93187311e-03 1.05278685e+02] [ 8.37507154e-03 9.23255464e-05 9.99964924e-01 1.74751721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:105.27, Z:1.75 [[-3.32971317e-01 9.42933107e-01 2.69415812e-03 1.23163458e+02] [-9.42899762e-01 -3.32982201e-01 7.93043753e-03 1.05269391e+02] [ 8.37497879e-03 1.00287178e-04 9.99964924e-01 1.74756273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:105.27, Z:1.75 [[-3.33492911e-01 9.42748734e-01 2.70230723e-03 1.23161626e+02] [-9.42715407e-01 -3.33503845e-01 7.92765973e-03 1.05266933e+02] [ 8.37502103e-03 9.63116557e-05 9.99964924e-01 1.74711815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:105.26, Z:1.75 [[-3.34645497e-01 9.42340207e-01 2.70653186e-03 1.23155354e+02] [-9.42306878e-01 -3.34656426e-01 7.92621717e-03 1.05255098e+02] [ 8.37495141e-03 1.02089294e-04 9.99964924e-01 1.74676324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.25, Z:1.75 [[-3.35282919e-01 9.42113590e-01 2.71076523e-03 1.23154514e+02] [-9.42080265e-01 -3.35293861e-01 7.92476909e-03 1.05254940e+02] [ 8.37493560e-03 1.03281291e-04 9.99964924e-01 1.74651134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.25, Z:1.75 [[-3.35593542e-01 9.42002974e-01 2.71500400e-03 1.23153105e+02] [-9.41969657e-01 -3.35604509e-01 7.92331663e-03 1.05251624e+02] [ 8.37495542e-03 1.01562509e-04 9.99964924e-01 1.74708789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.25, Z:1.75 [[-3.35442870e-01 9.42056626e-01 2.71923413e-03 1.23152047e+02] [-9.42023322e-01 -3.35453878e-01 7.92186461e-03 1.05245415e+02] [ 8.37502268e-03 9.57510304e-05 9.99964924e-01 1.74733387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.24, Z:1.75 [[-3.34849259e-01 9.42267772e-01 2.72386254e-03 1.23152866e+02] [-9.42234488e-01 -3.34860327e-01 7.92027285e-03 1.05243009e+02] [ 8.37513136e-03 8.55802718e-05 9.99964924e-01 1.74729640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.24, Z:1.75 [[-3.33753031e-01 9.42656604e-01 2.72808657e-03 1.23153433e+02] [-9.42623344e-01 -3.33764173e-01 7.91881765e-03 1.05240426e+02] [ 8.37526330e-03 7.13713065e-05 9.99964924e-01 1.74719055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.24, Z:1.75 [[-3.30006270e-01 9.43974786e-01 2.73230035e-03 1.23152756e+02] [-9.43941584e-01 -3.30017579e-01 7.91736346e-03 1.05235835e+02] [ 8.37549863e-03 3.36476662e-05 9.99964924e-01 1.74894464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.23, Z:1.75 [[-3.28182335e-01 9.44610430e-01 2.73690710e-03 1.23151436e+02] [-9.44577263e-01 -3.28193747e-01 7.91577066e-03 1.05233340e+02] [ 8.37555532e-03 1.25958768e-05 9.99964924e-01 1.74994562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.23, Z:1.75 [[-3.26414822e-01 9.45222646e-01 2.74110983e-03 1.23149751e+02] [-9.45189512e-01 -3.26426331e-01 7.91431505e-03 1.05230564e+02] [ 8.37556024e-03 -7.51852788e-06 9.99964924e-01 1.75085621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.087628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.22, Z:1.75 [[-3.24397813e-01 9.45916763e-01 2.74530571e-03 1.23146976e+02] [-9.45883666e-01 -3.24409428e-01 7.91285933e-03 1.05224289e+02] [ 8.37550933e-03 -2.98255702e-05 9.99964924e-01 1.75191130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.23, Z:1.75 [[-3.20022490e-01 9.47405956e-01 2.74950246e-03 1.23146930e+02] [-9.47372926e-01 -3.20034293e-01 7.91140080e-03 1.05226855e+02] [ 8.37524332e-03 -7.29780096e-05 9.99964924e-01 1.75274953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.22, Z:1.75 [[-3.18086785e-01 9.48057601e-01 2.75368908e-03 1.23145973e+02] [-9.48024607e-01 -3.18098690e-01 7.90994331e-03 1.05224016e+02] [ 8.37502677e-03 -9.45165766e-05 9.99964924e-01 1.75233936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.22, Z:1.75 [[-3.13116888e-01 9.49710592e-01 2.75786124e-03 1.23146031e+02] [-9.49677674e-01 -3.13129001e-01 7.90848839e-03 1.05221706e+02] [ 8.37434152e-03 -1.42797975e-04 9.99964924e-01 1.75109050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:105.21, Z:1.75 [[-3.10977231e-01 9.50413347e-01 2.76241878e-03 1.23144359e+02] [-9.50380471e-01 -3.10989456e-01 7.90689613e-03 1.05214354e+02] [ 8.37390273e-03 -1.66484189e-04 9.99964924e-01 1.75049003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:105.21, Z:1.75 [[-3.09486962e-01 9.50899662e-01 2.76658007e-03 1.23144802e+02] [-9.50866817e-01 -3.09499272e-01 7.90543985e-03 1.05212846e+02] [ 8.37353460e-03 -1.84018631e-04 9.99964924e-01 1.74998265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.21, Z:1.75 [[-3.06628084e-01 9.51825373e-01 2.77073898e-03 1.23146297e+02] [-9.51792579e-01 -3.06640527e-01 7.90398194e-03 1.05214378e+02] [ 8.37283143e-03 -2.13585961e-04 9.99964924e-01 1.74935605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:105.21, Z:1.75 [[-3.05646332e-01 9.52141071e-01 2.77488198e-03 1.23144451e+02] [-9.52108303e-01 -3.05658844e-01 7.90252718e-03 1.05207084e+02] [ 8.37248791e-03 -2.26609728e-04 9.99964924e-01 1.74844563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.21, Z:1.75 [[-3.04851217e-01 9.52395933e-01 2.77901830e-03 1.23145682e+02] [-9.52363188e-01 -3.04863790e-01 7.90107232e-03 1.05207436e+02] [ 8.37217120e-03 -2.37983214e-04 9.99964924e-01 1.74790918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.20, Z:1.75 [[-3.03321771e-01 9.52884126e-01 2.78314956e-03 1.23145767e+02] [-9.52851415e-01 -3.03334432e-01 7.89961682e-03 1.05199847e+02] [ 8.37164456e-03 -2.55802229e-04 9.99964924e-01 1.74698831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.19, Z:1.75 [[-3.02705070e-01 9.53080201e-01 2.78766422e-03 1.23145837e+02] [-9.53047513e-01 -3.02717789e-01 7.89802334e-03 1.05194367e+02] [ 8.37132522e-03 -2.66004749e-04 9.99964924e-01 1.74842153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.19, Z:1.75 [[-3.02756688e-01 9.53063808e-01 2.78672185e-03 1.23147127e+02] [-9.53031116e-01 -3.02769397e-01 7.89835652e-03 1.05191818e+02] [ 8.37137184e-03 -2.64552375e-04 9.99964924e-01 1.74670011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.19, Z:1.75 [[-3.03011131e-01 9.52982917e-01 2.79554212e-03 1.23147997e+02] [-9.52950250e-01 -3.03023905e-01 7.89523344e-03 1.05187525e+02] [ 8.37113868e-03 -2.71668947e-04 9.99964925e-01 1.74699669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.18, Z:1.75 [[-3.04751260e-01 9.52427862e-01 2.79965966e-03 1.23150438e+02] [-9.52395185e-01 -3.04764008e-01 7.89377309e-03 1.05183259e+02] [ 8.37148492e-03 -2.60745082e-04 9.99964925e-01 1.74624125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:105.19, Z:1.75 [[-3.00298264e-01 9.53841231e-01 2.80344767e-03 1.23158931e+02] [-9.53808626e-01 -3.00311196e-01 7.89242756e-03 1.05192321e+02] [ 8.37002954e-03 -3.03870280e-04 9.99964925e-01 1.74745367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.17, Z:1.75 [[-3.09546827e-01 9.50880284e-01 2.72905493e-03 1.23148655e+02] [-9.50847320e-01 -3.09558823e-01 7.91887089e-03 1.05170807e+02] [ 8.37470123e-03 -1.43653215e-04 9.99964921e-01 1.74624386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.16, Z:1.75 [[-3.14149056e-01 9.49369507e-01 2.81233197e-03 1.23146675e+02] [-9.49336747e-01 -3.14161586e-01 7.88918437e-03 1.05159212e+02] [ 8.37327775e-03 -1.91470262e-04 9.99964925e-01 1.74931248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.16, Z:1.75 [[-3.16815058e-01 9.48483151e-01 2.81608094e-03 1.23147763e+02] [-9.48450368e-01 -3.16827527e-01 7.88784593e-03 1.05157404e+02] [ 8.37370093e-03 -1.71924636e-04 9.99964925e-01 1.75014078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.15, Z:1.75 [[-3.21725555e-01 9.46828768e-01 2.81983609e-03 1.23148730e+02] [-9.46795932e-01 -3.21737885e-01 7.88650327e-03 1.05148355e+02] [ 8.37441627e-03 -1.32519699e-04 9.99964925e-01 1.75094705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.14, Z:1.75 [[-3.24921447e-01 9.45736791e-01 2.82397907e-03 1.23148388e+02] [-9.45703926e-01 -3.24933701e-01 7.88501948e-03 1.05140764e+02] [ 8.37475899e-03 -1.08636149e-04 9.99964925e-01 1.75020147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.14, Z:1.75 [[-3.28181913e-01 9.44610309e-01 2.82774253e-03 1.23148821e+02] [-9.44577414e-01 -3.28194085e-01 7.88366959e-03 1.05136984e+02] [ 8.37504394e-03 -8.37439564e-05 9.99964925e-01 1.74869042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:105.13, Z:1.75 [[-3.31405813e-01 9.43484059e-01 2.83150939e-03 1.23146530e+02] [-9.43451134e-01 -3.31417904e-01 7.88231645e-03 1.05128383e+02] [ 8.37525282e-03 -5.91452466e-05 9.99964925e-01 1.74796168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:105.12, Z:1.75 [[-3.35780714e-01 9.41935916e-01 2.83606200e-03 1.23144171e+02] [-9.41902949e-01 -3.35792689e-01 7.88067808e-03 1.05124197e+02] [ 8.37542261e-03 -2.51154487e-05 9.99964925e-01 1.74885159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:105.12, Z:1.75 [[-3.37366068e-01 9.41369254e-01 2.83983573e-03 1.23142179e+02] [-9.41336278e-01 -3.37378020e-01 7.87931796e-03 1.05118856e+02] [ 8.37544582e-03 -1.50258728e-05 9.99964925e-01 1.74912285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:105.11, Z:1.75 [[-3.38745690e-01 9.40873674e-01 2.84361287e-03 1.23140155e+02] [-9.40840693e-01 -3.38757625e-01 7.87795457e-03 1.05113001e+02] [ 8.37545561e-03 -6.76353757e-06 9.99964925e-01 1.74920601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.837628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:123.14, Y:105.11, Z:1.75 [[-3.40465439e-01 9.40252719e-01 2.84778504e-03 1.23137890e+02] [-9.40219728e-01 -3.40477349e-01 7.87644610e-03 1.05106915e+02] [ 8.37545615e-03 4.11400283e-06 9.99964925e-01 1.74815534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.13, Y:105.10, Z:1.75 [[-3.41382461e-01 9.39920144e-01 2.85275101e-03 1.23134275e+02] [-9.39887157e-01 -3.41394380e-01 7.87464707e-03 1.05098854e+02] [ 8.37545257e-03 7.00235973e-06 9.99964925e-01 1.74765355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.13, Y:105.10, Z:1.75 [[-3.42164531e-01 9.39635713e-01 2.85653856e-03 1.23133504e+02] [-9.39602728e-01 -3.42176455e-01 7.87327289e-03 1.05099638e+02] [ 8.37544863e-03 9.94330788e-06 9.99964925e-01 1.74661795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.13, Y:105.09, Z:1.75 [[-3.42866307e-01 9.39379856e-01 2.86032544e-03 1.23128530e+02] [-9.39346873e-01 -3.42878237e-01 7.87189689e-03 1.05093173e+02] [ 8.37544472e-03 1.21704568e-05 9.99964925e-01 1.74607306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.13, Y:105.09, Z:1.75 [[-3.42787414e-01 9.39408633e-01 2.86529153e-03 1.23126629e+02] [-9.39375666e-01 -3.42799388e-01 7.87008887e-03 1.05090860e+02] [ 8.37544961e-03 6.18227335e-06 9.99964925e-01 1.74552204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:105.09, Z:1.74 [[-3.41184187e-01 9.39992083e-01 2.86946227e-03 1.23123183e+02] [-9.39959150e-01 -3.41196253e-01 7.86856791e-03 1.05088886e+02] [ 8.37544132e-03 -1.25463763e-05 9.99964925e-01 1.74397667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:105.09, Z:1.74 [[-3.40367600e-01 9.40288063e-01 2.87323710e-03 1.23120365e+02] [-9.40255151e-01 -3.40379727e-01 7.86718928e-03 1.05086218e+02] [ 8.37541582e-03 -2.38396470e-05 9.99964925e-01 1.74378321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:105.08, Z:1.74 [[-3.39333689e-01 9.40661665e-01 2.87739865e-03 1.23116981e+02] [-9.40628780e-01 -3.39345886e-01 7.86566691e-03 1.05081192e+02] [ 8.37536473e-03 -3.74782151e-05 9.99964925e-01 1.74336586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:105.08, Z:1.74 [[-3.36822991e-01 9.41563578e-01 2.88117066e-03 1.23114291e+02] [-9.41530737e-01 -3.36835308e-01 7.86428499e-03 1.05082614e+02] [ 8.37520432e-03 -6.38387400e-05 9.99964925e-01 1.74257345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:105.08, Z:1.74 [[-3.35315775e-01 9.42101377e-01 2.88571751e-03 1.23110995e+02] [-9.42068570e-01 -3.35328182e-01 7.86261622e-03 1.05078624e+02] [ 8.37504397e-03 -8.20845192e-05 9.99964925e-01 1.74186539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:105.08, Z:1.74 [[-3.33897996e-01 9.42604783e-01 2.88986142e-03 1.23108131e+02] [-9.42572008e-01 -3.33910487e-01 7.86109285e-03 1.05076287e+02] [ 8.37485876e-03 -9.90993287e-05 9.99964925e-01 1.74172306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:105.07, Z:1.74 [[-3.32496686e-01 9.43099982e-01 2.89439342e-03 1.23105169e+02] [-9.43067240e-01 -3.32509263e-01 7.85942385e-03 1.05072931e+02] [ 8.37463512e-03 -1.16375232e-04 9.99964925e-01 1.74122257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.10, Y:105.07, Z:1.74 [[-3.29760289e-01 9.44060246e-01 2.89891799e-03 1.23101940e+02] [-9.44027555e-01 -3.29772999e-01 7.85775463e-03 1.05071332e+02] [ 8.37417864e-03 -1.45483021e-04 9.99964925e-01 1.74093801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.10, Y:105.07, Z:1.74 [[-3.30064434e-01 9.43953941e-01 2.90304423e-03 1.23100710e+02] [-9.43921259e-01 -3.30077168e-01 7.85622989e-03 1.05067807e+02] [ 8.37414778e-03 -1.47183087e-04 9.99964925e-01 1.74150360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:105.08, Z:1.74 [[-3.25061594e-01 9.45688378e-01 2.90716536e-03 1.23112092e+02] [-9.45655778e-01 -3.25074535e-01 7.85470459e-03 1.05080018e+02] [ 8.37314827e-03 -1.95914930e-04 9.99964925e-01 1.74079547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:105.07, Z:1.74 [[-3.26677467e-01 9.45131705e-01 2.80939159e-03 1.23109646e+02] [-9.45098767e-01 -3.26689537e-01 7.89097871e-03 1.05071688e+02] [ 8.37581300e-03 -7.73475963e-05 9.99964919e-01 1.73947224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:105.07, Z:1.74 [[-3.27152910e-01 9.44967201e-01 2.82187338e-03 1.23108290e+02] [-9.44934296e-01 -3.27165069e-01 7.88633801e-03 1.05067940e+02] [ 8.37554915e-03 -8.64464983e-05 9.99964921e-01 1.73951106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:105.04, Z:1.74 [[-3.36003563e-01 9.41856470e-01 2.82762626e-03 1.23094118e+02] [-9.41823471e-01 -3.36015460e-01 7.88419522e-03 1.05041919e+02] [ 8.37590642e-03 -1.40070917e-05 9.99964921e-01 1.74070801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.377628 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:123.09, Y:105.03, Z:1.74 [[-3.36321530e-01 9.41742661e-01 2.93061751e-03 1.23090688e+02] [-9.41709987e-01 -3.36334276e-01 7.84572491e-03 1.05032555e+02] [ 8.37432097e-03 -1.21105568e-04 9.99964927e-01 1.73902270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.10, Y:105.05, Z:1.74 [[-3.29500730e-01 9.44150759e-01 2.93474817e-03 1.23102703e+02] [-9.44118192e-01 -3.29513746e-01 7.84417950e-03 1.05053305e+02] [ 8.37312789e-03 -1.86086267e-04 9.99964927e-01 1.74083109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:105.03, Z:1.74 [[-3.37164336e-01 9.41441483e-01 2.85395888e-03 1.23088843e+02] [-9.41408551e-01 -3.37176413e-01 7.87443019e-03 1.05027536e+02] [ 8.37560285e-03 -3.17642678e-05 9.99964924e-01 1.74339290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:105.02, Z:1.74 [[-3.37617465e-01 9.41278802e-01 2.94334533e-03 1.23087285e+02] [-9.41246153e-01 -3.37630273e-01 7.84087592e-03 1.05021752e+02] [ 8.37421278e-03 -1.23195811e-04 9.99964928e-01 1.74431125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:105.02, Z:1.74 [[-3.37777048e-01 9.41221535e-01 2.94746751e-03 1.23086703e+02] [-9.41188897e-01 -3.37789884e-01 7.83932604e-03 1.05015664e+02] [ 8.37416720e-03 -1.26179285e-04 9.99964928e-01 1.74482284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:105.01, Z:1.74 [[-3.38352020e-01 9.41014983e-01 2.95159158e-03 1.23084639e+02] [-9.40982350e-01 -3.38364870e-01 7.83777298e-03 1.05010208e+02] [ 8.37417671e-03 -1.25469264e-04 9.99964928e-01 1.74499208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:105.01, Z:1.75 [[-3.39406774e-01 9.40635053e-01 2.95610829e-03 1.23082690e+02] [-9.40602421e-01 -3.39419625e-01 7.83606908e-03 1.05005627e+02] [ 8.37424242e-03 -1.20907688e-04 9.99964928e-01 1.74573444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.587628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:105.00, Z:1.75 [[-3.40869375e-01 9.40106008e-01 2.96023386e-03 1.23080627e+02] [-9.40073369e-01 -3.40882210e-01 7.83451025e-03 1.05000646e+02] [ 8.37436121e-03 -1.12292411e-04 9.99964928e-01 1.74571129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:105.00, Z:1.75 [[-3.42417893e-01 9.39543079e-01 2.96474869e-03 1.23078803e+02] [-9.39510433e-01 -3.42430712e-01 7.83280137e-03 1.04996296e+02] [ 8.37447531e-03 -1.03320981e-04 9.99964928e-01 1.74587037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:105.01, Z:1.74 [[-3.40442402e-01 9.40260685e-01 2.96887254e-03 1.23085295e+02] [-9.40228081e-01 -3.40455324e-01 7.83123799e-03 1.05009229e+02] [ 8.37417366e-03 -1.25331854e-04 9.99964928e-01 1.74472718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.07, Y:104.98, Z:1.75 [[-3.47369134e-01 9.37723904e-01 2.92655760e-03 1.23072938e+02] [-9.37691069e-01 -3.47381462e-01 7.84729302e-03 1.04980182e+02] [ 8.37522610e-03 -1.82995382e-05 9.99964927e-01 1.74650188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.78, Y:104.61, Z:2.66 [[-2.98277790e-01 -9.54474617e-01 -2.92655760e-03 1.23777586e+02] [-9.54442466e-01 2.98291803e-01 -7.84729302e-03 1.04609242e+02] [ 8.36301014e-03 4.52557630e-04 -9.99964927e-01 2.66176307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.98, Y:104.82, Z:1.75 [[-2.86041126e-01 9.58214249e-01 2.43459509e-03 1.22982819e+02] [-9.58180879e-01 -2.86051483e-01 7.99706530e-03 1.04823609e+02] [ 8.35932146e-03 -4.52928982e-05 9.99965059e-01 1.74943996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.98, Y:104.83, Z:1.75 [[-2.87435113e-01 9.57797011e-01 2.43748798e-03 1.22983522e+02] [-9.57763633e-01 -2.87445446e-01 7.99618286e-03 1.04829224e+02] [ 8.35936487e-03 -3.61536201e-05 9.99965059e-01 1.74896243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.98, Y:104.82, Z:1.75 [[-2.88721316e-01 9.57410065e-01 2.44309566e-03 1.22980329e+02] [-9.57376688e-01 -2.88731651e-01 7.99446917e-03 1.04820782e+02] [ 8.35938429e-03 -3.07891636e-05 9.99965059e-01 1.74919296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.98, Y:104.82, Z:1.75 [[-2.90735110e-01 9.56800452e-01 2.44773313e-03 1.22977875e+02] [-9.56767065e-01 -2.90745413e-01 7.99304902e-03 1.04816485e+02] [ 8.35942010e-03 -1.80504512e-05 9.99965059e-01 1.74861243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.98, Y:104.82, Z:1.75 [[-2.91453952e-01 9.56581717e-01 2.45197584e-03 1.22976663e+02] [-9.56548333e-01 -2.91464265e-01 7.99174730e-03 1.04815557e+02] [ 8.35942270e-03 -1.62070735e-05 9.99965059e-01 1.74884474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:104.81, Z:1.75 [[-2.91808619e-01 9.56473573e-01 2.45621119e-03 1.22974368e+02] [-9.56440197e-01 -2.91818956e-01 7.99044538e-03 1.04811506e+02] [ 8.35941883e-03 -1.75382808e-05 9.99965059e-01 1.74893569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:104.81, Z:1.75 [[-2.90341023e-01 9.56920078e-01 2.46043973e-03 1.22972434e+02] [-9.56886729e-01 -2.90351446e-01 7.98914311e-03 1.04808586e+02] [ 8.35936368e-03 -3.47861404e-05 9.99965059e-01 1.74798893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:104.80, Z:1.75 [[-2.89361823e-01 9.57216622e-01 2.46466592e-03 1.22970231e+02] [-9.57183294e-01 -2.89372315e-01 7.98783911e-03 1.04803247e+02] [ 8.35929845e-03 -4.77613600e-05 9.99965059e-01 1.74732308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:104.80, Z:1.75 [[-2.86255852e-01 9.58150035e-01 2.46928811e-03 1.22968770e+02] [-9.58116754e-01 -2.86266491e-01 7.98640999e-03 1.04802196e+02] [ 8.35905346e-03 -7.97097135e-05 9.99965059e-01 1.74740668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:104.80, Z:1.75 [[-2.85474634e-01 9.58383072e-01 2.47390284e-03 1.22968044e+02] [-9.58349812e-01 -2.85485338e-01 7.98498026e-03 1.04798222e+02] [ 8.35893290e-03 -9.13550065e-05 9.99965059e-01 1.74759242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:104.79, Z:1.75 [[-2.84521440e-01 9.58666475e-01 2.47811025e-03 1.22966677e+02] [-9.58633236e-01 -2.84532212e-01 7.98367429e-03 1.04792109e+02] [ 8.35878308e-03 -1.04072349e-04 9.99965059e-01 1.74796633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.067628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.97, Y:104.79, Z:1.75 [[-2.83231014e-01 9.59048502e-01 2.48271494e-03 1.22966323e+02] [-9.59015290e-01 -2.83241870e-01 7.98224209e-03 1.04789856e+02] [ 8.35856614e-03 -1.20143058e-04 9.99965059e-01 1.74717060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:104.79, Z:1.75 [[-2.81055699e-01 9.59688235e-01 2.48731321e-03 1.22966468e+02] [-9.59655060e-01 -2.81066668e-01 7.98080899e-03 1.04785936e+02] [ 8.35818932e-03 -1.43910866e-04 9.99965059e-01 1.74743277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:104.78, Z:1.75 [[-2.80505966e-01 9.59849048e-01 2.49150747e-03 1.22966066e+02] [-9.59815892e-01 -2.80516989e-01 7.97949938e-03 1.04781994e+02] [ 8.35802506e-03 -1.53091286e-04 9.99965059e-01 1.74702688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:104.78, Z:1.75 [[-2.79026040e-01 9.60280291e-01 2.49651830e-03 1.22965769e+02] [-9.60247165e-01 -2.79037156e-01 7.97793135e-03 1.04776975e+02] [ 8.35767160e-03 -1.71224026e-04 9.99965059e-01 1.74573027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:104.77, Z:1.75 [[-2.78954749e-01 9.60300992e-01 2.50070177e-03 1.22965722e+02] [-9.60267879e-01 -2.78965902e-01 7.97661981e-03 1.04774324e+02] [ 8.35756644e-03 -1.76227610e-04 9.99965059e-01 1.74533088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.96, Y:104.76, Z:1.75 [[-2.79539764e-01 9.60130848e-01 2.50488021e-03 1.22962425e+02] [-9.60097740e-01 -2.79550932e-01 7.97530745e-03 1.04762250e+02] [ 8.35758031e-03 -1.75514258e-04 9.99965059e-01 1.74501402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.96, Y:104.76, Z:1.75 [[-2.80265803e-01 9.59919153e-01 2.50985842e-03 1.22962542e+02] [-9.59886051e-01 -2.80276987e-01 7.97374048e-03 1.04760706e+02] [ 8.35760177e-03 -1.74411305e-04 9.99965059e-01 1.74535770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.96, Y:104.76, Z:1.75 [[-2.81469645e-01 9.59566838e-01 2.51444054e-03 1.22961827e+02] [-9.59533735e-01 -2.81480825e-01 7.97229530e-03 1.04755632e+02] [ 8.35771699e-03 -1.68731398e-04 9.99965059e-01 1.74630257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.96, Y:104.75, Z:1.75 [[-2.85144037e-01 9.58481369e-01 2.51861942e-03 1.22962062e+02] [-9.58448235e-01 -2.85155125e-01 7.97097488e-03 1.04750131e+02] [ 8.35822815e-03 -1.41090388e-04 9.99965059e-01 1.74797684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.337628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.96, Y:104.74, Z:1.75 [[-2.87674114e-01 9.57725032e-01 2.52319259e-03 1.22960432e+02] [-9.57691881e-01 -2.87685153e-01 7.96952699e-03 1.04740967e+02] [ 8.35850054e-03 -1.23814438e-04 9.99965059e-01 1.74886149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.96, Y:104.73, Z:1.75 [[-2.92127870e-01 9.56375930e-01 2.52737653e-03 1.22960010e+02] [-9.56342740e-01 -2.92138789e-01 7.96819992e-03 1.04730582e+02] [ 8.35893933e-03 -8.93049319e-05 9.99965059e-01 1.74903726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:104.73, Z:1.75 [[-2.86445870e-01 9.58093083e-01 2.53157509e-03 1.22966259e+02] [-9.58059969e-01 -2.86457020e-01 7.96686577e-03 1.04730787e+02] [ 8.35818644e-03 -1.43324959e-04 9.99965059e-01 1.74622579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.96, Y:104.72, Z:1.75 [[-2.97186505e-01 9.54816322e-01 2.44369174e-03 1.22959842e+02] [-9.54782852e-01 -2.97196549e-01 7.99481373e-03 1.04721754e+02] [ 8.35983540e-03 4.27557847e-05 9.99965055e-01 1.74817129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.457628 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:122.96, Y:104.72, Z:1.75 [[-2.98135199e-01 9.54520273e-01 2.54003632e-03 1.22957894e+02] [-9.54487049e-01 -2.98146015e-01 7.96408599e-03 1.04715882e+02] [ 8.35918324e-03 -5.00574123e-05 9.99965060e-01 1.74651396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.48762800000003 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:122.96, Y:104.71, Z:1.75 [[-2.99100976e-01 9.54218074e-01 2.54442587e-03 1.22956094e+02] [-9.54184851e-01 -2.99111795e-01 7.96268334e-03 1.04711661e+02] [ 8.35920415e-03 -4.62062632e-05 9.99965060e-01 1.74598262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.95, Y:104.70, Z:1.75 [[-3.01233271e-01 9.53547073e-01 2.54862921e-03 1.22951553e+02] [-9.53513838e-01 -3.01244051e-01 7.96133774e-03 1.04703690e+02] [ 8.35926969e-03 -3.19334051e-05 9.99965060e-01 1.74997782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.95, Y:104.70, Z:1.75 [[-3.02134413e-01 9.53261913e-01 2.55363331e-03 1.22949804e+02] [-9.53228681e-01 -3.02145203e-01 7.95973233e-03 1.04700153e+02] [ 8.35927773e-03 -2.92874568e-05 9.99965060e-01 1.75084814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.95, Y:104.69, Z:1.75 [[-3.03984047e-01 9.52673688e-01 2.55823733e-03 1.22946352e+02] [-9.52640447e-01 -3.03994811e-01 7.95825234e-03 1.04692570e+02] [ 8.35930847e-03 -1.78986075e-05 9.99965060e-01 1.75085101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.94, Y:104.69, Z:1.75 [[-3.05137901e-01 9.52304728e-01 2.56244604e-03 1.22944847e+02] [-9.52271486e-01 -3.05148660e-01 7.95689696e-03 1.04688871e+02] [ 8.35931757e-03 -1.21934538e-05 9.99965060e-01 1.75181214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.94, Y:104.68, Z:1.75 [[-3.06994089e-01 9.51707960e-01 2.56665679e-03 1.22942185e+02] [-9.51674709e-01 -3.07004818e-01 7.95553847e-03 1.04683372e+02] [ 8.35932529e-03 -3.19070923e-07 9.99965060e-01 1.75224559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.94, Y:104.68, Z:1.75 [[-3.10202260e-01 9.50667107e-01 2.57086848e-03 1.22939421e+02] [-9.50633831e-01 -3.10212913e-01 7.95417721e-03 1.04679191e+02] [ 8.35929123e-03 2.34491988e-05 9.99965060e-01 1.75233450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.94, Y:104.67, Z:1.75 [[-3.11918112e-01 9.50105500e-01 2.57508110e-03 1.22936916e+02] [-9.50072215e-01 -3.11928739e-01 7.95281318e-03 1.04673285e+02] [ 8.35925334e-03 3.41134630e-05 9.99965060e-01 1.75188275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.93, Y:104.67, Z:1.75 [[-3.13276193e-01 9.49658557e-01 2.57929466e-03 1.22934355e+02] [-9.49625268e-01 -3.13286808e-01 7.95144639e-03 1.04667762e+02] [ 8.35921809e-03 4.16354690e-05 9.99965060e-01 1.75124038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.93, Y:104.66, Z:1.75 [[-3.14406154e-01 9.49285045e-01 2.58351193e-03 1.22932046e+02] [-9.49251755e-01 -3.14416765e-01 7.95007591e-03 1.04663199e+02] [ 8.35918763e-03 4.71495600e-05 9.99965060e-01 1.75084163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.93, Y:104.66, Z:1.75 [[-3.16655745e-01 9.48537001e-01 2.58773179e-03 1.22928936e+02] [-9.48503698e-01 -3.16666312e-01 7.94870212e-03 1.04658962e+02] [ 8.35908556e-03 6.25290161e-05 9.99965060e-01 1.75067575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.93, Y:104.65, Z:1.75 [[-3.18368168e-01 9.47963603e-01 2.59195093e-03 1.22926213e+02] [-9.47930291e-01 -3.18378710e-01 7.94732608e-03 1.04654579e+02] [ 8.35899786e-03 7.31868435e-05 9.99965060e-01 1.75181512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.92, Y:104.64, Z:1.75 [[-3.20526802e-01 9.47235889e-01 2.59617046e-03 1.22920113e+02] [-9.47202565e-01 -3.20537304e-01 7.94594744e-03 1.04644004e+02] [ 8.35885607e-03 8.77898078e-05 9.99965060e-01 1.75335825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.92, Y:104.64, Z:1.75 [[-3.21523214e-01 9.46898126e-01 2.60040038e-03 1.22918547e+02] [-9.46864802e-01 -3.21533716e-01 7.94456291e-03 1.04642771e+02] [ 8.35880813e-03 9.21338056e-05 9.99965060e-01 1.75368164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.92, Y:104.64, Z:1.75 [[-3.21772018e-01 9.46813594e-01 2.60503451e-03 1.22916402e+02] [-9.46780280e-01 -3.21782550e-01 7.94304308e-03 1.04638274e+02] [ 8.35883582e-03 8.94536972e-05 9.99965060e-01 1.75311718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.91, Y:104.63, Z:1.75 [[-3.20953310e-01 9.47091424e-01 2.60926121e-03 1.22910331e+02] [-9.47058129e-01 -3.20963907e-01 7.94165438e-03 1.04628984e+02] [ 8.35895143e-03 7.77782172e-05 9.99965060e-01 1.75194050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.91, Y:104.62, Z:1.75 [[-3.20734933e-01 9.47165388e-01 2.61349668e-03 1.22907416e+02] [-9.47132108e-01 -3.20745573e-01 7.94026030e-03 1.04623653e+02] [ 8.35900722e-03 7.13922342e-05 9.99965060e-01 1.75209768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.91, Y:104.63, Z:1.75 [[-3.21015430e-01 9.47070347e-01 2.61774262e-03 1.22909255e+02] [-9.47037075e-01 -3.21026095e-01 7.93886025e-03 1.04627663e+02] [ 8.35902282e-03 6.93973162e-05 9.99965060e-01 1.75207731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.91, Y:104.62, Z:1.75 [[-3.21470803e-01 9.46915861e-01 2.62197492e-03 1.22909649e+02] [-9.46882595e-01 -3.21481488e-01 7.93746220e-03 1.04620255e+02] [ 8.35902525e-03 6.89599316e-05 9.99965060e-01 1.75097391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.91, Y:104.61, Z:1.75 [[-3.21704963e-01 9.46836321e-01 2.62659341e-03 1.22908567e+02] [-9.46803065e-01 -3.21715678e-01 7.93593360e-03 1.04612514e+02] [ 8.35904645e-03 6.61625292e-05 9.99965060e-01 1.75090985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.91, Y:104.61, Z:1.75 [[-3.21033888e-01 9.47064053e-01 2.63081967e-03 1.22910991e+02] [-9.47030817e-01 -3.21044663e-01 7.93453232e-03 1.04613689e+02] [ 8.35912095e-03 5.57864623e-05 9.99965060e-01 1.75203715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.91, Y:104.61, Z:1.75 [[-3.20560544e-01 9.47224363e-01 2.63503904e-03 1.22909710e+02] [-9.47191143e-01 -3.20571370e-01 7.93313082e-03 1.04607970e+02] [ 8.35917287e-03 4.71630862e-05 9.99965060e-01 1.75345229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.91, Y:104.60, Z:1.75 [[-3.20209856e-01 9.47342959e-01 2.63924824e-03 1.22908027e+02] [-9.47309755e-01 -3.20220730e-01 7.93173023e-03 1.04602646e+02] [ 8.35921079e-03 3.96325946e-05 9.99965060e-01 1.75498895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.91, Y:104.60, Z:1.76 [[-3.18467147e-01 9.47930213e-01 2.64345947e-03 1.22907225e+02] [-9.47897040e-01 -3.18478117e-01 7.93032648e-03 1.04599467e+02] [ 8.35928006e-03 1.98210362e-05 9.99965060e-01 1.75631392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.91, Y:104.59, Z:1.76 [[-3.18969403e-01 9.47761313e-01 2.64849506e-03 1.22905739e+02] [-9.47728148e-01 -3.18980398e-01 7.92864438e-03 1.04594895e+02] [ 8.35928042e-03 1.89416426e-05 9.99965060e-01 1.75635633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.90, Y:104.59, Z:1.76 [[-3.18180803e-01 9.48026339e-01 2.65269579e-03 1.22903952e+02] [-9.47993196e-01 -3.18191861e-01 7.92723869e-03 1.04588906e+02] [ 8.35929729e-03 7.55761281e-06 9.99965060e-01 1.75721264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.90, Y:104.59, Z:1.76 [[-3.17573042e-01 9.48230089e-01 2.65729419e-03 1.22903653e+02] [-9.48196965e-01 -3.17584159e-01 7.92569696e-03 1.04586802e+02] [ 8.35929888e-03 -2.65058847e-06 9.99965060e-01 1.75728483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.90, Y:104.58, Z:1.76 [[-3.17223111e-01 9.48347202e-01 2.66149170e-03 1.22902494e+02] [-9.48314094e-01 -3.17234275e-01 7.92428716e-03 1.04581740e+02] [ 8.35929195e-03 -1.01630640e-05 9.99965060e-01 1.75717393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.90, Y:104.58, Z:1.76 [[-3.16361159e-01 9.48635078e-01 2.66568516e-03 1.22901301e+02] [-9.48601992e-01 -3.16372388e-01 7.92287625e-03 1.04575826e+02] [ 8.35926752e-03 -2.21839460e-05 9.99965060e-01 1.75646250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.90, Y:104.57, Z:1.76 [[-3.16369041e-01 9.48632438e-01 2.66987953e-03 1.22900001e+02] [-9.48599364e-01 -3.16380305e-01 7.92146257e-03 1.04571825e+02] [ 8.35925365e-03 -2.65405089e-05 9.99965060e-01 1.75683456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.90, Y:104.57, Z:1.76 [[-3.15349483e-01 9.48971840e-01 2.67407480e-03 1.22899794e+02] [-9.48938790e-01 -3.15360818e-01 7.92004611e-03 1.04569803e+02] [ 8.35919914e-03 -3.99508568e-05 9.99965060e-01 1.75794368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:104.55, Z:1.76 [[-3.14994136e-01 9.49089838e-01 2.67826326e-03 1.22893847e+02] [-9.49056805e-01 -3.15005519e-01 7.91862947e-03 1.04552035e+02] [ 8.35915847e-03 -4.75021183e-05 9.99965061e-01 1.75813602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.90, Y:104.56, Z:1.76 [[-3.14247973e-01 9.49337146e-01 2.68246752e-03 1.22897134e+02] [-9.49304133e-01 -3.14259416e-01 7.91720500e-03 1.04561693e+02] [ 8.35908748e-03 -5.85118848e-05 9.99965061e-01 1.75835268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.90, Y:104.56, Z:1.76 [[-3.11298072e-01 9.50308525e-01 2.68666991e-03 1.22895185e+02] [-9.50275560e-01 -3.11309652e-01 7.91577869e-03 1.04557232e+02] [ 8.35881824e-03 -8.89101150e-05 9.99965061e-01 1.75830528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:104.55, Z:1.76 [[-3.10222412e-01 9.50660199e-01 2.69084844e-03 1.22893508e+02] [-9.50627260e-01 -3.10234065e-01 7.91435800e-03 1.04552670e+02] [ 8.35865801e-03 -1.02782651e-04 9.99965061e-01 1.75821889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:104.55, Z:1.76 [[-3.09230392e-01 9.50983332e-01 2.69584592e-03 1.22892853e+02] [-9.50950420e-01 -3.09242120e-01 7.91265536e-03 1.04551260e+02] [ 8.35847246e-03 -1.16782290e-04 9.99965061e-01 1.75893335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:104.55, Z:1.76 [[-3.08316122e-01 9.51280126e-01 2.70001352e-03 1.22891745e+02] [-9.51247238e-01 -3.08327917e-01 7.91123300e-03 1.04547407e+02] [ 8.35828828e-03 -1.29219726e-04 9.99965061e-01 1.75952892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:104.54, Z:1.76 [[-3.07126153e-01 9.51664969e-01 2.70417440e-03 1.22891575e+02] [-9.51632108e-01 -3.07138024e-01 7.90981050e-03 1.04542281e+02] [ 8.35804435e-03 -1.44069507e-04 9.99965061e-01 1.75926493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:104.54, Z:1.76 [[-3.07204781e-01 9.51639578e-01 2.70872436e-03 1.22890708e+02] [-9.51606729e-01 -3.07216686e-01 7.90825205e-03 1.04537498e+02] [ 8.35797097e-03 -1.48187497e-04 9.99965061e-01 1.75885781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:104.53, Z:1.76 [[-3.07580445e-01 9.51518213e-01 2.71288042e-03 1.22889434e+02] [-9.51485373e-01 -3.07592373e-01 7.90682608e-03 1.04530585e+02] [ 8.35795035e-03 -1.49280951e-04 9.99965061e-01 1.75888736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:104.53, Z:1.76 [[-3.08054815e-01 9.51364727e-01 2.71782486e-03 1.22888625e+02] [-9.51331896e-01 -3.08066767e-01 7.90512616e-03 1.04526815e+02] [ 8.35792971e-03 -1.50341299e-04 9.99965061e-01 1.75856630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:104.52, Z:1.76 [[-3.08399202e-01 9.51253133e-01 2.72197927e-03 1.22887996e+02] [-9.51220310e-01 -3.08411176e-01 7.90369541e-03 1.04521358e+02] [ 8.35790385e-03 -1.51708612e-04 9.99965061e-01 1.75744518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:104.52, Z:1.76 [[-3.08859546e-01 9.51103753e-01 2.72613131e-03 1.22887597e+02] [-9.51070937e-01 -3.08871539e-01 7.90226303e-03 1.04517153e+02] [ 8.35789640e-03 -1.52054886e-04 9.99965061e-01 1.75660420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:104.51, Z:1.76 [[-3.09831987e-01 9.50787403e-01 2.73028259e-03 1.22886134e+02] [-9.50754587e-01 -3.09843982e-01 7.90082848e-03 1.04510568e+02] [ 8.35796982e-03 -1.47899308e-04 9.99965061e-01 1.75576793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:104.50, Z:1.76 [[-3.12386806e-01 9.49951055e-01 2.73443474e-03 1.22885589e+02] [-9.49918219e-01 -3.12398746e-01 7.89939118e-03 1.04504590e+02] [ 8.35826897e-03 -1.29823800e-04 9.99965061e-01 1.75572600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.88, Y:104.50, Z:1.75 [[-3.14666290e-01 9.49198412e-01 2.73859047e-03 1.22884862e+02] [-9.49165561e-01 -3.14678187e-01 7.89795019e-03 1.04499381e+02] [ 8.35849647e-03 -1.14157067e-04 9.99965061e-01 1.75498031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.88, Y:104.49, Z:1.75 [[-3.17497505e-01 9.48255141e-01 2.74274706e-03 1.22883401e+02] [-9.48222266e-01 -3.17509338e-01 7.89650646e-03 1.04492795e+02] [ 8.35875064e-03 -9.36127346e-05 9.99965061e-01 1.75477769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.88, Y:104.49, Z:1.76 [[-3.23346316e-01 9.46276713e-01 2.74651744e-03 1.22881929e+02] [-9.46243777e-01 -3.23357977e-01 7.89519485e-03 1.04487053e+02] [ 8.35914735e-03 -4.59928723e-05 9.99965061e-01 1.75528576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.88, Y:104.48, Z:1.76 [[-3.26619801e-01 9.45151809e-01 2.75029408e-03 1.22880143e+02] [-9.45118844e-01 -3.26631379e-01 7.89387903e-03 1.04480591e+02] [ 8.35924640e-03 -2.10575677e-05 9.99965061e-01 1.75502969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.88, Y:104.48, Z:1.75 [[-3.29522171e-01 9.44143821e-01 2.75407701e-03 1.22879430e+02] [-9.44110831e-01 -3.29533680e-01 7.89255900e-03 1.04475142e+02] [ 8.35927194e-03 6.19243376e-07 9.99965061e-01 1.75399975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.88, Y:104.47, Z:1.75 [[-3.34312222e-01 9.42458344e-01 2.75825530e-03 1.22878600e+02] [-9.42425309e-01 -3.34323598e-01 7.89109852e-03 1.04467424e+02] [ 8.35918148e-03 3.86410808e-05 9.99965061e-01 1.75152212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.88, Y:104.46, Z:1.75 [[-3.36349183e-01 9.41733295e-01 2.76204647e-03 1.22876367e+02] [-9.41700245e-01 -3.36360520e-01 7.88977130e-03 1.04460681e+02] [ 8.35910371e-03 5.26982937e-05 9.99965061e-01 1.75138217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.87, Y:104.45, Z:1.75 [[-3.37933929e-01 9.41165771e-01 2.76623869e-03 1.22873818e+02] [-9.41132714e-01 -3.37945245e-01 7.88830119e-03 1.04454753e+02] [ 8.35903628e-03 6.23268834e-05 9.99965061e-01 1.75137237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.87, Y:104.45, Z:1.75 [[-3.38943130e-01 9.40802786e-01 2.77004393e-03 1.22870872e+02] [-9.40769728e-01 -3.38954443e-01 7.88696473e-03 1.04453076e+02] [ 8.35899708e-03 6.72590379e-05 9.99965061e-01 1.75267790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.87, Y:104.45, Z:1.75 [[-3.39153218e-01 9.40727058e-01 2.77424240e-03 1.22868421e+02] [-9.40694011e-01 -3.39164558e-01 7.88548763e-03 1.04450098e+02] [ 8.35901629e-03 6.46752928e-05 9.99965061e-01 1.75406237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.87, Y:104.44, Z:1.76 [[-3.39249384e-01 9.40692371e-01 2.77843400e-03 1.22865255e+02] [-9.40659334e-01 -3.39260755e-01 7.88401046e-03 1.04444155e+02] [ 8.35904211e-03 6.10858148e-05 9.99965061e-01 1.75501063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:104.44, Z:1.76 [[-3.38745858e-01 9.40873796e-01 2.78262646e-03 1.22863409e+02] [-9.40840778e-01 -3.38757283e-01 7.88253047e-03 1.04441924e+02] [ 8.35910135e-03 5.21661012e-05 9.99965061e-01 1.75532794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:104.44, Z:1.75 [[-3.38460828e-01 9.40976355e-01 2.78681814e-03 1.22861521e+02] [-9.40943352e-01 -3.38472298e-01 7.88104825e-03 1.04437200e+02] [ 8.35914080e-03 4.51881201e-05 9.99965061e-01 1.75434127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:104.43, Z:1.75 [[-3.38329904e-01 9.41023425e-01 2.79100572e-03 1.22856813e+02] [-9.40990436e-01 -3.38341413e-01 7.87956498e-03 1.04425720e+02] [ 8.35916804e-03 3.95827729e-05 9.99965061e-01 1.75339387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:104.42, Z:1.75 [[-3.36482064e-01 9.41685724e-01 2.79599934e-03 1.22852653e+02] [-9.41652772e-01 -3.36493680e-01 7.87779263e-03 1.04420776e+02] [ 8.35924097e-03 1.78753993e-05 9.99965061e-01 1.75315625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:104.43, Z:1.75 [[-3.35437741e-01 9.42058221e-01 2.79807001e-03 1.22853582e+02] [-9.42025289e-01 -3.35449411e-01 7.87705640e-03 1.04428067e+02] [ 8.35925668e-03 6.40929819e-06 9.99965061e-01 1.75251462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:104.42, Z:1.75 [[-3.34264718e-01 9.42475057e-01 2.80439241e-03 1.22850683e+02] [-9.42442158e-01 -3.34276482e-01 7.87480485e-03 1.04424421e+02] [ 8.35924958e-03 -1.07082109e-05 9.99965061e-01 1.75235647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:104.42, Z:1.75 [[-3.32619358e-01 9.43056984e-01 2.80856128e-03 1.22845693e+02] [-9.43024118e-01 -3.32631214e-01 7.87331773e-03 1.04421239e+02] [ 8.35920242e-03 -2.97231353e-05 9.99965061e-01 1.75084715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.56, Y:104.02, Z:2.66 [[-2.78561704e-01 -9.60414228e-01 -2.80856128e-03 1.23562611e+02] [-9.60382088e-01 2.78575406e-01 -7.87331773e-03 1.04018609e+02] [ 8.34404247e-03 5.04087148e-04 -9.99965061e-01 2.66456242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:104.28, Z:1.75 [[-2.64653968e-01 9.64340777e-01 2.26800213e-03 1.22761637e+02] [-9.64307378e-01 -2.64663678e-01 8.02607678e-03 1.04276902e+02] [ 8.34013090e-03 -6.29181181e-05 9.99965219e-01 1.75463317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:104.27, Z:1.76 [[-2.63920128e-01 9.64541860e-01 2.27280065e-03 1.22758806e+02] [-9.64508481e-01 -2.63929904e-01 8.02471772e-03 1.04272257e+02] [ 8.34003622e-03 -7.42509721e-05 9.99965219e-01 1.75659921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.74, Y:104.20, Z:1.76 [[-2.74664324e-01 9.61537480e-01 2.27703959e-03 1.22741269e+02] [-9.61504003e-01 -2.74673762e-01 8.02351473e-03 1.04201797e+02] [ 8.34035316e-03 1.43905631e-05 9.99965219e-01 1.75767940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.74, Y:104.20, Z:1.76 [[-2.75428164e-01 9.61318747e-01 2.36490751e-03 1.22739861e+02] [-9.61285482e-01 -2.75438307e-01 7.99753181e-03 1.04195324e+02] [ 8.33956338e-03 -7.06057572e-05 9.99965223e-01 1.75793354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.74, Y:104.19, Z:1.76 [[-2.76254328e-01 9.61081647e-01 2.36952870e-03 1.22738163e+02] [-9.61048385e-01 -2.76264481e-01 7.99616240e-03 1.04188526e+02] [ 8.33958154e-03 -6.82572660e-05 9.99965223e-01 1.75784292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.74, Y:104.18, Z:1.76 [[-2.76747686e-01 9.60939687e-01 2.37415386e-03 1.22737709e+02] [-9.60906431e-01 -2.76757861e-01 7.99478890e-03 1.04183247e+02] [ 8.33957568e-03 -6.88003912e-05 9.99965223e-01 1.75798000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.58762800000005 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:122.57, Y:103.60, Z:1.76 [[-2.77175185e-01 9.60816453e-01 2.37918116e-03 1.22565173e+02] [-9.60783206e-01 -2.77185387e-01 7.99329254e-03 1.03602820e+02] [ 8.33956123e-03 -7.03349563e-05 9.99965223e-01 1.76259504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:104.17, Z:1.76 [[-2.79650866e-01 9.60098867e-01 2.35757344e-03 1.22734414e+02] [-9.60065540e-01 -2.79660802e-01 7.99972033e-03 1.04166122e+02] [ 8.33984331e-03 -2.62962976e-05 9.99965223e-01 1.75770672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:104.16, Z:1.76 [[-2.79744810e-01 9.60071401e-01 2.39719407e-03 1.22733000e+02] [-9.60038173e-01 -2.79755073e-01 7.98782996e-03 1.04156302e+02] [ 8.33951430e-03 -6.68438481e-05 9.99965223e-01 1.75839460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:104.16, Z:1.76 [[-2.79550589e-01 9.60127961e-01 2.40142736e-03 1.22734323e+02] [-9.60094746e-01 -2.79560894e-01 7.98655708e-03 1.04155393e+02] [ 8.33946194e-03 -7.29510580e-05 9.99965223e-01 1.75814472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:104.15, Z:1.76 [[-2.79714992e-01 9.60080066e-01 2.40606025e-03 1.22734381e+02] [-9.60046862e-01 -2.79725330e-01 7.98516111e-03 1.04152237e+02] [ 8.33943001e-03 -7.63613152e-05 9.99965223e-01 1.75806585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:104.15, Z:1.76 [[-2.82941012e-01 9.59134284e-01 2.41028157e-03 1.22732685e+02] [-9.59101055e-01 -2.82951273e-01 7.98388672e-03 1.04148024e+02] [ 8.33961171e-03 -5.27346098e-05 9.99965223e-01 1.75882525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.47, Y:103.82, Z:2.66 [[-2.34610124e-01 -9.72086560e-01 -2.41028157e-03 1.23467838e+02] [-9.72053887e-01 2.34622034e-01 -7.98388672e-03 1.03817071e+02] [ 8.32653415e-03 4.69822918e-04 -9.99965223e-01 2.66278495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.66, Y:103.99, Z:1.76 [[-2.14977836e-01 9.76617147e-01 1.86498145e-03 1.22659843e+02] [-9.76583482e-01 -2.14985912e-01 8.10929655e-03 1.03989064e+02] [ 8.32062280e-03 -7.79910471e-05 9.99965380e-01 1.76116168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.66, Y:103.98, Z:1.76 [[-2.17736434e-01 9.76005815e-01 1.86926351e-03 1.22660077e+02] [-9.75972136e-01 -2.17744450e-01 8.10830938e-03 1.03980124e+02] [ 8.32077886e-03 -5.88747231e-05 9.99965380e-01 1.76222746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.66, Y:103.98, Z:1.76 [[-2.19868273e-01 9.75527771e-01 1.87355291e-03 1.22660659e+02] [-9.75494083e-01 -2.19876251e-01 8.10731812e-03 1.03977144e+02] [ 8.32086377e-03 -4.50977422e-05 9.99965380e-01 1.76278670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.62, Y:103.78, Z:1.76 [[-2.21481826e-01 9.75162691e-01 1.87784516e-03 1.22617080e+02] [-9.75128998e-01 -2.21489784e-01 8.10632381e-03 1.03782827e+02] [ 8.32090806e-03 -3.57378656e-05 9.99965380e-01 1.76386559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.66, Y:103.97, Z:1.76 [[-2.26921343e-01 9.73911316e-01 1.85809471e-03 1.22660950e+02] [-9.73877541e-01 -2.26928949e-01 8.11090685e-03 1.03965354e+02] [ 8.32095944e-03 3.09811658e-05 9.99965380e-01 1.76284715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.40, Y:103.68, Z:2.66 [[-1.63016244e-01 -9.86621636e-01 -1.85809471e-03 1.23396910e+02] [-9.86588428e-01 1.63026032e-01 -8.11090685e-03 1.03681421e+02] [ 8.30531399e-03 5.10965177e-04 -9.99965380e-01 2.66387559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.60, Y:103.79, Z:1.76 [[-1.58805024e-01 9.87309060e-01 1.33557439e-03 1.22595631e+02] [-9.87275041e-01 -1.58810639e-01 8.19605445e-03 1.03793964e+02] [ 8.30414224e-03 -1.70046353e-05 9.99965520e-01 1.76207970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.60, Y:103.80, Z:1.76 [[-1.58665896e-01 9.87331423e-01 1.33994129e-03 1.22595540e+02] [-9.87297410e-01 -1.58671552e-01 8.19534046e-03 1.03800286e+02] [ 8.30412772e-03 -2.25995227e-05 9.99965520e-01 1.76151911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.59, Y:103.80, Z:1.76 [[-1.58568610e-01 9.87347045e-01 1.34470834e-03 1.22594557e+02] [-9.87313039e-01 -1.58574310e-01 8.19455820e-03 1.03796066e+02] [ 8.30410902e-03 -2.82483739e-05 9.99965520e-01 1.76089426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.59, Y:103.79, Z:1.76 [[-1.58711147e-01 9.87324137e-01 1.34904352e-03 1.22593639e+02] [-9.87290137e-01 -1.58716878e-01 8.19384445e-03 1.03790752e+02] [ 8.30409638e-03 -3.14429088e-05 9.99965520e-01 1.75998246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.59, Y:103.78, Z:1.76 [[-1.59066115e-01 9.87267005e-01 1.35337832e-03 1.22592361e+02] [-9.87233009e-01 -1.59071869e-01 8.19312841e-03 1.03783894e+02] [ 8.30408977e-03 -3.28506520e-05 9.99965520e-01 1.75901109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.59, Y:103.78, Z:1.76 [[-1.59638868e-01 9.87174548e-01 1.35771786e-03 1.22591470e+02] [-9.87140554e-01 -1.59644638e-01 8.19240922e-03 1.03778333e+02] [ 8.30409025e-03 -3.24314251e-05 9.99965520e-01 1.75905964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.59, Y:103.77, Z:1.76 [[-1.60572262e-01 9.87023147e-01 1.36247054e-03 1.22587894e+02] [-9.86989154e-01 -1.60578040e-01 8.19161874e-03 1.03765776e+02] [ 8.30410015e-03 -2.93968918e-05 9.99965520e-01 1.75806606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.59, Y:103.76, Z:1.76 [[-1.60629028e-01 9.87013898e-01 1.37128024e-03 1.22586474e+02] [-9.86979918e-01 -1.60634876e-01 8.19014372e-03 1.03764056e+02] [ 8.30406111e-03 -3.78512394e-05 9.99965520e-01 1.75775326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.58, Y:103.76, Z:1.76 [[-1.60326864e-01 9.87063019e-01 1.37603740e-03 1.22583094e+02] [-9.87029047e-01 -1.60332763e-01 8.18934439e-03 1.03759689e+02] [ 8.30402287e-03 -4.52169803e-05 9.99965520e-01 1.75694254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.58, Y:103.75, Z:1.76 [[-1.60598933e-01 9.87018782e-01 1.38119913e-03 1.22580453e+02] [-9.86984816e-01 -1.60604865e-01 8.18847373e-03 1.03754448e+02] [ 8.30400466e-03 -4.81624251e-05 9.99965520e-01 1.75704017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.58, Y:103.75, Z:1.76 [[-1.60831537e-01 9.86980899e-01 1.38594268e-03 1.22577970e+02] [-9.86946939e-01 -1.60837501e-01 8.18767078e-03 1.03749453e+02] [ 8.30398622e-03 -5.10162105e-05 9.99965520e-01 1.75771708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.51, Y:103.34, Z:1.76 [[-1.60712774e-01 9.87000233e-01 1.39428929e-03 1.22506842e+02] [-9.86966286e-01 -1.60718811e-01 8.18624918e-03 1.03342378e+02] [ 8.30391836e-03 -6.04817054e-05 9.99965520e-01 1.76105113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.57, Y:103.73, Z:1.76 [[-1.61802260e-01 9.86822231e-01 1.38303825e-03 1.22572654e+02] [-9.86788261e-01 -1.61808166e-01 8.18816871e-03 1.03734653e+02] [ 8.30405380e-03 -3.99017115e-05 9.99965520e-01 1.75884177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.57, Y:103.73, Z:1.76 [[-1.62521187e-01 9.86704046e-01 1.41064683e-03 1.22570684e+02] [-9.86670112e-01 -1.62527297e-01 8.18340958e-03 1.03728131e+02] [ 8.30387196e-03 -6.18656273e-05 9.99965520e-01 1.75959446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.57, Y:103.71, Z:1.76 [[-1.66969440e-01 9.85961055e-01 1.41537872e-03 1.22569124e+02] [-9.85927101e-01 -1.66975437e-01 8.18259109e-03 1.03713099e+02] [ 8.30404962e-03 -2.92175866e-05 9.99965520e-01 1.76027237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.57, Y:103.71, Z:1.76 [[-1.69528667e-01 9.85524226e-01 1.42550439e-03 1.22569837e+02] [-9.85490271e-01 -1.69534659e-01 8.18082670e-03 1.03709401e+02] [ 8.30407529e-03 -1.79360616e-05 9.99965520e-01 1.76003235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.57, Y:103.70, Z:1.76 [[-1.72136970e-01 9.85071987e-01 1.42983568e-03 1.22569184e+02] [-9.85038022e-01 -1.72142909e-01 8.18006961e-03 1.03698717e+02] [ 8.30409349e-03 -3.50114707e-07 9.99965520e-01 1.75928707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.57, Y:103.70, Z:1.76 [[-1.76136689e-01 9.84364673e-01 1.43458118e-03 1.22569714e+02] [-9.84330691e-01 -1.76142529e-01 8.17923728e-03 1.03695819e+02] [ 8.30404298e-03 2.85614941e-05 9.99965520e-01 1.75875922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.56, Y:103.62, Z:1.76 [[-1.87787618e-01 9.82208603e-01 1.43892131e-03 1.22559721e+02] [-9.82174561e-01 -1.87793091e-01 8.17847368e-03 1.03622497e+02] [ 8.30318669e-03 1.22544185e-04 9.99965520e-01 1.75930151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.56, Y:103.61, Z:1.76 [[-1.89005146e-01 9.81974907e-01 1.52898502e-03 1.22558117e+02] [-9.81940990e-01 -1.89011325e-01 8.16160128e-03 1.03610321e+02] [ 8.30348314e-03 4.12115752e-05 9.99965525e-01 1.75817611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.56, Y:103.60, Z:1.76 [[-1.89030573e-01 9.81969998e-01 1.53776225e-03 1.22557365e+02] [-9.81936095e-01 -1.89036825e-01 8.15994719e-03 1.03604892e+02] [ 8.30351702e-03 3.24952400e-05 9.99965525e-01 1.75752919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.56, Y:103.60, Z:1.76 [[-1.88294576e-01 9.82111385e-01 1.54250672e-03 1.22555385e+02] [-9.82077494e-01 -1.88300893e-01 8.15905023e-03 1.03597496e+02] [ 8.30355151e-03 2.14437756e-05 9.99965525e-01 1.75679585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.55, Y:103.59, Z:1.76 [[-1.87765487e-01 9.82212662e-01 1.55171082e-03 1.22554513e+02] [-9.82178788e-01 -1.87771899e-01 8.15729939e-03 1.03594192e+02] [ 8.30357044e-03 7.60183968e-06 9.99965525e-01 1.75631061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.66762800000004 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:122.55, Y:103.59, Z:1.75 [[-1.85777947e-01 9.82590522e-01 1.55603132e-03 1.22552294e+02] [-9.82556668e-01 -1.85784463e-01 8.15647516e-03 1.03591263e+02] [ 8.30356162e-03 -1.35957431e-05 9.99965525e-01 1.75471565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.55, Y:103.58, Z:1.76 [[-1.85788969e-01 9.82588430e-01 1.56075437e-03 1.22549972e+02] [-9.82554584e-01 -1.85795524e-01 8.15557129e-03 1.03583989e+02] [ 8.30355117e-03 -1.83111700e-05 9.99965525e-01 1.75606343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.72762800000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.55, Y:103.58, Z:1.76 [[-1.85564126e-01 9.82630910e-01 1.56547584e-03 1.22548596e+02] [-9.82597072e-01 -1.85570728e-01 8.15466490e-03 1.03577447e+02] [ 8.30353228e-03 -2.50187135e-05 9.99965525e-01 1.75521400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.55, Y:103.57, Z:1.76 [[-1.85369640e-01 9.82667610e-01 1.56979495e-03 1.22549141e+02] [-9.82633781e-01 -1.85376284e-01 8.15383337e-03 1.03571648e+02] [ 8.30351071e-03 -3.10603859e-05 9.99965525e-01 1.75558542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.78762800000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.55, Y:103.57, Z:1.76 [[-1.86362781e-01 9.82479738e-01 1.57411816e-03 1.22549731e+02] [-9.82445910e-01 -1.86369427e-01 8.15299868e-03 1.03571223e+02] [ 8.30352351e-03 -2.70704361e-05 9.99965525e-01 1.75620179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.55, Y:103.56, Z:1.76 [[-1.87034698e-01 9.82352040e-01 1.57843467e-03 1.22549246e+02] [-9.82318214e-01 -1.87041356e-01 8.15216291e-03 1.03564697e+02] [ 8.30352643e-03 -2.57878025e-05 9.99965525e-01 1.75700940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.55, Y:103.55, Z:1.76 [[-1.89449063e-01 9.81889274e-01 1.58315226e-03 1.22546541e+02] [-9.81855439e-01 -1.89455678e-01 8.15124665e-03 1.03546821e+02] [ 8.30355884e-03 -1.01806159e-05 9.99965525e-01 1.75836062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.877628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.55, Y:103.54, Z:1.76 [[-1.90367258e-01 9.81711645e-01 1.59785820e-03 1.22546047e+02] [-9.81677828e-01 -1.90373963e-01 8.14836288e-03 1.03541792e+02] [ 8.30353333e-03 -1.74004689e-05 9.99965525e-01 1.75857268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.90762800000005 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.55, Y:103.54, Z:1.76 [[-1.91191589e-01 9.81551430e-01 1.60217226e-03 1.22545403e+02] [-9.81517614e-01 -1.91198302e-01 8.14751454e-03 1.03535890e+02] [ 8.30353716e-03 -1.48240402e-05 9.99965525e-01 1.75897136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.54, Y:103.49, Z:1.76 [[-1.95947709e-01 9.80613030e-01 1.60648756e-03 1.22537918e+02] [-9.80579190e-01 -1.95954293e-01 8.14666358e-03 1.03492064e+02] [ 8.30352260e-03 2.10317897e-05 9.99965525e-01 1.75942814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.54, Y:103.49, Z:1.76 [[-1.95334180e-01 9.80735361e-01 1.64609365e-03 1.22538542e+02] [-9.80701591e-01 -1.95341114e-01 8.13865301e-03 1.03492481e+02] [ 8.30341457e-03 -2.45695502e-05 9.99965526e-01 1.76003192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.997628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.54, Y:103.49, Z:1.76 [[-1.94761456e-01 9.80849249e-01 1.65082377e-03 1.22538379e+02] [-9.80815492e-01 -1.94768449e-01 8.13769345e-03 1.03490119e+02] [ 8.30337890e-03 -3.42445045e-05 9.99965526e-01 1.76028848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.54, Y:103.48, Z:1.76 [[-1.93638903e-01 9.81071473e-01 1.65513047e-03 1.22537338e+02] [-9.81037731e-01 -1.93645970e-01 8.13681741e-03 1.03484752e+02] [ 8.30330880e-03 -4.81410491e-05 9.99965526e-01 1.76078973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.54, Y:103.48, Z:1.76 [[-1.93727135e-01 9.81054047e-01 1.65943388e-03 1.22535804e+02] [-9.81020312e-01 -1.93734235e-01 8.13593968e-03 1.03478224e+02] [ 8.30328570e-03 -5.17860542e-05 9.99965526e-01 1.76084668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.08762800000005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.53, Y:103.47, Z:1.76 [[-1.94131474e-01 9.80974109e-01 1.66374134e-03 1.22534360e+02] [-9.80940379e-01 -1.94138596e-01 8.13505874e-03 1.03473546e+02] [ 8.30327841e-03 -5.27601170e-05 9.99965526e-01 1.76104200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.53, Y:103.47, Z:1.76 [[-1.95313720e-01 9.80739398e-01 1.66845768e-03 1.22532901e+02] [-9.80705667e-01 -1.95320841e-01 8.13409133e-03 1.03469394e+02] [ 8.30330839e-03 -4.75662676e-05 9.99965526e-01 1.76052663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.53, Y:103.46, Z:1.76 [[-1.97996747e-01 9.80201245e-01 1.67591557e-03 1.22530441e+02] [-9.80167507e-01 -1.98003837e-01 8.13255444e-03 1.03461821e+02] [ 8.30337770e-03 -3.24586628e-05 9.99965526e-01 1.75900736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.177628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.53, Y:103.46, Z:1.76 [[-2.00323637e-01 9.79728339e-01 1.68021785e-03 1.22529240e+02] [-9.79694592e-01 -2.00330683e-01 8.13166548e-03 1.03456799e+02] [ 8.30342230e-03 -1.71355378e-05 9.99965526e-01 1.75732450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.53, Y:103.45, Z:1.76 [[-2.03008102e-01 9.79175608e-01 1.68493031e-03 1.22527581e+02] [-9.79141851e-01 -2.03015094e-01 8.13068891e-03 1.03447907e+02] [ 8.30343854e-03 8.09942326e-07 9.99965526e-01 1.75576159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23762800000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.52, Y:103.43, Z:1.75 [[-2.10602201e-01 9.77570386e-01 1.68924121e-03 1.22523854e+02] [-9.77536582e-01 -2.10608967e-01 8.12979317e-03 1.03426498e+02] [ 8.30321440e-03 6.08572565e-05 9.99965526e-01 1.75400096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.52, Y:103.42, Z:1.75 [[-2.13638035e-01 9.76911389e-01 1.71145523e-03 1.22522929e+02] [-9.76877601e-01 -2.13644880e-01 8.12511407e-03 1.03419456e+02] [ 8.30316011e-03 6.39511168e-05 9.99965526e-01 1.75436506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.52, Y:103.41, Z:1.76 [[-2.18287573e-01 9.75882981e-01 1.71576827e-03 1.22522245e+02] [-9.75849168e-01 -2.18294294e-01 8.12420319e-03 1.03410798e+02] [ 8.30281404e-03 9.90815595e-05 9.99965526e-01 1.75584032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.52, Y:103.41, Z:1.76 [[-2.20477807e-01 9.75390475e-01 1.72008993e-03 1.22522256e+02] [-9.75356654e-01 -2.20484487e-01 8.12328808e-03 1.03405386e+02] [ 8.30263097e-03 1.13303575e-04 9.99965526e-01 1.75636216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35762800000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.52, Y:103.40, Z:1.76 [[-2.21859538e-01 9.75077111e-01 1.72441911e-03 1.22521951e+02] [-9.75043288e-01 -2.21866207e-01 8.12236898e-03 1.03398143e+02] [ 8.30252640e-03 1.20641756e-04 9.99965526e-01 1.75565148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.52, Y:103.40, Z:1.76 [[-2.22634249e-01 9.74900509e-01 1.72875122e-03 1.22522409e+02] [-9.74866688e-01 -2.22640927e-01 8.12144683e-03 1.03395570e+02] [ 8.30249343e-03 1.22810246e-04 9.99965526e-01 1.75562019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.52, Y:103.39, Z:1.76 [[-2.22323084e-01 9.74971509e-01 1.73308284e-03 1.22522550e+02] [-9.74937697e-01 -2.22329808e-01 8.12052238e-03 1.03390206e+02] [ 8.30259393e-03 1.15731788e-04 9.99965526e-01 1.75549894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.52, Y:103.38, Z:1.76 [[-2.21945992e-01 9.75057413e-01 1.73741053e-03 1.22521551e+02] [-9.75023611e-01 -2.21952766e-01 8.11959635e-03 1.03383148e+02] [ 8.30269568e-03 1.08095579e-04 9.99965526e-01 1.75542855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.52, Y:103.38, Z:1.76 [[-2.20943139e-01 9.75285134e-01 1.74259136e-03 1.22521144e+02] [-9.75251348e-01 -2.20949991e-01 8.11848431e-03 1.03379643e+02] [ 8.30286260e-03 9.42588424e-05 9.99965526e-01 1.75518077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.52, Y:103.37, Z:1.76 [[-2.20471528e-01 9.75391846e-01 1.74691968e-03 1.22518549e+02] [-9.75358071e-01 -2.20478432e-01 8.11755285e-03 1.03371430e+02] [ 8.30295297e-03 8.58170711e-05 9.99965526e-01 1.75515072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.52, Y:103.37, Z:1.76 [[-2.16831030e-01 9.76207571e-01 1.75568196e-03 1.22516212e+02] [-9.76173837e-01 -2.16838132e-01 8.11565728e-03 1.03371128e+02] [ 8.30326488e-03 4.58755260e-05 9.99965526e-01 1.75571311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.51, Y:103.37, Z:1.76 [[-2.14579613e-01 9.76704916e-01 1.75999621e-03 1.22514460e+02] [-9.76671206e-01 -2.14586830e-01 8.11472156e-03 1.03367081e+02] [ 8.30336045e-03 2.23161905e-05 9.99965526e-01 1.75533216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.51, Y:103.36, Z:1.75 [[-2.09114023e-01 9.77889673e-01 1.76430372e-03 1.22512028e+02] [-9.77856012e-01 -2.09121464e-01 8.11378492e-03 1.03363137e+02] [ 8.30334025e-03 -2.85287900e-05 9.99965526e-01 1.75455116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.51, Y:103.36, Z:1.76 [[-2.07823706e-01 9.78164699e-01 1.76860903e-03 1.22512643e+02] [-9.78131056e-01 -2.07831227e-01 8.11284635e-03 1.03363176e+02] [ 8.30327210e-03 -4.38896191e-05 9.99965526e-01 1.75500086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.51, Y:103.36, Z:1.75 [[-2.06767461e-01 9.78388508e-01 1.77331055e-03 1.22512095e+02] [-9.78354882e-01 -2.06775057e-01 8.11181856e-03 1.03358378e+02] [ 8.30318645e-03 -5.76669015e-05 9.99965526e-01 1.75431654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.51, Y:103.35, Z:1.75 [[-2.04388374e-01 9.78888264e-01 1.77759564e-03 1.22511345e+02] [-9.78854664e-01 -2.04396087e-01 8.11087943e-03 1.03352914e+02] [ 8.30297828e-03 -8.22383300e-05 9.99965526e-01 1.75241039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.71762800000005 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:123.26, Y:103.08, Z:2.68 [[-1.59867583e-01 -9.87136868e-01 -1.77759564e-03 1.23261811e+02] [-9.87103652e-01 1.59876810e-01 -8.11087943e-03 1.03083132e+02] [ 8.29074444e-03 4.58004459e-04 -9.99965526e-01 2.68497486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.45, Y:103.21, Z:1.75 [[-1.33420895e-01 9.91058708e-01 1.22549518e-03 1.22451500e+02] [-9.91024846e-01 -1.33426468e-01 8.19345838e-03 1.03208295e+02] [ 8.28371177e-03 -1.21317622e-04 9.99965682e-01 1.75164732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.77762800000005 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:122.45, Y:103.19, Z:1.75 [[-1.35634083e-01 9.90758287e-01 1.18871941e-03 1.22447425e+02] [-9.90724363e-01 -1.35639276e-01 8.19897644e-03 1.03188126e+02] [ 8.28444089e-03 -6.56326276e-05 9.99965681e-01 1.75105503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:102.97, Z:2.69 [[-9.58291121e-02 -9.95397091e-01 -1.18871941e-03 1.23212695e+02] [-9.95363403e-01 9.58356602e-02 -8.19897644e-03 1.02971732e+02] [ 8.27515901e-03 3.97507163e-04 -9.99965681e-01 2.68698750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.83762800000005 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:122.40, Y:103.02, Z:1.75 [[-6.75441958e-02 9.97716054e-01 6.75780805e-04 1.22396617e+02] [-9.97682026e-01 -6.75474740e-02 8.24103948e-03 1.03024891e+02] [ 8.26786467e-03 -1.17579978e-04 9.99965814e-01 1.74982373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.40, Y:103.02, Z:1.75 [[-6.79036543e-02 9.97691651e-01 6.80932949e-04 1.22399149e+02] [-9.97657625e-01 -6.79069627e-02 8.24061375e-03 1.03020999e+02] [ 8.26783162e-03 -1.19770162e-04 9.99965814e-01 1.74998218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.40, Y:103.01, Z:1.75 [[-6.83902544e-02 9.97658410e-01 6.85260882e-04 1.22399074e+02] [-9.97624386e-01 -6.83935820e-02 8.24025384e-03 1.03013558e+02] [ 8.26782599e-03 -1.20079911e-04 9.99965814e-01 1.75027935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.40, Y:103.02, Z:1.75 [[-6.55191850e-02 9.97851072e-01 6.89590313e-04 1.22402450e+02] [-9.97817061e-01 -6.55226463e-02 8.23989151e-03 1.03023823e+02] [ 8.26736835e-03 -1.48214003e-04 9.99965814e-01 1.75076413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.40, Y:103.00, Z:1.75 [[-7.02213336e-02 9.97531232e-01 6.36476825e-04 1.22400116e+02] [-9.97497164e-01 -7.02241958e-02 8.24436763e-03 1.03002682e+02] [ 8.26871027e-03 -5.59533383e-05 9.99965812e-01 1.75073860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.40, Y:102.99, Z:1.75 [[-7.22652397e-02 9.97385204e-01 7.00091454e-04 1.22401628e+02] [-9.97351179e-01 -7.22685576e-02 8.23896210e-03 1.02990521e+02] [ 8.26801350e-03 -1.02846466e-04 9.99965814e-01 1.75147254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.40, Y:102.99, Z:1.75 [[-7.27917987e-02 9.97346910e-01 7.04428113e-04 1.22401258e+02] [-9.97312887e-01 -7.27951345e-02 8.23859130e-03 1.02985718e+02] [ 8.26801251e-03 -1.02833354e-04 9.99965814e-01 1.75151411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:102.82, Z:2.69 [[-3.03006753e-02 -9.99540018e-01 -1.27303033e-03 1.23158780e+02] [-9.99506992e-01 3.03101046e-02 -8.18967010e-03 1.02817217e+02] [ 8.22448869e-03 1.02425019e-03 -9.99965654e-01 2.68916091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.36, Y:102.82, Z:1.75 [[-8.31966713e-03 9.99965380e-01 1.47890590e-04 1.22363572e+02] [-9.99931680e-01 -8.32060096e-03 8.20994311e-03 1.02819579e+02] [ 8.21088942e-03 -7.95764924e-05 9.99966287e-01 1.75297016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.36, Y:102.81, Z:1.75 [[-9.91261676e-03 9.99950857e-01 1.52627605e-04 1.22364934e+02] [-9.99917157e-01 -9.91353579e-03 8.20985505e-03 1.02807241e+02] [ 8.21096467e-03 -7.12338144e-05 9.99966287e-01 1.75405966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:102.81, Z:1.75 [[-1.16856536e-02 9.99931708e-01 1.56964946e-04 1.22365955e+02] [-9.99898007e-01 -1.16865484e-02 8.20977212e-03 1.02806447e+02] [ 8.21104584e-03 -6.10123835e-05 9.99966287e-01 1.75312220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:102.81, Z:1.75 [[-9.95274983e-03 9.99950457e-01 1.61308504e-04 1.22369281e+02] [-9.99916759e-01 -9.95373878e-03 8.20968678e-03 1.02806908e+02] [ 8.21088567e-03 -7.95861176e-05 9.99966287e-01 1.75179467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:102.80, Z:1.75 [[-1.66252015e-02 9.99861786e-01 1.06670706e-04 1.22366354e+02] [-9.99828073e-01 -1.66255169e-02 8.21078143e-03 1.02796717e+02] [ 8.21142004e-03 2.98535290e-05 9.99966285e-01 1.75335307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:102.79, Z:1.75 [[-1.84544856e-02 9.99829687e-01 1.70259704e-04 1.22366120e+02] [-9.99795983e-01 -1.84552615e-02 8.20946264e-03 1.02785931e+02] [ 8.21120665e-03 -1.87235582e-05 9.99966287e-01 1.75302942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:102.78, Z:1.75 [[-2.06875070e-02 9.99785975e-01 1.74606511e-04 1.22366155e+02] [-9.99752271e-01 -2.06882433e-02 8.20937019e-03 1.02784103e+02] [ 8.21122549e-03 -4.73185236e-06 9.99966287e-01 1.75274580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:102.78, Z:1.75 [[-2.54626670e-02 9.99675758e-01 1.78957845e-04 1.22366234e+02] [-9.99642051e-01 -2.54632781e-02 8.20927533e-03 1.02776858e+02] [ 8.21117039e-03 3.01362576e-05 9.99966287e-01 1.75155616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.317628 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:122.37, Y:102.77, Z:1.75 [[-2.73483456e-02 9.99625947e-01 1.83307971e-04 1.22366411e+02] [-9.99592240e-01 -2.73489288e-02 8.20917820e-03 1.02772365e+02] [ 8.21112081e-03 4.12742171e-05 9.99966287e-01 1.74860245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.34762800000004 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:122.37, Y:102.76, Z:1.75 [[-3.07422732e-02 9.99527327e-01 1.87660914e-04 1.22365871e+02] [-9.99493618e-01 -3.07427777e-02 8.20907869e-03 1.02763773e+02] [ 8.21096770e-03 6.47998541e-05 9.99966287e-01 1.74844959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:102.75, Z:1.75 [[-3.55550686e-02 9.99367700e-01 1.92211223e-04 1.22365989e+02] [-9.99333990e-01 -3.55554481e-02 8.20897214e-03 1.02754458e+02] [ 8.21061577e-03 9.97873586e-05 9.99966287e-01 1.74980687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:102.74, Z:1.75 [[-3.77442535e-02 9.99287412e-01 1.96991549e-04 1.22365435e+02] [-9.99253702e-01 -3.77445984e-02 8.20885743e-03 1.02744060e+02] [ 8.21044327e-03 1.12992661e-04 9.99966287e-01 1.74797280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.36, Y:102.74, Z:1.75 [[-3.85089352e-02 9.99258235e-01 2.05857693e-04 1.22363291e+02] [-9.99224524e-01 -3.85093271e-02 8.20863508e-03 1.02741105e+02] [ 8.21047364e-03 1.10407741e-04 9.99966287e-01 1.74716493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.36, Y:102.74, Z:1.75 [[-3.85164169e-02 9.99257945e-01 2.10229883e-04 1.22360752e+02] [-9.99224236e-01 -3.85168445e-02 8.20852311e-03 1.02736133e+02] [ 8.21052933e-03 1.06096104e-04 9.99966287e-01 1.74792658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.36, Y:102.69, Z:1.75 [[-4.41736459e-02 9.99023845e-01 2.14600283e-04 1.22357506e+02] [-9.98990134e-01 -4.41739186e-02 8.20840885e-03 1.02687489e+02] [ 8.20987590e-03 1.48211781e-04 9.99966287e-01 1.75017054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:102.68, Z:1.75 [[-4.20330374e-02 9.99116185e-01 2.68498886e-04 1.22351944e+02] [-9.99082483e-01 -4.20338250e-02 8.20664544e-03 1.02681546e+02] [ 8.21067833e-03 7.66977010e-05 9.99966289e-01 1.75380680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:102.68, Z:1.76 [[-4.09820315e-02 9.99159846e-01 2.73277831e-04 1.22349962e+02] [-9.99126146e-01 -4.09828938e-02 8.20648630e-03 1.02677455e+02] [ 8.21079131e-03 6.32794544e-05 9.99966289e-01 1.75606611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:102.67, Z:1.76 [[-3.99414266e-02 9.99201984e-01 2.78055624e-04 1.22347832e+02] [-9.99168286e-01 -3.99423632e-02 8.20632442e-03 1.02670576e+02] [ 8.21088184e-03 4.99479437e-05 9.99966289e-01 1.75747475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:102.67, Z:1.76 [[-3.91411873e-02 9.99233650e-01 2.82420218e-04 1.22345881e+02] [-9.99199954e-01 -3.91421867e-02 8.20617421e-03 1.02668048e+02] [ 8.21093995e-03 3.90051332e-05 9.99966289e-01 1.75838054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:102.67, Z:1.76 [[-3.80516094e-02 9.99275734e-01 2.86784731e-04 1.22342129e+02] [-9.99242040e-01 -3.80526814e-02 8.20602168e-03 1.02665089e+02] [ 8.21099126e-03 2.56849725e-05 9.99966289e-01 1.75930480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:102.65, Z:1.76 [[-3.94110744e-02 9.99223039e-01 2.91554467e-04 1.22341775e+02] [-9.99189345e-01 -3.94121398e-02 8.20585221e-03 1.02652405e+02] [ 8.21096737e-03 3.20833350e-05 9.99966289e-01 1.76037404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:102.65, Z:1.76 [[-4.15216843e-02 9.99137559e-01 2.96331884e-04 1.22342620e+02] [-9.99103864e-01 -4.15227177e-02 8.20567968e-03 1.02647498e+02] [ 8.21090727e-03 4.46473104e-05 9.99966289e-01 1.76055071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:102.65, Z:1.76 [[-4.36882428e-02 9.99045168e-01 3.01119128e-04 1.22343718e+02] [-9.99011471e-01 -4.36892424e-02 8.20550400e-03 1.02645893e+02] [ 8.21082479e-03 5.76625875e-05 9.99966289e-01 1.76043283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:102.64, Z:1.76 [[-4.73697743e-02 9.98877377e-01 2.99379747e-04 1.22346508e+02] [-9.98843677e-01 -4.73706355e-02 8.20556889e-03 1.02640356e+02] [ 8.21053894e-03 8.96623792e-05 9.99966289e-01 1.75711870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:102.63, Z:1.75 [[-4.95003670e-02 9.98774057e-01 3.09889718e-04 1.22347871e+02] [-9.98740358e-01 -4.95012426e-02 8.20517196e-03 1.02634050e+02] [ 8.21045281e-03 9.66596550e-05 9.99966289e-01 1.75369295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:102.61, Z:1.75 [[-5.11849488e-02 9.98689141e-01 3.17452969e-04 1.22348851e+02] [-9.98655442e-01 -5.11858297e-02 8.20487933e-03 1.02611123e+02] [ 8.21037298e-03 1.02940193e-04 9.99966289e-01 1.75322141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:102.62, Z:1.75 [[-5.20044569e-02 9.98646807e-01 3.02351682e-04 1.22350497e+02] [-9.98613104e-01 -5.20051861e-02 8.20547060e-03 1.02622742e+02] [ 8.21009087e-03 1.24788690e-04 9.99966289e-01 1.75245103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:102.62, Z:1.75 [[-5.14385810e-02 9.98676107e-01 3.26358125e-04 1.22351414e+02] [-9.98642409e-01 -5.14395265e-02 8.20451568e-03 1.02618828e+02] [ 8.21044149e-03 9.61135803e-05 9.99966289e-01 1.75283151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:102.61, Z:1.75 [[-5.02951672e-02 9.98734342e-01 3.30722908e-04 1.22351247e+02] [-9.98700647e-01 -5.02961871e-02 8.20433973e-03 1.02611604e+02] [ 8.21058995e-03 8.23454569e-05 9.99966289e-01 1.75280782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:102.61, Z:1.75 [[-4.91628613e-02 9.98790728e-01 3.09086486e-04 1.22351597e+02] [-9.98757028e-01 -4.91637417e-02 8.20522353e-03 1.02613276e+02] [ 8.21049703e-03 9.46899662e-05 9.99966289e-01 1.75405132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:102.61, Z:1.76 [[-4.58647669e-02 9.98947600e-01 3.41459705e-04 1.22349835e+02] [-9.98913912e-01 -4.58660244e-02 8.20387610e-03 1.02607674e+02] [ 8.21090374e-03 3.51800153e-05 9.99966289e-01 1.75639991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:102.61, Z:1.76 [[-4.46210312e-02 9.99003926e-01 3.46221307e-04 1.22349398e+02] [-9.98970242e-01 -4.46223698e-02 8.20367515e-03 1.02606234e+02] [ 8.21095289e-03 2.01916613e-05 9.99966289e-01 1.75748401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:102.60, Z:1.76 [[-4.36300302e-02 9.99047695e-01 3.50374667e-04 1.22349536e+02] [-9.99014014e-01 -4.36314363e-02 8.20349776e-03 1.02600291e+02] [ 8.21097288e-03 7.88965287e-06 9.99966289e-01 1.75798284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:102.59, Z:1.76 [[-4.43568998e-02 9.99015685e-01 3.54718265e-04 1.22349277e+02] [-9.98982005e-01 -4.43583171e-02 8.20330994e-03 1.02587299e+02] [ 8.21097000e-03 9.51623431e-06 9.99966289e-01 1.75867520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:102.58, Z:1.76 [[-4.55003796e-02 9.98964255e-01 3.64887689e-04 1.22349420e+02] [-9.98930576e-01 -4.55018418e-02 8.20285757e-03 1.02584494e+02] [ 8.21096456e-03 8.73566336e-06 9.99966289e-01 1.75958657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:102.57, Z:1.76 [[-4.78295265e-02 9.98855445e-01 3.69232653e-04 1.22348765e+02] [-9.98821764e-01 -4.78309459e-02 8.20266199e-03 1.02568456e+02] [ 8.21093434e-03 2.35318291e-05 9.99966289e-01 1.76035520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:102.56, Z:1.76 [[-4.90125839e-02 9.98798088e-01 3.82614547e-04 1.22348050e+02] [-9.98764410e-01 -4.90140733e-02 8.20203774e-03 1.02563886e+02] [ 8.21093311e-03 1.98612701e-05 9.99966290e-01 1.76108113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:102.55, Z:1.76 [[-5.08533251e-02 9.98706058e-01 3.86960781e-04 1.22346496e+02] [-9.98672379e-01 -5.08547881e-02 8.20183269e-03 1.02554618e+02] [ 8.21089880e-03 3.06434200e-05 9.99966290e-01 1.76030870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:102.55, Z:1.76 [[-5.21786851e-02 9.98637688e-01 3.91313199e-04 1.22346005e+02] [-9.98604009e-01 -5.21801392e-02 8.20162502e-03 1.02553452e+02] [ 8.21087063e-03 3.71830799e-05 9.99966290e-01 1.76005416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:102.55, Z:1.76 [[-5.42634033e-02 9.98526578e-01 3.95667222e-04 1.22344335e+02] [-9.98492897e-01 -5.42648228e-02 8.20141497e-03 1.02547064e+02] [ 8.21080163e-03 4.99657768e-05 9.99966290e-01 1.75939998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:102.53, Z:1.76 [[-5.50633281e-02 9.98482784e-01 4.00017702e-04 1.22342554e+02] [-9.98449104e-01 -5.50647564e-02 8.20120277e-03 1.02533711e+02] [ 8.21078665e-03 5.21882031e-05 9.99966290e-01 1.75851063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:102.54, Z:1.76 [[-5.57632756e-02 9.98443936e-01 4.04385878e-04 1.22341420e+02] [-9.98410257e-01 -5.57647161e-02 8.20098738e-03 1.02535347e+02] [ 8.21077658e-03 5.35709108e-05 9.99966290e-01 1.75797464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:102.53, Z:1.76 [[-5.57901474e-02 9.98442433e-01 4.09169287e-04 1.22340203e+02] [-9.98408755e-01 -5.57916263e-02 8.20074872e-03 1.02531820e+02] [ 8.21080372e-03 4.90027820e-05 9.99966290e-01 1.75785585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:102.52, Z:1.76 [[-5.48765489e-02 9.98493061e-01 4.13525716e-04 1.22337031e+02] [-9.98459386e-01 -5.48780944e-02 8.20052904e-03 1.02519563e+02] [ 8.21086485e-03 3.71280994e-05 9.99966290e-01 1.75884380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:102.51, Z:1.76 [[-5.42743928e-02 9.98525969e-01 4.22788035e-04 1.22335735e+02] [-9.98492299e-01 -5.42760347e-02 8.20005148e-03 1.02513491e+02] [ 8.21091161e-03 2.29022184e-05 9.99966290e-01 1.76023325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:102.51, Z:1.76 [[-5.36897742e-02 9.98557572e-01 4.27562030e-04 1.22334827e+02] [-9.98523905e-01 -5.36914750e-02 8.19980255e-03 1.02511964e+02] [ 8.21093136e-03 1.33146390e-05 9.99966290e-01 1.76111493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:102.51, Z:1.76 [[-5.09032045e-02 9.98703498e-01 4.32771825e-04 1.22334034e+02] [-9.98669838e-01 -5.09050420e-02 8.19952758e-03 1.02510682e+02] [ 8.21092714e-03 -1.48139392e-05 9.99966290e-01 1.76302728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:102.50, Z:1.76 [[-4.94725012e-02 9.98775390e-01 4.37520172e-04 1.22333512e+02] [-9.98741735e-01 -4.94744259e-02 8.19927420e-03 1.02501986e+02] [ 8.21087935e-03 -3.13310535e-05 9.99966290e-01 1.76390909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:102.50, Z:1.76 [[-4.80089502e-02 9.98846808e-01 4.42267327e-04 1.22333333e+02] [-9.98813157e-01 -4.80109632e-02 8.19901813e-03 1.02500889e+02] [ 8.21079677e-03 -4.81161721e-05 9.99966290e-01 1.76446711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:102.50, Z:1.77 [[-4.38366427e-02 9.99038612e-01 4.47012407e-04 1.22333456e+02] [-9.99004973e-01 -4.38388351e-02 8.19875942e-03 1.02498148e+02] [ 8.21047374e-03 -8.71615303e-05 9.99966290e-01 1.76512572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:102.49, Z:1.76 [[-4.22222864e-02 9.99108140e-01 4.51742869e-04 1.22334016e+02] [-9.99074507e-01 -4.22245720e-02 8.19849877e-03 1.02493498e+02] [ 8.21026150e-03 -1.05165421e-04 9.99966290e-01 1.76467509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.60762800000003 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:123.13, Y:102.34, Z:2.69 [[-3.46785746e-03 -9.99993490e-01 -9.96954419e-04 1.23129791e+02] [-9.99960599e-01 3.47588671e-03 -8.16814094e-03 1.02344703e+02] [ 8.17155307e-03 9.68589190e-04 -9.99966143e-01 2.68762215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.637628 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:122.30, Y:102.30, Z:1.76 [[ 2.90008680e-02 9.99579381e-01 -9.97042369e-05 1.22297900e+02] [-9.99546126e-01 2.90007166e-02 8.15473750e-03 1.02298847e+02] [ 8.15419896e-03 -1.36835482e-04 9.99966745e-01 1.76089592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.66762800000004 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:123.13, Y:102.32, Z:2.69 [[ 7.42568207e-02 -9.97239146e-01 1.00377783e-04 1.23126132e+02] [-9.97205932e-01 -7.42551683e-02 -8.15472921e-03 1.02320696e+02] [ 8.13966877e-03 5.05446944e-04 -9.99966745e-01 2.69078747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.30, Y:102.21, Z:1.76 [[ 1.04107771e-01 9.94565749e-01 -7.36382602e-04 1.22303063e+02] [-9.94532796e-01 1.04110316e-01 8.09688855e-03 1.02209076e+02] [ 8.12955305e-03 -1.10592370e-04 9.99966949e-01 1.76093337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:102.18, Z:1.76 [[ 1.02801624e-01 9.94701604e-01 -7.38238353e-04 1.22307463e+02] [-9.94668655e-01 1.02804228e-01 8.09671935e-03 1.02180336e+02] [ 8.12971375e-03 -9.80533507e-05 9.99966949e-01 1.75910499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:102.27, Z:2.69 [[ 1.58644764e-01 -9.87335450e-01 7.40082533e-04 1.23124910e+02] [-9.87302407e-01 -1.58645524e-01 -8.09655077e-03 1.02268242e+02] [ 8.11142239e-03 5.53790121e-04 -9.99966949e-01 2.69451173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.32, Y:102.09, Z:1.76 [[ 1.77165050e-01 9.84180205e-01 -1.36745590e-03 1.22321378e+02] [-9.84147780e-01 1.77170314e-01 7.98916888e-03 1.02094482e+02] [ 8.10505445e-03 -6.96228114e-05 9.99967151e-01 1.75810962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:102.07, Z:1.76 [[ 1.73780552e-01 9.84783450e-01 -1.36950797e-03 1.22328072e+02] [-9.84751047e-01 1.73785944e-01 7.98881710e-03 1.02066839e+02] [ 8.10525610e-03 -3.96766418e-05 9.99967151e-01 1.76156008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.13, Y:102.21, Z:2.69 [[ 2.42635212e-01 -9.70116631e-01 1.37016895e-03 1.23126598e+02] [-9.70083929e-01 -2.42638316e-01 -7.98870373e-03 1.02214732e+02] [ 8.08242983e-03 6.09161939e-04 -9.99967151e-01 2.69069707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:102.22, Z:2.69 [[ 3.19558759e-01 -9.47564382e-01 1.98541694e-03 1.23121906e+02] [-9.47532212e-01 -3.19564322e-01 -7.83275468e-03 1.02218063e+02] [ 8.05650777e-03 6.21778860e-04 -9.99967353e-01 2.68952733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.36, Y:101.92, Z:1.77 [[ 3.19015196e-01 9.47746076e-01 -2.58469625e-03 1.22364673e+02] [-9.47715364e-01 3.19025666e-01 7.62974097e-03 1.01923904e+02] [ 8.05564151e-03 1.55530373e-05 9.99967553e-01 1.76722808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.13, Y:102.19, Z:2.69 [[ 3.95948532e-01 -9.18269065e-01 2.58531958e-03 1.23127236e+02] [-9.18237597e-01 -3.95956444e-01 -7.62952975e-03 1.02193695e+02] [ 8.02963510e-03 6.46963467e-04 -9.99967553e-01 2.68761346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:102.20, Z:2.69 [[ 4.67795106e-01 -8.83831274e-01 3.16508644e-03 1.23124240e+02] [-8.83800697e-01 -4.67805354e-01 -7.38091570e-03 1.02197202e+02] [ 8.00412851e-03 6.55450645e-04 -9.99967752e-01 2.68691178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:102.20, Z:2.69 [[ 5.36368514e-01 -8.43975690e-01 3.72182396e-03 1.23120561e+02] [-8.43946180e-01 -5.36381019e-01 -7.08860628e-03 1.02198836e+02] [ 7.97892711e-03 6.61086103e-04 -9.99967949e-01 2.68544958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:102.19, Z:2.68 [[ 6.01567024e-01 -7.98811016e-01 4.25150402e-03 1.23111963e+02] [-7.98782732e-01 -6.01581677e-01 -6.75524698e-03 1.02192618e+02] [ 7.95379262e-03 6.67705832e-04 -9.99968145e-01 2.68256704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.10, Y:102.19, Z:2.68 [[ 6.62258684e-01 -7.49260204e-01 4.75205811e-03 1.23104697e+02] [-7.49233315e-01 -6.62275398e-01 -6.38256785e-03 1.02187093e+02] [ 7.92937527e-03 6.66510735e-04 -9.99968340e-01 2.68247486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.10, Y:102.18, Z:2.68 [[ 7.18584125e-01 -6.95420449e-01 5.22050155e-03 1.23098082e+02] [-6.95395111e-01 -7.18602784e-01 -5.97315301e-03 1.02177306e+02] [ 7.90531969e-03 6.61901678e-04 -9.99968533e-01 2.68300534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:102.17, Z:2.69 [[ 7.70356538e-01 -6.37588298e-01 5.65387474e-03 1.23091754e+02] [-6.37564652e-01 -7.70377007e-01 -5.53008069e-03 1.02168702e+02] [ 7.88152983e-03 6.55423133e-04 -9.99968725e-01 2.68506666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:102.16, Z:2.69 [[ 8.17407482e-01 -5.76028127e-01 6.05019752e-03 1.23086590e+02] [-5.76006304e-01 -8.17429616e-01 -5.05581070e-03 1.02162786e+02] [ 7.85789981e-03 6.47705579e-04 -9.99968916e-01 2.68665169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:102.15, Z:2.69 [[ 8.58525971e-01 -5.12730052e-01 6.40712315e-03 1.23081883e+02] [-5.12710211e-01 -8.58549651e-01 -4.55360294e-03 1.02153950e+02] [ 7.83560242e-03 6.24388923e-04 -9.99969106e-01 2.69002842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:102.15, Z:2.69 [[ 8.95106846e-01 -4.45801007e-01 6.72286748e-03 1.23077419e+02] [-4.45783237e-01 -8.95131886e-01 -4.02640979e-03 1.02146514e+02] [ 7.81283058e-03 6.07125334e-04 -9.99969295e-01 2.69254777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.07, Y:102.14, Z:2.69 [[ 9.26456222e-01 -3.76337524e-01 6.99544664e-03 1.23074712e+02] [-3.76321912e-01 -9.26482445e-01 -3.47819377e-03 1.02138078e+02] [ 7.79013333e-03 5.89854400e-04 -9.99969482e-01 2.69431563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.267628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:123.07, Y:102.13, Z:2.70 [[ 9.52283202e-01 -3.05130334e-01 7.22380970e-03 1.23072224e+02] [-3.05116972e-01 -9.52310431e-01 -2.91162321e-03 1.02130892e+02] [ 7.76773389e-03 5.68582928e-04 -9.99969669e-01 2.69867101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.29762800000003 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:123.07, Y:102.12, Z:2.70 [[ 9.72120044e-01 -2.34366729e-01 7.40654550e-03 1.23070358e+02] [-2.34355737e-01 -9.72148114e-01 -2.33100164e-03 1.02121468e+02] [ 7.74656847e-03 5.30246987e-04 -9.99969854e-01 2.69768055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.07, Y:102.11, Z:2.69 [[ 9.87221199e-01 -1.59177289e-01 7.54293360e-03 1.23065282e+02] [-1.59168621e-01 -9.87249879e-01 -1.73964086e-03 1.02111675e+02] [ 7.72367160e-03 5.16811991e-04 -9.99970038e-01 2.69306921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.06, Y:102.10, Z:2.69 [[ 9.96467013e-01 -8.36375407e-02 7.63247711e-03 1.23060164e+02] [-8.36312495e-02 -9.96496118e-01 -1.14030107e-03 1.02102118e+02] [ 7.70110579e-03 4.97958799e-04 -9.99970222e-01 2.69256553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.06, Y:102.09, Z:2.69 [[ 9.99934581e-01 -8.48136084e-03 7.67469904e-03 1.23057129e+02] [-8.47748141e-03 -9.99963921e-01 -5.37874171e-04 1.02091717e+02] [ 7.67898405e-03 4.72776866e-04 -9.99970404e-01 2.68912188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.06, Y:102.08, Z:2.69 [[ 9.97611496e-01 6.86475000e-02 7.66965768e-03 1.23055012e+02] [ 6.86490275e-02 -9.97640871e-01 6.42346106e-05 1.02080560e+02] [ 7.65597351e-03 4.62433355e-04 -9.99970586e-01 2.68807404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.05, Y:102.07, Z:2.69 [[ 9.89329527e-01 1.45495907e-01 7.61760115e-03 1.23051682e+02] [ 1.45495103e-01 -9.89358750e-01 6.62663040e-04 1.02069201e+02] [ 7.63295511e-03 4.52731549e-04 -9.99970766e-01 2.68666628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.05, Y:102.06, Z:2.69 [[ 9.75131239e-01 2.21500490e-01 7.52327160e-03 1.23050882e+02] [ 2.21497569e-01 -9.75160148e-01 1.22979165e-03 1.02058949e+02] [ 7.60879410e-03 4.67178113e-04 -9.99970944e-01 2.68634097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.05, Y:102.05, Z:2.69 [[ 9.54908446e-01 2.96808839e-01 7.37374728e-03 1.23050786e+02] [ 2.96803512e-01 -9.54936815e-01 1.83172061e-03 1.02047460e+02] [ 7.58513360e-03 4.39428604e-04 -9.99971136e-01 2.68631138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.05, Y:102.04, Z:2.69 [[ 9.28925891e-01 3.70195971e-01 7.18556805e-03 1.23050798e+02] [ 3.70188471e-01 -9.28953581e-01 2.39605789e-03 1.02036274e+02] [ 7.56207014e-03 4.34254241e-04 -9.99971313e-01 2.68683563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.05, Y:102.02, Z:2.69 [[ 8.97253737e-01 4.41460491e-01 6.95461668e-03 1.23053604e+02] [ 4.41450897e-01 -8.97280586e-01 2.94200762e-03 1.02024313e+02] [ 7.53902266e-03 4.30394448e-04 -9.99971489e-01 2.68714732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.06, Y:102.01, Z:2.69 [[ 8.59997482e-01 5.10254522e-01 6.68236688e-03 1.23055518e+02] [ 5.10242924e-01 -8.60023337e-01 3.46678314e-03 1.02013948e+02] [ 7.51593324e-03 4.28205644e-04 -9.99971663e-01 2.68827777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.06, Y:102.00, Z:2.69 [[ 8.17214764e-01 5.76298049e-01 6.37091038e-03 1.23059662e+02] [ 5.76284556e-01 -8.17239484e-01 3.96698006e-03 1.02003094e+02] [ 7.49272239e-03 4.29582587e-04 -9.99971837e-01 2.68810445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.65762800000005 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:123.07, Y:101.99, Z:2.69 [[ 7.69695441e-01 6.38382848e-01 6.02220007e-03 1.23065992e+02] [ 6.38367551e-01 -7.69718882e-01 4.43996019e-03 1.01990597e+02] [ 7.46979554e-03 4.26959996e-04 -9.99972010e-01 2.69236687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.07, Y:101.98, Z:2.69 [[ 7.16397039e-01 6.97670043e-01 5.63863806e-03 1.23072138e+02] [ 6.97653091e-01 -7.16419096e-01 4.88288989e-03 1.01979417e+02] [ 7.44627398e-03 4.35725415e-04 -9.99972181e-01 2.69002370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:101.97, Z:2.69 [[ 6.58601593e-01 7.52473697e-01 5.22275298e-03 1.23079400e+02] [ 7.52455210e-01 -6.58622152e-01 5.29323874e-03 1.01967032e+02] [ 7.42284373e-03 4.43752226e-04 -9.99972352e-01 2.69036025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:101.96, Z:2.69 [[ 5.96912109e-01 8.02292409e-01 4.77751637e-03 1.23086389e+02] [ 8.02272509e-01 -5.96931059e-01 5.66849438e-03 1.01957708e+02] [ 7.39963792e-03 4.49277106e-04 -9.99972521e-01 2.69052412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.77762800000005 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:123.10, Y:101.95, Z:2.69 [[ 5.32185562e-01 8.46616789e-01 4.30573517e-03 1.23096620e+02] [ 8.46595599e-01 -5.32202791e-01 6.00668021e-03 1.01947822e+02] [ 7.37688059e-03 4.48547965e-04 -9.99972690e-01 2.69221833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.807628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:123.11, Y:101.94, Z:2.69 [[ 4.62863645e-01 8.86421304e-01 3.81019860e-03 1.23106135e+02] [ 8.86398991e-01 -4.62879100e-01 6.30608951e-03 1.01937920e+02] [ 7.35351339e-03 4.58496625e-04 -9.99972857e-01 2.69029517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:101.93, Z:2.69 [[ 3.90116415e-01 9.20759648e-01 3.29432373e-03 1.23114779e+02] [ 9.20736365e-01 -3.90130039e-01 6.56495903e-03 1.01930979e+02] [ 7.32996402e-03 4.72105379e-04 -9.99973024e-01 2.68644395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:101.92, Z:2.69 [[ 3.14977440e-01 9.49095141e-01 2.76157670e-03 1.23123865e+02] [ 9.49071034e-01 -3.14989173e-01 6.78189410e-03 1.01923722e+02] [ 7.30652950e-03 4.84788809e-04 -9.99973189e-01 2.68578281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.13, Y:101.92, Z:2.69 [[ 2.37362504e-01 9.71418620e-01 2.21496942e-03 1.23134945e+02] [ 9.71393844e-01 -2.37372311e-01 6.95595043e-03 1.01918237e+02] [ 7.28291218e-03 5.00525844e-04 -9.99973354e-01 2.68501948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:101.91, Z:2.68 [[ 1.54754199e-01 9.87951612e-01 1.65823188e-03 1.23147555e+02] [ 9.87926347e-01 -1.54762135e-01 7.08623244e-03 1.01913197e+02] [ 7.25748627e-03 5.41586739e-04 -9.99973517e-01 2.68299523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:101.91, Z:2.68 [[ 7.38956136e-02 9.97265381e-01 1.09478970e-03 1.23158831e+02] [ 9.97239748e-01 -7.39015878e-02 7.17223895e-03 1.01909021e+02] [ 7.23353230e-03 5.61770811e-04 -9.99973680e-01 2.68280168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:101.90, Z:2.69 [[-6.38662657e-03 9.99979466e-01 5.28127154e-04 1.23181335e+02] [ 9.99953611e-01 6.38265160e-03 7.21372629e-03 1.01902977e+02] [ 7.21020731e-03 5.74174030e-04 -9.99973841e-01 2.68724483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.22, Y:101.86, Z:2.69 [[-8.74014772e-02 9.96173165e-01 8.42765184e-05 1.23220570e+02] [ 9.96147323e-01 8.73985998e-02 7.21081506e-03 1.01859652e+02] [ 7.17585481e-03 7.14187716e-04 -9.99973998e-01 2.68873222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.25, Y:101.93, Z:2.69 [[-1.77236016e-01 9.84168264e-01 -4.72915897e-04 1.23245049e+02] [ 9.84142524e-01 1.77234823e-01 7.16305400e-03 1.01926452e+02] [ 7.13346758e-03 8.04134511e-04 -9.99974233e-01 2.68950827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.30, Y:101.83, Z:2.69 [[-2.55199047e-01 9.66887790e-01 -1.20332527e-03 1.23301099e+02] [ 9.66862365e-01 2.55201099e-01 7.04036704e-03 1.01831389e+02] [ 7.11433486e-03 6.33245043e-04 -9.99974492e-01 2.69012000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.36, Y:101.79, Z:2.70 [[-3.22290508e-01 9.46639242e-01 -1.72439706e-03 1.23356160e+02] [ 9.46614206e-01 3.22294573e-01 6.91034055e-03 1.01793414e+02] [ 7.09736335e-03 5.94798414e-04 -9.99974637e-01 2.69573573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.38, Y:101.81, Z:2.69 [[-4.03736768e-01 9.14872794e-01 -2.09583133e-03 1.23382155e+02] [ 9.14847988e-01 4.03741369e-01 6.78715822e-03 1.01809607e+02] [ 7.05556022e-03 8.22858248e-04 -9.99974771e-01 2.69046900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:101.78, Z:2.69 [[-4.72769062e-01 8.81182023e-01 -2.76706310e-03 1.23435306e+02] [ 8.81158263e-01 4.72776732e-01 6.50215288e-03 1.01780404e+02] [ 7.03778328e-03 6.35796204e-04 -9.99975032e-01 2.69155667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:101.77, Z:2.69 [[-5.38708196e-01 8.42486144e-01 -3.25231788e-03 1.23480931e+02] [ 8.42463196e-01 5.38717649e-01 6.24962653e-03 1.01772450e+02] [ 7.01730480e-03 6.26766912e-04 -9.99975182e-01 2.69074876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:101.76, Z:2.69 [[-6.01222769e-01 7.99072723e-01 -3.73705600e-03 1.23529852e+02] [ 7.99050812e-01 6.01234095e-01 5.94671562e-03 1.01763645e+02] [ 6.99870372e-03 5.89203204e-04 -9.99975335e-01 2.69250594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:101.76, Z:2.69 [[-6.59876376e-01 7.51362652e-01 -4.16336047e-03 1.23578506e+02] [ 7.51341777e-01 6.59889248e-01 5.63155350e-03 1.01759914e+02] [ 6.97869579e-03 5.88022463e-04 -9.99975476e-01 2.69289646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.28762800000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:123.62, Y:101.76, Z:2.69 [[-7.11992337e-01 7.02172315e-01 -4.57742158e-03 1.23624027e+02] [ 7.02152730e-01 7.12006846e-01 5.27204909e-03 1.01762700e+02] [ 6.96104242e-03 5.39609491e-04 -9.99975626e-01 2.69457185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:101.76, Z:2.69 [[-7.62743835e-01 6.46681709e-01 -4.96074173e-03 1.23674507e+02] [ 6.46663483e-01 7.62759792e-01 4.88259534e-03 1.01764746e+02] [ 6.94133943e-03 5.16238969e-04 -9.99975775e-01 2.69172694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.34762800000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:123.72, Y:101.77, Z:2.69 [[-8.06866503e-01 5.90709941e-01 -5.31152308e-03 1.23724184e+02] [ 5.90693247e-01 8.06883851e-01 4.46534269e-03 1.01770569e+02] [ 6.92350452e-03 4.65454623e-04 -9.99975924e-01 2.69310160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.77, Y:101.78, Z:2.69 [[-8.49272616e-01 5.27924574e-01 -5.62748077e-03 1.23768995e+02] [ 5.27909431e-01 8.49291143e-01 4.02342052e-03 1.01782813e+02] [ 6.90343213e-03 4.46180702e-04 -9.99976072e-01 2.68900322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.40762800000005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:123.82, Y:101.80, Z:2.69 [[-8.86596693e-01 4.62505581e-01 -5.90692706e-03 1.23816364e+02] [ 4.62492076e-01 8.86616269e-01 3.55971423e-03 1.01796518e+02] [ 6.88356532e-03 4.24123910e-04 -9.99976218e-01 2.69126769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.437628 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:123.86, Y:101.82, Z:2.69 [[-9.19052630e-01 3.94086867e-01 -6.14846216e-03 1.23859436e+02] [ 3.94075062e-01 9.19073107e-01 3.07709603e-03 1.01815714e+02] [ 6.86352936e-03 4.05057593e-04 -9.99976364e-01 2.69029903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:101.84, Z:2.69 [[-9.47365857e-01 3.20089985e-01 -6.35098084e-03 1.23897064e+02] [ 3.20079864e-01 9.47387056e-01 2.57823282e-03 1.01840882e+02] [ 6.84210355e-03 4.09708664e-04 -9.99976509e-01 2.68766789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.497628 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:123.93, Y:101.87, Z:2.69 [[-9.69801048e-01 2.43810384e-01 -6.51340499e-03 1.23934446e+02] [ 2.43801984e-01 9.69822831e-01 2.06622232e-03 1.01868761e+02] [ 6.82061533e-03 4.15843518e-04 -9.99976653e-01 2.69086185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.52762800000005 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:123.97, Y:101.90, Z:2.69 [[-9.86845871e-01 1.61527725e-01 -6.63480913e-03 1.23973820e+02] [ 1.61520972e-01 9.86868071e-01 1.54480642e-03 1.01898990e+02] [ 6.79721035e-03 4.52825017e-04 -9.99976796e-01 2.69358817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.557628 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:124.01, Y:101.93, Z:2.69 [[-9.96783042e-01 7.98653900e-02 -6.71473198e-03 1.24006265e+02] [ 7.98603403e-02 9.96805543e-01 1.01725580e-03 1.01932295e+02] [ 6.77452559e-03 4.77742554e-04 -9.99976939e-01 2.69277069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.58762800000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:124.05, Y:102.65, Z:1.78 [[-9.97711729e-01 -6.72733442e-02 6.75297105e-03 1.24051198e+02] [ 6.72715910e-02 -9.97734582e-01 -4.86685341e-04 1.02654239e+02] [ 6.77041370e-03 -3.12885663e-05 9.99977080e-01 1.77560532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.617628 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:124.03, Y:101.97, Z:2.70 [[-9.99937304e-01 -8.93209868e-03 -6.75315508e-03 1.24032824e+02] [-8.93557059e-03 9.99959960e-01 4.84118264e-04 1.01969523e+02] [ 6.74856049e-03 5.44431206e-04 -9.99977080e-01 2.69714602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.02, Y:102.69, Z:1.78 [[-9.99974483e-01 2.34047982e-03 6.74954030e-03 1.24022932e+02] [-2.34022243e-03 -9.99997261e-01 4.60330288e-05 1.02690662e+02] [ 6.74962955e-03 3.02364286e-05 9.99977221e-01 1.77749051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.677628 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:124.06, Y:102.00, Z:2.69 [[-9.95810648e-01 -9.11899008e-02 -6.74953586e-03 1.24060648e+02] [-9.11916641e-02 9.95833359e-01 -4.66751282e-05 1.02002423e+02] [ 6.72566927e-03 5.69021818e-04 -9.99977221e-01 2.69120370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.707628 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:123.99, Y:102.73, Z:1.78 [[-9.96858882e-01 7.89140054e-02 6.70444679e-03 1.23990224e+02] [-7.89119319e-02 -9.96881426e-01 5.73654064e-04 1.02727762e+02] [ 6.72880782e-03 4.27912999e-05 9.99977360e-01 1.78268402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.99, Y:102.73, Z:1.79 [[-9.96916331e-01 7.81849107e-02 6.70444679e-03 1.23989514e+02] [-7.81828207e-02 -9.96938874e-01 5.73654064e-04 1.02728597e+02] [ 6.72877473e-03 4.77125428e-05 9.99977360e-01 1.78627225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:102.04, Z:2.68 [[-9.85217987e-01 -1.71174090e-01 -6.70443308e-03 1.24081687e+02] [-1.71174119e-01 9.85240626e-01 -5.73814288e-04 1.02038158e+02] [ 6.70370199e-03 5.82293265e-04 -9.99977360e-01 2.68083294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.79762800000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:123.96, Y:102.76, Z:1.79 [[-9.88058383e-01 1.53937731e-01 6.61867935e-03 1.23955101e+02] [-1.53933862e-01 -9.88080549e-01 1.09306988e-03 1.02759721e+02] [ 6.70805303e-03 6.11779848e-05 9.99977499e-01 1.78732575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.827628 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:124.10, Y:102.08, Z:2.68 [[-9.68832386e-01 -2.47628747e-01 -6.61909779e-03 1.24099996e+02] [-2.47627031e-01 9.68854821e-01 -1.09053015e-03 1.02078209e+02] [ 6.68299142e-03 5.82526607e-04 -9.99977499e-01 2.68312116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.85762800000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:123.92, Y:102.79, Z:1.79 [[-9.73407053e-01 2.28990262e-01 6.49374749e-03 1.23915616e+02] [-2.28984687e-01 -9.73428711e-01 1.59945354e-03 1.02787794e+02] [ 6.68745953e-03 6.99506248e-05 9.99977636e-01 1.78911204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.887628 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:124.11, Y:102.12, Z:2.68 [[-9.45888960e-01 -3.24425491e-01 -6.49436024e-03 1.24109516e+02] [-3.24422109e-01 9.45911066e-01 -1.59696167e-03 1.02115905e+02] [ 6.66118229e-03 5.96365633e-04 -9.99977636e-01 2.68104163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.91762800000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:124.12, Y:102.16, Z:2.68 [[-9.17228123e-01 -3.98312062e-01 -6.33020050e-03 1.24124430e+02] [-3.98307015e-01 9.17249769e-01 -2.09337149e-03 1.02157410e+02] [ 6.64019006e-03 6.01264061e-04 -9.99977773e-01 2.68057047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.947628 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:123.83, Y:102.84, Z:1.79 [[-9.27317224e-01 3.74226147e-01 6.12839945e-03 1.23826122e+02] [-3.74217307e-01 -9.27337469e-01 2.57386434e-03 1.02835790e+02] [ 6.64630177e-03 9.34355959e-05 9.99977909e-01 1.79073430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.97762800000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:123.82, Y:102.84, Z:1.79 [[-9.27612311e-01 3.73494084e-01 6.12938976e-03 1.23824335e+02] [-3.73485244e-01 -9.27632557e-01 2.57150386e-03 1.02835569e+02] [ 6.64626297e-03 9.61220059e-05 9.99977909e-01 1.79029902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.007628 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:123.82, Y:102.84, Z:1.79 [[-9.28006445e-01 3.72513701e-01 6.13038016e-03 1.23824084e+02] [-3.72504855e-01 -9.28026687e-01 2.56914061e-03 1.02837423e+02] [ 6.64619647e-03 1.00582667e-04 9.99977909e-01 1.78918374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.82, Y:102.84, Z:1.79 [[-9.28503657e-01 3.71272630e-01 6.13136865e-03 1.23819402e+02] [-3.71263773e-01 -9.28523895e-01 2.56677936e-03 1.02837280e+02] [ 6.64609722e-03 1.06908964e-04 9.99977909e-01 1.79130544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.067628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.12, Y:102.18, Z:2.68 [[-8.82909892e-01 -4.69502414e-01 -6.13235590e-03 1.24116456e+02] [-4.69495813e-01 8.82930974e-01 -2.56441853e-03 1.02182390e+02] [ 6.61844766e-03 6.14964933e-04 -9.99977909e-01 2.68228751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:102.85, Z:1.79 [[-8.96591515e-01 4.42819238e-01 5.89734064e-03 1.23757286e+02] [-4.42808931e-01 -8.96610904e-01 3.02290782e-03 1.02851284e+02] [ 6.62622166e-03 9.89183970e-05 9.99978041e-01 1.78837334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:102.85, Z:1.79 [[-8.96129948e-01 4.43752549e-01 5.89850470e-03 1.23759770e+02] [-4.43742277e-01 -8.96149356e-01 3.02063472e-03 1.02853952e+02] [ 6.62635554e-03 8.94653303e-05 9.99978041e-01 1.78638149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:102.86, Z:1.78 [[-8.94418389e-01 4.47192284e-01 5.89966827e-03 1.23759004e+02] [-4.47182102e-01 -8.94437844e-01 3.01836041e-03 1.02857183e+02] [ 6.62667406e-03 6.14509972e-05 9.99978041e-01 1.78339923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:102.86, Z:1.78 [[-8.93233774e-01 4.49553787e-01 5.90068075e-03 1.23759499e+02] [-4.49543669e-01 -8.93253263e-01 3.01637978e-03 1.02860340e+02] [ 6.62682729e-03 4.17186219e-05 9.99978041e-01 1.78305603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:102.86, Z:1.78 [[-8.91962332e-01 4.52071197e-01 5.90183631e-03 1.23756808e+02] [-4.52061149e-01 -8.91981857e-01 3.01411713e-03 1.02863159e+02] [ 6.62692645e-03 2.04880412e-05 9.99978041e-01 1.78406989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:102.87, Z:1.79 [[-8.90490128e-01 4.54964270e-01 5.90298889e-03 1.23755507e+02] [-4.54954301e-01 -8.90509693e-01 3.01185817e-03 1.02866320e+02] [ 6.62695668e-03 -3.56021328e-06 9.99978041e-01 1.78511583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.27762800000005 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:123.75, Y:102.87, Z:1.78 [[-8.87312846e-01 4.61130193e-01 5.90413907e-03 1.23753527e+02] [-4.61120375e-01 -8.87332487e-01 3.00960179e-03 1.02870863e+02] [ 6.62675265e-03 -5.20604943e-05 9.99978041e-01 1.78467755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.75, Y:102.87, Z:1.79 [[-8.86452900e-01 4.62781141e-01 5.90528573e-03 1.23752025e+02] [-4.62771374e-01 -8.86472566e-01 3.00735018e-03 1.02872421e+02] [ 6.62661874e-03 -6.69229082e-05 9.99978041e-01 1.78680787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.75, Y:102.87, Z:1.79 [[-8.85356854e-01 4.64874559e-01 5.90643001e-03 1.23750168e+02] [-4.64864854e-01 -8.85376551e-01 3.00510113e-03 1.02873378e+02] [ 6.62640970e-03 -8.51048473e-05 9.99978041e-01 1.78680309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.75, Y:102.88, Z:1.79 [[-8.83552124e-01 4.68295574e-01 5.90757212e-03 1.23749856e+02] [-4.68285960e-01 -8.83571866e-01 3.00285423e-03 1.02879386e+02] [ 6.62598787e-03 -1.13254846e-04 9.99978042e-01 1.78686788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:102.88, Z:1.79 [[-8.82870845e-01 4.69578703e-01 5.90871093e-03 1.23744752e+02] [-4.69569133e-01 -8.82890608e-01 3.00061172e-03 1.02879973e+02] [ 6.62576875e-03 -1.25395662e-04 9.99978042e-01 1.78742752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:102.88, Z:1.79 [[-8.82393401e-01 4.70475338e-01 5.90267732e-03 1.23742599e+02] [-4.70465708e-01 -8.82413136e-01 3.01250201e-03 1.02883221e+02] [ 6.62590791e-03 -1.18795368e-04 9.99978041e-01 1.78612086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:102.88, Z:1.78 [[-8.83191143e-01 4.68975976e-01 5.91085064e-03 1.23743077e+02] [-4.68966421e-01 -8.83210914e-01 2.99637880e-03 1.02884043e+02] [ 6.62575747e-03 -1.25615252e-04 9.99978042e-01 1.78407923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:102.88, Z:1.78 [[-8.85068650e-01 4.65422962e-01 5.91198456e-03 1.23730282e+02] [-4.65413342e-01 -8.85088389e-01 2.99413984e-03 1.02876526e+02] [ 6.62617033e-03 -1.01497183e-04 9.99978042e-01 1.78458776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:102.88, Z:1.78 [[-8.88925382e-01 4.58013866e-01 5.91312120e-03 1.23734445e+02] [-4.58004096e-01 -8.88945047e-01 2.99189343e-03 1.02876676e+02] [ 6.62676847e-03 -4.86637230e-05 9.99978042e-01 1.78202019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:102.87, Z:1.78 [[-8.90750570e-01 4.54454009e-01 5.91411569e-03 1.23723479e+02] [-4.54444174e-01 -8.90770202e-01 2.98992630e-03 1.02870590e+02] [ 6.62690202e-03 -2.43568617e-05 9.99978042e-01 1.78058335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:102.87, Z:1.78 [[-8.92112400e-01 4.51774809e-01 5.91511431e-03 1.23727270e+02] [-4.51764928e-01 -8.92132009e-01 2.98794937e-03 1.02871869e+02] [ 6.62694307e-03 -6.65450604e-06 9.99978042e-01 1.77941301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:102.87, Z:1.78 [[-8.93255631e-01 4.49510151e-01 5.91616399e-03 1.23723369e+02] [-4.49500234e-01 -8.93275223e-01 2.98586956e-03 1.02869492e+02] [ 6.62694138e-03 7.82769796e-06 9.99978042e-01 1.77932182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.637628 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:123.72, Y:102.87, Z:1.78 [[-8.94026611e-01 4.47974782e-01 5.91730216e-03 1.23720620e+02] [-4.47964846e-01 -8.94046193e-01 2.98361227e-03 1.02867135e+02] [ 6.62692452e-03 1.66854110e-05 9.99978042e-01 1.77757460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.66762800000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:123.72, Y:102.87, Z:1.78 [[-8.94343237e-01 4.47342317e-01 5.91829721e-03 1.23722849e+02] [-4.47332381e-01 -8.94362818e-01 2.98163718e-03 1.02867614e+02] [ 6.62691745e-03 1.91610632e-05 9.99978042e-01 1.77826472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:102.87, Z:1.78 [[-8.94453924e-01 4.47120945e-01 5.91929069e-03 1.23719551e+02] [-4.47111017e-01 -8.94473510e-01 2.97966356e-03 1.02865520e+02] [ 6.62691871e-03 1.85916862e-05 9.99978042e-01 1.78154757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:102.86, Z:1.78 [[-8.93322314e-01 4.49377560e-01 5.92042687e-03 1.23714075e+02] [-4.49367696e-01 -8.93341933e-01 2.97740432e-03 1.02862751e+02] [ 6.62694427e-03 -6.66860963e-07 9.99978042e-01 1.78400674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.757628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:123.70, Y:102.86, Z:1.78 [[-8.92186038e-01 4.51629284e-01 5.92142044e-03 1.23703809e+02] [-4.51619483e-01 -8.92205688e-01 2.97542700e-03 1.02857851e+02] [ 6.62691497e-03 -1.95944115e-05 9.99978042e-01 1.78284364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:102.87, Z:1.79 [[-8.90230878e-01 4.55471083e-01 5.92256295e-03 1.23716249e+02] [-4.55461382e-01 -8.90250577e-01 2.97315112e-03 1.02865812e+02] [ 6.62674944e-03 -5.07077742e-05 9.99978042e-01 1.78733917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:102.87, Z:1.79 [[-8.89048483e-01 4.57774734e-01 5.92355721e-03 1.23716744e+02] [-4.57765097e-01 -8.89068214e-01 2.97116887e-03 1.02866993e+02] [ 6.62657247e-03 -7.00845686e-05 9.99978042e-01 1.78801879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:102.87, Z:1.79 [[-8.88005183e-01 4.59795278e-01 5.92426564e-03 1.23713495e+02] [-4.59785696e-01 -8.88024940e-01 2.96975564e-03 1.02866116e+02] [ 6.62637527e-03 -8.67341966e-05 9.99978042e-01 1.78872299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:102.86, Z:1.79 [[-8.87052957e-01 4.61629658e-01 5.92539468e-03 1.23711270e+02] [-4.61620132e-01 -8.87072741e-01 2.96750122e-03 1.02864274e+02] [ 6.62614268e-03 -1.02950742e-04 9.99978042e-01 1.79021650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:102.86, Z:1.79 [[-8.87048732e-01 4.61637762e-01 5.92652324e-03 1.23712434e+02] [-4.61628250e-01 -8.87068524e-01 2.96524562e-03 1.02864325e+02] [ 6.62610157e-03 -1.05533185e-04 9.99978042e-01 1.79015015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:102.86, Z:1.79 [[-8.87079095e-01 4.61579399e-01 5.92765019e-03 1.23711376e+02] [-4.61569901e-01 -8.87098894e-01 2.96299109e-03 1.02863522e+02] [ 6.62606757e-03 -1.07617458e-04 9.99978042e-01 1.78956617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:102.86, Z:1.79 [[-8.87435757e-01 4.60893292e-01 5.92877424e-03 1.23710726e+02] [-4.60883794e-01 -8.87455555e-01 2.96074022e-03 1.02862336e+02] [ 6.62610894e-03 -1.05009224e-04 9.99978042e-01 1.78704601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:102.86, Z:1.79 [[-8.88028594e-01 4.59749990e-01 5.92989669e-03 1.23700398e+02] [-4.59740481e-01 -8.88048387e-01 2.95849041e-03 1.02856102e+02] [ 6.62620113e-03 -9.89894760e-05 9.99978042e-01 1.78551269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.02762800000005 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:123.70, Y:102.86, Z:1.78 [[-8.88232133e-01 4.59356613e-01 5.93130914e-03 1.23704199e+02] [-4.59347115e-01 -8.88251931e-01 2.95565596e-03 1.02856823e+02] [ 6.62619690e-03 -9.92211462e-05 9.99978042e-01 1.78137123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:102.86, Z:1.78 [[-8.89640748e-01 4.56622541e-01 5.93243226e-03 1.23702627e+02] [-4.56612997e-01 -8.89660524e-01 2.95339996e-03 1.02855321e+02] [ 6.62643979e-03 -8.13607211e-05 9.99978042e-01 1.78246004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.08762800000005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:123.70, Y:102.85, Z:1.78 [[-8.89732463e-01 4.56443795e-01 5.93341099e-03 1.23701601e+02] [-4.56434261e-01 -8.89752244e-01 2.95143238e-03 1.02853279e+02] [ 6.62642874e-03 -8.22268539e-05 9.99978042e-01 1.77975488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:102.85, Z:1.78 [[-8.90264270e-01 4.55405658e-01 5.93438936e-03 1.23702558e+02] [-4.55396113e-01 -8.90284045e-01 2.94946389e-03 1.02852790e+02] [ 6.62649470e-03 -7.66955363e-05 9.99978042e-01 1.78026133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:102.85, Z:1.78 [[-8.90250539e-01 4.55432485e-01 5.93550790e-03 1.23700718e+02] [-4.55422956e-01 -8.90270322e-01 2.94721121e-03 1.02850302e+02] [ 6.62646225e-03 -7.94101885e-05 9.99978042e-01 1.77962050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.177628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:123.70, Y:102.85, Z:1.78 [[-8.89648067e-01 4.56608227e-01 5.93662431e-03 1.23699858e+02] [-4.56598739e-01 -8.89667870e-01 2.94496069e-03 1.02849045e+02] [ 6.62631718e-03 -9.06765885e-05 9.99978042e-01 1.77720537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.207628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:123.70, Y:102.85, Z:1.78 [[-8.89276327e-01 4.57331783e-01 5.93759847e-03 1.23695789e+02] [-4.57322324e-01 -8.89296144e-01 2.94299527e-03 1.02847331e+02] [ 6.62620870e-03 -9.82603030e-05 9.99978042e-01 1.77709882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.23762800000003 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:123.70, Y:102.85, Z:1.78 [[-8.88264501e-01 4.59293923e-01 5.93871419e-03 1.23699063e+02] [-4.59284523e-01 -8.88284346e-01 2.94074212e-03 1.02850496e+02] [ 6.62593184e-03 -1.15402679e-04 9.99978042e-01 1.77738858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:102.85, Z:1.78 [[-8.88278561e-01 4.59266716e-01 5.93982741e-03 1.23696513e+02] [-4.59257330e-01 -8.88298413e-01 2.93849188e-03 1.02850799e+02] [ 6.62589077e-03 -1.17709935e-04 9.99978042e-01 1.78046229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.29762800000003 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:123.69, Y:102.85, Z:1.78 [[-8.87597026e-01 4.60582483e-01 5.94093686e-03 1.23694391e+02] [-4.60573142e-01 -8.87616899e-01 2.93624711e-03 1.02849475e+02] [ 6.62565994e-03 -1.30031751e-04 9.99978042e-01 1.77804518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.79, Y:102.00, Z:2.70 [[-8.69123148e-01 -4.94560053e-01 -5.94204547e-03 1.23786686e+02] [-4.94551503e-01 8.69143373e-01 -2.93400193e-03 1.02001679e+02] [ 6.61552959e-03 3.88638525e-04 -9.99978042e-01 2.69544874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:102.87, Z:1.78 [[-8.49445526e-01 5.27645818e-01 5.67345928e-03 1.23637532e+02] [-5.27634973e-01 -8.49464464e-01 3.38512884e-03 1.02868788e+02] [ 6.60555113e-03 -1.18032984e-04 9.99978176e-01 1.78048261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:102.87, Z:1.78 [[-8.51118067e-01 5.24943588e-01 5.68025712e-03 1.23635411e+02] [-5.24932759e-01 -8.51137014e-01 3.37368335e-03 1.02868263e+02] [ 6.60567053e-03 -1.10350189e-04 9.99978176e-01 1.78146400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.63, Y:102.87, Z:1.78 [[-8.52520454e-01 5.22662986e-01 5.68153208e-03 1.23630473e+02] [-5.22652120e-01 -8.52539380e-01 3.37153485e-03 1.02865544e+02] [ 6.60590631e-03 -9.51623674e-05 9.99978176e-01 1.78421472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.63, Y:102.86, Z:1.79 [[-8.54057959e-01 5.20146815e-01 5.68280750e-03 1.23626096e+02] [-5.20135908e-01 -8.54076861e-01 3.36938373e-03 1.02863298e+02] [ 6.60612860e-03 -7.81832436e-05 9.99978176e-01 1.78519798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.62, Y:102.86, Z:1.79 [[-8.57418152e-01 5.14588966e-01 5.68408502e-03 1.23617903e+02] [-5.14577951e-01 -8.57436991e-01 3.36722719e-03 1.02859805e+02] [ 6.60648272e-03 -3.77831121e-05 9.99978176e-01 1.78667008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.507628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:123.61, Y:102.86, Z:1.78 [[-8.59110840e-01 5.11757991e-01 5.68536575e-03 1.23613233e+02] [-5.11746928e-01 -8.59129651e-01 3.36506337e-03 1.02856441e+02] [ 6.60656436e-03 -1.85060378e-05 9.99978176e-01 1.78473207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.53762800000004 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:123.61, Y:102.86, Z:1.78 [[-8.60951381e-01 5.08655465e-01 5.68665031e-03 1.23614252e+02] [-5.08644349e-01 -8.60970161e-01 3.36289117e-03 1.02856037e+02] [ 6.60658921e-03 2.80325123e-06 9.99978176e-01 1.78412165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.61, Y:102.85, Z:1.79 [[-8.62764853e-01 5.05573393e-01 5.68793405e-03 1.23607549e+02] [-5.05562224e-01 -8.62783602e-01 3.36071848e-03 1.02851037e+02] [ 6.60654607e-03 2.39051967e-05 9.99978176e-01 1.78551731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:102.85, Z:1.78 [[-8.64694909e-01 5.02265216e-01 5.68921639e-03 1.23604196e+02] [-5.02253989e-01 -8.64713623e-01 3.35854626e-03 1.02848463e+02] [ 6.60642388e-03 4.66862203e-05 9.99978176e-01 1.78459047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:102.85, Z:1.79 [[-8.65166098e-01 5.01453130e-01 5.69050379e-03 1.23603798e+02] [-5.01441900e-01 -8.65184810e-01 3.35636355e-03 1.02849546e+02] [ 6.60639645e-03 5.03549262e-05 9.99978176e-01 1.78538755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:102.85, Z:1.79 [[-8.64128467e-01 5.03239105e-01 5.69178972e-03 1.23599731e+02] [-5.03227928e-01 -8.64147211e-01 3.35418143e-03 1.02850946e+02] [ 6.60649947e-03 3.41761125e-05 9.99978176e-01 1.78700201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:102.85, Z:1.79 [[-8.63354521e-01 5.04565714e-01 5.69307395e-03 1.23596693e+02] [-5.04554580e-01 -8.63373291e-01 3.35200027e-03 1.02851262e+02] [ 6.60655240e-03 2.14980516e-05 9.99978176e-01 1.78825533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:102.85, Z:1.79 [[-8.62504067e-01 5.06018092e-01 5.69436231e-03 1.23596131e+02] [-5.06007004e-01 -8.62522864e-01 3.34981018e-03 1.02853116e+02] [ 6.60658224e-03 7.83769497e-06 9.99978176e-01 1.78906718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.59, Y:102.85, Z:1.79 [[-8.62697513e-01 5.05688205e-01 5.69564401e-03 1.23594135e+02] [-5.05677124e-01 -8.62716315e-01 3.34762950e-03 1.02851858e+02] [ 6.60658176e-03 7.83476556e-06 9.99978176e-01 1.78908382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.59, Y:102.85, Z:1.79 [[-8.60865406e-01 5.08800843e-01 5.69692339e-03 1.23592000e+02] [-5.08789844e-01 -8.60884256e-01 3.34545086e-03 1.02854168e+02] [ 6.60655987e-03 -1.85538564e-05 9.99978176e-01 1.78964171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.59, Y:102.85, Z:1.79 [[-8.60131373e-01 5.10040735e-01 5.69820109e-03 1.23591087e+02] [-5.10029778e-01 -8.60150247e-01 3.34327318e-03 1.02854589e+02] [ 6.60651458e-03 -3.05980881e-05 9.99978176e-01 1.78973660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:102.85, Z:1.79 [[-8.59832411e-01 5.10544554e-01 5.69947648e-03 1.23584118e+02] [-5.10533623e-01 -8.59851299e-01 3.34109753e-03 1.02850635e+02] [ 6.60648140e-03 -3.69904322e-05 9.99978176e-01 1.78976630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:102.85, Z:1.79 [[-8.59719394e-01 5.10734829e-01 5.70075294e-03 1.23583586e+02] [-5.10723917e-01 -8.59738293e-01 3.33891815e-03 1.02848739e+02] [ 6.60645739e-03 -4.09781840e-05 9.99978176e-01 1.78918440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:102.85, Z:1.79 [[-8.60050051e-01 5.10177809e-01 5.70203090e-03 1.23583976e+02] [-5.10166898e-01 -8.60068952e-01 3.33673429e-03 1.02847569e+02] [ 6.60646752e-03 -3.92289175e-05 9.99978176e-01 1.78876487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.59, Y:102.85, Z:1.79 [[-8.60364311e-01 5.09647647e-01 5.70330654e-03 1.23585785e+02] [-5.09636740e-01 -8.60383214e-01 3.33455248e-03 1.02847648e+02] [ 6.60647603e-03 -3.76846058e-05 9.99978176e-01 1.78792277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:102.84, Z:1.79 [[-8.60476554e-01 5.09458102e-01 5.70457817e-03 1.23581782e+02] [-5.09447205e-01 -8.60495463e-01 3.33237561e-03 1.02844609e+02] [ 6.60646938e-03 -3.87503252e-05 9.99978176e-01 1.78742990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:102.84, Z:1.79 [[-8.60304124e-01 5.09749210e-01 5.70584856e-03 1.23580979e+02] [-5.09738334e-01 -8.60323044e-01 3.33019898e-03 1.02843087e+02] [ 6.60643930e-03 -4.35058243e-05 9.99978176e-01 1.78715848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:102.84, Z:1.79 [[-8.60274390e-01 5.09799375e-01 5.70711895e-03 1.23578880e+02] [-5.09788514e-01 -8.60293319e-01 3.32802041e-03 1.02840873e+02] [ 6.60641903e-03 -4.64129618e-05 9.99978176e-01 1.78747976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:102.84, Z:1.79 [[-8.60077403e-01 5.10131626e-01 5.70838852e-03 1.23581001e+02] [-5.10120787e-01 -8.60096344e-01 3.32584136e-03 1.02840233e+02] [ 6.60638096e-03 -5.14866480e-05 9.99978176e-01 1.78813560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:102.84, Z:1.79 [[-8.60361715e-01 5.09651959e-01 5.70965982e-03 1.23578935e+02] [-5.09641124e-01 -8.60380659e-01 3.32365742e-03 1.02838197e+02] [ 6.60638939e-03 -5.03298492e-05 9.99978176e-01 1.78804955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.57, Y:102.83, Z:1.79 [[-8.61189715e-01 5.08251572e-01 5.71092457e-03 1.23574088e+02] [-5.08240721e-01 -8.61208649e-01 3.32148281e-03 1.02834407e+02] [ 6.60644650e-03 -4.20975845e-05 9.99978176e-01 1.78724998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.57, Y:102.83, Z:1.79 [[-8.61681675e-01 5.07417050e-01 5.71219018e-03 1.23574642e+02] [-5.07406195e-01 -8.61700607e-01 3.31930483e-03 1.02834156e+02] [ 6.60646961e-03 -3.82165391e-05 9.99978176e-01 1.78624213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.57, Y:102.83, Z:1.79 [[-8.62129076e-01 5.06656504e-01 5.71345558e-03 1.23573318e+02] [-5.06645646e-01 -8.62148007e-01 3.31712530e-03 1.02832756e+02] [ 6.60648744e-03 -3.49072246e-05 9.99978176e-01 1.78555343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.57, Y:102.83, Z:1.78 [[-8.62468356e-01 5.06078726e-01 5.71471868e-03 1.23568367e+02] [-5.06067870e-01 -8.62487288e-01 3.31494780e-03 1.02829569e+02] [ 6.60649678e-03 -3.29979332e-05 9.99978176e-01 1.78451686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.57, Y:102.83, Z:1.78 [[-8.62495606e-01 5.06032268e-01 5.71598241e-03 1.23568786e+02] [-5.06021426e-01 -8.62514546e-01 3.31276730e-03 1.02829880e+02] [ 6.60648513e-03 -3.51623270e-05 9.99978176e-01 1.78264213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.257628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:123.57, Y:102.83, Z:1.78 [[-8.62228163e-01 5.06487816e-01 5.71724531e-03 1.23566751e+02] [-5.06476998e-01 -8.62247117e-01 3.31058633e-03 1.02828947e+02] [ 6.60644993e-03 -4.11724770e-05 9.99978176e-01 1.78020465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.28762800000004 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:123.57, Y:102.83, Z:1.78 [[-8.62014827e-01 5.06850802e-01 5.71850593e-03 1.23565553e+02] [-5.06840007e-01 -8.62033794e-01 3.30840738e-03 1.02828625e+02] [ 6.60641430e-03 -4.64713630e-05 9.99978176e-01 1.78002476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.56, Y:102.83, Z:1.78 [[-8.61596030e-01 5.07562376e-01 5.71976529e-03 1.23561085e+02] [-5.07551611e-01 -8.61615013e-01 3.30622869e-03 1.02827782e+02] [ 6.60635294e-03 -5.44425765e-05 9.99978176e-01 1.78298068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.34762800000004 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:123.56, Y:102.83, Z:1.78 [[-8.61424748e-01 5.07853004e-01 5.72102424e-03 1.23559795e+02] [-5.07842259e-01 -8.61443743e-01 3.30404879e-03 1.02828207e+02] [ 6.60631164e-03 -5.91884854e-05 9.99978176e-01 1.78152040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.56, Y:102.83, Z:1.78 [[-8.61996342e-01 5.06882198e-01 5.72228237e-03 1.23556934e+02] [-5.06871446e-01 -8.62015333e-01 3.30186841e-03 1.02828043e+02] [ 6.60635346e-03 -5.42630510e-05 9.99978176e-01 1.78431331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:102.83, Z:1.78 [[-8.62582406e-01 5.05884210e-01 5.72353924e-03 1.23554698e+02] [-5.05873451e-01 -8.62601393e-01 3.29968827e-03 1.02826727e+02] [ 6.60639312e-03 -4.91334969e-05 9.99978176e-01 1.78445646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:102.82, Z:1.78 [[-8.63094955e-01 5.05009233e-01 5.72479570e-03 1.23550182e+02] [-5.04998470e-01 -8.63113939e-01 3.29750694e-03 1.02823873e+02] [ 6.60642242e-03 -4.49514677e-05 9.99978176e-01 1.78429788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:102.82, Z:1.78 [[-8.63616605e-01 5.04116625e-01 5.72605278e-03 1.23546241e+02] [-5.04105857e-01 -8.63635587e-01 3.29532260e-03 1.02819884e+02] [ 6.60644986e-03 -4.06414246e-05 9.99978176e-01 1.78378228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:102.82, Z:1.78 [[-8.63680549e-01 5.04007050e-01 5.72731173e-03 1.23547490e+02] [-5.03996293e-01 -8.63699538e-01 3.29313306e-03 1.02819871e+02] [ 6.60643878e-03 -4.23289084e-05 9.99978176e-01 1.78380144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:102.82, Z:1.78 [[-8.63490437e-01 5.04332676e-01 5.72856943e-03 1.23547359e+02] [-5.04321941e-01 -8.63509438e-01 3.29094378e-03 1.02819586e+02] [ 6.60640425e-03 -4.73447723e-05 9.99978176e-01 1.78436033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:102.82, Z:1.78 [[-8.63097011e-01 5.05005662e-01 5.72982400e-03 1.23545004e+02] [-5.04994956e-01 -8.63116028e-01 3.28875800e-03 1.02818455e+02] [ 6.60634435e-03 -5.50150212e-05 9.99978176e-01 1.78490164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:102.82, Z:1.79 [[-8.61445242e-01 5.07818127e-01 5.73107672e-03 1.23546176e+02] [-5.07807497e-01 -8.61464302e-01 3.28657355e-03 1.02818661e+02] [ 6.60609962e-03 -7.90805801e-05 9.99978176e-01 1.78537276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:102.82, Z:1.78 [[-8.60536673e-01 5.09356235e-01 5.73232735e-03 1.23544024e+02] [-5.09345654e-01 -8.60555761e-01 3.28439079e-03 1.02816892e+02] [ 6.60591225e-03 -9.33972985e-05 9.99978176e-01 1.78492471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:102.82, Z:1.78 [[-8.58974469e-01 5.11986315e-01 5.73357571e-03 1.23545710e+02] [-5.11975808e-01 -8.58993597e-01 3.28221007e-03 1.02817744e+02] [ 6.60555146e-03 -1.16117395e-04 9.99978176e-01 1.78404441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:102.82, Z:1.78 [[-8.58314926e-01 5.13091220e-01 5.73482139e-03 1.23544027e+02] [-5.13080751e-01 -8.58334075e-01 3.28003212e-03 1.02816226e+02] [ 6.60534829e-03 -1.27125942e-04 9.99978176e-01 1.78322502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:102.81, Z:1.78 [[-8.57559646e-01 5.14352555e-01 5.73606399e-03 1.23542420e+02] [-5.14342129e-01 -8.57578818e-01 3.27785763e-03 1.02814450e+02] [ 6.60510143e-03 -1.39340940e-04 9.99978176e-01 1.78194652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:102.81, Z:1.78 [[-8.56345897e-01 5.16370785e-01 5.73730577e-03 1.23543482e+02] [-5.16360419e-01 -8.56365102e-01 3.27568267e-03 1.02814183e+02] [ 6.60469528e-03 -1.57400193e-04 9.99978176e-01 1.77828915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:102.81, Z:1.78 [[-8.56148440e-01 5.16698091e-01 5.73854550e-03 1.23544274e+02] [-5.16687747e-01 -8.56167657e-01 3.27350940e-03 1.02813830e+02] [ 6.60457311e-03 -1.62426172e-04 9.99978176e-01 1.77693279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.79762800000003 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:123.54, Y:102.81, Z:1.77 [[-8.56147881e-01 5.16699003e-01 5.73978157e-03 1.23542864e+02] [-5.16688674e-01 -8.56167106e-01 3.27134064e-03 1.02812008e+02] [ 6.60451062e-03 -1.64928766e-04 9.99978176e-01 1.77316503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:102.81, Z:1.78 [[-8.57781293e-01 5.13982777e-01 5.74101559e-03 1.23538821e+02] [-5.13972401e-01 -8.57800492e-01 3.26917356e-03 1.02808624e+02] [ 6.60494490e-03 -1.46487646e-04 9.99978176e-01 1.77596105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:102.80, Z:1.78 [[-8.59165873e-01 5.11664956e-01 5.74240686e-03 1.23529408e+02] [-5.11654545e-01 -8.59185053e-01 3.26672793e-03 1.02802641e+02] [ 6.60526034e-03 -1.31467419e-04 9.99978176e-01 1.77576332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:102.80, Z:1.78 [[-8.62841620e-01 5.05441736e-01 5.74364442e-03 1.23531750e+02] [-5.05431201e-01 -8.62860733e-01 3.26455057e-03 1.02801349e+02] [ 6.60600534e-03 -8.62269959e-05 9.99978176e-01 1.77646852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:102.80, Z:1.78 [[-8.65100758e-01 5.01565226e-01 5.74488339e-03 1.23525801e+02] [-5.01554619e-01 -8.65119830e-01 3.26236879e-03 1.02796507e+02] [ 6.60630328e-03 -5.90950943e-05 9.99978176e-01 1.77653086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.947628 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:123.55, Y:102.80, Z:1.77 [[-8.63071539e-01 5.05049008e-01 5.74612255e-03 1.23550057e+02] [-5.05038493e-01 -8.63090663e-01 3.26018475e-03 1.02804484e+02] [ 6.60597780e-03 -8.82404044e-05 9.99978176e-01 1.77269287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.51, Y:102.79, Z:1.78 [[-8.71262726e-01 4.90783756e-01 5.70681718e-03 1.23514209e+02] [-4.90772472e-01 -8.71281410e-01 3.32945267e-03 1.02787573e+02] [ 6.60628501e-03 1.00079232e-04 9.99978173e-01 1.77896521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.51, Y:102.79, Z:1.78 [[-8.72835138e-01 4.87981335e-01 5.74791621e-03 1.23513199e+02] [-4.87970468e-01 -8.72854063e-01 3.25691985e-03 1.02786695e+02] [ 6.60640811e-03 3.79407221e-05 9.99978177e-01 1.77914364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.51, Y:102.78, Z:1.78 [[-8.74174283e-01 4.85578284e-01 5.74916462e-03 1.23509501e+02] [-4.85567379e-01 -8.74193187e-01 3.25471464e-03 1.02784184e+02] [ 6.60629929e-03 5.35810491e-05 9.99978177e-01 1.77870096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:102.78, Z:1.78 [[-8.75551863e-01 4.83089917e-01 5.75041260e-03 1.23500824e+02] [-4.83078973e-01 -8.75570744e-01 3.25250822e-03 1.02780746e+02] [ 6.60614696e-03 6.98362204e-05 9.99978177e-01 1.77811517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:102.78, Z:1.78 [[-8.75693853e-01 4.82832470e-01 5.75166389e-03 1.23503634e+02] [-4.82821534e-01 -8.75712739e-01 3.25029395e-03 1.02783304e+02] [ 6.60615280e-03 6.92352450e-05 9.99978177e-01 1.77796944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:102.78, Z:1.78 [[-8.74904145e-01 4.84261955e-01 5.75291476e-03 1.23499798e+02] [-4.84251066e-01 -8.74923057e-01 3.24807845e-03 1.02784577e+02] [ 6.60627859e-03 5.59021950e-05 9.99978177e-01 1.77714466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:102.79, Z:1.78 [[-8.74107449e-01 4.85698525e-01 5.75416206e-03 1.23497443e+02] [-4.85687680e-01 -8.74126388e-01 3.24586728e-03 1.02785636e+02] [ 6.60637784e-03 4.25111453e-05 9.99978177e-01 1.77689050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:102.79, Z:1.78 [[-8.73030650e-01 4.87631376e-01 5.75540851e-03 1.23494260e+02] [-4.87620588e-01 -8.73049621e-01 3.24365563e-03 1.02786193e+02] [ 6.60646547e-03 2.53551026e-05 9.99978177e-01 1.77643721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:102.79, Z:1.78 [[-8.71173821e-01 4.90940968e-01 5.75665350e-03 1.23495788e+02] [-4.90930267e-01 -8.71192841e-01 3.24144459e-03 1.02789670e+02] [ 6.60651326e-03 -2.25376996e-06 9.99978177e-01 1.77545304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:102.79, Z:1.78 [[-8.70905744e-01 4.91416361e-01 5.75719920e-03 1.23493656e+02] [-4.91405677e-01 -8.70924773e-01 3.24047506e-03 1.02787496e+02] [ 6.60650987e-03 -6.97202752e-06 9.99978177e-01 1.77551360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:102.79, Z:1.78 [[-8.69619674e-01 4.93688628e-01 5.75859540e-03 1.23493539e+02] [-4.93678010e-01 -8.69638740e-01 3.23799200e-03 1.02785433e+02] [ 6.60645747e-03 -2.70703733e-05 9.99978177e-01 1.77539909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:102.78, Z:1.78 [[-8.68814815e-01 4.95103667e-01 5.75983142e-03 1.23491094e+02] [-4.95093095e-01 -8.68833906e-01 3.23579184e-03 1.02782595e+02] [ 6.60638924e-03 -4.03488746e-05 9.99978177e-01 1.77521322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:102.78, Z:1.77 [[-8.67949335e-01 4.96619333e-01 5.76106659e-03 1.23492445e+02] [-4.96608808e-01 -8.67968453e-01 3.23359121e-03 1.02781899e+02] [ 6.60628797e-03 -5.44030707e-05 9.99978177e-01 1.77480506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.367628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:123.52, Y:102.79, Z:1.77 [[-8.63492296e-01 5.04329110e-01 5.76230010e-03 1.23518831e+02] [-5.04318771e-01 -8.63511515e-01 3.23139158e-03 1.02792130e+02] [ 6.60549733e-03 -1.15754368e-04 9.99978177e-01 1.77204176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:102.78, Z:1.78 [[-8.66487446e-01 4.99165985e-01 5.72931760e-03 1.23488474e+02] [-4.99155141e-01 -8.66506388e-01 3.29020833e-03 1.02778636e+02] [ 6.60685037e-03 -8.89412113e-06 9.99978175e-01 1.77641722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.427628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:123.49, Y:102.78, Z:1.77 [[-8.66179817e-01 4.99699211e-01 5.76388854e-03 1.23490657e+02] [-4.99688789e-01 -8.66198991e-01 3.22848812e-03 1.02776615e+02] [ 6.60594740e-03 -8.36992348e-05 9.99978177e-01 1.77299347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:102.77, Z:1.78 [[-8.66213463e-01 4.99640871e-01 5.76511827e-03 1.23482343e+02] [-4.99630462e-01 -8.66232643e-01 3.22629069e-03 1.02770342e+02] [ 6.60592033e-03 -8.57722809e-05 9.99978177e-01 1.77561211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:102.77, Z:1.78 [[-8.65792918e-01 5.00369236e-01 5.76634900e-03 1.23488093e+02] [-5.00358858e-01 -8.65812115e-01 3.22408951e-03 1.02772776e+02] [ 6.60581003e-03 -9.38499366e-05 9.99978177e-01 1.77603691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:102.77, Z:1.78 [[-8.65087772e-01 5.01587362e-01 5.76757888e-03 1.23484494e+02] [-5.01577025e-01 -8.65106992e-01 3.22188786e-03 1.02770206e+02] [ 6.60563105e-03 -1.05669263e-04 9.99978177e-01 1.77688465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:102.77, Z:1.78 [[-8.63099204e-01 5.05001471e-01 5.76880488e-03 1.23487598e+02] [-5.04991224e-01 -8.63118472e-01 3.21969122e-03 1.02770911e+02] [ 6.60511085e-03 -1.34282910e-04 9.99978177e-01 1.77794862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:102.77, Z:1.78 [[-8.62121464e-01 5.06668816e-01 5.77002862e-03 1.23487388e+02] [-5.06658622e-01 -8.62140759e-01 3.21749664e-03 1.02769982e+02] [ 6.60478207e-03 -1.49561838e-04 9.99978177e-01 1.77813347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:102.77, Z:1.78 [[-8.60637601e-01 5.09185244e-01 5.77124851e-03 1.23489072e+02] [-5.09175121e-01 -8.60656934e-01 3.21530703e-03 1.02769600e+02] [ 6.60425194e-03 -1.71362035e-04 9.99978177e-01 1.77835041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:102.77, Z:1.78 [[-8.60830087e-01 5.08859746e-01 5.77246478e-03 1.23487040e+02] [-5.08849630e-01 -8.60849424e-01 3.21312197e-03 1.02768385e+02] [ 6.60425141e-03 -1.71364500e-04 9.99978177e-01 1.77836705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:102.77, Z:1.78 [[-8.60464795e-01 5.09477184e-01 5.77367901e-03 1.23486301e+02] [-5.09467097e-01 -8.60484147e-01 3.21093862e-03 1.02766766e+02] [ 6.60405923e-03 -1.78599839e-04 9.99978177e-01 1.77821662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:102.76, Z:1.78 [[-8.60223492e-01 5.09884491e-01 5.77489202e-03 1.23485415e+02] [-5.09874428e-01 -8.60242856e-01 3.20875554e-03 1.02764389e+02] [ 6.60390429e-03 -1.84222869e-04 9.99978177e-01 1.77759378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:102.76, Z:1.78 [[-8.60085529e-01 5.10117163e-01 5.77610362e-03 1.23485664e+02] [-5.10107119e-01 -8.60104903e-01 3.20657305e-03 1.02762509e+02] [ 6.60378299e-03 -1.88504497e-04 9.99978177e-01 1.77666926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:102.76, Z:1.78 [[-8.59891804e-01 5.10443639e-01 5.77731319e-03 1.23485663e+02] [-5.10433618e-01 -8.59911189e-01 3.20439227e-03 1.02759397e+02] [ 6.60363791e-03 -1.93504228e-04 9.99978177e-01 1.77556822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.78762800000004 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:123.48, Y:102.76, Z:1.77 [[-8.60550837e-01 5.09331783e-01 5.77852096e-03 1.23484022e+02] [-5.09321751e-01 -8.60570218e-01 3.20221280e-03 1.02756078e+02] [ 6.60381179e-03 -1.87459510e-04 9.99978177e-01 1.77372462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:102.75, Z:1.78 [[-8.61730118e-01 5.07334010e-01 5.77972791e-03 1.23481171e+02] [-5.07323948e-01 -8.61749483e-01 3.20003287e-03 1.02752808e+02] [ 6.60416305e-03 -1.74629673e-04 9.99978177e-01 1.77596024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:102.76, Z:1.77 [[-8.59132340e-01 5.11720825e-01 5.78093501e-03 1.23502269e+02] [-5.11710877e-01 -8.59151763e-01 3.19785072e-03 1.02758119e+02] [ 6.60310732e-03 -2.10790350e-04 9.99978177e-01 1.77476972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:102.75, Z:1.78 [[-8.59446803e-01 5.11192934e-01 5.74247319e-03 1.23498912e+02] [-5.11182508e-01 -8.59465978e-01 3.26735237e-03 1.02752634e+02] [ 6.60570779e-03 -1.27336298e-04 9.99978174e-01 1.77579599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.47, Y:102.74, Z:1.78 [[-8.69948929e-01 4.93108544e-01 5.72925474e-03 1.23469816e+02] [-4.93097562e-01 -8.69967794e-01 3.29124831e-03 1.02739624e+02] [ 6.60720977e-03 3.81364007e-05 9.99978171e-01 1.77890522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.47, Y:102.74, Z:1.78 [[-8.72887637e-01 4.87887002e-01 5.78330235e-03 1.23465446e+02] [-4.87876552e-01 -8.72906795e-01 3.19336622e-03 1.02735424e+02] [ 6.60628579e-03 -3.40877123e-05 9.99978178e-01 1.77891409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.46, Y:102.73, Z:1.78 [[-8.75616223e-01 4.82972846e-01 5.78451869e-03 1.23458415e+02] [-4.82962303e-01 -8.75635329e-01 3.19116140e-03 1.02729924e+02] [ 6.60637323e-03 5.28216611e-07 9.99978178e-01 1.77908839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:102.72, Z:1.78 [[-8.80127243e-01 4.74702603e-01 5.78573863e-03 1.23452319e+02] [-4.74691895e-01 -8.80146258e-01 3.18894805e-03 1.02723819e+02] [ 6.60609814e-03 6.02368148e-05 9.99978178e-01 1.77850135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.78, Y:102.07, Z:2.70 [[-8.31506961e-01 -5.55484161e-01 -5.78976781e-03 1.23778232e+02] [-5.55475342e-01 8.31526922e-01 -3.18162943e-03 1.02067656e+02] [ 6.58169256e-03 5.70526235e-04 -9.99978178e-01 2.69867847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.057628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:123.35, Y:102.70, Z:1.77 [[-8.47037904e-01 5.31503804e-01 5.52230932e-03 1.23349548e+02] [-5.31491672e-01 -8.47055898e-01 3.59273509e-03 1.02702423e+02] [ 6.58725705e-03 1.08121388e-04 9.99978298e-01 1.77335268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.35, Y:102.70, Z:1.78 [[-8.48065176e-01 5.29863140e-01 5.52369511e-03 1.23347974e+02] [-5.29850987e-01 -8.48083156e-01 3.59060323e-03 1.02702770e+02] [ 6.58708108e-03 1.18330254e-04 9.99978298e-01 1.77617756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:102.05, Z:2.70 [[-7.86957535e-01 -6.16982423e-01 -5.52517852e-03 1.23705675e+02] [-6.16972265e-01 7.86976714e-01 -3.58831924e-03 1.02053395e+02] [ 6.56211673e-03 5.85027045e-04 -9.99978298e-01 2.70256679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.23, Y:102.67, Z:1.77 [[-8.08953835e-01 5.87848784e-01 5.24393554e-03 1.23231443e+02] [-5.87835454e-01 -8.08970823e-01 3.96068529e-03 1.02666138e+02] [ 6.57047488e-03 1.21440330e-04 9.99978407e-01 1.77409616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.23, Y:102.67, Z:1.77 [[-8.08340817e-01 5.88691437e-01 5.24546389e-03 1.23228956e+02] [-5.88678138e-01 -8.08357829e-01 3.95866013e-03 1.02669843e+02] [ 6.57064113e-03 1.12056648e-04 9.99978407e-01 1.77209943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.23, Y:102.67, Z:1.77 [[-8.07802131e-01 5.89430392e-01 5.24699044e-03 1.23225543e+02] [-5.89417121e-01 -8.07819165e-01 3.95663575e-03 1.02669659e+02] [ 6.57078079e-03 1.03512792e-04 9.99978407e-01 1.77080585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.22, Y:102.67, Z:1.77 [[-8.06148511e-01 5.91689979e-01 5.24851493e-03 1.23222677e+02] [-5.91676769e-01 -8.06165592e-01 3.95461246e-03 1.02673163e+02] [ 6.57107671e-03 8.25805816e-05 9.99978407e-01 1.76779509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.267628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:123.22, Y:102.67, Z:1.76 [[-8.04752125e-01 5.93587781e-01 5.25003762e-03 1.23216882e+02] [-5.93574625e-01 -8.04769247e-01 3.95258994e-03 1.02672138e+02] [ 6.57127792e-03 6.45660394e-05 9.99978407e-01 1.76474882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.29762800000003 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:123.22, Y:102.68, Z:1.76 [[-8.03919253e-01 5.94715323e-01 5.24588927e-03 1.23218883e+02] [-5.94702154e-01 -8.03936366e-01 3.95810243e-03 1.02677242e+02] [ 6.57130532e-03 6.22531019e-05 9.99978407e-01 1.76273647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.24, Y:102.69, Z:1.76 [[-7.97124369e-01 6.03792313e-01 5.25194097e-03 1.23236684e+02] [-6.03779393e-01 -7.97141670e-01 3.95005617e-03 1.02692299e+02] [ 6.57155455e-03 -2.23276944e-05 9.99978407e-01 1.76447991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:102.68, Z:1.77 [[-8.02224234e-01 5.97000181e-01 5.20217529e-03 1.23209800e+02] [-5.96986683e-01 -8.02241092e-01 4.01621670e-03 1.02679705e+02] [ 6.57108088e-03 1.16276994e-04 9.99978403e-01 1.76835955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:102.68, Z:1.77 [[-8.02467487e-01 5.96672706e-01 5.25488335e-03 1.23212677e+02] [-5.96659659e-01 -8.02484692e-01 3.94602594e-03 1.02678867e+02] [ 6.57144942e-03 3.11806089e-05 9.99978407e-01 1.77003148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:102.67, Z:1.77 [[-8.02982886e-01 5.95978904e-01 5.25639717e-03 1.23209908e+02] [-5.95965855e-01 -8.03000090e-01 3.94400839e-03 1.02674646e+02] [ 6.57143320e-03 3.43380085e-05 9.99978407e-01 1.77032007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:102.67, Z:1.77 [[-8.03364184e-01 5.95464812e-01 5.25790970e-03 1.23211350e+02] [-5.95451765e-01 -8.03381389e-01 3.94199094e-03 1.02671510e+02] [ 6.57142370e-03 3.60227249e-05 9.99978407e-01 1.76993897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:102.67, Z:1.77 [[-8.03532209e-01 5.95238043e-01 5.25942681e-03 1.23209800e+02] [-5.95225005e-01 -8.03549420e-01 3.93996577e-03 1.02669470e+02] [ 6.57142688e-03 3.53470476e-05 9.99978407e-01 1.76953002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:102.67, Z:1.77 [[-8.03491183e-01 5.95293408e-01 5.26093729e-03 1.23208204e+02] [-5.95280384e-01 -8.03508405e-01 3.93794784e-03 1.02668321e+02] [ 6.57144172e-03 3.23735934e-05 9.99978407e-01 1.76951523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:102.67, Z:1.77 [[-8.03101072e-01 5.95819583e-01 5.26244699e-03 1.23206976e+02] [-5.95806583e-01 -8.03118313e-01 3.93592932e-03 1.02668347e+02] [ 6.57147131e-03 2.55484984e-05 9.99978407e-01 1.76900918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.20, Y:102.67, Z:1.77 [[-8.01564302e-01 5.97885408e-01 5.26395467e-03 1.23204778e+02] [-5.97872466e-01 -8.01581586e-01 3.93391190e-03 1.02669440e+02] [ 6.57151765e-03 6.10978492e-06 9.99978407e-01 1.76756064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.59762800000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.21, Y:102.67, Z:1.77 [[-8.00466819e-01 5.99353941e-01 5.26546007e-03 1.23205025e+02] [-5.99341043e-01 -8.00484137e-01 3.93189592e-03 1.02671279e+02] [ 6.57151457e-03 -8.45411020e-06 9.99978407e-01 1.76509985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.20, Y:102.67, Z:1.77 [[-8.00617101e-01 5.99153167e-01 5.26696725e-03 1.23198601e+02] [-5.99140279e-01 -8.00634425e-01 3.92987595e-03 1.02667043e+02] [ 6.57151291e-03 -9.32633730e-06 9.99978407e-01 1.76524702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.20, Y:102.67, Z:1.76 [[-8.01027875e-01 5.98603865e-01 5.26846936e-03 1.23200799e+02] [-5.98590978e-01 -8.01045200e-01 3.92786115e-03 1.02668743e+02] [ 6.57151496e-03 -7.33195133e-06 9.99978407e-01 1.76492651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.20, Y:102.67, Z:1.77 [[-8.01937610e-01 5.97384547e-01 5.26997070e-03 1.23198272e+02] [-5.97371647e-01 -8.01954926e-01 3.92584579e-03 1.02665615e+02] [ 6.57151857e-03 1.52311340e-07 9.99978407e-01 1.76542928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.20, Y:102.66, Z:1.77 [[-8.02824498e-01 5.96192114e-01 5.27146903e-03 1.23197577e+02] [-5.96179202e-01 -8.02841805e-01 3.92383285e-03 1.02664148e+02] [ 6.57151391e-03 7.40893826e-06 9.99978407e-01 1.76674174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.19, Y:102.66, Z:1.77 [[-8.03464237e-01 5.95329670e-01 5.27296710e-03 1.23193022e+02] [-5.95316752e-01 -8.03481539e-01 3.92181867e-03 1.02659134e+02] [ 6.57150673e-03 1.19553933e-05 9.99978407e-01 1.76792209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.19, Y:102.66, Z:1.77 [[-8.04401717e-01 5.94062335e-01 5.27447141e-03 1.23191746e+02] [-5.94049403e-01 -8.04419009e-01 3.91979447e-03 1.02655345e+02] [ 6.57148732e-03 1.97928042e-05 9.99978407e-01 1.76951480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.19, Y:102.65, Z:1.77 [[-8.04492652e-01 5.93939169e-01 5.27597291e-03 1.23190324e+02] [-5.93926248e-01 -8.04509952e-01 3.91777243e-03 1.02654129e+02] [ 6.57149122e-03 1.82803400e-05 9.99978407e-01 1.77042894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.19, Y:102.65, Z:1.77 [[-8.03814195e-01 5.94857032e-01 5.27747363e-03 1.23189120e+02] [-5.94844144e-01 -8.03831519e-01 3.91574983e-03 1.02653878e+02] [ 6.57151097e-03 8.26101041e-06 9.99978407e-01 1.77208309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.19, Y:102.65, Z:1.77 [[-8.01452841e-01 5.98034679e-01 5.27897257e-03 1.23186376e+02] [-5.98021873e-01 -8.01470226e-01 3.91372800e-03 1.02653826e+02] [ 6.57148441e-03 -2.02726385e-05 9.99978407e-01 1.77423769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.19, Y:102.65, Z:1.77 [[-8.00388208e-01 5.99458783e-01 5.28044848e-03 1.23185109e+02] [-5.99446021e-01 -8.00405626e-01 3.91173568e-03 1.02653169e+02] [ 6.57142498e-03 -3.44367156e-05 9.99978407e-01 1.77421937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:102.65, Z:1.77 [[-7.99023172e-01 6.01277035e-01 5.28194992e-03 1.23183003e+02] [-6.01264326e-01 -7.99040628e-01 3.90970726e-03 1.02651857e+02] [ 6.57130977e-03 -5.19013637e-05 9.99978407e-01 1.77424126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:102.65, Z:1.77 [[-7.99252080e-01 6.00972710e-01 5.28345008e-03 1.23182546e+02] [-6.00960008e-01 -7.99269541e-01 3.90767893e-03 1.02651447e+02] [ 6.57130912e-03 -5.19216914e-05 9.99978407e-01 1.77463140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:102.65, Z:1.77 [[-7.99725796e-01 6.00342169e-01 5.28494371e-03 1.23180873e+02] [-6.00329467e-01 -7.99743257e-01 3.90565784e-03 1.02650159e+02] [ 6.57132919e-03 -4.92521111e-05 9.99978407e-01 1.77488843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:102.65, Z:1.77 [[-8.00727692e-01 5.99005189e-01 5.28643556e-03 1.23176257e+02] [-5.98992471e-01 -8.00745142e-01 3.90363752e-03 1.02646729e+02] [ 6.57138672e-03 -4.07844296e-05 9.99978407e-01 1.77413549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:102.65, Z:1.77 [[-8.01346415e-01 5.98177199e-01 5.28792813e-03 1.23177343e+02] [-5.98164476e-01 -8.01363861e-01 3.90161461e-03 1.02646429e+02] [ 6.57141140e-03 -3.65058744e-05 9.99978407e-01 1.77346535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:102.64, Z:1.77 [[-8.02549812e-01 5.96561667e-01 5.28941993e-03 1.23177794e+02] [-5.96548922e-01 -8.02567242e-01 3.89959113e-03 1.02643953e+02] [ 6.57146175e-03 -2.57816248e-05 9.99978407e-01 1.77041010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:102.64, Z:1.77 [[-8.03252288e-01 5.95615455e-01 5.29064428e-03 1.23175566e+02] [-5.95602701e-01 -8.03269711e-01 3.89792932e-03 1.02641467e+02] [ 6.57148125e-03 -2.01013788e-05 9.99978407e-01 1.76875044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:102.64, Z:1.77 [[-8.03845505e-01 5.94814590e-01 5.29213417e-03 1.23174885e+02] [-5.94801832e-01 -8.03862925e-01 3.89590548e-03 1.02640477e+02] [ 6.57149188e-03 -1.60649955e-05 9.99978407e-01 1.76755552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:102.64, Z:1.77 [[-8.04556973e-01 5.93851879e-01 5.29362329e-03 1.23172437e+02] [-5.93839113e-01 -8.04574388e-01 3.89388106e-03 1.02638325e+02] [ 6.57150231e-03 -1.07113954e-05 9.99978407e-01 1.76612443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:102.64, Z:1.77 [[-8.05016271e-01 5.93229100e-01 5.29511114e-03 1.23170822e+02] [-5.93216333e-01 -8.05033686e-01 3.89185676e-03 1.02636950e+02] [ 6.57150552e-03 -8.13839699e-06 9.99978407e-01 1.76548607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:102.64, Z:1.76 [[-8.05427665e-01 5.92670417e-01 5.29659870e-03 1.23169080e+02] [-5.92657652e-01 -8.05445080e-01 3.88983121e-03 1.02635181e+02] [ 6.57150725e-03 -6.09208347e-06 9.99978407e-01 1.76462196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:102.63, Z:1.76 [[-8.05618617e-01 5.92410815e-01 5.29808550e-03 1.23166518e+02] [-5.92398058e-01 -8.05636038e-01 3.88780509e-03 1.02632361e+02] [ 6.57150639e-03 -6.48739699e-06 9.99978407e-01 1.76409640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:102.63, Z:1.76 [[-8.05765992e-01 5.92210334e-01 5.29957201e-03 1.23164663e+02] [-5.92197586e-01 -8.05783420e-01 3.88577772e-03 1.02631191e+02] [ 6.57150498e-03 -7.36620798e-06 9.99978407e-01 1.76408702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:102.63, Z:1.76 [[-8.05991815e-01 5.91902942e-01 5.30105825e-03 1.23163347e+02] [-5.91890200e-01 -8.06009248e-01 3.88374911e-03 1.02630834e+02] [ 6.57150449e-03 -7.37442931e-06 9.99978407e-01 1.76449162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:102.63, Z:1.77 [[-8.06275332e-01 5.91516672e-01 5.30254321e-03 1.23160708e+02] [-5.91503935e-01 -8.06292768e-01 3.88172061e-03 1.02629704e+02] [ 6.57150469e-03 -6.73960146e-06 9.99978407e-01 1.76565633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:102.63, Z:1.77 [[-8.06843381e-01 5.90741590e-01 5.30402690e-03 1.23155317e+02] [-5.90728850e-01 -8.06860814e-01 3.87969222e-03 1.02626170e+02] [ 6.57150701e-03 -2.93772582e-06 9.99978407e-01 1.76632069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:102.63, Z:1.77 [[-8.07647430e-01 5.89641824e-01 5.30551252e-03 1.23155413e+02] [-5.89629074e-01 -8.07664856e-01 3.87765955e-03 1.02626628e+02] [ 6.57150626e-03 3.49733098e-06 9.99978407e-01 1.76625549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.437628 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:123.15, Y:102.62, Z:1.76 [[-8.09049152e-01 5.87717028e-01 5.30699787e-03 1.23154279e+02] [-5.87704250e-01 -8.09066558e-01 3.87562563e-03 1.02624441e+02] [ 6.57148567e-03 1.66264279e-05 9.99978407e-01 1.76335419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:102.62, Z:1.76 [[-8.09784973e-01 5.86702750e-01 5.30848094e-03 1.23150232e+02] [-5.86689963e-01 -8.09802373e-01 3.87359318e-03 1.02620345e+02] [ 6.57146823e-03 2.23450611e-05 9.99978407e-01 1.76358087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.497628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:123.15, Y:102.62, Z:1.76 [[-8.10103620e-01 5.86262679e-01 5.30996997e-03 1.23150269e+02] [-5.86249896e-01 -8.10121022e-01 3.87155093e-03 1.02620655e+02] [ 6.57146412e-03 2.33880834e-05 9.99978407e-01 1.75976527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:102.62, Z:1.76 [[-8.10402666e-01 5.85849218e-01 5.31164262e-03 1.23148196e+02] [-5.85836441e-01 -8.10420072e-01 3.86925474e-03 1.02620316e+02] [ 6.57146166e-03 2.39005482e-05 9.99978407e-01 1.76172361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:102.62, Z:1.76 [[-8.10626795e-01 5.85539043e-01 5.31312253e-03 1.23146328e+02] [-5.85526273e-01 -8.10644206e-01 3.86722151e-03 1.02618866e+02] [ 6.57146118e-03 2.39005464e-05 9.99978407e-01 1.76174016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:102.62, Z:1.76 [[-8.10847263e-01 5.85233689e-01 5.31460166e-03 1.23143429e+02] [-5.85220925e-01 -8.10864680e-01 3.86518772e-03 1.02617628e+02] [ 6.57146084e-03 2.38607800e-05 9.99978407e-01 1.76129005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:102.61, Z:1.76 [[-8.11498629e-01 5.84330141e-01 5.31608074e-03 1.23139426e+02] [-5.84317372e-01 -8.11516041e-01 3.86315236e-03 1.02614528e+02] [ 6.57144116e-03 2.86645184e-05 9.99978407e-01 1.75943230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.647628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:123.14, Y:102.61, Z:1.76 [[-8.12064752e-01 5.83543111e-01 5.31755933e-03 1.23140444e+02] [-5.83530338e-01 -8.12082161e-01 3.86111604e-03 1.02614834e+02] [ 6.57142274e-03 3.25190471e-05 9.99978407e-01 1.75660918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.677628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:123.14, Y:102.61, Z:1.75 [[-8.12977976e-01 5.82270142e-01 5.31904306e-03 1.23142376e+02] [-5.82257355e-01 -8.12995375e-01 3.85907098e-03 1.02613958e+02] [ 6.57137922e-03 4.02877725e-05 9.99978407e-01 1.75383318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:102.61, Z:1.76 [[-8.12979560e-01 5.82267919e-01 5.32033072e-03 1.23141325e+02] [-5.82255144e-01 -8.12996967e-01 3.85729492e-03 1.02611453e+02] [ 6.57139183e-03 3.81119904e-05 9.99978407e-01 1.75542546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.73762800000003 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:123.14, Y:102.61, Z:1.75 [[-8.12142796e-01 5.83434451e-01 5.32180337e-03 1.23141614e+02] [-5.83421713e-01 -8.12160231e-01 3.85526208e-03 1.02610253e+02] [ 6.57144977e-03 2.61676846e-05 9.99978407e-01 1.75255933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:102.61, Z:1.75 [[-8.09780737e-01 5.86708465e-01 5.32308820e-03 1.23140591e+02] [-5.86695810e-01 -8.09798232e-01 3.85348725e-03 1.02608843e+02] [ 6.57150101e-03 -2.55379730e-06 9.99978407e-01 1.75449441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.79762800000003 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:123.14, Y:102.61, Z:1.75 [[-8.07930846e-01 5.89253254e-01 5.32455792e-03 1.23136890e+02] [-5.89240668e-01 -8.07948391e-01 3.85145540e-03 1.02606596e+02] [ 6.57145063e-03 -2.57364423e-05 9.99978407e-01 1.75381806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:102.61, Z:1.76 [[-8.03571441e-01 5.95184486e-01 5.32603252e-03 1.23140453e+02] [-5.95172043e-01 -8.03589087e-01 3.84941515e-03 1.02610207e+02] [ 6.57105379e-03 -7.66255782e-05 9.99978407e-01 1.75964894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:102.61, Z:1.76 [[-8.00880314e-01 5.98800754e-01 5.32722244e-03 1.23144539e+02] [-5.98788401e-01 -8.00898024e-01 3.84776771e-03 1.02612712e+02] [ 6.57060813e-03 -1.08277591e-04 9.99978407e-01 1.76069603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:102.61, Z:1.76 [[-7.98114964e-01 6.02481625e-01 5.32868710e-03 1.23144671e+02] [-6.02469368e-01 -7.98132740e-01 3.84573825e-03 1.02611814e+02] [ 6.56998627e-03 -1.41029501e-04 9.99978407e-01 1.76084111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:102.61, Z:1.76 [[-7.95651031e-01 6.05731811e-01 5.33014111e-03 1.23145211e+02] [-6.05719640e-01 -7.95668866e-01 3.84372197e-03 1.02611530e+02] [ 6.56929200e-03 -1.70309807e-04 9.99978407e-01 1.76066836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:102.61, Z:1.76 [[-7.92231879e-01 6.10196874e-01 5.33159173e-03 1.23146672e+02] [-6.10184816e-01 -7.92249791e-01 3.84170877e-03 1.02612682e+02] [ 6.56815111e-03 -2.09732167e-04 9.99978407e-01 1.76055891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:102.61, Z:1.76 [[-7.91405920e-01 6.11267721e-01 5.33322217e-03 1.23141749e+02] [-6.11255703e-01 -7.91423859e-01 3.83944399e-03 1.02609216e+02] [ 6.56776744e-03 -2.21403769e-04 9.99978407e-01 1.76071465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:102.61, Z:1.76 [[-7.92124998e-01 6.10335587e-01 5.33466645e-03 1.23140295e+02] [-6.10323562e-01 -7.92142932e-01 3.83743620e-03 1.02609387e+02] [ 6.56794220e-03 -2.16143484e-04 9.99978407e-01 1.76158995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:102.61, Z:1.76 [[-7.93596185e-01 6.08421417e-01 5.33611114e-03 1.23137279e+02] [-6.08409362e-01 -7.93614099e-01 3.83542625e-03 1.02606703e+02] [ 6.56836851e-03 -2.02760337e-04 9.99978407e-01 1.76152912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.13, Y:102.60, Z:1.76 [[-7.97907373e-01 6.02756447e-01 5.33755555e-03 1.23129799e+02] [-6.02744278e-01 -7.97925210e-01 3.83341508e-03 1.02597684e+02] [ 6.56958579e-03 -1.58470909e-04 9.99978407e-01 1.75939308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.13, Y:102.60, Z:1.76 [[-8.00908732e-01 5.98762639e-01 5.33898156e-03 1.23134312e+02] [-5.98750394e-01 -8.00926517e-01 3.83142799e-03 1.02598657e+02] [ 6.57024784e-03 -1.28093180e-04 9.99978407e-01 1.75821338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.13, Y:102.59, Z:1.76 [[-8.04369020e-01 5.94106017e-01 5.34043110e-03 1.23128813e+02] [-5.94093683e-01 -8.04386743e-01 3.82940647e-03 1.02592842e+02] [ 6.57084541e-03 -9.24604531e-05 9.99978408e-01 1.75858193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:102.59, Z:1.76 [[-8.11410505e-01 5.84452271e-01 5.34187941e-03 1.23122138e+02] [-5.84439739e-01 -8.11428088e-01 3.82738507e-03 1.02587452e+02] [ 6.57147489e-03 -1.64261541e-05 9.99978408e-01 1.76079082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:102.58, Z:1.76 [[-8.14777055e-01 5.79749773e-01 5.34333338e-03 1.23117617e+02] [-5.79737153e-01 -8.14794576e-01 3.82535413e-03 1.02583666e+02] [ 6.57146725e-03 1.90818958e-05 9.99978408e-01 1.76077024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:102.58, Z:1.76 [[-8.17693521e-01 5.75628994e-01 5.34479116e-03 1.23113283e+02] [-5.75616299e-01 -8.17710987e-01 3.82331623e-03 1.02578823e+02] [ 6.57130614e-03 4.97520055e-05 9.99978408e-01 1.76292332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:102.57, Z:1.76 [[-8.21868343e-01 5.69652389e-01 5.34625251e-03 1.23109109e+02] [-5.69639580e-01 -8.21885726e-01 3.82127169e-03 1.02573261e+02] [ 6.57080518e-03 9.51452030e-05 9.99978408e-01 1.76360984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:102.57, Z:1.76 [[-8.23116831e-01 5.67846885e-01 5.34771745e-03 1.23106467e+02] [-5.67834051e-01 -8.23134196e-01 3.81922047e-03 1.02570936e+02] [ 6.57062155e-03 1.07048593e-04 9.99978408e-01 1.76458791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.10, Y:102.57, Z:1.77 [[-8.23531204e-01 5.67245751e-01 5.34918428e-03 1.23102617e+02] [-5.67232918e-01 -8.23548570e-01 3.81716493e-03 1.02569052e+02] [ 6.57058365e-03 1.09321023e-04 9.99978408e-01 1.76628758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.10, Y:102.57, Z:1.77 [[-8.23191504e-01 5.67738601e-01 5.35065180e-03 1.23100275e+02] [-5.67725791e-01 -8.23208887e-01 3.81510674e-03 1.02568904e+02] [ 6.57068747e-03 1.02860428e-04 9.99978408e-01 1.76679702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.10, Y:102.57, Z:1.77 [[-8.22609087e-01 5.68582135e-01 5.35211975e-03 1.23096880e+02] [-5.68569357e-01 -8.22626493e-01 3.81304629e-03 1.02568174e+02] [ 6.57082550e-03 9.35952414e-05 9.99978408e-01 1.76744663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:102.57, Z:1.77 [[-8.21216528e-01 5.70591582e-01 5.35358690e-03 1.23094877e+02] [-5.70578860e-01 -8.21233974e-01 3.81098527e-03 1.02569352e+02] [ 6.57106356e-03 7.50005762e-05 9.99978408e-01 1.76661992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:102.57, Z:1.77 [[-8.20939834e-01 5.70989590e-01 5.35505325e-03 1.23094507e+02] [-5.70976890e-01 -8.20957297e-01 3.80892368e-03 1.02569576e+02] [ 6.57112582e-03 6.92855217e-05 9.99978408e-01 1.76501465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:102.57, Z:1.76 [[-8.20205889e-01 5.72043362e-01 5.35651662e-03 1.23089953e+02] [-5.72030698e-01 -8.20223377e-01 3.80686462e-03 1.02567471e+02] [ 6.57123179e-03 5.83208399e-05 9.99978408e-01 1.76089835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:102.57, Z:1.76 [[-8.19667588e-01 5.72814401e-01 5.35793358e-03 1.23092800e+02] [-5.72801766e-01 -8.19685098e-01 3.80486929e-03 1.02570349e+02] [ 6.57130224e-03 4.96942131e-05 9.99978408e-01 1.75934645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:102.57, Z:1.76 [[-8.19071912e-01 5.73665828e-01 5.35921240e-03 1.23092107e+02] [-5.73653223e-01 -8.19089444e-01 3.80306721e-03 1.02571424e+02] [ 6.57136400e-03 4.06560642e-05 9.99978408e-01 1.75872588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.54762800000003 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:123.09, Y:102.57, Z:1.76 [[-8.16487141e-01 5.77338734e-01 5.36048407e-03 1.23089961e+02] [-5.77326220e-01 -8.16504737e-01 3.80127393e-03 1.02572233e+02] [ 6.57148331e-03 8.94327751e-06 9.99978408e-01 1.75751232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:102.57, Z:1.76 [[-8.15305376e-01 5.79006385e-01 5.36193795e-03 1.23093747e+02] [-5.78993920e-01 -8.15323008e-01 3.79922202e-03 1.02574861e+02] [ 6.57148518e-03 -7.00333834e-06 9.99978408e-01 1.75945633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:102.57, Z:1.76 [[-8.12616182e-01 5.82774549e-01 5.36338696e-03 1.23089373e+02] [-5.82762179e-01 -8.12633881e-01 3.79717535e-03 1.02572933e+02] [ 6.57136710e-03 -3.99329386e-05 9.99978408e-01 1.76150915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:102.57, Z:1.76 [[-8.11728852e-01 5.84009838e-01 5.36464974e-03 1.23090539e+02] [-5.83997507e-01 -8.11746578e-01 3.79539045e-03 1.02574339e+02] [ 6.57128143e-03 -5.21141440e-05 9.99978408e-01 1.76263776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:102.57, Z:1.76 [[-8.10998355e-01 5.85023822e-01 5.36609465e-03 1.23090300e+02] [-5.85011527e-01 -8.11016106e-01 3.79334647e-03 1.02573819e+02] [ 6.57118723e-03 -6.28294790e-05 9.99978408e-01 1.76360954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:102.57, Z:1.76 [[-8.10088361e-01 5.86283240e-01 5.36753568e-03 1.23089013e+02] [-5.86270986e-01 -8.10106139e-01 3.79130633e-03 1.02571841e+02] [ 6.57105297e-03 -7.55373112e-05 9.99978408e-01 1.76412273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:102.57, Z:1.76 [[-8.10076765e-01 5.86299249e-01 5.36897476e-03 1.23087590e+02] [-5.86287009e-01 -8.10094553e-01 3.78926731e-03 1.02570527e+02] [ 6.57102179e-03 -7.81627526e-05 9.99978408e-01 1.76404641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:102.57, Z:1.76 [[-8.10246367e-01 5.86064828e-01 5.37041307e-03 1.23086240e+02] [-5.86052597e-01 -8.10264161e-01 3.78722775e-03 1.02568961e+02] [ 6.57101422e-03 -7.87569970e-05 9.99978408e-01 1.76330208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:102.57, Z:1.76 [[-8.10507897e-01 5.85703075e-01 5.37185012e-03 1.23085402e+02] [-5.85690849e-01 -8.10525695e-01 3.78518832e-03 1.02567491e+02] [ 6.57101899e-03 -7.83184355e-05 9.99978408e-01 1.76231629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.817628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:123.08, Y:102.56, Z:1.76 [[-8.09998448e-01 5.86407402e-01 5.37328592e-03 1.23082801e+02] [-5.86395205e-01 -8.10016266e-01 3.78314901e-03 1.02564038e+02] [ 6.57091559e-03 -8.65242705e-05 9.99978408e-01 1.75849470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:102.56, Z:1.76 [[-8.10269020e-01 5.86033471e-01 5.37453949e-03 1.23083404e+02] [-5.86021278e-01 -8.10286840e-01 3.78136730e-03 1.02563379e+02] [ 6.57092642e-03 -8.56697267e-05 9.99978408e-01 1.76005633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:102.56, Z:1.76 [[-8.10817973e-01 5.85273709e-01 5.37597432e-03 1.23083964e+02] [-5.85261512e-01 -8.10835791e-01 3.77932630e-03 1.02562397e+02] [ 6.57097270e-03 -8.20051711e-05 9.99978408e-01 1.76023906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:102.56, Z:1.76 [[-8.11177462e-01 5.84775349e-01 5.37740625e-03 1.23080428e+02] [-5.84763154e-01 -8.11195282e-01 3.77728777e-03 1.02559204e+02] [ 6.57099135e-03 -8.04583303e-05 9.99978408e-01 1.76127493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:102.56, Z:1.76 [[-8.11787878e-01 5.83927657e-01 5.37883741e-03 1.23077016e+02] [-5.83915458e-01 -8.11805694e-01 3.77524871e-03 1.02556505e+02] [ 6.57104297e-03 -7.60851710e-05 9.99978408e-01 1.76244876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.07, Y:102.55, Z:1.76 [[-8.13050024e-01 5.82168971e-01 5.38026991e-03 1.23074076e+02] [-5.82156747e-01 -8.13067823e-01 3.77320608e-03 1.02552704e+02] [ 6.57116785e-03 -6.43551373e-05 9.99978408e-01 1.76457800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.07, Y:102.55, Z:1.76 [[-8.14088972e-01 5.80715236e-01 5.38152245e-03 1.23073065e+02] [-5.80702991e-01 -8.14106757e-01 3.77141881e-03 1.02551413e+02] [ 6.57125415e-03 -5.47957183e-05 9.99978408e-01 1.76467770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:101.88, Z:2.72 [[-7.76516683e-01 -6.30073698e-01 -5.38295705e-03 1.23439214e+02] [-6.30062594e-01 7.76535202e-01 -3.76937009e-03 1.01882134e+02] [ 6.55503659e-03 4.64621120e-04 -9.99978408e-01 2.71561186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:101.91, Z:2.72 [[-7.28709207e-01 -6.84802099e-01 -5.38295705e-03 1.23426347e+02] [-6.84792370e-01 7.28728483e-01 -3.76937009e-03 1.01912839e+02] [ 6.50398668e-03 9.39433220e-04 -9.99978408e-01 2.71548340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.88, Y:102.48, Z:1.77 [[-7.25210454e-01 6.88511046e-01 4.72625477e-03 1.22880902e+02] [-6.88496571e-01 -7.25225854e-01 4.46456863e-03 1.02480110e+02] [ 6.50150697e-03 -1.62583558e-05 9.99978865e-01 1.76756472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.87, Y:102.47, Z:1.77 [[-7.30843314e-01 6.82528994e-01 4.71406597e-03 1.22868455e+02] [-6.82514310e-01 -7.30858515e-01 4.47747472e-03 1.02470371e+02] [ 6.50132157e-03 5.49149838e-05 9.99978865e-01 1.76781134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.87, Y:102.47, Z:1.77 [[-7.32257678e-01 6.81011260e-01 4.72838202e-03 1.22873108e+02] [-6.80996642e-01 -7.32272942e-01 4.46230504e-03 1.02473225e+02] [ 6.50134619e-03 4.75448454e-05 9.99978865e-01 1.76827225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.87, Y:102.47, Z:1.77 [[-7.33607791e-01 6.79556646e-01 4.73009779e-03 1.22872227e+02] [-6.79542009e-01 -7.33623038e-01 4.46048556e-03 1.02471397e+02] [ 6.50126132e-03 5.79467976e-05 9.99978865e-01 1.76799791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.87, Y:102.47, Z:1.77 [[-7.35411257e-01 6.77604526e-01 4.73181406e-03 1.22866057e+02] [-6.77589861e-01 -7.35426476e-01 4.45866415e-03 1.02465107e+02] [ 6.50111234e-03 7.27225807e-05 9.99978865e-01 1.76819057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.87, Y:102.47, Z:1.77 [[-7.36189010e-01 6.76759437e-01 4.73352727e-03 1.22866291e+02] [-6.76744766e-01 -7.36204223e-01 4.45684458e-03 1.02465089e+02] [ 6.50105440e-03 7.76901859e-05 9.99978865e-01 1.76795504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:102.46, Z:1.77 [[-7.37441594e-01 6.75394309e-01 4.73524846e-03 1.22861295e+02] [-6.75379622e-01 -7.37456792e-01 4.45501513e-03 1.02461887e+02] [ 6.50093300e-03 8.72231436e-05 9.99978865e-01 1.76819874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:102.46, Z:1.77 [[-7.38074913e-01 6.74702144e-01 4.73696342e-03 1.22859928e+02] [-6.74687454e-01 -7.38090108e-01 4.45319088e-03 1.02462022e+02] [ 6.50088328e-03 9.08186800e-05 9.99978865e-01 1.76815278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:102.47, Z:1.77 [[-7.37284999e-01 6.75565227e-01 4.73868493e-03 1.22863872e+02] [-6.75550566e-01 -7.37300222e-01 4.45135825e-03 1.02466798e+02] [ 6.50101630e-03 8.06983805e-05 9.99978865e-01 1.76680753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:102.46, Z:1.77 [[-7.38399000e-01 6.74347498e-01 4.72960261e-03 1.22857226e+02] [-6.74332750e-01 -7.38414139e-01 4.46103277e-03 1.02461854e+02] [ 6.50069173e-03 1.04696201e-04 9.99978865e-01 1.76670843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.83, Y:102.44, Z:1.77 [[-7.37164311e-01 6.75696895e-01 4.74188522e-03 1.22834984e+02] [-6.75682259e-01 -7.37179558e-01 4.44793846e-03 1.02442956e+02] [ 6.50107906e-03 7.48537715e-05 9.99978865e-01 1.76570027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:102.46, Z:1.76 [[-7.34900910e-01 6.78157922e-01 4.74175918e-03 1.22853836e+02] [-6.78143337e-01 -7.34916206e-01 4.44807295e-03 1.02464423e+02] [ 6.50129157e-03 5.33004682e-05 9.99978865e-01 1.76324212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:102.46, Z:1.76 [[-7.35161761e-01 6.77875111e-01 4.74534126e-03 1.22852159e+02] [-6.77860544e-01 -7.35177075e-01 4.44424818e-03 1.02462753e+02] [ 6.50131134e-03 5.05617068e-05 9.99978865e-01 1.76325960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:102.46, Z:1.76 [[-7.33730712e-01 6.79423805e-01 4.74705042e-03 1.22849893e+02] [-6.79409283e-01 -7.33746068e-01 4.44242182e-03 1.02462324e+02] [ 6.50141672e-03 3.43512082e-05 9.99978865e-01 1.76346539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:102.46, Z:1.76 [[-7.32186799e-01 6.81087321e-01 4.74896996e-03 1.22849222e+02] [-6.81072846e-01 -7.32202200e-01 4.44036887e-03 1.02463115e+02] [ 6.50148519e-03 1.67849838e-05 9.99978865e-01 1.76261698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:102.46, Z:1.76 [[-7.28565785e-01 6.84959362e-01 4.75066851e-03 1.22846730e+02] [-6.84944981e-01 -7.28581273e-01 4.43855089e-03 1.02462853e+02] [ 6.50147509e-03 -2.01702406e-05 9.99978865e-01 1.76154495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:102.46, Z:1.76 [[-7.27712577e-01 6.85865745e-01 4.75237121e-03 1.22849164e+02] [-6.85851395e-01 -7.27728094e-01 4.43672705e-03 1.02463880e+02] [ 6.50143314e-03 -3.07583446e-05 9.99978865e-01 1.76209746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:102.46, Z:1.76 [[-7.27118699e-01 6.86495300e-01 4.75406357e-03 1.22845434e+02] [-6.86480975e-01 -7.27134239e-01 4.43491290e-03 1.02458019e+02] [ 6.50138926e-03 -3.88660996e-05 9.99978865e-01 1.76325548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:102.46, Z:1.76 [[-7.26622585e-01 6.87020379e-01 4.75575524e-03 1.22847971e+02] [-6.87006078e-01 -7.26638147e-01 4.43309810e-03 1.02458305e+02] [ 6.50134191e-03 -4.60435524e-05 9.99978865e-01 1.76299438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:102.46, Z:1.76 [[-7.26214866e-01 6.87451333e-01 4.75744622e-03 1.22846068e+02] [-6.87437053e-01 -7.26230447e-01 4.43128266e-03 1.02455129e+02] [ 6.50129347e-03 -5.23814677e-05 9.99978865e-01 1.76306220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.84, Y:102.44, Z:1.76 [[-7.18541587e-01 6.95467712e-01 4.75913456e-03 1.22835500e+02] [-6.95453618e-01 -7.18557336e-01 4.42946867e-03 1.02438169e+02] [ 6.50026349e-03 -1.26999901e-04 9.99978865e-01 1.76141791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.84, Y:102.45, Z:1.76 [[-7.23431548e-01 6.90380048e-01 4.71009482e-03 1.22837747e+02] [-6.90365498e-01 -7.23446881e-01 4.48217195e-03 1.02445992e+02] [ 6.50190549e-03 -9.14236156e-06 9.99978862e-01 1.76478452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.747628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:122.85, Y:102.46, Z:1.76 [[-7.22008662e-01 6.91867624e-01 4.76270399e-03 1.22849521e+02] [-6.91853477e-01 -7.22024363e-01 4.42555062e-03 1.02456078e+02] [ 6.50068351e-03 -9.98074414e-05 9.99978865e-01 1.76184171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:102.45, Z:1.76 [[-7.20845272e-01 6.93079645e-01 4.76454335e-03 1.22848947e+02] [-6.93065537e-01 -7.20861008e-01 4.42356948e-03 1.02453937e+02] [ 6.50045949e-03 -1.13431647e-04 9.99978865e-01 1.76383547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:102.45, Z:1.76 [[-7.20850183e-01 6.93074525e-01 4.76621656e-03 1.22848361e+02] [-6.93060429e-01 -7.20865930e-01 4.42176592e-03 1.02450448e+02] [ 6.50041645e-03 -1.15845324e-04 9.99978865e-01 1.76231592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:102.45, Z:1.76 [[-7.21326275e-01 6.92578997e-01 4.76853339e-03 1.22845716e+02] [-6.92564907e-01 -7.21342027e-01 4.41926599e-03 1.02446343e+02] [ 6.50043435e-03 -1.14786208e-04 9.99978865e-01 1.76160907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.867628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:122.85, Y:102.45, Z:1.76 [[-7.21731251e-01 6.92156952e-01 4.77020970e-03 1.22845446e+02] [-6.92142865e-01 -7.21747006e-01 4.41745582e-03 1.02445116e+02] [ 6.50045733e-03 -1.13450697e-04 9.99978865e-01 1.75955314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.84, Y:102.44, Z:1.76 [[-7.22952293e-01 6.90881474e-01 4.77188005e-03 1.22838679e+02] [-6.90867370e-01 -7.22968034e-01 4.41565071e-03 1.02438577e+02] [ 6.50060801e-03 -1.04431417e-04 9.99978865e-01 1.76304517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.927628 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:122.84, Y:102.44, Z:1.76 [[-7.24059734e-01 6.89720751e-01 4.77355274e-03 1.22840581e+02] [-6.89706635e-01 -7.24075463e-01 4.41384170e-03 1.02437951e+02] [ 6.50073063e-03 -9.64659511e-05 9.99978865e-01 1.76248804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.84, Y:102.44, Z:1.76 [[-7.26132701e-01 6.87537998e-01 4.77523309e-03 1.22839131e+02] [-6.87523846e-01 -7.26148398e-01 4.41202303e-03 1.02435068e+02] [ 6.50096133e-03 -7.93724154e-05 9.99978865e-01 1.76476308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.84, Y:102.43, Z:1.77 [[-7.29934305e-01 6.83500616e-01 4.77689428e-03 1.22835728e+02] [-6.83486389e-01 -7.29949934e-01 4.41022373e-03 1.02429748e+02] [ 6.50128430e-03 -4.57686329e-05 9.99978865e-01 1.76650010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.017628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.83, Y:102.43, Z:1.77 [[-7.32133349e-01 6.81144570e-01 4.77856849e-03 1.22831371e+02] [-6.81130304e-01 -7.32148943e-01 4.40840893e-03 1.02425208e+02] [ 6.50138768e-03 -2.72846137e-05 9.99978865e-01 1.76732803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.83, Y:102.42, Z:1.77 [[-7.34208189e-01 6.78907567e-01 4.78024699e-03 1.22829386e+02] [-6.78893266e-01 -7.34223750e-01 4.40658811e-03 1.02423108e+02] [ 6.50143688e-03 -9.92442080e-06 9.99978865e-01 1.76746450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.82, Y:102.42, Z:1.77 [[-7.37348707e-01 6.75495386e-01 4.78192729e-03 1.22821862e+02] [-6.75481025e-01 -7.37364213e-01 4.40476393e-03 1.02417197e+02] [ 6.50141977e-03 1.77458444e-05 9.99978865e-01 1.76899426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.82, Y:102.42, Z:1.77 [[-7.38704150e-01 6.74012830e-01 4.78361758e-03 1.22821769e+02] [-6.73998450e-01 -7.38719638e-01 4.40292749e-03 1.02417930e+02] [ 6.50138187e-03 2.83099805e-05 9.99978865e-01 1.76962608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.82, Y:102.41, Z:1.77 [[-7.40139633e-01 6.72436186e-01 4.78530374e-03 1.22816405e+02] [-6.72421784e-01 -7.40155101e-01 4.40109413e-03 1.02414371e+02] [ 6.50132193e-03 3.96817103e-05 9.99978865e-01 1.77026674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.16762800000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.81, Y:102.42, Z:1.77 [[-7.42142782e-01 6.70224721e-01 4.78698977e-03 1.22813405e+02] [-6.70210285e-01 -7.42158218e-01 4.39925950e-03 1.02415217e+02] [ 6.50119627e-03 5.65889039e-05 9.99978865e-01 1.76951266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.81, Y:102.41, Z:1.77 [[-7.43471001e-01 6.68751029e-01 4.78867762e-03 1.22805546e+02] [-6.68736574e-01 -7.43486420e-01 4.39742148e-03 1.02409138e+02] [ 6.50109692e-03 6.69914874e-05 9.99978865e-01 1.76998289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.81, Y:102.41, Z:1.77 [[-7.45053772e-01 6.66987204e-01 4.79036842e-03 1.22806769e+02] [-6.66972724e-01 -7.45069167e-01 4.39557882e-03 1.02412463e+02] [ 6.50095063e-03 7.98974983e-05 9.99978865e-01 1.76774779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:102.41, Z:1.77 [[-7.45479558e-01 6.66511264e-01 4.79206593e-03 1.22801163e+02] [-6.66496787e-01 -7.45494955e-01 4.39372742e-03 1.02409264e+02] [ 6.50092979e-03 8.15374287e-05 9.99978865e-01 1.76698912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:102.41, Z:1.77 [[-7.45664127e-01 6.66304757e-01 4.79375588e-03 1.22799305e+02] [-6.66290288e-01 -7.45679532e-01 4.39188283e-03 1.02409982e+02] [ 6.50093806e-03 8.08364913e-05 9.99978865e-01 1.76662485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:102.41, Z:1.76 [[-7.44446960e-01 6.67664382e-01 4.79544652e-03 1.22797368e+02] [-6.67649952e-01 -7.44462403e-01 4.39003606e-03 1.02410286e+02] [ 6.50110035e-03 6.64693610e-05 9.99978865e-01 1.76429016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:102.41, Z:1.76 [[-7.43716465e-01 6.68477979e-01 4.79714103e-03 1.22797312e+02] [-6.68463578e-01 -7.43731934e-01 4.38818363e-03 1.02411058e+02] [ 6.50119109e-03 5.68503542e-05 9.99978865e-01 1.76413780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:102.41, Z:1.76 [[-7.41465035e-01 6.70974346e-01 4.79882658e-03 1.22795960e+02] [-6.70960009e-01 -7.41480564e-01 4.38633957e-03 1.02412696e+02] [ 6.50135796e-03 3.24966934e-05 9.99978865e-01 1.76331593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:102.41, Z:1.76 [[-7.40525526e-01 6.72011084e-01 4.80082508e-03 1.22795017e+02] [-6.71996784e-01 -7.40541087e-01 4.38415114e-03 1.02412417e+02] [ 6.50140638e-03 2.04368170e-05 9.99978865e-01 1.76302185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.79, Y:102.41, Z:1.76 [[-7.40098311e-01 6.72481542e-01 4.80271459e-03 1.22793459e+02] [-6.72467264e-01 -7.40113894e-01 4.38208024e-03 1.02410681e+02] [ 6.50142388e-03 1.35018439e-05 9.99978865e-01 1.76319137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.79, Y:102.40, Z:1.76 [[-7.40049365e-01 6.72535393e-01 4.80438777e-03 1.22789277e+02] [-6.72521129e-01 -7.40064960e-01 4.38024505e-03 1.02404318e+02] [ 6.50142887e-03 1.05452839e-05 9.99978865e-01 1.76410955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.79, Y:102.40, Z:1.76 [[-7.40790475e-01 6.71718969e-01 4.80606330e-03 1.22787637e+02] [-6.71704699e-01 -7.40806065e-01 4.37840587e-03 1.02401556e+02] [ 6.50141912e-03 1.52260594e-05 9.99978865e-01 1.76431297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.79, Y:102.40, Z:1.76 [[-7.41849767e-01 6.70548885e-01 4.80795516e-03 1.22789704e+02] [-6.70534604e-01 -7.41865347e-01 4.37632742e-03 1.02401872e+02] [ 6.50139679e-03 2.26771689e-05 9.99978865e-01 1.76372205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:102.41, Z:1.76 [[-7.39217995e-01 6.73449050e-01 4.80963509e-03 1.22803201e+02] [-6.73434842e-01 -7.39233642e-01 4.37448038e-03 1.02406079e+02] [ 6.50143372e-03 -5.28123173e-06 9.99978865e-01 1.76359916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.78, Y:102.39, Z:1.76 [[-7.44657940e-01 6.67429266e-01 4.76727620e-03 1.22784374e+02] [-6.67414633e-01 -7.44673192e-01 4.42105038e-03 1.02393024e+02] [ 6.50080119e-03 1.10420381e-04 9.99978863e-01 1.76222702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.78, Y:102.39, Z:1.76 [[-7.46315752e-01 6.65574672e-01 4.81191046e-03 1.22782630e+02] [-6.65560316e-01 -7.46331262e-01 4.37192419e-03 1.02391117e+02] [ 6.50112121e-03 6.02192360e-05 9.99978866e-01 1.76059833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.78, Y:102.39, Z:1.76 [[-7.46681266e-01 6.65164572e-01 4.81445417e-03 1.22782500e+02] [-6.65150225e-01 -7.46696785e-01 4.36912121e-03 1.02390432e+02] [ 6.50112209e-03 6.00056794e-05 9.99978866e-01 1.75934944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.78, Y:102.39, Z:1.76 [[-7.46739054e-01 6.65099684e-01 4.81612544e-03 1.22781560e+02] [-6.65085348e-01 -7.46754583e-01 4.36727817e-03 1.02389350e+02] [ 6.50113908e-03 5.80827055e-05 9.99978866e-01 1.75821662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.78, Y:102.39, Z:1.76 [[-7.45552692e-01 6.66429270e-01 4.81774686e-03 1.22779628e+02] [-6.66414973e-01 -7.45568257e-01 4.36548877e-03 1.02388956e+02] [ 6.50124863e-03 4.40832621e-05 9.99978866e-01 1.75736850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.73762800000003 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:122.78, Y:102.39, Z:1.75 [[-7.42633736e-01 6.69680452e-01 4.81936080e-03 1.22779240e+02] [-6.69666235e-01 -7.42649373e-01 4.36370631e-03 1.02389979e+02] [ 6.50138409e-03 1.32723151e-05 9.99978866e-01 1.75400519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.78, Y:102.39, Z:1.76 [[-7.41578402e-01 6.70848887e-01 4.82123807e-03 1.22779235e+02] [-6.70834708e-01 -7.41594074e-01 4.36163123e-03 1.02390689e+02] [ 6.50139703e-03 2.37681856e-07 9.99978866e-01 1.75599087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:102.39, Z:1.76 [[-7.39815756e-01 6.72792232e-01 4.82290402e-03 1.22774704e+02] [-6.72778106e-01 -7.39831476e-01 4.35978831e-03 1.02388185e+02] [ 6.50136790e-03 -1.93041512e-05 9.99978866e-01 1.75617975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.827628 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:122.78, Y:102.39, Z:1.76 [[-7.35410333e-01 6.77604874e-01 4.82456344e-03 1.22775792e+02] [-6.77590863e-01 -7.35426156e-01 4.35795121e-03 1.02392808e+02] [ 6.50107913e-03 -6.41977523e-05 9.99978866e-01 1.75685211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:102.39, Z:1.76 [[-7.33735385e-01 6.79418202e-01 4.82618322e-03 1.22774922e+02] [-6.79404242e-01 -7.33751252e-01 4.35615666e-03 1.02392745e+02] [ 6.50087011e-03 -8.26630678e-05 9.99978866e-01 1.76267814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.78, Y:102.39, Z:1.77 [[-7.30108984e-01 6.83313669e-01 4.82715775e-03 1.22776284e+02] [-6.83299800e-01 -7.30124932e-01 4.35507650e-03 1.02393892e+02] [ 6.50031152e-03 -1.18715447e-04 9.99978866e-01 1.76594920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.91762800000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.77, Y:102.39, Z:1.77 [[-7.28890155e-01 6.84613632e-01 4.82880638e-03 1.22774496e+02] [-6.84599804e-01 -7.28906138e-01 4.35324776e-03 1.02391644e+02] [ 6.50003937e-03 -1.32760468e-04 9.99978866e-01 1.76734651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:102.39, Z:1.77 [[-7.28024827e-01 6.85533745e-01 4.83066154e-03 1.22772018e+02] [-6.85519951e-01 -7.28040840e-01 4.35118817e-03 1.02388543e+02] [ 6.49980521e-03 -1.43741849e-04 9.99978866e-01 1.76854774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:102.39, Z:1.77 [[-7.27321606e-01 6.86279776e-01 4.83230682e-03 1.22773477e+02] [-6.86266011e-01 -7.27337642e-01 4.34936020e-03 1.02388293e+02] [ 6.49959660e-03 -1.52864277e-04 9.99978866e-01 1.76910362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:102.39, Z:1.77 [[-7.26056137e-01 6.87618440e-01 4.83395032e-03 1.22774124e+02] [-6.87604716e-01 -7.26072209e-01 4.34753282e-03 1.02386002e+02] [ 6.49924073e-03 -1.67294152e-04 9.99978866e-01 1.76918615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:102.38, Z:1.77 [[-7.25158777e-01 6.88564714e-01 4.83559588e-03 1.22774671e+02] [-6.88551024e-01 -7.25174877e-01 4.34570176e-03 1.02383721e+02] [ 6.49894954e-03 -1.78230721e-04 9.99978866e-01 1.76916860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:102.38, Z:1.77 [[-7.25129494e-01 6.88595540e-01 4.83723940e-03 1.22774669e+02] [-6.88581863e-01 -7.25145605e-01 4.34387157e-03 1.02381874e+02] [ 6.49887349e-03 -1.80965920e-04 9.99978866e-01 1.76791679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:102.39, Z:1.77 [[-7.19713907e-01 6.94253900e-01 4.83887492e-03 1.22796267e+02] [-6.94240361e-01 -7.19730135e-01 4.34204891e-03 1.02393982e+02] [ 6.49716849e-03 -2.34309289e-04 9.99978866e-01 1.76559380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:102.38, Z:1.76 [[-7.25212408e-01 6.88508558e-01 4.78834559e-03 1.22773356e+02] [-6.88494517e-01 -7.25228208e-01 4.39835052e-03 1.02377211e+02] [ 6.50094527e-03 -1.07011306e-04 9.99978863e-01 1.76498583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:102.37, Z:1.76 [[-7.25796003e-01 6.87892961e-01 4.84121107e-03 1.22772000e+02] [-6.87879297e-01 -7.25812126e-01 4.33937128e-03 1.02372310e+02] [ 6.49883266e-03 -1.80670536e-04 9.99978866e-01 1.76431408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:102.37, Z:1.76 [[-7.26255028e-01 6.87408307e-01 4.84285057e-03 1.22773228e+02] [-6.87394645e-01 -7.26271153e-01 4.33754078e-03 1.02370724e+02] [ 6.49888423e-03 -1.78788746e-04 9.99978866e-01 1.76363855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:102.36, Z:1.76 [[-7.27447447e-01 6.86146299e-01 4.84448858e-03 1.22771111e+02] [-6.86132621e-01 -7.27463558e-01 4.33571056e-03 1.02364685e+02] [ 6.49912065e-03 -1.69960077e-04 9.99978866e-01 1.76452651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:102.36, Z:1.77 [[-7.28533047e-01 6.84993515e-01 4.84612103e-03 1.22768299e+02] [-6.84979824e-01 -7.28549146e-01 4.33388517e-03 1.02360922e+02] [ 6.49932057e-03 -1.62116564e-04 9.99978866e-01 1.76544276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.79, Y:102.37, Z:1.77 [[-7.24344908e-01 6.89420738e-01 4.84775627e-03 1.22790057e+02] [-6.89407157e-01 -7.24361101e-01 4.33205527e-03 1.02373346e+02] [ 6.49813480e-03 -2.04175693e-04 9.99978866e-01 1.76645909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:102.35, Z:1.77 [[-7.33344169e-01 6.79840646e-01 4.79855675e-03 1.22764302e+02] [-6.79826492e-01 -7.33359867e-01 4.38709573e-03 1.02350992e+02] [ 6.50159493e-03 -4.49349297e-05 9.99978863e-01 1.76827963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:102.35, Z:1.77 [[-7.35743761e-01 6.77242642e-01 4.84996325e-03 1.22764724e+02] [-6.77228810e-01 -7.35759740e-01 4.32950965e-03 1.02347810e+02] [ 6.50053625e-03 -9.91251215e-05 9.99978866e-01 1.76805581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:102.35, Z:1.77 [[-7.36033371e-01 6.76927868e-01 4.85160437e-03 1.22762383e+02] [-6.76914042e-01 -7.36049354e-01 4.32766985e-03 1.02345639e+02] [ 6.50054058e-03 -9.88096962e-05 9.99978866e-01 1.76807750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:102.34, Z:1.77 [[-7.41681800e-01 6.70734338e-01 4.85345459e-03 1.22758750e+02] [-6.70720391e-01 -7.41697678e-01 4.32559384e-03 1.02337358e+02] [ 6.50112032e-03 -4.70967415e-05 9.99978866e-01 1.76884206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.75, Y:102.33, Z:1.77 [[-7.45171000e-01 6.66855763e-01 4.85509720e-03 1.22753204e+02] [-6.66841746e-01 -7.45186816e-01 4.32374937e-03 1.02331098e+02] [ 6.50127161e-03 -1.56488524e-05 9.99978866e-01 1.77008733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.75, Y:102.33, Z:1.77 [[-7.48487638e-01 6.63130959e-01 4.85674644e-03 1.22750389e+02] [-6.63116875e-01 -7.48503394e-01 4.32189603e-03 1.02327291e+02] [ 6.50127425e-03 1.42952314e-05 9.99978866e-01 1.77085493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.75, Y:102.32, Z:1.77 [[-7.54163423e-01 6.56668811e-01 4.85840546e-03 1.22746045e+02] [-6.56654605e-01 -7.54179069e-01 4.32003026e-03 1.02320923e+02] [ 6.50093684e-03 6.77144930e-05 9.99978866e-01 1.77126864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.517628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.74, Y:102.32, Z:1.77 [[-7.56667765e-01 6.53781519e-01 4.86006288e-03 1.22741009e+02] [-6.53767264e-01 -7.56683367e-01 4.31816484e-03 1.02316116e+02] [ 6.50066511e-03 9.00661226e-05 9.99978866e-01 1.77015378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.74, Y:102.31, Z:1.77 [[-7.59821956e-01 6.50113035e-01 4.86172568e-03 1.22739552e+02] [-6.50098718e-01 -7.59837500e-01 4.31629192e-03 1.02314522e+02] [ 6.50019913e-03 1.19011735e-04 9.99978866e-01 1.76915259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.74, Y:102.31, Z:1.77 [[-7.60839843e-01 6.48921475e-01 4.86339026e-03 1.22735844e+02] [-6.48907145e-01 -7.60855376e-01 4.31441553e-03 1.02311431e+02] [ 6.50005352e-03 1.26690548e-04 9.99978866e-01 1.76823145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:102.31, Z:1.77 [[-7.61111089e-01 6.48603300e-01 4.86505524e-03 1.22732930e+02] [-6.48588975e-01 -7.61126628e-01 4.31253724e-03 1.02310193e+02] [ 6.50004897e-03 1.26898722e-04 9.99978866e-01 1.76514806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:102.31, Z:1.76 [[-7.60926966e-01 6.48819287e-01 4.86672144e-03 1.22731851e+02] [-6.48804979e-01 -7.60942519e-01 4.31065610e-03 1.02310609e+02] [ 6.50013209e-03 1.22541367e-04 9.99978866e-01 1.76368143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:102.31, Z:1.76 [[-7.60311662e-01 6.49540203e-01 4.86838635e-03 1.22733223e+02] [-6.49525921e-01 -7.60327240e-01 4.30877496e-03 1.02313447e+02] [ 6.50028932e-03 1.13868724e-04 9.99978866e-01 1.76227431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:102.32, Z:1.76 [[-7.57139667e-01 6.53234879e-01 4.87004609e-03 1.22730568e+02] [-6.53220686e-01 -7.57155325e-01 4.30689820e-03 1.02315553e+02] [ 6.50079745e-03 7.97086200e-05 9.99978866e-01 1.75984917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:102.32, Z:1.76 [[-7.54969220e-01 6.55742132e-01 4.87165721e-03 1.22729774e+02] [-6.55728003e-01 -7.54984936e-01 4.30507504e-03 1.02317668e+02] [ 6.50104689e-03 5.57170907e-05 9.99978866e-01 1.75918365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:102.32, Z:1.76 [[-7.52511812e-01 6.58560721e-01 4.87330834e-03 1.22727807e+02] [-6.58546662e-01 -7.52527591e-01 4.30320516e-03 1.02318587e+02] [ 6.50122088e-03 2.89117704e-05 9.99978866e-01 1.75929298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:102.32, Z:1.76 [[-7.46908938e-01 6.64908470e-01 4.87495574e-03 1.22725120e+02] [-6.64894557e-01 -7.46924846e-01 4.30133807e-03 1.02322041e+02] [ 6.50122168e-03 -2.86236850e-05 9.99978866e-01 1.76057915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:102.33, Z:1.76 [[-7.44319112e-01 6.67806315e-01 4.87702145e-03 1.22725751e+02] [-6.67792480e-01 -7.44335087e-01 4.29899461e-03 1.02326824e+02] [ 6.50103394e-03 -5.70144058e-05 9.99978866e-01 1.76237268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.72, Y:102.33, Z:1.77 [[-7.39798269e-01 6.72811059e-01 4.87865772e-03 1.22720883e+02] [-6.72797344e-01 -7.39814347e-01 4.29713692e-03 1.02330862e+02] [ 6.50046221e-03 -1.03333503e-04 9.99978866e-01 1.76664697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.72, Y:102.33, Z:1.77 [[-7.38056713e-01 6.74721029e-01 4.88070638e-03 1.22718880e+02] [-6.74707371e-01 -7.38072840e-01 4.29480877e-03 1.02332344e+02] [ 6.50011462e-03 -1.23236126e-04 9.99978866e-01 1.76843667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.72, Y:102.33, Z:1.77 [[-7.36691037e-01 6.76211860e-01 4.88233272e-03 1.22715917e+02] [-6.76198247e-01 -7.36707202e-01 4.29295915e-03 1.02331645e+02] [ 6.49979957e-03 -1.38840297e-04 9.99978866e-01 1.76934461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.71, Y:102.33, Z:1.77 [[-7.34763196e-01 6.78306118e-01 4.88416477e-03 1.22711430e+02] [-6.78292565e-01 -7.34779412e-01 4.29087379e-03 1.02329077e+02] [ 6.49930966e-03 -1.60116507e-04 9.99978866e-01 1.76985284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.72, Y:102.33, Z:1.77 [[-7.34406133e-01 6.78692685e-01 4.88579530e-03 1.22715084e+02] [-6.78679153e-01 -7.34422366e-01 4.28901639e-03 1.02332523e+02] [ 6.49916139e-03 -1.66007468e-04 9.99978866e-01 1.76818859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.71, Y:102.33, Z:1.77 [[-7.33923540e-01 6.79214510e-01 4.88741705e-03 1.22711170e+02] [-6.79201001e-01 -7.33939793e-01 4.28716758e-03 1.02329010e+02] [ 6.49897628e-03 -1.73085345e-04 9.99978866e-01 1.76695820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.71, Y:102.33, Z:1.77 [[-7.33817406e-01 6.79329164e-01 4.88903518e-03 1.22713153e+02] [-6.79315670e-01 -7.33833671e-01 4.28532149e-03 1.02330755e+02] [ 6.49888249e-03 -1.76554711e-04 9.99978866e-01 1.76534131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.71, Y:102.33, Z:1.76 [[-7.33968470e-01 6.79165934e-01 4.89065154e-03 1.22708806e+02] [-6.79152449e-01 -7.33984743e-01 4.28347600e-03 1.02326550e+02] [ 6.49885460e-03 -1.77561642e-04 9.99978866e-01 1.76320334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.08762800000005 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:122.71, Y:102.32, Z:1.76 [[-7.33952706e-01 6.79182968e-01 4.89097225e-03 1.22708331e+02] [-6.79169486e-01 -7.33968981e-01 4.28310954e-03 1.02323924e+02] [ 6.49883697e-03 -1.78199272e-04 9.99978866e-01 1.76328187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.71, Y:102.32, Z:1.76 [[-7.34692814e-01 6.78382281e-01 4.89392970e-03 1.22709701e+02] [-6.78368803e-01 -7.34709093e-01 4.27972766e-03 1.02323660e+02] [ 6.49890606e-03 -1.75604078e-04 9.99978866e-01 1.76455140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.147628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:122.71, Y:102.32, Z:1.76 [[-7.35567160e-01 6.77434120e-01 4.89554212e-03 1.22709770e+02] [-6.77420634e-01 -7.35583432e-01 4.27788244e-03 1.02319415e+02] [ 6.49906319e-03 -1.69671405e-04 9.99978866e-01 1.76258898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.71, Y:102.32, Z:1.76 [[-7.36909824e-01 6.75973320e-01 4.89712874e-03 1.22707336e+02] [-6.75959814e-01 -7.36926079e-01 4.27606536e-03 1.02316249e+02] [ 6.49932798e-03 -1.59187659e-04 9.99978866e-01 1.76423959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.207628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:122.71, Y:102.31, Z:1.76 [[-7.37945675e-01 6.74842339e-01 4.89873925e-03 1.22707048e+02] [-6.74828820e-01 -7.37961919e-01 4.27421955e-03 1.02314455e+02] [ 6.49950733e-03 -1.51668597e-04 9.99978866e-01 1.76303127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.70, Y:102.31, Z:1.77 [[-7.41777224e-01 6.70628464e-01 4.90034958e-03 1.22703245e+02] [-6.70614865e-01 -7.41793401e-01 4.27237251e-03 1.02308519e+02] [ 6.50022160e-03 -1.17098652e-04 9.99978866e-01 1.76563274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.70, Y:102.30, Z:1.77 [[-7.44347184e-01 6.67774844e-01 4.90175732e-03 1.22698879e+02] [-6.67761194e-01 -7.44363317e-01 4.27075678e-03 1.02302968e+02] [ 6.50059229e-03 -9.42775416e-05 9.99978866e-01 1.76786031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.70, Y:102.30, Z:1.77 [[-7.50246502e-01 6.61140033e-01 4.90337455e-03 1.22695607e+02] [-6.61126252e-01 -7.50262524e-01 4.26889919e-03 1.02296327e+02] [ 6.50115832e-03 -3.90229551e-05 9.99978866e-01 1.77040130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.69, Y:102.29, Z:1.77 [[-7.53676274e-01 6.57227521e-01 4.90499640e-03 1.22685699e+02] [-6.57213669e-01 -7.53692235e-01 4.26703486e-03 1.02285087e+02] [ 6.50127044e-03 -7.66774779e-06 9.99978867e-01 1.77107738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.69, Y:102.29, Z:1.77 [[-7.57096664e-01 6.53284445e-01 4.90662750e-03 1.22688854e+02] [-6.53270522e-01 -7.57112563e-01 4.26515844e-03 1.02286197e+02] [ 6.50123099e-03 2.37821178e-05 9.99978867e-01 1.77155375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.68, Y:102.28, Z:1.77 [[-7.62565065e-01 6.46892905e-01 4.90826196e-03 1.22678795e+02] [-6.46878861e-01 -7.62580857e-01 4.26327671e-03 1.02277442e+02] [ 6.50083007e-03 7.59749731e-05 9.99978867e-01 1.77277685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.68, Y:102.28, Z:1.77 [[-7.64837981e-01 6.44203971e-01 4.90989869e-03 1.22676972e+02] [-6.44189884e-01 -7.64853734e-01 4.26139090e-03 1.02275532e+02] [ 6.50055929e-03 9.63665393e-05 9.99978867e-01 1.77319814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.68, Y:102.27, Z:1.77 [[-7.67309527e-01 6.41258111e-01 4.91175154e-03 1.22675140e+02] [-6.41243976e-01 -7.67325239e-01 4.25925420e-03 1.02273544e+02] [ 6.50019222e-03 1.18535239e-04 9.99978867e-01 1.77333667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:102.27, Z:1.77 [[-7.67637535e-01 6.40865410e-01 4.91339355e-03 1.22672541e+02] [-6.40851280e-01 -7.67653250e-01 4.25735916e-03 1.02271807e+02] [ 6.50017675e-03 1.19354143e-04 9.99978867e-01 1.77285462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.69, Y:102.28, Z:1.77 [[-7.62407950e-01 6.47078018e-01 4.91503539e-03 1.22687466e+02] [-6.47064028e-01 -7.62423790e-01 4.25546285e-03 1.02279918e+02] [ 6.50095637e-03 6.40561137e-05 9.99978867e-01 1.76947088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:102.27, Z:1.77 [[-7.65630809e-01 6.43261850e-01 4.86389416e-03 1.22671008e+02] [-6.43247404e-01 -7.65646238e-01 4.31451218e-03 1.02272601e+02] [ 6.49938335e-03 1.74636156e-04 9.99978864e-01 1.77002644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:102.27, Z:1.77 [[-7.64568371e-01 6.44523877e-01 4.91709099e-03 1.22668814e+02] [-6.44509850e-01 -7.64584178e-01 4.25300900e-03 1.02271878e+02] [ 6.50069583e-03 8.26025892e-05 9.99978867e-01 1.76955018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:102.27, Z:1.77 [[-7.63353039e-01 6.45962803e-01 4.91872678e-03 1.22668620e+02] [-6.45948818e-01 -7.63368883e-01 4.25111633e-03 1.02273514e+02] [ 6.50086599e-03 6.78568192e-05 9.99978867e-01 1.76964706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:102.27, Z:1.77 [[-7.62211880e-01 6.47308921e-01 4.92036598e-03 1.22665755e+02] [-6.47294977e-01 -7.62227760e-01 4.24921822e-03 1.02273175e+02] [ 6.50099640e-03 5.38764288e-05 9.99978867e-01 1.76945698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.66, Y:102.28, Z:1.77 [[-7.59302231e-01 6.50719522e-01 4.92199676e-03 1.22663503e+02] [-6.50705661e-01 -7.59318183e-01 4.24732840e-03 1.02275340e+02] [ 6.50118114e-03 2.22347680e-05 9.99978867e-01 1.76908738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.66, Y:102.28, Z:1.77 [[-7.57877571e-01 6.52378226e-01 4.92312451e-03 1.22662698e+02] [-6.52364409e-01 -7.57893561e-01 4.24602081e-03 1.02276277e+02] [ 6.50121589e-03 6.29272387e-06 9.99978867e-01 1.76819958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.66, Y:102.28, Z:1.77 [[-7.56860508e-01 6.53557892e-01 4.92474866e-03 1.22662797e+02] [-6.53544112e-01 -7.56876530e-01 4.24413620e-03 1.02278323e+02] [ 6.50121539e-03 -6.32140568e-06 9.99978867e-01 1.76785000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.66, Y:102.28, Z:1.77 [[-7.55665534e-01 6.54939182e-01 4.92636859e-03 1.22657129e+02] [-6.54925443e-01 -7.55681592e-01 4.24225505e-03 1.02276060e+02] [ 6.50118510e-03 -2.06782039e-05 9.99978867e-01 1.76756149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.65, Y:102.28, Z:1.77 [[-7.55714394e-01 6.54882790e-01 4.92798725e-03 1.22654090e+02] [-6.54869062e-01 -7.55730462e-01 4.24037390e-03 1.02275122e+02] [ 6.50117797e-03 -2.26748013e-05 9.99978867e-01 1.76818478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.65, Y:102.28, Z:1.77 [[-7.56068034e-01 6.54474466e-01 4.92960762e-03 1.22653251e+02] [-6.54460742e-01 -7.56084104e-01 4.23848932e-03 1.02278317e+02] [ 6.50118100e-03 -2.16483680e-05 9.99978867e-01 1.77033648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.65, Y:102.28, Z:1.77 [[-7.56635560e-01 6.53818256e-01 4.93123108e-03 1.22649829e+02] [-6.53804530e-01 -7.56651629e-01 4.23659968e-03 1.02276012e+02] [ 6.50119024e-03 -1.84992461e-05 9.99978867e-01 1.77089426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.65, Y:102.27, Z:1.77 [[-7.58213371e-01 6.51987846e-01 4.93284705e-03 1.22648074e+02] [-6.51974093e-01 -7.58229417e-01 4.23471730e-03 1.02273476e+02] [ 6.50121395e-03 -5.26920036e-06 9.99978867e-01 1.76925960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.65, Y:102.27, Z:1.77 [[-7.58964704e-01 6.51113070e-01 4.93446337e-03 1.22647486e+02] [-6.51099311e-01 -7.58980745e-01 4.23283305e-03 1.02272461e+02] [ 6.50121561e-03 -2.54816895e-07 9.99978867e-01 1.76809788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:102.27, Z:1.77 [[-7.59770965e-01 6.50172066e-01 4.93607898e-03 1.22644955e+02] [-6.50158300e-01 -7.59786999e-01 4.23094819e-03 1.02270840e+02] [ 6.50121296e-03 5.31887078e-06 9.99978867e-01 1.76793855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:102.27, Z:1.77 [[-7.60335799e-01 6.49511426e-01 4.93769333e-03 1.22641199e+02] [-6.49497658e-01 -7.60351831e-01 4.22906334e-03 1.02268182e+02] [ 6.50120913e-03 8.48799244e-06 9.99978867e-01 1.76595742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:102.26, Z:1.77 [[-7.60513783e-01 6.49303002e-01 4.93929734e-03 1.22635773e+02] [-6.49289242e-01 -7.60529823e-01 4.22718912e-03 1.02262767e+02] [ 6.50120952e-03 7.80296661e-06 9.99978867e-01 1.76505436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:102.27, Z:1.76 [[-7.60915466e-01 6.48832214e-01 4.94090368e-03 1.22640684e+02] [-6.48818456e-01 -7.60931507e-01 4.22531074e-03 1.02265203e+02] [ 6.50120700e-03 9.35479382e-06 9.99978867e-01 1.76364492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:102.26, Z:1.76 [[-7.61023418e-01 6.48705580e-01 4.94252640e-03 1.22641160e+02] [-6.48691831e-01 -7.61039467e-01 4.22341171e-03 1.02264120e+02] [ 6.50120840e-03 7.93871494e-06 9.99978867e-01 1.76256449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:102.26, Z:1.76 [[-7.60867718e-01 6.48888181e-01 4.94409210e-03 1.22640693e+02] [-6.48874449e-01 -7.60883781e-01 4.22157805e-03 1.02261370e+02] [ 6.50121159e-03 3.96742217e-06 9.99978867e-01 1.76238066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:102.26, Z:1.76 [[-7.58894528e-01 6.51194775e-01 4.94570101e-03 1.22641369e+02] [-6.51181104e-01 -7.58910643e-01 4.21969232e-03 1.02258530e+02] [ 6.50118673e-03 -1.82456324e-05 9.99978867e-01 1.76410300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:102.26, Z:1.77 [[-7.57331068e-01 6.53012384e-01 4.94772007e-03 1.22640196e+02] [-6.52998767e-01 -7.57347229e-01 4.21732358e-03 1.02257179e+02] [ 6.50110661e-03 -3.69449407e-05 9.99978867e-01 1.76575962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.16762800000004 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:122.64, Y:102.26, Z:1.77 [[-7.54808879e-01 6.55926109e-01 4.94932391e-03 1.22638472e+02] [-6.55912566e-01 -7.54825103e-01 4.21544052e-03 1.02255269e+02] [ 6.50089143e-03 -6.44718140e-05 9.99978867e-01 1.76531047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:102.26, Z:1.77 [[-7.50448030e-01 6.60910918e-01 4.95092650e-03 1.22642103e+02] [-6.60897496e-01 -7.50464354e-01 4.21355748e-03 1.02259352e+02] [ 6.50028000e-03 -1.09999016e-04 9.99978867e-01 1.76976971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:102.26, Z:1.77 [[-7.48173958e-01 6.63484138e-01 4.95250152e-03 1.22641941e+02] [-6.63470783e-01 -7.48190338e-01 4.21170543e-03 1.02258804e+02] [ 6.49981353e-03 -1.34751743e-04 9.99978867e-01 1.77021186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:102.26, Z:1.77 [[-7.48425385e-01 6.63200497e-01 4.95409852e-03 1.22640183e+02] [-6.63187149e-01 -7.48441770e-01 4.20982609e-03 1.02257214e+02] [ 6.49981302e-03 -1.34753758e-04 9.99978867e-01 1.77022824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:102.25, Z:1.77 [[-7.46383259e-01 6.65497913e-01 4.95569349e-03 1.22637599e+02] [-6.65484628e-01 -7.46399694e-01 4.20794770e-03 1.02254433e+02] [ 6.49930851e-03 -1.57196123e-04 9.99978867e-01 1.77088582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:102.25, Z:1.77 [[-7.43391091e-01 6.68838627e-01 4.95748598e-03 1.22639169e+02] [-6.68825430e-01 -7.43407597e-01 4.20583486e-03 1.02253244e+02] [ 6.49845755e-03 -1.89112525e-04 9.99978867e-01 1.77142542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.65, Y:102.26, Z:1.77 [[-7.40511846e-01 6.72025010e-01 4.95907339e-03 1.22651720e+02] [-6.72011896e-01 -7.40528418e-01 4.20396232e-03 1.02260496e+02] [ 6.49750259e-03 -2.19472410e-04 9.99978867e-01 1.77077653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:102.25, Z:1.77 [[-7.42545850e-01 6.69777018e-01 4.94028617e-03 1.22638610e+02] [-6.69763707e-01 -7.42562265e-01 4.22613740e-03 1.02250252e+02] [ 6.49903979e-03 -1.70723589e-04 9.99978866e-01 1.77093849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.63, Y:102.25, Z:1.77 [[-7.45701441e-01 6.66261849e-01 4.95062018e-03 1.22633582e+02] [-6.66248541e-01 -7.45717858e-01 4.21392882e-03 1.02247628e+02] [ 6.49934589e-03 -1.56010677e-04 9.99978867e-01 1.77173815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.63, Y:102.24, Z:1.77 [[-7.48162202e-01 6.63497312e-01 4.96342349e-03 1.22629695e+02] [-6.63484044e-01 -7.48178651e-01 4.19879395e-03 1.02244295e+02] [ 6.49941599e-03 -1.51773362e-04 9.99978867e-01 1.77265910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.63, Y:102.24, Z:1.77 [[-7.53918380e-01 6.56949329e-01 4.96541722e-03 1.22625295e+02] [-6.56935933e-01 -7.53934725e-01 4.19643488e-03 1.02237096e+02] [ 6.50044554e-03 -9.81916090e-05 9.99978867e-01 1.77161223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:102.24, Z:1.77 [[-7.53014126e-01 6.57985604e-01 4.96700628e-03 1.22639172e+02] [-6.57972243e-01 -7.53030499e-01 4.19455318e-03 1.02242618e+02] [ 6.50026283e-03 -1.09594465e-04 9.99978867e-01 1.76949189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.62, Y:102.23, Z:1.77 [[-7.61805855e-01 6.47786609e-01 4.93439040e-03 1.22622094e+02] [-6.47772778e-01 -7.61821835e-01 4.23317768e-03 1.02229676e+02] [ 6.50132216e-03 2.84957647e-05 9.99978866e-01 1.76643742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.62, Y:102.23, Z:1.77 [[-7.63865540e-01 6.45356294e-01 4.96899133e-03 1.22617893e+02] [-6.45342678e-01 -7.63881701e-01 4.19216506e-03 1.02226877e+02] [ 6.50116166e-03 -4.45174402e-06 9.99978867e-01 1.76595150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.61, Y:102.23, Z:1.77 [[-7.65578714e-01 6.43323034e-01 4.97058796e-03 1.22614108e+02] [-6.43309387e-01 -7.65594850e-01 4.19027110e-03 1.02225265e+02] [ 6.50115446e-03 1.03564683e-05 9.99978867e-01 1.76682854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.61, Y:102.22, Z:1.77 [[-7.67782609e-01 6.40691145e-01 4.97218625e-03 1.22606976e+02] [-6.40677455e-01 -7.67798708e-01 4.18837372e-03 1.02221762e+02] [ 6.50109213e-03 3.01928694e-05 9.99978867e-01 1.76938436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.61, Y:102.22, Z:1.77 [[-7.68432637e-01 6.39911357e-01 4.97377504e-03 1.22607150e+02] [-6.39897663e-01 -7.68448732e-01 4.18648614e-03 1.02221642e+02] [ 6.50107115e-03 3.43255605e-05 9.99978867e-01 1.77022420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.60, Y:102.22, Z:1.77 [[-7.68653008e-01 6.39646620e-01 4.97537772e-03 1.22602017e+02] [-6.39632933e-01 -7.68669110e-01 4.18458059e-03 1.02217441e+02] [ 6.50107199e-03 3.40750211e-05 9.99978867e-01 1.77084823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.59, Y:102.21, Z:1.77 [[-7.67265426e-01 6.41310374e-01 4.97698074e-03 1.22594625e+02] [-6.41296734e-01 -7.67281568e-01 4.18267315e-03 1.02214032e+02] [ 6.50113727e-03 1.74990060e-05 9.99978867e-01 1.77241493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.03, Y:101.58, Z:2.72 [[-7.19957553e-01 -6.94000229e-01 -4.98031278e-03 1.23027936e+02] [-6.93987793e-01 7.19974639e-01 -4.17870490e-03 1.01584986e+02] [ 6.48572106e-03 4.47786121e-04 -9.99978867e-01 2.71531105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.47, Y:102.16, Z:1.78 [[-7.17399140e-01 6.96646718e-01 4.67158191e-03 1.22470120e+02] [-6.96632189e-01 -7.17414350e-01 4.49926103e-03 1.02155383e+02] [ 6.48585534e-03 -2.66083396e-05 9.99978966e-01 1.77509958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.47, Y:102.16, Z:1.77 [[-7.13972180e-01 7.00158471e-01 4.67352318e-03 1.22467147e+02] [-7.00144030e-01 -7.13987473e-01 4.49724368e-03 1.02156062e+02] [ 6.48562026e-03 -6.12324805e-05 9.99978966e-01 1.77426681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.47, Y:102.16, Z:1.77 [[-7.12565565e-01 7.01589950e-01 4.67524178e-03 1.22468622e+02] [-7.01575552e-01 -7.12580898e-01 4.49545635e-03 1.02158245e+02] [ 6.48545498e-03 -7.67279396e-05 9.99978966e-01 1.77299443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.47, Y:102.16, Z:1.77 [[-7.11261246e-01 7.02912203e-01 4.67696203e-03 1.22468392e+02] [-7.02897845e-01 -7.11276617e-01 4.49366593e-03 1.02158730e+02] [ 6.48526635e-03 -9.12561013e-05 9.99978966e-01 1.77202832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.47, Y:102.16, Z:1.77 [[-7.10475641e-01 7.03706241e-01 4.67867647e-03 1.22468388e+02] [-7.03691912e-01 -7.10491038e-01 4.49188019e-03 1.02158475e+02] [ 6.48512183e-03 -1.00975332e-04 9.99978966e-01 1.77160482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.47, Y:102.16, Z:1.77 [[-7.09905294e-01 7.04281597e-01 4.68038171e-03 1.22469909e+02] [-7.04267292e-01 -7.09920715e-01 4.49010269e-03 1.02157685e+02] [ 6.48499662e-03 -1.08692077e-04 9.99978966e-01 1.77053719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.47, Y:102.15, Z:1.77 [[-7.10047536e-01 7.04138179e-01 4.68208913e-03 1.22468599e+02] [-7.04123882e-01 -7.10062964e-01 4.48832155e-03 1.02154743e+02] [ 6.48497665e-03 -1.09849117e-04 9.99978966e-01 1.76933768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.47, Y:102.15, Z:1.77 [[-7.10248144e-01 7.03935816e-01 4.68400463e-03 1.22465487e+02] [-7.03921529e-01 -7.10263581e-01 4.48632165e-03 1.02150460e+02] [ 6.48496040e-03 -1.10770068e-04 9.99978966e-01 1.76802545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.47, Y:102.15, Z:1.77 [[-7.10192979e-01 7.03991458e-01 4.68613889e-03 1.22467018e+02] [-7.03977186e-01 -7.10208430e-01 4.48409122e-03 1.02151136e+02] [ 6.48489726e-03 -1.14364766e-04 9.99978966e-01 1.76596585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.03762800000004 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:122.46, Y:102.15, Z:1.76 [[-7.10200641e-01 7.03983717e-01 4.68784094e-03 1.22460963e+02] [-7.03969457e-01 -7.10216103e-01 4.48231113e-03 1.02145418e+02] [ 6.48485417e-03 -1.16756600e-04 9.99978966e-01 1.76396068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.46, Y:102.14, Z:1.77 [[-7.10361613e-01 7.03821274e-01 4.68975387e-03 1.22459489e+02] [-7.03807023e-01 -7.10377084e-01 4.48030878e-03 1.02143446e+02] [ 6.48483030e-03 -1.18042341e-04 9.99978966e-01 1.76502038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.46, Y:102.14, Z:1.77 [[-7.10367826e-01 7.03814991e-01 4.69145813e-03 1.22457451e+02] [-7.03800753e-01 -7.10383308e-01 4.47852349e-03 1.02138923e+02] [ 6.48478551e-03 -1.20452769e-04 9.99978966e-01 1.76581017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.46, Y:102.14, Z:1.77 [[-7.10675303e-01 7.03504500e-01 4.69381268e-03 1.22458020e+02] [-7.03490271e-01 -7.10690794e-01 4.47605439e-03 1.02137229e+02] [ 6.48477386e-03 -1.21030241e-04 9.99978966e-01 1.76668414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.46, Y:102.14, Z:1.77 [[-7.11166293e-01 7.03008147e-01 4.69572436e-03 1.22458729e+02] [-7.02993920e-01 -7.11181785e-01 4.47404799e-03 1.02135023e+02] [ 6.48480582e-03 -1.19273553e-04 9.99978966e-01 1.76663130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.46, Y:102.13, Z:1.77 [[-7.12968055e-01 7.01180780e-01 4.69741669e-03 1.22455885e+02] [-7.01166525e-01 -7.12983522e-01 4.47227046e-03 1.02128115e+02] [ 6.48505079e-03 -1.05085366e-04 9.99978966e-01 1.76698929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.46, Y:102.13, Z:1.77 [[-7.14417401e-01 6.99704005e-01 4.69911029e-03 1.22456495e+02] [-6.99689730e-01 -7.14432849e-01 4.47049025e-03 1.02127569e+02] [ 6.48521869e-03 -9.41231798e-05 9.99978966e-01 1.76738014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.45, Y:102.12, Z:1.77 [[-7.15857007e-01 6.98231084e-01 4.70102027e-03 1.22453959e+02] [-6.98216790e-01 -7.15872437e-01 4.46848088e-03 1.02124092e+02] [ 6.48536308e-03 -8.35379407e-05 9.99978966e-01 1.76693627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.45, Y:102.12, Z:1.77 [[-7.18601225e-01 6.95406474e-01 4.70271187e-03 1.22449589e+02] [-6.95392132e-01 -7.18616610e-01 4.46669989e-03 1.02118078e+02] [ 6.48561889e-03 -6.04528190e-05 9.99978966e-01 1.76907022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.45, Y:102.11, Z:1.77 [[-7.20192061e-01 6.93758793e-01 4.70440698e-03 1.22446113e+02] [-6.93744427e-01 -7.20207424e-01 4.46491386e-03 1.02113905e+02] [ 6.48572209e-03 -4.80606128e-05 9.99978966e-01 1.76956146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.46, Y:102.12, Z:1.77 [[-7.18850776e-01 6.95148484e-01 4.70610645e-03 1.22455013e+02] [-6.95134159e-01 -7.18866178e-01 4.46312187e-03 1.02118869e+02] [ 6.48559315e-03 -6.30567314e-05 9.99978966e-01 1.76968541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.44, Y:102.11, Z:1.77 [[-7.23737276e-01 6.90059754e-01 4.67874360e-03 1.22443228e+02] [-6.90045134e-01 -7.23752399e-01 4.49198641e-03 1.02110867e+02] [ 6.48599094e-03 2.24737525e-05 9.99978966e-01 1.77097957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.44, Y:102.11, Z:1.77 [[-7.26923445e-01 6.86702356e-01 4.70953636e-03 1.22438100e+02] [-6.86687876e-01 -7.26938701e-01 4.45946692e-03 1.02107565e+02] [ 6.48587068e-03 7.70953390e-06 9.99978967e-01 1.77076250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.45, Y:102.11, Z:1.77 [[-7.26505078e-01 6.87144945e-01 4.71123741e-03 1.22445608e+02] [-6.87130486e-01 -7.26520353e-01 4.45766911e-03 1.02114349e+02] [ 6.48587467e-03 1.28438987e-06 9.99978967e-01 1.76938125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.43, Y:102.11, Z:1.77 [[-7.31497093e-01 6.81828433e-01 4.68942444e-03 1.22430314e+02] [-6.81813715e-01 -7.31512120e-01 4.48072441e-03 1.02105582e+02] [ 6.48545611e-03 8.03229812e-05 9.99978966e-01 1.76807376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.43, Y:102.11, Z:1.77 [[-7.32939303e-01 6.80277710e-01 4.71342923e-03 1.22428788e+02] [-6.80263122e-01 -7.32954456e-01 4.45532900e-03 1.02105591e+02] [ 6.48558997e-03 5.91136442e-05 9.99978967e-01 1.76669002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.42, Y:102.10, Z:1.77 [[-7.34067252e-01 6.79060408e-01 4.71513952e-03 1.22423790e+02] [-6.79045807e-01 -7.34082392e-01 4.45351825e-03 1.02102239e+02] [ 6.48550881e-03 6.73861837e-05 9.99978967e-01 1.76551871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.54762800000003 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:122.42, Y:102.10, Z:1.76 [[-7.34341646e-01 6.78763654e-01 4.71680090e-03 1.22421019e+02] [-6.78749059e-01 -7.34356792e-01 4.45175795e-03 1.02102015e+02] [ 6.48550627e-03 6.75870914e-05 9.99978967e-01 1.76222227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.577628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:122.42, Y:102.10, Z:1.76 [[-7.33391622e-01 6.79790011e-01 4.71904900e-03 1.22417527e+02] [-6.79775452e-01 -7.33406803e-01 4.44937360e-03 1.02100870e+02] [ 6.48562236e-03 5.52396578e-05 9.99978967e-01 1.76147056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.42, Y:102.11, Z:1.77 [[-7.30318876e-01 6.83090077e-01 4.72075841e-03 1.22417137e+02] [-6.83075599e-01 -7.30334133e-01 4.44755918e-03 1.02105774e+02] [ 6.48581454e-03 2.35015423e-05 9.99978967e-01 1.76518727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:102.11, Z:1.77 [[-7.28529281e-01 6.84998382e-01 4.72267460e-03 1.22414652e+02] [-6.84983957e-01 -7.28544588e-01 4.44552353e-03 1.02105008e+02] [ 6.48585544e-03 3.73772487e-06 9.99978967e-01 1.76684948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:102.10, Z:1.77 [[-7.27201624e-01 6.86407662e-01 4.72437488e-03 1.22409783e+02] [-6.86393278e-01 -7.27216970e-01 4.44371586e-03 1.02101048e+02] [ 6.48584620e-03 -1.13017728e-05 9.99978967e-01 1.76901865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:102.10, Z:1.77 [[-7.24514948e-01 6.89242885e-01 4.72607105e-03 1.22413213e+02] [-6.89228573e-01 -7.24530361e-01 4.44191118e-03 1.02103592e+02] [ 6.48573764e-03 -3.91121536e-05 9.99978967e-01 1.77253800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:102.10, Z:1.77 [[-7.23122045e-01 6.90704103e-01 4.72760744e-03 1.22413822e+02] [-6.90689832e-01 -7.23137497e-01 4.44027537e-03 1.02102963e+02] [ 6.48562663e-03 -5.44493855e-05 9.99978967e-01 1.77385316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:102.10, Z:1.77 [[-7.19872227e-01 6.94090492e-01 4.72930262e-03 1.22413118e+02] [-6.94076306e-01 -7.19887756e-01 4.43846911e-03 1.02099482e+02] [ 6.48526626e-03 -8.73662478e-05 9.99978967e-01 1.77491601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:102.10, Z:1.78 [[-7.18424152e-01 6.95589215e-01 4.73099007e-03 1.22414738e+02] [-6.95575073e-01 -7.18439721e-01 4.43666972e-03 1.02100731e+02] [ 6.48503080e-03 -1.03348082e-04 9.99978967e-01 1.77507065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:102.10, Z:1.77 [[-7.16965988e-01 6.97092084e-01 4.73267433e-03 1.22413842e+02] [-6.97077987e-01 -7.16981598e-01 4.43487236e-03 1.02099669e+02] [ 6.48475482e-03 -1.19390454e-04 9.99978967e-01 1.77472919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.42, Y:102.10, Z:1.77 [[-7.14081893e-01 7.00046167e-01 4.73436074e-03 1.22416086e+02] [-7.00032146e-01 -7.14097572e-01 4.43307134e-03 1.02100331e+02] [ 6.48415011e-03 -1.48628733e-04 9.99978967e-01 1.77328742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.42, Y:102.10, Z:1.77 [[-7.12966486e-01 7.01182116e-01 4.73603700e-03 1.22415353e+02] [-7.01168132e-01 -7.12982198e-01 4.43127979e-03 1.02098295e+02] [ 6.48384421e-03 -1.61404240e-04 9.99978967e-01 1.77226942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.90762800000005 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:122.41, Y:102.10, Z:1.77 [[-7.11951315e-01 7.02212844e-01 4.73792271e-03 1.22414057e+02] [-7.02198896e-01 -7.11967058e-01 4.42926267e-03 1.02095051e+02] [ 6.48353003e-03 -1.73544713e-04 9.99978967e-01 1.76982652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.42, Y:102.09, Z:1.77 [[-7.11343131e-01 7.02828915e-01 4.73980689e-03 1.22415167e+02] [-7.02814994e-01 -7.11358899e-01 4.42724547e-03 1.02093031e+02] [ 6.48329994e-03 -1.81916698e-04 9.99978967e-01 1.77061323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.42, Y:102.10, Z:1.77 [[-7.08316796e-01 7.05878768e-01 4.74147548e-03 1.22424334e+02] [-7.05864928e-01 -7.08332633e-01 4.42545773e-03 1.02097872e+02] [ 6.48237847e-03 -2.12215207e-04 9.99978967e-01 1.76954417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.997628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:122.41, Y:102.09, Z:1.77 [[-7.10959391e-01 7.03217234e-01 4.71882381e-03 1.22413543e+02] [-7.03203172e-01 -7.10975034e-01 4.44972957e-03 1.02090045e+02] [ 6.48409244e-03 -1.54714851e-04 9.99978966e-01 1.76912055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:102.09, Z:1.77 [[-7.12463129e-01 7.01693514e-01 4.74357978e-03 1.22413019e+02] [-7.01679595e-01 -7.12478899e-01 4.42318038e-03 1.02087474e+02] [ 6.48341748e-03 -1.77120203e-04 9.99978967e-01 1.77299165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:102.08, Z:1.77 [[-7.13710052e-01 7.00425187e-01 4.74545725e-03 1.22410207e+02] [-7.00411254e-01 -7.13725808e-01 4.42116520e-03 1.02083299e+02] [ 6.48365077e-03 -1.68341616e-04 9.99978967e-01 1.77408693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.08762800000005 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:122.41, Y:102.08, Z:1.77 [[-7.16201493e-01 6.97877415e-01 4.74712189e-03 1.22408560e+02] [-6.97863438e-01 -7.16217210e-01 4.41937710e-03 1.02076893e+02] [ 6.48415386e-03 -1.47678331e-04 9.99978967e-01 1.77246929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:102.07, Z:1.77 [[-7.18715128e-01 6.95288435e-01 4.74943266e-03 1.22405804e+02] [-6.95274417e-01 -7.18730809e-01 4.41689236e-03 1.02071468e+02] [ 6.48457775e-03 -1.27671669e-04 9.99978967e-01 1.77464823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.40, Y:102.07, Z:1.77 [[-7.18978916e-01 6.95015645e-01 4.75110034e-03 1.22404116e+02] [-6.95001633e-01 -7.18994602e-01 4.41509776e-03 1.02069799e+02] [ 6.48457751e-03 -1.27660299e-04 9.99978967e-01 1.77466457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.40, Y:102.06, Z:1.78 [[-7.23736824e-01 6.90059723e-01 4.75277508e-03 1.22399691e+02] [-6.90045615e-01 -7.23752424e-01 4.41329420e-03 1.02060683e+02] [ 6.48526906e-03 -8.55680770e-05 9.99978967e-01 1.77523726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.40, Y:102.06, Z:1.78 [[-7.26504208e-01 6.87145567e-01 4.75444743e-03 1.22395899e+02] [-6.87131409e-01 -7.26519763e-01 4.41149183e-03 1.02056245e+02] [ 6.48553708e-03 -6.19627781e-05 9.99978967e-01 1.77625338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23762800000003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:122.39, Y:102.05, Z:1.77 [[-7.28514401e-01 6.85013975e-01 4.75612573e-03 1.22392671e+02] [-6.84999783e-01 -7.28529925e-01 4.40968168e-03 1.02052245e+02] [ 6.48567350e-03 -4.54284841e-05 9.99978967e-01 1.77489856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.39, Y:102.05, Z:1.78 [[-7.33141754e-01 6.80059212e-01 4.75780721e-03 1.22390188e+02] [-6.80044927e-01 -7.33157192e-01 4.40786671e-03 1.02048809e+02] [ 6.48583093e-03 -3.93152575e-06 9.99978967e-01 1.77827080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.39, Y:102.04, Z:1.78 [[-7.34798230e-01 6.78269053e-01 4.75949024e-03 1.22386651e+02] [-6.78254742e-01 -7.34813644e-01 4.40604867e-03 1.02044101e+02] [ 6.48582483e-03 9.40993433e-06 9.99978967e-01 1.77827664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.38, Y:102.04, Z:1.78 [[-7.36747398e-01 6.76151317e-01 4.76117648e-03 1.22380341e+02] [-6.76136973e-01 -7.36762782e-01 4.40422576e-03 1.02037117e+02] [ 6.48578068e-03 2.55944161e-05 9.99978967e-01 1.77750513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.38, Y:102.04, Z:1.78 [[-7.37007817e-01 6.75867437e-01 4.76286820e-03 1.22378648e+02] [-6.75853100e-01 -7.37023206e-01 4.40239552e-03 1.02035453e+02] [ 6.48578017e-03 2.56006759e-05 9.99978967e-01 1.77752146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.387628 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:122.38, Y:102.04, Z:1.77 [[-7.37394148e-01 6.75445904e-01 4.76456347e-03 1.22380578e+02] [-6.75431570e-01 -7.37409540e-01 4.40056003e-03 1.02038659e+02] [ 6.48577480e-03 2.68106337e-05 9.99978967e-01 1.77495734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.38, Y:102.04, Z:1.78 [[-7.37676113e-01 6.75137938e-01 4.76625435e-03 1.22379908e+02] [-6.75123609e-01 -7.37691510e-01 4.39872787e-03 1.02038932e+02] [ 6.48577343e-03 2.70256434e-05 9.99978967e-01 1.77638357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.38, Y:102.04, Z:1.77 [[-7.36949061e-01 6.75931467e-01 4.76793947e-03 1.22378343e+02] [-6.75917167e-01 -7.36964484e-01 4.39690055e-03 1.02038823e+02] [ 6.48580549e-03 1.75595949e-05 9.99978967e-01 1.77275908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.38, Y:102.04, Z:1.77 [[-7.36661513e-01 6.76244827e-01 4.76962220e-03 1.22377284e+02] [-6.76230545e-01 -7.36676953e-01 4.39507441e-03 1.02038783e+02] [ 6.48581709e-03 1.23179446e-05 9.99978967e-01 1.77114602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.507628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:122.37, Y:102.04, Z:1.77 [[-7.35742272e-01 6.77244818e-01 4.77130229e-03 1.22374561e+02] [-6.77230569e-01 -7.35757743e-01 4.39324975e-03 1.02036972e+02] [ 6.48582823e-03 1.02779009e-06 9.99978967e-01 1.76564102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.53762800000004 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:122.38, Y:102.04, Z:1.76 [[-7.35055049e-01 6.77990629e-01 4.77294378e-03 1.22375172e+02] [-6.77976407e-01 -7.35070545e-01 4.39146567e-03 1.02038908e+02] [ 6.48582296e-03 -7.97426008e-06 9.99978967e-01 1.76363966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.567628 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:122.37, Y:102.04, Z:1.76 [[-7.32378562e-01 6.80880933e-01 4.77460633e-03 1.22374001e+02] [-6.80866784e-01 -7.32394124e-01 4.38965732e-03 1.02042833e+02] [ 6.48572759e-03 -3.59799474e-05 9.99978967e-01 1.76066528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:102.04, Z:1.76 [[-7.30938372e-01 6.82426761e-01 4.77627713e-03 1.22369598e+02] [-6.82412656e-01 -7.30953975e-01 4.38783861e-03 1.02042182e+02] [ 6.48561724e-03 -5.21523578e-05 9.99978967e-01 1.76374300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:102.05, Z:1.77 [[-7.27407551e-01 6.86189060e-01 4.77794532e-03 1.22368402e+02] [-6.86175048e-01 -7.27423238e-01 4.38602136e-03 1.02048968e+02] [ 6.48522832e-03 -8.80817988e-05 9.99978967e-01 1.76528845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.65762800000005 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:122.36, Y:102.05, Z:1.77 [[-7.25985064e-01 6.87693858e-01 4.77960979e-03 1.22362681e+02] [-6.87679890e-01 -7.26000790e-01 4.38420677e-03 1.02047299e+02] [ 6.48499255e-03 -1.03972899e-04 9.99978967e-01 1.76511941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.36, Y:102.05, Z:1.77 [[-7.25324323e-01 6.88390708e-01 4.78127747e-03 1.22359211e+02] [-6.88376767e-01 -7.25340073e-01 4.38238730e-03 1.02047447e+02] [ 6.48484684e-03 -1.12668224e-04 9.99978967e-01 1.76717656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.36, Y:102.05, Z:1.77 [[-7.25629363e-01 6.88069141e-01 4.78379926e-03 1.22356324e+02] [-6.88055212e-01 -7.25645123e-01 4.37963279e-03 1.02046390e+02] [ 6.48483077e-03 -1.13527865e-04 9.99978967e-01 1.76852326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.747628 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:122.35, Y:102.04, Z:1.77 [[-7.26784645e-01 6.86848730e-01 4.78566973e-03 1.22354790e+02] [-6.86834787e-01 -7.26800393e-01 4.37758795e-03 1.02043083e+02] [ 6.48496736e-03 -1.05400745e-04 9.99978967e-01 1.76600827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.77762800000005 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:122.35, Y:102.04, Z:1.77 [[-7.28559369e-01 6.84965931e-01 4.78733323e-03 1.22352149e+02] [-6.84951960e-01 -7.28575092e-01 4.37576798e-03 1.02039013e+02] [ 6.48518374e-03 -9.10865232e-05 9.99978967e-01 1.76569619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:102.03, Z:1.77 [[-7.32011013e-01 6.81275967e-01 4.78899271e-03 1.22349570e+02] [-6.81261929e-01 -7.32026675e-01 4.37395104e-03 1.02034413e+02] [ 6.48553814e-03 -6.07780810e-05 9.99978967e-01 1.76652425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.83762800000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.35, Y:102.03, Z:1.76 [[-7.33689942e-01 6.79467526e-01 4.79066034e-03 1.22348893e+02] [-6.79453461e-01 -7.33705581e-01 4.37212378e-03 1.02032994e+02] [ 6.48565035e-03 -4.72475057e-05 9.99978967e-01 1.76486534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.867628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:122.34, Y:102.03, Z:1.76 [[-7.36601178e-01 6.76310386e-01 4.79232199e-03 1.22344832e+02] [-6.76296266e-01 -7.36616767e-01 4.37030166e-03 1.02026836e+02] [ 6.48578514e-03 -2.18601110e-05 9.99978967e-01 1.76193786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.897628 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:122.34, Y:102.02, Z:1.76 [[-7.37983119e-01 6.74802143e-01 4.79419726e-03 1.22339912e+02] [-6.74788004e-01 -7.37998691e-01 4.36824353e-03 1.02021292e+02] [ 6.48581140e-03 -1.13768207e-05 9.99978967e-01 1.75953857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:102.02, Z:1.76 [[-7.39379326e-01 6.73272105e-01 4.78380693e-03 1.22342164e+02] [-6.73257861e-01 -7.39394801e-01 4.37965742e-03 1.02022275e+02] [ 6.48582314e-03 1.74925347e-05 9.99978967e-01 1.76034914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:102.01, Z:1.76 [[-7.39528661e-01 6.73107971e-01 4.79776611e-03 1.22328737e+02] [-6.73093822e-01 -7.39544224e-01 4.36431185e-03 1.02009872e+02] [ 6.48581331e-03 -1.81303206e-06 9.99978967e-01 1.76060697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:102.02, Z:1.76 [[-7.39472419e-01 6.73169791e-01 4.79304275e-03 1.22335462e+02] [-6.73155610e-01 -7.39487953e-01 4.36950718e-03 1.02016553e+02] [ 6.48581761e-03 4.66643177e-06 9.99978967e-01 1.76123772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:102.02, Z:1.76 [[-7.39388467e-01 6.73261951e-01 4.80009693e-03 1.22336336e+02] [-6.73247822e-01 -7.39404048e-01 4.36174406e-03 1.02018646e+02] [ 6.48580741e-03 -6.63154749e-06 9.99978967e-01 1.76265963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.04762800000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.33, Y:102.02, Z:1.77 [[-7.39649939e-01 6.72974673e-01 4.80176067e-03 1.22330472e+02] [-6.72960550e-01 -7.39665525e-01 4.35991171e-03 1.02016949e+02] [ 6.48580699e-03 -6.58707763e-06 9.99978967e-01 1.76551468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:102.02, Z:1.77 [[-7.40377952e-01 6.72173650e-01 4.80340702e-03 1.22328411e+02] [-6.72159521e-01 -7.40393534e-01 4.35809714e-03 1.02016603e+02] [ 6.48580955e-03 -2.01672856e-06 9.99978967e-01 1.76718456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.32, Y:102.01, Z:1.77 [[-7.42158043e-01 6.70207690e-01 4.80528187e-03 1.22321229e+02] [-6.70193534e-01 -7.42173600e-01 4.35602892e-03 1.02012673e+02] [ 6.48579743e-03 1.23930612e-05 9.99978967e-01 1.76993207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.32, Y:102.01, Z:1.77 [[-7.43267284e-01 6.68977308e-01 4.80694647e-03 1.22318998e+02] [-6.68963138e-01 -7.43282827e-01 4.35419124e-03 1.02011914e+02] [ 6.48577589e-03 2.06579058e-05 9.99978967e-01 1.77136268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:102.01, Z:1.77 [[-7.44232500e-01 6.67903334e-01 4.80861929e-03 1.22314510e+02] [-6.67889154e-01 -7.44248034e-01 4.35234305e-03 1.02009419e+02] [ 6.48574988e-03 2.75304816e-05 9.99978967e-01 1.77244288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:102.01, Z:1.77 [[-7.44228970e-01 6.67907251e-01 4.81093003e-03 1.22311856e+02] [-6.67893087e-01 -7.44244519e-01 4.34978734e-03 1.02006817e+02] [ 6.48576281e-03 2.40508430e-05 9.99978967e-01 1.77348030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:102.00, Z:1.77 [[-7.43564140e-01 6.68647298e-01 4.81259639e-03 1.22310186e+02] [-6.68633161e-01 -7.43579714e-01 4.34794290e-03 1.02004499e+02] [ 6.48578932e-03 1.51128853e-05 9.99978967e-01 1.77242309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:102.01, Z:1.77 [[-7.42411068e-01 6.69927331e-01 4.81426260e-03 1.22311724e+02] [-6.69913233e-01 -7.42426678e-01 4.34609720e-03 1.02005030e+02] [ 6.48580628e-03 1.45244611e-06 9.99978967e-01 1.77183686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:102.01, Z:1.77 [[-7.39094613e-01 6.73584412e-01 4.81593231e-03 1.22313288e+02] [-6.73570403e-01 -7.39110302e-01 4.34424620e-03 1.02005742e+02] [ 6.48572171e-03 -3.30605010e-05 9.99978967e-01 1.77122436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:102.00, Z:1.77 [[-7.37341018e-01 6.75503526e-01 4.81759631e-03 1.22310257e+02] [-6.75489571e-01 -7.37356755e-01 4.34240010e-03 1.02002783e+02] [ 6.48559376e-03 -5.24063487e-05 9.99978967e-01 1.77167931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:102.00, Z:1.77 [[-7.34168653e-01 6.78950079e-01 4.81448161e-03 1.22312431e+02] [-6.78936175e-01 -7.34184434e-01 4.34585726e-03 1.02002925e+02] [ 6.48533759e-03 -7.81335584e-05 9.99978967e-01 1.77225867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:102.00, Z:1.77 [[-7.32856354e-01 6.80366323e-01 4.81988208e-03 1.22309374e+02] [-6.80352488e-01 -7.32872197e-01 4.33985945e-03 1.01998807e+02] [ 6.48505179e-03 -9.87251886e-05 9.99978967e-01 1.77212314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.40762800000005 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:122.31, Y:101.99, Z:1.77 [[-7.30802392e-01 6.82572057e-01 4.82195792e-03 1.22306231e+02] [-6.82558285e-01 -7.30818290e-01 4.33755179e-03 1.01994158e+02] [ 6.48466668e-03 -1.21374102e-04 9.99978967e-01 1.76822012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.437628 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:122.31, Y:102.00, Z:1.77 [[-7.30644958e-01 6.82740565e-01 4.82361187e-03 1.22310849e+02] [-6.82726809e-01 -7.30660869e-01 4.33571171e-03 1.01997643e+02] [ 6.48459071e-03 -1.25343242e-04 9.99978967e-01 1.76791498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.17, Y:101.87, Z:1.77 [[-7.30782124e-01 6.82593733e-01 4.82526132e-03 1.22172833e+02] [-6.82579987e-01 -7.30798043e-01 4.33387525e-03 1.01873318e+02] [ 6.48456761e-03 -1.26508251e-04 9.99978967e-01 1.77140559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.497628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:122.31, Y:101.99, Z:1.77 [[-7.33018953e-01 6.80191117e-01 4.82270825e-03 1.22307261e+02] [-6.80177299e-01 -7.33034811e-01 4.33671878e-03 1.01992696e+02] [ 6.48501062e-03 -1.01399614e-04 9.99978967e-01 1.76603682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:101.99, Z:1.77 [[-7.34887808e-01 6.78171502e-01 4.82947791e-03 1.22305353e+02] [-6.78157691e-01 -7.34903670e-01 4.32916677e-03 1.01990046e+02] [ 6.48511857e-03 -9.36957056e-05 9.99978967e-01 1.76734057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:101.99, Z:1.77 [[-7.33637544e-01 6.79523815e-01 4.83111970e-03 1.22306235e+02] [-6.79510044e-01 -7.33653443e-01 4.32733385e-03 1.01987195e+02] [ 6.48489400e-03 -1.08099784e-04 9.99978967e-01 1.76658418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.30, Y:101.98, Z:1.77 [[-7.40115953e-01 6.72462125e-01 4.80283397e-03 1.22297623e+02] [-6.72447997e-01 -7.40131536e-01 4.35892982e-03 1.01981746e+02] [ 6.48594409e-03 -3.54259259e-06 9.99978966e-01 1.76805977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.28, Y:101.96, Z:1.77 [[-7.42109482e-01 6.70261251e-01 4.83455416e-03 1.22276235e+02] [-6.70247307e-01 -7.42125229e-01 4.32345986e-03 1.01962078e+02] [ 6.48569222e-03 -3.18663551e-05 9.99978967e-01 1.76920941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.74, Y:101.35, Z:2.72 [[-6.98995214e-01 -7.15110004e-01 -4.83455416e-03 1.22737412e+02] [-7.15097067e-01 6.99011798e-01 -4.32345986e-03 1.01351904e+02] [ 6.47115979e-03 4.35097752e-04 -9.99978967e-01 2.72291532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:101.89, Z:1.77 [[-7.00250009e-01 7.13883378e-01 4.52198439e-03 1.22161392e+02] [-7.13868371e-01 -7.00264609e-01 4.62881646e-03 1.01894971e+02] [ 6.47102076e-03 1.32271378e-05 9.99979063e-01 1.77079624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:101.89, Z:1.77 [[-7.01524351e-01 7.12631123e-01 4.52421078e-03 1.22158152e+02] [-7.12616104e-01 -7.01538939e-01 4.62663935e-03 1.01891730e+02] [ 6.47099722e-03 2.16747052e-05 9.99979063e-01 1.77050005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:101.89, Z:1.77 [[-7.02554844e-01 7.11615210e-01 4.52598535e-03 1.22158736e+02] [-7.11600181e-01 -7.02569422e-01 4.62490274e-03 1.01893168e+02] [ 6.47097004e-03 2.85558273e-05 9.99979063e-01 1.77011086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:101.89, Z:1.77 [[-7.03045631e-01 7.11130326e-01 4.52775865e-03 1.22153545e+02] [-7.11115299e-01 -7.03060210e-01 4.62316603e-03 1.01889688e+02] [ 6.47096051e-03 3.05382334e-05 9.99979063e-01 1.76903123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:101.89, Z:1.77 [[-7.03140586e-01 7.11036426e-01 4.52953129e-03 1.22154094e+02] [-7.11021408e-01 -7.03155175e-01 4.62142864e-03 1.01891181e+02] [ 6.47096747e-03 2.89203319e-05 9.99979063e-01 1.76837989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:101.89, Z:1.77 [[-7.02800799e-01 7.11372268e-01 4.53130953e-03 1.22151367e+02] [-7.11357268e-01 -7.02815407e-01 4.61968442e-03 1.01890805e+02] [ 6.47098953e-03 2.33379369e-05 9.99979063e-01 1.76710592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:101.89, Z:1.77 [[-7.02884753e-01 7.11289305e-01 4.53307818e-03 1.22150508e+02] [-7.11274315e-01 -7.02899370e-01 4.61794827e-03 1.01889529e+02] [ 6.47099501e-03 2.16233466e-05 9.99979063e-01 1.76671339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:101.90, Z:1.76 [[-6.99107946e-01 7.15001759e-01 4.53484472e-03 1.22163458e+02] [-7.14986857e-01 -6.99122654e-01 4.61621287e-03 1.01896877e+02] [ 6.47101300e-03 -1.51232690e-05 9.99979063e-01 1.76462114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91762800000004 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:122.15, Y:101.88, Z:1.76 [[-7.02316555e-01 7.11850501e-01 4.50782233e-03 1.22148239e+02] [-7.11835363e-01 -7.02331020e-01 4.64276597e-03 1.01883925e+02] [ 6.47093874e-03 5.18640566e-05 9.99979062e-01 1.76212270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:101.88, Z:1.76 [[-7.02115597e-01 7.12048526e-01 4.53713446e-03 1.22150304e+02] [-7.12033577e-01 -7.02130256e-01 4.61394181e-03 1.01883411e+02] [ 6.47100984e-03 8.92842518e-06 9.99979063e-01 1.76470319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:101.89, Z:1.76 [[-6.98351502e-01 7.15740580e-01 4.53889887e-03 1.22157388e+02] [-7.15725720e-01 -6.98366251e-01 4.61220544e-03 1.01886435e+02] [ 6.47095639e-03 -2.76660650e-05 9.99979063e-01 1.76498943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:101.88, Z:1.77 [[-7.01328212e-01 7.12824239e-01 4.51040476e-03 1.22149225e+02] [-7.12809137e-01 -7.01342714e-01 4.64025530e-03 1.01880979e+02] [ 6.47102598e-03 3.92842275e-05 9.99979062e-01 1.76612163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:101.88, Z:1.77 [[-6.98488542e-01 7.15606823e-01 4.54228957e-03 1.22149555e+02] [-7.15591982e-01 -6.98503310e-01 4.60883085e-03 1.01881102e+02] [ 6.47091510e-03 -3.12104493e-05 9.99979063e-01 1.76701868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:101.88, Z:1.77 [[-6.98795910e-01 7.15306667e-01 4.54404619e-03 1.22147363e+02] [-7.15291831e-01 -6.98810683e-01 4.60709827e-03 1.01878790e+02] [ 6.47091613e-03 -3.08976953e-05 9.99979063e-01 1.76704026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:101.88, Z:1.77 [[-6.96576469e-01 7.17468157e-01 4.54602466e-03 1.22147219e+02] [-7.17453379e-01 -6.96591301e-01 4.60514521e-03 1.01878984e+02] [ 6.47076627e-03 -5.37249626e-05 9.99979063e-01 1.76757245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:101.88, Z:1.77 [[-6.93699034e-01 7.20250627e-01 4.54800009e-03 1.22145421e+02] [-7.20235922e-01 -6.93713938e-01 4.60319346e-03 1.01878134e+02] [ 6.47046403e-03 -8.24021779e-05 9.99979063e-01 1.76803556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.15762800000005 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:122.14, Y:101.88, Z:1.77 [[-6.87359340e-01 7.26303265e-01 4.55019647e-03 1.22143465e+02] [-7.26288705e-01 -6.87374386e-01 4.60102134e-03 1.01878776e+02] [ 6.46942533e-03 -1.42201306e-04 9.99979063e-01 1.76559110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.187628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:122.15, Y:101.88, Z:1.77 [[-6.83368686e-01 7.30059253e-01 4.55261361e-03 1.22145437e+02] [-7.30044792e-01 -6.83383826e-01 4.59862839e-03 1.01881342e+02] [ 6.46845372e-03 -1.81053213e-04 9.99979063e-01 1.76573444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:101.87, Z:1.77 [[-6.77318399e-01 7.35675907e-01 4.55479343e-03 1.22142492e+02] [-7.35661586e-01 -6.77333672e-01 4.59646833e-03 1.01870722e+02] [ 6.46662597e-03 -2.37513990e-04 9.99979063e-01 1.76773249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:101.87, Z:1.77 [[-6.82408526e-01 7.30957095e-01 4.50880216e-03 1.22141755e+02] [-7.30942366e-01 -6.82423409e-01 4.64204356e-03 1.01873527e+02] [ 6.47004682e-03 -1.27904414e-04 9.99979061e-01 1.76880057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.27762800000005 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:122.15, Y:101.87, Z:1.77 [[-6.82695009e-01 7.30689227e-01 4.55845015e-03 1.22146009e+02] [-7.30674819e-01 -6.82710199e-01 4.59276656e-03 1.01874083e+02] [ 6.46798545e-03 -1.95285934e-04 9.99979063e-01 1.76530635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:101.87, Z:1.77 [[-6.84053793e-01 7.29417310e-01 4.56018462e-03 1.22142752e+02] [-7.29402886e-01 -6.84068968e-01 4.59104374e-03 1.01867635e+02] [ 6.46826757e-03 -1.85690939e-04 9.99979063e-01 1.76739690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:101.86, Z:1.77 [[-6.87125284e-01 7.26524624e-01 4.56235381e-03 1.22141946e+02] [-7.26510150e-01 -6.87140411e-01 4.58888710e-03 1.01861491e+02] [ 6.46891715e-03 -1.61455996e-04 9.99979063e-01 1.76760010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:101.87, Z:1.77 [[-6.84324234e-01 7.29163570e-01 4.56408279e-03 1.22155893e+02] [-7.29149165e-01 -6.84339428e-01 4.58716681e-03 1.01868390e+02] [ 6.46817674e-03 -1.88787742e-04 9.99979063e-01 1.76664599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.397628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:122.14, Y:101.86, Z:1.76 [[-6.90104303e-01 7.23695749e-01 4.52909707e-03 1.22141018e+02] [-7.23680995e-01 -6.90119160e-01 4.62197768e-03 1.01856272e+02] [ 6.47052226e-03 -8.79747898e-05 9.99979062e-01 1.76461137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:101.85, Z:1.77 [[-6.91768114e-01 7.22105273e-01 4.56632642e-03 1.22137013e+02] [-7.22090728e-01 -6.91783173e-01 4.58489915e-03 1.01849271e+02] [ 6.46968763e-03 -1.25614935e-04 9.99979063e-01 1.76795231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:101.84, Z:1.77 [[-6.94325198e-01 7.19646894e-01 4.56806504e-03 1.22137235e+02] [-7.19632307e-01 -6.94340217e-01 4.58316625e-03 1.01844697e+02] [ 6.47005263e-03 -1.05119369e-04 9.99979063e-01 1.76807381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:101.84, Z:1.77 [[-6.95632038e-01 7.18383731e-01 4.56980731e-03 1.22136544e+02] [-7.18369128e-01 -6.95647042e-01 4.58142841e-03 1.01841781e+02] [ 6.47019657e-03 -9.58201136e-05 9.99979063e-01 1.76797263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:101.85, Z:1.77 [[-6.92443080e-01 7.21458025e-01 4.57154892e-03 1.22151780e+02] [-7.21443501e-01 -6.92458159e-01 4.57968990e-03 1.01848631e+02] [ 6.46966037e-03 -1.26939679e-04 9.99979063e-01 1.76631289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.13, Y:101.83, Z:1.77 [[-6.98474614e-01 7.15620529e-01 4.52457725e-03 1.22132007e+02] [-7.15605573e-01 -6.98489269e-01 4.62658015e-03 1.01834105e+02] [ 6.47124438e-03 -6.26390906e-06 9.99979061e-01 1.76767767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.13, Y:101.83, Z:1.77 [[-6.99795590e-01 7.14328504e-01 4.57395747e-03 1.22127871e+02] [-7.14313842e-01 -6.99810535e-01 4.57723530e-03 1.01830347e+02] [ 6.47055327e-03 -6.41120564e-05 9.99979064e-01 1.76734397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:101.84, Z:1.77 [[-6.96184513e-01 7.17848303e-01 4.57570498e-03 1.22142476e+02] [-7.17833728e-01 -6.96199543e-01 4.57548771e-03 1.01840875e+02] [ 6.47010981e-03 -9.92116834e-05 9.99979064e-01 1.76616484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.637628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:122.14, Y:101.84, Z:1.76 [[-6.95476378e-01 7.18534607e-01 4.54162019e-03 1.22140850e+02] [-7.18519823e-01 -6.95491204e-01 4.60957251e-03 1.01839148e+02] [ 6.47079427e-03 -5.73953394e-05 9.99979063e-01 1.76278802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.66762800000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:122.12, Y:101.83, Z:1.76 [[-7.01167717e-01 7.12981944e-01 4.53659636e-03 1.22123681e+02] [-7.12967010e-01 -7.01182393e-01 4.61459917e-03 1.01829562e+02] [ 6.47110738e-03 1.16441937e-06 9.99979062e-01 1.76315823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.12, Y:101.83, Z:1.77 [[-7.02316982e-01 7.11849624e-01 4.57926291e-03 1.22121400e+02] [-7.11834944e-01 -7.02331909e-01 4.57186359e-03 1.01828731e+02] [ 6.47064184e-03 -4.87819203e-05 9.99979064e-01 1.76547178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.72762800000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:122.12, Y:101.83, Z:1.76 [[-7.02429587e-01 7.11738498e-01 4.58100519e-03 1.22118263e+02] [-7.11723827e-01 -7.02444523e-01 4.57011716e-03 1.01827304e+02] [ 6.47063033e-03 -5.02250390e-05 9.99979064e-01 1.76464594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.757628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.12, Y:101.83, Z:1.77 [[-7.03210254e-01 7.10967185e-01 4.58274681e-03 1.22115432e+02] [-7.10952509e-01 -7.03225185e-01 4.56837006e-03 1.01827041e+02] [ 6.47066417e-03 -4.55906729e-05 9.99979064e-01 1.76584607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.11, Y:101.83, Z:1.77 [[-7.04338919e-01 7.09849047e-01 4.58448862e-03 1.22110716e+02] [-7.09834359e-01 -7.04353838e-01 4.56662143e-03 1.01828356e+02] [ 6.47071403e-03 -3.77783332e-05 9.99979064e-01 1.76786438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.13, Y:101.84, Z:1.77 [[-7.00333646e-01 7.13800918e-01 4.58622976e-03 1.22126808e+02] [-7.13786325e-01 -7.00348659e-01 4.56487214e-03 1.01842207e+02] [ 6.47036979e-03 -7.66545335e-05 9.99979064e-01 1.76683495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.84762800000004 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:122.12, Y:101.84, Z:1.76 [[-7.00944876e-01 7.13200969e-01 4.54516114e-03 1.22120024e+02] [-7.13186095e-01 -7.00959612e-01 4.60614344e-03 1.01840713e+02] [ 6.47108035e-03 -1.28930768e-05 9.99979062e-01 1.76349735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.10, Y:101.83, Z:1.77 [[-7.06378788e-01 7.07819417e-01 4.54768877e-03 1.22097544e+02] [-7.07804447e-01 -7.06393426e-01 4.60360106e-03 1.01826001e+02] [ 6.47097567e-03 3.30117981e-05 9.99979062e-01 1.76712583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:101.83, Z:1.77 [[-7.06659347e-01 7.07539034e-01 4.59159273e-03 1.22094916e+02] [-7.07524344e-01 -7.06674264e-01 4.55938699e-03 1.01826912e+02] [ 6.47070468e-03 -2.67301978e-05 9.99979064e-01 1.76793695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:101.83, Z:1.77 [[-7.06488084e-01 7.07710031e-01 4.59333544e-03 1.22089122e+02] [-7.07695356e-01 -7.06503016e-01 4.55763063e-03 1.01827210e+02] [ 6.47068626e-03 -3.07704271e-05 9.99979064e-01 1.76967561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:101.83, Z:1.77 [[-7.06933298e-01 7.07265305e-01 4.59344161e-03 1.22087492e+02] [-7.07250622e-01 -7.06948221e-01 4.55752352e-03 1.01825471e+02] [ 6.47070364e-03 -2.68493001e-05 9.99979064e-01 1.76985821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.08, Y:101.82, Z:1.77 [[-7.07487951e-01 7.06710453e-01 4.59725437e-03 1.22082723e+02] [-7.06695782e-01 -7.07502887e-01 4.55367427e-03 1.01820055e+02] [ 6.47069994e-03 -2.71905895e-05 9.99979064e-01 1.77109208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.02762800000005 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:122.08, Y:101.82, Z:1.77 [[-7.06801975e-01 7.07396506e-01 4.59899138e-03 1.22084828e+02] [-7.07381862e-01 -7.06816937e-01 4.55191930e-03 1.01820958e+02] [ 6.47065680e-03 -3.59375333e-05 9.99979064e-01 1.76772897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.08, Y:101.82, Z:1.77 [[-7.06527362e-01 7.07670771e-01 4.60073383e-03 1.22080757e+02] [-7.07656144e-01 -7.06542340e-01 4.55015747e-03 1.01815299e+02] [ 6.47062670e-03 -4.09268118e-05 9.99979064e-01 1.77083407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.08762800000005 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:122.08, Y:101.81, Z:1.77 [[-7.04518062e-01 7.09671132e-01 4.60269069e-03 1.22079139e+02] [-7.09656560e-01 -7.04533094e-01 4.54817716e-03 1.01811344e+02] [ 6.47045795e-03 -6.20566809e-05 9.99979064e-01 1.76719125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.11, Y:101.83, Z:1.77 [[-6.97847619e-01 7.16231456e-01 4.60465027e-03 1.22108302e+02] [-7.16217038e-01 -6.97862799e-01 4.54619239e-03 1.01832886e+02] [ 6.46954012e-03 -1.25379448e-04 9.99979064e-01 1.76928565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.11, Y:101.83, Z:1.77 [[-6.95716628e-01 7.18301965e-01 4.54534216e-03 1.22107419e+02] [-7.18287199e-01 -6.95731473e-01 4.60623807e-03 1.01830041e+02] [ 6.47100745e-03 -6.02246687e-05 9.99979061e-01 1.76747327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.08, Y:101.81, Z:1.77 [[-7.02037087e-01 7.12125927e-01 4.53795231e-03 1.22080540e+02] [-7.12110981e-01 -7.02051754e-01 4.61372658e-03 1.01809846e+02] [ 6.47143170e-03 7.48149890e-06 9.99979060e-01 1.77050017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.55, Y:101.21, Z:2.73 [[-6.75073564e-01 -7.37736464e-01 -4.53795231e-03 1.22554766e+02] [-7.37722074e-01 6.75088776e-01 -4.61372658e-03 1.01210362e+02] [ 6.46723501e-03 2.33142741e-04 -9.99979060e-01 2.72773546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.98, Y:101.74, Z:1.77 [[-6.42335013e-01 7.66412005e-01 4.28590556e-03 1.21979412e+02] [-7.66396762e-01 -6.42349287e-01 4.83705482e-03 1.01742470e+02] [ 6.46022527e-03 -1.77694473e-04 9.99979117e-01 1.76551939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.98, Y:101.74, Z:1.76 [[-6.41533632e-01 7.67083363e-01 4.20869191e-03 1.21981728e+02] [-7.67067683e-01 -6.41547432e-01 4.90542028e-03 1.01742599e+02] [ 6.46294177e-03 -8.13594682e-05 9.99979112e-01 1.76426996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.96, Y:101.72, Z:1.77 [[-6.50300883e-01 7.59665083e-01 4.20997740e-03 1.21955415e+02] [-7.59649252e-01 -6.50314510e-01 4.90428088e-03 1.01720286e+02] [ 6.46342033e-03 -8.84799438e-06 9.99979112e-01 1.76612292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.46, Y:101.17, Z:2.73 [[-6.31134714e-01 -7.75661813e-01 -4.20997740e-03 1.22463692e+02] [-7.75646327e-01 6.31148733e-01 -4.90428088e-03 1.01169935e+02] [ 6.46118530e-03 1.70191596e-04 -9.99979112e-01 2.73192061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.38, Y:101.11, Z:2.73 [[-5.73031900e-01 -8.19522250e-01 -4.20997740e-03 1.22381056e+02] [-8.19507825e-01 5.73047007e-01 -4.90428088e-03 1.01114112e+02] [ 6.43168225e-03 6.39800034e-04 -9.99979112e-01 2.73236600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.30, Y:101.04, Z:2.73 [[-5.10639591e-01 -8.59784557e-01 -4.20997740e-03 1.22296185e+02] [-8.59771293e-01 5.10655727e-01 -4.90428088e-03 1.01040453e+02] [ 6.36647403e-03 1.11529773e-03 -9.99979112e-01 2.73119480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.22, Y:100.95, Z:2.73 [[-4.41722756e-01 -8.97141730e-01 -4.20997740e-03 1.22216035e+02] [-8.97129770e-01 4.41739882e-01 -4.90428088e-03 1.00950368e+02] [ 6.25954995e-03 1.61056359e-03 -9.99979112e-01 2.73064600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.447628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:121.51, Y:101.28, Z:1.77 [[-4.33044391e-01 9.01368469e-01 2.72741588e-03 1.21508177e+02] [-9.01350928e-01 -4.33052979e-01 5.62335591e-03 1.01280549e+02] [ 6.24983128e-03 -2.31960970e-05 9.99980469e-01 1.77081124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:101.28, Z:1.78 [[-4.37152968e-01 8.99383027e-01 2.73010558e-03 1.21503817e+02] [-8.99365455e-01 -4.37161493e-01 5.62204978e-03 1.01275301e+02] [ 6.24987318e-03 2.33310631e-06 9.99980469e-01 1.77563627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:101.27, Z:1.78 [[-4.38999043e-01 8.98483374e-01 2.73279957e-03 1.21500150e+02] [-8.98465792e-01 -4.39007548e-01 5.62073996e-03 1.01270960e+02] [ 6.24986104e-03 1.21725316e-05 9.99980469e-01 1.77713310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:101.27, Z:1.78 [[-4.40805102e-01 8.97598674e-01 2.73549685e-03 1.21496250e+02] [-8.97581084e-01 -4.40813589e-01 5.61942694e-03 1.01265226e+02] [ 6.24983436e-03 2.17418383e-05 9.99980469e-01 1.77771121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:101.27, Z:1.78 [[-4.38911478e-01 8.98526136e-01 2.73819744e-03 1.21501066e+02] [-8.98508572e-01 -4.38920019e-01 5.61811071e-03 1.01274318e+02] [ 6.24986898e-03 5.55940798e-06 9.99980469e-01 1.77637097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.49, Y:101.26, Z:1.78 [[-4.45614449e-01 8.95220940e-01 2.68921017e-03 1.21487878e+02] [-8.95203167e-01 -4.45622551e-01 5.64200384e-03 1.01259537e+02] [ 6.24921268e-03 1.06768978e-04 9.99980468e-01 1.77718152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:101.26, Z:1.78 [[-4.46128126e-01 8.94964897e-01 2.74378149e-03 1.21482850e+02] [-8.94947282e-01 -4.46136560e-01 5.61533907e-03 1.01257989e+02] [ 6.24963260e-03 4.96209055e-05 9.99980470e-01 1.77606219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.49, Y:101.27, Z:1.78 [[-4.41354674e-01 8.97328540e-01 2.74648405e-03 1.21492066e+02] [-8.97310978e-01 -4.41363219e-01 5.61401693e-03 1.01269629e+02] [ 6.24981466e-03 1.33223241e-05 9.99980470e-01 1.77524588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:101.25, Z:1.78 [[-4.47702197e-01 8.94178654e-01 2.69749429e-03 1.21477768e+02] [-8.94160887e-01 -4.47710310e-01 5.63799899e-03 1.01246331e+02] [ 6.24907436e-03 1.12150648e-04 9.99980468e-01 1.77571409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:101.24, Z:1.77 [[-4.48108389e-01 8.93975001e-01 2.75120867e-03 1.21479781e+02] [-8.93957390e-01 -4.48116831e-01 5.61166467e-03 1.01244310e+02] [ 6.24955084e-03 5.51706903e-05 9.99980470e-01 1.77454641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:101.24, Z:1.77 [[-4.48060850e-01 8.93998819e-01 2.75447824e-03 1.21478757e+02] [-8.93981218e-01 -4.48069313e-01 5.61005934e-03 1.01237354e+02] [ 6.24958360e-03 5.11961425e-05 9.99980470e-01 1.77429067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:101.23, Z:1.77 [[-4.46760675e-01 8.94649258e-01 2.75746122e-03 1.21481758e+02] [-8.94631679e-01 -4.46769183e-01 5.60859276e-03 1.01234817e+02] [ 6.24967205e-03 3.87865257e-05 9.99980470e-01 1.77404313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:101.23, Z:1.77 [[-4.46300114e-01 8.94879091e-01 2.76044107e-03 1.21478857e+02] [-8.94861525e-01 -4.46308650e-01 5.60712575e-03 1.01228419e+02] [ 6.24970833e-03 3.22483540e-05 9.99980470e-01 1.77477294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:101.23, Z:1.78 [[-4.43740209e-01 8.96151210e-01 2.76313967e-03 1.21476385e+02] [-8.96133677e-01 -4.43748812e-01 5.60579559e-03 1.01227997e+02] [ 6.24978045e-03 1.13743952e-05 9.99980470e-01 1.77751149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.867628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:121.47, Y:101.23, Z:1.78 [[-4.39773005e-01 8.98104700e-01 2.76611686e-03 1.21473183e+02] [-8.98087214e-01 -4.39781704e-01 5.60432615e-03 1.01227390e+02] [ 6.24975924e-03 -1.95828319e-05 9.99980470e-01 1.77595943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.897628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:121.47, Y:101.22, Z:1.78 [[-4.40204030e-01 8.97893505e-01 2.76880814e-03 1.21471457e+02] [-8.97876023e-01 -4.40212737e-01 5.60299621e-03 1.01223781e+02] [ 6.24975851e-03 -1.95849315e-05 9.99980470e-01 1.77598563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.47, Y:101.22, Z:1.78 [[-4.37060112e-01 8.99428028e-01 2.77149690e-03 1.21469209e+02] [-8.99410585e-01 -4.37068897e-01 5.60166591e-03 1.01222766e+02] [ 6.24963042e-03 -4.44489131e-05 9.99980470e-01 1.77562175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.47, Y:101.22, Z:1.78 [[-4.37535216e-01 8.99196995e-01 2.77473995e-03 1.21467106e+02] [-8.99179558e-01 -4.37544012e-01 5.60005903e-03 1.01218430e+02] [ 6.24962710e-03 -4.47663985e-05 9.99980470e-01 1.77565331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.46, Y:101.21, Z:1.77 [[-4.36293223e-01 8.99800260e-01 2.77769772e-03 1.21464813e+02] [-8.99782844e-01 -4.36302061e-01 5.59859156e-03 1.01214141e+02] [ 6.24952938e-03 -5.66972017e-05 9.99980470e-01 1.77408238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.46, Y:101.21, Z:1.77 [[-4.36221582e-01 8.99834985e-01 2.78037844e-03 1.21464126e+02] [-8.99817579e-01 -4.36230439e-01 5.59725994e-03 1.01210183e+02] [ 6.24949602e-03 -6.01878060e-05 9.99980470e-01 1.77298239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.47, Y:101.21, Z:1.77 [[-4.36586471e-01 8.99657995e-01 2.78305852e-03 1.21465324e+02] [-8.99640593e-01 -4.36595337e-01 5.59592704e-03 1.01209962e+02] [ 6.24949087e-03 -6.06463745e-05 9.99980470e-01 1.77099458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.46, Y:101.20, Z:1.77 [[-4.37194954e-01 8.99362447e-01 2.78573407e-03 1.21462668e+02] [-8.99345048e-01 -4.37203825e-01 5.59459479e-03 1.01204804e+02] [ 6.24950205e-03 -5.94075275e-05 9.99980470e-01 1.77253013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.46, Y:101.20, Z:1.77 [[-4.38859804e-01 8.98551221e-01 2.78840597e-03 1.21461066e+02] [-8.98533814e-01 -4.38868659e-01 5.59326277e-03 1.01200096e+02] [ 6.24957708e-03 -5.08188478e-05 9.99980470e-01 1.77306542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.137628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:121.46, Y:101.20, Z:1.77 [[-4.40029403e-01 8.97979027e-01 2.79135590e-03 1.21460745e+02] [-8.97961618e-01 -4.40038254e-01 5.59179020e-03 1.01198174e+02] [ 6.24961370e-03 -4.59783565e-05 9.99980470e-01 1.77089974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.16762800000004 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:121.46, Y:101.19, Z:1.77 [[-4.41761687e-01 8.97128087e-01 2.79402646e-03 1.21456815e+02] [-8.97110670e-01 -4.41770521e-01 5.59045550e-03 1.01188324e+02] [ 6.24967317e-03 -3.69018946e-05 9.99980470e-01 1.77137879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:101.18, Z:1.77 [[-4.44164616e-01 8.95940830e-01 2.79697721e-03 1.21453628e+02] [-8.95923398e-01 -4.44173422e-01 5.58897880e-03 1.01179134e+02] [ 6.24973725e-03 -2.34507027e-05 9.99980470e-01 1.77427536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:101.18, Z:1.77 [[-4.46842279e-01 8.94608372e-01 2.79966112e-03 1.21454334e+02] [-8.94590922e-01 -4.46851050e-01 5.58763405e-03 1.01175117e+02] [ 6.24977571e-03 -7.76028587e-06 9.99980470e-01 1.77450576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:101.17, Z:1.78 [[-4.47638397e-01 8.94210264e-01 2.80536980e-03 1.21452689e+02] [-8.94192824e-01 -4.47647188e-01 5.58476643e-03 1.01171503e+02] [ 6.24977136e-03 -8.58565199e-06 9.99980470e-01 1.77521031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.28762800000004 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:121.45, Y:101.16, Z:1.77 [[-4.46690525e-01 8.94684128e-01 2.80804677e-03 1.21447003e+02] [-8.94666706e-01 -4.46699351e-01 5.58342011e-03 1.01162508e+02] [ 6.24975003e-03 -1.82050892e-05 9.99980470e-01 1.77217834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:101.16, Z:1.78 [[-4.46925898e-01 8.94566567e-01 2.81045463e-03 1.21447134e+02] [-8.94549150e-01 -4.46934734e-01 5.58220783e-03 1.01163811e+02] [ 6.24974629e-03 -1.92565549e-05 9.99980470e-01 1.77519781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.34762800000004 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:121.45, Y:101.17, Z:1.77 [[-4.41119633e-01 8.97443899e-01 2.81399730e-03 1.21453942e+02] [-8.97426551e-01 -4.41128604e-01 5.58042140e-03 1.01170709e+02] [ 6.24944984e-03 -6.37224574e-05 9.99980470e-01 1.77086034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:101.17, Z:1.77 [[-4.43280455e-01 8.96378668e-01 2.77896899e-03 1.21451681e+02] [-8.96361187e-01 -4.43289166e-01 5.59809544e-03 1.01171779e+02] [ 6.24990018e-03 -9.43364511e-06 9.99980469e-01 1.77341929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.44, Y:101.15, Z:1.78 [[-4.47126259e-01 8.94466491e-01 2.79366502e-03 1.21438302e+02] [-8.94449019e-01 -4.47134986e-01 5.59067017e-03 1.01152618e+02] [ 6.24981250e-03 9.44502643e-07 9.99980470e-01 1.77558118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:101.17, Z:1.78 [[-4.42352496e-01 8.96836835e-01 2.82149098e-03 1.21448212e+02] [-8.96819499e-01 -4.42361489e-01 5.57659155e-03 1.01170868e+02] [ 6.24941167e-03 -6.35489375e-05 9.99980470e-01 1.77531953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:101.15, Z:1.78 [[-4.48879221e-01 8.93588096e-01 2.78568124e-03 1.21431396e+02] [-8.93570582e-01 -4.48887864e-01 5.59472539e-03 1.01148324e+02] [ 6.24983851e-03 2.21531697e-05 9.99980469e-01 1.77619297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:101.14, Z:1.78 [[-4.52315822e-01 8.91853354e-01 2.82689900e-03 1.21430399e+02] [-8.91835937e-01 -4.52324656e-01 5.57382081e-03 1.01143880e+02] [ 6.24970690e-03 -2.77781250e-09 9.99980470e-01 1.77533474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:101.14, Z:1.77 [[-4.54693504e-01 8.90643480e-01 2.82985179e-03 1.21429246e+02] [-8.90626049e-01 -4.54702310e-01 5.57232126e-03 1.01135914e+02] [ 6.24969175e-03 1.33585634e-05 9.99980470e-01 1.77354662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.557628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:121.43, Y:101.13, Z:1.77 [[-4.56826360e-01 8.89551378e-01 2.83252971e-03 1.21430230e+02] [-8.89533933e-01 -4.56835141e-01 5.57095969e-03 1.01133068e+02] [ 6.24965397e-03 2.53299420e-05 9.99980470e-01 1.76907139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:101.12, Z:1.77 [[-4.59951275e-01 8.87939629e-01 2.83548525e-03 1.21428655e+02] [-8.87922163e-01 -4.59960013e-01 5.56945498e-03 1.01124731e+02] [ 6.24954962e-03 4.39877220e-05 9.99980470e-01 1.77094732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.617628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:121.43, Y:101.12, Z:1.77 [[-4.60229102e-01 8.87795650e-01 2.83844116e-03 1.21427883e+02] [-8.87778191e-01 -4.60237853e-01 5.56794811e-03 1.01121873e+02] [ 6.24955818e-03 4.26256023e-05 9.99980470e-01 1.76835886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.647628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:101.12, Z:1.77 [[-4.60763365e-01 8.87518479e-01 2.84112088e-03 1.21426405e+02] [-8.87501022e-01 -4.60772122e-01 5.56658041e-03 1.01118937e+02] [ 6.24955227e-03 4.33786369e-05 9.99980470e-01 1.77154506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:101.11, Z:1.77 [[-4.58124119e-01 8.88883684e-01 2.84379806e-03 1.21421796e+02] [-8.88866263e-01 -4.58132945e-01 5.56521238e-03 1.01113672e+02] [ 6.24966407e-03 2.18018692e-05 9.99980470e-01 1.77250192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:101.11, Z:1.77 [[-4.56203368e-01 8.89870993e-01 2.84647646e-03 1.21419932e+02] [-8.89853599e-01 -4.56212248e-01 5.56384211e-03 1.01112201e+02] [ 6.24969913e-03 5.29618437e-06 9.99980470e-01 1.77258739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:101.11, Z:1.77 [[-4.52638980e-01 8.91689316e-01 2.84915521e-03 1.21419090e+02] [-8.91671966e-01 -4.52647947e-01 5.56247002e-03 1.01114807e+02] [ 6.24965934e-03 -2.27210737e-05 9.99980470e-01 1.77247657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:101.11, Z:1.77 [[-4.51839377e-01 8.92094749e-01 2.85237946e-03 1.21414542e+02] [-8.92077418e-01 -4.51848379e-01 5.56081617e-03 1.01108685e+02] [ 6.24961794e-03 -3.19475901e-05 9.99980470e-01 1.77298667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:101.11, Z:1.77 [[-4.51735352e-01 8.92147420e-01 2.85531879e-03 1.21414164e+02] [-8.92130099e-01 -4.51744374e-01 5.55930650e-03 1.01108404e+02] [ 6.24959515e-03 -3.59805568e-05 9.99980470e-01 1.77335955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:101.11, Z:1.77 [[-4.47417433e-01 8.94320677e-01 2.85798067e-03 1.21419917e+02] [-8.94303409e-01 -4.47426555e-01 5.55793771e-03 1.01111180e+02] [ 6.24931507e-03 -6.91836327e-05 9.99980470e-01 1.77232030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85762800000003 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:121.41, Y:101.10, Z:1.77 [[-4.53876188e-01 8.91060308e-01 2.81674380e-03 1.21414064e+02] [-8.91042841e-01 -4.53884928e-01 5.57915028e-03 1.01098041e+02] [ 6.24983692e-03 2.24040632e-05 9.99980469e-01 1.77138958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:101.09, Z:1.77 [[-4.56493298e-01 8.89722248e-01 2.86188638e-03 1.21411131e+02] [-8.89704901e-01 -4.56502268e-01 5.55589699e-03 1.01088912e+02] [ 6.24966278e-03 -1.00046060e-05 9.99980471e-01 1.77421473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:101.09, Z:1.77 [[-4.58789666e-01 8.88540284e-01 2.86482735e-03 1.21411447e+02] [-8.88522923e-01 -4.58798610e-01 5.55438010e-03 1.01086045e+02] [ 6.24966928e-03 2.82741934e-06 9.99980471e-01 1.77480489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:101.08, Z:1.77 [[-4.62478448e-01 8.86625887e-01 2.86749462e-03 1.21410587e+02] [-8.86608497e-01 -4.62487337e-01 5.55300276e-03 1.01078626e+02] [ 6.24961594e-03 2.57990043e-05 9.99980471e-01 1.77486706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:100.91, Z:1.77 [[-4.63020855e-01 8.86342739e-01 2.86988935e-03 1.21322442e+02] [-8.86325352e-01 -4.63029748e-01 5.55176484e-03 1.00906038e+02] [ 6.24961060e-03 2.69272162e-05 9.99980471e-01 1.77475894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.40, Y:101.07, Z:1.77 [[-4.66282512e-01 8.84631241e-01 2.86122574e-03 1.21403798e+02] [-8.84613794e-01 -4.66291286e-01 5.55624648e-03 1.01065107e+02] [ 6.24939385e-03 5.97008044e-05 9.99980471e-01 1.77346643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.40, Y:101.07, Z:1.77 [[-4.66591963e-01 8.84468013e-01 2.87640026e-03 1.21404453e+02] [-8.84450611e-01 -4.66600827e-01 5.54837968e-03 1.01066344e+02] [ 6.24949510e-03 4.47953956e-05 9.99980471e-01 1.77175761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.067628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:121.40, Y:101.06, Z:1.77 [[-4.65742764e-01 8.84915471e-01 2.87880179e-03 1.21400347e+02] [-8.84898085e-01 -4.65751660e-01 5.54713336e-03 1.01058823e+02] [ 6.24955084e-03 3.60910326e-05 9.99980471e-01 1.76736814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.40, Y:101.06, Z:1.77 [[-4.64862049e-01 8.85378436e-01 2.88120364e-03 1.21400613e+02] [-8.85361067e-01 -4.64870977e-01 5.54588555e-03 1.01062979e+02] [ 6.24959542e-03 2.71661865e-05 9.99980471e-01 1.76576997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.40, Y:101.06, Z:1.76 [[-4.64206453e-01 8.85722334e-01 2.88387765e-03 1.21395890e+02] [-8.85704980e-01 -4.64215410e-01 5.54449471e-03 1.01056216e+02] [ 6.24962324e-03 1.95254278e-05 9.99980471e-01 1.76453701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.39, Y:101.05, Z:1.76 [[-4.64253321e-01 8.85697759e-01 2.88682224e-03 1.21394110e+02] [-8.85680414e-01 -4.64262296e-01 5.54296114e-03 1.01054805e+02] [ 6.24963098e-03 1.65362061e-05 9.99980471e-01 1.76420975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.39, Y:101.04, Z:1.76 [[-4.65608526e-01 8.84986074e-01 2.88949194e-03 1.21389181e+02] [-8.84968724e-01 -4.65617491e-01 5.54156910e-03 1.01042156e+02] [ 6.24960947e-03 2.30918307e-05 9.99980471e-01 1.76415472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.21762800000005 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:121.39, Y:101.05, Z:1.76 [[-4.65519080e-01 8.85033118e-01 2.89244390e-03 1.21394005e+02] [-8.85015778e-01 -4.65528066e-01 5.54002788e-03 1.01048514e+02] [ 6.24962197e-03 1.91301920e-05 9.99980471e-01 1.76280969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.247628 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:121.39, Y:101.05, Z:1.76 [[-4.65537762e-01 8.85023281e-01 2.89539039e-03 1.21394413e+02] [-8.85005951e-01 -4.65546766e-01 5.53848753e-03 1.01045527e+02] [ 6.24963004e-03 1.59373675e-05 9.99980471e-01 1.76455297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.39, Y:101.04, Z:1.77 [[-4.66253144e-01 8.84646601e-01 2.89777449e-03 1.21392259e+02] [-8.84629271e-01 -4.66262148e-01 5.53723987e-03 1.01041396e+02] [ 6.24962299e-03 1.82993625e-05 9.99980471e-01 1.76900549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.39, Y:101.03, Z:1.77 [[-4.66049501e-01 8.84753893e-01 2.90015891e-03 1.21388156e+02] [-8.84736573e-01 -4.66058525e-01 5.53599074e-03 1.01034745e+02] [ 6.24963314e-03 1.41690660e-05 9.99980471e-01 1.77083195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.38, Y:101.03, Z:1.77 [[-4.66081924e-01 8.84736805e-01 2.90282035e-03 1.21383483e+02] [-8.84719493e-01 -4.66090963e-01 5.53459485e-03 1.01028466e+02] [ 6.24963809e-03 1.13928608e-05 9.99980471e-01 1.77263803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.38, Y:101.03, Z:1.77 [[-4.65266804e-01 8.85165723e-01 2.90604161e-03 1.21380975e+02] [-8.85148430e-01 -4.65275879e-01 5.53290295e-03 1.01028831e+02] [ 6.24964710e-03 1.99789724e-06 9.99980471e-01 1.77425360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.397628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.38, Y:101.03, Z:1.77 [[-4.65068626e-01 8.85269852e-01 2.90898120e-03 1.21379060e+02] [-8.85252572e-01 -4.65077723e-01 5.53135700e-03 1.01027146e+02] [ 6.24964594e-03 -2.72248729e-06 9.99980471e-01 1.77460927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:101.02, Z:1.77 [[-4.66081304e-01 8.84737102e-01 2.91163840e-03 1.21373837e+02] [-8.84719820e-01 -4.66090399e-01 5.52995793e-03 1.01019044e+02] [ 6.24964565e-03 1.42580241e-06 9.99980471e-01 1.77452492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:101.02, Z:1.77 [[-4.67297796e-01 8.84095164e-01 2.91729018e-03 1.21372044e+02] [-8.84077888e-01 -4.67306902e-01 5.52697476e-03 1.01015451e+02] [ 6.24964149e-03 3.63138301e-06 9.99980471e-01 1.77446210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:101.01, Z:1.77 [[-4.68889088e-01 8.83252227e-01 2.91994527e-03 1.21370327e+02] [-8.83234943e-01 -4.68898180e-01 5.52557170e-03 1.01011281e+02] [ 6.24963053e-03 1.18825773e-05 9.99980471e-01 1.77492679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:101.00, Z:1.77 [[-4.72620185e-01 8.81261379e-01 2.92260070e-03 1.21367641e+02] [-8.81244066e-01 -4.72629220e-01 5.52416682e-03 1.01002027e+02] [ 6.24954137e-03 3.53082267e-05 9.99980471e-01 1.77474962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.35, Y:100.96, Z:1.77 [[-4.72953533e-01 8.81082514e-01 2.92581195e-03 1.21346621e+02] [-8.81065207e-01 -4.72962581e-01 5.52246550e-03 1.00956526e+02] [ 6.24954735e-03 3.40384538e-05 9.99980471e-01 1.77338597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:101.00, Z:1.77 [[-4.75603204e-01 8.79655102e-01 2.91433411e-03 1.21371286e+02] [-8.79637731e-01 -4.75612129e-01 5.52855190e-03 1.01000764e+02] [ 6.24931154e-03 6.58387552e-05 9.99980471e-01 1.77043994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.28, Y:100.83, Z:1.76 [[-4.78993518e-01 8.77813568e-01 2.92399302e-03 1.21280685e+02] [-8.77796194e-01 -4.79002436e-01 5.52342321e-03 1.00828987e+02] [ 6.24913562e-03 7.90139701e-05 9.99980471e-01 1.76491538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.97, Y:100.55, Z:2.74 [[-4.02882084e-01 -9.15247222e-01 -2.92399302e-03 1.21973294e+02] [-9.15230666e-01 4.02892442e-01 -5.52342321e-03 1.00549897e+02] [ 6.23335244e-03 4.50839826e-04 -9.99980471e-01 2.74333566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:100.86, Z:1.77 [[-4.11463716e-01 9.11422588e-01 2.54507034e-03 1.21259216e+02] [-9.11404809e-01 -4.11471586e-01 5.69282730e-03 1.00859334e+02] [ 6.23579552e-03 2.28025317e-05 9.99980557e-01 1.76736809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:100.86, Z:1.77 [[-4.09641281e-01 9.12243131e-01 2.54780625e-03 1.21257660e+02] [-9.12225375e-01 -4.09649204e-01 5.69160259e-03 1.00858501e+02] [ 6.23583217e-03 7.34186431e-06 9.99980557e-01 1.76763399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.72762800000004 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:121.25, Y:100.85, Z:1.77 [[-4.07193246e-01 9.13338467e-01 2.55053759e-03 1.21253179e+02] [-9.13320740e-01 -4.07201234e-01 5.69037835e-03 1.00850543e+02] [ 6.23582349e-03 -1.23752431e-05 9.99980557e-01 1.76593537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.757628 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:121.25, Y:100.85, Z:1.77 [[-4.04442917e-01 9.14559680e-01 2.55327128e-03 1.21252250e+02] [-9.14541985e-01 -4.04450974e-01 5.68915148e-03 1.00851021e+02] [ 6.23574162e-03 -3.41367722e-05 9.99980557e-01 1.76648169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.78762800000004 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:121.25, Y:100.85, Z:1.77 [[-4.03810381e-01 9.14839126e-01 2.55907766e-03 1.21251258e+02] [-9.14821454e-01 -4.03818488e-01 5.68653847e-03 1.00848313e+02] [ 6.23567076e-03 -4.48158812e-05 9.99980557e-01 1.76809362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.817628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:121.25, Y:100.84, Z:1.77 [[-4.03158780e-01 9.15126458e-01 2.56207569e-03 1.21251011e+02] [-9.15108800e-01 -4.03166918e-01 5.68518739e-03 1.00841644e+02] [ 6.23560955e-03 -5.25447947e-05 9.99980557e-01 1.76890613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.25, Y:100.84, Z:1.77 [[-4.03420656e-01 9.15011035e-01 2.56507183e-03 1.21250620e+02] [-9.14993383e-01 -4.03428807e-01 5.68383525e-03 1.00836555e+02] [ 6.23559585e-03 -5.40471992e-05 9.99980557e-01 1.77231324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.25, Y:100.83, Z:1.77 [[-4.03858196e-01 9.14817995e-01 2.56778947e-03 1.21249017e+02] [-9.14800347e-01 -4.03866355e-01 5.68260724e-03 1.00832884e+02] [ 6.23559513e-03 -5.40471930e-05 9.99980557e-01 1.77233938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.25, Y:100.83, Z:1.77 [[-4.04183136e-01 9.14674469e-01 2.57050653e-03 1.21248395e+02] [-9.14656826e-01 -4.04191306e-01 5.68137792e-03 1.00828604e+02] [ 6.23558773e-03 -5.48141974e-05 9.99980557e-01 1.77294194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.25, Y:100.82, Z:1.77 [[-4.04987908e-01 9.14318420e-01 2.57322402e-03 1.21247084e+02] [-9.14300778e-01 -4.04996079e-01 5.68014684e-03 1.00821020e+02] [ 6.23560852e-03 -5.23099382e-05 9.99980557e-01 1.77353003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.25, Y:100.82, Z:1.77 [[-4.05966328e-01 9.13884405e-01 2.57594384e-03 1.21245683e+02] [-9.13866762e-01 -4.05974497e-01 5.67891313e-03 1.00817271e+02] [ 6.23563765e-03 -4.86219469e-05 9.99980557e-01 1.77316858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.09, Y:100.47, Z:1.77 [[-4.07476547e-01 9.13212031e-01 2.57866703e-03 1.21089434e+02] [-9.13194382e-01 -4.07484704e-01 5.67767633e-03 1.00473366e+02] [ 6.23568970e-03 -4.13042995e-05 9.99980557e-01 1.77461594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.24, Y:100.80, Z:1.77 [[-4.09372232e-01 9.12363832e-01 2.57173346e-03 1.21240825e+02] [-9.12346146e-01 -4.09380309e-01 5.68082731e-03 1.00803006e+02] [ 6.23579842e-03 -2.07381576e-05 9.99980557e-01 1.77088897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.057628 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:121.24, Y:100.80, Z:1.77 [[-4.09584344e-01 9.12268580e-01 2.58926655e-03 1.21239492e+02] [-9.12250942e-01 -4.09592526e-01 5.67282463e-03 1.00797813e+02] [ 6.23568389e-03 -3.85606997e-05 9.99980557e-01 1.76752682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.24, Y:100.79, Z:1.77 [[-4.10558881e-01 9.11830403e-01 2.59255220e-03 1.21236514e+02] [-9.11812767e-01 -4.10567065e-01 5.67132264e-03 1.00789750e+02] [ 6.23570096e-03 -3.55103184e-05 9.99980557e-01 1.76598947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.117628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:121.24, Y:100.79, Z:1.76 [[-4.10293784e-01 9.11949712e-01 2.59499715e-03 1.21238101e+02] [-9.11932085e-01 -4.10301988e-01 5.67020370e-03 1.00793569e+02] [ 6.23567312e-03 -4.00118254e-05 9.99980557e-01 1.76315189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.147628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.15, Y:100.60, Z:1.77 [[-4.11602598e-01 9.11359727e-01 2.59799989e-03 1.21149573e+02] [-9.11342097e-01 -4.11610795e-01 5.66882756e-03 1.00601929e+02] [ 6.23570594e-03 -3.43625201e-05 9.99980557e-01 1.76554111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:100.78, Z:1.76 [[-4.12929057e-01 9.10759481e-01 2.60033357e-03 1.21233032e+02] [-9.10741846e-01 -4.12937244e-01 5.66775688e-03 1.00783181e+02] [ 6.23573789e-03 -2.78510851e-05 9.99980557e-01 1.76446257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:100.78, Z:1.76 [[-4.13813397e-01 9.10357995e-01 2.60658425e-03 1.21231624e+02] [-9.10340369e-01 -4.13821605e-01 5.66488075e-03 1.00778385e+02] [ 6.23573036e-03 -2.86753171e-05 9.99980557e-01 1.76436373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23762800000003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:121.23, Y:100.78, Z:1.76 [[-4.14590978e-01 9.10004128e-01 2.60929471e-03 1.21231711e+02] [-9.09986503e-01 -4.14599189e-01 5.66363202e-03 1.00775218e+02] [ 6.23573998e-03 -2.63322260e-05 9.99980557e-01 1.76310367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.267628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.23, Y:100.77, Z:1.76 [[-4.15845872e-01 9.09431354e-01 2.61200457e-03 1.21231747e+02] [-9.09413727e-01 -4.15854075e-01 5.66238198e-03 1.00769567e+02] [ 6.23576046e-03 -2.07146345e-05 9.99980557e-01 1.76094702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29762800000003 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:121.23, Y:100.76, Z:1.76 [[-4.15861863e-01 9.09424035e-01 2.61443675e-03 1.21230065e+02] [-9.09406414e-01 -4.15870080e-01 5.66125877e-03 1.00764044e+02] [ 6.23575082e-03 -2.32839366e-05 9.99980557e-01 1.76066915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:100.76, Z:1.76 [[-4.15161514e-01 9.09743956e-01 2.61771232e-03 1.21229968e+02] [-9.09726351e-01 -4.15169765e-01 5.65974378e-03 1.00760615e+02] [ 6.23571270e-03 -3.16940806e-05 9.99980557e-01 1.76244909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:100.76, Z:1.76 [[-4.13867989e-01 9.10333136e-01 2.62085259e-03 1.21228611e+02] [-9.10315552e-01 -4.13876285e-01 5.65828924e-03 1.00757738e+02] [ 6.23563692e-03 -4.40180823e-05 9.99980557e-01 1.76297658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.387628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:121.23, Y:100.76, Z:1.76 [[-4.11993928e-01 9.11182814e-01 2.62355902e-03 1.21227154e+02] [-9.11165255e-01 -4.12002277e-01 5.65703408e-03 1.00756351e+02] [ 6.23550452e-03 -5.98321362e-05 9.99980557e-01 1.76172496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41762800000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:121.22, Y:100.75, Z:1.76 [[-4.08216739e-01 9.12881260e-01 2.62654030e-03 1.21224616e+02] [-9.12863745e-01 -4.08225179e-01 5.65564954e-03 1.00754915e+02] [ 6.23515637e-03 -8.89426035e-05 9.99980557e-01 1.76272480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.22, Y:100.75, Z:1.76 [[-4.10437527e-01 9.11884929e-01 2.62923750e-03 1.21218366e+02] [-9.11867401e-01 -4.10445941e-01 5.65439537e-03 1.00747172e+02] [ 6.23531778e-03 -7.67399101e-05 9.99980557e-01 1.76462149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.84, Y:100.35, Z:2.75 [[-3.75911511e-01 -9.26651835e-01 -2.62923750e-03 1.21842441e+02] [-9.26634635e-01 3.75920577e-01 -5.65439537e-03 1.00352674e+02] [ 6.22804032e-03 3.10790223e-04 -9.99980557e-01 2.74920043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.13, Y:100.61, Z:1.76 [[-3.44025821e-01 9.38957518e-01 2.23915863e-03 1.21127697e+02] [-9.38939580e-01 -3.44033091e-01 5.80486433e-03 1.00611530e+02] [ 6.22086566e-03 -1.05411449e-04 9.99980645e-01 1.76232684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.13, Y:100.61, Z:1.76 [[-3.50682257e-01 9.36491819e-01 2.24221035e-03 1.21126372e+02] [-9.36473837e-01 -3.50689420e-01 5.80368531e-03 1.00609674e+02] [ 6.22142326e-03 -6.45218690e-05 9.99980645e-01 1.76118806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.567628 meters Centerline goodness : 0.996150 Centerline is valid? [True, True] Translation: X:121.59, Y:99.73, Z:2.76 [[-2.99835337e-01 -9.53988278e-01 -2.26646463e-03 1.21594359e+02] [-9.53970775e-01 2.99843603e-01 -5.79430979e-03 9.97270596e+01] [ 6.20728854e-03 4.24802183e-04 -9.99980644e-01 2.76008951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.59762800000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:121.71, Y:100.30, Z:2.76 [[-2.31923148e-01 -9.72731472e-01 -2.26646463e-03 1.21711694e+02] [-9.72714595e-01 2.31932625e-01 -5.79430979e-03 1.00302117e+02] [ 6.16197458e-03 8.60788654e-04 -9.99980644e-01 2.75619591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.99, Y:100.45, Z:1.76 [[-2.11650681e-01 9.77344447e-01 1.34950253e-03 1.20986643e+02] [-9.77326027e-01 -2.11654978e-01 6.00053465e-03 1.00450660e+02] [ 6.15021814e-03 -4.88867051e-05 9.99981086e-01 1.76056176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.66, Y:100.20, Z:2.76 [[-1.62137772e-01 -9.86767208e-01 -1.34950253e-03 1.21655636e+02] [-9.86749028e-01 1.62142991e-01 -6.00053465e-03 1.00199600e+02] [ 6.13994319e-03 3.58706999e-04 -9.99981086e-01 2.75620323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.93, Y:100.31, Z:1.76 [[-1.40752986e-01 9.90044313e-01 9.24828038e-04 1.20931623e+02] [-9.90025729e-01 -1.40756011e-01 6.06647227e-03 1.00306615e+02] [ 6.13625147e-03 -6.17294652e-05 9.99981171e-01 1.76269441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.60, Y:100.09, Z:2.75 [[-9.96644448e-02 -9.95020675e-01 -9.24828038e-04 1.21603635e+02] [-9.95002232e-01 9.96682360e-02 -6.06647227e-03 1.00094796e+02] [ 6.12844131e-03 3.15594371e-04 -9.99981171e-01 2.75487888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:100.15, Z:1.76 [[-7.16125048e-02 9.97432398e-01 5.10745937e-04 1.20880898e+02] [-9.97413732e-01 -7.16142895e-02 6.10253988e-03 1.00151228e+02] [ 6.12344769e-03 -7.24068446e-05 9.99981249e-01 1.76465550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.56, Y:99.98, Z:2.76 [[-3.81276524e-02 -9.99272746e-01 -5.10745937e-04 1.21558716e+02] [-9.99254151e-01 3.81300619e-02 -6.10253988e-03 9.99798458e+01] [ 6.11757656e-03 2.77689478e-04 -9.99981249e-01 2.75550587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.807628 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:120.85, Y:100.00, Z:1.77 [[ 6.23808156e-03 9.99980536e-01 1.20811239e-04 1.20845100e+02] [-9.99961880e-01 6.23722699e-03 6.11025009e-03 9.99954083e+01] [ 6.10937763e-03 -1.58922872e-04 9.99981325e-01 1.76704795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.83762800000005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:120.84, Y:99.98, Z:1.77 [[ 2.40844228e-03 9.99997096e-01 8.38326881e-05 1.20843405e+02] [-9.99978429e-01 2.40788502e-03 6.11099078e-03 9.99845920e+01] [ 6.11077117e-03 -9.85488483e-05 9.99981324e-01 1.76555145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.85, Y:99.99, Z:1.77 [[ 6.54633122e-03 9.99978565e-01 1.26663019e-04 1.20845649e+02] [-9.99959911e-01 6.54543517e-03 6.11010291e-03 9.99897333e+01] [ 6.10914287e-03 -1.66656698e-04 9.99981325e-01 1.77159463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.897628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.84, Y:99.98, Z:1.77 [[ 3.03029894e-03 9.99995404e-01 9.25817525e-05 1.20844865e+02] [-9.99976739e-01 3.02967663e-03 6.11081633e-03 9.99827449e+01] [ 6.11050775e-03 -1.11097199e-04 9.99981325e-01 1.77254034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.85, Y:99.98, Z:1.77 [[ 3.82066702e-03 9.99992693e-01 1.32158117e-04 1.20845898e+02] [-9.99974038e-01 3.81978827e-03 6.10996030e-03 9.99782337e+01] [ 6.10941083e-03 -1.55498809e-04 9.99981325e-01 1.77222274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.84, Y:99.96, Z:1.77 [[-5.02030440e-03 9.99987393e-01 1.06056031e-04 1.20844171e+02] [-9.99968726e-01 -5.02085875e-03 6.11053450e-03 9.99630237e+01] [ 6.11098995e-03 -7.53759710e-05 9.99981325e-01 1.77108736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.85, Y:99.97, Z:1.77 [[-3.55897239e-03 9.99993657e-01 1.37906033e-04 1.20847264e+02] [-9.99974999e-01 -3.55974856e-03 6.10981560e-03 9.99660662e+01] [ 6.11026776e-03 -1.16157920e-04 9.99981325e-01 1.77173001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.017628 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:120.85, Y:99.95, Z:1.77 [[-8.81874630e-03 9.99961109e-01 1.04561288e-04 1.20848087e+02] [-9.99942439e-01 -8.81922061e-03 6.11057537e-03 9.99543631e+01] [ 6.11125987e-03 -5.06676555e-05 9.99981325e-01 1.76892933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.04762800000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:120.85, Y:99.95, Z:1.77 [[-1.35661752e-02 9.99907971e-01 9.44867865e-05 1.20847571e+02] [-9.99889298e-01 -1.35664993e-02 6.11080922e-03 9.99498466e+01] [ 6.11152870e-03 -1.15760180e-05 9.99981324e-01 1.77060132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.85, Y:99.94, Z:1.77 [[-1.68041834e-02 9.99858794e-01 1.08345071e-04 1.20847950e+02] [-9.99840122e-01 -1.68045317e-02 6.11047941e-03 9.99421910e+01] [ 6.11143726e-03 -5.64613252e-06 9.99981325e-01 1.77110528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.84, Y:99.66, Z:1.78 [[-2.82012147e-02 9.99602260e-01 1.15897064e-04 1.20838067e+02] [-9.99583586e-01 -2.82013963e-02 6.11028992e-03 9.96638244e+01] [ 6.11112807e-03 5.64687952e-05 9.99981325e-01 1.77606537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.52, Y:99.55, Z:2.75 [[ 4.70988842e-02 -9.98890225e-01 -1.15897064e-04 1.21520615e+02] [-9.98871618e-01 -4.70972979e-02 -6.11028992e-03 9.95503083e+01] [ 6.09805043e-03 4.03554125e-04 -9.99981325e-01 2.74805369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.81, Y:99.48, Z:1.78 [[ 3.83644950e-02 9.99263769e-01 -2.91863387e-04 1.20814001e+02] [-9.99245199e-01 3.83655615e-02 6.09235389e-03 9.94836157e+01] [ 6.09906601e-03 5.79130073e-05 9.99981399e-01 1.77929856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.82, Y:99.46, Z:1.78 [[ 3.75573344e-02 9.99294438e-01 -2.68253870e-04 1.20816003e+02] [-9.99275861e-01 3.75582719e-02 6.09339327e-03 9.94563496e+01] [ 6.09916916e-03 3.92080083e-05 9.99981399e-01 1.77944879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.82, Y:99.43, Z:1.78 [[ 3.76063235e-02 9.99292596e-01 -2.68995643e-04 1.20818490e+02] [-9.99274019e-01 3.76072646e-02 6.09336052e-03 9.94286194e+01] [ 6.09916624e-03 3.96514706e-05 9.99981399e-01 1.77923588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.82, Y:99.40, Z:1.78 [[ 3.84400267e-02 9.99260872e-01 -2.70708257e-04 1.20819466e+02] [-9.99242295e-01 3.84409628e-02 6.09328444e-03 9.94004914e+01] [ 6.09918701e-03 3.62771236e-05 9.99981399e-01 1.77925870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.82, Y:99.37, Z:1.78 [[ 4.01616873e-02 9.99193157e-01 -2.72448011e-04 1.20819647e+02] [-9.99174578e-01 4.01626020e-02 6.09320664e-03 9.93728763e+01] [ 6.09923260e-03 2.75096662e-05 9.99981399e-01 1.78071674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.52, Y:99.41, Z:2.75 [[ 1.26985017e-01 -9.91904597e-01 2.74175339e-04 1.21518409e+02] [-9.91886010e-01 -1.26984321e-01 -6.09312892e-03 9.94096175e+01] [ 6.07861856e-03 5.01785394e-04 -9.99981399e-01 2.74634758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.52, Y:99.41, Z:2.75 [[ 2.03394698e-01 -9.79096541e-01 7.48128215e-04 1.21520761e+02] [-9.79078071e-01 -2.03395472e-01 -6.03436996e-03 9.94094241e+01] [ 6.06039665e-03 4.94882926e-04 -9.99981513e-01 2.74696656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.83, Y:99.23, Z:1.78 [[ 1.97321899e-01 9.80337988e-01 -1.22376747e-03 1.20832816e+02] [-9.80320010e-01 1.97325691e-01 5.93712821e-03 9.92336039e+01] [ 6.06187308e-03 2.81583289e-05 9.99981626e-01 1.78222505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.52, Y:99.38, Z:2.75 [[ 2.80940717e-01 -9.59724354e-01 1.21560125e-03 1.21518135e+02] [-9.59706111e-01 -2.80942898e-01 -5.93879973e-03 9.93795699e+01] [ 6.04112528e-03 5.01830706e-04 -9.99981626e-01 2.74712520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.51, Y:99.38, Z:2.75 [[ 3.56309154e-01 -9.34366627e-01 1.67149036e-03 1.21509485e+02] [-9.34348716e-01 -3.56312713e-01 -5.80759039e-03 9.93767736e+01] [ 6.02199190e-03 5.07542747e-04 -9.99981739e-01 2.74756256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:99.37, Z:2.75 [[ 4.30521251e-01 -9.02577964e-01 2.11450871e-03 1.21501935e+02] [-9.02560483e-01 -4.30526129e-01 -5.64154325e-03 9.93743961e+01] [ 6.00228387e-03 5.20332252e-04 -9.99981851e-01 2.74820374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:99.04, Z:1.78 [[ 4.16194487e-01 9.09272065e-01 -2.54208227e-03 1.20875428e+02] [-9.09255781e-01 4.16202247e-01 5.44180757e-03 9.90421946e+01] [ 6.00610396e-03 4.65526957e-05 9.99981962e-01 1.78004589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.51, Y:99.35, Z:2.75 [[ 5.00016959e-01 -8.66011931e-01 2.52493745e-03 1.21514379e+02] [-8.65994951e-01 -5.00023044e-01 -5.44980029e-03 9.93461510e+01] [ 5.98211899e-03 5.38409484e-04 -9.99981962e-01 2.75065762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:99.34, Z:2.75 [[ 5.61830987e-01 -8.27246784e-01 2.94983877e-03 1.21500953e+02] [-8.27230525e-01 -5.61838520e-01 -5.20918972e-03 9.93361540e+01] [ 5.96661849e-03 4.86487520e-04 -9.99982081e-01 2.75218483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:99.33, Z:2.75 [[ 6.25946311e-01 -7.79859433e-01 3.23729106e-03 1.21496324e+02] [-7.79843543e-01 -6.25954380e-01 -5.01620104e-03 9.93273177e+01] [ 5.93832822e-03 6.15292004e-04 -9.99982179e-01 2.75388382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.49, Y:99.32, Z:2.75 [[ 6.83303469e-01 -7.30125122e-01 3.69801648e-03 1.21491854e+02] [-7.30110472e-01 -6.83313309e-01 -4.64978306e-03 9.93184392e+01] [ 5.92182731e-03 4.77252341e-04 -9.99982352e-01 2.75439546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.64762800000005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:121.49, Y:99.31, Z:2.76 [[ 7.34595340e-01 -6.78493466e-01 4.03777754e-03 1.21488772e+02] [-6.78479773e-01 -7.34606303e-01 -4.33318554e-03 9.93091949e+01] [ 5.90621491e-03 4.43587517e-04 -9.99982460e-01 2.75739967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.677628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.49, Y:99.30, Z:2.76 [[ 7.84317413e-01 -6.20344474e-01 4.35085547e-03 1.21485393e+02] [-6.20331780e-01 -7.84329361e-01 -3.99196155e-03 9.93006807e+01] [ 5.88889498e-03 4.31991038e-04 -9.99982567e-01 2.75743395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.707628 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:121.48, Y:99.29, Z:2.76 [[ 8.28868145e-01 -5.59424804e-01 4.63538977e-03 1.21482096e+02] [-5.59413190e-01 -8.28881003e-01 -3.62846830e-03 9.92899677e+01] [ 5.87204169e-03 4.14423612e-04 -9.99982674e-01 2.75891967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:99.28, Z:2.76 [[ 8.68093738e-01 -4.96376219e-01 4.88991033e-03 1.21480499e+02] [-4.96365765e-01 -8.68107423e-01 -3.24492158e-03 9.92797993e+01] [ 5.85566936e-03 3.89712024e-04 -9.99982779e-01 2.75669057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:99.27, Z:2.76 [[ 9.04229843e-01 -4.27015515e-01 5.11290135e-03 1.21480010e+02] [-4.27006220e-01 -9.04244215e-01 -2.84403826e-03 9.92685571e+01] [ 5.83775993e-03 3.88423590e-04 -9.99982885e-01 2.75688265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:99.26, Z:2.76 [[ 9.34238667e-01 -3.56609013e-01 5.30325705e-03 1.21479475e+02] [-3.56600945e-01 -9.34253643e-01 -2.42831768e-03 9.92571349e+01] [ 5.82054719e-03 3.77481793e-04 -9.99982989e-01 2.75576233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.827628 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:121.48, Y:99.25, Z:2.76 [[ 9.58621728e-01 -2.84630586e-01 5.46013140e-03 1.21480071e+02] [-2.84623791e-01 -9.58637209e-01 -2.00005365e-03 9.92451131e+01] [ 5.80356156e-03 3.63211587e-04 -9.99983093e-01 2.75593251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:99.23, Z:2.75 [[ 9.77365075e-01 -2.11486037e-01 5.58264669e-03 1.21481681e+02] [-2.11480550e-01 -9.77380958e-01 -1.56225233e-03 9.92347317e+01] [ 5.78676712e-03 3.46269668e-04 -9.99983197e-01 2.75408669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:99.23, Z:2.75 [[ 9.90978114e-01 -1.33903507e-01 5.67705532e-03 1.21481063e+02] [-1.33899502e-01 -9.90994326e-01 -1.08151464e-03 9.92279538e+01] [ 5.77074821e-03 3.11602458e-04 -9.99983301e-01 2.75243246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:99.22, Z:2.75 [[ 9.98432746e-01 -5.56711036e-02 5.72531175e-03 1.21480518e+02] [-5.56681861e-02 -9.98449101e-01 -6.67793676e-04 9.92170722e+01] [ 5.75360918e-03 3.48029354e-04 -9.99983387e-01 2.75041276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:99.21, Z:2.75 [[ 9.99681024e-01 2.45942315e-02 5.74233189e-03 1.21479556e+02] [ 2.45958800e-02 -9.99697452e-01 -2.16614332e-04 9.92075974e+01] [ 5.73526710e-03 3.57782943e-04 -9.99983489e-01 2.74778417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97762800000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:121.48, Y:99.20, Z:2.75 [[ 9.94453280e-01 1.05023376e-01 5.72403867e-03 1.21480691e+02] [ 1.05023768e-01 -9.94469685e-01 2.32933020e-04 9.92006064e+01] [ 5.71684634e-03 3.69519101e-04 -9.99983590e-01 2.74892191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:99.19, Z:2.75 [[ 9.82593892e-01 1.85680063e-01 5.67081395e-03 1.21482509e+02] [ 1.85679228e-01 -9.82610179e-01 6.78067107e-04 9.91850954e+01] [ 5.69810305e-03 3.86687756e-04 -9.99983691e-01 2.74763477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.49, Y:99.17, Z:2.75 [[ 9.63282087e-01 2.68433087e-01 5.59462206e-03 1.21485134e+02] [ 2.68431418e-01 -9.63298213e-01 1.06110643e-03 9.91739155e+01] [ 5.67412551e-03 4.79627515e-04 -9.99983787e-01 2.74903284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.49, Y:99.17, Z:2.75 [[ 9.38195009e-01 3.46064067e-01 5.45779153e-03 1.21487614e+02] [ 3.46060899e-01 -9.38210780e-01 1.54459625e-03 9.91679919e+01] [ 5.65508811e-03 4.39595752e-04 -9.99983913e-01 2.75029863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.49, Y:99.15, Z:2.75 [[ 9.07597069e-01 4.19808801e-01 5.30385021e-03 1.21492799e+02] [ 4.19804459e-01 -9.07612456e-01 1.96096514e-03 9.91515928e+01] [ 5.63707094e-03 4.46813753e-04 -9.99984012e-01 2.75081025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:99.14, Z:2.75 [[ 8.70417436e-01 4.92287363e-01 5.16128396e-03 1.21498737e+02] [ 4.92282447e-01 -8.70432556e-01 2.27131808e-03 9.91404606e+01] [ 5.61069078e-03 5.63814639e-04 -9.99984101e-01 2.75170686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:99.13, Z:2.75 [[ 8.27093201e-01 5.62043036e-01 4.94592886e-03 1.21503047e+02] [ 5.62037057e-01 -8.27107784e-01 2.65696713e-03 9.91328399e+01] [ 5.58414613e-03 5.82235849e-04 -9.99984239e-01 2.75158131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.51, Y:99.13, Z:2.75 [[ 7.79216762e-01 6.26736947e-01 4.69437931e-03 1.21506372e+02] [ 6.26729868e-01 -7.79230688e-01 3.03433115e-03 9.91287615e+01] [ 5.55973186e-03 5.77706037e-04 -9.99984378e-01 2.75265041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.51, Y:99.12, Z:2.75 [[ 7.27224389e-01 6.86385895e-01 4.36940886e-03 1.21511867e+02] [ 6.86377419e-01 -7.27237348e-01 3.44634270e-03 9.91236170e+01] [ 5.54311833e-03 4.92799111e-04 -9.99984515e-01 2.75214503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.52, Y:99.12, Z:2.75 [[ 6.70902100e-01 7.41534745e-01 4.07359544e-03 1.21517684e+02] [ 7.41525345e-01 -6.70914285e-01 3.76629314e-03 9.91177467e+01] [ 5.52587059e-03 4.93860286e-04 -9.99984610e-01 2.75196341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.52, Y:99.11, Z:2.75 [[ 6.10636565e-01 7.91902070e-01 3.75462142e-03 1.21524772e+02] [ 7.91891810e-01 -6.10647908e-01 4.06118940e-03 9.91118630e+01] [ 5.50881601e-03 4.93343214e-04 -9.99984705e-01 2.75161481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.53, Y:99.11, Z:2.75 [[ 5.48234650e-01 8.36317589e-01 3.41454119e-03 1.21531024e+02] [ 8.36306522e-01 -5.48245071e-01 4.32940649e-03 9.91066897e+01] [ 5.49276417e-03 4.82072418e-04 -9.99984798e-01 2.75069926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.53, Y:99.10, Z:2.75 [[ 4.81513138e-01 8.76433419e-01 3.09174534e-03 1.21533012e+02] [ 8.76421786e-01 -4.81522783e-01 4.54565020e-03 9.91046322e+01] [ 5.47270557e-03 5.20882674e-04 -9.99984889e-01 2.74988389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.54, Y:99.10, Z:2.75 [[ 4.15996261e-01 9.09362379e-01 2.67860412e-03 1.21537579e+02] [ 9.09349940e-01 -4.16004643e-01 4.77729692e-03 9.91011911e+01] [ 5.45860584e-03 4.48450839e-04 -9.99985001e-01 2.74866036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.39762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.54, Y:99.10, Z:2.75 [[ 3.46507488e-01 9.38044412e-01 2.28937725e-03 1.21542347e+02] [ 9.38031413e-01 -3.46514784e-01 4.95705873e-03 9.90970278e+01] [ 5.44324431e-03 4.29849806e-04 -9.99985093e-01 2.74854269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.55, Y:99.09, Z:2.75 [[ 2.75228024e-01 9.61377121e-01 1.88827327e-03 1.21548489e+02] [ 9.61363653e-01 -2.75234196e-01 5.10541049e-03 9.90937908e+01] [ 5.42794222e-03 4.10165244e-04 -9.99985185e-01 2.74847456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.55, Y:99.09, Z:2.75 [[ 2.02801470e-01 9.79218760e-01 1.47806296e-03 1.21554347e+02] [ 9.79204915e-01 -2.02806484e-01 5.22152960e-03 9.90908051e+01] [ 5.41278049e-03 3.88392638e-04 -9.99985275e-01 2.74868448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.48762800000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.56, Y:99.09, Z:2.75 [[ 1.32741507e-01 9.91150123e-01 1.06155179e-03 1.21559208e+02] [ 9.91135987e-01 -1.32745295e-01 5.30487758e-03 9.90872139e+01] [ 5.39884607e-03 3.47964743e-04 -9.99985366e-01 2.74866521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.56, Y:99.08, Z:2.75 [[ 5.78369165e-02 9.98325839e-01 6.40728549e-04 1.21564356e+02] [ 9.98311530e-01 -5.78395245e-02 5.35522764e-03 9.90842468e+01] [ 5.38332157e-03 3.29916844e-04 -9.99985455e-01 2.74937501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.58, Y:99.08, Z:2.75 [[-1.47536101e-02 9.99891136e-01 2.18609138e-04 1.21581133e+02] [ 9.99876747e-01 1.47522232e-02 5.37240463e-03 9.90795574e+01] [ 5.36859480e-03 2.97844557e-04 -9.99985545e-01 2.75000332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.62, Y:99.04, Z:2.75 [[-8.90001964e-02 9.96031600e-01 -1.28438381e-04 1.21617921e+02] [ 9.96017245e-01 8.89996048e-02 5.35887531e-03 9.90399252e+01] [ 5.34904012e-03 3.49014113e-04 -9.99985633e-01 2.75149368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.65, Y:99.03, Z:2.75 [[-1.71031065e-01 9.85265484e-01 -5.48780798e-04 1.21650197e+02] [ 9.85251248e-01 1.71031551e-01 5.30918858e-03 9.90335476e+01] [ 5.32481909e-03 3.67349211e-04 -9.99985756e-01 2.75128520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.637628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:121.69, Y:99.01, Z:2.75 [[-2.46290257e-01 9.69195553e-01 -1.04352244e-03 1.21690357e+02] [ 9.69181587e-01 2.46292318e-01 5.21009824e-03 9.90081049e+01] [ 5.30661560e-03 2.71833697e-04 -9.99985883e-01 2.75425751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.74, Y:98.97, Z:2.75 [[-3.16194009e-01 9.48693451e-01 -1.44398079e-03 1.21744459e+02] [ 9.48679791e-01 3.16197214e-01 5.09664081e-03 9.89690795e+01] [ 5.29173246e-03 2.41651896e-04 -9.99985970e-01 2.75361894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.697628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.78, Y:98.97, Z:2.75 [[-3.96785628e-01 9.17909640e-01 -1.74896462e-03 1.21775798e+02] [ 9.17896182e-01 3.96789308e-01 4.98441264e-03 9.89746278e+01] [ 5.26921087e-03 3.72375358e-04 -9.99986048e-01 2.75347092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.82, Y:98.97, Z:2.75 [[-4.69215591e-01 8.83080893e-01 -2.20586945e-03 1.21820419e+02] [ 8.83068040e-01 4.69220686e-01 4.77326385e-03 9.89653192e+01] [ 5.25021768e-03 2.91757005e-04 -9.99986175e-01 2.75291419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.757628 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:121.87, Y:98.96, Z:2.75 [[-5.40928885e-01 8.41064422e-01 -2.56491425e-03 1.21865739e+02] [ 8.41052056e-01 5.40934874e-01 4.57183103e-03 9.89585624e+01] [ 5.23265599e-03 3.15809059e-04 -9.99986260e-01 2.75397624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.78762800000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:121.91, Y:98.96, Z:2.75 [[-6.07437530e-01 7.94362135e-01 -2.90606560e-03 1.21909178e+02] [ 7.94350329e-01 6.07444392e-01 4.34358504e-03 9.89582066e+01] [ 5.21565274e-03 3.30022406e-04 -9.99986344e-01 2.75455348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.817628 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:121.95, Y:98.97, Z:2.75 [[-6.66164037e-01 7.45798269e-01 -3.22761722e-03 1.21947963e+02] [ 7.45787123e-01 6.66171780e-01 4.08982262e-03 9.89702569e+01] [ 5.20033014e-03 3.17377389e-04 -9.99986428e-01 2.75496693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.84762800000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:122.01, Y:98.95, Z:2.75 [[-7.26086252e-01 6.87594816e-01 -3.48177917e-03 1.22012177e+02] [ 6.87584127e-01 7.26094487e-01 3.85534572e-03 9.89515746e+01] [ 5.17901639e-03 4.05297434e-04 -9.99986507e-01 2.75497440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.06, Y:98.96, Z:2.75 [[-7.79040013e-01 6.26962948e-01 -3.75760262e-03 1.22061047e+02] [ 6.26952992e-01 7.79048964e-01 3.55762325e-03 9.89559764e+01] [ 5.15785439e-03 4.15690657e-04 -9.99986612e-01 2.75168248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.90762800000005 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:122.07, Y:98.99, Z:2.75 [[-8.29696075e-01 5.58201078e-01 -3.99740068e-03 1.22072891e+02] [ 5.58191788e-01 8.29705573e-01 3.25440241e-03 9.89859409e+01] [ 5.13327655e-03 4.68848680e-04 -9.99986715e-01 2.75493715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.937628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:122.13, Y:98.99, Z:2.75 [[-8.72273021e-01 4.89000599e-01 -4.26520003e-03 1.22134133e+02] [ 4.88992439e-01 8.72283355e-01 2.85368172e-03 9.89861089e+01] [ 5.11591506e-03 4.03539008e-04 -9.99986832e-01 2.75418219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.18, Y:99.00, Z:2.75 [[-9.08333353e-01 4.18223145e-01 -4.46323117e-03 1.22176717e+02] [ 4.18215868e-01 9.08344228e-01 2.50016198e-03 9.90019920e+01] [ 5.09977588e-03 4.04386413e-04 -9.99986914e-01 2.75216312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.22, Y:99.02, Z:2.75 [[-9.38681668e-01 3.44753941e-01 -4.63105431e-03 1.22217462e+02] [ 3.44747564e-01 9.38693003e-01 2.13636901e-03 9.90180310e+01] [ 5.08365992e-03 4.08825735e-04 -9.99986995e-01 2.75152540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.25, Y:99.04, Z:2.75 [[-9.63009320e-01 2.69425874e-01 -4.76944879e-03 1.22254682e+02] [ 2.69420429e-01 9.63021043e-01 1.76169360e-03 9.90402611e+01] [ 5.06772538e-03 4.11540416e-04 -9.99987074e-01 2.75264154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.29, Y:99.07, Z:2.75 [[-9.81246961e-01 1.92693045e-01 -4.87770608e-03 1.22292043e+02] [ 1.92688555e-01 9.81258998e-01 1.37862064e-03 9.90653740e+01] [ 5.05194359e-03 4.12889178e-04 -9.99987154e-01 2.75262669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:99.09, Z:2.75 [[-9.93415854e-01 1.14456885e-01 -4.95605236e-03 1.22337194e+02] [ 1.14453380e-01 9.93428131e-01 9.85974096e-04 9.90921187e+01] [ 5.03633336e-03 4.12245354e-04 -9.99987233e-01 2.75370852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:99.12, Z:2.76 [[-9.99416707e-01 3.37819717e-02 -5.00250786e-03 1.22370804e+02] [ 3.37794078e-02 9.99429135e-01 5.96157687e-04 9.91240916e+01] [ 5.01979149e-03 4.26828200e-04 -9.99987310e-01 2.75601415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.14762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.40, Y:99.92, Z:1.78 [[-9.98824321e-01 -4.82160907e-02 5.01837836e-03 1.22401271e+02] [ 4.82156837e-02 -9.98836927e-01 -2.02116356e-04 9.99215512e+01] [ 5.02228688e-03 4.00858114e-05 9.99987387e-01 1.78398526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.40, Y:99.92, Z:1.78 [[-9.98783984e-01 -4.90445518e-02 5.01845499e-03 1.22401137e+02] [ 4.90441649e-02 -9.98796591e-01 -2.00195402e-04 9.99200082e+01] [ 5.02223423e-03 4.61739723e-05 9.99987387e-01 1.78253660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.40, Y:99.92, Z:1.78 [[-9.98793386e-01 -4.88527030e-02 5.01852142e-03 1.22401594e+02] [ 4.88523222e-02 -9.98805993e-01 -1.98515820e-04 9.99172741e+01] [ 5.02222731e-03 4.68901379e-05 9.99987387e-01 1.77897206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:99.17, Z:2.76 [[-9.98890769e-01 -4.68193182e-02 -5.01835398e-03 1.22411037e+02] [-4.68209231e-02 9.98903279e-01 2.02737513e-04 9.91661903e+01] [ 5.00335821e-03 4.37476596e-04 -9.99987387e-01 2.75947819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.44, Y:99.20, Z:2.76 [[-9.92336224e-01 -1.23465745e-01 -5.00285920e-03 1.22441848e+02] [-1.23466320e-01 9.92348744e-01 -1.94934821e-04 9.92046148e+01] [ 4.98864881e-03 4.24243728e-04 -9.99987467e-01 2.75796807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29762800000003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.47, Y:99.24, Z:2.76 [[-9.80489667e-01 -1.96508122e-01 -4.95695740e-03 1.22466913e+02] [-1.96507663e-01 9.80502115e-01 -5.84329870e-04 9.92441195e+01] [ 4.97513278e-03 4.01150715e-04 -9.99987544e-01 2.75909851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.49, Y:99.28, Z:2.76 [[-9.62796401e-01 -2.70183759e-01 -4.88114286e-03 1.22485609e+02] [-2.70182307e-01 9.62808696e-01 -9.67015909e-04 9.92845064e+01] [ 4.96087879e-03 3.87759003e-04 -9.99987620e-01 2.75755322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35762800000003 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:122.51, Y:99.33, Z:2.76 [[-9.40930899e-01 -3.38564962e-01 -4.77594536e-03 1.22507632e+02] [-3.38562490e-01 9.40942953e-01 -1.34152853e-03 9.93272620e+01] [ 4.94808669e-03 3.54670315e-04 -9.99987695e-01 2.76017225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.23, Y:100.07, Z:1.78 [[-9.35574865e-01 3.53097892e-01 4.64234655e-03 1.22229577e+02] [-3.53093777e-01 -9.35586381e-01 1.70523926e-03 1.00068685e+02] [ 4.94543260e-03 -4.38046944e-05 9.99987770e-01 1.78480933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.22, Y:100.07, Z:1.79 [[-9.35192563e-01 3.54109181e-01 4.64299370e-03 1.22221956e+02] [-3.54105088e-01 -9.35204087e-01 1.70347538e-03 1.00067158e+02] [ 4.94536296e-03 -5.10301840e-05 9.99987770e-01 1.78610425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.50, Y:99.36, Z:2.75 [[-9.14137775e-01 -4.05377065e-01 -4.64364114e-03 1.22504431e+02] [-4.05373625e-01 9.14149511e-01 -1.70170864e-03 9.93609739e+01] [ 4.93481593e-03 3.26813492e-04 -9.99987770e-01 2.75424928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.17, Y:100.08, Z:1.79 [[-9.04341917e-01 4.26785181e-01 4.48402688e-03 1.22172724e+02] [-4.26780258e-01 -9.04353032e-01 2.05071660e-03 1.00083968e+02] [ 4.93035876e-03 -5.91451654e-05 9.99987844e-01 1.78759537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.17, Y:100.08, Z:1.79 [[-9.04664817e-01 4.26100288e-01 4.48480505e-03 1.22165176e+02] [-4.26095365e-01 -9.04675932e-01 2.04901339e-03 1.00080073e+02] [ 4.93038038e-03 -5.72843207e-05 9.99987844e-01 1.78804606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.53762800000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.17, Y:100.08, Z:1.79 [[-9.05131335e-01 4.25108415e-01 4.48360723e-03 1.22165912e+02] [-4.25103467e-01 -9.05142438e-01 2.05163628e-03 1.00079826e+02] [ 4.93047102e-03 -4.89966929e-05 9.99987844e-01 1.78716165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:100.08, Z:1.79 [[-9.06594675e-01 4.21978641e-01 4.48578318e-03 1.22159025e+02] [-4.21973678e-01 -9.06605772e-01 2.04686760e-03 1.00076810e+02] [ 4.93057133e-03 -3.72031613e-05 9.99987844e-01 1.78780670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:100.08, Z:1.79 [[-9.07393735e-01 4.20257637e-01 4.48656193e-03 1.22156346e+02] [-4.20252661e-01 -9.07404826e-01 2.04515923e-03 1.00076016e+02] [ 4.93062173e-03 -2.97249218e-05 9.99987844e-01 1.78800006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:100.08, Z:1.79 [[-9.07817673e-01 4.19341074e-01 4.48729365e-03 1.22160696e+02] [-4.19336096e-01 -9.07828763e-01 2.04355249e-03 1.00078721e+02] [ 4.93063974e-03 -2.65111357e-05 9.99987844e-01 1.78785556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:100.08, Z:1.79 [[-9.08534344e-01 4.17786075e-01 4.48797286e-03 1.22157707e+02] [-4.17781084e-01 -9.08545428e-01 2.04205973e-03 1.00078579e+02] [ 4.93067135e-03 -1.97087685e-05 9.99987844e-01 1.78695417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:100.08, Z:1.79 [[-9.08693071e-01 4.17440720e-01 4.48874837e-03 1.22155582e+02] [-4.17435734e-01 -9.08704157e-01 2.04035363e-03 1.00077533e+02] [ 4.93067099e-03 -1.97087671e-05 9.99987844e-01 1.78696659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:100.08, Z:1.79 [[-9.08890465e-01 4.17010751e-01 4.48952323e-03 1.22153384e+02] [-4.17005768e-01 -9.08901553e-01 2.03864723e-03 1.00076313e+02] [ 4.93067245e-03 -1.92500584e-05 9.99987844e-01 1.78610124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:100.07, Z:1.79 [[-9.09318236e-01 4.16077137e-01 4.49029770e-03 1.22151049e+02] [-4.16072151e-01 -9.09329322e-01 2.03693997e-03 1.00074363e+02] [ 4.93068351e-03 -1.60611671e-05 9.99987844e-01 1.78508435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.77762800000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.15, Y:100.07, Z:1.78 [[-9.09946231e-01 4.14701925e-01 4.49107152e-03 1.22148939e+02] [-4.14696931e-01 -9.09957314e-01 2.03523241e-03 1.00073105e+02] [ 4.93069817e-03 -1.04815170e-05 9.99987844e-01 1.78478356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:100.07, Z:1.79 [[-9.10390976e-01 4.13724660e-01 4.49184494e-03 1.22144917e+02] [-4.13719662e-01 -9.10402057e-01 2.03352399e-03 1.00071935e+02] [ 4.93070390e-03 -7.06268073e-06 9.99987844e-01 1.78688081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.83762800000005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.14, Y:100.07, Z:1.79 [[-9.10730759e-01 4.12976151e-01 4.49261823e-03 1.22143973e+02] [-4.12971153e-01 -9.10741840e-01 2.03181414e-03 1.00071715e+02] [ 4.93070618e-03 -4.88609398e-06 9.99987844e-01 1.78696375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.45, Y:99.37, Z:2.75 [[-8.77153809e-01 -4.80188509e-01 -4.49339087e-03 1.22452222e+02] [-4.80184365e-01 8.77165238e-01 -2.03010400e-03 9.93743657e+01] [ 4.91627888e-03 3.76942586e-04 -9.99987844e-01 2.75168752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.89762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.07, Y:100.07, Z:1.79 [[-8.77779216e-01 4.79045973e-01 4.31334198e-03 1.22066135e+02] [-4.79040163e-01 -8.77789813e-01 2.35927843e-03 1.00070586e+02] [ 4.91641048e-03 4.66151838e-06 9.99987914e-01 1.79136285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.06, Y:100.07, Z:1.79 [[-8.78074242e-01 4.78504977e-01 4.31424165e-03 1.22061066e+02] [-4.78499169e-01 -8.78084841e-01 2.35763212e-03 1.00067528e+02] [ 4.91640890e-03 5.81499781e-06 9.99987914e-01 1.79057832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.06, Y:100.07, Z:1.79 [[-8.78289202e-01 4.78110298e-01 4.31514099e-03 1.22060871e+02] [-4.78104493e-01 -8.78299802e-01 2.35598493e-03 1.00067017e+02] [ 4.91640813e-03 6.14783033e-06 9.99987914e-01 1.78984249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.06, Y:100.07, Z:1.79 [[-8.78471457e-01 4.77775335e-01 4.31604029e-03 1.22061392e+02] [-4.77769534e-01 -8.78482060e-01 2.35433630e-03 1.00067911e+02] [ 4.91640778e-03 6.14467523e-06 9.99987914e-01 1.78842679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.06, Y:100.07, Z:1.79 [[-8.78560807e-01 4.77611006e-01 4.31682408e-03 1.22058222e+02] [-4.77605210e-01 -8.78571413e-01 2.35289829e-03 1.00067656e+02] [ 4.91640835e-03 5.42655186e-06 9.99987914e-01 1.78763361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.04762800000003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.06, Y:100.07, Z:1.79 [[-8.78633843e-01 4.77476625e-01 4.31760691e-03 1.22056863e+02] [-4.77470835e-01 -8.78644452e-01 2.35146091e-03 1.00069705e+02] [ 4.91640898e-03 4.54175857e-06 9.99987914e-01 1.78607880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.077628 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:122.05, Y:100.07, Z:1.79 [[-8.79026690e-01 4.76753007e-01 4.31838926e-03 1.22052444e+02] [-4.76747215e-01 -8.79037298e-01 2.35002327e-03 1.00067512e+02] [ 4.91640588e-03 6.95312057e-06 9.99987914e-01 1.78619017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.05, Y:100.07, Z:1.79 [[-8.79731730e-01 4.75450761e-01 4.31928510e-03 1.22050955e+02] [-4.75444962e-01 -8.79742334e-01 2.34837559e-03 1.00065977e+02] [ 4.91639491e-03 1.23581830e-05 9.99987914e-01 1.78798593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.05, Y:100.06, Z:1.79 [[-8.81066259e-01 4.72973133e-01 4.32006760e-03 1.22049079e+02] [-4.72967310e-01 -8.81076850e-01 2.34693520e-03 1.00063639e+02] [ 4.91634885e-03 2.45546658e-05 9.99987914e-01 1.78762604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.05, Y:100.06, Z:1.79 [[-8.81918735e-01 4.71381665e-01 4.32096345e-03 1.22047222e+02] [-4.71375832e-01 -8.81929320e-01 2.34528469e-03 1.00061601e+02] [ 4.91630856e-03 3.15527638e-05 9.99987914e-01 1.78823293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:100.06, Z:1.79 [[-8.82941591e-01 4.69462957e-01 4.32185867e-03 1.22043328e+02] [-4.69457109e-01 -8.82952168e-01 2.34363383e-03 1.00058913e+02] [ 4.91624375e-03 4.03645040e-05 9.99987914e-01 1.78846210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.22762800000004 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:122.04, Y:100.06, Z:1.79 [[-8.82799976e-01 4.69729194e-01 4.32275429e-03 1.22042327e+02] [-4.69723357e-01 -8.82810559e-01 2.34198072e-03 1.00059642e+02] [ 4.91626985e-03 3.70018629e-05 9.99987914e-01 1.78723066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:100.06, Z:1.79 [[-8.82429954e-01 4.70423939e-01 4.32376369e-03 1.22039429e+02] [-4.70418119e-01 -8.82440546e-01 2.34011569e-03 1.00059959e+02] [ 4.91631083e-03 3.10113977e-05 9.99987914e-01 1.78997892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.28762800000004 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:122.04, Y:100.06, Z:1.79 [[-8.81508793e-01 4.72147800e-01 4.32465693e-03 1.22035558e+02] [-4.72142009e-01 -8.81519401e-01 2.33846376e-03 1.00059754e+02] [ 4.91636951e-03 1.95241590e-05 9.99987914e-01 1.78886406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:100.06, Z:1.79 [[-8.78928696e-01 4.76933577e-01 4.32554998e-03 1.22037736e+02] [-4.76927853e-01 -8.78939340e-01 2.33681069e-03 1.00061934e+02] [ 4.91639952e-03 -9.08529438e-06 9.99987914e-01 1.79032208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:100.06, Z:1.79 [[-8.77704979e-01 4.79181857e-01 4.32632840e-03 1.22036182e+02] [-4.79176167e-01 -8.77715641e-01 2.33536865e-03 1.00061131e+02] [ 4.91635239e-03 -2.33087681e-05 9.99987914e-01 1.79058708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:100.06, Z:1.79 [[-8.75054388e-01 4.84005261e-01 4.32721761e-03 1.22036795e+02] [-4.83999638e-01 -8.75065086e-01 2.33371985e-03 1.00060151e+02] [ 4.91612974e-03 -5.22399619e-05 9.99987914e-01 1.79125374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:100.06, Z:1.79 [[-8.74258157e-01 4.85442007e-01 4.32810510e-03 1.22037327e+02] [-4.85436410e-01 -8.74268868e-01 2.33207276e-03 1.00058578e+02] [ 4.91601363e-03 -6.21861714e-05 9.99987914e-01 1.79110999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:100.06, Z:1.79 [[-8.73696991e-01 4.86451259e-01 4.32899043e-03 1.22038452e+02] [-4.86445682e-01 -8.73707713e-01 2.33042817e-03 1.00057500e+02] [ 4.91591205e-03 -6.97306205e-05 9.99987914e-01 1.79088947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:100.06, Z:1.79 [[-8.73157484e-01 4.87418978e-01 4.32987354e-03 1.22036672e+02] [-4.87413421e-01 -8.73168216e-01 2.32878623e-03 1.00055350e+02] [ 4.91580256e-03 -7.70413481e-05 9.99987914e-01 1.79080322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:100.05, Z:1.79 [[-8.73326415e-01 4.87116227e-01 4.33075543e-03 1.22036833e+02] [-4.87110674e-01 -8.73337149e-01 2.32714504e-03 1.00054892e+02] [ 4.91579972e-03 -7.71999614e-05 9.99987914e-01 1.79070801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.52762800000005 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:122.03, Y:100.05, Z:1.79 [[-8.73285495e-01 4.87189574e-01 4.33163613e-03 1.22032648e+02] [-4.87184030e-01 -8.73296234e-01 2.32550461e-03 1.00051628e+02] [ 4.91576312e-03 -7.94745051e-05 9.99987914e-01 1.79075214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.03, Y:100.05, Z:1.79 [[-8.74301977e-01 4.85363042e-01 4.33251620e-03 1.22031995e+02] [-4.85357484e-01 -8.74312709e-01 2.32386384e-03 1.00049628e+02] [ 4.91589159e-03 -7.10604154e-05 9.99987914e-01 1.79044304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.03, Y:100.05, Z:1.79 [[-8.74962644e-01 4.84171036e-01 4.33339623e-03 1.22030098e+02] [-4.84165472e-01 -8.74973373e-01 2.32222165e-03 1.00047450e+02] [ 4.91595878e-03 -6.62236365e-05 9.99987914e-01 1.79160132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.03, Y:100.04, Z:1.79 [[-8.76492111e-01 4.81396711e-01 4.33427564e-03 1.22027411e+02] [-4.81391121e-01 -8.76502826e-01 2.32057913e-03 1.00041723e+02] [ 4.91612401e-03 -5.25125105e-05 9.99987914e-01 1.79077871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.64762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.02, Y:100.04, Z:1.79 [[-8.77556451e-01 4.79453733e-01 4.33515544e-03 1.22022226e+02] [-4.79448127e-01 -8.77567158e-01 2.31893438e-03 1.00037286e+02] [ 4.91621178e-03 -4.34863271e-05 9.99987914e-01 1.79017438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.677628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.02, Y:100.04, Z:1.79 [[-8.78470766e-01 4.77776424e-01 4.33603679e-03 1.22023402e+02] [-4.77770806e-01 -8.78481467e-01 2.31728523e-03 1.00037594e+02] [ 4.91627220e-03 -3.59644621e-05 9.99987914e-01 1.78852455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.707628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:122.02, Y:100.03, Z:1.79 [[-8.79496605e-01 4.75885399e-01 4.33691751e-03 1.22015832e+02] [-4.75879766e-01 -8.79507297e-01 2.31563573e-03 1.00034032e+02] [ 4.91632783e-03 -2.72575261e-05 9.99987914e-01 1.78820796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.02, Y:100.03, Z:1.79 [[-8.80374622e-01 4.74259116e-01 4.33779862e-03 1.22016996e+02] [-4.74253471e-01 -8.80385308e-01 2.31398400e-03 1.00034577e+02] [ 4.91636218e-03 -2.00432623e-05 9.99987914e-01 1.79088937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.767628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:122.01, Y:100.03, Z:1.79 [[-8.80749094e-01 4.73563311e-01 4.33867969e-03 1.22014937e+02] [-4.73557666e-01 -8.80759780e-01 2.31233084e-03 1.00032665e+02] [ 4.91636961e-03 -1.80317381e-05 9.99987914e-01 1.78879359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.01, Y:100.03, Z:1.79 [[-8.81837820e-01 4.71532848e-01 4.33955911e-03 1.22011021e+02] [-4.71527186e-01 -8.81848498e-01 2.31067924e-03 1.00030220e+02] [ 4.91639485e-03 -8.57575178e-06 9.99987914e-01 1.79259074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.01, Y:100.03, Z:1.79 [[-8.82458383e-01 4.70370453e-01 4.34032742e-03 1.22008455e+02] [-4.70364785e-01 -8.82469057e-01 2.30923516e-03 1.00029112e+02] [ 4.91640064e-03 -3.73324191e-06 9.99987914e-01 1.79386041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.03, Y:100.04, Z:1.79 [[-8.80804670e-01 4.73459911e-01 4.34120798e-03 1.22026028e+02] [-4.73454289e-01 -8.80815368e-01 2.30757857e-03 1.00035482e+02] [ 4.91634865e-03 -2.28375550e-05 9.99987914e-01 1.79398105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.00, Y:100.03, Z:1.80 [[-8.83730680e-01 4.67975845e-01 4.32364054e-03 1.22001504e+02] [-4.67969993e-01 -8.83741256e-01 2.34062879e-03 1.00026577e+02] [ 4.91633726e-03 4.51514389e-05 9.99987914e-01 1.79644752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.99, Y:100.02, Z:1.80 [[-8.84363265e-01 4.66779133e-01 4.34236384e-03 1.21994185e+02] [-4.66773440e-01 -8.84373926e-01 2.30536171e-03 1.00024544e+02] [ 4.91636810e-03 1.18771000e-05 9.99987915e-01 1.79778844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.99, Y:100.02, Z:1.80 [[-8.84945854e-01 4.65673675e-01 4.34324673e-03 1.21990947e+02] [-4.65667977e-01 -8.84956512e-01 2.30369716e-03 1.00024589e+02] [ 4.91635561e-03 1.61363355e-05 9.99987915e-01 1.79824157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:99.34, Z:2.75 [[-8.45096987e-01 -5.34595369e-01 -4.34452017e-03 1.22313558e+02] [-5.34590549e-01 8.45108070e-01 -2.30129398e-03 9.93361257e+01] [ 4.90185015e-03 3.77722816e-04 -9.99987915e-01 2.74604964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.89, Y:100.00, Z:1.80 [[-8.49766749e-01 5.27142499e-01 4.15435562e-03 1.21885371e+02] [-5.27136065e-01 -8.49776903e-01 2.60460750e-03 1.00004833e+02] [ 4.90327476e-03 2.33981690e-05 9.99987979e-01 1.79673069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.88, Y:100.00, Z:1.79 [[-8.50080659e-01 5.26636149e-01 4.15220217e-03 1.21884518e+02] [-5.26629692e-01 -8.50090799e-01 2.60804371e-03 1.00004403e+02] [ 4.90323895e-03 3.03745652e-05 9.99987979e-01 1.79492929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.89, Y:100.01, Z:1.79 [[-8.49566526e-01 5.27465117e-01 4.15560938e-03 1.21885048e+02] [-5.27458696e-01 -8.49576689e-01 2.60260337e-03 1.00007701e+02] [ 4.90329135e-03 1.91723964e-05 9.99987979e-01 1.79269268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.09762800000004 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:121.88, Y:100.01, Z:1.79 [[-8.48699584e-01 5.28858902e-01 4.15660622e-03 1.21882954e+02] [-5.28852506e-01 -8.48709763e-01 2.60101036e-03 1.00008594e+02] [ 4.90331976e-03 9.24479361e-06 9.99987979e-01 1.78971151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.88, Y:100.01, Z:1.79 [[-8.48390867e-01 5.29353995e-01 4.15760062e-03 1.21878409e+02] [-5.29347613e-01 -8.48401054e-01 2.59941987e-03 1.00008042e+02] [ 4.90332604e-03 4.50811246e-06 9.99987979e-01 1.79148653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.15762800000005 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:121.88, Y:100.01, Z:1.79 [[-8.46827475e-01 5.31851421e-01 4.15859442e-03 1.21880220e+02] [-5.31845076e-01 -8.46837686e-01 2.59782900e-03 1.00010192e+02] [ 4.90331352e-03 -1.18149902e-05 9.99987979e-01 1.78996685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.88, Y:100.01, Z:1.79 [[-8.47197903e-01 5.31261152e-01 4.15958661e-03 1.21879329e+02] [-5.31254808e-01 -8.47208114e-01 2.59623935e-03 1.00008964e+02] [ 4.90331664e-03 -1.02718526e-05 9.99987979e-01 1.79252140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.21762800000005 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:121.88, Y:100.00, Z:1.79 [[-8.47472669e-01 5.30822724e-01 4.16057591e-03 1.21878120e+02] [-5.30816383e-01 -8.47482882e-01 2.59465299e-03 1.00003280e+02] [ 4.90331764e-03 -9.60435710e-06 9.99987979e-01 1.79069684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.247628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:121.88, Y:100.00, Z:1.79 [[-8.48128881e-01 5.29773615e-01 4.16156509e-03 1.21876861e+02] [-5.29767269e-01 -8.48139090e-01 2.59306548e-03 9.99996776e+01] [ 4.90332370e-03 -5.40724631e-06 9.99987979e-01 1.79100042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.27762800000005 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:121.88, Y:100.00, Z:1.79 [[-8.48709582e-01 5.28842810e-01 4.16255432e-03 1.21875223e+02] [-5.28836461e-01 -8.48719790e-01 2.59147654e-03 9.99970099e+01] [ 4.90332596e-03 -1.89952429e-06 9.99987979e-01 1.79139402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.89, Y:100.01, Z:1.80 [[-8.49051612e-01 5.28293503e-01 4.16354675e-03 1.21889166e+02] [-5.28287155e-01 -8.49061820e-01 2.58988108e-03 1.00005025e+02] [ 4.90332593e-03 -6.05557892e-07 9.99987979e-01 1.79584820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.33762800000005 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:121.87, Y:99.99, Z:1.79 [[-8.49753801e-01 5.27163346e-01 4.15751566e-03 1.21868523e+02] [-5.27156936e-01 -8.49763971e-01 2.59957799e-03 9.99921368e+01] [ 4.90330925e-03 1.73380542e-05 9.99987979e-01 1.79340281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.86, Y:99.99, Z:1.80 [[-8.50386126e-01 5.26142653e-01 4.16473529e-03 1.21863391e+02] [-5.26136288e-01 -8.50396325e-01 2.58795963e-03 9.99894962e+01] [ 4.90331153e-03 9.54660187e-06 9.99987979e-01 1.79580390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.39762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.86, Y:99.99, Z:1.80 [[-8.50388785e-01 5.26138345e-01 4.16610999e-03 1.21864083e+02] [-5.26131991e-01 -8.50398990e-01 2.58574474e-03 9.99903116e+01] [ 4.90331518e-03 6.96458575e-06 9.99987979e-01 1.79560475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.86, Y:99.99, Z:1.79 [[-8.49754454e-01 5.27162218e-01 4.16709937e-03 1.21858822e+02] [-5.27155884e-01 -8.49764671e-01 2.58414930e-03 9.99869016e+01] [ 4.90331970e-03 -8.18570462e-07 9.99987979e-01 1.79481506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.86, Y:99.99, Z:1.79 [[-8.49474859e-01 5.27612633e-01 4.16808847e-03 1.21859933e+02] [-5.27606313e-01 -8.49485085e-01 2.58255296e-03 9.99867155e+01] [ 4.90331655e-03 -5.29597515e-06 9.99987979e-01 1.79354032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.86, Y:99.99, Z:1.79 [[-8.49091074e-01 5.28230031e-01 4.16907695e-03 1.21861703e+02] [-5.28223726e-01 -8.49101310e-01 2.58095623e-03 9.99875074e+01] [ 4.90330729e-03 -1.07384616e-05 9.99987979e-01 1.79198114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.86, Y:99.99, Z:1.79 [[-8.48944681e-01 5.28465268e-01 4.17006221e-03 1.21858527e+02] [-5.28458973e-01 -8.48954923e-01 2.57936336e-03 9.99859171e+01] [ 4.90329879e-03 -1.39699925e-05 9.99987979e-01 1.79197655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.86, Y:99.98, Z:1.79 [[-8.48945253e-01 5.28464341e-01 4.17104935e-03 1.21855405e+02] [-5.28458054e-01 -8.48955500e-01 2.57776609e-03 9.99847761e+01] [ 4.90329274e-03 -1.58423292e-05 9.99987979e-01 1.79182968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.85, Y:99.98, Z:1.79 [[-8.49147051e-01 5.28140019e-01 4.17203306e-03 1.21853429e+02] [-5.28133736e-01 -8.49157300e-01 2.57617300e-03 9.99834701e+01] [ 4.90329239e-03 -1.58417033e-05 9.99987979e-01 1.79184203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.85, Y:99.98, Z:1.79 [[-8.48580630e-01 5.29049619e-01 4.17301650e-03 1.21850831e+02] [-5.29043355e-01 -8.48590891e-01 2.57457899e-03 9.99836025e+01] [ 4.90326382e-03 -2.29687824e-05 9.99987979e-01 1.79173229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.85, Y:99.99, Z:1.79 [[-8.48221982e-01 5.29624438e-01 4.17412462e-03 1.21851658e+02] [-5.29618190e-01 -8.48232252e-01 2.57278116e-03 9.99850883e+01] [ 4.90323490e-03 -2.84027892e-05 9.99987979e-01 1.79149852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.85, Y:99.98, Z:1.79 [[-8.47750461e-01 5.30378850e-01 4.17510464e-03 1.21849780e+02] [-5.30372618e-01 -8.47760741e-01 2.57118979e-03 9.99839774e+01] [ 4.90319449e-03 -3.46338493e-05 9.99987979e-01 1.79089798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.85, Y:99.98, Z:1.79 [[-8.46710007e-01 5.32038274e-01 4.17608603e-03 1.21849935e+02] [-5.32032071e-01 -8.46720304e-01 2.56959484e-03 9.99833360e+01] [ 4.90309964e-03 -4.61100374e-05 9.99987979e-01 1.79059341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.85, Y:99.98, Z:1.79 [[-8.46297234e-01 5.32694607e-01 4.17706242e-03 1.21849154e+02] [-5.32688420e-01 -8.46307541e-01 2.56800667e-03 9.99820699e+01] [ 4.90304273e-03 -5.17758351e-05 9.99987979e-01 1.79084240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.85, Y:99.98, Z:1.79 [[-8.46033973e-01 5.33112615e-01 4.17803708e-03 1.21847491e+02] [-5.33106440e-01 -8.46044288e-01 2.56641996e-03 9.99805547e+01] [ 4.90299526e-03 -5.60599967e-05 9.99987979e-01 1.79148691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.87, Y:99.99, Z:1.79 [[-8.41393546e-01 5.40406733e-01 4.17901081e-03 1.21873912e+02] [-5.40400656e-01 -8.41403918e-01 2.56483341e-03 9.99919804e+01] [ 4.90228931e-03 -1.00305907e-04 9.99987979e-01 1.78983365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.85, Y:99.98, Z:1.79 [[-8.44214809e-01 5.35988901e-01 4.15386286e-03 1.21846861e+02] [-5.35982567e-01 -8.44225028e-01 2.60580319e-03 9.99787637e+01] [ 4.90347658e-03 -2.65404343e-05 9.99987978e-01 1.79227167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.85, Y:99.98, Z:1.79 [[-8.43615933e-01 5.36930800e-01 4.18019708e-03 1.21845837e+02] [-5.36924690e-01 -8.43626285e-01 2.56285015e-03 9.99782963e+01] [ 4.90259732e-03 -8.23897998e-05 9.99987979e-01 1.79260550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.877628 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:121.84, Y:99.98, Z:1.79 [[-8.43049422e-01 5.37819849e-01 4.18116738e-03 1.21844803e+02] [-5.37813757e-01 -8.43059786e-01 2.56126618e-03 9.99775504e+01] [ 4.90247386e-03 -8.94153674e-05 9.99987979e-01 1.79052563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.84, Y:99.98, Z:1.79 [[-8.43573223e-01 5.36997884e-01 4.18213629e-03 1.21842926e+02] [-5.36991791e-01 -8.43583585e-01 2.55968312e-03 9.99757528e+01] [ 4.90252594e-03 -8.64927119e-05 9.99987979e-01 1.79206227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.84, Y:99.97, Z:1.79 [[-8.44192046e-01 5.36024525e-01 4.18310428e-03 1.21838586e+02] [-5.36018428e-01 -8.44202406e-01 2.55810023e-03 9.99719599e+01] [ 4.90259116e-03 -8.26931100e-05 9.99987979e-01 1.79165507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.84, Y:99.97, Z:1.79 [[-8.45975837e-01 5.33204817e-01 4.18419615e-03 1.21837184e+02] [-5.33198693e-01 -8.45986181e-01 2.55631305e-03 9.99691475e+01] [ 4.90281055e-03 -6.84288483e-05 9.99987979e-01 1.79104621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.83, Y:99.97, Z:1.79 [[-8.47174604e-01 5.31298103e-01 4.18516461e-03 1.21834610e+02] [-5.31291964e-01 -8.47184940e-01 2.55472651e-03 9.99660557e+01] [ 4.90292978e-03 -5.92449091e-05 9.99987979e-01 1.79076796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.02762800000005 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:121.83, Y:99.96, Z:1.79 [[-8.48229111e-01 5.29612926e-01 4.18613326e-03 1.21833296e+02] [-5.29606774e-01 -8.48239439e-01 2.55313830e-03 9.99636161e+01] [ 4.90301838e-03 -5.13582999e-05 9.99987979e-01 1.78760765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.83, Y:99.96, Z:1.79 [[-8.51073101e-01 5.25030519e-01 4.18710163e-03 1.21827420e+02] [-5.25024319e-01 -8.51083400e-01 2.55154921e-03 9.99605820e+01] [ 4.90321390e-03 -2.67752911e-05 9.99987979e-01 1.79086569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.82, Y:99.96, Z:1.79 [[-8.52308439e-01 5.23022739e-01 4.18807115e-03 1.21824117e+02] [-5.23016523e-01 -8.52318728e-01 2.54995685e-03 9.99583999e+01] [ 4.90325690e-03 -1.70806668e-05 9.99987979e-01 1.79101233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.82, Y:99.96, Z:1.79 [[-8.53481334e-01 5.21106576e-01 4.18904183e-03 1.21821410e+02] [-5.21100345e-01 -8.53491615e-01 2.54836124e-03 9.99560282e+01] [ 4.90327988e-03 -7.93239663e-06 9.99987979e-01 1.79058656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.14762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.82, Y:99.95, Z:1.79 [[-8.55383144e-01 5.17978881e-01 4.19001287e-03 1.21818072e+02] [-5.17972620e-01 -8.55393406e-01 2.54676365e-03 9.99533835e+01] [ 4.90327917e-03 8.14675426e-06 9.99987979e-01 1.79081215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.177628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:121.81, Y:99.95, Z:1.79 [[-8.55983842e-01 5.16985587e-01 4.19098442e-03 1.21812953e+02] [-5.16979322e-01 -8.55994102e-01 2.54516385e-03 9.99509882e+01] [ 4.90327098e-03 1.19668503e-05 9.99987979e-01 1.78901136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.81, Y:99.95, Z:1.79 [[-8.56827279e-01 5.15586503e-01 4.19195713e-03 1.21811819e+02] [-5.15580229e-01 -8.56837533e-01 2.54356076e-03 9.99516571e+01] [ 4.90325180e-03 1.81020247e-05 9.99987979e-01 1.79292870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.81, Y:99.95, Z:1.79 [[-8.57222438e-01 5.14929229e-01 4.19292988e-03 1.21806569e+02] [-5.14922955e-01 -8.57232693e-01 2.54195622e-03 9.99486818e+01] [ 4.90324413e-03 1.99860697e-05 9.99987979e-01 1.79319763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.80, Y:99.95, Z:1.79 [[-8.57512257e-01 5.14446440e-01 4.19390282e-03 1.21803374e+02] [-5.14440168e-01 -8.57522513e-01 2.54034999e-03 9.99471436e+01] [ 4.90324009e-03 2.08691858e-05 9.99987979e-01 1.79333618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.80, Y:99.95, Z:1.79 [[-8.57715619e-01 5.14107304e-01 4.19487692e-03 1.21802253e+02] [-5.14101037e-01 -8.57725876e-01 2.53874044e-03 9.99494541e+01] [ 4.90323948e-03 2.09267575e-05 9.99987979e-01 1.79340222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.80, Y:99.95, Z:1.79 [[-8.57778639e-01 5.14002140e-01 4.19597360e-03 1.21799382e+02] [-5.13995880e-01 -8.57788902e-01 2.53692657e-03 9.99492977e+01] [ 4.90324527e-03 1.94082752e-05 9.99987979e-01 1.79297014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.79, Y:99.95, Z:1.79 [[-8.57905610e-01 5.13790182e-01 4.19694429e-03 1.21794512e+02] [-5.13783926e-01 -8.57915875e-01 2.53531970e-03 9.99477027e+01] [ 4.90324750e-03 1.87424825e-05 9.99987979e-01 1.79213142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.387628 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:121.79, Y:99.95, Z:1.79 [[-8.58041130e-01 5.13563820e-01 4.19791533e-03 1.21794509e+02] [-5.13557570e-01 -8.58051399e-01 2.53371086e-03 9.99487440e+01] [ 4.90324934e-03 1.81569333e-05 9.99987979e-01 1.78723022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.79, Y:99.95, Z:1.79 [[-8.59042355e-01 5.11887294e-01 4.19888575e-03 1.21791656e+02] [-5.11881032e-01 -8.59052617e-01 2.53210164e-03 9.99463300e+01] [ 4.90321445e-03 2.58525850e-05 9.99987979e-01 1.78699886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.79, Y:99.94, Z:1.78 [[-8.59903545e-01 5.10439277e-01 4.19973236e-03 1.21786906e+02] [-5.10433004e-01 -8.59913800e-01 2.53069669e-03 9.99410108e+01] [ 4.90317480e-03 3.24730488e-05 9.99987979e-01 1.78497931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.79, Y:99.94, Z:1.78 [[-8.60726770e-01 5.09049961e-01 4.19113536e-03 1.21787035e+02] [-5.09043602e-01 -8.60736972e-01 2.54496978e-03 9.99376505e+01] [ 4.90298192e-03 5.70529808e-05 9.99987979e-01 1.78385118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.79, Y:99.94, Z:1.78 [[-8.61279316e-01 5.08114446e-01 4.20110097e-03 1.21791359e+02] [-5.08108157e-01 -8.61289561e-01 2.52841135e-03 9.99359387e+01] [ 4.90308674e-03 4.30547244e-05 9.99987979e-01 1.78276890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.79, Y:99.93, Z:1.78 [[-8.61204346e-01 5.08241495e-01 4.20207049e-03 1.21787722e+02] [-5.08235215e-01 -8.61214597e-01 2.52679904e-03 9.99331067e+01] [ 4.90310856e-03 4.04501152e-05 9.99987979e-01 1.78351283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.79, Y:99.93, Z:1.78 [[-8.60807592e-01 5.08913180e-01 4.20303826e-03 1.21788053e+02] [-5.08906916e-01 -8.60817852e-01 2.52518823e-03 9.99328803e+01] [ 4.90315194e-03 3.47459560e-05 9.99987979e-01 1.78475557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.79, Y:99.93, Z:1.79 [[-8.59200548e-01 5.11621682e-01 4.20400542e-03 1.21786375e+02] [-5.11615458e-01 -8.59210832e-01 2.52357705e-03 9.99315957e+01] [ 4.90324373e-03 1.74246191e-05 9.99987979e-01 1.78631089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.627628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:121.79, Y:99.93, Z:1.78 [[-8.58005980e-01 5.13622484e-01 4.20497099e-03 1.21788308e+02] [-5.13616293e-01 -8.58016284e-01 2.52196711e-03 9.99330453e+01] [ 4.90327260e-03 4.12125151e-06 9.99987979e-01 1.78454249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.78, Y:99.93, Z:1.79 [[-8.55467268e-01 5.17839805e-01 4.20593419e-03 1.21784840e+02] [-5.17833672e-01 -8.55477607e-01 2.52035975e-03 9.99318031e+01] [ 4.90322511e-03 -2.18890777e-05 9.99987979e-01 1.78704549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.687628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:121.79, Y:99.93, Z:1.78 [[-8.53847413e-01 5.20506385e-01 4.20689534e-03 1.21787515e+02] [-5.20500292e-01 -8.53857776e-01 2.51875441e-03 9.99339989e+01] [ 4.90311805e-03 -3.90583136e-05 9.99987979e-01 1.78324936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.78, Y:99.93, Z:1.79 [[-8.52486966e-01 5.22731544e-01 4.20785781e-03 1.21784321e+02] [-5.22725487e-01 -8.52497349e-01 2.51714546e-03 9.99328424e+01] [ 4.90297896e-03 -5.37208299e-05 9.99987979e-01 1.78594225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.78, Y:99.93, Z:1.79 [[-8.51148908e-01 5.24907442e-01 4.20881457e-03 1.21783307e+02] [-5.24901419e-01 -8.51159311e-01 2.51554469e-03 9.99334860e+01] [ 4.90279984e-03 -6.81096257e-05 9.99987979e-01 1.78663908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.77762800000005 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:121.78, Y:99.94, Z:1.78 [[-8.48830909e-01 5.28647676e-01 4.20977040e-03 1.21783601e+02] [-5.28641707e-01 -8.48841343e-01 2.51394408e-03 9.99351855e+01] [ 4.90241786e-03 -9.15467662e-05 9.99987979e-01 1.78459348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.807628 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:121.78, Y:99.94, Z:1.78 [[-8.48454455e-01 5.29251649e-01 4.21072389e-03 1.21784314e+02] [-5.29245695e-01 -8.48464898e-01 2.51234602e-03 9.99358357e+01] [ 4.90231469e-03 -9.68963172e-05 9.99987979e-01 1.78470626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.78, Y:99.93, Z:1.79 [[-8.48945015e-01 5.28464402e-01 4.21167428e-03 1.21780026e+02] [-5.28458446e-01 -8.48955457e-01 2.51075179e-03 9.99336476e+01] [ 4.90236680e-03 -9.42046285e-05 9.99987979e-01 1.78866189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.79, Y:99.93, Z:1.79 [[-8.47500206e-01 5.30778347e-01 4.21262375e-03 1.21785508e+02] [-5.30772428e-01 -8.47510669e-01 2.50915772e-03 9.99341192e+01] [ 4.90205016e-03 -1.09432843e-04 9.99987979e-01 1.78714541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.89762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.77, Y:99.93, Z:1.79 [[-8.52793039e-01 5.22232143e-01 4.19783338e-03 1.21774952e+02] [-5.22225996e-01 -8.52803370e-01 2.53399739e-03 9.99280150e+01] [ 4.90326134e-03 -3.12423838e-05 9.99987978e-01 1.79011580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.77, Y:99.92, Z:1.79 [[-8.54897737e-01 5.18779435e-01 4.21386292e-03 1.21769791e+02] [-5.18773379e-01 -8.54908122e-01 2.50705490e-03 9.99237120e+01] [ 4.90307416e-03 -4.27643437e-05 9.99987979e-01 1.78979880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.76, Y:99.92, Z:1.79 [[-8.58875773e-01 5.12166615e-01 4.21481552e-03 1.21764625e+02] [-5.12160487e-01 -8.58886115e-01 2.50545238e-03 9.99210760e+01] [ 4.90325559e-03 -6.78962132e-06 9.99987979e-01 1.78977959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.76, Y:99.92, Z:1.79 [[-8.60591930e-01 5.09277682e-01 4.21577020e-03 1.21760985e+02] [-5.09271527e-01 -8.60602256e-01 2.50384498e-03 9.99185042e+01] [ 4.90325371e-03 7.81705703e-06 9.99987979e-01 1.78948402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.76, Y:99.92, Z:1.79 [[-8.61977165e-01 5.06929568e-01 4.21672600e-03 1.21758158e+02] [-5.06923393e-01 -8.61987478e-01 2.50223428e-03 9.99151033e+01] [ 4.90322155e-03 1.93117571e-05 9.99987979e-01 1.78832163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.76, Y:99.91, Z:1.79 [[-8.63433887e-01 5.04444382e-01 4.21768261e-03 1.21757273e+02] [-5.04438185e-01 -8.63444187e-01 2.50062081e-03 9.99121384e+01] [ 4.90315765e-03 3.15605822e-05 9.99987979e-01 1.78702423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.76, Y:99.91, Z:1.79 [[-8.63756816e-01 5.03891224e-01 4.21863939e-03 1.21756314e+02] [-5.03885028e-01 -8.63767118e-01 2.49900564e-03 9.99110250e+01] [ 4.90314899e-03 3.28239276e-05 9.99987979e-01 1.78760235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.75, Y:99.91, Z:1.79 [[-8.63783002e-01 5.03846326e-01 4.21959508e-03 1.21750277e+02] [-5.03840137e-01 -8.63793308e-01 2.49739090e-03 9.99074915e+01] [ 4.90315922e-03 3.12024435e-05 9.99987979e-01 1.78846324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.75, Y:99.91, Z:1.79 [[-8.62682372e-01 5.05728497e-01 4.22055158e-03 1.21748824e+02] [-5.05722339e-01 -8.62692696e-01 2.49577338e-03 9.99087701e+01] [ 4.90322274e-03 1.86324788e-05 9.99987979e-01 1.79076564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.75, Y:99.91, Z:1.79 [[-8.61829010e-01 5.07181365e-01 4.22150826e-03 1.21746545e+02] [-5.07175232e-01 -8.61839349e-01 2.49415415e-03 9.99087629e+01] [ 4.90325043e-03 8.48997115e-06 9.99987979e-01 1.79181729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.74, Y:99.91, Z:1.79 [[-8.60802404e-01 5.08921794e-01 4.22246352e-03 1.21743608e+02] [-5.08915690e-01 -8.60812760e-01 2.49253590e-03 9.99081358e+01] [ 4.90325631e-03 -3.29704297e-06 9.99987979e-01 1.79278947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.74, Y:99.91, Z:1.79 [[-8.59951763e-01 5.10357844e-01 4.22341816e-03 1.21743664e+02] [-5.10351765e-01 -8.59962134e-01 2.49091728e-03 9.99088629e+01] [ 4.90323886e-03 -1.33602102e-05 9.99987979e-01 1.79295289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.74, Y:99.91, Z:1.79 [[-8.58019131e-01 5.13600356e-01 4.22437154e-03 1.21744363e+02] [-5.13594325e-01 -8.58029529e-01 2.48929937e-03 9.99103864e+01] [ 4.90314057e-03 -3.37467648e-05 9.99987979e-01 1.79259117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.74, Y:99.91, Z:1.79 [[-8.57369358e-01 5.14684302e-01 4.22532225e-03 1.21743798e+02] [-5.14678292e-01 -8.57379769e-01 2.48768460e-03 9.99116554e+01] [ 4.90307802e-03 -4.18170891e-05 9.99987979e-01 1.79350211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.74, Y:99.91, Z:1.79 [[-8.56843309e-01 5.15559582e-01 4.22626983e-03 1.21739773e+02] [-5.15553590e-01 -8.56853730e-01 2.48607373e-03 9.99112217e+01] [ 4.90301420e-03 -4.86929455e-05 9.99987979e-01 1.79499919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.68, Y:99.88, Z:1.80 [[-8.54823390e-01 5.18901824e-01 4.22721649e-03 1.21677140e+02] [-5.18895881e-01 -8.54833839e-01 2.48446303e-03 9.98753283e+01] [ 4.90276010e-03 -6.97081112e-05 9.99987979e-01 1.79537921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.73, Y:99.91, Z:1.80 [[-8.57464664e-01 5.14525591e-01 4.21492563e-03 1.21731773e+02] [-5.14519492e-01 -8.57475023e-01 2.50537688e-03 9.99101639e+01] [ 4.90327397e-03 -2.03892514e-05 9.99987979e-01 1.79792929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.73, Y:99.91, Z:1.80 [[-8.58566713e-01 5.12684424e-01 4.22847469e-03 1.21731001e+02] [-5.12678416e-01 -8.58577125e-01 2.48229669e-03 9.99099156e+01] [ 4.90310650e-03 -3.66303950e-05 9.99987979e-01 1.79789366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.73, Y:99.91, Z:1.80 [[-8.59996232e-01 5.10282856e-01 4.22942226e-03 1.21728194e+02] [-5.10276826e-01 -8.60006632e-01 2.48068114e-03 9.99083657e+01] [ 4.90318025e-03 -2.47997315e-05 9.99987979e-01 1.79755067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.72, Y:99.90, Z:1.79 [[-8.61772753e-01 5.07276873e-01 4.23036890e-03 1.21720852e+02] [-5.07270815e-01 -8.61783136e-01 2.47906577e-03 9.99010872e+01] [ 4.90323331e-03 -9.55134245e-06 9.99987979e-01 1.79416203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.72, Y:99.90, Z:1.79 [[-8.61992442e-01 5.06903467e-01 4.23131806e-03 1.21718137e+02] [-5.06897413e-01 -8.62002828e-01 2.47744467e-03 9.98994255e+01] [ 4.90323342e-03 -9.30559737e-06 9.99987979e-01 1.79417838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.72, Y:99.90, Z:1.79 [[-8.64436727e-01 5.02723812e-01 4.23239059e-03 1.21719021e+02] [-5.02717717e-01 -8.64447088e-01 2.47561103e-03 9.99013471e+01] [ 4.90322633e-03 1.23113590e-05 9.99987979e-01 1.79387433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.72, Y:99.90, Z:1.79 [[-8.65672954e-01 5.00592065e-01 4.23333953e-03 1.21716001e+02] [-5.00585952e-01 -8.65683305e-01 2.47398726e-03 9.98983871e+01] [ 4.90318974e-03 2.25135642e-05 9.99987979e-01 1.79201928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.73, Y:99.90, Z:1.79 [[-8.64890133e-01 5.01943352e-01 4.23428706e-03 1.21734211e+02] [-5.01937263e-01 -8.64900498e-01 2.47236448e-03 9.99027181e+01] [ 4.90322390e-03 1.29771827e-05 9.99987979e-01 1.78649586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.71, Y:99.89, Z:1.79 [[-8.67739742e-01 4.97000952e-01 4.21836600e-03 1.21706857e+02] [-4.96994671e-01 -8.67749992e-01 2.49964826e-03 9.98868244e+01] [ 4.90281462e-03 7.25387129e-05 9.99987979e-01 1.78879732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.64762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.05, Y:99.21, Z:2.76 [[-8.21575490e-01 -5.70083990e-01 -4.23777460e-03 1.22046817e+02] [-5.70078788e-01 8.21586327e-01 -2.46633712e-03 9.92132392e+01] [ 4.88771697e-03 3.89583286e-04 -9.99987979e-01 2.75783466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.60, Y:99.85, Z:1.79 [[-8.29381493e-01 5.58668083e-01 4.03871704e-03 1.21602420e+02] [-5.58661277e-01 -8.29391326e-01 2.75791973e-03 9.98538815e+01] [ 4.89043861e-03 3.10927708e-05 9.99988041e-01 1.78817675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.60, Y:99.85, Z:1.79 [[-8.28461631e-01 5.60031252e-01 4.04009376e-03 1.21602324e+02] [-5.60024471e-01 -8.28471482e-01 2.75590148e-03 9.98529992e+01] [ 4.89049343e-03 2.06072652e-05 9.99988041e-01 1.78929414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.60, Y:99.85, Z:1.79 [[-8.27450997e-01 5.61523390e-01 4.04114972e-03 1.21598647e+02] [-5.61516635e-01 -8.27460865e-01 2.75435220e-03 9.98506969e+01] [ 4.89052642e-03 9.91868120e-06 9.99988041e-01 1.79073616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.62, Y:99.86, Z:1.79 [[-8.21497278e-01 5.70198108e-01 4.04220508e-03 1.21624051e+02] [-5.70191465e-01 -8.21507222e-01 2.75280251e-03 9.98633770e+01] [ 4.89034345e-03 -4.34110675e-05 9.99988041e-01 1.78890225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.60, Y:99.85, Z:1.79 [[-8.24481756e-01 5.65874341e-01 4.00812727e-03 1.21598616e+02] [-5.65867401e-01 -8.24491497e-01 2.80282929e-03 9.98546046e+01] [ 4.89071603e-03 4.28130536e-05 9.99988039e-01 1.79309989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.60, Y:99.85, Z:1.79 [[-8.23666536e-01 5.67060038e-01 4.04347737e-03 1.21596628e+02] [-5.67053367e-01 -8.23676461e-01 2.75086850e-03 9.98536961e+01] [ 4.89042473e-03 -2.70691246e-05 9.99988041e-01 1.79281849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.60, Y:99.85, Z:1.79 [[-8.22645878e-01 5.68539710e-01 4.04452721e-03 1.21596078e+02] [-5.68533064e-01 -8.22655819e-01 2.74932410e-03 9.98534159e+01] [ 4.89035377e-03 -3.77273113e-05 9.99988041e-01 1.79177162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.59, Y:99.85, Z:1.79 [[-8.20518608e-01 5.71605500e-01 4.04557575e-03 1.21594153e+02] [-5.71598899e-01 -8.20528579e-01 2.74778032e-03 9.98517540e+01] [ 4.89015687e-03 -5.78417637e-05 9.99988041e-01 1.78885222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91762800000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.60, Y:99.85, Z:1.79 [[-8.19949704e-01 5.72421268e-01 4.04662336e-03 1.21597505e+02] [-5.72414684e-01 -8.19959686e-01 2.74623665e-03 9.98536812e+01] [ 4.89007229e-03 -6.45707027e-05 9.99988041e-01 1.78587628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.60, Y:99.85, Z:1.78 [[-8.19821021e-01 5.72605544e-01 4.04766762e-03 1.21595346e+02] [-5.72598970e-01 -8.19831011e-01 2.74469666e-03 9.98521885e+01] [ 4.89003196e-03 -6.75302877e-05 9.99988041e-01 1.78468394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97762800000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:121.59, Y:99.85, Z:1.78 [[-8.21367452e-01 5.70385060e-01 4.04870905e-03 1.21588635e+02] [-5.70378467e-01 -8.21377428e-01 2.74315958e-03 9.98475074e+01] [ 4.89017547e-03 -5.61544694e-05 9.99988041e-01 1.78370320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.95, Y:99.19, Z:2.76 [[-7.93098145e-01 -6.09080367e-01 -4.05439315e-03 1.21953948e+02] [-6.09074302e-01 7.93108451e-01 -2.73475094e-03 9.91892036e+01] [ 4.88125657e-03 3.00500781e-04 -9.99988041e-01 2.76302896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:99.80, Z:1.78 [[-7.78533637e-01 6.27591136e-01 3.83948140e-03 1.21476666e+02] [-6.27583926e-01 -7.78543102e-01 3.00898040e-03 9.97995830e+01] [ 4.87761119e-03 -6.70043614e-05 9.99988102e-01 1.78399678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.067628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:121.46, Y:99.79, Z:1.78 [[-7.87103010e-01 6.16809798e-01 3.81114181e-03 1.21462894e+02] [-6.16802283e-01 -7.87112235e-01 3.04513873e-03 9.97886380e+01] [ 4.87806775e-03 4.61168969e-05 9.99988101e-01 1.78093514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.47, Y:99.79, Z:1.78 [[-7.83877429e-01 6.20903714e-01 3.84106435e-03 1.21471643e+02] [-6.20896434e-01 -7.83886839e-01 3.00691538e-03 9.97887545e+01] [ 4.87796472e-03 -2.78500643e-05 9.99988102e-01 1.78214350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:99.79, Z:1.78 [[-7.85368653e-01 6.19016602e-01 3.81118011e-03 1.21476183e+02] [-6.19009113e-01 -7.85377900e-01 3.04508285e-03 9.97930926e+01] [ 4.87817347e-03 3.23573974e-05 9.99988101e-01 1.78253055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.15762800000005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.46, Y:99.79, Z:1.78 [[-7.89662131e-01 6.13530106e-01 3.81164604e-03 1.21458385e+02] [-6.13522556e-01 -7.89671327e-01 3.04448731e-03 9.97857860e+01] [ 4.87783221e-03 6.55855199e-05 9.99988101e-01 1.78378857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.46, Y:99.79, Z:1.79 [[-7.89110220e-01 6.14239602e-01 3.84345488e-03 1.21456813e+02] [-6.14232257e-01 -7.89119580e-01 3.00378676e-03 9.97855386e+01] [ 4.87799028e-03 9.54486614e-06 9.99988103e-01 1.78521346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.21762800000005 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:121.45, Y:99.78, Z:1.78 [[-7.88258545e-01 6.15332175e-01 3.84460170e-03 1.21454085e+02] [-6.15324851e-01 -7.88267921e-01 3.00231820e-03 9.97848199e+01] [ 4.87799917e-03 9.24011680e-07 9.99988103e-01 1.78240879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.247628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:121.45, Y:99.78, Z:1.78 [[-7.87578354e-01 6.16202521e-01 3.84565228e-03 1.21450798e+02] [-6.16195214e-01 -7.87587743e-01 3.00097191e-03 9.97830598e+01] [ 4.87799506e-03 -6.17200964e-06 9.99988103e-01 1.78173061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.27762800000005 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:121.45, Y:99.78, Z:1.78 [[-7.86497728e-01 6.17581190e-01 3.84679764e-03 1.21445345e+02] [-6.17573906e-01 -7.86507135e-01 2.99950301e-03 9.97814295e+01] [ 4.87797043e-03 -1.65795492e-05 9.99988103e-01 1.78304766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:99.78, Z:1.79 [[-7.86363034e-01 6.17752678e-01 3.84794416e-03 1.21448034e+02] [-6.17745404e-01 -7.86372449e-01 2.99803147e-03 9.97849227e+01] [ 4.87795924e-03 -1.95086914e-05 9.99988103e-01 1.78726300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:99.78, Z:1.79 [[-7.86369921e-01 6.17743908e-01 3.84866576e-03 1.21445300e+02] [-6.17736638e-01 -7.86379338e-01 2.99710484e-03 9.97843236e+01] [ 4.87795449e-03 -2.06287465e-05 9.99988103e-01 1.78852859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.367628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:121.44, Y:99.78, Z:1.79 [[-7.86340989e-01 6.17780728e-01 3.84980794e-03 1.21439244e+02] [-6.17773466e-01 -7.86350412e-01 2.99563698e-03 9.97820102e+01] [ 4.87794486e-03 -2.27170541e-05 9.99988103e-01 1.78762232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.39762800000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.46, Y:99.79, Z:1.79 [[-7.81988777e-01 6.23280613e-01 3.85095127e-03 1.21461362e+02] [-6.23273424e-01 -7.81998257e-01 2.99416648e-03 9.97947216e+01] [ 4.87764310e-03 -5.87909933e-05 9.99988103e-01 1.78927654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.44, Y:99.78, Z:1.79 [[-7.86408902e-01 6.17694436e-01 3.82405093e-03 1.21437913e+02] [-6.17687010e-01 -7.86418199e-01 3.02878089e-03 9.97813841e+01] [ 4.87816435e-03 1.97936696e-05 9.99988102e-01 1.79051120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.44, Y:99.78, Z:1.79 [[-7.86245871e-01 6.17901758e-01 3.85336620e-03 1.21435774e+02] [-6.17894519e-01 -7.86255313e-01 2.99101361e-03 9.97800482e+01] [ 4.87788222e-03 -2.93017512e-05 9.99988103e-01 1.79043650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:99.78, Z:1.79 [[-7.85171958e-01 6.19265807e-01 3.85450606e-03 1.21428637e+02] [-6.19258592e-01 -7.85181418e-01 2.98954395e-03 9.97754143e+01] [ 4.87780888e-03 -3.96299158e-05 9.99988103e-01 1.79028417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:99.79, Z:1.79 [[-7.81584389e-01 6.23787606e-01 3.85564800e-03 1.21449101e+02] [-6.23780453e-01 -7.81593896e-01 2.98807046e-03 9.97889674e+01] [ 4.87747226e-03 -6.96486353e-05 9.99988103e-01 1.79028253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:99.78, Z:1.79 [[-7.83264854e-01 6.21676328e-01 3.83562084e-03 1.21432456e+02] [-6.21669022e-01 -7.83274245e-01 3.01391233e-03 9.97784597e+01] [ 4.87802097e-03 -2.37950608e-05 9.99988102e-01 1.78939703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.577628 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:121.43, Y:99.78, Z:1.79 [[-7.82028751e-01 6.23230418e-01 3.85721349e-03 1.21430178e+02] [-6.23223269e-01 -7.82038261e-01 2.98601987e-03 9.97762503e+01] [ 4.87746694e-03 -6.87518138e-05 9.99988103e-01 1.78638142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:99.78, Z:1.79 [[-7.79287476e-01 6.26654720e-01 3.85893470e-03 1.21431415e+02] [-6.26647623e-01 -7.79297025e-01 2.98379383e-03 9.97759001e+01] [ 4.87706482e-03 -9.29590927e-05 9.99988103e-01 1.78954758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:99.77, Z:1.79 [[-7.78090043e-01 6.28140896e-01 3.86006526e-03 1.21431354e+02] [-6.28133825e-01 -7.78099610e-01 2.98233053e-03 9.97745199e+01] [ 4.87683905e-03 -1.04115867e-04 9.99988103e-01 1.78924636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:99.77, Z:1.79 [[-7.77222144e-01 6.29214455e-01 3.86119754e-03 1.21428905e+02] [-6.29207404e-01 -7.77231727e-01 2.98086387e-03 9.97708907e+01] [ 4.87664786e-03 -1.12700673e-04 9.99988103e-01 1.78876334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:99.77, Z:1.79 [[-7.76360075e-01 6.30277809e-01 3.86232532e-03 1.21432998e+02] [-6.30270778e-01 -7.76369673e-01 2.97940187e-03 9.97701113e+01] [ 4.87644313e-03 -1.21222124e-04 9.99988103e-01 1.78786944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:99.77, Z:1.79 [[-7.76515254e-01 6.30086609e-01 3.86345143e-03 1.21431460e+02] [-6.30079583e-01 -7.76524855e-01 2.97794090e-03 9.97669832e+01] [ 4.87642675e-03 -1.21865333e-04 9.99988103e-01 1.78786103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.757628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:121.43, Y:99.76, Z:1.79 [[-7.76615247e-01 6.29963351e-01 3.86457497e-03 1.21430245e+02] [-6.29956331e-01 -7.76624852e-01 2.97648214e-03 9.97638064e+01] [ 4.87639963e-03 -1.22932057e-04 9.99988103e-01 1.78547525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:99.76, Z:1.79 [[-7.77271396e-01 6.29153585e-01 3.86569869e-03 1.21429693e+02] [-6.29146563e-01 -7.77280999e-01 2.97502199e-03 9.97602559e+01] [ 4.87647989e-03 -1.19691547e-04 9.99988103e-01 1.78775550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:99.76, Z:1.79 [[-7.78441857e-01 6.27704805e-01 3.86682186e-03 1.21430734e+02] [-6.27697772e-01 -7.78451453e-01 2.97356142e-03 9.97550675e+01] [ 4.87665189e-03 -1.12450794e-04 9.99988103e-01 1.78596160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:99.75, Z:1.79 [[-7.79200474e-01 6.26762842e-01 3.86794485e-03 1.21427357e+02] [-6.26755805e-01 -7.79210067e-01 2.97209994e-03 9.97501083e+01] [ 4.87674337e-03 -1.08395206e-04 9.99988103e-01 1.78538841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.877628 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:121.43, Y:99.75, Z:1.78 [[-7.79826895e-01 6.25983262e-01 3.86906857e-03 1.21429686e+02] [-6.25976222e-01 -7.79836486e-01 2.97063636e-03 9.97497342e+01] [ 4.87680948e-03 -1.05362800e-04 9.99988103e-01 1.78373484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.90762800000005 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:121.43, Y:99.74, Z:1.78 [[-7.81511084e-01 6.23879353e-01 3.87019137e-03 1.21428954e+02] [-6.23872295e-01 -7.81520661e-01 2.96917284e-03 9.97440263e+01] [ 4.87704015e-03 -9.40636869e-05 9.99988103e-01 1.78431520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.937628 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:121.43, Y:99.74, Z:1.79 [[-7.82243322e-01 6.22960992e-01 3.87131270e-03 1.21426689e+02] [-6.22953930e-01 -7.82252897e-01 2.96771009e-03 9.97392183e+01] [ 4.87711320e-03 -9.01780599e-05 9.99988103e-01 1.78529948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:99.74, Z:1.79 [[-7.82987400e-01 6.22025511e-01 3.87243513e-03 1.21425546e+02] [-6.22018444e-01 -7.82996971e-01 2.96624475e-03 9.97360873e+01] [ 4.87718489e-03 -8.61938108e-05 9.99988103e-01 1.78743835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:99.73, Z:1.79 [[-7.83413270e-01 6.21489054e-01 3.87355830e-03 1.21423607e+02] [-6.21481988e-01 -7.83422841e-01 2.96477731e-03 9.97326154e+01] [ 4.87721069e-03 -8.47008250e-05 9.99988103e-01 1.78794558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:99.73, Z:1.79 [[-7.83367078e-01 6.21547269e-01 3.87468128e-03 1.21422578e+02] [-6.21540211e-01 -7.83376656e-01 2.96330896e-03 9.97281784e+01] [ 4.87717145e-03 -8.69115396e-05 9.99988103e-01 1.78934436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:99.73, Z:1.79 [[-7.83379548e-01 6.21531545e-01 3.87580499e-03 1.21421123e+02] [-6.21524494e-01 -7.83389131e-01 2.96183849e-03 9.97256453e+01] [ 4.87713956e-03 -8.86640347e-05 9.99988103e-01 1.79020332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:99.72, Z:1.79 [[-7.83099315e-01 6.21884581e-01 3.87692851e-03 1.21421353e+02] [-6.21877542e-01 -7.83108906e-01 2.96036711e-03 9.97242052e+01] [ 4.87706391e-03 -9.27133176e-05 9.99988103e-01 1.79037365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:99.72, Z:1.79 [[-7.82674131e-01 6.22419605e-01 3.87805111e-03 1.21419547e+02] [-6.22412580e-01 -7.82683733e-01 2.95889579e-03 9.97209469e+01] [ 4.87696227e-03 -9.78966020e-05 9.99988103e-01 1.79023637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.14762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:99.72, Z:1.79 [[-7.82263500e-01 6.22935605e-01 3.87917260e-03 1.21422713e+02] [-6.22928593e-01 -7.82273112e-01 2.95742476e-03 9.97197214e+01] [ 4.87685760e-03 -1.02962083e-04 9.99988103e-01 1.78902961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:99.72, Z:1.79 [[-7.82533266e-01 6.22596685e-01 3.88029242e-03 1.21421287e+02] [-6.22589676e-01 -7.82542879e-01 2.95595477e-03 9.97176057e+01] [ 4.87686284e-03 -1.02697062e-04 9.99988103e-01 1.78894744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:99.71, Z:1.79 [[-7.82576037e-01 6.22542915e-01 3.88141003e-03 1.21418189e+02] [-6.22535913e-01 -7.82585655e-01 2.95448652e-03 9.97137362e+01] [ 4.87683047e-03 -1.04206787e-04 9.99988103e-01 1.78878277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:99.71, Z:1.79 [[-7.82720076e-01 6.22361798e-01 3.88252783e-03 1.21416614e+02] [-6.22354801e-01 -7.82729699e-01 2.95301688e-03 9.97115998e+01] [ 4.87681473e-03 -1.04924237e-04 9.99988103e-01 1.78821941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:99.71, Z:1.79 [[-7.82018269e-01 6.23243407e-01 3.88364635e-03 1.21420746e+02] [-6.23236428e-01 -7.82027905e-01 2.95154513e-03 9.97117673e+01] [ 4.87665086e-03 -1.12267663e-04 9.99988103e-01 1.78678239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:99.71, Z:1.79 [[-7.81966389e-01 6.23308491e-01 3.88476193e-03 1.21416976e+02] [-6.23301520e-01 -7.81976030e-01 2.95007610e-03 9.97065143e+01] [ 4.87659819e-03 -1.14517659e-04 9.99988103e-01 1.78591212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:99.71, Z:1.79 [[-7.82192364e-01 6.23024883e-01 3.88587604e-03 1.21419146e+02] [-6.23017916e-01 -7.82202008e-01 2.94860785e-03 9.97057529e+01] [ 4.87659610e-03 -1.14591850e-04 9.99988103e-01 1.78544601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:99.70, Z:1.78 [[-7.83254808e-01 6.21688666e-01 3.88699014e-03 1.21416198e+02] [-6.21681690e-01 -7.83264445e-01 2.94713846e-03 9.96979414e+01] [ 4.87674375e-03 -1.08110229e-04 9.99988103e-01 1.78373662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:99.70, Z:1.78 [[-7.83490189e-01 6.21391991e-01 3.88810405e-03 1.21414339e+02] [-6.21385019e-01 -7.83499829e-01 2.94566817e-03 9.96964402e+01] [ 4.87674346e-03 -1.08107497e-04 9.99988103e-01 1.78374891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:99.69, Z:1.78 [[-7.84522581e-01 6.20088053e-01 3.88921904e-03 1.21411911e+02] [-6.20081072e-01 -7.84532215e-01 2.94419528e-03 9.96922420e+01] [ 4.87687795e-03 -1.01843435e-04 9.99988103e-01 1.78382193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.447628 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:121.42, Y:99.69, Z:1.78 [[-7.85539039e-01 6.18799890e-01 3.88767089e-03 1.21416314e+02] [-6.18792883e-01 -7.85548654e-01 2.94624102e-03 9.96935769e+01] [ 4.87708826e-03 -9.12757392e-05 9.99988103e-01 1.78044036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47762800000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:121.41, Y:99.69, Z:1.78 [[-7.86748920e-01 6.17260886e-01 3.89061163e-03 1.21413878e+02] [-6.17253879e-01 -7.86758535e-01 2.94235254e-03 9.96908029e+01] [ 4.87717104e-03 -8.66024344e-05 9.99988103e-01 1.78052895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.507628 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:121.41, Y:99.69, Z:1.78 [[-7.88170901e-01 6.15444137e-01 3.89172283e-03 1.21413189e+02] [-6.15437115e-01 -7.88180505e-01 2.94088208e-03 9.96876492e+01] [ 4.87732870e-03 -7.71929891e-05 9.99988103e-01 1.77933705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:99.68, Z:1.78 [[-7.89165326e-01 6.14168491e-01 3.89269352e-03 1.21410484e+02] [-6.14161460e-01 -7.89174924e-01 2.93959666e-03 9.96837071e+01] [ 4.87742376e-03 -7.09145796e-05 9.99988103e-01 1.78023348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:99.68, Z:1.78 [[-7.89882218e-01 6.13246214e-01 3.89380568e-03 1.21408480e+02] [-6.13239179e-01 -7.89891813e-01 2.93812275e-03 9.96805898e+01] [ 4.87747788e-03 -6.70632847e-05 9.99988103e-01 1.77937545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:99.68, Z:1.78 [[-7.90786939e-01 6.12079118e-01 3.89491855e-03 1.21407642e+02] [-6.12072077e-01 -7.90796528e-01 2.93664673e-03 9.96794882e+01] [ 4.87754821e-03 -6.17090124e-05 9.99988103e-01 1.77857023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.40, Y:99.68, Z:1.78 [[-7.92400375e-01 6.09988907e-01 3.89603087e-03 1.21403945e+02] [-6.09981847e-01 -7.92409951e-01 2.93517028e-03 9.96766143e+01] [ 4.87767494e-03 -5.06780760e-05 9.99988103e-01 1.77839842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.40, Y:99.67, Z:1.78 [[-7.93410009e-01 6.08675093e-01 3.89728474e-03 1.21400752e+02] [-6.08668025e-01 -7.93419580e-01 2.93350446e-03 9.96745493e+01] [ 4.87773312e-03 -4.46808034e-05 9.99988103e-01 1.77926374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.687628 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:121.40, Y:99.67, Z:1.78 [[-7.94018492e-01 6.07881104e-01 3.89839714e-03 1.21398399e+02] [-6.07874034e-01 -7.94028061e-01 2.93202543e-03 9.96735806e+01] [ 4.87775957e-03 -4.16519887e-05 9.99988103e-01 1.77830282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.40, Y:99.67, Z:1.78 [[-7.94884075e-01 6.06748796e-01 3.89936899e-03 1.21396943e+02] [-6.06741719e-01 -7.94893639e-01 2.93073237e-03 9.96738874e+01] [ 4.87780194e-03 -3.63173586e-05 9.99988103e-01 1.77981108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:99.69, Z:1.78 [[-7.94353204e-01 6.07443639e-01 3.90034041e-03 1.21412114e+02] [-6.07436576e-01 -7.94362779e-01 2.92943899e-03 9.96870818e+01] [ 4.87775433e-03 -4.22001819e-05 9.99988103e-01 1.77820980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.39, Y:99.67, Z:1.78 [[-7.94417685e-01 6.07359371e-01 3.89062189e-03 1.21392162e+02] [-6.07352244e-01 -7.94427211e-01 2.94238185e-03 9.96727784e+01] [ 4.87789909e-03 -2.54977618e-05 9.99988103e-01 1.77928612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.39, Y:99.67, Z:1.78 [[-7.94238630e-01 6.07593431e-01 3.90156555e-03 1.21389880e+02] [-6.07586378e-01 -7.94248211e-01 2.92779841e-03 9.96730166e+01] [ 4.87772253e-03 -4.51674822e-05 9.99988103e-01 1.77960070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.39, Y:99.68, Z:1.78 [[-7.94232556e-01 6.07601363e-01 3.90267779e-03 1.21385524e+02] [-6.07594318e-01 -7.94242143e-01 2.92631506e-03 9.96762188e+01] [ 4.87770419e-03 -4.70701653e-05 9.99988103e-01 1.78047564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.40, Y:99.69, Z:1.78 [[-7.92420472e-01 6.09962750e-01 3.90378857e-03 1.21401159e+02] [-6.09955741e-01 -7.92430085e-01 2.92483250e-03 9.96883564e+01] [ 4.87751838e-03 -6.34410996e-05 9.99988103e-01 1.78046838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.89762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.38, Y:99.68, Z:1.78 [[-7.95678738e-01 6.05706429e-01 3.88175655e-03 1.21378956e+02] [-6.05699225e-01 -7.95688206e-01 2.95423920e-03 9.96758080e+01] [ 4.87806958e-03 -5.51617853e-07 9.99988102e-01 1.77997379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:99.68, Z:1.78 [[-7.97374069e-01 6.03472737e-01 3.90512316e-03 1.21373362e+02] [-6.03465659e-01 -7.97383631e-01 2.92302169e-03 9.96754217e+01] [ 4.87784518e-03 -2.58660231e-05 9.99988103e-01 1.77785495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:99.68, Z:1.78 [[-7.98020492e-01 6.02617655e-01 3.90609378e-03 1.21373141e+02] [-6.02610572e-01 -7.98030051e-01 2.92172405e-03 9.96765977e+01] [ 4.87786271e-03 -2.22577433e-05 9.99988103e-01 1.77692899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:99.67, Z:1.78 [[-7.98496546e-01 6.01986711e-01 3.90720519e-03 1.21368640e+02] [-6.01979628e-01 -7.98506105e-01 2.92023700e-03 9.96747785e+01] [ 4.87787107e-03 -2.02587651e-05 9.99988103e-01 1.77618896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.017628 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:121.37, Y:99.67, Z:1.77 [[-7.97933470e-01 6.02732861e-01 3.90831567e-03 1.21366135e+02] [-6.02725795e-01 -7.97943042e-01 2.91875003e-03 9.96741051e+01] [ 4.87783985e-03 -2.66743261e-05 9.99988103e-01 1.77495352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.36, Y:99.68, Z:1.78 [[-7.97644393e-01 6.03115381e-01 3.90634663e-03 1.21357681e+02] [-6.03108306e-01 -7.97653958e-01 2.92138762e-03 9.96754112e+01] [ 4.87784666e-03 -2.57216411e-05 9.99988103e-01 1.77670078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.36, Y:99.68, Z:1.78 [[-7.97147970e-01 6.03771351e-01 3.90752854e-03 1.21360376e+02] [-6.03764292e-01 -7.97157547e-01 2.91980334e-03 9.96814545e+01] [ 4.87780947e-03 -3.17108952e-05 9.99988103e-01 1.77643206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.10762800000003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:121.36, Y:99.68, Z:1.78 [[-7.96340024e-01 6.04836567e-01 3.91068331e-03 1.21356414e+02] [-6.04829541e-01 -7.96349625e-01 2.91557182e-03 9.96820190e+01] [ 4.87771564e-03 -4.35102640e-05 9.99988103e-01 1.77666117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.137628 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:121.37, Y:99.69, Z:1.78 [[-7.92312523e-01 6.10102913e-01 3.91179091e-03 1.21366109e+02] [-6.10095958e-01 -7.92322176e-01 2.91408500e-03 9.96892698e+01] [ 4.87729043e-03 -7.77017827e-05 9.99988103e-01 1.77622039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.16762800000004 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:121.35, Y:99.69, Z:1.78 [[-7.95463228e-01 6.05989381e-01 3.88885362e-03 1.21348534e+02] [-6.05982226e-01 -7.95472734e-01 2.94488006e-03 9.96877991e+01] [ 4.87804306e-03 -1.40323756e-05 9.99988102e-01 1.77765311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.36, Y:99.70, Z:1.78 [[-7.95804706e-01 6.05540714e-01 3.91333977e-03 1.21357025e+02] [-6.05533714e-01 -7.95814326e-01 2.91197365e-03 9.96969181e+01] [ 4.87761045e-03 -5.22968322e-05 9.99988103e-01 1.77888840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.34, Y:99.69, Z:1.78 [[-7.97368104e-01 6.03480612e-01 3.90610353e-03 1.21341211e+02] [-6.03473540e-01 -7.97377671e-01 2.92169930e-03 9.96881496e+01] [ 4.87782862e-03 -2.75602929e-05 9.99988103e-01 1.77981973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.257628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:121.34, Y:99.69, Z:1.78 [[-7.98878701e-01 6.01479424e-01 3.91455651e-03 1.21335792e+02] [-6.01472384e-01 -7.98888291e-01 2.91032958e-03 9.96902267e+01] [ 4.87779672e-03 -2.94973179e-05 9.99988103e-01 1.77949799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.28762800000004 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:121.33, Y:99.69, Z:1.78 [[-8.00074837e-01 5.99887425e-01 3.91566358e-03 1.21332105e+02] [-5.99880373e-01 -8.00084419e-01 2.90883932e-03 9.96906380e+01] [ 4.87783755e-03 -2.16405870e-05 9.99988103e-01 1.77909787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.33, Y:99.69, Z:1.78 [[-8.02055483e-01 5.97236688e-01 3.91677063e-03 1.21326744e+02] [-5.97229611e-01 -8.02065046e-01 2.90734790e-03 9.96886466e+01] [ 4.87787965e-03 -7.35707411e-06 9.99988103e-01 1.78159724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:99.68, Z:1.78 [[-8.06534118e-01 5.91174566e-01 3.91787822e-03 1.21322299e+02] [-5.91167424e-01 -8.06543633e-01 2.90585458e-03 9.96842757e+01] [ 4.87780705e-03 2.75488859e-05 9.99988103e-01 1.78150776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.377628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:121.32, Y:99.68, Z:1.78 [[-8.08027671e-01 5.89131500e-01 3.91898816e-03 1.21318801e+02] [-5.89124343e-01 -8.08037174e-01 2.90435688e-03 9.96801172e+01] [ 4.87773624e-03 3.80293984e-05 9.99988103e-01 1.77889588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:99.68, Z:1.78 [[-8.09874808e-01 5.86589660e-01 3.91995962e-03 1.21317895e+02] [-5.86582478e-01 -8.09884293e-01 2.90304512e-03 9.96773448e+01] [ 4.87760998e-03 5.17234819e-05 9.99988103e-01 1.77998073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:99.67, Z:1.78 [[-8.11095556e-01 5.84900526e-01 3.92107686e-03 1.21318328e+02] [-5.84893332e-01 -8.11105031e-01 2.90153530e-03 9.96749278e+01] [ 4.87751470e-03 6.00106749e-05 9.99988103e-01 1.77910836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:99.67, Z:1.78 [[-8.11619682e-01 5.84173012e-01 3.92218922e-03 1.21316939e+02] [-5.84165817e-01 -8.11629157e-01 2.90003088e-03 9.96688783e+01] [ 4.87748290e-03 6.25132755e-05 9.99988103e-01 1.77798241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.31, Y:99.66, Z:1.78 [[-8.11134537e-01 5.84846451e-01 3.92330136e-03 1.21311359e+02] [-5.84839271e-01 -8.11144023e-01 2.89852554e-03 9.96639774e+01] [ 4.87755482e-03 5.65934583e-05 9.99988103e-01 1.77875033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:99.67, Z:1.78 [[-8.10014048e-01 5.86397341e-01 3.92441610e-03 1.21315068e+02] [-5.86390187e-01 -8.10023553e-01 2.89701548e-03 9.96668417e+01] [ 4.87767164e-03 4.53841452e-05 9.99988103e-01 1.77923602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.31, Y:99.67, Z:1.78 [[-8.08657823e-01 5.88266194e-01 3.92552950e-03 1.21313067e+02] [-5.88259069e-01 -8.08667351e-01 2.89550600e-03 9.96659234e+01] [ 4.87777583e-03 3.22452542e-05 9.99988103e-01 1.77958655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:99.67, Z:1.78 [[-8.04654697e-01 5.93730073e-01 3.92663899e-03 1.21315784e+02] [-5.93723020e-01 -8.04664278e-01 2.89400062e-03 9.96702624e+01] [ 4.87788133e-03 -2.66477068e-06 9.99988103e-01 1.77976748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:99.67, Z:1.78 [[-8.02638852e-01 5.96452383e-01 3.92774514e-03 1.21315864e+02] [-5.96445370e-01 -8.02648462e-01 2.89249857e-03 9.96718395e+01] [ 4.87783626e-03 -2.10536766e-05 9.99988103e-01 1.77980377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.64762800000005 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:121.32, Y:99.67, Z:1.78 [[-8.00325174e-01 5.99553317e-01 3.92884633e-03 1.21315971e+02] [-5.99546349e-01 -8.00334816e-01 2.89100206e-03 9.96726730e+01] [ 4.87770238e-03 -4.17837502e-05 9.99988103e-01 1.77791802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.677628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:121.32, Y:99.68, Z:1.77 [[-7.96897855e-01 6.04101286e-01 3.92994459e-03 1.21322246e+02] [-6.04094380e-01 -7.96907542e-01 2.88950834e-03 9.96765627e+01] [ 4.87735819e-03 -7.14144401e-05 9.99988103e-01 1.77391597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.707628 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:121.32, Y:99.67, Z:1.78 [[-7.96187899e-01 6.05036744e-01 3.92027697e-03 1.21316265e+02] [-6.05029784e-01 -7.96197548e-01 2.90266040e-03 9.96710847e+01] [ 4.87753111e-03 -6.08212480e-05 9.99988103e-01 1.77727505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73762800000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.31, Y:99.67, Z:1.78 [[-7.96154320e-01 6.05080858e-01 3.93117430e-03 1.21314549e+02] [-6.05073972e-01 -7.96164022e-01 2.88782596e-03 9.96688858e+01] [ 4.87722775e-03 -7.94961290e-05 9.99988103e-01 1.77833812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.31, Y:99.67, Z:1.78 [[-7.96294983e-01 6.04895724e-01 3.93240792e-03 1.21313982e+02] [-6.04888844e-01 -7.96304689e-01 2.88614513e-03 9.96678117e+01] [ 4.87721171e-03 -8.04467944e-05 9.99988103e-01 1.77899057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.31, Y:99.67, Z:1.78 [[-7.96532600e-01 6.04582785e-01 3.93350037e-03 1.21313066e+02] [-6.04575909e-01 -7.96542309e-01 2.88465547e-03 9.96657948e+01] [ 4.87721251e-03 -8.03774361e-05 9.99988103e-01 1.77796040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.827628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.31, Y:99.66, Z:1.78 [[-7.97095917e-01 6.03839895e-01 3.93459137e-03 1.21313604e+02] [-6.03833016e-01 -7.97105624e-01 2.88316662e-03 9.96634748e+01] [ 4.87725593e-03 -7.76758352e-05 9.99988103e-01 1.77717059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85762800000003 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:121.31, Y:99.66, Z:1.78 [[-7.97377510e-01 6.03467991e-01 3.93568488e-03 1.21311727e+02] [-6.03461116e-01 -7.97387220e-01 2.88167314e-03 9.96616004e+01] [ 4.87726232e-03 -7.72514356e-05 9.99988103e-01 1.77606212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.31, Y:99.66, Z:1.78 [[-7.97734910e-01 6.02995452e-01 3.93677367e-03 1.21309494e+02] [-6.02988579e-01 -7.97744620e-01 2.88018493e-03 9.96598088e+01] [ 4.87727843e-03 -7.62054908e-05 9.99988103e-01 1.77883530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91762800000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.31, Y:99.66, Z:1.78 [[-7.97586163e-01 6.03192179e-01 3.93786225e-03 1.21308269e+02] [-6.03185315e-01 -7.97595881e-01 2.87869582e-03 9.96572801e+01] [ 4.87722952e-03 -7.92527257e-05 9.99988103e-01 1.77635570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.947628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:121.31, Y:99.66, Z:1.78 [[-7.97423362e-01 6.03407380e-01 3.93895407e-03 1.21306769e+02] [-6.03400526e-01 -7.97433086e-01 2.87720110e-03 9.96555800e+01] [ 4.87717668e-03 -8.24195777e-05 9.99988103e-01 1.77709159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97762800000004 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:121.30, Y:99.65, Z:1.77 [[-7.97419754e-01 6.03412141e-01 3.94004152e-03 1.21303397e+02] [-6.03405294e-01 -7.97429484e-01 2.87571117e-03 9.96533083e+01] [ 4.87714431e-03 -8.42930168e-05 9.99988103e-01 1.77406739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.007628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:121.30, Y:99.65, Z:1.78 [[-7.97598036e-01 6.03176459e-01 3.94112913e-03 1.21301667e+02] [-6.03169617e-01 -7.97607769e-01 2.87421984e-03 9.96540191e+01] [ 4.87713696e-03 -8.46972466e-05 9.99988103e-01 1.77731263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.03762800000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:121.30, Y:99.65, Z:1.78 [[-7.97872229e-01 6.02813707e-01 3.94221618e-03 1.21295304e+02] [-6.02806868e-01 -7.97881963e-01 2.87272810e-03 9.96502320e+01] [ 4.87714306e-03 -8.43250148e-05 9.99988103e-01 1.77810449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.067628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:121.30, Y:99.65, Z:1.78 [[-7.97949503e-01 6.02711406e-01 3.94358258e-03 1.21296360e+02] [-6.02704575e-01 -7.97959243e-01 2.87085111e-03 9.96519258e+01] [ 4.87711288e-03 -8.60210465e-05 9.99988103e-01 1.77878855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.29, Y:99.65, Z:1.78 [[-7.97769099e-01 6.02950167e-01 3.94466871e-03 1.21292631e+02] [-6.02943346e-01 -7.97778847e-01 2.86935795e-03 9.96501012e+01] [ 4.87705311e-03 -8.93266438e-05 9.99988103e-01 1.78248642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.127628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.29, Y:99.65, Z:1.78 [[-7.97255599e-01 6.03628977e-01 3.94575356e-03 1.21288616e+02] [-6.03622172e-01 -7.97265357e-01 2.86786536e-03 9.96480551e+01] [ 4.87693925e-03 -9.53226148e-05 9.99988103e-01 1.78386548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.15762800000005 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:121.29, Y:99.65, Z:1.78 [[-7.97123737e-01 6.03803088e-01 3.94697778e-03 1.21287000e+02] [-6.03796293e-01 -7.97133503e-01 2.86617950e-03 9.96465714e+01] [ 4.87687626e-03 -9.84708372e-05 9.99988103e-01 1.78383866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.187628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:121.29, Y:99.65, Z:1.78 [[-7.97274068e-01 6.03604567e-01 3.94806303e-03 1.21286034e+02] [-6.03597778e-01 -7.97283837e-01 2.86468384e-03 9.96461196e+01] [ 4.87686309e-03 -9.91039332e-05 9.99988103e-01 1.78400975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.28, Y:99.64, Z:1.79 [[-7.97621874e-01 6.03144884e-01 3.94914682e-03 1.21283040e+02] [-6.03138096e-01 -7.97631644e-01 2.86318898e-03 9.96447610e+01] [ 4.87688225e-03 -9.81387362e-05 9.99988103e-01 1.78771987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.247628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:121.28, Y:99.64, Z:1.79 [[-7.98985541e-01 6.01337261e-01 3.95023005e-03 1.21280485e+02] [-6.01330458e-01 -7.98995301e-01 2.86169371e-03 9.96439068e+01] [ 4.87705830e-03 -8.89417486e-05 9.99988103e-01 1.78618322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.27, Y:99.64, Z:1.79 [[-8.00220823e-01 5.99692439e-01 3.95131702e-03 1.21274066e+02] [-5.99685623e-01 -8.00230575e-01 2.86019207e-03 9.96385393e+01] [ 4.87720025e-03 -8.07627531e-05 9.99988103e-01 1.78870573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.27, Y:99.64, Z:1.79 [[-8.00448848e-01 5.99388038e-01 3.95240196e-03 1.21272187e+02] [-5.99381226e-01 -8.00458602e-01 2.85869205e-03 9.96370894e+01] [ 4.87719996e-03 -8.07587708e-05 9.99988103e-01 1.78871801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.33762800000005 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:121.27, Y:99.64, Z:1.78 [[-8.01756172e-01 5.97638194e-01 3.95348865e-03 1.21273316e+02] [-5.97631368e-01 -8.01765916e-01 2.85718839e-03 9.96371359e+01] [ 4.87733736e-03 -7.19604075e-05 9.99988103e-01 1.78482928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.27, Y:99.63, Z:1.79 [[-8.04565013e-01 5.93851413e-01 3.95457353e-03 1.21268752e+02] [-5.93844549e-01 -8.04574730e-01 2.85568605e-03 9.96330865e+01] [ 4.87760312e-03 -5.08168502e-05 9.99988103e-01 1.78616330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.39762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.27, Y:99.63, Z:1.79 [[-8.06127552e-01 5.91728588e-01 3.95565783e-03 1.21266780e+02] [-5.91721706e-01 -8.06137256e-01 2.85418329e-03 9.96311941e+01] [ 4.87770500e-03 -3.98128104e-05 9.99988103e-01 1.78617149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:99.63, Z:1.79 [[-8.07645183e-01 5.89655495e-01 3.95674317e-03 1.21263673e+02] [-5.89648595e-01 -8.07654875e-01 2.85267789e-03 9.96285097e+01] [ 4.87778011e-03 -2.91364920e-05 9.99988103e-01 1.78602040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:99.63, Z:1.79 [[-8.09261680e-01 5.87434991e-01 3.95783264e-03 1.21260083e+02] [-5.87428072e-01 -8.09271358e-01 2.85116555e-03 9.96261528e+01] [ 4.87783501e-03 -1.76029773e-05 9.99988103e-01 1.78563746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.48762800000003 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:121.25, Y:99.62, Z:1.78 [[-8.12226331e-01 5.83328993e-01 3.95892299e-03 1.21253927e+02] [-5.83322032e-01 -8.12235980e-01 2.84965077e-03 9.96230909e+01] [ 4.87786360e-03 5.23439231e-06 9.99988103e-01 1.78192490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.25, Y:99.62, Z:1.78 [[-8.13813909e-01 5.81112072e-01 3.96001145e-03 1.21252625e+02] [-5.81105093e-01 -8.13823543e-01 2.84813739e-03 9.96226614e+01] [ 4.87783757e-03 1.66710052e-05 9.99988103e-01 1.78460483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.24, Y:99.62, Z:1.78 [[-8.15221275e-01 5.79136066e-01 3.96110078e-03 1.21244867e+02] [-5.79129071e-01 -8.15230898e-01 2.84662157e-03 9.96179406e+01] [ 4.87779297e-03 2.66378511e-05 9.99988103e-01 1.78473395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.25, Y:99.62, Z:1.78 [[-8.16485496e-01 5.77352350e-01 3.96219153e-03 1.21245934e+02] [-5.77345341e-01 -8.16495109e-01 2.84510256e-03 9.96204811e+01] [ 4.87773665e-03 3.54321528e-05 9.99988103e-01 1.78463968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.24, Y:99.62, Z:1.79 [[-8.17711786e-01 5.75614218e-01 3.96328260e-03 1.21240258e+02] [-5.75607195e-01 -8.17721389e-01 2.84358187e-03 9.96195791e+01] [ 4.87766710e-03 4.39364289e-05 9.99988103e-01 1.78563741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.24, Y:99.62, Z:1.79 [[-8.18070168e-01 5.75104760e-01 3.96437218e-03 1.21238097e+02] [-5.75097739e-01 -8.18079772e-01 2.84206202e-03 9.96193096e+01] [ 4.87765608e-03 4.51046778e-05 9.99988103e-01 1.78579188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:99.62, Z:1.79 [[-8.18149086e-01 5.74992477e-01 3.96546208e-03 1.21234242e+02] [-5.74985462e-01 -8.18158695e-01 2.84054049e-03 9.96171000e+01] [ 4.87766669e-03 4.39025639e-05 9.99988103e-01 1.78587631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:99.62, Z:1.79 [[-8.17376064e-01 5.76090822e-01 3.96655212e-03 1.21232815e+02] [-5.76083828e-01 -8.17385688e-01 2.83901753e-03 9.96166348e+01] [ 4.87773488e-03 3.54784458e-05 9.99988103e-01 1.78685311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:99.61, Z:1.79 [[-8.17289239e-01 5.76213986e-01 3.96764195e-03 1.21230277e+02] [-5.76207001e-01 -8.17298869e-01 2.83749364e-03 9.96146999e+01] [ 4.87775280e-03 3.28699492e-05 9.99988103e-01 1.78740903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:99.61, Z:1.79 [[-8.17140468e-01 5.76424935e-01 3.96873119e-03 1.21231670e+02] [-5.76417959e-01 -8.17150105e-01 2.83596933e-03 9.96143036e+01] [ 4.87777254e-03 2.97373691e-05 9.99988103e-01 1.78729489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:99.61, Z:1.79 [[-8.17007190e-01 5.76613816e-01 3.96981911e-03 1.21231585e+02] [-5.76606850e-01 -8.17016834e-01 2.83444562e-03 9.96124462e+01] [ 4.87778955e-03 2.67375574e-05 9.99988103e-01 1.78664941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:99.61, Z:1.79 [[-8.16306445e-01 5.77605418e-01 3.97090446e-03 1.21230568e+02] [-5.77598471e-01 -8.16316103e-01 2.83292428e-03 9.96086878e+01] [ 4.87782567e-03 1.89460047e-05 9.99988103e-01 1.78576161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:99.61, Z:1.79 [[-8.15917331e-01 5.78154938e-01 3.97198923e-03 1.21230936e+02] [-5.78148005e-01 -8.15926999e-01 2.83140253e-03 9.96071107e+01] [ 4.87784261e-03 1.37927437e-05 9.99988103e-01 1.78513401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:99.61, Z:1.78 [[-8.15156505e-01 5.79227147e-01 3.97307269e-03 1.21231611e+02] [-5.79220234e-01 -8.15166187e-01 2.82988138e-03 9.96061846e+01] [ 4.87785864e-03 5.51212357e-06 9.99988103e-01 1.78441241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:99.60, Z:1.78 [[-8.14081276e-01 5.80737360e-01 3.97415396e-03 1.21228589e+02] [-5.80730473e-01 -8.14090977e-01 2.82836209e-03 9.96029192e+01] [ 4.87785841e-03 -5.39568430e-06 9.99988103e-01 1.78355875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:99.60, Z:1.78 [[-8.10662404e-01 5.85500354e-01 3.97523464e-03 1.21232744e+02] [-5.85493531e-01 -8.10672150e-01 2.82684239e-03 9.96047881e+01] [ 4.87772923e-03 -3.58593212e-05 9.99988103e-01 1.78256129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.96762800000005 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:121.23, Y:99.61, Z:1.78 [[-8.08801561e-01 5.88068214e-01 3.97631278e-03 1.21233427e+02] [-5.88061430e-01 -8.08811333e-01 2.82532504e-03 9.96052313e+01] [ 4.87757069e-03 -5.31888753e-05 9.99988103e-01 1.77880117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.997628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:121.24, Y:99.61, Z:1.78 [[-8.05310481e-01 5.92839953e-01 3.97738642e-03 1.21235236e+02] [-5.92833234e-01 -8.05320298e-01 2.82381279e-03 9.96078650e+01] [ 4.87713906e-03 -8.38808185e-05 9.99988103e-01 1.77877352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:99.61, Z:1.78 [[-8.04104711e-01 5.94474377e-01 3.97845597e-03 1.21234587e+02] [-5.94467685e-01 -8.04114548e-01 2.82230511e-03 9.96076464e+01] [ 4.87692239e-03 -9.56346724e-05 9.99988103e-01 1.78248054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:99.61, Z:1.78 [[-8.03374539e-01 5.95460757e-01 3.97952230e-03 1.21232952e+02] [-5.95454085e-01 -8.03384389e-01 2.82080074e-03 9.96058859e+01] [ 4.87676224e-03 -1.03463311e-04 9.99988103e-01 1.78315009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:99.60, Z:1.78 [[-8.03079038e-01 5.95859222e-01 3.98072334e-03 1.21231386e+02] [-5.95852563e-01 -8.03088897e-01 2.81910481e-03 9.96029733e+01] [ 4.87666432e-03 -1.07960227e-04 9.99988103e-01 1.78330802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:99.60, Z:1.78 [[-8.04333855e-01 5.94164282e-01 3.98178761e-03 1.21230481e+02] [-5.94157610e-01 -8.04343705e-01 2.81760081e-03 9.95999312e+01] [ 4.87684356e-03 -9.95176817e-05 9.99988103e-01 1.78319124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.14762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:99.60, Z:1.78 [[-8.06011706e-01 5.91886195e-01 3.98285130e-03 1.21226744e+02] [-5.91879502e-01 -8.06021541e-01 2.81609641e-03 9.95970655e+01] [ 4.87707253e-03 -8.75613697e-05 9.99988103e-01 1.78366206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.177628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.19, Y:99.57, Z:1.79 [[-8.07732154e-01 5.89536171e-01 3.98391564e-03 1.21185862e+02] [-5.89529457e-01 -8.07741975e-01 2.81458989e-03 9.95681767e+01] [ 4.87727843e-03 -7.52008699e-05 9.99988103e-01 1.78573254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.207628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.22, Y:99.59, Z:1.78 [[-8.09372207e-01 5.87282537e-01 3.98156374e-03 1.21220689e+02] [-5.87275779e-01 -8.09381998e-01 2.81792026e-03 9.95921247e+01] [ 4.87752138e-03 -5.75296118e-05 9.99988103e-01 1.78276656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:99.60, Z:1.78 [[-8.11355080e-01 5.84540034e-01 3.98528095e-03 1.21232397e+02] [-5.84533269e-01 -8.11364866e-01 2.81265332e-03 9.96002129e+01] [ 4.87762541e-03 -4.74687420e-05 9.99988103e-01 1.78166609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.267628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.21, Y:99.59, Z:1.78 [[-8.13503998e-01 5.81545721e-01 3.97740515e-03 1.21208958e+02] [-5.81538865e-01 -8.13513721e-01 2.82381428e-03 9.95856999e+01] [ 4.87785077e-03 -1.58314731e-05 9.99988103e-01 1.78235503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29762800000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:121.21, Y:99.59, Z:1.78 [[-8.14492288e-01 5.80160688e-01 3.98615021e-03 1.21207099e+02] [-5.80153876e-01 -8.14502042e-01 2.81141514e-03 9.95852289e+01] [ 4.87780003e-03 -2.27045428e-05 9.99988103e-01 1.78031390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.20, Y:99.58, Z:1.78 [[-8.16252603e-01 5.77681391e-01 3.98722405e-03 1.21203297e+02] [-5.77674557e-01 -8.16262342e-01 2.80989136e-03 9.95840042e+01] [ 4.87784279e-03 -9.73674860e-06 9.99988103e-01 1.78449179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.20, Y:99.58, Z:1.79 [[-8.16891335e-01 5.76777809e-01 3.98829767e-03 1.21199156e+02] [-5.76770972e-01 -8.16901071e-01 2.80836666e-03 9.95818078e+01] [ 4.87784821e-03 -6.20393114e-06 9.99988103e-01 1.78726940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.387628 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:121.20, Y:99.58, Z:1.79 [[-8.17528540e-01 5.75874288e-01 3.98619474e-03 1.21201732e+02] [-5.75867426e-01 -8.17538258e-01 2.81135429e-03 9.95835168e+01] [ 4.87785336e-03 2.84266112e-06 9.99988103e-01 1.78548488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.21, Y:99.59, Z:1.79 [[-8.19170428e-01 5.73536304e-01 3.98964154e-03 1.21209283e+02] [-5.73529438e-01 -8.19180144e-01 2.80645433e-03 9.95893009e+01] [ 4.87783858e-03 1.07875275e-05 9.99988103e-01 1.78933467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.57, Y:98.94, Z:2.76 [[-7.73955897e-01 -6.33226898e-01 -3.99554124e-03 1.21570505e+02] [-6.33220821e-01 7.73966125e-01 -2.79805419e-03 9.89423318e+01] [ 4.86421675e-03 3.64489365e-04 -9.99988103e-01 2.76044274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.09, Y:99.54, Z:1.79 [[-7.75459608e-01 6.31385934e-01 3.76820701e-03 1.21091983e+02] [-6.31378438e-01 -7.75468763e-01 3.07655427e-03 9.95416267e+01] [ 4.86461992e-03 6.57890545e-06 9.99988168e-01 1.79273584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.09, Y:99.54, Z:1.79 [[-7.75304716e-01 6.31576114e-01 3.76967132e-03 1.21090926e+02] [-6.31568629e-01 -7.75313880e-01 3.07475901e-03 9.95409666e+01] [ 4.86462285e-03 3.06900719e-06 9.99988168e-01 1.79261189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.09, Y:99.54, Z:1.79 [[-7.74078094e-01 6.33078893e-01 3.77085156e-03 1.21085240e+02] [-6.33071434e-01 -7.74087278e-01 3.07331090e-03 9.95376292e+01] [ 4.86461648e-03 -8.23575491e-06 9.99988168e-01 1.79215804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.08, Y:99.54, Z:1.79 [[-7.73422376e-01 6.33879801e-01 3.77178364e-03 1.21084567e+02] [-6.33872356e-01 -7.73431573e-01 3.07216636e-03 9.95371262e+01] [ 4.86460075e-03 -1.47471801e-05 9.99988168e-01 1.79166164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.08, Y:99.54, Z:1.79 [[-7.73034080e-01 6.34353276e-01 3.77270217e-03 1.21083419e+02] [-6.34345842e-01 -7.73043286e-01 3.07103754e-03 9.95361822e+01] [ 4.86458481e-03 -1.91812614e-05 9.99988168e-01 1.79194404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.08, Y:99.54, Z:1.79 [[-7.72566068e-01 6.34923164e-01 3.77438264e-03 1.21084520e+02] [-6.34915747e-01 -7.72575288e-01 3.06897081e-03 9.95364491e+01] [ 4.86455541e-03 -2.54322675e-05 9.99988168e-01 1.79144280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.09, Y:99.54, Z:1.79 [[-7.71748351e-01 6.35916839e-01 3.77585643e-03 1.21085534e+02] [-6.35909443e-01 -7.71757587e-01 3.06715648e-03 9.95358749e+01] [ 4.86450230e-03 -3.40298087e-05 9.99988168e-01 1.78841343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.687628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:121.08, Y:99.53, Z:1.78 [[-7.71547206e-01 6.36160862e-01 3.77717438e-03 1.21082589e+02] [-6.36153477e-01 -7.71556450e-01 3.06553259e-03 9.95331933e+01] [ 4.86447511e-03 -3.76595132e-05 9.99988168e-01 1.78317940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.08, Y:99.53, Z:1.79 [[-7.72021942e-01 6.35584648e-01 3.77834150e-03 1.21081758e+02] [-6.35577263e-01 -7.72031187e-01 3.06409341e-03 9.95324454e+01] [ 4.86448820e-03 -3.58806075e-05 9.99988168e-01 1.78577179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.07, Y:99.53, Z:1.79 [[-7.72397986e-01 6.35127598e-01 3.77950807e-03 1.21074352e+02] [-6.35120215e-01 -7.72407233e-01 3.06265378e-03 9.95253225e+01] [ 4.86449531e-03 -3.48543663e-05 9.99988168e-01 1.78541602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:98.91, Z:2.77 [[-7.36678642e-01 -6.76232412e-01 -3.78203459e-03 1.21479645e+02] [-6.76225559e-01 7.36688287e-01 -3.05953325e-03 9.89096850e+01] [ 4.85513614e-03 3.03615651e-04 -9.99988168e-01 2.76801558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.97, Y:99.48, Z:1.78 [[-7.24966914e-01 6.88774527e-01 3.55318773e-03 1.20972969e+02] [-6.88766597e-01 -7.24975619e-01 3.30552649e-03 9.94774675e+01] [ 4.85273692e-03 -5.09196819e-05 9.99988224e-01 1.78445284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.83762800000005 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:120.95, Y:99.46, Z:1.78 [[-7.30386920e-01 6.83024511e-01 3.53051367e-03 1.20948538e+02] [-6.83016395e-01 -7.30395452e-01 3.32989882e-03 9.94584500e+01] [ 4.85307365e-03 2.07158215e-05 9.99988224e-01 1.78389505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.867628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:120.95, Y:99.46, Z:1.79 [[-7.31656884e-01 6.81663822e-01 3.55485460e-03 1.20949233e+02] [-6.81655817e-01 -7.31665520e-01 3.30370751e-03 9.94589065e+01] [ 4.85298243e-03 -6.00697421e-06 9.99988224e-01 1.78509770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.89762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.95, Y:99.46, Z:1.79 [[-7.33103905e-01 6.80107358e-01 3.55611791e-03 1.20948393e+02] [-6.80099340e-01 -7.33112530e-01 3.30234712e-03 9.94572894e+01] [ 4.85298517e-03 2.45012620e-06 9.99988224e-01 1.78815487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.95, Y:99.45, Z:1.79 [[-7.34967967e-01 6.78092495e-01 3.55737882e-03 1.20946369e+02] [-6.78084461e-01 -7.34976576e-01 3.30098828e-03 9.94522094e+01] [ 4.85296548e-03 1.39173463e-05 9.99988224e-01 1.78672079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.95, Y:99.45, Z:1.79 [[-7.36204418e-01 6.76749873e-01 3.55864024e-03 1.20945857e+02] [-6.76741829e-01 -7.36213019e-01 3.29962783e-03 9.94505630e+01] [ 4.85293999e-03 2.09198806e-05 9.99988224e-01 1.78617957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.94, Y:99.45, Z:1.79 [[-7.37199281e-01 6.75666002e-01 3.55990199e-03 1.20941574e+02] [-6.75657953e-01 -7.37207876e-01 3.29826599e-03 9.94461620e+01] [ 4.85291398e-03 2.62032310e-05 9.99988224e-01 1.78552860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.94, Y:99.44, Z:1.78 [[-7.37873819e-01 6.74929289e-01 3.56116468e-03 1.20937826e+02] [-6.74921237e-01 -7.37882412e-01 3.29690210e-03 9.94444128e+01] [ 4.85289657e-03 2.91920682e-05 9.99988224e-01 1.78444786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.94, Y:99.45, Z:1.78 [[-7.37744155e-01 6.75071012e-01 3.56242916e-03 1.20938601e+02] [-6.75062968e-01 -7.37752756e-01 3.29553521e-03 9.94462151e+01] [ 4.85291222e-03 2.63978422e-05 9.99988224e-01 1.78448371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.93, Y:99.44, Z:1.79 [[-7.37274746e-01 6.75583636e-01 3.56369164e-03 1.20930804e+02] [-6.75575605e-01 -7.37283358e-01 3.29416943e-03 9.94404696e+01] [ 4.85293750e-03 2.11647911e-05 9.99988224e-01 1.78517049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.93, Y:99.45, Z:1.79 [[-7.36874041e-01 6.76020685e-01 3.56105493e-03 1.20934595e+02] [-6.76012645e-01 -7.36882645e-01 3.29702294e-03 9.94455049e+01] [ 4.85293529e-03 2.21724515e-05 9.99988224e-01 1.78501791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.93, Y:99.45, Z:1.79 [[-7.35557700e-01 6.77452699e-01 3.56527505e-03 1.20931034e+02] [-6.77444698e-01 -7.35566340e-01 3.29245313e-03 9.94470222e+01] [ 4.85297758e-03 6.51257502e-06 9.99988224e-01 1.78645673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:99.44, Z:1.79 [[-7.35061318e-01 6.77991252e-01 3.56669405e-03 1.20924039e+02] [-6.77983265e-01 -7.35069971e-01 3.29091522e-03 9.94422052e+01] [ 4.85298142e-03 8.65600477e-07 9.99988224e-01 1.78834081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:99.44, Z:1.79 [[-7.35323181e-01 6.77707256e-01 3.56305075e-03 1.20922349e+02] [-6.77699246e-01 -7.35331813e-01 3.29486558e-03 9.94405431e+01] [ 4.85297888e-03 8.11422788e-06 9.99988224e-01 1.78835023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:99.44, Z:1.79 [[-7.35045074e-01 6.78008876e-01 3.56433073e-03 1.20917551e+02] [-6.78000876e-01 -7.35053716e-01 3.29347665e-03 9.94364614e+01] [ 4.85298094e-03 4.23442702e-06 9.99988224e-01 1.78660003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.93, Y:99.44, Z:1.79 [[-7.35291846e-01 6.77741263e-01 3.56100463e-03 1.20926211e+02] [-6.77733243e-01 -7.35300469e-01 3.29708733e-03 9.94436019e+01] [ 4.85298050e-03 1.09102116e-05 9.99988224e-01 1.78533361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:99.44, Z:1.78 [[-7.35196747e-01 6.77844372e-01 3.57064709e-03 1.20924073e+02] [-6.77836405e-01 -7.35205418e-01 3.28661154e-03 9.94423368e+01] [ 4.85297023e-03 -4.00847129e-06 9.99988224e-01 1.78421524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:99.44, Z:1.78 [[-7.34946839e-01 6.78115319e-01 3.57190514e-03 1.20921732e+02] [-6.78107361e-01 -7.34955519e-01 3.28524372e-03 9.94415812e+01] [ 4.85296549e-03 -7.65568560e-06 9.99988224e-01 1.78389443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:99.44, Z:1.78 [[-7.34501467e-01 6.78597692e-01 3.57316267e-03 1.20919819e+02] [-6.78589747e-01 -7.34510158e-01 3.28387541e-03 9.94413401e+01] [ 4.85295455e-03 -1.27002488e-05 9.99988224e-01 1.78288538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:99.44, Z:1.78 [[-7.33055626e-01 6.80159299e-01 3.57441926e-03 1.20917911e+02] [-6.80151379e-01 -7.33064341e-01 3.28250707e-03 9.94422533e+01] [ 4.85290701e-03 -2.48859072e-05 9.99988224e-01 1.78183066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:99.44, Z:1.78 [[-7.32774302e-01 6.80462369e-01 3.57590555e-03 1.20915521e+02] [-6.80454460e-01 -7.32783026e-01 3.28088714e-03 9.94414123e+01] [ 4.85288312e-03 -2.90910975e-05 9.99988224e-01 1.78256305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.91, Y:99.44, Z:1.78 [[-7.32690703e-01 6.80552377e-01 3.57715725e-03 1.20913809e+02] [-6.80544475e-01 -7.32699435e-01 3.27952184e-03 9.94409243e+01] [ 4.85286747e-03 -3.15394400e-05 9.99988224e-01 1.78323716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.91, Y:99.44, Z:1.79 [[-7.33119645e-01 6.80090274e-01 3.57840801e-03 1.20910713e+02] [-6.80082374e-01 -7.33128378e-01 3.27815651e-03 9.94381825e+01] [ 4.85287482e-03 -3.03312752e-05 9.99988224e-01 1.78582462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.91, Y:99.43, Z:1.79 [[-7.33893191e-01 6.79255452e-01 3.57965430e-03 1.20906787e+02] [-6.79247549e-01 -7.33901921e-01 3.27679504e-03 9.94340565e+01] [ 4.85289606e-03 -2.66538423e-05 9.99988224e-01 1.78761751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:99.43, Z:1.79 [[-7.34456424e-01 6.78646400e-01 3.58122224e-03 1.20904402e+02] [-6.78638498e-01 -7.34465155e-01 3.27508053e-03 9.94312446e+01] [ 4.85290456e-03 -2.49513495e-05 9.99988224e-01 1.78931105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:99.43, Z:1.79 [[-7.35524374e-01 6.77488791e-01 3.58247046e-03 1.20902700e+02] [-6.77480882e-01 -7.35533098e-01 3.27371459e-03 9.94286657e+01] [ 4.85293053e-03 -1.91583678e-05 9.99988224e-01 1.79219292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:99.42, Z:1.79 [[-7.36549473e-01 6.76374180e-01 3.58371917e-03 1.20897947e+02] [-6.76366264e-01 -7.36558191e-01 3.27234706e-03 9.94235098e+01] [ 4.85294877e-03 -1.36612474e-05 9.99988224e-01 1.79238044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:99.42, Z:1.79 [[-7.37705852e-01 6.75112749e-01 3.58497405e-03 1.20897841e+02] [-6.75104825e-01 -7.37714563e-01 3.27097171e-03 9.94223284e+01] [ 4.85296227e-03 -7.21830868e-06 9.99988224e-01 1.79188688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.64762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:99.42, Z:1.79 [[-7.38668011e-01 6.74059870e-01 3.58622525e-03 1.20894649e+02] [-6.74051940e-01 -7.38676716e-01 3.26959935e-03 9.94178251e+01] [ 4.85296681e-03 -2.15364565e-06 9.99988224e-01 1.79065595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:99.42, Z:1.79 [[-7.40429009e-01 6.72124997e-01 3.58747696e-03 1.20895214e+02] [-6.72117051e-01 -7.40437700e-01 3.26822537e-03 9.94152035e+01] [ 4.85295916e-03 8.68443716e-06 9.99988224e-01 1.78727363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:99.41, Z:1.79 [[-7.41398353e-01 6.71055589e-01 3.58862376e-03 1.20895768e+02] [-6.71047637e-01 -7.41407038e-01 3.26696566e-03 9.94145426e+01] [ 4.85294648e-03 1.39854666e-05 9.99988224e-01 1.78551014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:99.41, Z:1.79 [[-7.42077085e-01 6.70304941e-01 3.58987259e-03 1.20892280e+02] [-6.70296986e-01 -7.42085768e-01 3.26559282e-03 9.94097668e+01] [ 4.85293636e-03 1.70408187e-05 9.99988224e-01 1.78509813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:99.41, Z:1.78 [[-7.42450494e-01 6.69891310e-01 3.59112131e-03 1.20893264e+02] [-6.69883357e-01 -7.42459179e-01 3.26421904e-03 9.94085687e+01] [ 4.85293295e-03 1.78886351e-05 9.99988224e-01 1.78453481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:99.41, Z:1.78 [[-7.42377878e-01 6.69971776e-01 3.59236993e-03 1.20892917e+02] [-6.69963831e-01 -7.42386570e-01 3.26284432e-03 9.94055128e+01] [ 4.85294079e-03 1.55055225e-05 9.99988224e-01 1.78262560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:99.40, Z:1.78 [[-7.42372143e-01 6.69978125e-01 3.59361718e-03 1.20888988e+02] [-6.69970187e-01 -7.42380840e-01 3.26147005e-03 9.94023408e+01] [ 4.85294613e-03 1.36081312e-05 9.99988224e-01 1.78274204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:99.40, Z:1.78 [[-7.42308083e-01 6.70049096e-01 3.59436222e-03 1.20888696e+02] [-6.70041162e-01 -7.42316785e-01 3.26064876e-03 9.94027795e+01] [ 4.85295016e-03 1.20352930e-05 9.99988224e-01 1.78202122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.91, Y:99.41, Z:1.78 [[-7.36560131e-01 6.76362510e-01 3.59560905e-03 1.20907386e+02] [-6.76354658e-01 -7.36568906e-01 3.25927326e-03 9.94145897e+01] [ 4.85286407e-03 -3.12561884e-05 9.99988224e-01 1.78151778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:99.40, Z:1.78 [[-7.42071404e-01 6.70311435e-01 3.55134863e-03 1.20884234e+02] [-6.70303276e-01 -7.42079898e-01 3.30807862e-03 9.94010417e+01] [ 4.85282735e-03 7.43499237e-05 9.99988222e-01 1.78237539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:99.40, Z:1.78 [[-7.36461301e-01 6.76470112e-01 3.59720080e-03 1.20886048e+02] [-6.76462270e-01 -7.36470086e-01 3.25744401e-03 9.94001909e+01] [ 4.85279429e-03 -3.43891657e-05 9.99988225e-01 1.78187897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:99.40, Z:1.78 [[-7.39143189e-01 6.73538878e-01 3.56749422e-03 1.20882769e+02] [-6.73530842e-01 -7.39151797e-01 3.29024032e-03 9.94018431e+01] [ 4.85302453e-03 2.91413348e-05 9.99988224e-01 1.78485785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:99.40, Z:1.79 [[-7.38185001e-01 6.74588729e-01 3.59876498e-03 1.20881392e+02] [-6.74580873e-01 -7.38193773e-01 3.25567417e-03 9.94008895e+01] [ 4.85282700e-03 -2.43681794e-05 9.99988225e-01 1.78508147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.03762800000004 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:120.88, Y:99.40, Z:1.78 [[-7.37094729e-01 6.75779846e-01 3.60000579e-03 1.20878836e+02] [-6.75772011e-01 -7.37103520e-01 3.25430155e-03 9.93986017e+01] [ 4.85276834e-03 -3.40546343e-05 9.99988225e-01 1.78312866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:99.40, Z:1.79 [[-7.35884351e-01 6.77097669e-01 3.60124608e-03 1.20878826e+02] [-6.77089856e-01 -7.35893161e-01 3.25292845e-03 9.94009547e+01] [ 4.85268264e-03 -4.45880474e-05 9.99988225e-01 1.78606576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.87, Y:99.39, Z:1.79 [[-7.35472567e-01 6.77544925e-01 3.60248461e-03 1.20870541e+02] [-6.77537124e-01 -7.35481388e-01 3.25155626e-03 9.93945317e+01] [ 4.85263582e-03 -4.93866318e-05 9.99988225e-01 1.78673070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:98.79, Z:2.77 [[-7.03018383e-01 -7.11162543e-01 -3.60435739e-03 1.21315650e+02] [-7.11155174e-01 7.03027567e-01 -3.24947965e-03 9.87874624e+01] [ 4.84487082e-03 2.78813480e-04 -9.99988225e-01 2.76896606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.75, Y:99.32, Z:1.79 [[-6.87507529e-01 7.26169445e-01 3.36681373e-03 1.20749523e+02] [-7.26161111e-01 -6.87515770e-01 3.47934114e-03 9.93206975e+01] [ 4.84132876e-03 -5.27759737e-05 9.99988279e-01 1.78623251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.74, Y:99.31, Z:1.79 [[-6.88105873e-01 7.25602483e-01 3.36813701e-03 1.20742635e+02] [-7.25594149e-01 -6.88114114e-01 3.47805968e-03 9.93122765e+01] [ 4.84135135e-03 -5.06272098e-05 9.99988279e-01 1.78658405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.75, Y:99.31, Z:1.79 [[-6.89580241e-01 7.24201447e-01 3.36963495e-03 1.20745576e+02] [-7.24193104e-01 -6.89588473e-01 3.47660783e-03 9.93142264e+01] [ 4.84142584e-03 -4.28663244e-05 9.99988279e-01 1.78813816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.74, Y:99.31, Z:1.79 [[-6.90537872e-01 7.23288382e-01 3.37096822e-03 1.20742205e+02] [-7.23280034e-01 -6.90546099e-01 3.47531459e-03 9.93106592e+01] [ 4.84146362e-03 -3.83176734e-05 9.99988279e-01 1.78857573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.74, Y:99.31, Z:1.79 [[-6.91189546e-01 7.22665649e-01 3.37229479e-03 1.20742186e+02] [-7.22657299e-01 -6.91197771e-01 3.47402687e-03 9.93106125e+01] [ 4.84148252e-03 -3.58023873e-05 9.99988279e-01 1.78948595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.74, Y:99.31, Z:1.79 [[-6.91776706e-01 7.22103599e-01 3.37362552e-03 1.20739226e+02] [-7.22095249e-01 -6.91784931e-01 3.47273411e-03 9.93077717e+01] [ 4.84149710e-03 -3.37223975e-05 9.99988279e-01 1.79010714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.74, Y:99.30, Z:1.79 [[-6.92440241e-01 7.21467340e-01 3.37495532e-03 1.20735636e+02] [-7.21458989e-01 -6.92448465e-01 3.47144128e-03 9.93037782e+01] [ 4.84151413e-03 -3.11262187e-05 9.99988279e-01 1.79057223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.367628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.74, Y:99.30, Z:1.79 [[-6.93907897e-01 7.20055852e-01 3.37645154e-03 1.20736433e+02] [-7.20047491e-01 -6.93916111e-01 3.46998539e-03 9.93022914e+01] [ 4.84155741e-03 -2.33551921e-05 9.99988279e-01 1.78998588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.39762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.73, Y:99.30, Z:1.79 [[-6.95196538e-01 7.18811772e-01 3.37777759e-03 1.20734886e+02] [-7.18803403e-01 -6.95204744e-01 3.46869409e-03 9.93002333e+01] [ 4.84158515e-03 -1.65339088e-05 9.99988279e-01 1.78979824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.73, Y:99.30, Z:1.79 [[-6.96265387e-01 7.17776493e-01 3.37910739e-03 1.20729628e+02] [-7.17768117e-01 -6.96273586e-01 3.46739815e-03 9.92950240e+01] [ 4.84160011e-03 -1.11862339e-05 9.99988279e-01 1.78939927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.73, Y:99.30, Z:1.79 [[-6.97734054e-01 7.16348911e-01 3.38043913e-03 1.20732768e+02] [-7.16340526e-01 -6.97742243e-01 3.46609933e-03 9.92959731e+01] [ 4.84161166e-03 -3.13000254e-06 9.99988279e-01 1.78764192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.73, Y:99.29, Z:1.79 [[-6.98131760e-01 7.15961317e-01 3.38193465e-03 1.20731500e+02] [-7.15952934e-01 -6.98139952e-01 3.46463951e-03 9.92925790e+01] [ 4.84161156e-03 -2.53115265e-06 9.99988279e-01 1.78657294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.73, Y:99.29, Z:1.79 [[-6.98583021e-01 7.15521009e-01 3.38342627e-03 1.20729130e+02] [-7.15512628e-01 -6.98591215e-01 3.46318224e-03 9.92880016e+01] [ 4.84161152e-03 -1.56391094e-06 9.99988279e-01 1.78645932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.73, Y:99.29, Z:1.79 [[-6.99151105e-01 7.14965926e-01 3.38474973e-03 1.20728412e+02] [-7.14957545e-01 -6.99159298e-01 3.46188827e-03 9.92873181e+01] [ 4.84161140e-03 4.30656041e-07 9.99988279e-01 1.78674445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.73, Y:99.29, Z:1.79 [[-6.99772724e-01 7.14357522e-01 3.38607313e-03 1.20726236e+02] [-7.14349140e-01 -6.99780916e-01 3.46059337e-03 9.92850641e+01] [ 4.84161026e-03 2.79041909e-06 9.99988279e-01 1.78805854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.73, Y:99.28, Z:1.79 [[-7.00606318e-01 7.13539987e-01 3.38740026e-03 1.20725330e+02] [-7.13531601e-01 -7.00614507e-01 3.45929382e-03 9.92837725e+01] [ 4.84160623e-03 6.58597295e-06 9.99988279e-01 1.78995787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.72, Y:99.28, Z:1.79 [[-7.00759420e-01 7.13389621e-01 3.38872689e-03 1.20722782e+02] [-7.13381240e-01 -7.00767614e-01 3.45799376e-03 9.92811410e+01] [ 4.84160692e-03 5.76750972e-06 9.99988279e-01 1.79020454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.72, Y:99.28, Z:1.79 [[-7.00612663e-01 7.13533744e-01 3.39005346e-03 1.20722749e+02] [-7.13525371e-01 -7.00620865e-01 3.45669276e-03 9.92797597e+01] [ 4.84160912e-03 2.91356366e-06 9.99988279e-01 1.79092066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.72, Y:99.28, Z:1.79 [[-7.00464540e-01 7.13679149e-01 3.39137954e-03 1.20721648e+02] [-7.13670784e-01 -7.00472749e-01 3.45539125e-03 9.92754011e+01] [ 4.84160964e-03 5.05473448e-08 9.99988279e-01 1.79068348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.72, Y:99.27, Z:1.79 [[-7.00482168e-01 7.13661840e-01 3.39270511e-03 1.20721820e+02] [-7.13653482e-01 -7.00490384e-01 3.45408923e-03 9.92746188e+01] [ 4.84160899e-03 -1.68790327e-06 9.99988279e-01 1.79011990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.71, Y:99.27, Z:1.79 [[-7.00630885e-01 7.13515833e-01 3.39402975e-03 1.20714224e+02] [-7.13507479e-01 -7.00639106e-01 3.45278714e-03 9.92666309e+01] [ 4.84160826e-03 -2.53629690e-06 9.99988279e-01 1.78953699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.71, Y:99.27, Z:1.79 [[-7.00471018e-01 7.13672771e-01 3.39535720e-03 1.20714857e+02] [-7.13664425e-01 -7.00479247e-01 3.45148128e-03 9.92668734e+01] [ 4.84160546e-03 -5.48303850e-06 9.99988279e-01 1.78861161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.72, Y:99.27, Z:1.79 [[-6.98803658e-01 7.15305466e-01 3.39668234e-03 1.20719736e+02] [-7.15297145e-01 -6.98811913e-01 3.45017668e-03 9.92711580e+01] [ 4.84157232e-03 -1.86410974e-05 9.99988279e-01 1.78613294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.72, Y:99.27, Z:1.79 [[-6.97657782e-01 7.16423110e-01 3.39800592e-03 1.20720175e+02] [-7.16414810e-01 -6.97666056e-01 3.44887263e-03 9.92715743e+01] [ 4.84152544e-03 -2.82489340e-05 9.99988279e-01 1.78571743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.72, Y:99.27, Z:1.78 [[-6.96379168e-01 7.17666008e-01 3.39931867e-03 1.20717841e+02] [-7.17657728e-01 -6.96387464e-01 3.44757825e-03 9.92696587e+01] [ 4.84145263e-03 -3.87256393e-05 9.99988279e-01 1.78499133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.55, Y:99.10, Z:1.79 [[-6.95096316e-01 7.18908580e-01 3.40079701e-03 1.20546353e+02] [-7.18900322e-01 -6.95104633e-01 3.44611935e-03 9.90962419e+01] [ 4.84135453e-03 -4.94492019e-05 9.99988279e-01 1.78542753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.937628 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:121.15, Y:98.69, Z:2.77 [[-6.64253459e-01 -7.47499683e-01 -3.40079701e-03 1.21154838e+02] [-7.47491782e-01 6.64262117e-01 -3.44611935e-03 9.86915844e+01] [ 4.83499374e-03 2.52971119e-04 -9.99988279e-01 2.77280840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.96762800000005 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:120.58, Y:99.18, Z:1.79 [[-6.39838897e-01 7.68502599e-01 3.15303471e-03 1.20578890e+02] [-7.68493890e-01 -6.39846661e-01 3.65958724e-03 9.91785022e+01] [ 4.82986104e-03 -8.15416455e-05 9.99988333e-01 1.78700490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.997628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:120.58, Y:99.18, Z:1.79 [[-6.38297004e-01 7.69783725e-01 3.15442434e-03 1.20576200e+02] [-7.69775038e-01 -6.38304792e-01 3.65838904e-03 9.91754202e+01] [ 4.82965252e-03 -9.30583497e-05 9.99988333e-01 1.78776774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.58, Y:99.18, Z:1.79 [[-6.35231608e-01 7.72315249e-01 3.15581420e-03 1.20578177e+02] [-7.72306599e-01 -6.35239437e-01 3.65718973e-03 9.91771982e+01] [ 4.82920103e-03 -1.14093619e-04 9.99988333e-01 1.79159805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.58, Y:99.18, Z:1.79 [[-6.29889943e-01 7.76677985e-01 3.15719718e-03 1.20580172e+02] [-7.76669394e-01 -6.29897838e-01 3.65599543e-03 9.91755112e+01] [ 4.82824284e-03 -1.49223664e-04 9.99988333e-01 1.78923818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.58, Y:99.18, Z:1.79 [[-6.31053317e-01 7.75733109e-01 3.13925353e-03 1.20577123e+02] [-7.75724430e-01 -6.31061114e-01 3.67149342e-03 9.91754718e+01] [ 4.82915984e-03 -1.18287554e-04 9.99988333e-01 1.79244575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.58, Y:99.17, Z:1.79 [[-6.31346576e-01 7.75494372e-01 3.15911173e-03 1.20575616e+02] [-7.75485775e-01 -6.31354464e-01 3.65432630e-03 9.91736327e+01] [ 4.82842877e-03 -1.42699814e-04 9.99988333e-01 1.79246713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.14762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.58, Y:99.18, Z:1.79 [[-6.28412207e-01 7.77874096e-01 3.16049299e-03 1.20577084e+02] [-7.77865535e-01 -6.28420133e-01 3.65313131e-03 9.91753238e+01] [ 4.82779364e-03 -1.62766258e-04 9.99988333e-01 1.79216471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.52, Y:99.11, Z:1.79 [[-6.28067025e-01 7.78152822e-01 3.16187175e-03 1.20524235e+02] [-7.78144270e-01 -6.28074962e-01 3.65193757e-03 9.91124795e+01] [ 4.82765801e-03 -1.66730821e-04 9.99988333e-01 1.79159027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.57, Y:99.17, Z:1.79 [[-6.28276088e-01 7.77984040e-01 3.16080528e-03 1.20573092e+02] [-7.77975481e-01 -6.28284018e-01 3.65286188e-03 9.91659632e+01] [ 4.82775168e-03 -1.64023235e-04 9.99988333e-01 1.79001377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23762800000003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:120.57, Y:99.16, Z:1.79 [[-6.29093095e-01 7.77323523e-01 3.16525579e-03 1.20573969e+02] [-7.77314975e-01 -6.29101036e-01 3.64900137e-03 9.91638310e+01] [ 4.82772030e-03 -1.64839162e-04 9.99988333e-01 1.78752622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.01, Y:98.57, Z:2.77 [[-6.16578699e-01 -7.87286911e-01 -3.16663255e-03 1.21005249e+02] [-7.87278498e-01 6.16586782e-01 -3.64780622e-03 9.85697412e+01] [ 4.82437387e-03 2.43862103e-04 -9.99988333e-01 2.77212754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.41, Y:99.00, Z:1.79 [[-5.74242570e-01 8.18680241e-01 2.85197074e-03 1.20407193e+02] [-8.18671050e-01 -5.74249642e-01 3.88089383e-03 9.89985699e+01] [ 4.81495428e-03 -1.06251433e-04 9.99988402e-01 1.78764427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.327628 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:120.51, Y:99.14, Z:1.78 [[-5.77405066e-01 8.16452793e-01 2.86820781e-03 1.20514961e+02] [-8.16443634e-01 -5.77412179e-01 3.86885635e-03 9.91381491e+01] [ 4.81487670e-03 -1.07832754e-04 9.99988403e-01 1.78419533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35762800000003 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:120.50, Y:99.12, Z:1.78 [[-5.79632475e-01 8.14872961e-01 2.87260862e-03 1.20503978e+02] [-8.14863798e-01 -5.79639585e-01 3.86558601e-03 9.91214236e+01] [ 4.81503918e-03 -1.00165585e-04 9.99988403e-01 1.78447387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.51, Y:99.13, Z:1.79 [[-5.85598114e-01 8.10596440e-01 2.87408090e-03 1.20509609e+02] [-8.10587231e-01 -5.85605163e-01 3.86449105e-03 9.91270116e+01] [ 4.81561930e-03 -6.66546134e-05 9.99988403e-01 1.78861265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41762800000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:120.51, Y:99.12, Z:1.79 [[-5.86461623e-01 8.09971910e-01 2.87573937e-03 1.20508825e+02] [-8.09962699e-01 -5.86468670e-01 3.86325651e-03 9.91210913e+01] [ 4.81566030e-03 -6.35899417e-05 9.99988403e-01 1.78755184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.50, Y:99.11, Z:1.79 [[-5.91665227e-01 8.06178665e-01 2.86691346e-03 1.20502754e+02] [-8.06169377e-01 -5.91672173e-01 3.86983260e-03 9.91117551e+01] [ 4.81604939e-03 -2.15724563e-05 9.99988403e-01 1.78991431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.50, Y:99.11, Z:1.79 [[-5.97005833e-01 8.02231729e-01 2.87893155e-03 1.20504491e+02] [-8.02222438e-01 -5.97012775e-01 3.86087108e-03 9.91089554e+01] [ 4.81607220e-03 -4.58093015e-06 9.99988403e-01 1.78899444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.50, Y:99.10, Z:1.79 [[-5.99721886e-01 8.00203326e-01 2.88041059e-03 1.20501795e+02] [-8.00194017e-01 -5.99728803e-01 3.85976732e-03 9.91025913e+01] [ 4.81606385e-03 9.89961581e-06 9.99988403e-01 1.78806424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.53762800000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:120.50, Y:99.10, Z:1.79 [[-6.02305621e-01 7.98260380e-01 2.88188574e-03 1.20501029e+02] [-7.98251054e-01 -6.02312515e-01 3.85866560e-03 9.90989766e+01] [ 4.81601571e-03 2.36276526e-05 9.99988403e-01 1.78575898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.50, Y:99.10, Z:1.79 [[-6.04740495e-01 7.96417365e-01 2.88336837e-03 1.20499919e+02] [-7.96408024e-01 -6.04747368e-01 3.85755739e-03 9.90963900e+01] [ 4.81593512e-03 3.64834574e-05 9.99988403e-01 1.78693796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.50, Y:99.09, Z:1.79 [[-6.07888700e-01 7.94017006e-01 2.88485157e-03 1.20496223e+02] [-7.94007643e-01 -6.07895543e-01 3.85644787e-03 9.90925825e+01] [ 4.81577360e-03 5.36968816e-05 9.99988403e-01 1.78678914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.49, Y:99.09, Z:1.79 [[-6.08895468e-01 7.93245219e-01 2.88633608e-03 1.20492990e+02] [-7.93235852e-01 -6.08902306e-01 3.85533647e-03 9.90893737e+01] [ 4.81572392e-03 5.79516475e-05 9.99988403e-01 1.78703886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.49, Y:99.09, Z:1.79 [[-6.09353097e-01 7.92893728e-01 2.88781764e-03 1.20489712e+02] [-7.92884362e-01 -6.09359937e-01 3.85422640e-03 9.90866749e+01] [ 4.81571231e-03 5.88793506e-05 9.99988403e-01 1.78675983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.49, Y:99.09, Z:1.79 [[-6.09276251e-01 7.92952774e-01 2.88930626e-03 1.20489501e+02] [-7.92943414e-01 -6.09283099e-01 3.85311014e-03 9.90888285e+01] [ 4.81573985e-03 5.65521280e-05 9.99988403e-01 1.78724628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.49, Y:99.09, Z:1.79 [[-6.07514934e-01 7.94302995e-01 2.89079321e-03 1.20485850e+02] [-7.94293656e-01 -6.07521810e-01 3.85199423e-03 9.90904399e+01] [ 4.81587048e-03 4.40053126e-05 9.99988403e-01 1.78852684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.48, Y:99.09, Z:1.79 [[-6.05895260e-01 7.95539168e-01 2.89227650e-03 1.20484027e+02] [-7.95529849e-01 -6.05902163e-01 3.85088018e-03 9.90913516e+01] [ 4.81596260e-03 3.23377664e-05 9.99988403e-01 1.78902972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.48, Y:99.09, Z:1.79 [[-6.01564871e-01 7.98818711e-01 2.89375762e-03 1.20481562e+02] [-7.98809434e-01 -6.01571831e-01 3.84976686e-03 9.90931236e+01] [ 4.81606887e-03 4.32361395e-06 9.99988403e-01 1.78904060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.48, Y:99.09, Z:1.79 [[-5.99017294e-01 8.00730852e-01 2.89541885e-03 1.20480527e+02] [-8.00721604e-01 -5.99024292e-01 3.84851705e-03 9.90936638e+01] [ 4.81605256e-03 -1.30961526e-05 9.99988403e-01 1.78842974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.48, Y:99.09, Z:1.79 [[-5.96430187e-01 8.02659728e-01 2.89707531e-03 1.20478949e+02] [-8.02650508e-01 -5.96437222e-01 3.84726970e-03 9.90946420e+01] [ 4.81597200e-03 -3.07111817e-05 9.99988403e-01 1.78782063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:99.09, Z:1.79 [[-5.94204557e-01 8.04308735e-01 2.89872762e-03 1.20473815e+02] [-8.04299541e-01 -5.94211626e-01 3.84602436e-03 9.90921754e+01] [ 4.81584864e-03 -4.61200932e-05 9.99988403e-01 1.78709613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.89762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:99.09, Z:1.79 [[-5.91639922e-01 8.06197115e-01 2.90075734e-03 1.20471885e+02] [-8.06187951e-01 -5.91647029e-01 3.84449289e-03 9.90930979e+01] [ 4.81564354e-03 -6.40001463e-05 9.99988403e-01 1.78715333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:99.10, Z:1.79 [[-5.86813473e-01 8.09716941e-01 2.90222425e-03 1.20474246e+02] [-8.09707825e-01 -5.86820642e-01 3.84338519e-03 9.90995344e+01] [ 4.81513920e-03 -9.46034764e-05 9.99988403e-01 1.78654678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:99.10, Z:1.79 [[-5.84478408e-01 8.11404067e-01 2.90368493e-03 1.20472245e+02] [-8.11394977e-01 -5.84485610e-01 3.84228133e-03 9.90974376e+01] [ 4.81480475e-03 -1.10304896e-04 9.99988403e-01 1.78638704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:99.10, Z:1.79 [[-5.81991898e-01 8.13189393e-01 2.90550710e-03 1.20471904e+02] [-8.13180332e-01 -5.81999136e-01 3.84090292e-03 9.90974114e+01] [ 4.81438414e-03 -1.27326853e-04 9.99988403e-01 1.78565046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:99.10, Z:1.79 [[-5.76944258e-01 8.16778349e-01 2.90713941e-03 1.20472316e+02] [-8.16769340e-01 -5.76951560e-01 3.83966704e-03 9.90997803e+01] [ 4.81343553e-03 -1.59188483e-04 9.99988403e-01 1.78541156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:99.10, Z:1.79 [[-5.75304713e-01 8.17933999e-01 2.90858698e-03 1.20469928e+02] [-8.17925010e-01 -5.75312040e-01 3.83857018e-03 9.90988972e+01] [ 4.81304217e-03 -1.70658516e-04 9.99988403e-01 1.78584212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:99.10, Z:1.79 [[-5.74348795e-01 8.18605518e-01 2.91003224e-03 1.20467790e+02] [-8.18596542e-01 -5.74356139e-01 3.83747421e-03 9.90985860e+01] [ 4.81277245e-03 -1.78093639e-04 9.99988403e-01 1.78636990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:99.10, Z:1.79 [[-5.74420469e-01 8.18555218e-01 2.91183971e-03 1.20465465e+02] [-8.18546249e-01 -5.74427822e-01 3.83610224e-03 9.90963740e+01] [ 4.81270324e-03 -1.79939822e-04 9.99988403e-01 1.78578096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.137628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:120.46, Y:99.09, Z:1.78 [[-5.75128628e-01 8.18057806e-01 2.91328144e-03 1.20462530e+02] [-8.18048836e-01 -5.75135979e-01 3.83500701e-03 9.90890287e+01] [ 4.81279040e-03 -1.77584172e-04 9.99988403e-01 1.78246911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:99.09, Z:1.78 [[-5.76522190e-01 8.17076293e-01 2.91490424e-03 1.20465936e+02] [-8.17067316e-01 -5.76529533e-01 3.83377316e-03 9.90899107e+01] [ 4.81301354e-03 -1.71417686e-04 9.99988403e-01 1.78284107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.197628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:120.46, Y:99.08, Z:1.78 [[-5.77859272e-01 8.16131213e-01 2.91634769e-03 1.20462053e+02] [-8.16122231e-01 -5.77866607e-01 3.83267482e-03 9.90824876e+01] [ 4.81322549e-03 -1.65349507e-04 9.99988403e-01 1.77904898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.22762800000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.46, Y:99.08, Z:1.78 [[-5.82724042e-01 8.12664861e-01 2.91796950e-03 1.20460325e+02] [-8.12655841e-01 -5.82731331e-01 3.83143967e-03 9.90809687e+01] [ 4.81406864e-03 -1.38632948e-04 9.99988403e-01 1.78245560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.257628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:120.46, Y:99.08, Z:1.78 [[-5.85895293e-01 8.10381504e-01 2.91959308e-03 1.20456923e+02] [-8.10372461e-01 -5.85902555e-01 3.83020209e-03 9.90759802e+01] [ 4.81452197e-03 -1.21860448e-04 9.99988403e-01 1.77895872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.45, Y:99.07, Z:1.78 [[-5.89681039e-01 8.07630944e-01 2.92085778e-03 1.20454749e+02] [-8.07621872e-01 -5.89688264e-01 3.82923740e-03 9.90714477e+01] [ 4.81500617e-03 -1.00919942e-04 9.99988403e-01 1.78243637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.45, Y:99.06, Z:1.78 [[-5.93817858e-01 8.04594190e-01 2.92230402e-03 1.20449733e+02] [-8.04585087e-01 -5.93825044e-01 3.82813338e-03 9.90640750e+01] [ 4.81543119e-03 -7.80282697e-05 9.99988403e-01 1.78144735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.45, Y:99.06, Z:1.78 [[-6.02029256e-01 7.98468675e-01 2.92393383e-03 1.20445565e+02] [-7.98459505e-01 -6.02036356e-01 3.82688812e-03 9.90571505e+01] [ 4.81596476e-03 -3.07441556e-05 9.99988403e-01 1.78287852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.44, Y:99.05, Z:1.78 [[-6.06278224e-01 7.95247231e-01 2.92538920e-03 1.20441924e+02] [-7.95238028e-01 -6.06285281e-01 3.82577527e-03 9.90506656e+01] [ 4.81605760e-03 -6.89650769e-06 9.99988403e-01 1.78377368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.44, Y:99.04, Z:1.79 [[-6.10074800e-01 7.92338420e-01 2.92684994e-03 1.20439193e+02] [-7.92329189e-01 -6.10081821e-01 3.82465743e-03 9.90441453e+01] [ 4.81604096e-03 1.42984790e-05 9.99988403e-01 1.78512184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.44, Y:99.04, Z:1.79 [[-6.15960805e-01 7.87771358e-01 2.92831559e-03 1.20435946e+02] [-7.87762080e-01 -6.15967763e-01 3.82353494e-03 9.90392929e+01] [ 4.81581931e-03 4.83316798e-05 9.99988403e-01 1.78580206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.43, Y:99.03, Z:1.79 [[-6.18220806e-01 7.85999016e-01 2.92968973e-03 1.20428657e+02] [-7.85989723e-01 -6.18227744e-01 3.82248174e-03 9.90331519e+01] [ 4.81568236e-03 6.04317257e-05 9.99988403e-01 1.78849656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.43, Y:99.03, Z:1.79 [[-6.19434372e-01 7.85042970e-01 2.93153664e-03 1.20427257e+02] [-7.85033674e-01 -6.19441305e-01 3.82106478e-03 9.90347763e+01] [ 4.81561493e-03 6.55438828e-05 9.99988403e-01 1.79009963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:99.03, Z:1.79 [[-6.19232857e-01 7.85201926e-01 2.93319458e-03 1.20421740e+02] [-7.85192638e-01 -6.19239801e-01 3.81979167e-03 9.90317117e+01] [ 4.81565860e-03 6.22177191e-05 9.99988403e-01 1.79257565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:99.03, Z:1.79 [[-6.18389469e-01 7.85866307e-01 2.93466915e-03 1.20422121e+02] [-7.85857031e-01 -6.18396430e-01 3.81865844e-03 9.90336524e+01] [ 4.81574394e-03 5.51877800e-05 9.99988403e-01 1.79307006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:99.03, Z:1.79 [[-6.17299669e-01 7.86722631e-01 2.93614280e-03 1.20420174e+02] [-7.86713370e-01 -6.17306650e-01 3.81752503e-03 9.90320908e+01] [ 4.81583381e-03 4.66541418e-05 9.99988403e-01 1.79312043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:99.03, Z:1.79 [[-6.16049573e-01 7.87701907e-01 2.93761378e-03 1.20417365e+02] [-7.87692663e-01 -6.16056575e-01 3.81639276e-03 9.90291056e+01] [ 4.81591614e-03 3.71503038e-05 9.99988403e-01 1.79238618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.64762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:99.03, Z:1.79 [[-6.13086677e-01 7.90010183e-01 2.93908557e-03 1.20416938e+02] [-7.90000970e-01 -6.13093721e-01 3.81525897e-03 9.90320921e+01] [ 4.81602834e-03 1.72039970e-05 9.99988403e-01 1.79003986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:99.03, Z:1.79 [[-6.11927365e-01 7.90908498e-01 2.94055519e-03 1.20415624e+02] [-7.90899302e-01 -6.11934430e-01 3.81412595e-03 9.90332582e+01] [ 4.81605159e-03 8.28499727e-06 9.99988403e-01 1.78881487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.41, Y:99.03, Z:1.79 [[-6.10795102e-01 7.91783233e-01 2.94202070e-03 1.20413729e+02] [-7.91774052e-01 -6.10802187e-01 3.81299519e-03 9.90332421e+01] [ 4.81605834e-03 -4.56861187e-07 9.99988403e-01 1.78718519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73762800000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:120.41, Y:99.04, Z:1.78 [[-6.09031881e-01 7.93140280e-01 2.94348357e-03 1.20411451e+02] [-7.93131120e-01 -6.09038994e-01 3.81186557e-03 9.90360992e+01] [ 4.81604040e-03 -1.30207636e-05 9.99988403e-01 1.78397971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.41, Y:99.03, Z:1.79 [[-6.09148050e-01 7.93051057e-01 2.94512424e-03 1.20406926e+02] [-7.93041902e-01 -6.09155170e-01 3.81059754e-03 9.90334424e+01] [ 4.81603606e-03 -1.43888724e-05 9.99988403e-01 1.78543848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79762800000003 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:120.40, Y:99.03, Z:1.78 [[-6.08965484e-01 7.93191246e-01 2.94732772e-03 1.20403896e+02] [-7.93182101e-01 -6.08972616e-01 3.80889248e-03 9.90308978e+01] [ 4.81602205e-03 -1.82835398e-05 9.99988403e-01 1.78362331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.40, Y:99.03, Z:1.78 [[-6.09914153e-01 7.92462006e-01 2.94878417e-03 1.20403922e+02] [-7.92452858e-01 -6.09921281e-01 3.80776459e-03 9.90304155e+01] [ 4.81603498e-03 -1.43629336e-05 9.99988403e-01 1.78490058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.40, Y:99.02, Z:1.78 [[-6.11893713e-01 7.90934497e-01 2.95041951e-03 1.20402089e+02] [-7.90925337e-01 -6.11900826e-01 3.80649704e-03 9.90219526e+01] [ 4.81605395e-03 -4.38993470e-06 9.99988403e-01 1.78306110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.40, Y:99.02, Z:1.78 [[-6.13596547e-01 7.89614186e-01 2.95205546e-03 1.20401897e+02] [-7.89605017e-01 -6.13603649e-01 3.80522788e-03 9.90186574e+01] [ 4.81605392e-03 3.91688917e-06 9.99988403e-01 1.78261973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.40, Y:99.02, Z:1.78 [[-6.15166374e-01 7.88391786e-01 2.95369327e-03 1.20401860e+02] [-7.88382609e-01 -6.15173465e-01 3.80395616e-03 9.90158605e+01] [ 4.81604151e-03 1.14255080e-05 9.99988403e-01 1.78347234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.40, Y:99.01, Z:1.78 [[-6.16639428e-01 7.87240168e-01 2.95515001e-03 1.20401200e+02] [-7.87230984e-01 -6.16646509e-01 3.80282413e-03 9.90117644e+01] [ 4.81601885e-03 1.85856498e-05 9.99988403e-01 1.78334648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97762800000004 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:120.40, Y:99.01, Z:1.78 [[-6.16164265e-01 7.87612123e-01 2.95678679e-03 1.20397935e+02] [-7.87602948e-01 -6.16171359e-01 3.80155108e-03 9.90070220e+01] [ 4.81603505e-03 1.36059338e-05 9.99988403e-01 1.78049269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.007628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:120.40, Y:99.01, Z:1.78 [[-6.15621840e-01 7.88036166e-01 2.95842483e-03 1.20396480e+02] [-7.88027002e-01 -6.15628948e-01 3.80027589e-03 9.90059884e+01] [ 4.81604681e-03 8.21418583e-06 9.99988403e-01 1.78170320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.03762800000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:120.40, Y:99.00, Z:1.78 [[-6.15923763e-01 7.87800200e-01 2.96024952e-03 1.20395079e+02] [-7.87791041e-01 -6.15930877e-01 3.79885401e-03 9.90040709e+01] [ 4.81604703e-03 7.74640906e-06 9.99988403e-01 1.78171551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:99.00, Z:1.78 [[-6.13225054e-01 7.89902691e-01 2.96170479e-03 1.20393067e+02] [-7.89893562e-01 -6.13232206e-01 3.79771910e-03 9.90044663e+01] [ 4.81604130e-03 -1.05750441e-05 9.99988403e-01 1.78267006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.09762800000004 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:120.39, Y:99.01, Z:1.78 [[-6.12199791e-01 7.90697593e-01 2.95486366e-03 1.20393883e+02] [-7.90688447e-01 -6.12206922e-01 3.80305736e-03 9.90064266e+01] [ 4.81605629e-03 -8.14563292e-06 9.99988403e-01 1.77942002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:99.00, Z:1.78 [[-6.12165312e-01 7.90724252e-01 2.96441640e-03 1.20390581e+02] [-7.90715143e-01 -6.12172489e-01 3.79559653e-03 9.90042147e+01] [ 4.81600440e-03 -2.04763979e-05 9.99988403e-01 1.78094322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.15762800000005 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:120.39, Y:99.00, Z:1.78 [[-6.11984727e-01 7.90864020e-01 2.96586560e-03 1.20389585e+02] [-7.90854917e-01 -6.11991913e-01 3.79446379e-03 9.90038198e+01] [ 4.81599065e-03 -2.34155046e-05 9.99988403e-01 1.77897336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.38, Y:98.99, Z:1.78 [[-6.14353565e-01 7.89025279e-01 2.96758207e-03 1.20378963e+02] [-7.89016162e-01 -6.14360732e-01 3.79312090e-03 9.89882840e+01] [ 4.81603417e-03 -1.11528713e-05 9.99988403e-01 1.78028456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:98.99, Z:1.78 [[-6.16254297e-01 7.87541697e-01 2.95234682e-03 1.20385530e+02] [-7.87532505e-01 -6.16261369e-01 3.80504556e-03 9.89937049e+01] [ 4.81604933e-03 1.98065868e-05 9.99988403e-01 1.77951336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:98.99, Z:1.78 [[-6.17632928e-01 7.86460897e-01 2.97057231e-03 1.20385750e+02] [-7.86451761e-01 -6.17640072e-01 3.79076344e-03 9.89906220e+01] [ 4.81603171e-03 5.08850117e-06 9.99988403e-01 1.77880560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:98.99, Z:1.78 [[-6.17323413e-01 7.86703864e-01 2.97220272e-03 1.20387430e+02] [-7.86694737e-01 -6.17330568e-01 3.78948466e-03 9.89896166e+01] [ 4.81603382e-03 1.12136620e-06 9.99988403e-01 1.77876128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:98.99, Z:1.78 [[-6.15876450e-01 7.87837138e-01 2.97365078e-03 1.20385584e+02] [-7.87828029e-01 -6.15883629e-01 3.78834801e-03 9.89889060e+01] [ 4.81602409e-03 -9.57111203e-06 9.99988403e-01 1.78035362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.33762800000005 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:120.38, Y:98.98, Z:1.78 [[-6.13432754e-01 7.89741375e-01 2.96929675e-03 1.20379771e+02] [-7.89732272e-01 -6.13439940e-01 3.79176729e-03 9.89830035e+01] [ 4.81600074e-03 -1.89552226e-05 9.99988403e-01 1.77663361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.38, Y:98.99, Z:1.78 [[-6.08386720e-01 7.93635170e-01 2.96921291e-03 1.20383500e+02] [-7.93626113e-01 -6.08393963e-01 3.79183319e-03 9.89916178e+01] [ 4.81578339e-03 -4.95439478e-05 9.99988403e-01 1.78224259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.39762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.38, Y:98.99, Z:1.78 [[-6.05519461e-01 7.95824927e-01 2.97799309e-03 1.20380050e+02] [-7.95815930e-01 -6.05526779e-01 3.78492491e-03 9.89890261e+01] [ 4.81539215e-03 -7.80886573e-05 9.99988403e-01 1.78353938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.427628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:120.38, Y:98.99, Z:1.78 [[-6.02839267e-01 7.97857111e-01 2.97482980e-03 1.20383049e+02] [-7.97848126e-01 -6.02846600e-01 3.78741477e-03 9.89932674e+01] [ 4.81518183e-03 -9.02600436e-05 9.99988403e-01 1.78008629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.38, Y:98.98, Z:1.78 [[-5.99516507e-01 8.00356844e-01 2.97997557e-03 1.20375675e+02] [-8.00347911e-01 -5.99523901e-01 3.78336169e-03 9.89832374e+01] [ 4.81460600e-03 -1.16829437e-04 9.99988403e-01 1.78134937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:98.46, Z:2.78 [[-5.85931711e-01 -8.10354953e-01 -2.97997557e-03 1.20901833e+02] [-8.10346145e-01 5.85939255e-01 -3.78336169e-03 9.84604046e+01] [ 4.81195055e-03 1.98020127e-04 -9.99988403e-01 2.77760588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.517628 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:120.27, Y:98.89, Z:1.78 [[-5.42193092e-01 8.40249543e-01 2.71233971e-03 1.20266426e+02] [-8.40240191e-01 -5.42199861e-01 3.96638010e-03 9.88896026e+01] [ 4.80337928e-03 -1.28472941e-04 9.99988455e-01 1.78167184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.26, Y:98.89, Z:1.78 [[-5.43159012e-01 8.39625465e-01 2.71402355e-03 1.20264250e+02] [-8.39616111e-01 -5.43165778e-01 3.96522759e-03 9.88865068e+01] [ 4.80347077e-03 -1.24988797e-04 9.99988455e-01 1.78377912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.577628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:120.26, Y:98.88, Z:1.78 [[-5.44384993e-01 8.38831094e-01 2.71570511e-03 1.20262314e+02] [-8.38821736e-01 -5.44391753e-01 3.96407558e-03 9.88835011e+01] [ 4.80359732e-03 -1.20009221e-04 9.99988455e-01 1.78124357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.60762800000003 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:120.26, Y:98.88, Z:1.78 [[-5.49033142e-01 8.35796161e-01 2.71757832e-03 1.20257544e+02] [-8.35786772e-01 -5.49039860e-01 3.96279098e-03 9.88756889e+01] [ 4.80414431e-03 -9.56124239e-05 9.99988455e-01 1.78314794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.637628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:120.26, Y:98.87, Z:1.78 [[-5.51783930e-01 8.33982674e-01 2.71926188e-03 1.20255539e+02] [-8.33973269e-01 -5.51790624e-01 3.96163539e-03 9.88714870e+01] [ 4.80439849e-03 -8.18249765e-05 9.99988455e-01 1.78465862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.25, Y:98.86, Z:1.79 [[-5.58434789e-01 8.29543962e-01 2.72076432e-03 1.20249740e+02] [-8.29534508e-01 -5.58441415e-01 3.96060328e-03 9.88606846e+01] [ 4.80488201e-03 -4.52292363e-05 9.99988455e-01 1.78781945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.697628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:120.25, Y:98.86, Z:1.79 [[-5.61215842e-01 8.27665008e-01 2.72265222e-03 1.20249723e+02] [-8.27655539e-01 -5.61222445e-01 3.95930505e-03 9.88595532e+01] [ 4.80499178e-03 -3.13934721e-05 9.99988455e-01 1.78658082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.25, Y:98.85, Z:1.79 [[-5.64606445e-01 8.25355766e-01 2.72454294e-03 1.20246317e+02] [-8.25346275e-01 -5.64613018e-01 3.95800354e-03 9.88543352e+01] [ 4.80507346e-03 -1.39770591e-05 9.99988455e-01 1.78952502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.24, Y:98.85, Z:1.79 [[-5.67241977e-01 8.23546664e-01 2.72605270e-03 1.20244436e+02] [-8.23537158e-01 -5.67248527e-01 3.95696343e-03 9.88512450e+01] [ 4.80509342e-03 -4.49934174e-07 9.99988455e-01 1.78919234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.24, Y:98.85, Z:1.79 [[-5.70679896e-01 8.21168081e-01 2.72756482e-03 1.20240103e+02] [-8.21158552e-01 -5.70686414e-01 3.95592084e-03 9.88461696e+01] [ 4.80506011e-03 1.78013193e-05 9.99988455e-01 1.78962053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.24, Y:98.84, Z:1.79 [[-5.71801150e-01 8.20387711e-01 2.72926694e-03 1.20237047e+02] [-8.20378179e-01 -5.71807663e-01 3.95474617e-03 9.88424191e+01] [ 4.80504091e-03 2.22973630e-05 9.99988455e-01 1.79077754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.23, Y:98.84, Z:1.79 [[-5.72671188e-01 8.19780611e-01 2.73116588e-03 1.20234181e+02] [-8.19771079e-01 -5.72677701e-01 3.95343432e-03 9.88390851e+01] [ 4.80502660e-03 2.50871338e-05 9.99988455e-01 1.79135878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.23, Y:98.84, Z:1.79 [[-5.73370501e-01 8.19291646e-01 2.73268319e-03 1.20231540e+02] [-8.19282113e-01 -5.73377013e-01 3.95238525e-03 9.88368638e+01] [ 4.80501394e-03 2.73426563e-05 9.99988455e-01 1.79160366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.23, Y:98.84, Z:1.79 [[-5.73039984e-01 8.19522849e-01 2.73438941e-03 1.20228028e+02] [-8.19513324e-01 -5.73046507e-01 3.95120447e-03 9.88356482e+01] [ 4.80503465e-03 2.33295918e-05 9.99988455e-01 1.79194271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.937628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:120.22, Y:98.83, Z:1.79 [[-5.72775092e-01 8.19708002e-01 2.73609512e-03 1.20224631e+02] [-8.19698485e-01 -5.72781626e-01 3.95002296e-03 9.88328991e+01] [ 4.80505045e-03 1.97017378e-05 9.99988455e-01 1.78962104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.22, Y:98.83, Z:1.79 [[-5.72724831e-01 8.19743107e-01 2.73972579e-03 1.20219895e+02] [-8.19733603e-01 -5.72731384e-01 3.94750314e-03 9.88287681e+01] [ 4.80506543e-03 1.49877796e-05 9.99988456e-01 1.79356810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.22, Y:98.83, Z:1.79 [[-5.72242098e-01 8.20080158e-01 2.74142800e-03 1.20216948e+02] [-8.20070663e-01 -5.72248664e-01 3.94632064e-03 9.88291879e+01] [ 4.80507777e-03 1.00861234e-05 9.99988456e-01 1.79473070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:98.83, Z:1.80 [[-5.72426055e-01 8.19951759e-01 2.74313032e-03 1.20214067e+02] [-8.19942268e-01 -5.72432628e-01 3.94513699e-03 9.88268825e+01] [ 4.80507931e-03 9.09070861e-06 9.99988456e-01 1.79554482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:98.82, Z:1.80 [[-5.71946243e-01 8.20286511e-01 2.74483091e-03 1.20211494e+02] [-8.20277030e-01 -5.71952830e-01 3.94395345e-03 9.88241820e+01] [ 4.80508562e-03 4.20761692e-06 9.99988456e-01 1.79542260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:98.82, Z:1.80 [[-5.71285659e-01 8.20746704e-01 2.74653159e-03 1.20209461e+02] [-8.20737234e-01 -5.71292261e-01 3.94276875e-03 9.88223209e+01] [ 4.80508670e-03 -1.73349573e-06 9.99988456e-01 1.79533083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:98.82, Z:1.80 [[-5.68845174e-01 8.22440036e-01 2.74862064e-03 1.20206374e+02] [-8.22430592e-01 -5.68851815e-01 3.94131188e-03 9.88194694e+01] [ 4.80505052e-03 -1.85534595e-05 9.99988456e-01 1.79572912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.14762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:98.82, Z:1.80 [[-5.68083908e-01 8.22966044e-01 2.75031830e-03 1.20207456e+02] [-8.22956612e-01 -5.68090565e-01 3.94012687e-03 9.88212844e+01] [ 4.80502049e-03 -2.50699621e-05 9.99988456e-01 1.79513476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.20, Y:98.82, Z:1.79 [[-5.67402219e-01 8.23436183e-01 2.75201301e-03 1.20204495e+02] [-8.23426763e-01 -5.67408892e-01 3.93894282e-03 9.88161954e+01] [ 4.80498470e-03 -3.11162681e-05 9.99988456e-01 1.79361035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.207628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:120.21, Y:98.82, Z:1.79 [[-5.65659012e-01 8.24634645e-01 2.75389815e-03 1.20205410e+02] [-8.24625245e-01 -5.65665714e-01 3.93762440e-03 9.88157481e+01] [ 4.80488726e-03 -4.35812090e-05 9.99988456e-01 1.78950935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23762800000003 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:120.20, Y:98.81, Z:1.79 [[-5.65163542e-01 8.24974289e-01 2.75558870e-03 1.20204404e+02] [-8.24964899e-01 -5.65170258e-01 3.93644097e-03 9.88135664e+01] [ 4.80483937e-03 -4.85310308e-05 9.99988456e-01 1.79050104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.267628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:120.20, Y:98.81, Z:1.79 [[-5.64795667e-01 8.25226183e-01 2.75727627e-03 1.20203698e+02] [-8.25216801e-01 -5.64802394e-01 3.93525856e-03 9.88113550e+01] [ 4.80479464e-03 -5.27337246e-05 9.99988456e-01 1.79040201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:98.81, Z:1.79 [[-5.63860312e-01 8.25865568e-01 2.75896207e-03 1.20205684e+02] [-8.25856200e-01 -5.63867059e-01 3.93407631e-03 9.88071389e+01] [ 4.80470600e-03 -6.02364380e-05 9.99988456e-01 1.79439039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.327628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:120.21, Y:98.80, Z:1.79 [[-5.63566287e-01 8.26066231e-01 2.76064617e-03 1.20205869e+02] [-8.26056872e-01 -5.63573045e-01 3.93289418e-03 9.88038762e+01] [ 4.80465684e-03 -6.40041637e-05 9.99988456e-01 1.79139840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:98.80, Z:1.79 [[-5.63838490e-01 8.25880455e-01 2.76252085e-03 1.20205436e+02] [-8.25871099e-01 -5.63845254e-01 3.93157694e-03 9.88006344e+01] [ 4.80464682e-03 -6.47117206e-05 9.99988456e-01 1.79389294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.20, Y:98.80, Z:1.79 [[-5.63838173e-01 8.25880666e-01 2.76420141e-03 1.20202739e+02] [-8.25871316e-01 -5.63844944e-01 3.93039502e-03 9.87953104e+01] [ 4.80461825e-03 -6.67679151e-05 9.99988456e-01 1.79477873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.20, Y:98.79, Z:1.80 [[-5.64181523e-01 8.25646147e-01 2.76569791e-03 1.20201956e+02] [-8.25636800e-01 -5.64188297e-01 3.92934170e-03 9.87941451e+01] [ 4.80462023e-03 -6.65999883e-05 9.99988456e-01 1.79516550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.20, Y:98.79, Z:1.79 [[-5.64651620e-01 8.25324718e-01 2.76738057e-03 1.20201254e+02] [-8.25315372e-01 -5.64658398e-01 3.92815626e-03 9.87923505e+01] [ 4.80462914e-03 -6.59219285e-05 9.99988456e-01 1.79481090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:98.80, Z:1.79 [[-5.60988027e-01 8.27819283e-01 2.76906093e-03 1.20214273e+02] [-8.27809974e-01 -5.60994854e-01 3.92697138e-03 9.88007945e+01] [ 4.80425156e-03 -8.92723310e-05 9.99988456e-01 1.79240660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.20, Y:98.78, Z:1.79 [[-5.65532865e-01 8.24721197e-01 2.74326466e-03 1.20201154e+02] [-8.24711761e-01 -5.65539518e-01 3.94517161e-03 9.87836015e+01] [ 4.80509122e-03 -3.12784251e-05 9.99988455e-01 1.79166934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.20, Y:98.78, Z:1.79 [[-5.66407142e-01 8.24120904e-01 2.77230462e-03 1.20201938e+02] [-8.24111561e-01 -5.66413923e-01 3.92465833e-03 9.87824799e+01] [ 4.80466491e-03 -6.17337759e-05 9.99988456e-01 1.79150408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.567628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:120.20, Y:98.78, Z:1.79 [[-5.68909554e-01 8.22395418e-01 2.77398282e-03 1.20198425e+02] [-8.22386061e-01 -5.68916315e-01 3.92347180e-03 9.87767666e+01] [ 4.80480932e-03 -4.91842096e-05 9.99988456e-01 1.78856673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.19, Y:98.77, Z:1.79 [[-5.71219932e-01 8.20792351e-01 2.77604510e-03 1.20194764e+02] [-8.20782981e-01 -5.71226676e-01 3.92201210e-03 9.87721005e+01] [ 4.80490855e-03 -3.81990886e-05 9.99988456e-01 1.79270096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.19, Y:98.77, Z:1.79 [[-5.73233860e-01 8.19387105e-01 2.77753467e-03 1.20192696e+02] [-8.19377724e-01 -5.73240588e-01 3.92095691e-03 9.87693241e+01] [ 4.80497714e-03 -2.82247708e-05 9.99988456e-01 1.79325804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.65762800000005 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:120.19, Y:98.76, Z:1.79 [[-5.74906225e-01 8.18214586e-01 2.77921620e-03 1.20189298e+02] [-8.18205197e-01 -5.74912943e-01 3.91976467e-03 9.87649271e+01] [ 4.80501599e-03 -2.04720276e-05 9.99988456e-01 1.79230790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:98.76, Z:1.80 [[-5.77469600e-01 8.16407452e-01 2.78089908e-03 1.20183252e+02] [-8.16398048e-01 -5.77476296e-01 3.91857038e-03 9.87583974e+01] [ 4.80505335e-03 -7.46530830e-06 9.99988456e-01 1.79578759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:98.76, Z:1.80 [[-5.78586361e-01 8.15616381e-01 2.78240075e-03 1.20183934e+02] [-8.15606973e-01 -5.78593051e-01 3.91750382e-03 9.87591121e+01] [ 4.80505802e-03 -2.73117348e-06 9.99988456e-01 1.79669190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:98.76, Z:1.80 [[-5.79290835e-01 8.15116175e-01 2.78390376e-03 1.20183507e+02] [-8.15106766e-01 -5.79297524e-01 3.91643544e-03 9.87571777e+01] [ 4.80505843e-03 -4.23632190e-07 9.99988456e-01 1.79614784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:98.75, Z:1.80 [[-5.79786638e-01 8.14763583e-01 2.78540411e-03 1.20181291e+02] [-8.14754175e-01 -5.79793329e-01 3.91536808e-03 9.87535140e+01] [ 4.80505805e-03 6.58474741e-07 9.99988456e-01 1.79674261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.19, Y:98.76, Z:1.80 [[-5.75848152e-01 8.17551917e-01 2.78728280e-03 1.20186155e+02] [-8.17542548e-01 -5.75854897e-01 3.91403022e-03 9.87576156e+01] [ 4.80499336e-03 -2.48352104e-05 9.99988456e-01 1.79787491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:98.75, Z:1.80 [[-5.78809003e-01 8.15458464e-01 2.76257129e-03 1.20176793e+02] [-8.15448986e-01 -5.78815595e-01 3.93163457e-03 9.87499653e+01] [ 4.80510403e-03 2.29295265e-05 9.99988455e-01 1.79915740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.17, Y:98.75, Z:1.80 [[-5.75383119e-01 8.17879258e-01 2.79033357e-03 1.20173499e+02] [-8.17869904e-01 -5.75389884e-01 3.91183157e-03 9.87490670e+01] [ 4.80493561e-03 -3.13279951e-05 9.99988456e-01 1.79969033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.89762800000005 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:120.17, Y:98.75, Z:1.80 [[-5.73106765e-01 8.19475956e-01 2.79183340e-03 1.20171605e+02] [-8.19466625e-01 -5.73113563e-01 3.91076086e-03 9.87466939e+01] [ 4.80481208e-03 -4.65307861e-05 9.99988456e-01 1.79650991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.927628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:120.17, Y:98.74, Z:1.80 [[-5.73420634e-01 8.19256352e-01 2.79390410e-03 1.20170285e+02] [-8.19247027e-01 -5.73427438e-01 3.90928096e-03 9.87447201e+01] [ 4.80480453e-03 -4.72352624e-05 9.99988456e-01 1.79652229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.957628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:120.17, Y:98.75, Z:1.80 [[-5.71287748e-01 8.20745085e-01 2.79540121e-03 1.20173361e+02] [-8.20735783e-01 -5.71294584e-01 3.90821013e-03 9.87476008e+01] [ 4.80464183e-03 -6.15732378e-05 9.99988456e-01 1.79521973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.17, Y:98.75, Z:1.80 [[-5.69787442e-01 8.21787349e-01 2.79707846e-03 1.20174228e+02] [-8.21778065e-01 -5.69794303e-01 3.90700936e-03 9.87473886e+01] [ 4.80449024e-03 -7.24128558e-05 9.99988456e-01 1.79706621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.017628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:120.17, Y:98.75, Z:1.79 [[-5.66400968e-01 8.24125058e-01 2.79856482e-03 1.20174222e+02] [-8.24115807e-01 -5.66407874e-01 3.90594441e-03 9.87456597e+01] [ 4.80411581e-03 -9.40108152e-05 9.99988456e-01 1.79204925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.04762800000003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:120.17, Y:98.75, Z:1.79 [[-5.65902652e-01 8.24467312e-01 2.80004881e-03 1.20174153e+02] [-8.24458070e-01 -5.65909571e-01 3.90488029e-03 9.87459210e+01] [ 4.80402058e-03 -9.87407252e-05 9.99988456e-01 1.79282219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.077628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:120.17, Y:98.74, Z:1.79 [[-5.65518221e-01 8.24731042e-01 2.80171375e-03 1.20168989e+02] [-8.24721810e-01 -5.65525152e-01 3.90368535e-03 9.87390139e+01] [ 4.80393008e-03 -1.03029244e-04 9.99988456e-01 1.79367124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.17, Y:98.74, Z:1.80 [[-5.65626248e-01 8.24656953e-01 2.80319615e-03 1.20169475e+02] [-8.24647725e-01 -5.65633184e-01 3.90262056e-03 9.87415994e+01] [ 4.80390395e-03 -1.04224704e-04 9.99988456e-01 1.79875406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.17, Y:98.74, Z:1.80 [[-5.66371702e-01 8.24145150e-01 2.80486255e-03 1.20166874e+02] [-8.24135922e-01 -5.66378638e-01 3.90142253e-03 9.87376995e+01] [ 4.80395269e-03 -1.01932666e-04 9.99988456e-01 1.80041572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:98.73, Z:1.80 [[-5.67738645e-01 8.23204079e-01 2.80634263e-03 1.20164519e+02] [-8.23194844e-01 -5.67745573e-01 3.90035760e-03 9.87329942e+01] [ 4.80407889e-03 -9.57830396e-05 9.99988456e-01 1.80198550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:98.73, Z:1.80 [[-5.69331132e-01 8.22103507e-01 2.80819840e-03 1.20162651e+02] [-8.22094266e-01 -5.69338051e-01 3.89902102e-03 9.87283282e+01] [ 4.80421305e-03 -8.87697512e-05 9.99988456e-01 1.80277566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:98.72, Z:1.80 [[-5.72634523e-01 8.19805958e-01 2.80968172e-03 1.20163208e+02] [-8.19796694e-01 -5.72641412e-01 3.89795183e-03 9.87238345e+01] [ 4.80450424e-03 -7.12659957e-05 9.99988456e-01 1.80398656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:98.72, Z:1.80 [[-5.74774740e-01 8.18306847e-01 2.81116634e-03 1.20160658e+02] [-8.18297571e-01 -5.74781611e-01 3.89688084e-03 9.87193107e+01] [ 4.80465099e-03 -6.05419179e-05 9.99988456e-01 1.80487141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:98.72, Z:1.81 [[-5.76692409e-01 8.16956519e-01 2.81283634e-03 1.20157743e+02] [-8.16947232e-01 -5.76699266e-01 3.89567503e-03 9.87150591e+01] [ 4.80475776e-03 -5.13326466e-05 9.99988456e-01 1.80543028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:98.71, Z:1.81 [[-5.80114785e-01 8.14529874e-01 2.81432452e-03 1.20153641e+02] [-8.14520564e-01 -5.80121611e-01 3.89459963e-03 9.87081796e+01] [ 4.80491822e-03 -3.30103670e-05 9.99988456e-01 1.80564431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:98.71, Z:1.81 [[-5.81342179e-01 8.13654314e-01 2.81581650e-03 1.20153153e+02] [-8.13644998e-01 -5.81348998e-01 3.89352063e-03 9.87057401e+01] [ 4.80495195e-03 -2.76072492e-05 9.99988456e-01 1.80515909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:98.70, Z:1.80 [[-5.82423701e-01 8.12880493e-01 2.81731130e-03 1.20152336e+02] [-8.12871173e-01 -5.82430515e-01 3.89243871e-03 9.87006673e+01] [ 4.80497556e-03 -2.30625854e-05 9.99988456e-01 1.80298706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:98.70, Z:1.80 [[-5.82769848e-01 8.12632363e-01 2.81899162e-03 1.20155068e+02] [-8.12623047e-01 -5.82776666e-01 3.89122140e-03 9.87024645e+01] [ 4.80497498e-03 -2.30910581e-05 9.99988456e-01 1.80194918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:98.70, Z:1.80 [[-5.82926714e-01 8.12519840e-01 2.82048404e-03 1.20153726e+02] [-8.12510528e-01 -5.82933537e-01 3.89013934e-03 9.86981229e+01] [ 4.80497014e-03 -2.40068331e-05 9.99988456e-01 1.80091651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:98.70, Z:1.80 [[-5.82785835e-01 8.12620887e-01 2.82215844e-03 1.20154375e+02] [-8.12611582e-01 -5.82792667e-01 3.88892425e-03 9.86967688e+01] [ 4.80495432e-03 -2.69086649e-05 9.99988456e-01 1.79964696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:98.69, Z:1.80 [[-5.81974912e-01 8.13201838e-01 2.82364725e-03 1.20152867e+02] [-8.13192545e-01 -5.81981761e-01 3.88784296e-03 9.86942681e+01] [ 4.80491224e-03 -3.35418240e-05 9.99988456e-01 1.79844828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:98.69, Z:1.80 [[-5.81438230e-01 8.13585646e-01 2.82531879e-03 1.20151456e+02] [-8.13576363e-01 -5.81445093e-01 3.88662786e-03 9.86925995e+01] [ 4.80487238e-03 -3.87785690e-05 9.99988456e-01 1.79803722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:98.69, Z:1.80 [[-5.80871242e-01 8.13990546e-01 2.82698922e-03 1.20151538e+02] [-8.13981274e-01 -5.80878120e-01 3.88541247e-03 9.86925329e+01] [ 4.80482520e-03 -4.41919205e-05 9.99988456e-01 1.79893865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.58762800000005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:120.15, Y:98.69, Z:1.80 [[-5.79875458e-01 8.14700223e-01 2.82847275e-03 1.20148473e+02] [-8.14690964e-01 -5.79882354e-01 3.88433221e-03 9.86872599e+01] [ 4.80474775e-03 -5.19022731e-05 9.99988456e-01 1.79643254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.617628 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.15, Y:98.69, Z:1.80 [[-5.78791688e-01 8.15470523e-01 2.82995709e-03 1.20150329e+02] [-8.15461279e-01 -5.78798603e-01 3.88325048e-03 9.86885124e+01] [ 4.80465151e-03 -6.01273255e-05 9.99988456e-01 1.79887264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.64762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:98.69, Z:1.80 [[-5.78772962e-01 8.15483809e-01 2.83144052e-03 1.20149405e+02] [-8.15474570e-01 -5.78779884e-01 3.88216854e-03 9.86869612e+01] [ 4.80462640e-03 -6.20735541e-05 9.99988456e-01 1.79905041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.677628 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:120.15, Y:98.68, Z:1.80 [[-5.79274543e-01 8.15127584e-01 2.83310356e-03 1.20146178e+02] [-8.15118347e-01 -5.79281468e-01 3.88095452e-03 9.86824704e+01] [ 4.80463747e-03 -6.11765291e-05 9.99988456e-01 1.79632656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.14, Y:98.68, Z:1.80 [[-5.82084555e-01 8.13123320e-01 2.83514719e-03 1.20139461e+02] [-8.13114066e-01 -5.82091458e-01 3.87946102e-03 9.86762132e+01] [ 4.80479518e-03 -4.71237235e-05 9.99988456e-01 1.80091406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.14, Y:98.67, Z:1.80 [[-5.83906401e-01 8.11816065e-01 2.82685791e-03 1.20136891e+02] [-8.11806767e-01 -5.83913243e-01 3.88552313e-03 9.86726796e+01] [ 4.80496987e-03 -2.60805479e-05 9.99988456e-01 1.80002606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.14, Y:98.67, Z:1.80 [[-5.85772430e-01 8.10470607e-01 2.83817312e-03 1.20136650e+02] [-8.10461333e-01 -5.85779305e-01 3.87724030e-03 9.86714405e+01] [ 4.80493238e-03 -2.90490936e-05 9.99988456e-01 1.79884455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.14, Y:98.67, Z:1.79 [[-5.88785187e-01 8.08284565e-01 2.83984315e-03 1.20136911e+02] [-8.08275272e-01 -5.88792036e-01 3.87601672e-03 9.86690525e+01] [ 4.80500152e-03 -1.32337663e-05 9.99988456e-01 1.79487987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.14, Y:98.67, Z:1.79 [[-5.89631005e-01 8.07667756e-01 2.84141801e-03 1.20135978e+02] [-8.07658461e-01 -5.89637852e-01 3.87486188e-03 9.86675062e+01] [ 4.80500861e-03 -1.01565858e-05 9.99988456e-01 1.79277509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.13, Y:98.67, Z:1.79 [[-5.90104428e-01 8.07321920e-01 2.84289971e-03 1.20133553e+02] [-8.07312626e-01 -5.90111275e-01 3.87377449e-03 9.86658841e+01] [ 4.80501023e-03 -9.17735432e-06 9.99988456e-01 1.79200323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.13, Y:98.66, Z:1.79 [[-5.90244134e-01 8.07219779e-01 2.84438099e-03 1.20130145e+02] [-8.07210489e-01 -5.90250988e-01 3.87268652e-03 9.86641815e+01] [ 4.80500785e-03 -1.01836703e-05 9.99988456e-01 1.79198279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.12, Y:98.65, Z:1.79 [[-5.84897593e-01 8.11102156e-01 2.84586236e-03 1.20118667e+02] [-8.11092917e-01 -5.84904515e-01 3.87159763e-03 9.86516959e+01] [ 4.80481892e-03 -4.37706638e-05 9.99988456e-01 1.79343532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.12, Y:98.67, Z:1.79 [[-5.88729139e-01 8.08325471e-01 2.81669499e-03 1.20124172e+02] [-8.08316097e-01 -5.88735876e-01 3.89303861e-03 9.86660784e+01] [ 4.80513166e-03 1.51653625e-05 9.99988455e-01 1.79358884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.13, Y:98.67, Z:1.79 [[-5.87306853e-01 8.09359344e-01 2.84814026e-03 1.20126751e+02] [-8.09350093e-01 -5.87313758e-01 3.86989573e-03 9.86692668e+01] [ 4.80488824e-03 -3.23263029e-05 9.99988456e-01 1.79250001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.12, Y:98.66, Z:1.79 [[-5.89399999e-01 8.07836359e-01 2.83887408e-03 1.20116214e+02] [-8.07827057e-01 -5.89406835e-01 3.87672190e-03 9.86606930e+01] [ 4.80500869e-03 -8.37941334e-06 9.99988456e-01 1.79344975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.11, Y:98.66, Z:1.79 [[-5.90083664e-01 8.07337067e-01 2.85149081e-03 1.20113383e+02] [-8.07327804e-01 -5.90090553e-01 3.86741945e-03 9.86595594e+01] [ 4.80494886e-03 -1.99867768e-05 9.99988456e-01 1.79407771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.11, Y:98.66, Z:1.79 [[-5.91036870e-01 8.06639497e-01 2.85297016e-03 1.20110759e+02] [-8.06630231e-01 -5.91043756e-01 3.86632784e-03 9.86577148e+01] [ 4.80496294e-03 -1.61496738e-05 9.99988456e-01 1.79374614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.11, Y:98.66, Z:1.79 [[-5.92040882e-01 8.05902876e-01 2.85444982e-03 1.20109354e+02] [-8.05893607e-01 -5.92047764e-01 3.86523512e-03 9.86554815e+01] [ 4.80497473e-03 -1.20056506e-05 9.99988456e-01 1.79291185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.11, Y:98.65, Z:1.79 [[-5.94339368e-01 8.04209276e-01 2.85611229e-03 1.20107308e+02] [-8.04199993e-01 -5.94346230e-01 3.86400628e-03 9.86526343e+01] [ 4.80498927e-03 -3.54434494e-07 9.99988456e-01 1.78971166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.11, Y:98.65, Z:1.79 [[-5.95106592e-01 8.03641696e-01 2.85796362e-03 1.20105699e+02] [-8.03632413e-01 -5.95113455e-01 3.86263649e-03 9.86513398e+01] [ 4.80498834e-03 1.92823521e-06 9.99988456e-01 1.78900479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:98.65, Z:1.79 [[-5.95695603e-01 8.03205187e-01 2.85944064e-03 1.20102334e+02] [-8.03195905e-01 -5.95702465e-01 3.86154276e-03 9.86471169e+01] [ 4.80498702e-03 3.61302902e-06 9.99988456e-01 1.78852461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.08, Y:98.62, Z:1.79 [[-5.95409785e-01 8.03417079e-01 2.86091847e-03 1.20079724e+02] [-8.03407804e-01 -5.95416659e-01 3.86044757e-03 9.86156519e+01] [ 4.80498803e-03 6.40304301e-08 9.99988456e-01 1.78614803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.247628 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:120.10, Y:98.64, Z:1.79 [[-5.95178636e-01 8.03588376e-01 2.84831211e-03 1.20101835e+02] [-8.03579059e-01 -5.95185451e-01 3.86979326e-03 9.86448369e+01] [ 4.80499481e-03 1.43743088e-05 9.99988456e-01 1.78608449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:98.64, Z:1.79 [[-5.95259041e-01 8.03528765e-01 2.86319061e-03 1.20096137e+02] [-8.03519500e-01 -5.95265927e-01 3.85875343e-03 9.86387735e+01] [ 4.80497919e-03 -3.67162027e-06 9.99988456e-01 1.78921035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.307628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:120.09, Y:98.64, Z:1.79 [[-5.94961549e-01 8.03749057e-01 2.86504071e-03 1.20093801e+02] [-8.03739801e-01 -5.94968447e-01 3.85737928e-03 9.86411092e+01] [ 4.80497378e-03 -7.75489785e-06 9.99988456e-01 1.78937084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.09, Y:98.64, Z:1.79 [[-5.96492747e-01 8.02613348e-01 2.86651793e-03 1.20091358e+02] [-8.02604084e-01 -5.96499634e-01 3.85628121e-03 9.86386382e+01] [ 4.80497967e-03 -4.35222249e-07 9.99988456e-01 1.79162686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.09, Y:98.63, Z:1.79 [[-5.98763382e-01 8.00920835e-01 2.86836555e-03 1.20091998e+02] [-8.00911558e-01 -5.98770253e-01 3.85490643e-03 9.86344805e+01] [ 4.80496684e-03 1.08696895e-05 9.99988456e-01 1.78906670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.39762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.09, Y:98.63, Z:1.79 [[-6.00121481e-01 7.99903727e-01 2.86984011e-03 1.20090896e+02] [-7.99894443e-01 -6.00128343e-01 3.85380836e-03 9.86304646e+01] [ 4.80494806e-03 1.71840310e-05 9.99988456e-01 1.78869126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.427628 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:120.09, Y:98.63, Z:1.79 [[-6.00818541e-01 7.99380282e-01 2.87149766e-03 1.20088047e+02] [-7.99370999e-01 -6.00825402e-01 3.85257291e-03 9.86254861e+01] [ 4.80493956e-03 1.93052822e-05 9.99988456e-01 1.78505389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.457628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:120.09, Y:98.62, Z:1.78 [[-6.01715269e-01 7.98705503e-01 2.87297402e-03 1.20087281e+02] [-7.98696217e-01 -6.01722128e-01 3.85147163e-03 9.86248626e+01] [ 4.80492363e-03 2.28558111e-05 9.99988456e-01 1.78440908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.48762800000003 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:120.09, Y:98.62, Z:1.78 [[-6.02541630e-01 7.98082277e-01 2.87463360e-03 1.20086266e+02] [-7.98072990e-01 -6.02548487e-01 3.85023257e-03 9.86249143e+01] [ 4.80490850e-03 2.57579792e-05 9.99988456e-01 1.78460481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.517628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:120.08, Y:98.62, Z:1.79 [[-6.02897128e-01 7.97813751e-01 2.87610759e-03 1.20083089e+02] [-7.97804466e-01 -6.02903988e-01 3.84913119e-03 9.86219226e+01] [ 4.80490653e-03 2.60586662e-05 9.99988456e-01 1.78594834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.85, Y:98.31, Z:1.79 [[-6.03060224e-01 7.97690470e-01 2.87757598e-03 1.19852894e+02] [-7.97681189e-01 -6.03067088e-01 3.84803312e-03 9.83135686e+01] [ 4.80491072e-03 2.52074823e-05 9.99988456e-01 1.78777799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.577628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:120.60, Y:98.09, Z:2.78 [[-5.40061668e-01 -8.41620529e-01 -2.87757598e-03 1.20595311e+02] [-8.41611802e-01 5.40069225e-01 -3.84803312e-03 9.80943667e+01] [ 4.79267390e-03 3.43626722e-04 -9.99988456e-01 2.78022367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.52, Y:98.03, Z:2.78 [[-4.82345476e-01 -8.75976347e-01 -2.87757598e-03 1.20520278e+02] [-8.75968147e-01 4.82353602e-01 -3.84803312e-03 9.80339964e+01] [ 4.75879514e-03 6.64583532e-04 -9.99988456e-01 2.77723814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.85, Y:98.40, Z:1.79 [[-4.86938426e-01 8.73433248e-01 2.30876843e-03 1.19847810e+02] [-8.73423325e-01 -4.86943899e-01 4.16345610e-03 9.83962651e+01] [ 4.76074168e-03 1.08145620e-05 9.99988668e-01 1.79118910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.84, Y:98.39, Z:1.79 [[-4.86292763e-01 8.73792887e-01 2.31076631e-03 1.19841937e+02] [-8.73782973e-01 -4.86298253e-01 4.16234696e-03 9.83864997e+01] [ 4.76075078e-03 5.01094792e-06 9.99988668e-01 1.79154717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.84, Y:98.39, Z:1.79 [[-4.85231488e-01 8.74382671e-01 2.31267165e-03 1.19844918e+02] [-8.74372769e-01 -4.85236999e-01 4.16128805e-03 9.83934054e+01] [ 4.76075201e-03 -2.94911948e-06 9.99988668e-01 1.79275876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.84, Y:98.39, Z:1.79 [[-4.85447922e-01 8.74262522e-01 2.31467215e-03 1.19841774e+02] [-8.74252624e-01 -4.85453440e-01 4.16017499e-03 9.83886853e+01] [ 4.76075064e-03 -4.05990011e-06 9.99988668e-01 1.79252807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.84, Y:98.39, Z:1.79 [[-4.85866565e-01 8.74029928e-01 2.31646092e-03 1.19840874e+02] [-8.74020032e-01 -4.85872087e-01 4.15917873e-03 9.83876789e+01] [ 4.76075039e-03 -3.82735784e-06 9.99988668e-01 1.79193013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.78762800000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.84, Y:98.39, Z:1.79 [[-4.85879151e-01 8.74022925e-01 2.31865930e-03 1.19839326e+02] [-8.74013035e-01 -4.85884684e-01 4.15795282e-03 9.83858707e+01] [ 4.76074713e-03 -6.27586502e-06 9.99988668e-01 1.78811452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.83, Y:98.37, Z:1.79 [[-4.87400253e-01 8.73175589e-01 2.32044385e-03 1.19831569e+02] [-8.73165694e-01 -4.87405777e-01 4.15695667e-03 9.83731643e+01] [ 4.76075082e-03 -3.02319699e-08 9.99988668e-01 1.78930864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.83, Y:98.37, Z:1.79 [[-4.87778089e-01 8.72964571e-01 2.32223521e-03 1.19830068e+02] [-8.72954679e-01 -4.87783617e-01 4.15595571e-03 9.83703504e+01] [ 4.76075038e-03 -2.19552351e-08 9.99988668e-01 1.78932462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.83, Y:98.37, Z:1.79 [[-4.88375946e-01 8.72630239e-01 2.32403335e-03 1.19832561e+02] [-8.72620347e-01 -4.88381476e-01 4.15494993e-03 9.83737534e+01] [ 4.76074979e-03 1.17881240e-06 9.99988668e-01 1.78956094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.82, Y:98.34, Z:1.79 [[-4.88215163e-01 8.72720198e-01 2.32623672e-03 1.19815040e+02] [-8.72710313e-01 -4.88220704e-01 4.15371596e-03 9.83404541e+01] [ 4.76074875e-03 -2.22366234e-06 9.99988668e-01 1.78642657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.83, Y:98.37, Z:1.79 [[-4.86972665e-01 8.73414115e-01 2.32535561e-03 1.19832014e+02] [-8.73404235e-01 -4.86978217e-01 4.15420993e-03 9.83688388e+01] [ 4.76074312e-03 -7.98875898e-06 9.99988668e-01 1.78857030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.83, Y:98.36, Z:1.79 [[-4.86233441e-01 8.73825848e-01 2.32985965e-03 1.19829667e+02] [-8.73815986e-01 -4.86239022e-01 4.15168234e-03 9.83642322e+01] [ 4.76071602e-03 -1.71818208e-05 9.99988668e-01 1.78974005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.997628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.83, Y:98.36, Z:1.79 [[-4.84742969e-01 8.74653542e-01 2.33164349e-03 1.19829946e+02] [-8.74643693e-01 -4.84748575e-01 4.15068027e-03 9.83633282e+01] [ 4.76066805e-03 -2.73441955e-05 9.99988668e-01 1.78712715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.84, Y:98.37, Z:1.79 [[-4.81972348e-01 8.76183320e-01 2.33362934e-03 1.19837111e+02] [-8.76173495e-01 -4.81977995e-01 4.14956346e-03 9.83728383e+01] [ 4.76053628e-03 -4.46893288e-05 9.99988668e-01 1.78786029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.83, Y:98.36, Z:1.79 [[-4.81141854e-01 8.76639648e-01 2.33312613e-03 1.19831835e+02] [-8.76629827e-01 -4.81147508e-01 4.14984677e-03 9.83615363e+01] [ 4.76049804e-03 -4.86229909e-05 9.99988668e-01 1.79056967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.08762800000005 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:119.83, Y:98.36, Z:1.79 [[-4.79484638e-01 8.77547161e-01 2.33707732e-03 1.19830287e+02] [-8.77537362e-01 -4.79490330e-01 4.14762038e-03 9.83573021e+01] [ 4.76033846e-03 -6.21524069e-05 9.99988668e-01 1.78868705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.117628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.83, Y:98.35, Z:1.79 [[-4.78716718e-01 8.77966306e-01 2.33885097e-03 1.19827042e+02] [-8.77956516e-01 -4.78722426e-01 4.14661997e-03 9.83509711e+01] [ 4.76025303e-03 -6.83531472e-05 9.99988668e-01 1.78873897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.14762800000005 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:119.83, Y:98.35, Z:1.79 [[-4.77811085e-01 8.78459496e-01 2.34103384e-03 1.19828116e+02] [-8.78449719e-01 -4.77816814e-01 4.14538724e-03 9.83519493e+01] [ 4.76014011e-03 -7.57685419e-05 9.99988668e-01 1.79029930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.177628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:119.83, Y:98.35, Z:1.79 [[-4.78044199e-01 8.78332656e-01 2.34280723e-03 1.19827277e+02] [-8.78322882e-01 -4.78049934e-01 4.14438475e-03 9.83496824e+01] [ 4.76012730e-03 -7.65421102e-05 9.99988668e-01 1.78913050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.83, Y:98.35, Z:1.79 [[-4.79367121e-01 8.77611341e-01 2.34477863e-03 1.19825352e+02] [-8.77601563e-01 -4.79372851e-01 4.14326908e-03 9.83455475e+01] [ 4.76020315e-03 -7.16344136e-05 9.99988668e-01 1.79128220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.82, Y:98.34, Z:1.79 [[-4.81051801e-01 8.76689032e-01 2.34654658e-03 1.19820963e+02] [-8.76679248e-01 -4.81057520e-01 4.14226756e-03 9.83369030e+01] [ 4.76030441e-03 -6.45234191e-05 9.99988668e-01 1.79071141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.82, Y:98.33, Z:1.79 [[-4.82373922e-01 8.75962262e-01 2.34852118e-03 1.19819669e+02] [-8.75952475e-01 -4.82379636e-01 4.14114772e-03 9.83342904e+01] [ 4.76036792e-03 -5.96112740e-05 9.99988668e-01 1.79105254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.68, Y:98.09, Z:1.79 [[-4.85398529e-01 8.74289852e-01 2.35029662e-03 1.19680353e+02] [-8.74280050e-01 -4.85404216e-01 4.14013984e-03 9.80925892e+01] [ 4.76052613e-03 -4.51996579e-05 9.99988668e-01 1.79025731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.37, Y:97.84, Z:2.78 [[-4.43969437e-01 -8.96038847e-01 -2.35029662e-03 1.20372489e+02] [-8.96029322e-01 4.43975577e-01 -4.14013984e-03 9.78426874e+01] [ 4.75320042e-03 2.67839132e-04 -9.99988668e-01 2.77603672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.32, Y:97.80, Z:2.78 [[-3.81970017e-01 -9.24171728e-01 -2.35029662e-03 1.20317797e+02] [-9.24162643e-01 3.81976791e-01 -4.14013984e-03 9.77997398e+01] [ 4.72395895e-03 5.90647050e-04 -9.99988668e-01 2.77569093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.387628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:119.61, Y:98.07, Z:1.79 [[-3.61224350e-01 9.32477290e-01 1.75324652e-03 1.19606165e+02] [-9.32467008e-01 -3.61228600e-01 4.37917582e-03 9.80734447e+01] [ 4.71680479e-03 -5.29796029e-05 9.99988874e-01 1.79279762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41762800000004 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:119.61, Y:98.08, Z:1.79 [[-3.62816799e-01 9.31858835e-01 1.75533737e-03 1.19606414e+02] [-9.31848551e-01 -3.62821042e-01 4.37833757e-03 9.80750775e+01] [ 4.71686588e-03 -4.71741568e-05 9.99988874e-01 1.79142714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.25, Y:97.70, Z:2.78 [[-3.20827001e-01 -9.47136186e-01 -1.75533737e-03 1.20245275e+02] [-9.47126101e-01 3.20831699e-01 -4.37833757e-03 9.77030867e+01] [ 4.71004982e-03 2.57836925e-04 -9.99988874e-01 2.77522180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47762800000004 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:119.52, Y:97.92, Z:1.79 [[-2.95518496e-01 9.55335913e-01 1.45329138e-03 1.19517687e+02] [-9.55325428e-01 -2.95522062e-01 4.47639897e-03 9.79242547e+01] [ 4.70594436e-03 -6.55075209e-05 9.99988925e-01 1.79476987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.45, Y:97.72, Z:1.80 [[-2.94892125e-01 9.55529443e-01 1.45565339e-03 1.19452583e+02] [-9.55518964e-01 -2.94895709e-01 4.47563075e-03 9.77226120e+01] [ 4.70586290e-03 -7.10761574e-05 9.99988925e-01 1.79983887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.52, Y:97.93, Z:1.80 [[-2.95455933e-01 9.55355262e-01 1.45423137e-03 1.19521119e+02] [-9.55344778e-01 -2.95459505e-01 4.47609348e-03 9.79307908e+01] [ 4.70592594e-03 -6.68039659e-05 9.99988925e-01 1.79957769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:97.60, Z:2.77 [[-2.60328164e-01 -9.65519100e-01 -1.45423137e-03 1.20177282e+02] [-9.65508754e-01 2.60332116e-01 -4.47609348e-03 9.75958976e+01] [ 4.70033688e-03 2.38819918e-04 -9.99988925e-01 2.77335171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:97.77, Z:1.80 [[-2.32384770e-01 9.72623253e-01 1.15190946e-03 1.19439315e+02] [-9.72612600e-01 -2.32387616e-01 4.55258811e-03 9.77662429e+01] [ 4.69564255e-03 -6.24095127e-05 9.99988973e-01 1.80182881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:97.77, Z:1.80 [[-2.33986920e-01 9.72239060e-01 1.15408640e-03 1.19440333e+02] [-9.72228405e-01 -2.33989760e-01 4.55203618e-03 9.77666370e+01] [ 4.69571178e-03 -5.69186524e-05 9.99988973e-01 1.80213488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:97.76, Z:1.80 [[-2.35490797e-01 9.71875891e-01 1.15648999e-03 1.19439090e+02] [-9.71865235e-01 -2.35493631e-01 4.55142545e-03 9.77567221e+01] [ 4.69576669e-03 -5.21336077e-05 9.99988973e-01 1.80221366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:97.75, Z:1.80 [[-2.36798405e-01 9.71558116e-01 1.15866789e-03 1.19440256e+02] [-9.71547459e-01 -2.36801234e-01 4.55087094e-03 9.77546376e+01] [ 4.69580959e-03 -4.80618674e-05 9.99988973e-01 1.80153578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:97.74, Z:1.80 [[-2.39142273e-01 9.70983844e-01 1.16084882e-03 1.19439497e+02] [-9.70973183e-01 -2.39145087e-01 4.55031456e-03 9.77441043e+01] [ 4.69589322e-03 -3.89805032e-05 9.99988973e-01 1.80081849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.747628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:119.44, Y:97.74, Z:1.80 [[-2.39234917e-01 9.70961019e-01 1.16325780e-03 1.19440397e+02] [-9.70950361e-01 -2.39237742e-01 4.54969864e-03 9.77442687e+01] [ 4.69587519e-03 -4.10188009e-05 9.99988973e-01 1.79758198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:97.74, Z:1.80 [[-2.40883120e-01 9.70553432e-01 1.16544133e-03 1.19438191e+02] [-9.70542771e-01 -2.40885937e-01 4.54913924e-03 9.77365897e+01] [ 4.69592113e-03 -3.52998055e-05 9.99988973e-01 1.80019915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:97.74, Z:1.80 [[-2.40217735e-01 9.70718330e-01 1.16807644e-03 1.19439098e+02] [-9.70707674e-01 -2.40220571e-01 4.54846253e-03 9.77411370e+01] [ 4.69587193e-03 -4.12393959e-05 9.99988973e-01 1.80078389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.83762800000005 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.37, Y:97.49, Z:1.80 [[-2.40349938e-01 9.70685610e-01 1.16353719e-03 1.19372175e+02] [-9.70674948e-01 -2.40352752e-01 4.54963050e-03 9.74876932e+01] [ 4.69592022e-03 -3.59129976e-05 9.99988973e-01 1.79924110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:97.73, Z:1.80 [[-2.38193082e-01 9.71217117e-01 1.16959364e-03 1.19436356e+02] [-9.71206469e-01 -2.38195947e-01 4.54806999e-03 9.77308815e+01] [ 4.69575589e-03 -5.25981032e-05 9.99988974e-01 1.80035001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.89762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:97.72, Z:1.80 [[-2.40231102e-01 9.70715035e-01 1.15666935e-03 1.19433320e+02] [-9.70704365e-01 -2.40233885e-01 4.55140627e-03 9.77230766e+01] [ 4.69598967e-03 -2.93946377e-05 9.99988973e-01 1.80048401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:97.72, Z:1.80 [[-2.39494306e-01 9.70897056e-01 1.17676392e-03 1.19432815e+02] [-9.70886413e-01 -2.39497191e-01 4.54620489e-03 9.77199791e+01] [ 4.69572859e-03 -5.37139225e-05 9.99988974e-01 1.80130780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:97.71, Z:1.80 [[-2.39817311e-01 9.70817319e-01 1.17893699e-03 1.19431462e+02] [-9.70806679e-01 -2.39820202e-01 4.54564129e-03 9.77149157e+01] [ 4.69572020e-03 -5.43964365e-05 9.99988974e-01 1.80143847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:97.71, Z:1.80 [[-2.40765087e-01 9.70582700e-01 1.18110979e-03 1.19430802e+02] [-9.70572060e-01 -2.40767979e-01 4.54507665e-03 9.77124511e+01] [ 4.69574619e-03 -5.20563836e-05 9.99988974e-01 1.80208752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:97.70, Z:1.80 [[-2.38557604e-01 9.71127628e-01 1.18328232e-03 1.19430295e+02] [-9.71116997e-01 -2.38560530e-01 4.54451098e-03 9.77015168e+01] [ 4.69558462e-03 -6.49779168e-05 9.99988974e-01 1.80072389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:97.70, Z:1.80 [[-2.43825116e-01 9.69818519e-01 1.16324448e-03 1.19428546e+02] [-9.69807847e-01 -2.43827890e-01 4.54973598e-03 9.77029606e+01] [ 4.69604966e-03 -1.87837228e-05 9.99988973e-01 1.80043959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:97.71, Z:1.80 [[-2.43820467e-01 9.69819658e-01 1.18750946e-03 1.19430320e+02] [-9.69809017e-01 -2.43823355e-01 4.54339383e-03 9.77085904e+01] [ 4.69581520e-03 -4.38849745e-05 9.99988974e-01 1.80087669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:97.70, Z:1.80 [[-2.44598827e-01 9.69623646e-01 1.18251262e-03 1.19427608e+02] [-9.69612996e-01 -2.44601683e-01 4.54470158e-03 9.77012717e+01] [ 4.69589470e-03 -3.49509284e-05 9.99988974e-01 1.80033518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.42, Y:97.69, Z:1.80 [[-2.46056746e-01 9.69254700e-01 1.18483783e-03 1.19423763e+02] [-9.69244049e-01 -2.46059597e-01 4.54409184e-03 9.76905842e+01] [ 4.69592309e-03 -3.02925577e-05 9.99988974e-01 1.79986242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.42, Y:97.69, Z:1.80 [[-2.46366840e-01 9.69175916e-01 1.19384548e-03 1.19422703e+02] [-9.69165275e-01 -2.46369729e-01 4.54172407e-03 9.76884328e+01] [ 4.69585697e-03 -3.81033768e-05 9.99988974e-01 1.79952020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.42, Y:97.69, Z:1.80 [[-2.46518771e-01 9.69137279e-01 1.19602119e-03 1.19420944e+02] [-9.69126640e-01 -2.46521669e-01 4.54115105e-03 9.76851297e+01] [ 4.69584391e-03 -3.96170256e-05 9.99988974e-01 1.79829852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.42, Y:97.68, Z:1.80 [[-2.47252049e-01 9.68950457e-01 1.19819499e-03 1.19418570e+02] [-9.68939819e-01 -2.47254950e-01 4.54057741e-03 9.76805740e+01] [ 4.69585420e-03 -3.83117666e-05 9.99988974e-01 1.79750052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.257628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.40, Y:97.62, Z:1.79 [[-2.45716168e-01 9.69341077e-01 1.20036933e-03 1.19401948e+02] [-9.69330447e-01 -2.45719095e-01 4.54000252e-03 9.76189857e+01] [ 4.69576460e-03 -4.80025204e-05 9.99988974e-01 1.79469832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.28762800000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.41, Y:97.68, Z:1.79 [[-2.50299778e-01 9.68167654e-01 1.18946366e-03 1.19414811e+02] [-9.68156996e-01 -2.50302604e-01 4.54289136e-03 9.76754407e+01] [ 4.69600632e-03 -1.45028620e-05 9.99988974e-01 1.79236490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:97.67, Z:1.79 [[-2.52480521e-01 9.67601227e-01 1.20509458e-03 1.19412360e+02] [-9.67590582e-01 -2.52483396e-01 4.53874115e-03 9.76662599e+01] [ 4.69595788e-03 -2.00944399e-05 9.99988974e-01 1.79359595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:97.66, Z:1.79 [[-2.54295792e-01 9.67125738e-01 1.20749207e-03 1.19411382e+02] [-9.67115090e-01 -2.54298658e-01 4.53810323e-03 9.76629114e+01] [ 4.69598005e-03 -1.37632518e-05 9.99988974e-01 1.79302961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.377628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:119.41, Y:97.66, Z:1.79 [[-2.55360525e-01 9.66845148e-01 1.20966839e-03 1.19410196e+02] [-9.66834500e-01 -2.55363389e-01 4.53752304e-03 9.76577840e+01] [ 4.69598715e-03 -1.08448678e-05 9.99988974e-01 1.78937309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.40762800000005 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:119.41, Y:97.66, Z:1.79 [[-2.58210580e-01 9.66087899e-01 1.21184442e-03 1.19409777e+02] [-9.66077245e-01 -2.58213424e-01 4.53694181e-03 9.76552896e+01] [ 4.69599908e-03 7.51051455e-07 9.99988974e-01 1.78895874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:97.65, Z:1.79 [[-2.59988474e-01 9.65610957e-01 1.21402018e-03 1.19409048e+02] [-9.65600301e-01 -2.59991308e-01 4.53635953e-03 9.76500503e+01] [ 4.69599316e-03 7.14293743e-06 9.99988974e-01 1.79224592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:97.65, Z:1.79 [[-2.61005467e-01 9.65336556e-01 1.21619566e-03 1.19408617e+02] [-9.65325900e-01 -2.61008300e-01 4.53577621e-03 9.76459706e+01] [ 4.69598775e-03 9.83721904e-06 9.99988974e-01 1.79282027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:97.64, Z:1.79 [[-2.61354952e-01 9.65241993e-01 1.21837168e-03 1.19406819e+02] [-9.65231338e-01 -2.61357792e-01 4.53519163e-03 9.76414256e+01] [ 4.69598834e-03 9.28426785e-06 9.99988974e-01 1.79468072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.52762800000005 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:119.40, Y:97.64, Z:1.79 [[-2.60901154e-01 9.65364749e-01 1.22077263e-03 1.19404242e+02] [-9.65354099e-01 -2.60904010e-01 4.53454525e-03 9.76357170e+01] [ 4.69599461e-03 4.59022129e-06 9.99988974e-01 1.79236432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.557628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:119.40, Y:97.62, Z:1.79 [[-2.61123789e-01 9.65304548e-01 1.22294970e-03 1.19399724e+02] [-9.65293901e-01 -2.61126653e-01 4.53395803e-03 9.76244631e+01] [ 4.69599507e-03 3.41841039e-06 9.99988974e-01 1.79301449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.58762800000005 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:119.40, Y:97.62, Z:1.79 [[-2.60660810e-01 9.65429662e-01 1.22881840e-03 1.19397616e+02] [-9.65419023e-01 -2.60663707e-01 4.53236690e-03 9.76233419e+01] [ 4.69598981e-03 -4.91422851e-06 9.99988974e-01 1.79438394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.39, Y:97.61, Z:1.80 [[-2.59903280e-01 9.65633869e-01 1.23121786e-03 1.19393449e+02] [-9.65623235e-01 -2.59906196e-01 4.53171500e-03 9.76131679e+01] [ 4.69597864e-03 -1.10849782e-05 9.99988974e-01 1.79724016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.64762800000005 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:119.40, Y:97.62, Z:1.79 [[-2.58652589e-01 9.65969625e-01 1.23339427e-03 1.19395588e+02] [-9.65958998e-01 -2.58655529e-01 4.53112257e-03 9.76175098e+01] [ 4.69595102e-03 -1.94217097e-05 9.99988974e-01 1.79349237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.677628 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:119.39, Y:97.61, Z:1.79 [[-2.58489570e-01 9.66013259e-01 1.23556887e-03 1.19394188e+02] [-9.66002635e-01 -2.58492522e-01 4.53052951e-03 9.76097543e+01] [ 4.69593689e-03 -2.24681625e-05 9.99988974e-01 1.79293376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.707628 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:119.39, Y:97.60, Z:1.79 [[-2.59048367e-01 9.65863557e-01 1.23841656e-03 1.19392728e+02] [-9.65852935e-01 -2.59051326e-01 4.52975096e-03 9.76043015e+01] [ 4.69593483e-03 -2.27036758e-05 9.99988974e-01 1.79296140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.38, Y:97.55, Z:1.80 [[-2.58998446e-01 9.65876941e-01 1.24103664e-03 1.19378242e+02] [-9.65866323e-01 -2.59001418e-01 4.52903301e-03 9.75496682e+01] [ 4.69591880e-03 -2.56629797e-05 9.99988974e-01 1.79531029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.767628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:120.07, Y:97.30, Z:2.78 [[-2.07581811e-01 -9.78216874e-01 -1.24103664e-03 1.20072396e+02] [-9.78206427e-01 2.07585340e-01 -4.52903301e-03 9.73045842e+01] [ 4.68799753e-03 2.73845140e-04 -9.99988974e-01 2.78242791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:97.45, Z:1.80 [[-1.90612802e-01 9.81664857e-01 9.31488372e-04 1.19320637e+02] [-9.81654119e-01 -1.90615074e-01 4.59182756e-03 9.74546154e+01] [ 4.68519147e-03 -3.91382804e-05 9.99989024e-01 1.79561969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:97.38, Z:1.80 [[-1.90410941e-01 9.81704030e-01 9.33051401e-04 1.19303668e+02] [-9.81693294e-01 -1.90413222e-01 4.59150968e-03 9.73804427e+01] [ 4.68516888e-03 -4.16966251e-05 9.99989024e-01 1.79786190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.02, Y:97.19, Z:2.78 [[-1.45768791e-01 -9.89318245e-01 -9.33051401e-04 1.20020627e+02] [-9.89307622e-01 1.45771556e-01 -4.59150968e-03 9.71897070e+01] [ 4.67847665e-03 2.53776048e-04 -9.99989024e-01 2.77700957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.887628 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:119.25, Y:97.28, Z:1.80 [[-1.18913140e-01 9.92904467e-01 6.20949663e-04 1.19254064e+02] [-9.92893658e-01 -1.18914743e-01 4.63333710e-03 9.72811528e+01] [ 4.67430117e-03 -6.55723170e-05 9.99989073e-01 1.79701471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.91762800000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.25, Y:97.28, Z:1.80 [[-1.18813496e-01 9.92916393e-01 6.23626035e-04 1.19254403e+02] [-9.92905587e-01 -1.18815113e-01 4.63297685e-03 9.72812235e+01] [ 4.67425486e-03 -6.87415959e-05 9.99989073e-01 1.79799376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.24, Y:97.21, Z:1.80 [[-1.20113188e-01 9.92760006e-01 6.26067391e-04 1.19244831e+02] [-9.92749199e-01 -1.20114802e-01 4.63264692e-03 9.72098502e+01] [ 4.67430654e-03 -6.50859106e-05 9.99989073e-01 1.79843589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97762800000004 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:119.97, Y:97.07, Z:2.78 [[-8.32240988e-02 -9.96530661e-01 -6.26067391e-04 1.19970106e+02] [-9.96519921e-01 8.32261124e-02 -4.63264692e-03 9.70717144e+01] [ 4.66867985e-03 2.38340762e-04 -9.99989073e-01 2.78151215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.20, Y:97.11, Z:1.80 [[-5.18970970e-02 9.98652389e-01 3.12104813e-04 1.19202895e+02] [-9.98641548e-01 -5.18979880e-02 4.65370333e-03 9.71109465e+01] [ 4.66362956e-03 -7.01671408e-05 9.99989123e-01 1.80002145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.03762800000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:119.20, Y:97.11, Z:1.80 [[-5.55975158e-02 9.98453212e-01 3.15015384e-04 1.19200408e+02] [-9.98442369e-01 -5.55983802e-02 4.65350630e-03 9.71093451e+01] [ 4.66382266e-03 -5.58013165e-05 9.99989123e-01 1.79800268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.93, Y:96.95, Z:2.78 [[-1.40564557e-02 -9.99901154e-01 -3.15015384e-04 1.19932224e+02] [-9.99890356e-01 1.40577700e-02 -4.65350630e-03 9.69462565e+01] [ 4.65747473e-03 2.49569040e-04 -9.99989123e-01 2.77931088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.09762800000004 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:119.16, Y:96.94, Z:1.80 [[ 1.20901756e-02 9.99926911e-01 1.66003212e-06 1.19164005e+02] [-9.99916084e-01 1.20900369e-02 4.65361831e-03 9.69376150e+01] [ 4.65325811e-03 -5.79229552e-05 9.99989172e-01 1.79805622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:96.93, Z:1.80 [[ 8.07196047e-03 9.99967421e-01 4.10860462e-06 1.19164839e+02] [-9.99956594e-01 8.07185395e-03 4.65361615e-03 9.69257071e+01] [ 4.65343138e-03 -4.16722319e-05 9.99989172e-01 1.80231670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.15762800000005 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:119.17, Y:96.92, Z:1.80 [[ 6.62679672e-03 9.99978043e-01 8.36198484e-06 1.19165000e+02] [-9.99967215e-01 6.62668606e-03 4.65360851e-03 9.69192283e+01] [ 4.65345091e-03 -3.92002283e-05 9.99989172e-01 1.80086771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:96.89, Z:1.80 [[ 1.66831937e-03 9.99998608e-01 1.13022555e-05 1.19164847e+02] [-9.99987780e-01 1.66824871e-03 4.65360137e-03 9.68867356e+01] [ 4.65357603e-03 -1.90658107e-05 9.99989172e-01 1.80488581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:96.88, Z:1.81 [[-9.62358413e-04 9.99999537e-01 2.70274034e-05 1.19162493e+02] [-9.99988709e-01 -9.62473763e-04 4.65351004e-03 9.68756988e+01] [ 4.65353389e-03 -2.25487537e-05 9.99989172e-01 1.80700104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:96.88, Z:1.81 [[-2.74801271e-03 9.99996224e-01 2.94958792e-05 1.19161138e+02] [-9.99985396e-01 -2.74812021e-03 4.65349439e-03 9.68764797e+01] [ 4.65355787e-03 -1.67075868e-05 9.99989172e-01 1.80798396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:96.87, Z:1.81 [[-4.54230530e-03 9.99989683e-01 3.19653187e-05 1.19160310e+02] [-9.99978856e-01 -4.54240486e-03 4.65347743e-03 9.68698257e+01] [ 4.65357462e-03 -1.08271277e-05 9.99989172e-01 1.80867546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.307628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:119.16, Y:96.86, Z:1.81 [[-7.76920862e-03 9.99969819e-01 3.44311772e-05 1.19159907e+02] [-9.99958991e-01 -7.76928472e-03 4.65345918e-03 9.68615863e+01] [ 4.65358624e-03 1.72392993e-06 9.99989172e-01 1.80583306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:96.86, Z:1.81 [[-1.02121360e-02 9.99947854e-01 3.71353767e-05 1.19160117e+02] [-9.99937026e-01 -1.02121982e-02 4.65343760e-03 9.68582935e+01] [ 4.65357418e-03 1.03884995e-05 9.99989172e-01 1.80726416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:96.85, Z:1.81 [[-1.21098120e-02 9.99926673e-01 3.96064152e-05 1.19160142e+02] [-9.99915845e-01 -1.21098652e-02 4.65341657e-03 9.68512533e+01] [ 4.65355498e-03 1.67489175e-05 9.99989172e-01 1.80612469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.39762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:96.84, Z:1.81 [[-1.34067170e-02 9.99910125e-01 4.20774419e-05 1.19159782e+02] [-9.99899297e-01 -1.34067676e-02 4.65339423e-03 9.68424633e+01] [ 4.65354012e-03 2.03135349e-05 9.99989172e-01 1.80541286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:96.86, Z:1.80 [[-9.77412613e-03 9.99952231e-01 4.45549778e-05 1.19160086e+02] [-9.99941404e-01 -9.77422764e-03 4.65337050e-03 9.68572781e+01] [ 4.65358371e-03 9.30263171e-07 9.99989172e-01 1.80446770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:96.84, Z:1.80 [[-1.19036793e-02 9.99929148e-01 2.79015085e-05 1.19158687e+02] [-9.99918320e-01 -1.19036802e-02 4.65353644e-03 9.68391685e+01] [ 4.65353885e-03 2.74949756e-05 9.99989172e-01 1.80417129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.48762800000003 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:119.16, Y:96.84, Z:1.80 [[-1.04329055e-02 9.99945575e-01 4.95917170e-05 1.19158777e+02] [-9.99934747e-01 -1.04330233e-02 4.65330528e-03 9.68357932e+01] [ 4.65356941e-03 -1.04098688e-06 9.99989172e-01 1.80146381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.517628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.16, Y:96.83, Z:1.80 [[-8.76144468e-03 9.99961617e-01 5.20574793e-05 1.19159845e+02] [-9.99950790e-01 -8.76159207e-03 4.65327769e-03 9.68295504e+01] [ 4.65355519e-03 -1.12854825e-05 9.99989172e-01 1.80148004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.54762800000003 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:119.16, Y:96.83, Z:1.80 [[-4.58002067e-03 9.99989510e-01 5.45232263e-05 1.19161974e+02] [-9.99978684e-01 -4.58022480e-03 4.65324880e-03 9.68304495e+01] [ 4.65344972e-03 -3.32100884e-05 9.99989172e-01 1.79899770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.577628 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:119.16, Y:96.82, Z:1.80 [[-3.63813621e-03 9.99993380e-01 5.69850820e-05 1.19162699e+02] [-9.99982555e-01 -3.63836199e-03 4.65321865e-03 9.68229111e+01] [ 4.65339518e-03 -4.00550446e-05 9.99989172e-01 1.80031307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:96.82, Z:1.80 [[-1.30394306e-03 9.99999148e-01 6.22017977e-05 1.19164793e+02] [-9.99988324e-01 -1.30421837e-03 4.65314892e-03 9.68178220e+01] [ 4.65322608e-03 -5.61336302e-05 9.99989172e-01 1.80302221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:96.81, Z:1.80 [[-1.78018896e-04 9.99999982e-01 6.46539396e-05 1.19165792e+02] [-9.99989158e-01 -1.78317809e-04 4.65311484e-03 9.68147180e+01] [ 4.65312629e-03 -6.38248963e-05 9.99989172e-01 1.80255311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:96.81, Z:1.80 [[ 9.84218039e-04 9.99999513e-01 6.71041449e-05 1.19166243e+02] [-9.99988690e-01 9.83895148e-04 4.65307951e-03 9.68062921e+01] [ 4.65301122e-03 -7.16830308e-05 9.99989172e-01 1.80210009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:96.81, Z:1.80 [[ 3.32334435e-03 9.99994475e-01 6.95562490e-05 1.19166555e+02] [-9.99983653e-01 3.32298474e-03 4.65304285e-03 9.68068998e+01] [ 4.65278601e-03 -8.50187756e-05 9.99989172e-01 1.80118647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:96.80, Z:1.80 [[ 3.67081160e-03 9.99993260e-01 7.20064150e-05 1.19166612e+02] [-9.99982439e-01 3.67043683e-03 4.65300494e-03 9.68030068e+01] [ 4.65270928e-03 -8.90854549e-05 9.99989172e-01 1.80080132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:96.77, Z:1.80 [[ 4.28881552e-04 9.99999905e-01 7.44511345e-05 1.19166862e+02] [-9.99989083e-01 4.28530494e-04 4.65296582e-03 9.67659677e+01] [ 4.65293347e-03 -7.64458930e-05 9.99989172e-01 1.80102851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:96.77, Z:1.80 [[ 3.78090495e-04 9.99999924e-01 9.26146007e-05 1.19168957e+02] [-9.99989105e-01 3.77655508e-04 4.65260426e-03 9.67652152e+01] [ 4.65256893e-03 -9.43726971e-05 9.99989172e-01 1.80018982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.817628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:119.17, Y:96.76, Z:1.80 [[-5.06878078e-04 9.99999867e-01 9.50610135e-05 1.19170857e+02] [-9.99989048e-01 -5.07314869e-04 4.65255427e-03 9.67622455e+01] [ 4.65260188e-03 -9.27016947e-05 9.99989172e-01 1.79746009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.84762800000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:119.17, Y:96.76, Z:1.80 [[-2.18148761e-03 9.99997616e-01 9.75019898e-05 1.19172614e+02] [-9.99986797e-01 -2.18191764e-03 4.65250312e-03 9.67554547e+01] [ 4.65270477e-03 -8.73513246e-05 9.99989172e-01 1.79764735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:96.75, Z:1.80 [[-4.84818207e-03 9.99988243e-01 9.99429387e-05 1.19173397e+02] [-9.99977423e-01 -4.84859460e-03 4.65245068e-03 9.67494710e+01] [ 4.65288056e-03 -7.73847542e-05 9.99989172e-01 1.79958784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:96.74, Z:1.80 [[-9.64481396e-03 9.99953483e-01 1.02386406e-04 1.19172071e+02] [-9.99942661e-01 -9.64518595e-03 4.65239691e-03 9.67402352e+01] [ 4.65316803e-03 -5.75090323e-05 9.99989172e-01 1.80124120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.937628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.17, Y:96.74, Z:1.80 [[-1.16966514e-02 9.99931586e-01 1.04606430e-04 1.19171207e+02] [-9.99920765e-01 -1.16970115e-02 4.65234699e-03 9.67373524e+01] [ 4.65325229e-03 -5.01812604e-05 9.99989172e-01 1.79892724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:96.73, Z:1.80 [[-1.42574009e-02 9.99898352e-01 1.07058785e-04 1.19170403e+02] [-9.99887530e-01 -1.42577447e-02 4.65229056e-03 9.67280858e+01] [ 4.65334408e-03 -4.07171725e-05 9.99989172e-01 1.80186546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:96.72, Z:1.80 [[-1.81796240e-02 9.99834731e-01 1.09283648e-04 1.19170357e+02] [-9.99823908e-01 -1.81799357e-02 4.65223829e-03 9.67236104e+01] [ 4.65345619e-03 -2.46884611e-05 9.99989172e-01 1.80137184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:96.72, Z:1.80 [[-2.03759718e-02 9.99792382e-01 1.11513398e-04 1.19170636e+02] [-9.99781559e-01 -2.03762701e-02 4.65218485e-03 9.67170044e+01] [ 4.65349120e-03 -1.66962511e-05 9.99989172e-01 1.80033704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:96.71, Z:1.80 [[-2.20804322e-02 9.99756191e-01 1.13745523e-04 1.19170480e+02] [-9.99745367e-01 -2.20807224e-02 4.65213027e-03 9.67087815e+01] [ 4.65350762e-03 -1.09955133e-05 9.99989172e-01 1.79942226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:96.71, Z:1.80 [[-2.32334699e-02 9.99730060e-01 1.15983414e-04 1.19169440e+02] [-9.99719236e-01 -2.32337580e-02 4.65207448e-03 9.67077668e+01] [ 4.65351343e-03 -7.86701753e-06 9.99989172e-01 1.79886220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:96.70, Z:1.80 [[-2.40873583e-02 9.99709851e-01 1.18453049e-04 1.19165280e+02] [-9.99699027e-01 -2.40876488e-02 4.65201159e-03 9.67041982e+01] [ 4.65351507e-03 -6.36272710e-06 9.99989172e-01 1.79937512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.14762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:96.70, Z:1.80 [[-2.48671350e-02 9.99690758e-01 1.20918761e-04 1.19163191e+02] [-9.99679934e-01 -2.48674285e-02 4.65194750e-03 9.66998546e+01] [ 4.65351586e-03 -5.19945237e-06 9.99989172e-01 1.79943621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.177628 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:119.16, Y:96.63, Z:1.80 [[-3.45760215e-02 9.99402063e-01 1.23382814e-04 1.19162923e+02] [-9.99391237e-01 -3.45762213e-02 4.65188215e-03 9.66349466e+01] [ 4.65336673e-03 3.75358740e-05 9.99989172e-01 1.79820660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.89, Y:96.50, Z:2.78 [[ 3.39251852e-02 -9.99424273e-01 -4.53168831e-04 1.19893254e+02] [-9.99413687e-01 -3.39227219e-02 -4.64013090e-03 9.65003619e+01] [ 4.62208673e-03 6.10320432e-04 -9.99989132e-01 2.78427275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.14, Y:96.44, Z:1.80 [[ 3.09866865e-02 9.99519786e-01 -1.48778412e-04 1.19135113e+02] [-9.99509105e-01 3.09870432e-02 4.62075030e-03 9.64429576e+01] [ 4.62314156e-03 5.52363619e-06 9.99989313e-01 1.80005291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.88, Y:96.47, Z:2.79 [[ 1.10811648e-01 -9.93841414e-01 1.50106777e-04 1.19879000e+02] [-9.93830739e-01 -1.10811156e-01 -4.62070715e-03 9.64738251e+01] [ 4.60888363e-03 3.62847447e-04 -9.99989313e-01 2.78665545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.87, Y:96.47, Z:2.79 [[ 1.83714303e-01 -9.82979550e-01 5.09584756e-04 1.19865089e+02] [-9.82968936e-01 -1.83714694e-01 -4.58071710e-03 9.64724093e+01] [ 4.59636944e-03 3.40637264e-04 -9.99989379e-01 2.78975871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.14, Y:96.30, Z:1.80 [[ 1.95013804e-01 9.80800117e-01 -8.64073838e-04 1.19142893e+02] [-9.80789735e-01 1.95015715e-01 4.51284340e-03 9.63018670e+01] [ 4.59470532e-03 -3.25920064e-05 9.99989444e-01 1.79619340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35762800000003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:119.15, Y:96.27, Z:1.80 [[ 1.97885163e-01 9.80224829e-01 -8.64938940e-04 1.19146773e+02] [-9.80214442e-01 1.97887048e-01 4.51267759e-03 9.62744102e+01] [ 4.59459883e-03 -4.51662985e-05 9.99989444e-01 1.79562172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.87, Y:96.42, Z:2.79 [[ 2.54573391e-01 -9.67053069e-01 8.66189818e-04 1.19871469e+02] [-9.67042591e-01 -2.54574674e-01 -4.51243748e-03 9.64195816e+01] [ 4.58427650e-03 3.11104063e-04 -9.99989444e-01 2.78538889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.86, Y:96.42, Z:2.79 [[ 3.28600327e-01 -9.44468323e-01 1.18856560e-03 1.19862931e+02] [-9.44458019e-01 -3.28602309e-01 -4.42408324e-03 9.64182099e+01] [ 4.56897188e-03 3.31204886e-04 -9.99989507e-01 2.78650522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.85, Y:96.41, Z:2.79 [[ 4.01529052e-01 -9.15844975e-01 1.54988165e-03 1.19854628e+02] [-9.15834961e-01 -4.01531928e-01 -4.29365939e-03 9.64124592e+01] [ 4.55465335e-03 3.04593185e-04 -9.99989581e-01 2.78790242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47762800000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:119.85, Y:96.41, Z:2.79 [[ 4.72027287e-01 -8.81581944e-01 1.87502768e-03 1.19845587e+02] [-8.81572245e-01 -4.72030913e-01 -4.14663500e-03 9.64051024e+01] [ 4.54066957e-03 3.04352511e-04 -9.99989645e-01 2.79322970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.507628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.84, Y:96.40, Z:2.79 [[ 5.40321564e-01 -8.41455778e-01 2.18681141e-03 1.19837539e+02] [-8.41446444e-01 -5.40325902e-01 -3.97511521e-03 9.63987821e+01] [ 4.52647451e-03 3.07755778e-04 -9.99989708e-01 2.79430291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.53762800000004 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:119.83, Y:96.39, Z:2.79 [[ 6.05330612e-01 -7.95970278e-01 2.48322702e-03 1.19830457e+02] [-7.95961362e-01 -6.05335625e-01 -3.78040988e-03 9.63905413e+01] [ 4.51227968e-03 3.11845069e-04 -9.99989771e-01 2.79472507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.82, Y:96.38, Z:2.79 [[ 6.67100042e-01 -7.44963020e-01 2.76270785e-03 1.19823789e+02] [-7.44954565e-01 -6.67105686e-01 -3.56374971e-03 9.63799346e+01] [ 4.49787987e-03 3.19285763e-04 -9.99989834e-01 2.79252426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.82, Y:96.37, Z:2.79 [[ 7.24668519e-01 -6.89090998e-01 3.02218084e-03 1.19817021e+02] [-6.89083040e-01 -7.24674747e-01 -3.32792796e-03 9.63696467e+01] [ 4.48334333e-03 3.29111067e-04 -9.99989896e-01 2.79036707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.627628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:119.81, Y:96.36, Z:2.79 [[ 7.76864894e-01 -6.29658861e-01 3.26417591e-03 1.19812686e+02] [-6.29651460e-01 -7.76871682e-01 -3.07068460e-03 9.63597497e+01] [ 4.46932959e-03 3.30213940e-04 -9.99989958e-01 2.79209906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.65762800000005 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:119.81, Y:96.35, Z:2.79 [[ 8.23703047e-01 -5.67010719e-01 3.48348435e-03 1.19809306e+02] [-5.67003913e-01 -8.23710348e-01 -2.79760996e-03 9.63497393e+01] [ 4.45565694e-03 3.29250597e-04 -9.99990019e-01 2.79224566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.80, Y:96.34, Z:2.79 [[ 8.66956529e-01 -4.98370176e-01 3.68020063e-03 1.19804939e+02] [-4.98363977e-01 -8.66964273e-01 -2.50907576e-03 9.63395683e+01] [ 4.44105100e-03 3.41180194e-04 -9.99990080e-01 2.78970869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.80, Y:96.33, Z:2.79 [[ 9.03886606e-01 -4.27754785e-01 3.85330219e-03 1.19801994e+02] [-4.27749233e-01 -9.03894753e-01 -2.20682664e-03 9.63308189e+01] [ 4.42696029e-03 3.46473985e-04 -9.99990141e-01 2.79044638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.80, Y:96.32, Z:2.79 [[ 9.34631278e-01 -3.55595842e-01 3.99638611e-03 1.19801249e+02] [-3.55590922e-01 -9.34639753e-01 -1.90454774e-03 9.63210114e+01] [ 4.41243058e-03 3.58971270e-04 -9.99990201e-01 2.79263211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.80, Y:96.31, Z:2.79 [[ 9.59602300e-01 -2.81329732e-01 4.12404514e-03 1.19801139e+02] [-2.81325569e-01 -9.59611100e-01 -1.56900329e-03 9.63115235e+01] [ 4.39888676e-03 3.45419825e-04 -9.99990265e-01 2.79405600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.80, Y:96.30, Z:2.80 [[ 9.78382398e-01 -2.06760891e-01 4.22113328e-03 1.19802598e+02] [-2.06757462e-01 -9.78391445e-01 -1.23795728e-03 9.63044905e+01] [ 4.38588183e-03 3.38444804e-04 -9.99990325e-01 2.79597131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.83762800000005 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:119.80, Y:96.30, Z:2.80 [[ 9.91302390e-01 -1.31533846e-01 4.29178718e-03 1.19799677e+02] [-1.31531168e-01 -9.91311626e-01 -9.01651900e-04 9.62994857e+01] [ 4.37309627e-03 3.29305902e-04 -9.99990384e-01 2.79747882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.80, Y:96.29, Z:2.79 [[ 9.98549439e-01 -5.36676677e-02 4.33585149e-03 1.19797873e+02] [-5.36657338e-02 -9.98558799e-01 -5.61229185e-04 9.62908179e+01] [ 4.35972251e-03 3.27728436e-04 -9.99990443e-01 2.79427080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.89762800000005 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:119.80, Y:96.28, Z:2.80 [[ 9.99686270e-01 2.46660295e-02 4.35308179e-03 1.19795664e+02] [ 2.46672177e-02 -9.99695694e-01 -2.19452912e-04 9.62794257e+01] [ 4.34634408e-03 3.26762479e-04 -9.99990501e-01 2.79823550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.927628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.80, Y:96.27, Z:2.80 [[ 9.94688249e-01 1.02841732e-01 4.34355062e-03 1.19795537e+02] [ 1.02842177e-01 -9.94697679e-01 1.21444731e-04 9.62677111e+01] [ 4.33300930e-03 3.25900553e-04 -9.99990559e-01 2.79637980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.79, Y:96.26, Z:2.80 [[ 9.83908151e-01 1.78623054e-01 4.30745786e-03 1.19794863e+02] [ 1.78622744e-01 -9.83917529e-01 4.59666373e-04 9.62577290e+01] [ 4.32029030e-03 3.17140449e-04 -9.99990617e-01 2.79726989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.80, Y:96.24, Z:2.80 [[ 9.67586604e-01 2.52503747e-01 4.24520696e-03 1.19795253e+02] [ 2.52502685e-01 -9.67595869e-01 7.92942675e-04 9.62446825e+01] [ 4.30786572e-03 3.04685448e-04 -9.99990675e-01 2.79622746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.017628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.80, Y:96.24, Z:2.80 [[ 9.44831238e-01 3.27530995e-01 4.16874093e-03 1.19797305e+02] [ 3.27529405e-01 -9.44840371e-01 1.07806695e-03 9.62358017e+01] [ 4.29189507e-03 3.46793900e-04 -9.99990730e-01 2.79644864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.04762800000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.80, Y:96.23, Z:2.80 [[ 9.16817733e-01 3.99285501e-01 4.04139508e-03 1.19797603e+02] [ 3.99283027e-01 -9.16826593e-01 1.43637026e-03 9.62298244e+01] [ 4.27878030e-03 2.96770742e-04 -9.99990802e-01 2.79631347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.077628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.80, Y:96.22, Z:2.80 [[ 8.83986413e-01 4.67496284e-01 3.90455292e-03 1.19799841e+02] [ 4.67493122e-01 -8.83994991e-01 1.74292820e-03 9.62233211e+01] [ 4.26641768e-03 2.84626789e-04 -9.99990858e-01 2.79836657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.80, Y:96.21, Z:2.80 [[ 8.44601841e-01 5.35381834e-01 3.74458986e-03 1.19804292e+02] [ 5.35378035e-01 -8.44610094e-01 2.03698834e-03 9.62148680e+01] [ 4.25328495e-03 2.84327057e-04 -9.99990914e-01 2.79788359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.137628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:119.81, Y:96.21, Z:2.80 [[ 7.99522278e-01 6.00625870e-01 3.56261446e-03 1.19809819e+02] [ 6.00621470e-01 -7.99530163e-01 2.31681599e-03 9.62052206e+01] [ 4.23995735e-03 2.87436738e-04 -9.99990970e-01 2.80276902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.81, Y:96.20, Z:2.80 [[ 7.48726241e-01 6.62870823e-01 3.35986175e-03 1.19814556e+02] [ 6.62865865e-01 -7.48733721e-01 2.58077615e-03 9.61962896e+01] [ 4.22636300e-03 2.94842836e-04 -9.99991025e-01 2.80146537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.197628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:119.82, Y:96.19, Z:2.80 [[ 6.93733254e-01 7.20225192e-01 3.13778570e-03 1.19820445e+02] [ 7.20219705e-01 -6.93740286e-01 2.82724507e-03 9.61881446e+01] [ 4.21306147e-03 2.98541168e-04 -9.99991080e-01 2.80299572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.22762800000004 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:119.83, Y:96.18, Z:2.80 [[ 6.34842815e-01 7.72635880e-01 2.89782330e-03 1.19827019e+02] [ 7.72629899e-01 -6.34849358e-01 3.05487154e-03 9.61801649e+01] [ 4.19998462e-03 2.99581676e-04 -9.99991135e-01 2.80249147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.83, Y:96.17, Z:2.80 [[ 5.73114555e-01 8.19471005e-01 2.64162195e-03 1.19832068e+02] [ 8.19464565e-01 -5.73120567e-01 3.26232715e-03 9.61737665e+01] [ 4.18735037e-03 2.95028406e-04 -9.99991190e-01 2.79812639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.28762800000004 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:119.84, Y:96.17, Z:2.80 [[ 5.08310975e-01 8.61170328e-01 2.37062107e-03 1.19837079e+02] [ 8.61163471e-01 -5.08316421e-01 3.44861672e-03 9.61687496e+01] [ 4.17487201e-03 2.88522544e-04 -9.99991244e-01 2.79855542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.84, Y:96.16, Z:2.80 [[ 4.39422079e-01 8.98278287e-01 2.08689439e-03 1.19843623e+02] [ 8.98271069e-01 -4.39426940e-01 3.61252124e-03 9.61629431e+01] [ 4.16208701e-03 2.87175262e-04 -9.99991297e-01 2.79568381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.85, Y:96.16, Z:2.80 [[ 3.68077369e-01 9.29793439e-01 1.79197700e-03 1.19850731e+02] [ 9.29785907e-01 -3.68081621e-01 3.75332598e-03 9.61581972e+01] [ 4.14941167e-03 2.84640608e-04 -9.99991351e-01 2.79602862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.377628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:119.86, Y:96.15, Z:2.80 [[ 2.94615883e-01 9.55614602e-01 1.48780592e-03 1.19857621e+02] [ 9.55606806e-01 -2.94619505e-01 3.87025583e-03 9.61539705e+01] [ 4.13680963e-03 2.81518622e-04 -9.99991404e-01 2.79841294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.40762800000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.86, Y:96.15, Z:2.80 [[ 2.18969120e-01 9.75731080e-01 1.17655187e-03 1.19862981e+02] [ 9.75723074e-01 -2.18972101e-01 3.96267015e-03 9.61493395e+01] [ 4.12413246e-03 2.80286410e-04 -9.99991456e-01 2.79933909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.87, Y:96.15, Z:2.80 [[ 1.41579782e-01 9.89926475e-01 8.59786904e-04 1.19869468e+02] [ 9.89918311e-01 -1.41582115e-01 4.03024696e-03 9.61460832e+01] [ 4.11137862e-03 2.80517314e-04 -9.99991509e-01 2.79981800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.88, Y:96.14, Z:2.80 [[ 6.16860238e-02 9.98095458e-01 5.39884057e-04 1.19878218e+02] [ 9.98087190e-01 -6.16877158e-02 4.07265452e-03 9.61431603e+01] [ 4.09820219e-03 2.87625498e-04 -9.99991561e-01 2.80065653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.89, Y:96.14, Z:2.80 [[-1.61515276e-02 9.99869532e-01 2.18582777e-04 1.19893892e+02] [ 9.99861208e-01 1.61504991e-02 4.08982683e-03 9.61381057e+01] [ 4.08576302e-03 2.84609390e-04 -9.99991613e-01 2.80145043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.93, Y:96.12, Z:2.80 [[-1.00372799e-01 9.94949897e-01 -5.96025147e-05 1.19928165e+02] [ 9.94941583e-01 1.00372204e-01 4.08253132e-03 9.61197501e+01] [ 4.06789655e-03 3.50474073e-04 -9.99991665e-01 2.80133426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.97, Y:96.10, Z:2.80 [[-1.79651156e-01 9.83730287e-01 -4.30255438e-04 1.19968434e+02] [ 9.83722025e-01 1.79651416e-01 4.04308763e-03 9.60957925e+01] [ 4.05460375e-03 3.03093617e-04 -9.99991734e-01 2.79963939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.01, Y:96.08, Z:2.80 [[-2.57383605e-01 9.66309023e-01 -7.43297877e-04 1.20012407e+02] [ 9.66300856e-01 2.57384494e-01 3.98469344e-03 9.60759245e+01] [ 4.04175857e-03 3.07345385e-04 -9.99991785e-01 2.79875888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.617628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:120.06, Y:96.06, Z:2.80 [[-3.31326068e-01 9.43515731e-01 -1.04980679e-03 1.20057154e+02] [ 9.43507710e-01 3.31327593e-01 3.90223445e-03 9.60577650e+01] [ 4.02964954e-03 3.02411200e-04 -9.99991835e-01 2.80124984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.64762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:96.04, Z:2.80 [[-4.03308398e-01 9.15063123e-01 -1.34815864e-03 1.20103153e+02] [ 9.15055296e-01 4.03310542e-01 3.79628215e-03 9.60414965e+01] [ 4.01756439e-03 2.97432769e-04 -9.99991885e-01 2.79935573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:96.03, Z:2.80 [[-4.72817494e-01 8.81158862e-01 -1.63624711e-03 1.20147495e+02] [ 8.81151277e-01 4.72820235e-01 3.66776149e-03 9.60316138e+01] [ 4.00553128e-03 2.92400568e-04 -9.99991935e-01 2.79920638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.707628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:120.19, Y:96.02, Z:2.80 [[-5.37206122e-01 8.43448828e-01 -1.91259909e-03 1.20191318e+02] [ 8.43441538e-01 5.37209455e-01 3.51749852e-03 9.60200863e+01] [ 3.99429632e-03 2.76456218e-04 -9.99991985e-01 2.79925756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.24, Y:96.01, Z:2.80 [[-6.00487014e-01 7.99631549e-01 -2.17552708e-03 1.20238661e+02] [ 7.99624591e-01 6.00490894e-01 3.34657570e-03 9.60116888e+01] [ 3.98241171e-03 2.69970300e-04 -9.99992034e-01 2.79706247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.28, Y:96.01, Z:2.80 [[-6.60181412e-01 7.51102277e-01 -2.42343100e-03 1.20284605e+02] [ 7.51095692e-01 6.60185807e-01 3.15622917e-03 9.60113022e+01] [ 3.97056567e-03 2.63455249e-04 -9.99992083e-01 2.79731361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79762800000003 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:120.33, Y:96.01, Z:2.80 [[-7.16292074e-01 6.97795540e-01 -2.65501723e-03 1.20334036e+02] [ 6.97789362e-01 7.16296948e-01 2.94763311e-03 9.60117078e+01] [ 3.95862597e-03 2.58723457e-04 -9.99992131e-01 2.80105688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.827628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:120.38, Y:96.02, Z:2.80 [[-7.69302338e-01 6.38878456e-01 -2.86881438e-03 1.20380019e+02] [ 6.38872710e-01 7.69307643e-01 2.72233233e-03 9.60182875e+01] [ 3.94624031e-03 2.61489412e-04 -9.99992179e-01 2.80079197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:96.03, Z:2.80 [[-8.18391228e-01 5.74653297e-01 -3.06364517e-03 1.20424236e+02] [ 5.74648002e-01 8.18396918e-01 2.48182742e-03 9.60288623e+01] [ 3.93346808e-03 2.70588214e-04 -9.99992227e-01 2.79810966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:96.04, Z:2.80 [[-8.62145475e-01 5.06650464e-01 -3.23858187e-03 1.20467175e+02] [ 5.06645644e-01 8.62151512e-01 2.22748391e-03 9.60442702e+01] [ 3.92070401e-03 2.79601778e-04 -9.99992275e-01 2.79815379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91762800000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:120.51, Y:96.06, Z:2.80 [[-9.00700774e-01 4.34426756e-01 -3.39264315e-03 1.20510465e+02] [ 4.34422429e-01 9.00707116e-01 1.96094142e-03 9.60639809e+01] [ 3.90766324e-03 2.92381180e-04 -9.99992322e-01 2.79972270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.55, Y:96.09, Z:2.80 [[-9.31209857e-01 3.64466487e-01 -3.51884932e-03 1.20552004e+02] [ 3.64462658e-01 9.31216458e-01 1.69702570e-03 9.60872341e+01] [ 3.89531940e-03 2.97797885e-04 -9.99992369e-01 2.79736682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.59, Y:96.11, Z:2.80 [[-9.57719571e-01 2.87680581e-01 -3.62033833e-03 1.20593920e+02] [ 2.87677198e-01 9.57726356e-01 1.43404844e-03 9.61082762e+01] [ 3.87984133e-03 3.31927469e-04 -9.99992418e-01 2.79702256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.64, Y:96.14, Z:2.80 [[-9.76727893e-01 2.14449992e-01 -3.71809893e-03 1.20635073e+02] [ 2.14447330e-01 9.76734929e-01 1.10514926e-03 9.61361511e+01] [ 3.86859634e-03 2.82093722e-04 -9.99992477e-01 2.79623640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.67, Y:96.17, Z:2.80 [[-9.90252356e-01 1.39233510e-01 -3.78160285e-03 1.20671308e+02] [ 1.39231434e-01 9.90259539e-01 8.07903421e-04 9.61656733e+01] [ 3.85725553e-03 2.73510276e-04 -9.99992523e-01 2.79622646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.70, Y:96.20, Z:2.79 [[-9.97825311e-01 6.58030815e-02 -3.82148777e-03 1.20704293e+02] [ 6.58016177e-02 9.97832596e-01 5.07672214e-04 9.61953027e+01] [ 3.84661146e-03 2.55108107e-04 -9.99992569e-01 2.79497196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.74, Y:96.23, Z:2.79 [[-9.99938200e-01 -1.04340226e-02 -3.83768284e-03 1.20735812e+02] [-1.04348900e-02 9.99945534e-01 2.06066762e-04 9.62290631e+01] [ 3.83532371e-03 2.46099825e-04 -9.99992615e-01 2.79493339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.76, Y:96.27, Z:2.79 [[-9.96177256e-01 -8.72708508e-02 -3.83050991e-03 1.20762778e+02] [-8.72711618e-02 9.96184590e-01 -8.61868398e-05 9.62659544e+01] [ 3.82341654e-03 2.48435681e-04 -9.99992660e-01 2.79416169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.78, Y:96.31, Z:2.79 [[-9.86442302e-01 -1.64064439e-01 -3.80068767e-03 1.20780293e+02] [-1.64064205e-01 9.86449591e-01 -3.75575295e-04 9.63060991e+01] [ 3.81080534e-03 2.53073440e-04 -9.99992707e-01 2.79497256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.81, Y:96.35, Z:2.80 [[-9.70447295e-01 -2.41284090e-01 -3.74646133e-03 1.20814353e+02] [-2.41283287e-01 9.70454494e-01 -6.71808341e-04 9.63520672e+01] [ 3.79786690e-03 2.52003916e-04 -9.99992756e-01 2.79551066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.62, Y:97.06, Z:1.80 [[-9.62526941e-01 2.71161295e-01 3.66612793e-03 1.20618988e+02] [-2.71159551e-01 -9.62533921e-01 9.74139909e-04 9.70594029e+01] [ 3.79292153e-03 -5.64696977e-05 9.99992805e-01 1.80008385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.82, Y:96.40, Z:2.80 [[-9.48274104e-01 -3.17431536e-01 -3.66649656e-03 1.20823776e+02] [-3.17430137e-01 9.48281162e-01 -9.72750456e-04 9.63968286e+01] [ 3.78565129e-03 2.41422441e-04 -9.99992805e-01 2.79587323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.27762800000005 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:120.83, Y:96.44, Z:2.80 [[-9.20486122e-01 -3.90758961e-01 -3.56831853e-03 1.20832248e+02] [-3.90757028e-01 9.20493007e-01 -1.25246398e-03 9.64401085e+01] [ 3.77402378e-03 2.41469832e-04 -9.99992849e-01 2.79777641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.82, Y:96.47, Z:2.79 [[-8.87373995e-01 -4.61037412e-01 -3.44924585e-03 1.20820661e+02] [-4.61034961e-01 8.87380667e-01 -1.52226663e-03 9.64720242e+01] [ 3.76261595e-03 2.39403109e-04 -9.99992893e-01 2.79428633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.33762800000005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:120.47, Y:97.11, Z:1.80 [[-8.74849489e-01 4.84383527e-01 3.31210609e-03 1.20469849e+02] [-4.84380267e-01 -8.74855758e-01 1.77776794e-03 9.71107136e+01] [ 3.75873658e-03 -4.90394564e-05 9.99992935e-01 1.80092470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:97.11, Z:1.80 [[-8.75368010e-01 4.83445832e-01 3.31278053e-03 1.20466507e+02] [-4.83442570e-01 -8.75374278e-01 1.77651025e-03 9.71083630e+01] [ 3.75876934e-03 -4.64388870e-05 9.99992935e-01 1.80179126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.39762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.46, Y:97.11, Z:1.80 [[-8.75601425e-01 4.83022946e-01 3.31345495e-03 1.20463508e+02] [-4.83019686e-01 -8.75607693e-01 1.77525148e-03 9.71055516e+01] [ 3.75877384e-03 -4.60512429e-05 9.99992935e-01 1.79996117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:97.11, Z:1.80 [[-8.76064304e-01 4.82182920e-01 3.31155893e-03 1.20465091e+02] [-4.82179641e-01 -8.76070562e-01 1.77879215e-03 9.71053782e+01] [ 3.75886248e-03 -3.84299914e-05 9.99992935e-01 1.79841208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.457628 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:120.46, Y:97.10, Z:1.80 [[-8.76583398e-01 4.81238571e-01 3.31430072e-03 1.20462507e+02] [-4.81235304e-01 -8.76589662e-01 1.77366880e-03 9.71032106e+01] [ 3.75883959e-03 -4.01898879e-05 9.99992935e-01 1.79597464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.46, Y:97.10, Z:1.80 [[-8.77655129e-01 4.79281217e-01 3.31497405e-03 1.20460083e+02] [-4.79277941e-01 -8.77661389e-01 1.77240945e-03 9.71012285e+01] [ 3.75890729e-03 -3.32296920e-05 9.99992935e-01 1.79915023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.46, Y:97.10, Z:1.80 [[-8.77837352e-01 4.78947376e-01 3.31564746e-03 1.20458018e+02] [-4.78944103e-01 -8.77843613e-01 1.77114881e-03 9.71000414e+01] [ 3.75890702e-03 -3.32292147e-05 9.99992935e-01 1.79915969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.46, Y:97.10, Z:1.80 [[-8.78391833e-01 4.77929691e-01 3.31632061e-03 1.20455704e+02] [-4.77926415e-01 -8.78398093e-01 1.76988750e-03 9.70992713e+01] [ 3.75893148e-03 -3.03024996e-05 9.99992935e-01 1.80047641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.45, Y:97.10, Z:1.80 [[-8.79182495e-01 4.76473649e-01 3.31699328e-03 1.20451468e+02] [-4.76470368e-01 -8.79188752e-01 1.76862593e-03 9.70980459e+01] [ 3.75896683e-03 -2.55040559e-05 9.99992935e-01 1.80233794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.60762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.45, Y:97.10, Z:1.80 [[-8.80111042e-01 4.74756302e-01 3.31766592e-03 1.20446612e+02] [-4.74753013e-01 -8.80117295e-01 1.76736326e-03 9.70965322e+01] [ 3.75900200e-03 -1.95959715e-05 9.99992935e-01 1.80375901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.44, Y:97.10, Z:1.80 [[-8.81776467e-01 4.71655861e-01 3.31833908e-03 1.20443314e+02] [-4.71652554e-01 -8.81782711e-01 1.76609846e-03 9.70952433e+01] [ 3.75904472e-03 -7.79904174e-06 9.99992935e-01 1.80453345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.44, Y:97.09, Z:1.80 [[-8.82503725e-01 4.70293695e-01 3.31901275e-03 1.20438939e+02] [-4.70290384e-01 -8.82509966e-01 1.76483152e-03 9.70933434e+01] [ 3.75905097e-03 -3.42939394e-06 9.99992935e-01 1.80448055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.43, Y:97.09, Z:1.80 [[-8.83318524e-01 4.68761522e-01 3.31968672e-03 1.20434885e+02] [-4.68758205e-01 -8.83324762e-01 1.76356285e-03 9.70944714e+01] [ 3.75905189e-03 1.65734821e-06 9.99992935e-01 1.80350947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.43, Y:97.09, Z:1.80 [[-8.83740255e-01 4.67965957e-01 3.32036088e-03 1.20432618e+02] [-4.67962638e-01 -8.83746493e-01 1.76229266e-03 9.70945103e+01] [ 3.75905026e-03 3.60412543e-06 9.99992935e-01 1.80265518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.43, Y:97.09, Z:1.80 [[-8.84539332e-01 4.66453793e-01 3.32103478e-03 1.20429271e+02] [-4.66450469e-01 -8.84545566e-01 1.76102178e-03 9.70926269e+01] [ 3.75904188e-03 8.59480005e-06 9.99992935e-01 1.80196197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.43, Y:97.09, Z:1.80 [[-8.85485716e-01 4.64654725e-01 3.32170852e-03 1.20427271e+02] [-4.64651393e-01 -8.85491946e-01 1.75975003e-03 9.70903444e+01] [ 3.75902231e-03 1.47970184e-05 9.99992935e-01 1.80145527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:97.09, Z:1.80 [[-8.86189572e-01 4.63310915e-01 3.32238223e-03 1.20424095e+02] [-4.63307578e-01 -8.86195800e-01 1.75847716e-03 9.70879142e+01] [ 3.75900284e-03 1.90592547e-05 9.99992935e-01 1.80117247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.41, Y:97.08, Z:1.80 [[-8.87021037e-01 4.61717054e-01 3.32305590e-03 1.20409219e+02] [-4.61713710e-01 -8.87027261e-01 1.75720318e-03 9.70788324e+01] [ 3.75897185e-03 2.43757180e-05 9.99992935e-01 1.80103749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:97.08, Z:1.80 [[-8.87116356e-01 4.61533882e-01 3.32373313e-03 1.20418823e+02] [-4.61530542e-01 -8.87122582e-01 1.75592127e-03 9.70825764e+01] [ 3.75897588e-03 2.37021289e-05 9.99992935e-01 1.80000653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:97.08, Z:1.80 [[-8.87089841e-01 4.61584838e-01 3.32441055e-03 1.20420944e+02] [-4.61581504e-01 -8.87096070e-01 1.75463781e-03 9.70821430e+01] [ 3.75898574e-03 2.20349556e-05 9.99992935e-01 1.79884464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:97.08, Z:1.80 [[-8.86714499e-01 4.62305462e-01 3.32508330e-03 1.20418868e+02] [-4.62302137e-01 -8.86720734e-01 1.75336200e-03 9.70796994e+01] [ 3.75900913e-03 1.75383924e-05 9.99992935e-01 1.79745301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:97.08, Z:1.80 [[-8.85869719e-01 4.63922171e-01 3.32575478e-03 1.20420026e+02] [-4.63918862e-01 -8.85875962e-01 1.75208741e-03 9.70803839e+01] [ 3.75903841e-03 9.24081050e-06 9.99992935e-01 1.79569164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:97.08, Z:1.80 [[-8.85683337e-01 4.64277893e-01 3.32642477e-03 1.20418253e+02] [-4.64274591e-01 -8.85689584e-01 1.75081447e-03 9.70803127e+01] [ 3.75904423e-03 6.29270443e-06 9.99992935e-01 1.79601193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:97.08, Z:1.80 [[-8.85397090e-01 4.64823540e-01 3.32709338e-03 1.20416256e+02] [-4.64820247e-01 -8.85403342e-01 1.74954298e-03 9.70802102e+01] [ 3.75904836e-03 2.53989504e-06 9.99992935e-01 1.79504877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.057628 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:120.41, Y:97.08, Z:1.79 [[-8.85576502e-01 4.64481631e-01 3.32776118e-03 1.20412308e+02] [-4.64478341e-01 -8.85582754e-01 1.74827185e-03 9.70770909e+01] [ 3.75904808e-03 2.55547586e-06 9.99992935e-01 1.79281783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.41, Y:97.08, Z:1.79 [[-8.85949810e-01 4.63769184e-01 3.32842905e-03 1.20413318e+02] [-4.63765894e-01 -8.85956062e-01 1.74699942e-03 9.70762689e+01] [ 3.75904639e-03 4.14193416e-06 9.99992935e-01 1.79367152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.41, Y:97.07, Z:1.79 [[-8.86239181e-01 4.63215966e-01 3.32909620e-03 1.20411038e+02] [-4.63212676e-01 -8.86245434e-01 1.74572716e-03 9.70733392e+01] [ 3.75904500e-03 5.05224858e-06 9.99992935e-01 1.79300540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.14762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.41, Y:97.07, Z:1.79 [[-8.86837232e-01 4.62069948e-01 3.32976232e-03 1.20410796e+02] [-4.62066655e-01 -8.86843483e-01 1.74445569e-03 9.70695219e+01] [ 3.75903856e-03 8.47612232e-06 9.99992935e-01 1.79216336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.41, Y:97.07, Z:1.79 [[-8.87143924e-01 4.61480842e-01 3.33042818e-03 1.20406935e+02] [-4.61477549e-01 -8.87150175e-01 1.74318355e-03 9.70656390e+01] [ 3.75903575e-03 9.53685772e-06 9.99992935e-01 1.79294011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.207628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.41, Y:97.06, Z:1.79 [[-8.87641979e-01 4.60522118e-01 3.33109409e-03 1.20406322e+02] [-4.60518824e-01 -8.87648229e-01 1.74191010e-03 9.70636155e+01] [ 3.75902790e-03 1.21609924e-05 9.99992935e-01 1.79419827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.40, Y:97.06, Z:1.79 [[-8.87958411e-01 4.59911687e-01 3.33175997e-03 1.20403725e+02] [-4.59908393e-01 -8.87964662e-01 1.74063554e-03 9.70606892e+01] [ 3.75902374e-03 1.33075973e-05 9.99992935e-01 1.79431980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.40, Y:97.06, Z:1.79 [[-8.88030523e-01 4.59772427e-01 3.33242558e-03 1.20399847e+02] [-4.59769137e-01 -8.88036776e-01 1.73936031e-03 9.70564022e+01] [ 3.75902638e-03 1.24586124e-05 9.99992935e-01 1.79214556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.40, Y:97.06, Z:1.79 [[-8.88147513e-01 4.59546392e-01 3.33309169e-03 1.20399564e+02] [-4.59543105e-01 -8.88153767e-01 1.73808291e-03 9.70566138e+01] [ 3.75902767e-03 1.19747055e-05 9.99992935e-01 1.79152525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.40, Y:97.06, Z:1.79 [[-8.88474555e-01 4.58913774e-01 3.33375754e-03 1.20397878e+02] [-4.58910487e-01 -8.88480809e-01 1.73680483e-03 9.70600378e+01] [ 3.75902326e-03 1.32105989e-05 9.99992935e-01 1.79035747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.70, Y:96.45, Z:2.81 [[-8.48091908e-01 -5.29838652e-01 -3.33442168e-03 1.20697621e+02] [-5.29835892e-01 8.48098412e-01 -1.73552883e-03 9.64490184e+01] [ 3.74746799e-03 2.94808331e-04 -9.99992935e-01 2.80729073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.31, Y:97.05, Z:1.79 [[-8.52249429e-01 5.23125952e-01 3.18567923e-03 1.20309862e+02] [-5.23122223e-01 -8.52255383e-01 1.97540217e-03 9.70534015e+01] [ 3.74839641e-03 1.70357698e-05 9.99992975e-01 1.78974576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.31, Y:97.05, Z:1.79 [[-8.54080402e-01 5.20131247e-01 3.18643558e-03 1.20308232e+02] [-5.20127501e-01 -8.54086345e-01 1.97418138e-03 9.70522825e+01] [ 3.74832454e-03 2.87568554e-05 9.99992975e-01 1.79179995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.447628 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:120.31, Y:97.05, Z:1.79 [[-8.54802374e-01 5.18943874e-01 3.18719284e-03 1.20306681e+02] [-5.18940124e-01 -8.54808315e-01 1.97295807e-03 9.70494958e+01] [ 3.74829344e-03 3.25269953e-05 9.99992975e-01 1.78991342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.31, Y:97.05, Z:1.79 [[-8.55910983e-01 5.17113359e-01 3.18794963e-03 1.20305522e+02] [-5.17109602e-01 -8.55916919e-01 1.97173447e-03 9.70470508e+01] [ 3.74823026e-03 3.91098242e-05 9.99992975e-01 1.79237505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.30, Y:97.04, Z:1.79 [[-8.56927641e-01 5.15426862e-01 3.18870595e-03 1.20301816e+02] [-5.15423097e-01 -8.56933573e-01 1.97051058e-03 9.70423164e+01] [ 3.74816327e-03 4.50522838e-05 9.99992975e-01 1.79193312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.53762800000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:120.30, Y:97.04, Z:1.79 [[-8.56985287e-01 5.15331005e-01 3.18946269e-03 1.20301346e+02] [-5.15327244e-01 -8.56991221e-01 1.96928497e-03 9.70416310e+01] [ 3.74817513e-03 4.40312307e-05 9.99992975e-01 1.78817136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.30, Y:97.04, Z:1.79 [[-8.57088316e-01 5.15159627e-01 3.19021946e-03 1.20297959e+02] [-5.15155870e-01 -8.57094252e-01 1.96805825e-03 9.70398614e+01] [ 3.74818291e-03 4.33394515e-05 9.99992975e-01 1.78979215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.30, Y:97.04, Z:1.79 [[-8.56037377e-01 5.16904079e-01 3.19097575e-03 1.20298515e+02] [-5.16900338e-01 -8.56043324e-01 1.96683124e-03 9.70421859e+01] [ 3.74827658e-03 3.42646077e-05 9.99992975e-01 1.78833880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.627628 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:120.30, Y:97.04, Z:1.79 [[-8.55305746e-01 5.18113784e-01 3.19173070e-03 1.20297691e+02] [-5.18110056e-01 -8.55311701e-01 1.96560536e-03 9.70434091e+01] [ 3.74833185e-03 2.75257897e-05 9.99992975e-01 1.78500698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.65762800000005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:120.30, Y:97.04, Z:1.79 [[-8.54879074e-01 5.18817479e-01 3.19248354e-03 1.20295640e+02] [-5.18813761e-01 -8.54885035e-01 1.96438185e-03 9.70438717e+01] [ 3.74836205e-03 2.30045460e-05 9.99992975e-01 1.78656483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.29, Y:97.04, Z:1.79 [[-8.54478981e-01 5.19476154e-01 3.19323479e-03 1.20289519e+02] [-5.19472445e-01 -8.54484947e-01 1.96315988e-03 9.70405710e+01] [ 3.74838581e-03 1.86813682e-05 9.99992975e-01 1.78890036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.29, Y:97.04, Z:1.79 [[-8.53361098e-01 5.21310497e-01 3.19398670e-03 1.20293538e+02] [-5.21306805e-01 -8.53367076e-01 1.96193580e-03 9.70407682e+01] [ 3.74842082e-03 9.19268364e-06 9.99992975e-01 1.79038131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.747628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.29, Y:97.04, Z:1.79 [[-8.53018865e-01 5.21870300e-01 3.19473789e-03 1.20292501e+02] [-5.21866616e-01 -8.53024847e-01 1.96071183e-03 9.70377965e+01] [ 3.74842807e-03 5.29713066e-06 9.99992975e-01 1.79114904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.29, Y:97.03, Z:1.79 [[-8.52688560e-01 5.22409810e-01 3.19548698e-03 1.20287883e+02] [-5.22406135e-01 -8.52694547e-01 1.95949023e-03 9.70321310e+01] [ 3.74843124e-03 1.49289442e-06 9.99992975e-01 1.79176903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.29, Y:97.03, Z:1.79 [[-8.52598163e-01 5.22557324e-01 3.19623698e-03 1.20290538e+02] [-5.22553654e-01 -8.52604154e-01 1.95826610e-03 9.70323830e+01] [ 3.74843122e-03 -5.91238172e-07 9.99992975e-01 1.79221602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.29, Y:97.03, Z:1.80 [[-8.51876913e-01 5.23732283e-01 3.19698626e-03 1.20285682e+02] [-5.23728627e-01 -8.51882912e-01 1.95704209e-03 9.70327742e+01] [ 3.74842409e-03 -7.19424932e-06 9.99992975e-01 1.79593059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.28, Y:97.03, Z:1.80 [[-8.51768783e-01 5.23908116e-01 3.19773420e-03 1.20282817e+02] [-5.23904466e-01 -8.51774786e-01 1.95581922e-03 9.70345477e+01] [ 3.74841892e-03 -9.40147554e-06 9.99992975e-01 1.79691040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.89762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.35, Y:96.25, Z:2.80 [[-8.11697457e-01 -5.84069352e-01 -3.19848193e-03 1.20348867e+02] [-5.84066150e-01 8.11703710e-01 -1.95459565e-03 9.62485495e+01] [ 3.73783906e-03 2.81584708e-04 -9.99992975e-01 2.80188350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.927628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:120.25, Y:96.20, Z:2.80 [[-7.65937375e-01 -6.42907957e-01 -3.04909321e-03 1.20253118e+02] [-6.42904398e-01 7.65943383e-01 -2.16062043e-03 9.62008314e+01] [ 3.72451283e-03 3.05375495e-04 -9.99993017e-01 2.80463537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.957628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.25, Y:96.23, Z:2.81 [[-7.18531058e-01 -6.95488190e-01 -3.04909321e-03 1.20247495e+02] [-6.95485066e-01 7.18537303e-01 -2.16062043e-03 9.62289853e+01] [ 3.69357320e-03 5.68125907e-04 -9.99993017e-01 2.80537035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.24, Y:96.26, Z:2.81 [[-6.67479028e-01 -7.44622354e-01 -3.04909321e-03 1.20239384e+02] [-7.44619680e-01 6.67485478e-01 -2.16062043e-03 9.62594293e+01] [ 3.64407171e-03 8.28245985e-04 -9.99993017e-01 2.80676786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.88, Y:96.93, Z:1.79 [[-6.78166050e-01 7.34904633e-01 2.44733578e-03 1.19876585e+02] [-7.34899655e-01 -6.78170465e-01 2.70527968e-03 9.69333968e+01] [ 3.64783341e-03 3.60826123e-05 9.99993346e-01 1.79239821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.04762800000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.88, Y:96.94, Z:1.79 [[-6.80658365e-01 7.32596877e-01 2.45071340e-03 1.19882756e+02] [-7.32591895e-01 -6.80662775e-01 2.70221642e-03 9.69402504e+01] [ 3.64774469e-03 4.39134349e-05 9.99993346e-01 1.79127820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.33, Y:96.41, Z:2.81 [[-6.11433859e-01 -7.91291724e-01 -2.45866167e-03 1.20326337e+02] [-7.91287190e-01 6.11438729e-01 -2.69499007e-03 9.64068144e+01] [ 3.63584431e-03 2.97699310e-04 -9.99993346e-01 2.80902020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.76, Y:96.84, Z:1.79 [[-6.28610341e-01 7.77717142e-01 2.25541137e-03 1.19761722e+02] [-7.77711901e-01 -6.28614386e-01 2.85552566e-03 9.68428801e+01] [ 3.63857529e-03 4.09526896e-05 9.99993380e-01 1.79121571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.76, Y:96.84, Z:1.79 [[-6.29179057e-01 7.77257114e-01 2.25650980e-03 1.19760337e+02] [-7.77251873e-01 -6.29183102e-01 2.85465739e-03 9.68403997e+01] [ 3.63856060e-03 4.22141746e-05 9.99993380e-01 1.79059752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.76, Y:96.85, Z:1.79 [[-6.31246309e-01 7.75579139e-01 2.25760880e-03 1.19764137e+02] [-7.75573890e-01 -6.31250344e-01 2.85378797e-03 9.68479023e+01] [ 3.63845475e-03 5.05006820e-05 9.99993380e-01 1.78948242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.25, Y:96.35, Z:2.81 [[-5.54359580e-01 -8.32274206e-01 -2.25871108e-03 1.20247742e+02] [-8.32269370e-01 5.54364101e-01 -2.85291391e-03 9.63528054e+01] [ 3.62655500e-03 2.98315887e-04 -9.99993380e-01 2.81122738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.65, Y:96.75, Z:1.79 [[-5.77739132e-01 8.16218906e-01 2.04768995e-03 1.19648055e+02] [-8.16213402e-01 -5.77742758e-01 2.99794796e-03 9.67460500e+01] [ 3.63001984e-03 6.06798695e-05 9.99993410e-01 1.79014419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.257628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.17, Y:96.29, Z:2.81 [[-4.99574034e-01 -8.66268775e-01 -2.04768995e-03 1.20165547e+02] [-8.66263632e-01 4.99578155e-01 -2.99794796e-03 9.62883096e+01] [ 3.62000988e-03 2.76142379e-04 -9.99993410e-01 2.81319776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.55, Y:96.65, Z:1.79 [[-5.18427418e-01 8.55119646e-01 1.84464443e-03 1.19546257e+02] [-8.55113962e-01 -5.18430698e-01 3.11822257e-03 9.66465062e+01] [ 3.62277368e-03 3.91908651e-05 9.99993437e-01 1.78846284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.08, Y:96.21, Z:2.81 [[-4.40973087e-01 -8.97518431e-01 -1.84464443e-03 1.20081184e+02] [-8.97513058e-01 4.40976856e-01 -3.11822257e-03 9.62054843e+01] [ 3.61210773e-03 2.80540228e-04 -9.99993437e-01 2.81334668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:96.52, Z:1.79 [[-4.59338137e-01 8.88259998e-01 1.62856493e-03 1.19440497e+02] [-8.88254136e-01 -4.59341023e-01 3.22726232e-03 9.65178808e+01] [ 3.61471470e-03 3.58251299e-05 9.99993466e-01 1.78943882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:96.51, Z:1.79 [[-4.59624859e-01 8.88111667e-01 1.63004056e-03 1.19440408e+02] [-8.88105806e-01 -4.59627748e-01 3.22651683e-03 9.65143356e+01] [ 3.61471911e-03 3.53388553e-05 9.99993466e-01 1.78931232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:96.51, Z:1.79 [[-4.59607904e-01 8.88120438e-01 1.63144017e-03 1.19438828e+02] [-8.88114581e-01 -4.59610798e-01 3.22580898e-03 9.65077828e+01] [ 3.61473441e-03 3.37015003e-05 9.99993466e-01 1.78963049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.00, Y:96.12, Z:2.81 [[-3.82700691e-01 -9.23870943e-01 -1.63144017e-03 1.19998085e+02] [-9.23865352e-01 3.82704072e-01 -3.22580898e-03 9.61201985e+01] [ 3.60458998e-03 2.72711721e-04 -9.99993466e-01 2.81451382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.35, Y:96.39, Z:1.79 [[-3.98038312e-01 9.17367714e-01 1.40727808e-03 1.19347635e+02] [-9.17361703e-01 -3.98040799e-01 3.32080369e-03 9.63883512e+01] [ 3.60655218e-03 3.08240785e-05 9.99993496e-01 1.78973738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:96.38, Z:1.79 [[-3.97616895e-01 9.17550446e-01 1.40871651e-03 1.19344023e+02] [-9.17544439e-01 -3.97619389e-01 3.32019338e-03 9.63826252e+01] [ 3.60657792e-03 2.76049783e-05 9.99993496e-01 1.79003405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:96.39, Z:1.79 [[-3.96192339e-01 9.18166457e-01 1.41015629e-03 1.19338720e+02] [-9.18160456e-01 -3.96194848e-01 3.31958177e-03 9.63854189e+01] [ 3.60662529e-03 2.04431192e-05 9.99993496e-01 1.79311500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:96.38, Z:1.79 [[-3.97240298e-01 9.17713552e-01 1.40763297e-03 1.19336498e+02] [-9.17707545e-01 -3.97242792e-01 3.32065454e-03 9.63847083e+01] [ 3.60658172e-03 2.73024070e-05 9.99993496e-01 1.79366753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:96.38, Z:1.79 [[-4.01267794e-01 9.15959699e-01 1.40949060e-03 1.19334728e+02] [-9.15953684e-01 -4.01270268e-01 3.31986385e-03 9.63758400e+01] [ 3.60644816e-03 4.11263351e-05 9.99993496e-01 1.79138596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:96.37, Z:1.79 [[-4.03204289e-01 9.15108902e-01 1.41369062e-03 1.19334933e+02] [-9.15102888e-01 -4.03206765e-01 3.31807440e-03 9.63722744e+01] [ 3.60640904e-03 4.41894657e-05 9.99993496e-01 1.78902484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.64762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:96.36, Z:1.79 [[-4.04552750e-01 9.14513570e-01 1.41529468e-03 1.19333232e+02] [-9.14507554e-01 -4.04555222e-01 3.31739006e-03 9.63643750e+01] [ 3.60636308e-03 4.77615924e-05 9.99993496e-01 1.78689755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.677628 meters Centerline goodness : 0.991553 Centerline is valid? [True, True] Translation: X:118.95, Y:95.46, Z:1.79 [[-4.05472977e-01 9.14105934e-01 1.41673590e-03 1.18948833e+02] [-9.14099918e-01 -4.05475449e-01 3.31677446e-03 9.54620414e+01] [ 3.60633483e-03 4.98242491e-05 9.99993496e-01 1.78522287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.707628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:96.35, Z:1.78 [[-4.08386085e-01 9.12808199e-01 1.41309773e-03 1.19333848e+02] [-9.12802170e-01 -4.08388525e-01 3.31832595e-03 9.63533526e+01] [ 3.60608803e-03 6.52794692e-05 9.99993496e-01 1.78373245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:96.35, Z:1.78 [[-4.09213998e-01 9.12437324e-01 1.42612245e-03 1.19331122e+02] [-9.12431312e-01 -4.09216479e-01 3.31271882e-03 9.63473600e+01] [ 3.60624110e-03 5.43721309e-05 9.99993496e-01 1.78430089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:96.34, Z:1.79 [[-4.10329423e-01 9.11936252e-01 1.42755950e-03 1.19328805e+02] [-9.11930239e-01 -4.10331902e-01 3.31209943e-03 9.63439475e+01] [ 3.60619674e-03 5.72171668e-05 9.99993496e-01 1.78504567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:96.34, Z:1.79 [[-4.11711519e-01 9.11313110e-01 1.42899894e-03 1.19327551e+02] [-9.11307095e-01 -4.11713994e-01 3.31147827e-03 9.63426606e+01] [ 3.60613242e-03 6.11168789e-05 9.99993496e-01 1.78562833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:96.37, Z:1.78 [[-4.08047765e-01 9.12959460e-01 1.43060155e-03 1.19343740e+02] [-9.12953458e-01 -4.08050270e-01 3.31078578e-03 9.63671755e+01] [ 3.60637054e-03 4.48861077e-05 9.99993496e-01 1.78188064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:96.33, Z:1.78 [[-4.16281099e-01 9.09234890e-01 1.40035246e-03 1.19325422e+02] [-9.09228821e-01 -4.16283440e-01 3.32387009e-03 9.63327777e+01] [ 3.60512219e-03 1.10423471e-04 9.99993495e-01 1.78251463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:96.33, Z:1.78 [[-4.17442136e-01 9.08702376e-01 1.43379670e-03 1.19324066e+02] [-9.08696353e-01 -4.17444591e-01 3.30938030e-03 9.63289918e+01] [ 3.60577241e-03 7.85889519e-05 9.99993496e-01 1.78110897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:96.33, Z:1.78 [[-4.18363017e-01 9.08278771e-01 1.43523546e-03 1.19322477e+02] [-9.08272748e-01 -4.18365472e-01 3.30875620e-03 9.63261841e+01] [ 3.60572598e-03 8.06759710e-05 9.99993496e-01 1.77910268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:96.36, Z:1.77 [[-4.12366993e-01 9.11016684e-01 1.43667454e-03 1.19340752e+02] [-9.11010680e-01 -4.12369492e-01 3.30813124e-03 9.63590818e+01] [ 3.60620350e-03 5.53382846e-05 9.99993496e-01 1.77465188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:96.32, Z:1.78 [[-4.18596686e-01 9.08171151e-01 1.40532132e-03 1.19320018e+02] [-9.08165083e-01 -4.18599029e-01 3.32175064e-03 9.63162284e+01] [ 3.60498424e-03 1.14210053e-04 9.99993496e-01 1.77889810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.007628 meters Centerline goodness : 0.991753 Centerline is valid? [True, True] Translation: X:118.94, Y:95.44, Z:1.77 [[-4.21806938e-01 9.06684530e-01 1.43888562e-03 1.18941522e+02] [-9.06678503e-01 -4.21809383e-01 3.30714427e-03 9.54400186e+01] [ 3.60547200e-03 9.03697424e-05 9.99993496e-01 1.77277637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.88, Y:95.98, Z:2.83 [[-3.13724755e-01 -9.49512879e-01 -1.43888562e-03 1.19875811e+02] [-9.49507177e-01 3.13727882e-01 -3.30714427e-03 9.59805732e+01] [ 3.59159462e-03 3.28699194e-04 -9.99993496e-01 2.83112854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:96.21, Z:1.77 [[-3.57758189e-01 9.33813482e-01 1.20765797e-03 1.19224872e+02] [-9.33807335e-01 -3.57760217e-01 3.38952867e-03 9.62060174e+01] [ 3.59723955e-03 8.49117676e-05 9.99993526e-01 1.77179148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.26, Y:96.28, Z:1.77 [[-3.40169864e-01 9.40363229e-01 1.20880629e-03 1.19256566e+02] [-9.40357122e-01 -3.40172012e-01 3.38911910e-03 9.62764928e+01] [ 3.59820505e-03 1.61665853e-05 9.99993526e-01 1.77127230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:96.20, Z:1.77 [[-3.58416750e-01 9.33561029e-01 1.11302109e-03 1.19218641e+02] [-9.33554772e-01 -3.58418428e-01 3.42321836e-03 9.62047560e+01] [ 3.59471052e-03 1.87872646e-04 9.99993521e-01 1.77332688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.15762800000005 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.22, Y:96.20, Z:1.77 [[-3.60010886e-01 9.32947317e-01 1.21097098e-03 1.19216922e+02] [-9.32941168e-01 -3.60012912e-01 3.38821038e-03 9.62002315e+01] [ 3.59698697e-03 9.00279444e-05 9.99993527e-01 1.77081142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:96.20, Z:1.77 [[-3.61052288e-01 9.32544785e-01 1.21244194e-03 1.19218680e+02] [-9.32538636e-01 -3.61054312e-01 3.38768393e-03 9.61976276e+01] [ 3.59692437e-03 9.24820821e-05 9.99993527e-01 1.77263410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.21762800000005 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:119.22, Y:96.19, Z:1.77 [[-3.61623230e-01 9.32323531e-01 1.21391267e-03 1.19217398e+02] [-9.32317382e-01 -3.61625256e-01 3.38715684e-03 9.61906532e+01] [ 3.59690750e-03 9.31227130e-05 9.99993527e-01 1.76654092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:96.19, Z:1.77 [[-3.61334124e-01 9.32435613e-01 1.21572167e-03 1.19219454e+02] [-9.32429468e-01 -3.61336158e-01 3.38650742e-03 9.61916707e+01] [ 3.59698432e-03 9.00859810e-05 9.99993527e-01 1.76946357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:96.19, Z:1.77 [[-3.59717943e-01 9.33060298e-01 1.21719078e-03 1.19221049e+02] [-9.33054158e-01 -3.59719993e-01 3.38597931e-03 9.61895918e+01] [ 3.59717072e-03 8.22925978e-05 9.99993527e-01 1.76911961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:96.18, Z:1.77 [[-3.58551360e-01 9.33509205e-01 1.21874372e-03 1.19219146e+02] [-9.33503070e-01 -3.58553424e-01 3.38542025e-03 9.61847261e+01] [ 3.59730570e-03 7.61460342e-05 9.99993527e-01 1.77243501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:96.18, Z:1.77 [[-3.57135972e-01 9.34051609e-01 1.22020913e-03 1.19216153e+02] [-9.34045479e-01 -3.57138050e-01 3.38489199e-03 9.61798826e+01] [ 3.59744692e-03 6.91358748e-05 9.99993527e-01 1.77360076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.21, Y:96.18, Z:1.77 [[-3.55605783e-01 9.34635241e-01 1.22167647e-03 1.19214325e+02] [-9.34629116e-01 -3.55607877e-01 3.38436232e-03 9.61813893e+01] [ 3.59758207e-03 6.16844124e-05 9.99993527e-01 1.77422157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.39762800000005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:119.21, Y:96.18, Z:1.77 [[-3.54129038e-01 9.35195770e-01 1.22347872e-03 1.19209258e+02] [-9.35189650e-01 -3.54131148e-01 3.38371066e-03 9.61787239e+01] [ 3.59770382e-03 5.40855630e-05 9.99993527e-01 1.77308520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.21, Y:96.17, Z:1.78 [[-3.55660314e-01 9.34614487e-01 1.22510855e-03 1.19209254e+02] [-9.34608366e-01 -3.55662420e-01 3.38312046e-03 9.61728763e+01] [ 3.59763847e-03 5.82449860e-05 9.99993527e-01 1.77614961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.457628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.24, Y:96.22, Z:1.77 [[-3.38830666e-01 9.40846574e-01 1.22657191e-03 1.19238610e+02] [-9.40840493e-01 -3.38832886e-01 3.38258983e-03 9.62174619e+01] [ 3.59810095e-03 -7.88335545e-06 9.99993527e-01 1.77477072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.24, Y:96.22, Z:1.77 [[-3.38616804e-01 9.40923698e-01 1.12060994e-03 1.19240030e+02] [-9.40917485e-01 -3.38618642e-01 3.42087537e-03 9.62157599e+01] [ 3.59824212e-03 1.03964395e-04 9.99993521e-01 1.77443612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.24, Y:96.21, Z:1.77 [[-3.37688365e-01 9.41257315e-01 1.11135582e-03 1.19239060e+02] [-9.41251093e-01 -3.37690176e-01 3.42422279e-03 9.62142128e+01] [ 3.59836870e-03 1.10255313e-04 9.99993520e-01 1.77467760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.54762800000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.24, Y:96.21, Z:1.77 [[-3.36248726e-01 9.41772559e-01 1.11424580e-03 1.19237319e+02] [-9.41766343e-01 -3.36250557e-01 3.42317620e-03 9.62122888e+01] [ 3.59851918e-03 1.01679444e-04 9.99993520e-01 1.77462431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.577628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.24, Y:96.21, Z:1.78 [[-3.34071312e-01 9.42547132e-01 1.12352534e-03 1.19235810e+02] [-9.42540932e-01 -3.34073191e-01 3.41981097e-03 9.62141745e+01] [ 3.59867272e-03 8.34921222e-05 9.99993521e-01 1.77869996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.60762800000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:119.23, Y:96.21, Z:1.78 [[-3.31872049e-01 9.43323749e-01 1.11694585e-03 1.19231959e+02] [-9.43317545e-01 -3.31873918e-01 3.42220027e-03 9.62092422e+01] [ 3.59892799e-03 8.20979938e-05 9.99993520e-01 1.77789677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.23, Y:96.21, Z:1.78 [[-3.27871893e-01 9.44721527e-01 1.12162258e-03 1.19229434e+02] [-9.44715337e-01 -3.27873806e-01 3.42049990e-03 9.62087279e+01] [ 3.59917055e-03 6.18717235e-05 9.99993521e-01 1.78388975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.23, Y:96.20, Z:1.78 [[-3.25274388e-01 9.45619006e-01 1.12589900e-03 1.19227930e+02] [-9.45612827e-01 -3.25276333e-01 3.41894312e-03 9.62045260e+01] [ 3.59924589e-03 4.74300941e-05 9.99993522e-01 1.78424949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.697628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.23, Y:96.21, Z:1.78 [[-3.21498320e-01 9.46909476e-01 1.12860991e-03 1.19231212e+02] [-9.46903308e-01 -3.21500300e-01 3.41795519e-03 9.62093905e+01] [ 3.59934259e-03 3.01823940e-05 9.99993522e-01 1.78435293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.72762800000004 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:119.23, Y:96.20, Z:1.78 [[-3.19609592e-01 9.47548649e-01 1.12536889e-03 1.19227994e+02] [-9.47542481e-01 -3.19611572e-01 3.41913714e-03 9.62030402e+01] [ 3.59947970e-03 2.64541965e-05 9.99993522e-01 1.78297680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:96.20, Z:1.79 [[-3.15967548e-01 9.48769313e-01 1.14030138e-03 1.19221016e+02] [-9.48763171e-01 -3.15969606e-01 3.41368028e-03 9.62008099e+01] [ 3.59909567e-03 -3.26376774e-06 9.99993523e-01 1.79183784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:96.20, Z:1.79 [[-3.13972415e-01 9.49431416e-01 1.14406579e-03 1.19220585e+02] [-9.49425284e-01 -3.13974499e-01 3.41230293e-03 9.62013275e+01] [ 3.59895508e-03 -1.48360015e-05 9.99993524e-01 1.79336801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:96.20, Z:1.79 [[-3.13200972e-01 9.49686181e-01 1.14431750e-03 1.19217769e+02] [-9.49680051e-01 -3.13203062e-01 3.41221068e-03 9.61954902e+01] [ 3.59893308e-03 -1.80278020e-05 9.99993524e-01 1.79413497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.21, Y:96.19, Z:1.79 [[-3.13717355e-01 9.49515719e-01 1.14939193e-03 1.19214886e+02] [-9.49509595e-01 -3.13719460e-01 3.41034871e-03 9.61918354e+01] [ 3.59876632e-03 -2.14730914e-05 9.99993524e-01 1.79472657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.877628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.21, Y:96.19, Z:1.79 [[-3.11802925e-01 9.50146096e-01 1.15443150e-03 1.19210315e+02] [-9.50139983e-01 -3.11805061e-01 3.40849732e-03 9.61894468e+01] [ 3.59852800e-03 -3.40920911e-05 9.99993525e-01 1.79446160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.21, Y:96.19, Z:1.80 [[-3.12192027e-01 9.50018314e-01 1.15857579e-03 1.19206811e+02] [-9.50012205e-01 -3.12194174e-01 3.40697287e-03 9.61855410e+01] [ 3.59838723e-03 -3.70313750e-05 9.99993525e-01 1.79865171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.18, Y:96.15, Z:1.80 [[-3.26241812e-01 9.45285634e-01 1.16199066e-03 1.19184618e+02] [-9.45279499e-01 -3.26243881e-01 3.40571400e-03 9.61537193e+01] [ 3.59846486e-03 1.26803616e-05 9.99993525e-01 1.80186479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.96762800000005 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:119.20, Y:96.18, Z:1.80 [[-3.11494650e-01 9.50247086e-01 1.24829557e-03 1.19204805e+02] [-9.50241107e-01 -3.11497121e-01 3.37378129e-03 9.61832683e+01] [ 3.59476632e-03 -1.35266939e-04 9.99993530e-01 1.79755057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.997628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.20, Y:96.18, Z:1.80 [[-3.11323692e-01 9.50303201e-01 1.17663638e-03 1.19202436e+02] [-9.50297120e-01 -3.11325910e-01 3.40025819e-03 9.61807339e+01] [ 3.59759364e-03 -5.95732299e-05 9.99993527e-01 1.79827981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.20, Y:96.17, Z:1.80 [[-3.12033037e-01 9.50070519e-01 1.18027635e-03 1.19198450e+02] [-9.50064441e-01 -3.12035263e-01 3.39891170e-03 9.61734370e+01] [ 3.59749364e-03 -6.07658490e-05 9.99993527e-01 1.80047272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.18, Y:96.14, Z:1.80 [[-3.24902864e-01 9.45746650e-01 1.18433162e-03 1.19177600e+02] [-9.45740548e-01 -3.24905022e-01 3.39740863e-03 9.61448487e+01] [ 3.59788313e-03 -1.62426419e-05 9.99993527e-01 1.80387804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.19, Y:96.16, Z:1.81 [[-3.15170456e-01 9.49034252e-01 1.25371519e-03 1.19186754e+02] [-9.49028272e-01 -3.15172924e-01 3.37160873e-03 9.61612255e+01] [ 3.59490925e-03 -1.27179698e-04 9.99993530e-01 1.80709497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:96.14, Z:1.81 [[-3.22934641e-01 9.46420496e-01 1.20947932e-03 1.19170882e+02] [-9.46414433e-01 -3.22936902e-01 3.38806813e-03 9.61369984e+01] [ 3.59712263e-03 -5.05441153e-05 9.99993529e-01 1.80996885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.14762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:96.13, Z:1.81 [[-3.22578311e-01 9.46541945e-01 1.25710782e-03 1.19170295e+02] [-9.46535950e-01 -3.22580744e-01 3.37030292e-03 9.61348685e+01] [ 3.59565186e-03 -1.02711122e-04 9.99993530e-01 1.81101476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.177628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:96.13, Z:1.81 [[-3.22024243e-01 9.46730586e-01 1.25870414e-03 1.19169246e+02] [-9.46724595e-01 -3.22026686e-01 3.36970664e-03 9.61283508e+01] [ 3.59554066e-03 -1.06518942e-04 9.99993530e-01 1.81094461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.207628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:119.17, Y:96.12, Z:1.81 [[-3.21620078e-01 9.46867962e-01 1.26046532e-03 1.19168747e+02] [-9.46861974e-01 -3.21622529e-01 3.36904773e-03 9.61244422e+01] [ 3.59543740e-03 -1.09933289e-04 9.99993530e-01 1.80917547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23762800000003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.17, Y:96.12, Z:1.81 [[-3.22369895e-01 9.46612940e-01 1.26206164e-03 1.19165391e+02] [-9.46606953e-01 -3.22372347e-01 3.36844963e-03 9.61193906e+01] [ 3.59547178e-03 -1.08789576e-04 9.99993530e-01 1.80983574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.267628 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.16, Y:96.12, Z:1.81 [[-3.24389202e-01 9.45922855e-01 1.26399015e-03 1.19162659e+02] [-9.45916866e-01 -3.24391648e-01 3.36772581e-03 9.61160433e+01] [ 3.59563667e-03 -1.03175718e-04 9.99993530e-01 1.81230254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29762800000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:119.16, Y:96.11, Z:1.81 [[-3.26552722e-01 9.45178141e-01 1.26575098e-03 1.19160749e+02] [-9.45172148e-01 -3.26555160e-01 3.36706388e-03 9.61091961e+01] [ 3.59581269e-03 -9.68286959e-05 9.99993530e-01 1.81177437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.327628 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:119.16, Y:96.11, Z:1.81 [[-3.27001419e-01 9.45022998e-01 1.26734746e-03 1.19159382e+02] [-9.45017006e-01 -3.27003860e-01 3.36646286e-03 9.61054200e+01] [ 3.59581234e-03 -9.68267735e-05 9.99993530e-01 1.81178945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35762800000003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.16, Y:96.10, Z:1.81 [[-3.27242354e-01 9.44939592e-01 1.26894545e-03 1.19159943e+02] [-9.44933602e-01 -3.27244800e-01 3.36586041e-03 9.61032097e+01] [ 3.59579057e-03 -9.76171121e-05 9.99993530e-01 1.81028422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.387628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:96.10, Z:1.81 [[-3.27738558e-01 9.44767603e-01 1.27054196e-03 1.19159373e+02] [-9.44761614e-01 -3.27741006e-01 3.36525766e-03 9.60987475e+01] [ 3.59579511e-03 -9.74345835e-05 9.99993530e-01 1.81152176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41762800000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.16, Y:96.09, Z:1.81 [[-3.26041522e-01 9.45354594e-01 1.27213759e-03 1.19158140e+02] [-9.45348612e-01 -3.26043986e-01 3.36465437e-03 9.60941520e+01] [ 3.59556428e-03 -1.05596476e-04 9.99993530e-01 1.80689731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.447628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:96.10, Z:1.81 [[-3.22405179e-01 9.46600907e-01 1.27389795e-03 1.19157336e+02] [-9.46594938e-01 -3.22407673e-01 3.36398774e-03 9.60969925e+01] [ 3.59506832e-03 -1.21298281e-04 9.99993530e-01 1.80583615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:96.10, Z:1.80 [[-3.20175352e-01 9.47357439e-01 1.27548899e-03 1.19156008e+02] [-9.47351478e-01 -3.20177866e-01 3.36338438e-03 9.60956121e+01] [ 3.59471055e-03 -1.31463606e-04 9.99993530e-01 1.80448647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.507628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:119.16, Y:96.09, Z:1.80 [[-3.18223964e-01 9.48014703e-01 1.27707511e-03 1.19156309e+02] [-9.48008750e-01 -3.18226495e-01 3.36278202e-03 9.60921295e+01] [ 3.59436594e-03 -1.40560559e-04 9.99993530e-01 1.80132512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:96.09, Z:1.80 [[-3.16998989e-01 9.48425013e-01 1.27865869e-03 1.19156268e+02] [-9.48419065e-01 -3.17001534e-01 3.36217978e-03 9.60901964e+01] [ 3.59411216e-03 -1.46896687e-04 9.99993530e-01 1.80267708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.567628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:96.09, Z:1.80 [[-3.14861775e-01 9.49136673e-01 1.28040393e-03 1.19156071e+02] [-9.49130733e-01 -3.14864339e-01 3.36151501e-03 9.60890862e+01] [ 3.59369071e-03 -1.56858141e-04 9.99993530e-01 1.80213362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.59762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:96.09, Z:1.80 [[-3.12475974e-01 9.49924798e-01 1.28198182e-03 1.19154657e+02] [-9.49918867e-01 -3.12478559e-01 3.36091314e-03 9.60864848e+01] [ 3.59320657e-03 -1.67574106e-04 9.99993530e-01 1.80150563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:96.09, Z:1.80 [[-3.06860701e-01 9.51753572e-01 1.28355717e-03 1.19154823e+02] [-9.51747659e-01 -3.06863326e-01 3.36031140e-03 9.60887562e+01] [ 3.59206500e-03 -1.90475026e-04 9.99993530e-01 1.80175905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.65762800000005 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:119.15, Y:96.08, Z:1.80 [[-3.04607441e-01 9.52477116e-01 1.28512770e-03 1.19153310e+02] [-9.52471211e-01 -3.04610085e-01 3.35971065e-03 9.60834188e+01] [ 3.59151037e-03 -2.00654274e-04 9.99993530e-01 1.80014204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:96.08, Z:1.80 [[-3.04322213e-01 9.52568284e-01 1.28669572e-03 1.19154453e+02] [-9.52562383e-01 -3.04324865e-01 3.35911003e-03 9.60831788e+01] [ 3.59135518e-03 -2.03406147e-04 9.99993530e-01 1.80288928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.71762800000005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:119.16, Y:96.08, Z:1.80 [[-3.02246410e-01 9.53228959e-01 1.28826182e-03 1.19155186e+02] [-9.53223066e-01 -3.02249080e-01 3.35850930e-03 9.60770899e+01] [ 3.59080427e-03 -2.12903506e-04 9.99993530e-01 1.80037276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.747628 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:119.16, Y:96.08, Z:1.80 [[-3.02241424e-01 9.53230538e-01 1.28966605e-03 1.19155943e+02] [-9.53224648e-01 -3.02244099e-01 3.35796999e-03 9.60765248e+01] [ 3.59071349e-03 -2.14423830e-04 9.99993530e-01 1.80066779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.77762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:96.07, Z:1.80 [[-3.02818236e-01 9.53047454e-01 1.29122940e-03 1.19153729e+02] [-9.53041564e-01 -3.02820913e-01 3.35736873e-03 9.60695496e+01] [ 3.59074299e-03 -2.13922814e-04 9.99993530e-01 1.80392339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.807628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:96.07, Z:1.81 [[-3.02837350e-01 9.53041378e-01 1.29279248e-03 1.19152812e+02] [-9.53035491e-01 -3.02840032e-01 3.35676674e-03 9.60679658e+01] [ 3.59064692e-03 -2.15522773e-04 9.99993530e-01 1.80631106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.83762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:96.06, Z:1.81 [[-3.03044773e-01 9.52975441e-01 1.29419597e-03 1.19149854e+02] [-9.52969555e-01 -3.03047459e-01 3.35622554e-03 9.60602234e+01] [ 3.59060332e-03 -2.16242755e-04 9.99993530e-01 1.80823360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:96.06, Z:1.81 [[-3.03570724e-01 9.52808027e-01 1.29592257e-03 1.19149717e+02] [-9.52802143e-01 -3.03573413e-01 3.35555873e-03 9.60577188e+01] [ 3.59061093e-03 -2.16108405e-04 9.99993530e-01 1.80809416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.89762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:96.05, Z:1.81 [[-3.04559708e-01 9.52492363e-01 1.29748807e-03 1.19148815e+02] [-9.52486478e-01 -3.04562396e-01 3.35495329e-03 9.60541459e+01] [ 3.59073346e-03 -2.14056251e-04 9.99993530e-01 1.80780861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.927628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:96.05, Z:1.81 [[-3.06023509e-01 9.52023069e-01 1.29921335e-03 1.19145239e+02] [-9.52017183e-01 -3.06026195e-01 3.35428504e-03 9.60467382e+01] [ 3.59095005e-03 -2.10383354e-04 9.99993530e-01 1.80768744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.95762800000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.14, Y:96.04, Z:1.81 [[-3.10054461e-01 9.50717907e-01 1.30061830e-03 1.19139250e+02] [-9.50712012e-01 -3.10057127e-01 3.35374018e-03 9.60405723e+01] [ 3.59172682e-03 -1.96671333e-04 9.99993530e-01 1.80930841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.14, Y:96.04, Z:1.81 [[-3.12647020e-01 9.49868488e-01 1.30251344e-03 1.19135730e+02] [-9.49862589e-01 -3.12649677e-01 3.35300399e-03 9.60353178e+01] [ 3.59214324e-03 -1.88902081e-04 9.99993530e-01 1.80914661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.13, Y:96.03, Z:1.81 [[-3.15629573e-01 9.48881590e-01 1.30424700e-03 1.19133519e+02] [-9.48875685e-01 -3.15632217e-01 3.35232954e-03 9.60329947e+01] [ 3.59262615e-03 -1.79473924e-04 9.99993530e-01 1.80829711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.04762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.13, Y:96.03, Z:1.81 [[-3.18741565e-01 9.47840762e-01 1.30581775e-03 1.19130137e+02] [-9.47834851e-01 -3.18744195e-01 3.35171758e-03 9.60269268e+01] [ 3.59311637e-03 -1.69367863e-04 9.99993530e-01 1.80697160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.077628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:96.02, Z:1.81 [[-3.24907799e-01 9.45744793e-01 1.30738937e-03 1.19124031e+02] [-9.45738867e-01 -3.24910396e-01 3.35110443e-03 9.60199717e+01] [ 3.59407396e-03 -1.47648977e-04 9.99993530e-01 1.80637738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.10762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:96.01, Z:1.81 [[-3.28232006e-01 9.44596230e-01 1.30896460e-03 1.19120207e+02] [-9.44590297e-01 -3.28234587e-01 3.35048902e-03 9.60142799e+01] [ 3.59450675e-03 -1.36697531e-04 9.99993530e-01 1.80709907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.137628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:96.01, Z:1.81 [[-3.31920835e-01 9.43306335e-01 1.31054413e-03 1.19116453e+02] [-9.43300395e-01 -3.31923399e-01 3.34987108e-03 9.60074426e+01] [ 3.59495487e-03 -1.24344795e-04 9.99993530e-01 1.80920187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.16762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:96.00, Z:1.81 [[-3.35054463e-01 9.42197848e-01 1.31212672e-03 1.19111377e+02] [-9.42191902e-01 -3.35057012e-01 3.34925107e-03 9.59984908e+01] [ 3.59529441e-03 -1.14093658e-04 9.99993530e-01 1.81003223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:95.99, Z:1.81 [[-3.39894734e-01 9.40462569e-01 1.31371475e-03 1.19107382e+02] [-9.40456613e-01 -3.39897259e-01 3.34862806e-03 9.59948283e+01] [ 3.59578739e-03 -9.73106819e-05 9.99993530e-01 1.81232564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.22762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.10, Y:95.99, Z:1.81 [[-3.41580637e-01 9.39851551e-01 1.31530656e-03 1.19103568e+02] [-9.39845593e-01 -3.41583157e-01 3.34800270e-03 9.59884029e+01] [ 3.59591210e-03 -9.25721742e-05 9.99993530e-01 1.81241975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.257628 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:119.10, Y:95.99, Z:1.81 [[-3.42752292e-01 9.39424895e-01 1.31690036e-03 1.19102292e+02] [-9.39418935e-01 -3.42754810e-01 3.34737568e-03 9.59852326e+01] [ 3.59598198e-03 -8.98004467e-05 9.99993530e-01 1.80911211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.28762800000004 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:119.10, Y:95.98, Z:1.81 [[-3.44550285e-01 9.38766937e-01 1.31866011e-03 1.19102020e+02] [-9.38760976e-01 -3.44552798e-01 3.34668230e-03 9.59802758e+01] [ 3.59610272e-03 -8.48063093e-05 9.99993530e-01 1.80974746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.317628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.10, Y:95.97, Z:1.81 [[-3.46693771e-01 9.37977444e-01 1.32025388e-03 1.19103362e+02] [-9.37971479e-01 -3.46696276e-01 3.34605345e-03 9.59738865e+01] [ 3.59624976e-03 -7.83045944e-05 9.99993530e-01 1.81112085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.34762800000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.10, Y:95.97, Z:1.81 [[-3.47164982e-01 9.37803139e-01 1.32201362e-03 1.19103138e+02] [-9.37797175e-01 -3.47167490e-01 3.34535804e-03 9.59690475e+01] [ 3.59624742e-03 -7.83894749e-05 9.99993530e-01 1.80861261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.10, Y:95.96, Z:1.81 [[-3.47679421e-01 9.37612536e-01 1.32360846e-03 1.19100979e+02] [-9.37606574e-01 -3.47681932e-01 3.34472691e-03 9.59607695e+01] [ 3.59625263e-03 -7.81312807e-05 9.99993530e-01 1.80874995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.40762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.10, Y:95.96, Z:1.81 [[-3.47693615e-01 9.37607271e-01 1.32520592e-03 1.19101842e+02] [-9.37601310e-01 -3.47696131e-01 3.34409387e-03 9.59568949e+01] [ 3.59621569e-03 -7.97947171e-05 9.99993530e-01 1.80584614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.437628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.10, Y:95.96, Z:1.80 [[-3.47798931e-01 9.37568207e-01 1.32680547e-03 1.19102560e+02] [-9.37562249e-01 -3.47801452e-01 3.34345911e-03 9.59570840e+01] [ 3.59618583e-03 -8.11112191e-05 9.99993530e-01 1.80476061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.46762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.10, Y:95.95, Z:1.80 [[-3.48107446e-01 9.37453701e-01 1.32840180e-03 1.19101908e+02] [-9.37447745e-01 -3.48109971e-01 3.34282474e-03 9.59548039e+01] [ 3.59617334e-03 -8.16450928e-05 9.99993530e-01 1.80470200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.497628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:95.96, Z:1.81 [[-3.49223485e-01 9.37038520e-01 1.32999373e-03 1.19105206e+02] [-9.37032563e-01 -3.49226009e-01 3.34219125e-03 9.59645915e+01] [ 3.59623034e-03 -7.90757617e-05 9.99993530e-01 1.80620933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.73, Y:95.59, Z:2.81 [[-3.31190873e-01 -9.43562842e-01 -1.32999373e-03 1.19725616e+02] [-9.43556934e-01 3.31193511e-01 -3.34219125e-03 9.55948947e+01] [ 3.59405276e-03 1.48021574e-04 -9.99993530e-01 2.80701148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.557628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.02, Y:95.82, Z:1.80 [[-2.80689593e-01 9.59797970e-01 1.09945059e-03 1.19020609e+02] [-9.59791895e-01 -2.80691730e-01 3.41638407e-03 9.58156983e+01] [ 3.58764518e-03 -9.63003111e-05 9.99993560e-01 1.80112155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.02, Y:95.81, Z:1.80 [[-2.79357519e-01 9.60186526e-01 1.10107171e-03 1.19021129e+02] [-9.60180455e-01 -2.79359670e-01 3.41586151e-03 9.58129370e+01] [ 3.58745923e-03 -1.02980941e-04 9.99993560e-01 1.80017223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.617628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.02, Y:95.81, Z:1.80 [[-2.78018016e-01 9.60575227e-01 1.10269086e-03 1.19020970e+02] [-9.60569162e-01 -2.78020181e-01 3.41533875e-03 9.58092854e+01] [ 3.58726011e-03 -1.09685132e-04 9.99993560e-01 1.79839804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.64762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.02, Y:95.81, Z:1.80 [[-2.77198706e-01 9.60811979e-01 1.10361387e-03 1.19021449e+02] [-9.60805917e-01 -2.77200880e-01 3.41504024e-03 9.58051403e+01] [ 3.58713431e-03 -1.13713998e-04 9.99993560e-01 1.79744599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.677628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.02, Y:95.80, Z:1.80 [[-2.77395021e-01 9.60755317e-01 1.10592689e-03 1.19020764e+02] [-9.60749257e-01 -2.77397202e-01 3.41429102e-03 9.58025299e+01] [ 3.58707928e-03 -1.15411110e-04 9.99993560e-01 1.79594075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.70762800000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.03, Y:95.82, Z:1.79 [[-2.76722576e-01 9.60949213e-01 1.10754237e-03 1.19026818e+02] [-9.60943156e-01 -2.76724766e-01 3.41376691e-03 9.58188720e+01] [ 3.58694103e-03 -1.19618890e-04 9.99993560e-01 1.79409370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.02, Y:95.79, Z:1.79 [[-2.81476262e-01 9.59567560e-01 1.10040129e-03 1.19016482e+02] [-9.59561484e-01 -2.81478397e-01 3.41608748e-03 9.57920819e+01] [ 3.58770592e-03 -9.43551571e-05 9.99993560e-01 1.79456429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.767628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.02, Y:95.81, Z:1.79 [[-2.81376993e-01 9.59596662e-01 1.11062468e-03 1.19020249e+02] [-9.59590599e-01 -2.81379165e-01 3.41276045e-03 9.58052972e+01] [ 3.58738018e-03 -1.05472729e-04 9.99993560e-01 1.79346461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.02, Y:95.80, Z:1.79 [[-2.82217378e-01 9.59349840e-01 1.11193601e-03 1.19018822e+02] [-9.59343777e-01 -2.82219550e-01 3.41233301e-03 9.58035487e+01] [ 3.58743120e-03 -1.03709218e-04 9.99993560e-01 1.79343342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.02, Y:95.81, Z:1.79 [[-2.82244896e-01 9.59341744e-01 1.11194268e-03 1.19019086e+02] [-9.59335681e-01 -2.82247067e-01 3.41233083e-03 9.58067551e+01] [ 3.58743397e-03 -1.03613328e-04 9.99993560e-01 1.79371098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.01, Y:95.80, Z:1.80 [[-2.86680739e-01 9.58025536e-01 1.10753389e-03 1.19013325e+02] [-9.58019457e-01 -2.86682867e-01 3.41377210e-03 9.57955622e+01] [ 3.58799183e-03 -8.23763076e-05 9.99993560e-01 1.79802568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.887628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.01, Y:95.80, Z:1.80 [[-2.86676848e-01 9.58026690e-01 1.11592453e-03 1.19014831e+02] [-9.58020622e-01 -2.86679006e-01 3.41102426e-03 9.57981845e+01] [ 3.58776442e-03 -9.12170331e-05 9.99993560e-01 1.79969426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.00, Y:95.77, Z:1.80 [[-2.90559179e-01 9.56856380e-01 1.10938259e-03 1.19004538e+02] [-9.56850295e-01 -2.90561289e-01 3.41316977e-03 9.57708982e+01] [ 3.58825691e-03 -6.97852559e-05 9.99993560e-01 1.80056729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.00, Y:95.76, Z:1.80 [[-2.92784900e-01 9.56177676e-01 1.11992953e-03 1.19002377e+02] [-9.56171599e-01 -2.92787033e-01 3.40970559e-03 9.57648511e+01] [ 3.58818521e-03 -7.25345017e-05 9.99993560e-01 1.80130599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.97762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.00, Y:95.76, Z:1.80 [[-2.93965719e-01 9.55815305e-01 1.12155103e-03 1.19001078e+02] [-9.55809228e-01 -2.93967851e-01 3.40917215e-03 9.57613739e+01] [ 3.58823887e-03 -6.98090762e-05 9.99993560e-01 1.80207205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.007628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.01, Y:95.77, Z:1.80 [[-2.92810231e-01 9.56169915e-01 1.12317339e-03 1.19005954e+02] [-9.56163843e-01 -2.92812375e-01 3.40863757e-03 9.57727492e+01] [ 3.58811576e-03 -7.58538309e-05 9.99993560e-01 1.80332587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.03762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.00, Y:95.75, Z:1.80 [[-2.97050638e-01 9.54861079e-01 1.11313945e-03 1.18997470e+02] [-9.54854984e-01 -2.97052719e-01 3.41194675e-03 9.57500886e+01] [ 3.58859625e-03 -4.93657988e-05 9.99993560e-01 1.80285376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.067628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.00, Y:95.75, Z:1.80 [[-2.98287247e-01 9.54475485e-01 1.12550519e-03 1.18996735e+02] [-9.54469403e-01 -2.98289365e-01 3.40786275e-03 9.57463716e+01] [ 3.58844768e-03 -5.77382653e-05 9.99993560e-01 1.80220581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.09762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.00, Y:95.74, Z:1.80 [[-2.99684424e-01 9.54037722e-01 1.12713232e-03 1.18996509e+02] [-9.54031639e-01 -2.99686539e-01 3.40732450e-03 9.57423084e+01] [ 3.58850249e-03 -5.41978184e-05 9.99993560e-01 1.80130137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.127628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:95.74, Z:1.80 [[-3.01077762e-01 9.53598924e-01 1.12875859e-03 1.18994239e+02] [-9.53592840e-01 -3.01079874e-01 3.40678568e-03 9.57358095e+01] [ 3.58855365e-03 -5.06687023e-05 9.99993560e-01 1.80133707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:95.73, Z:1.80 [[-3.02569356e-01 9.53126700e-01 1.13089463e-03 1.18991805e+02] [-9.53120615e-01 -3.02571465e-01 3.40607646e-03 9.57282180e+01] [ 3.58859886e-03 -4.73046228e-05 9.99993560e-01 1.80099929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:95.73, Z:1.80 [[-3.03957604e-01 9.52684886e-01 1.13252327e-03 1.18991137e+02] [-9.52678800e-01 -3.03959711e-01 3.40553485e-03 9.57253660e+01] [ 3.58864303e-03 -4.37926932e-05 9.99993560e-01 1.80016127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.21762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:95.72, Z:1.80 [[-3.07484165e-01 9.51552522e-01 1.13415340e-03 1.18991465e+02] [-9.51546430e-01 -3.07486255e-01 3.40499188e-03 9.57226376e+01] [ 3.58876519e-03 -3.22185301e-05 9.99993560e-01 1.79803750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.247628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:95.72, Z:1.80 [[-3.09586052e-01 9.50870752e-01 1.13578152e-03 1.18990130e+02] [-9.50864658e-01 -3.09588134e-01 3.40444871e-03 9.57169334e+01] [ 3.58881519e-03 -2.60046675e-05 9.99993560e-01 1.79747882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.27762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:95.71, Z:1.80 [[-3.10088153e-01 9.50707128e-01 1.13740999e-03 1.18988636e+02] [-9.50701035e-01 -3.10090238e-01 3.40390456e-03 9.57123339e+01] [ 3.58881606e-03 -2.58263741e-05 9.99993560e-01 1.79749681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.307628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:95.71, Z:1.80 [[-3.11618500e-01 9.50206616e-01 1.13920725e-03 1.18986116e+02] [-9.50200521e-01 -3.11620582e-01 3.40330295e-03 9.57057143e+01] [ 3.58884141e-03 -2.19431577e-05 9.99993560e-01 1.79705413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.33762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.98, Y:95.70, Z:1.80 [[-3.12455028e-01 9.49931868e-01 1.14083815e-03 1.18984748e+02] [-9.49925774e-01 -3.12457110e-01 3.40275616e-03 9.57019326e+01] [ 3.58884951e-03 -2.05032885e-05 9.99993560e-01 1.79732453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.367628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.98, Y:95.69, Z:1.80 [[-3.11927064e-01 9.50105363e-01 1.14247055e-03 1.18981110e+02] [-9.50099272e-01 -3.11929155e-01 3.40220800e-03 9.56923660e+01] [ 3.58882594e-03 -2.42196831e-05 9.99993560e-01 1.79862792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.39762800000005 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:118.99, Y:95.71, Z:1.79 [[-3.06667310e-01 9.51816082e-01 1.14319138e-03 1.18988791e+02] [-9.51810004e-01 -3.06669437e-01 3.40196554e-03 9.57089324e+01] [ 3.58862736e-03 -4.48293690e-05 9.99993560e-01 1.79440638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.427628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:95.70, Z:1.80 [[-3.04914692e-01 9.52379005e-01 1.12326883e-03 1.18987846e+02] [-9.52372905e-01 -3.04916759e-01 3.40867113e-03 9.57033208e+01] [ 3.58885031e-03 -3.04168958e-05 9.99993560e-01 1.79604163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.45762800000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.98, Y:95.69, Z:1.80 [[-3.09258329e-01 9.50977409e-01 1.11953941e-03 1.18979768e+02] [-9.50971295e-01 -3.09260356e-01 3.40992794e-03 9.56917056e+01] [ 3.58899359e-03 -1.01012215e-05 9.99993560e-01 1.79629144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.48762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.98, Y:95.70, Z:1.80 [[-3.06204025e-01 9.51965217e-01 1.14889158e-03 1.18982866e+02] [-9.51959147e-01 -3.06206176e-01 3.40000960e-03 9.56986910e+01] [ 3.58848857e-03 -5.26012229e-05 9.99993560e-01 1.79578541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.517628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.97, Y:95.68, Z:1.80 [[-3.12324237e-01 9.49974891e-01 1.13030103e-03 1.18974613e+02] [-9.49968784e-01 -3.12326282e-01 3.40629588e-03 9.56827721e+01] [ 3.58891827e-03 -9.88192897e-06 9.99993560e-01 1.79724540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.54762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.98, Y:95.69, Z:1.80 [[-3.11301525e-01 9.50310493e-01 1.15205887e-03 1.18980161e+02] [-9.50304416e-01 -3.11303654e-01 3.39892109e-03 9.56906091e+01] [ 3.58867052e-03 -3.67173161e-05 9.99993560e-01 1.79642337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.577628 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:118.97, Y:95.68, Z:1.80 [[-3.18524884e-01 9.47913823e-01 1.13224796e-03 1.18972861e+02] [-9.47907705e-01 -3.18526896e-01 3.40564236e-03 9.56752266e+01] [ 3.58890690e-03 1.15152772e-05 9.99993560e-01 1.79552015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.60762800000003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:118.97, Y:95.67, Z:1.79 [[-3.18984636e-01 9.47759182e-01 1.15535647e-03 1.18971777e+02] [-9.47753092e-01 -3.18986728e-01 3.39778472e-03 9.56708477e+01] [ 3.58882505e-03 -1.11515462e-05 9.99993560e-01 1.79452997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.637628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.97, Y:95.66, Z:1.80 [[-3.19468305e-01 9.47596255e-01 1.15698473e-03 1.18968909e+02] [-9.47590166e-01 -3.19470400e-01 3.39723019e-03 9.56623980e+01] [ 3.58882498e-03 -1.10399752e-05 9.99993560e-01 1.79920017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.66762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.97, Y:95.66, Z:1.80 [[-3.18891435e-01 9.47790541e-01 1.15861623e-03 1.18969189e+02] [-9.47784455e-01 -3.18893540e-01 3.39667368e-03 9.56639735e+01] [ 3.58881042e-03 -1.49483006e-05 9.99993560e-01 1.80016081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.697628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:118.97, Y:95.66, Z:1.80 [[-3.15981197e-01 9.48764743e-01 1.16024693e-03 1.18966972e+02] [-9.48758665e-01 -3.15983326e-01 3.39611657e-03 9.56606850e+01] [ 3.58873435e-03 -2.76853488e-05 9.99993560e-01 1.79936595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.72762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.96, Y:95.66, Z:1.80 [[-3.16569062e-01 9.48568753e-01 1.16187377e-03 1.18964949e+02] [-9.48562676e-01 -3.16571193e-01 3.39555991e-03 9.56569628e+01] [ 3.58873779e-03 -2.71808771e-05 9.99993560e-01 1.80362419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.757628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.96, Y:95.65, Z:1.80 [[-3.17397664e-01 9.48291816e-01 1.16366802e-03 1.18963473e+02] [-9.48285739e-01 -3.17399797e-01 3.39494490e-03 9.56520471e+01] [ 3.58874646e-03 -2.59422104e-05 9.99993560e-01 1.80408987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.78762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.96, Y:95.64, Z:1.80 [[-3.19728636e-01 9.47508439e-01 1.16529430e-03 1.18960961e+02] [-9.47502359e-01 -3.19730759e-01 3.39438660e-03 9.56444739e+01] [ 3.58879038e-03 -1.88365039e-05 9.99993560e-01 1.80435858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.817628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.96, Y:95.64, Z:1.80 [[-3.20711560e-01 9.47176189e-01 1.16692329e-03 1.18960306e+02] [-9.47170109e-01 -3.20713682e-01 3.39382649e-03 9.56428309e+01] [ 3.58879991e-03 -1.68354751e-05 9.99993560e-01 1.80399544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.84762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.96, Y:95.64, Z:1.80 [[-3.21576289e-01 9.46882952e-01 1.16855315e-03 1.18959660e+02] [-9.46876872e-01 -3.21578412e-01 3.39326521e-03 9.56403815e+01] [ 3.58880645e-03 -1.52823209e-05 9.99993560e-01 1.80413063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.877628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.91, Y:95.48, Z:1.80 [[-3.22148429e-01 9.46688450e-01 1.17018038e-03 1.18906390e+02] [-9.46682370e-01 -3.22150554e-01 3.39270396e-03 9.54829331e+01] [ 3.58880791e-03 -1.48348819e-05 9.99993560e-01 1.80372836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.90762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.59, Y:95.30, Z:2.81 [[-2.66996969e-01 -9.63696658e-01 -1.17018038e-03 1.19592968e+02] [-9.63690712e-01 2.66999441e-01 -3.39270396e-03 9.53023678e+01] [ 3.58197498e-03 2.21850287e-04 -9.99993560e-01 2.80946208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.937628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.88, Y:95.49, Z:1.80 [[-2.55908782e-01 9.66700480e-01 9.36431526e-04 1.18877209e+02] [-9.66694303e-01 -2.55910494e-01 3.45603951e-03 9.54870127e+01] [ 3.58059771e-03 -2.08121595e-05 9.99993589e-01 1.80127635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.96762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.87, Y:95.48, Z:1.80 [[-2.58708674e-01 9.65954938e-01 9.38088284e-04 1.18873798e+02] [-9.65948757e-01 -2.58710374e-01 3.45558975e-03 9.54809881e+01] [ 3.58063716e-03 -1.21541702e-05 9.99993589e-01 1.80154793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.997628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.53, Y:95.19, Z:2.81 [[-2.02729338e-01 -9.79234362e-01 -9.38088284e-04 1.19532772e+02] [-9.79228289e-01 2.02731392e-01 -3.45558975e-03 9.51881179e+01] [ 3.57401217e-03 2.18053161e-04 -9.99993589e-01 2.80958187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.02762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:95.33, Z:1.80 [[-1.93579850e-01 9.81084271e-01 7.04019895e-04 1.18801567e+02] [-9.81078018e-01 -1.93581130e-01 3.50263693e-03 9.53287144e+01] [ 3.57266696e-03 -1.26585120e-05 9.99993618e-01 1.80387424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.057628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:95.32, Z:1.80 [[-1.94710968e-01 9.80860409e-01 7.05699681e-04 1.18800330e+02] [-9.80854156e-01 -1.94712246e-01 3.50229846e-03 9.53232055e+01] [ 3.57267427e-03 -1.02525435e-05 9.99993618e-01 1.80355360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.08762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:95.32, Z:1.80 [[-1.94819377e-01 9.80838881e-01 7.07379305e-04 1.18802560e+02] [-9.80832629e-01 -1.94820661e-01 3.50195918e-03 9.53231942e+01] [ 3.57266983e-03 -1.15711961e-05 9.99993618e-01 1.80241198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.117628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:95.32, Z:1.80 [[-1.97448627e-01 9.80312979e-01 7.09056959e-04 1.18803218e+02] [-9.80306725e-01 -1.97449900e-01 3.50161947e-03 9.53211513e+01] [ 3.57268624e-03 -3.70334809e-06 9.99993618e-01 1.80082394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.14762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.48, Y:95.07, Z:2.81 [[-1.34030330e-01 -9.90976976e-01 -7.09056959e-04 1.19475968e+02] [-9.90970817e-01 1.34032003e-01 -3.50161947e-03 9.50711653e+01] [ 3.56506059e-03 2.33331540e-04 -9.99993618e-01 2.81167791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.177628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:118.74, Y:95.16, Z:1.80 [[-1.30223075e-01 9.91484608e-01 4.71165972e-04 1.18743708e+02] [-9.91478313e-01 -1.30223927e-01 3.53334198e-03 9.51611385e+01] [ 3.56461128e-03 -7.02818489e-06 9.99993647e-01 1.79943442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.20762800000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.74, Y:95.15, Z:1.80 [[-1.31339245e-01 9.91337369e-01 4.73036670e-04 1.18741793e+02] [-9.91331073e-01 -1.31340097e-01 3.53309152e-03 9.51543942e+01] [ 3.56461433e-03 -4.90237708e-06 9.99993647e-01 1.80443374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23762800000003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:118.74, Y:95.15, Z:1.80 [[-1.31325903e-01 9.91339136e-01 4.74733037e-04 1.18739977e+02] [-9.91332841e-01 -1.31326761e-01 3.53286357e-03 9.51489389e+01] [ 3.56461107e-03 -6.66195080e-06 9.99993647e-01 1.80268707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.267628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.74, Y:95.14, Z:1.81 [[-1.31899322e-01 9.91263003e-01 4.77979535e-04 1.18737856e+02] [-9.91256709e-01 -1.31900187e-01 3.53242428e-03 9.51396256e+01] [ 3.56460709e-03 -7.87605484e-06 9.99993647e-01 1.80743242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29762800000003 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:118.74, Y:95.14, Z:1.80 [[-1.30621573e-01 9.91432184e-01 4.79678696e-04 1.18737870e+02] [-9.91425892e-01 -1.30622453e-01 3.53219353e-03 9.51351599e+01] [ 3.56458715e-03 -1.41852040e-05 9.99993647e-01 1.80411218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.327628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.73, Y:95.08, Z:1.81 [[-1.38037118e-01 9.90426939e-01 4.81557166e-04 1.18731332e+02] [-9.90420642e-01 -1.38037957e-01 3.53193741e-03 9.50828415e+01] [ 3.56459913e-03 1.05943021e-05 9.99993647e-01 1.80899427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.73, Y:95.08, Z:1.81 [[-1.38575870e-01 9.90351690e-01 5.07846115e-04 1.18730624e+02] [-9.90345406e-01 -1.38576800e-01 3.52815335e-03 9.50797626e+01] [ 3.56448833e-03 -1.40261456e-05 9.99993647e-01 1.81004005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.387628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:118.73, Y:95.07, Z:1.81 [[-1.39597727e-01 9.90208168e-01 5.09717495e-04 1.18729335e+02] [-9.90201883e-01 -1.39598657e-01 3.52788297e-03 9.50673360e+01] [ 3.56449441e-03 -1.22387811e-05 9.99993647e-01 1.80592432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.73, Y:95.07, Z:1.81 [[-1.40869967e-01 9.90027975e-01 5.11417588e-04 1.18729462e+02] [-9.90021690e-01 -1.40870895e-01 3.52763650e-03 9.50699840e+01] [ 3.56450268e-03 -9.37646779e-06 9.99993647e-01 1.80977891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.447628 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:119.42, Y:94.86, Z:2.81 [[-7.85548363e-02 -9.96909508e-01 -7.55285110e-04 1.19421632e+02] [-9.96903506e-01 7.85570092e-02 -3.49216171e-03 9.48605945e+01] [ 3.54070216e-03 4.78620183e-04 -9.99993617e-01 2.80767040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47762800000004 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:118.68, Y:94.91, Z:1.81 [[-7.63525784e-02 9.97080844e-01 2.71129497e-04 1.18676990e+02] [-9.97074598e-01 -7.63530598e-02 3.52935557e-03 9.49098353e+01] [ 3.53975440e-03 -8.60936615e-07 9.99993735e-01 1.80651097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.507628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.68, Y:94.90, Z:1.81 [[-7.93136722e-02 9.96849671e-01 2.73005035e-04 1.18677460e+02] [-9.96843424e-01 -7.93141417e-02 3.52921049e-03 9.48998576e+01] [ 3.53974547e-03 7.77136964e-06 9.99993735e-01 1.80837959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.68, Y:94.90, Z:1.81 [[-8.04190308e-02 9.96761107e-01 2.74883962e-04 1.18678128e+02] [-9.96754859e-01 -8.04195000e-02 3.52906413e-03 9.49003875e+01] [ 3.53973990e-03 9.81199238e-06 9.99993735e-01 1.80792179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.567628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:118.68, Y:94.90, Z:1.80 [[-8.13517599e-02 9.96685414e-01 2.76586521e-04 1.18678392e+02] [-9.96679167e-01 -8.13522293e-02 3.52893069e-03 9.48959620e+01] [ 3.53973468e-03 1.14166987e-05 9.99993735e-01 1.80253011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.59762800000004 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:118.68, Y:94.89, Z:1.80 [[-8.21698179e-02 9.96618304e-01 2.78286529e-04 1.18678774e+02] [-9.96612057e-01 -8.21702881e-02 3.52879663e-03 9.48893991e+01] [ 3.53973019e-03 1.26168665e-05 9.99993735e-01 1.79981888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.68, Y:94.89, Z:1.80 [[-8.15031027e-02 9.96673049e-01 2.79988312e-04 1.18680777e+02] [-9.96666802e-01 -8.15035832e-02 3.52866160e-03 9.48892829e+01] [ 3.53974196e-03 8.54181298e-06 9.99993735e-01 1.80188093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.68, Y:94.88, Z:1.80 [[-8.22279807e-02 9.96613506e-01 2.81864960e-04 1.18680664e+02] [-9.96607259e-01 -8.22284633e-02 3.52851169e-03 9.48794111e+01] [ 3.53973972e-03 9.23372581e-06 9.99993735e-01 1.80175835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.687628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.68, Y:94.88, Z:1.80 [[-8.28978226e-02 9.96558012e-01 2.83918300e-04 1.18680576e+02] [-9.96551766e-01 -8.28983083e-02 3.52834646e-03 9.48787344e+01] [ 3.53973828e-03 9.55295600e-06 9.99993735e-01 1.80137074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.68, Y:94.87, Z:1.80 [[-8.40426994e-02 9.96462113e-01 2.85794038e-04 1.18680117e+02] [-9.96455867e-01 -8.40431845e-02 3.52819452e-03 9.48743924e+01] [ 3.53973121e-03 1.17378453e-05 9.99993735e-01 1.80136887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.747628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:118.68, Y:94.87, Z:1.80 [[-8.80682630e-02 9.96114400e-01 2.87491209e-04 1.18679914e+02] [-9.96108153e-01 -8.80687289e-02 3.52805622e-03 9.48674725e+01] [ 3.53966659e-03 2.43374461e-05 9.99993735e-01 1.79754940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.77762800000005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.68, Y:94.86, Z:1.80 [[-9.00081074e-02 9.95940991e-01 2.89190148e-04 1.18680362e+02] [-9.95934743e-01 -9.00085671e-02 3.52791695e-03 9.48627591e+01] [ 3.53962670e-03 2.95266120e-05 9.99993735e-01 1.80075596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.807628 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:118.68, Y:94.85, Z:1.80 [[-9.36337182e-02 9.95606670e-01 2.90891505e-04 1.18678612e+02] [-9.95600421e-01 -9.36341612e-02 3.52777667e-03 9.48535786e+01] [ 3.53951536e-03 4.07071413e-05 9.99993735e-01 1.79591456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.83762800000005 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:118.68, Y:94.85, Z:1.80 [[-9.57003648e-02 9.95410144e-01 2.92772397e-04 1.18679569e+02] [-9.95403894e-01 -9.57008015e-02 3.52762056e-03 9.48493853e+01] [ 3.53944784e-03 4.61677910e-05 9.99993735e-01 1.79646225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.867628 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:118.68, Y:94.84, Z:1.79 [[-9.72569430e-02 9.95259263e-01 2.94655945e-04 1.18681402e+02] [-9.95253013e-01 -9.72573766e-02 3.52746323e-03 9.48418865e+01] [ 3.53939791e-03 4.98130724e-05 9.99993735e-01 1.79469824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.89762800000005 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:118.68, Y:94.84, Z:1.79 [[-9.70213461e-02 9.95282256e-01 2.97920511e-04 1.18681712e+02] [-9.95276007e-01 -9.70217927e-02 3.52718749e-03 9.48400613e+01] [ 3.53945190e-03 4.56993412e-05 9.99993735e-01 1.79372320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.927628 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:118.68, Y:94.83, Z:1.80 [[-9.61129189e-02 9.95370392e-01 2.99625301e-04 1.18681483e+02] [-9.95364144e-01 -9.61133773e-02 3.52704266e-03 9.48349358e+01] [ 3.53951184e-03 4.07580845e-05 9.99993735e-01 1.79558865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.95762800000006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.68, Y:94.83, Z:1.80 [[-9.42200952e-02 9.95551346e-01 3.01329372e-04 1.18681542e+02] [-9.95545099e-01 -9.42205715e-02 3.52689707e-03 9.48332614e+01] [ 3.53959855e-03 3.23175982e-05 9.99993735e-01 1.80082493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.98762800000003 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:118.68, Y:94.83, Z:1.80 [[-9.33914814e-02 9.95629419e-01 3.03032725e-04 1.18680456e+02] [-9.95623173e-01 -9.33919690e-02 3.52675071e-03 9.48294825e+01] [ 3.53963759e-03 2.76620703e-05 9.99993735e-01 1.79763772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.017628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.70, Y:94.91, Z:1.80 [[-6.16721668e-02 9.98096414e-01 3.04909592e-04 1.18704120e+02] [-9.98090187e-01 -6.16728594e-02 3.52658844e-03 9.49070355e+01] [ 3.53867992e-03 -8.68349214e-05 9.99993735e-01 1.80381520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.04762800000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.68, Y:94.83, Z:1.80 [[-8.80900909e-02 9.96112498e-01 1.63749355e-04 1.18682955e+02] [-9.96106224e-01 -8.80901178e-02 3.53866206e-03 9.48254405e+01] [ 3.53933021e-03 1.48609311e-04 9.99993726e-01 1.80219521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.077628 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:118.68, Y:94.82, Z:1.80 [[-8.77633937e-02 9.96141301e-01 3.07939067e-04 1.18684601e+02] [-9.96135061e-01 -8.77639339e-02 3.52606971e-03 9.48229591e+01] [ 3.53948961e-03 2.71094281e-06 9.99993736e-01 1.80108302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.10762800000003 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:118.69, Y:94.82, Z:1.80 [[-8.88426036e-02 9.96045629e-01 3.09633928e-04 1.18685673e+02] [-9.96039389e-01 -8.88431430e-02 3.52592087e-03 9.48189733e+01] [ 3.53948693e-03 4.84440198e-06 9.99993736e-01 1.79618098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.137628 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:119.36, Y:94.65, Z:2.82 [[-1.94156421e-02 -9.99811348e-01 -5.48816856e-04 1.19359762e+02] [-9.99805321e-01 1.94174489e-02 -3.50480080e-03 9.46536784e+01] [ 3.51479623e-03 4.80662055e-04 -9.99993708e-01 2.81991089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.16762800000004 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:118.65, Y:94.66, Z:1.80 [[-2.37461151e-02 9.99718019e-01 7.13728719e-05 1.18646998e+02] [-9.99711841e-01 -2.37462193e-02 3.51449719e-03 9.46596432e+01] [ 3.51520101e-03 1.21033498e-05 9.99993822e-01 1.79717074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.197628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.67, Y:94.72, Z:1.80 [[ 1.92984224e-03 9.99998135e-01 7.30615856e-05 1.18667182e+02] [-9.99991963e-01 1.92957356e-03 3.51446209e-03 9.47209953e+01] [ 3.51431456e-03 -7.98433558e-05 9.99993822e-01 1.79751974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.22762800000004 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:118.65, Y:94.65, Z:1.80 [[-3.22645447e-02 9.99479362e-01 -7.18531942e-05 1.18650296e+02] [-9.99473189e-01 -3.22640926e-02 3.51737672e-03 9.46468034e+01] [ 3.51322716e-03 1.85301899e-04 9.99993811e-01 1.79527296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.257628 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.65, Y:94.64, Z:1.80 [[-3.38136588e-02 9.99428152e-01 7.73954441e-05 1.18650991e+02] [-9.99421975e-01 -3.38137220e-02 3.51408966e-03 9.46404656e+01] [ 3.51469716e-03 4.14735211e-05 9.99993823e-01 1.79827008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.28762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.67, Y:94.71, Z:1.80 [[-7.65835164e-03 9.99970671e-01 7.92671157e-05 1.18668311e+02] [-9.99964498e-01 -7.65858291e-03 3.51404744e-03 9.47052923e+01] [ 3.51455145e-03 -5.23524907e-05 9.99993823e-01 1.79586490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.317628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.65, Y:94.63, Z:1.80 [[-3.50220816e-02 9.99386537e-01 -5.52411003e-05 1.18649269e+02] [-9.99380365e-01 -3.50216708e-02 3.51697484e-03 9.46336939e+01] [ 3.51288267e-03 1.78378651e-04 9.99993814e-01 1.79904013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.34762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.67, Y:94.70, Z:1.80 [[-8.05877215e-03 9.99967524e-01 8.26688152e-05 1.18665799e+02] [-9.99961352e-01 -8.05901289e-03 3.51373022e-03 9.46987427e+01] [ 3.51428233e-03 -5.43492690e-05 9.99993823e-01 1.79683045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.377628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.67, Y:94.70, Z:1.80 [[-9.65379333e-03 9.99953397e-01 -9.07773644e-05 1.18665575e+02] [-9.99947218e-01 -9.65341435e-03 3.51745180e-03 9.46950282e+01] [ 3.51641156e-03 1.24729326e-04 9.99993810e-01 1.79800816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.40762800000005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:118.67, Y:94.69, Z:1.80 [[-9.15946531e-03 9.99958046e-01 -1.06521164e-04 1.18666690e+02] [-9.99951867e-01 -9.15903398e-03 3.51779865e-03 9.46863037e+01] [ 3.51667543e-03 1.38737191e-04 9.99993807e-01 1.79782670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.437628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:118.66, Y:94.69, Z:1.80 [[-6.20520244e-03 9.99980744e-01 -8.43800757e-05 1.18664228e+02] [-9.99974564e-01 -6.20486730e-03 3.51729376e-03 9.46900270e+01] [ 3.51670246e-03 1.06203449e-04 9.99993811e-01 1.79853403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.46762800000005 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:118.66, Y:94.69, Z:1.80 [[-5.99318957e-03 9.99982033e-01 -1.25007489e-04 1.18658006e+02] [-9.99975854e-01 -5.99271272e-03 3.51822371e-03 9.46887637e+01] [ 3.51741136e-03 1.46089852e-04 9.99993803e-01 1.79916753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.497628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:118.66, Y:94.68, Z:1.80 [[-5.59402467e-03 9.99984347e-01 -1.12664166e-04 1.18658513e+02] [-9.99978168e-01 -5.59359374e-03 3.51793338e-03 9.46833538e+01] [ 3.51724812e-03 1.32341112e-04 9.99993806e-01 1.80165123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.52762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:94.67, Z:1.81 [[-7.22759662e-03 9.99973875e-01 -1.09124287e-04 1.18655527e+02] [-9.99967696e-01 -7.22716807e-03 3.51784732e-03 9.46706722e+01] [ 3.51696675e-03 1.34546343e-04 9.99993806e-01 1.80623111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.557628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:118.65, Y:94.67, Z:1.81 [[-4.97907243e-03 9.99987599e-01 -1.00708540e-04 1.18654701e+02] [-9.99981419e-01 -4.97868739e-03 3.51763624e-03 9.46737994e+01] [ 3.51709122e-03 1.18221234e-04 9.99993808e-01 1.80508624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.58762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.65, Y:94.67, Z:1.81 [[-4.36139701e-03 9.99990482e-01 -1.16684417e-04 1.18654565e+02] [-9.99984303e-01 -4.36095955e-03 3.51803965e-03 9.46713182e+01] [ 3.51749731e-03 1.32026153e-04 9.99993805e-01 1.80739354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.617628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:118.65, Y:94.64, Z:1.81 [[-1.41053798e-02 9.99900509e-01 -1.07030633e-04 1.18646585e+02] [-9.99894333e-01 -1.41049161e-02 3.51778469e-03 9.46409207e+01] [ 3.51592504e-03 1.56639012e-04 9.99993807e-01 1.80954056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.64762800000005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:118.65, Y:94.66, Z:1.81 [[-3.78496184e-03 9.99992834e-01 -7.46113682e-05 1.18647678e+02] [-9.99986654e-01 -3.78467604e-03 3.51689861e-03 9.46591261e+01] [ 3.51659103e-03 8.79216994e-05 9.99993813e-01 1.81236781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.677628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:118.65, Y:94.66, Z:1.81 [[-2.27190674e-03 9.99997413e-01 -1.08478446e-04 1.18645585e+02] [-9.99991233e-01 -2.27151109e-03 3.51781995e-03 9.46559012e+01] [ 3.51756444e-03 1.16469653e-04 9.99993807e-01 1.81369721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.70762800000006 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:118.64, Y:94.65, Z:1.82 [[-9.52190586e-04 9.99999541e-01 -1.06248273e-04 1.18644057e+02] [-9.99993360e-01 -9.51810942e-04 3.51775774e-03 9.46452314e+01] [ 3.51765500e-03 1.09597143e-04 9.99993807e-01 1.81516023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73762800000003 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:118.64, Y:94.65, Z:1.82 [[ 3.19485036e-03 9.99994891e-01 -1.06252973e-04 1.18643017e+02] [-9.99988708e-01 3.19520439e-03 3.51775788e-03 9.46481013e+01] [ 3.51807940e-03 9.50130627e-05 9.99993807e-01 1.81661867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.767628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:118.64, Y:94.63, Z:1.82 [[-1.08371266e-03 9.99999408e-01 -1.01846360e-04 1.18638703e+02] [-9.99993226e-01 -1.08334770e-03 3.51762868e-03 9.46282521e+01] [ 3.51751627e-03 1.05657768e-04 9.99993808e-01 1.81758268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.64, Y:94.64, Z:1.82 [[ 5.47530560e-03 9.99985008e-01 -7.17501976e-05 1.18643149e+02] [-9.99978825e-01 5.47552408e-03 3.51671706e-03 9.46350756e+01] [ 3.51705720e-03 5.24935777e-05 9.99993814e-01 1.81626489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.827628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.64, Y:94.63, Z:1.81 [[ 6.72224556e-03 9.99977401e-01 -9.11113511e-05 1.18643263e+02] [-9.99971218e-01 6.72252447e-03 3.51730812e-03 9.46319235e+01] [ 3.51784113e-03 6.74645198e-05 9.99993810e-01 1.81436941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.64, Y:94.63, Z:1.81 [[ 9.97295818e-03 9.99950265e-01 -8.78333982e-05 1.18642312e+02] [-9.99944081e-01 9.97320545e-03 3.51720639e-03 9.46281253e+01] [ 3.51790745e-03 5.27515343e-05 9.99993811e-01 1.81249804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.887628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:118.64, Y:94.62, Z:1.81 [[ 9.54425754e-03 9.99954449e-01 -8.27142591e-05 1.18639661e+02] [-9.99948265e-01 9.54448944e-03 3.51704447e-03 9.46202713e+01] [ 3.51767373e-03 4.91424017e-05 9.99993812e-01 1.81193042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91762800000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.63, Y:94.59, Z:1.81 [[-4.45842868e-04 9.99999899e-01 -6.47069804e-05 1.18632296e+02] [-9.99993718e-01 -4.45612571e-04 3.51645952e-03 9.45913006e+01] [ 3.51643033e-03 6.62743623e-05 9.99993815e-01 1.81258477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.947628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.64, Y:94.62, Z:1.81 [[ 1.71347207e-02 9.99853183e-01 1.21960875e-04 1.18639307e+02] [-9.99847038e-01 1.71341872e-02 3.50997344e-03 9.46197220e+01] [ 3.50736842e-03 -1.82084634e-04 9.99993833e-01 1.81243847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97762800000004 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:118.64, Y:94.63, Z:1.81 [[ 2.94956384e-02 9.99564908e-01 -5.41881966e-05 1.18642045e+02] [-9.99558726e-01 2.94956466e-02 3.51579968e-03 9.46286112e+01] [ 3.51586830e-03 -4.95364715e-05 9.99993818e-01 1.80703611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.007628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:118.63, Y:94.60, Z:1.81 [[ 1.89066790e-02 9.99821250e-01 -7.27640496e-05 1.18633796e+02] [-9.99815066e-01 1.89068180e-02 3.51641876e-03 9.45962627e+01] [ 3.51716593e-03 6.26679246e-06 9.99993815e-01 1.80753552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.03762800000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:118.63, Y:94.53, Z:1.81 [[ 1.56338711e-02 9.99877776e-01 1.25513312e-04 1.18632144e+02] [-9.99871634e-01 1.56333345e-02 3.50932731e-03 9.45349852e+01] [ 3.50693619e-03 -1.80361571e-04 9.99993834e-01 1.80819730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.067628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:118.63, Y:94.53, Z:1.81 [[ 1.77679202e-02 9.99842126e-01 1.55745129e-04 1.18631726e+02] [-9.99835996e-01 1.77672648e-02 3.50798510e-03 9.45263791e+01] [ 3.50466411e-03 -2.18049185e-04 9.99993835e-01 1.80963185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.09762800000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:118.63, Y:94.53, Z:1.81 [[ 1.95152864e-02 9.99809546e-01 1.59217280e-04 1.18631191e+02] [-9.99803418e-01 1.95146082e-02 3.50782750e-03 9.45261425e+01] [ 3.50405236e-03 -2.27642239e-04 9.99993835e-01 1.81093445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.127628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:118.63, Y:94.51, Z:1.81 [[ 2.05505073e-02 9.99788803e-01 1.61015067e-04 1.18630085e+02] [-9.99782677e-01 2.05498164e-02 3.50774498e-03 9.45097809e+01] [ 3.50369532e-03 -2.33066013e-04 9.99993835e-01 1.81143774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.15762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.63, Y:94.51, Z:1.81 [[ 1.76032394e-02 9.99845037e-01 1.65034943e-04 1.18629358e+02] [-9.99838911e-01 1.76025526e-02 3.50755584e-03 9.45092689e+01] [ 3.50410726e-03 -2.26752703e-04 9.99993835e-01 1.81453013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.187628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:94.36, Z:2.80 [[-4.45539855e-02 -9.99006897e-01 -4.03872554e-04 1.19328449e+02] [-9.99000809e-01 4.45551274e-02 -3.49619540e-03 9.43615469e+01] [ 3.51071791e-03 2.47699569e-04 -9.99993807e-01 2.80368342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.21762800000005 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.32, Y:94.36, Z:2.81 [[ 3.33458325e-02 -9.99443871e-01 7.07422765e-05 1.19323606e+02] [-9.99437790e-01 -3.33458765e-02 -3.48656588e-03 9.43621650e+01] [ 3.48698586e-03 4.55599373e-05 -9.99993919e-01 2.80587043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.247628 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:119.31, Y:94.37, Z:2.81 [[ 1.10334229e-01 -9.93894482e-01 3.42450991e-04 1.19308136e+02] [-9.93888461e-01 -1.10334753e-01 -3.45967128e-03 9.43682349e+01] [ 3.47633244e-03 4.13620758e-05 -9.99993957e-01 2.80633338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.27762800000005 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:119.30, Y:94.37, Z:2.81 [[ 1.86852666e-01 -9.82387828e-01 4.86886969e-04 1.19297249e+02] [-9.82381838e-01 -1.86853229e-01 -3.43440967e-03 9.43700881e+01] [ 3.46489866e-03 1.63419687e-04 -9.99993984e-01 2.80590634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.307628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.30, Y:94.37, Z:2.80 [[ 2.67067742e-01 -9.63677488e-01 7.21378719e-04 1.19299028e+02] [-9.63671603e-01 -2.67068637e-01 -3.37404233e-03 9.43674959e+01] [ 3.44414627e-03 2.05925681e-04 -9.99994048e-01 2.80361577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.33762800000005 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:119.29, Y:94.36, Z:2.80 [[ 3.42219432e-01 -9.39619386e-01 1.12667083e-03 1.19292114e+02] [-9.39613826e-01 -3.42221284e-01 -3.23279304e-03 9.43619915e+01] [ 3.42316575e-03 4.76891119e-05 -9.99994140e-01 2.80228810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.367628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:119.29, Y:94.36, Z:2.80 [[ 4.15600871e-01 -9.09546059e-01 1.37181767e-03 1.19285523e+02] [-9.09540692e-01 -4.15603132e-01 -3.12518457e-03 9.43563239e+01] [ 3.41263103e-03 5.11054402e-05 -9.99994176e-01 2.80168328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.39762800000005 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:119.28, Y:94.35, Z:2.80 [[ 4.86470839e-01 -8.73695336e-01 1.60696227e-03 1.19280814e+02] [-8.73690190e-01 -4.86473490e-01 -2.99919471e-03 9.43506336e+01] [ 3.40212698e-03 5.50335954e-05 -9.99994211e-01 2.80092928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.427628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:119.28, Y:94.35, Z:2.80 [[ 5.55831108e-01 -8.31293226e-01 1.83087319e-03 1.19276440e+02] [-8.31288324e-01 -5.55834119e-01 -2.85563576e-03 9.43456205e+01] [ 3.39153245e-03 6.52676819e-05 -9.99994247e-01 2.79976449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.45762800000006 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:119.27, Y:94.34, Z:2.80 [[ 6.21072055e-01 -7.83750810e-01 2.04222890e-03 1.19272511e+02] [-7.83746178e-01 -6.21075408e-01 -2.69550379e-03 9.43397312e+01] [ 3.38098142e-03 7.35129800e-05 -9.99994282e-01 2.80084311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.48762800000003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.26, Y:94.33, Z:2.80 [[ 6.80810765e-01 -7.32455927e-01 2.23978508e-03 1.19264042e+02] [-7.32451596e-01 -6.80814445e-01 -2.51990895e-03 9.43330143e+01] [ 3.37060029e-03 7.50469814e-05 -9.99994317e-01 2.80378927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.517628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:119.26, Y:94.33, Z:2.80 [[ 7.37180151e-01 -6.75692063e-01 2.37926783e-03 1.19264705e+02] [-6.75687903e-01 -7.37183976e-01 -2.37545494e-03 9.43278610e+01] [ 3.35903417e-03 1.43495745e-04 -9.99994348e-01 2.80192128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.54762800000003 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:119.26, Y:94.32, Z:2.80 [[ 7.87847973e-01 -6.15864339e-01 2.58611604e-03 1.19263412e+02] [-6.15860683e-01 -7.87852213e-01 -2.12354992e-03 9.43226734e+01] [ 3.34529591e-03 8.03473028e-05 -9.99994401e-01 2.80134201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.577628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:119.26, Y:94.32, Z:2.80 [[ 8.33235215e-01 -5.52911920e-01 2.73580288e-03 1.19262492e+02] [-5.52908630e-01 -8.33239703e-01 -1.90903688e-03 9.43178845e+01] [ 3.33510883e-03 7.80277362e-05 -9.99994435e-01 2.80055084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.60762800000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.26, Y:94.31, Z:2.80 [[ 8.73682442e-01 -4.86488197e-01 2.86780082e-03 1.19260880e+02] [-4.86485287e-01 -8.73687146e-01 -1.68428691e-03 9.43103109e+01] [ 3.32494642e-03 7.63889975e-05 -9.99994469e-01 2.80008071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.637628 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:119.26, Y:94.30, Z:2.80 [[ 9.07926394e-01 -4.19119044e-01 2.98155155e-03 1.19259516e+02] [-4.19116539e-01 -9.07931287e-01 -1.45046270e-03 9.43028504e+01] [ 3.31496048e-03 6.72957961e-05 -9.99994503e-01 2.80245368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.66762800000004 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:119.26, Y:94.30, Z:2.80 [[ 9.37460529e-01 -3.48077997e-01 3.07638231e-03 1.19259276e+02] [-3.48075902e-01 -9.37465575e-01 -1.20919955e-03 9.42955284e+01] [ 3.30489827e-03 6.27622992e-05 -9.99994537e-01 2.80430757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.697628 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:119.26, Y:94.29, Z:2.81 [[ 9.61232446e-01 -2.75721330e-01 3.15182134e-03 1.19258964e+02] [-2.75719657e-01 -9.61237611e-01 -9.62050324e-04 9.42888889e+01] [ 3.29490701e-03 5.57348863e-05 -9.99994570e-01 2.80515828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.72762800000004 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:119.26, Y:94.29, Z:2.80 [[ 9.79444616e-01 -2.01687769e-01 3.20752319e-03 1.19256252e+02] [-2.01686523e-01 -9.79449867e-01 -7.10634798e-04 9.42855794e+01] [ 3.28493451e-03 4.91132257e-05 -9.99994603e-01 2.80457302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.757628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:119.25, Y:94.28, Z:2.80 [[ 9.91752872e-01 -1.28123851e-01 3.24333243e-03 1.19254468e+02] [-1.28123045e-01 -9.91758175e-01 -4.55863686e-04 9.42808666e+01] [ 3.27500846e-03 3.65584935e-05 -9.99994636e-01 2.80465979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.78762800000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.25, Y:94.28, Z:2.80 [[ 9.98666872e-01 -5.15155970e-02 3.25903556e-03 1.19252424e+02] [-5.15152184e-02 -9.98672190e-01 -2.00071324e-04 9.42764636e+01] [ 3.26501497e-03 3.19146744e-05 -9.99994669e-01 2.80320778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.817628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:119.25, Y:94.27, Z:2.81 [[ 9.99770613e-01 2.11690531e-02 3.25467379e-03 1.19252073e+02] [ 2.11689845e-02 -9.99775910e-01 5.55394603e-05 9.42672938e+01] [ 3.25512017e-03 1.33714188e-05 -9.99994702e-01 2.80629994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.84762800000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.25, Y:94.26, Z:2.81 [[ 9.95338907e-01 9.63847713e-02 3.23039462e-03 1.19252517e+02] [ 9.63842755e-02 -9.95344150e-01 3.09199674e-04 9.42580805e+01] [ 3.24515652e-03 3.60077869e-06 -9.99994734e-01 2.80645116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.877628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:119.25, Y:94.25, Z:2.81 [[ 9.85505976e-01 1.69610784e-01 3.18646674e-03 1.19252272e+02] [ 1.69609862e-01 -9.85511127e-01 5.59416041e-04 9.42461887e+01] [ 3.23518142e-03 -1.08516659e-05 -9.99994767e-01 2.80884668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.90762800000005 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:119.25, Y:94.24, Z:2.81 [[ 9.69340669e-01 2.45700717e-01 3.13465454e-03 1.19253687e+02] [ 2.45699538e-01 -9.69345737e-01 7.61717321e-04 9.42408339e+01] [ 3.22571850e-03 3.18195956e-05 -9.99994797e-01 2.80644152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.937628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:119.25, Y:94.23, Z:2.81 [[ 9.47547180e-01 3.19601486e-01 3.03823628e-03 1.19253756e+02] [ 3.19599786e-01 -9.47552051e-01 1.04267073e-03 9.42346660e+01] [ 3.21212614e-03 -1.69600496e-05 -9.99994841e-01 2.80524381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.96762800000005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:119.26, Y:94.23, Z:2.80 [[ 9.19435413e-01 3.93230070e-01 2.93823462e-03 1.19255486e+02] [ 3.93228009e-01 -9.19440108e-01 1.27341198e-03 9.42301258e+01] [ 3.20227464e-03 -1.54239150e-05 -9.99994873e-01 2.80477862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.997628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:119.26, Y:94.22, Z:2.81 [[ 8.85614723e-01 4.64412107e-01 2.82081125e-03 1.19258454e+02] [ 4.64409701e-01 -8.85619215e-01 1.49497402e-03 9.42223482e+01] [ 3.19244868e-03 -1.39588887e-05 -9.99994904e-01 2.80516824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.02762800000005 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:119.26, Y:94.22, Z:2.81 [[ 8.46051895e-01 5.33093774e-01 2.68689569e-03 1.19262418e+02] [ 5.33091044e-01 -8.46056161e-01 1.70589938e-03 9.42156003e+01] [ 3.18266899e-03 -1.09193766e-05 -9.99994935e-01 2.80506719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.057628 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.27, Y:94.21, Z:2.81 [[ 8.00178524e-01 5.99756527e-01 2.53727357e-03 1.19267387e+02] [ 5.99753501e-01 -8.00182547e-01 1.90516438e-03 9.42081264e+01] [ 3.17291680e-03 -2.73291243e-06 -9.99994966e-01 2.80608135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.08762800000005 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:119.27, Y:94.20, Z:2.81 [[ 7.50773481e-01 6.60555485e-01 2.37300623e-03 1.19272516e+02] [ 6.60552174e-01 -7.50777231e-01 2.09153810e-03 9.42015186e+01] [ 3.16317601e-03 -2.77691485e-06 -9.99994997e-01 2.80617142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.117628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:119.28, Y:94.19, Z:2.81 [[ 6.95587538e-01 7.18437999e-01 2.19523841e-03 1.19276601e+02] [ 7.18434432e-01 -6.95591002e-01 2.26391352e-03 9.41946887e+01] [ 3.15346958e-03 2.38483251e-06 -9.99995028e-01 2.80695880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.14762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.28, Y:94.19, Z:2.80 [[ 6.35509312e-01 7.72090600e-01 2.00509419e-03 1.19280687e+02] [ 7.72086803e-01 -6.35512475e-01 2.42136882e-03 9.41891365e+01] [ 3.14377848e-03 9.30433002e-06 -9.99995058e-01 2.80455303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.177628 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:119.29, Y:94.18, Z:2.81 [[ 5.70630173e-01 8.21205183e-01 1.80379058e-03 1.19286486e+02] [ 8.21201183e-01 -5.70633024e-01 2.56304036e-03 9.41835507e+01] [ 3.13408450e-03 1.87267911e-05 -9.99995089e-01 2.80697156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.20762800000006 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:119.29, Y:94.18, Z:2.80 [[ 5.02113123e-01 8.64800483e-01 1.59266768e-03 1.19290685e+02] [ 8.64796305e-01 -5.02115649e-01 2.68812705e-03 9.41784879e+01] [ 3.12439693e-03 2.75892586e-05 -9.99995119e-01 2.80491892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23762800000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:119.29, Y:94.17, Z:2.81 [[ 4.28910550e-01 9.03345922e-01 1.37311803e-03 1.19294105e+02] [ 9.03341596e-01 -4.28912746e-01 2.79595010e-03 9.41745105e+01] [ 3.11465794e-03 4.11821395e-05 -9.99995149e-01 2.80519594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.267628 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:119.30, Y:94.17, Z:2.81 [[ 3.55841215e-01 9.34545727e-01 1.14637371e-03 1.19297180e+02] [ 9.34541272e-01 -3.55843059e-01 2.88601680e-03 9.41713959e+01] [ 3.10504380e-03 4.43698176e-05 -9.99995178e-01 2.80558299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29762800000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:119.30, Y:94.17, Z:2.80 [[ 2.79772968e-01 9.60065754e-01 9.13983769e-04 1.19298714e+02] [ 9.60061198e-01 -2.79774456e-01 2.95782659e-03 9.41670597e+01] [ 3.09541733e-03 4.99604278e-05 -9.99995208e-01 2.80425824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.327628 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:119.30, Y:94.16, Z:2.80 [[ 2.02004453e-01 9.79384369e-01 6.77398627e-04 1.19299536e+02] [ 9.79379742e-01 -2.02005582e-01 3.01105143e-03 9.41643469e+01] [ 3.08581501e-03 5.51846938e-05 -9.99995237e-01 2.80270206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35762800000003 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:119.31, Y:94.16, Z:2.81 [[ 1.25212030e-01 9.92129909e-01 4.38102404e-04 1.19307875e+02] [ 9.92125236e-01 -1.25212785e-01 3.04547513e-03 9.41607215e+01] [ 3.07636299e-03 5.33223270e-05 -9.99995267e-01 2.80525630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.387628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:119.32, Y:94.16, Z:2.81 [[ 4.84667987e-02 9.98824775e-01 1.97691085e-04 1.19317509e+02] [ 9.98820085e-01 -4.84671770e-02 3.06100190e-03 9.41585009e+01] [ 3.06698606e-03 4.91008636e-05 -9.99995296e-01 2.80518085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41762800000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:119.36, Y:94.13, Z:2.81 [[-2.84097233e-02 9.99596362e-01 -4.24177151e-05 1.19355987e+02] [ 9.99591686e-01 2.84097202e-02 3.05767106e-03 9.41312494e+01] [ 3.05764194e-03 4.44671936e-05 -9.99995324e-01 2.80506525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.447628 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:119.40, Y:94.11, Z:2.81 [[-1.05140939e-01 9.94457291e-01 -2.80783163e-04 1.19396084e+02] [ 9.94452659e-01 1.05141306e-01 3.03562329e-03 9.41058709e+01] [ 3.04831962e-03 3.99427204e-05 -9.99995353e-01 2.80537632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47762800000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:119.44, Y:94.08, Z:2.80 [[-1.81395897e-01 9.83410017e-01 -5.16066998e-04 1.19439014e+02] [ 9.83405457e-01 1.81396627e-01 2.99508285e-03 9.40805655e+01] [ 3.03900729e-03 3.57926380e-05 -9.99995382e-01 2.80469120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.507628 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:119.48, Y:94.06, Z:2.80 [[-2.56577046e-01 9.66523493e-01 -7.46652310e-04 1.19483361e+02] [ 9.66519033e-01 2.56578130e-01 2.93645196e-03 9.40584519e+01] [ 3.02972446e-03 3.17725013e-05 -9.99995410e-01 2.80456917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.53762800000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.53, Y:94.05, Z:2.80 [[-3.30672749e-01 9.43744981e-01 -9.71469717e-04 1.19527324e+02] [ 9.43740648e-01 3.30674174e-01 2.86008965e-03 9.40457517e+01] [ 3.02043520e-03 2.89382474e-05 -9.99995438e-01 2.79968449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.567628 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:119.58, Y:94.03, Z:2.81 [[-4.02058151e-01 9.15613363e-01 -1.18891245e-03 1.19576742e+02] [ 9.15609183e-01 4.02059908e-01 2.76664802e-03 9.40298611e+01] [ 3.01119393e-03 2.37742267e-05 -9.99995466e-01 2.80693476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.59762800000004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:119.63, Y:94.02, Z:2.81 [[-4.72497180e-01 8.81331074e-01 -1.39763993e-03 1.19626247e+02] [ 8.81327069e-01 4.72499247e-01 2.65684657e-03 9.40210646e+01] [ 3.00194525e-03 2.35746106e-05 -9.99995494e-01 2.80947537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.627628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.68, Y:94.02, Z:2.81 [[-5.40492998e-01 8.41346998e-01 -1.59656989e-03 1.19675615e+02] [ 8.41343190e-01 5.40495355e-01 2.53137926e-03 9.40155271e+01] [ 2.99270695e-03 2.49295627e-05 -9.99995522e-01 2.80848615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.65762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.72, Y:94.02, Z:2.81 [[-6.04344448e-01 7.96721158e-01 -1.78448843e-03 1.19721069e+02] [ 7.96717570e-01 6.04347082e-01 2.39113711e-03 9.40196946e+01] [ 2.98351990e-03 2.33371559e-05 -9.99995549e-01 2.81108405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.687628 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:119.77, Y:94.02, Z:2.81 [[-6.64616205e-01 7.47182346e-01 -1.96020214e-03 1.19773360e+02] [ 7.47178997e-01 6.64619095e-01 2.23717789e-03 9.40172440e+01] [ 2.97436760e-03 2.22428083e-05 -9.99995576e-01 2.81376045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.71762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.82, Y:94.02, Z:2.81 [[-7.21191172e-01 6.92732840e-01 -2.12290397e-03 1.19817931e+02] [ 6.92729746e-01 7.21194296e-01 2.07034580e-03 9.40243088e+01] [ 2.96522276e-03 2.25163825e-05 -9.99995603e-01 2.81210796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.747628 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:119.86, Y:94.03, Z:2.82 [[-7.73573317e-01 6.33702741e-01 -2.27157956e-03 1.19863602e+02] [ 6.33699917e-01 7.73576652e-01 1.89182612e-03 9.40343772e+01] [ 2.95609631e-03 2.39664206e-05 -9.99995630e-01 2.81558920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.77762800000005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:119.91, Y:94.05, Z:2.82 [[-8.22264694e-01 5.69100155e-01 -2.40534207e-03 1.19908624e+02] [ 5.69097609e-01 8.22268212e-01 1.70288542e-03 9.40485242e+01] [ 2.94694868e-03 3.13481414e-05 -9.99995657e-01 2.81581183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.807628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:119.95, Y:94.07, Z:2.82 [[-8.65248688e-01 5.01336554e-01 -2.52355986e-03 1.19949773e+02] [ 5.01334297e-01 8.65252367e-01 1.50460827e-03 9.40689017e+01] [ 2.93783127e-03 3.67132243e-05 -9.99995684e-01 2.81685352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.83762800000005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:119.99, Y:94.09, Z:2.82 [[-9.03789720e-01 4.27968748e-01 -2.62555658e-03 1.19988677e+02] [ 4.27966781e-01 9.03793532e-01 1.29834770e-03 9.40914473e+01] [ 2.92861330e-03 4.97823012e-05 -9.99995710e-01 2.81621849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.867628 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.03, Y:94.11, Z:2.81 [[-9.35300126e-01 3.53845058e-01 -2.71079723e-03 1.20031392e+02] [ 3.53843398e-01 9.35304053e-01 1.08547284e-03 9.41148742e+01] [ 2.91950883e-03 5.60451771e-05 -9.99995737e-01 2.81333930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.89762800000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.06, Y:94.14, Z:2.81 [[-9.60415706e-01 2.78556906e-01 -2.77893391e-03 1.20063799e+02] [ 2.78555563e-01 9.60419724e-01 8.67106119e-04 9.41430673e+01] [ 2.91048134e-03 5.86948359e-05 -9.99995763e-01 2.81160375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.927628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.10, Y:94.17, Z:2.81 [[-9.79698659e-01 2.00455808e-01 -2.82960167e-03 1.20101776e+02] [ 2.00454782e-01 9.79702743e-01 6.44737585e-04 9.41717032e+01] [ 2.90140991e-03 6.44413620e-05 -9.99995789e-01 2.81095580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.95762800000006 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:120.13, Y:94.20, Z:2.81 [[-9.92657322e-01 1.20926619e-01 -2.86258867e-03 1.20130559e+02] [ 1.20925911e-01 9.92661447e-01 4.19804137e-04 9.42028430e+01] [ 2.89234690e-03 7.05605079e-05 -9.99995815e-01 2.80977351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.98762800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:94.94, Z:1.82 [[-9.99903816e-01 -1.35675126e-02 2.87780700e-03 1.20182803e+02] [ 1.35670113e-02 -9.99907945e-01 -1.93664213e-04 9.49372125e+01] [ 2.88016963e-03 -1.54602345e-04 9.99995840e-01 1.82036540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.017628 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:120.18, Y:94.94, Z:1.82 [[-9.99904871e-01 -1.34895027e-02 2.87782505e-03 1.20180817e+02] [ 1.34890018e-02 -9.99909001e-01 -1.93395696e-04 9.49372948e+01] [ 2.88017198e-03 -1.54558311e-04 9.99995840e-01 1.81709654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.04762800000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:120.17, Y:94.24, Z:2.81 [[-9.99160061e-01 4.08765141e-02 -2.87788798e-03 1.20165116e+02] [ 4.08761292e-02 9.99164203e-01 1.92454601e-04 9.42384545e+01] [ 2.88334952e-03 7.46560298e-05 -9.99995840e-01 2.80950638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.077628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:120.15, Y:94.97, Z:1.82 [[-9.98031679e-01 6.26458346e-02 2.87525871e-03 1.20150478e+02] [-6.26459975e-02 -9.98035810e-01 3.34635681e-05 9.49733788e+01] [ 2.87170751e-03 -1.46725749e-04 9.99995866e-01 1.81652725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.10762800000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:120.15, Y:94.97, Z:1.82 [[-9.98084388e-01 6.18003905e-02 2.87525556e-03 1.20153850e+02] [-6.18005491e-02 -9.98088519e-01 3.37326920e-05 9.49732144e+01] [ 2.87184425e-03 -1.44024299e-04 9.99995866e-01 1.81663519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.137628 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:120.15, Y:94.97, Z:1.82 [[-9.98103724e-01 6.14873021e-02 2.87525556e-03 1.20146041e+02] [-6.14874594e-02 -9.98107856e-01 3.37326920e-05 9.49731260e+01] [ 2.87188929e-03 -1.43123434e-04 9.99995866e-01 1.81728528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.16762800000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:120.19, Y:94.28, Z:2.81 [[-9.99156506e-01 -4.09635089e-02 -2.87525237e-03 1.20190455e+02] [-4.09635805e-02 9.99160640e-01 -3.40025960e-05 9.42763758e+01] [ 2.87423186e-03 8.38067167e-05 -9.99995866e-01 2.80777329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.197628 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:120.12, Y:95.01, Z:1.82 [[-9.90457516e-01 1.37788816e-01 2.85506072e-03 1.20116338e+02] [-1.37788644e-01 -9.90461621e-01 2.57703633e-04 9.50076975e+01] [ 2.86333675e-03 -1.38150445e-04 9.99995891e-01 1.81607415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.22762800000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:120.21, Y:94.31, Z:2.81 [[-9.92570754e-01 -1.21635301e-01 -2.85514510e-03 1.20210915e+02] [-1.21635065e-01 9.92574856e-01 -2.56765344e-04 9.43133082e+01] [ 2.86517697e-03 9.24279900e-05 -9.99995891e-01 2.80861629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.257628 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.23, Y:94.35, Z:2.81 [[-9.79776285e-01 -2.00076214e-01 -2.81765113e-03 1.20231662e+02] [-2.00075666e-01 9.79780332e-01 -4.77849771e-04 9.43544095e+01] [ 2.85628553e-03 9.55575538e-05 -9.99995916e-01 2.80572134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.28762800000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:120.05, Y:95.07, Z:1.82 [[-9.58222198e-01 2.86011511e-01 2.76320539e-03 1.20049566e+02] [-2.86010695e-01 -9.58226174e-01 6.94479579e-04 9.50694498e+01] [ 2.84640488e-03 -1.24840546e-04 9.99995941e-01 1.81533677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.317628 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:120.05, Y:95.07, Z:1.81 [[-9.58401487e-01 2.85410149e-01 2.76343284e-03 1.20050127e+02] [-2.85409333e-01 -9.58405463e-01 6.93573323e-04 9.50686849e+01] [ 2.84644200e-03 -1.23987819e-04 9.99995941e-01 1.81437990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.34762800000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:120.05, Y:95.07, Z:1.81 [[-9.57830923e-01 2.87319134e-01 2.76365966e-03 1.20050520e+02] [-2.87318329e-01 -9.57834901e-01 6.92668345e-04 9.50676196e+01] [ 2.84614655e-03 -1.30590914e-04 9.99995941e-01 1.81015264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.377628 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:120.25, Y:94.40, Z:2.82 [[-9.62296548e-01 -2.71988446e-01 -2.76388584e-03 1.20247400e+02] [-2.71987580e-01 9.62300513e-01 -6.91764639e-04 9.43997773e+01] [ 2.84784076e-03 8.60598986e-05 -9.99995941e-01 2.81697345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.40762800000005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:120.26, Y:94.44, Z:2.82 [[-9.39057377e-01 -3.43749894e-01 -2.69303598e-03 1.20255536e+02] [-3.43748716e-01 9.39061236e-01 -9.03050162e-04 9.44420098e+01] [ 2.83934910e-03 7.77117452e-05 -9.99995966e-01 2.81769798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.437628 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:119.97, Y:95.12, Z:1.81 [[-8.97016371e-01 4.41989633e-01 2.60667293e-03 1.19970634e+02] [-4.41988276e-01 -8.97020144e-01 1.10650243e-03 9.51153785e+01] [ 2.82730073e-03 -1.59568077e-04 9.99995990e-01 1.81035615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.46762800000005 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:119.97, Y:95.12, Z:1.81 [[-8.95028727e-01 4.46000875e-01 2.60708503e-03 1.19970010e+02] [-4.45999539e-01 -8.95032507e-01 1.10553061e-03 9.51156982e+01] [ 2.82649347e-03 -1.73277071e-04 9.99995990e-01 1.81286548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.497628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:119.98, Y:95.12, Z:1.81 [[-8.92460614e-01 4.51117782e-01 2.60749558e-03 1.19975122e+02] [-4.51116469e-01 -8.92464403e-01 1.10456144e-03 9.51181169e+01] [ 2.82538429e-03 -1.90506614e-04 9.99995990e-01 1.81374506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.52762800000005 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:119.97, Y:95.12, Z:1.81 [[-8.90248415e-01 4.55467846e-01 2.60790431e-03 1.19970504e+02] [-4.55466555e-01 -8.90252211e-01 1.10359556e-03 9.51158350e+01] [ 2.82434487e-03 -2.05338998e-04 9.99995990e-01 1.81465390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.557628 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:119.98, Y:95.12, Z:1.82 [[-8.86354268e-01 4.63000334e-01 2.60826033e-03 1.19978331e+02] [-4.62999078e-01 -8.86358075e-01 1.10275350e-03 9.51194782e+01] [ 2.82242785e-03 -2.30191854e-04 9.99995990e-01 1.81751750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.58762800000005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:119.98, Y:95.12, Z:1.82 [[-8.85078050e-01 4.65435324e-01 2.60861534e-03 1.19980650e+02] [-4.65434081e-01 -8.85081862e-01 1.10191306e-03 9.51199589e+01] [ 2.82170739e-03 -2.38859421e-04 9.99995990e-01 1.81800837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.617628 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:119.98, Y:95.12, Z:1.82 [[-8.84152506e-01 4.67191117e-01 2.60901940e-03 1.19980755e+02] [-4.67189884e-01 -8.84156321e-01 1.10095554e-03 9.51197337e+01] [ 2.82113764e-03 -2.45494873e-04 9.99995990e-01 1.81901053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.64762800000005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:119.98, Y:95.12, Z:1.82 [[-8.83653536e-01 4.68134190e-01 2.60942214e-03 1.19976668e+02] [-4.68132964e-01 -8.83657353e-01 1.10000016e-03 9.51184714e+01] [ 2.82078274e-03 -2.49537493e-04 9.99995990e-01 1.82124427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.677628 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:119.97, Y:95.12, Z:1.82 [[-8.84002892e-01 4.67474145e-01 2.60977359e-03 1.19974171e+02] [-4.67472919e-01 -8.84006709e-01 1.09916569e-03 9.51182980e+01] [ 2.82088891e-03 -2.48332826e-04 9.99995990e-01 1.82145352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.70762800000006 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:119.97, Y:95.12, Z:1.82 [[-8.85036713e-01 4.65513913e-01 2.61017606e-03 1.19968627e+02] [-4.65512681e-01 -8.85040529e-01 1.09820912e-03 9.51162372e+01] [ 2.82134323e-03 -2.43114671e-04 9.99995990e-01 1.82110282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73762800000003 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:119.97, Y:95.12, Z:1.82 [[-8.86388247e-01 4.62935267e-01 2.61057863e-03 1.19968326e+02] [-4.62934026e-01 -8.86392060e-01 1.09725133e-03 9.51165493e+01] [ 2.82195251e-03 -2.35934994e-04 9.99995990e-01 1.82071169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.767628 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:119.96, Y:95.11, Z:1.82 [[-8.88324029e-01 4.59209758e-01 2.61098110e-03 1.19957303e+02] [-4.59208504e-01 -8.88327838e-01 1.09629278e-03 9.51122363e+01] [ 2.82283554e-03 -2.25121507e-04 9.99995990e-01 1.82357738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79762800000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:119.95, Y:95.11, Z:1.82 [[-8.90420238e-01 4.55131827e-01 2.61138425e-03 1.19953498e+02] [-4.55130559e-01 -8.90424042e-01 1.09533164e-03 9.51120282e+01] [ 2.82375961e-03 -2.13215315e-04 9.99995990e-01 1.82089498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.827628 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:119.95, Y:95.11, Z:1.82 [[-8.95391282e-01 4.45272535e-01 2.61176367e-03 1.19945852e+02] [-4.45271227e-01 -8.95395073e-01 1.09442619e-03 9.51106903e+01] [ 2.82587824e-03 -1.83003544e-04 9.99995990e-01 1.82104467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85762800000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:119.93, Y:95.10, Z:1.82 [[-8.97608529e-01 4.40785782e-01 2.61216878e-03 1.19925381e+02] [-4.40784459e-01 -8.97612314e-01 1.09345841e-03 9.51022755e+01] [ 2.82669578e-03 -1.69905806e-04 9.99995990e-01 1.82192468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.887628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:119.94, Y:95.10, Z:1.82 [[-8.99853202e-01 4.36185066e-01 2.60836713e-03 1.19935040e+02] [-4.36183697e-01 -8.99856971e-01 1.10254432e-03 9.51049899e+01] [ 2.82807071e-03 -1.45599184e-04 9.99995990e-01 1.82226401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91762800000004 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:119.93, Y:95.10, Z:1.82 [[-9.01595128e-01 4.32572998e-01 2.61264872e-03 1.19928843e+02] [-4.32571643e-01 -9.01598902e-01 1.09230330e-03 9.51011501e+01] [ 2.82806213e-03 -1.45342422e-04 9.99995990e-01 1.82173023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.947628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:119.93, Y:95.10, Z:1.82 [[-9.01757231e-01 4.32234969e-01 2.61305687e-03 1.19926676e+02] [-4.32233616e-01 -9.01761005e-01 1.09132604e-03 9.51001647e+01] [ 2.82806207e-03 -1.45339868e-04 9.99995990e-01 1.82173736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97762800000004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:119.93, Y:95.10, Z:1.82 [[-9.03779897e-01 4.27989565e-01 2.61346563e-03 1.19925025e+02] [-4.27988197e-01 -9.03783666e-01 1.09034628e-03 9.50978021e+01] [ 2.82866438e-03 -1.33099388e-04 9.99995990e-01 1.82033737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.007628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:119.92, Y:95.10, Z:1.82 [[-9.04432980e-01 4.26607726e-01 2.61382239e-03 1.19920644e+02] [-4.26606355e-01 -9.04436748e-01 1.08949037e-03 9.50959930e+01] [ 2.82882203e-03 -1.29702216e-04 9.99995990e-01 1.82354780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.03762800000004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:119.92, Y:95.09, Z:1.82 [[-9.04607438e-01 4.26237667e-01 2.61417940e-03 1.19916679e+02] [-4.26236296e-01 -9.04611206e-01 1.08863306e-03 9.50945202e+01] [ 2.82883240e-03 -1.29472578e-04 9.99995990e-01 1.82372211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.067628 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:119.92, Y:95.09, Z:1.82 [[-9.05081123e-01 4.25230908e-01 2.61430736e-03 1.19917023e+02] [-4.25229535e-01 -9.05084890e-01 1.08832567e-03 9.50948076e+01] [ 2.82895981e-03 -1.26657682e-04 9.99995990e-01 1.82317464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.09762800000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:120.19, Y:94.45, Z:2.80 [[-9.10271370e-01 -4.14003862e-01 -2.61466453e-03 1.20185994e+02] [-4.14002444e-01 9.10275120e-01 -1.08746692e-03 9.44450632e+01] [ 2.83027957e-03 9.25874990e-05 -9.99995990e-01 2.80030712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.127628 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:119.85, Y:95.10, Z:1.83 [[-8.70157706e-01 4.92766919e-01 2.51587856e-03 1.19849162e+02] [-4.92765268e-01 -8.70161335e-01 1.28141887e-03 9.51021606e+01] [ 2.82066107e-03 -1.24701072e-04 9.99996014e-01 1.82797896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.15762800000005 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:119.84, Y:95.10, Z:1.83 [[-8.70326499e-01 4.92468734e-01 2.51629991e-03 1.19838294e+02] [-4.92467085e-01 -8.70330127e-01 1.28059094e-03 9.50957752e+01] [ 2.82066262e-03 -1.24662650e-04 9.99996014e-01 1.82926027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.187628 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:119.84, Y:95.10, Z:1.83 [[-8.70328269e-01 4.92465603e-01 2.51672237e-03 1.19843297e+02] [-4.92463956e-01 -8.70331899e-01 1.27976014e-03 9.50973086e+01] [ 2.82062161e-03 -1.25583629e-04 9.99996014e-01 1.83010906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.21762800000005 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:119.84, Y:95.10, Z:1.83 [[-8.70635343e-01 4.91922518e-01 2.51714507e-03 1.19839131e+02] [-4.91920872e-01 -8.70638973e-01 1.27892820e-03 9.50954329e+01] [ 2.82065818e-03 -1.24756102e-04 9.99996014e-01 1.82993962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.247628 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:119.84, Y:95.10, Z:1.83 [[-8.71789486e-01 4.89874223e-01 2.51756711e-03 1.19839285e+02] [-4.89872570e-01 -8.71793113e-01 1.27809687e-03 9.50959025e+01] [ 2.82090438e-03 -1.19055656e-04 9.99996014e-01 1.83265262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.27762800000005 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:119.83, Y:95.09, Z:1.83 [[-8.71987609e-01 4.89521469e-01 2.51805006e-03 1.19832407e+02] [-4.89519818e-01 -8.71991237e-01 1.27714468e-03 9.50912859e+01] [ 2.82090733e-03 -1.18981075e-04 9.99996014e-01 1.82879990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.307628 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:119.83, Y:95.09, Z:1.83 [[-8.72002995e-01 4.89494059e-01 2.51853313e-03 1.19832543e+02] [-4.89492410e-01 -8.72006624e-01 1.27619135e-03 9.50891688e+01] [ 2.82086566e-03 -1.19960173e-04 9.99996014e-01 1.82769875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.33762800000005 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:119.84, Y:95.09, Z:1.83 [[-8.71473152e-01 4.90436744e-01 2.51901655e-03 1.19836356e+02] [-4.90435102e-01 -8.71476784e-01 1.27523643e-03 9.50888079e+01] [ 2.82068725e-03 -1.24079826e-04 9.99996014e-01 1.82617452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.367628 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:119.83, Y:95.09, Z:1.83 [[-8.71217109e-01 4.90891436e-01 2.51949842e-03 1.19832738e+02] [-4.90889798e-01 -8.71220743e-01 1.27428369e-03 9.50857949e+01] [ 2.82057423e-03 -1.26618320e-04 9.99996014e-01 1.82536647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.39762800000005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:119.83, Y:95.09, Z:1.83 [[-8.70730273e-01 4.91754453e-01 2.51991855e-03 1.19832242e+02] [-4.91752822e-01 -8.70733909e-01 1.27345234e-03 9.50863890e+01] [ 2.82040439e-03 -1.30343558e-04 9.99996014e-01 1.82600147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.427628 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:119.84, Y:95.09, Z:1.82 [[-8.69312266e-01 4.94256848e-01 2.52046082e-03 1.19835367e+02] [-4.94255230e-01 -8.69315909e-01 1.27237816e-03 9.50869664e+01] [ 2.81995830e-03 -1.39657002e-04 9.99996014e-01 1.82345035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.45762800000006 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:119.85, Y:95.09, Z:1.81 [[-8.65620007e-01 5.00695166e-01 2.52093920e-03 1.19854055e+02] [-5.00693578e-01 -8.65623662e-01 1.27142963e-03 9.50911200e+01] [ 2.81878329e-03 -1.61643143e-04 9.99996014e-01 1.81497791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.48762800000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:119.84, Y:95.09, Z:1.82 [[-8.66593427e-01 4.99008537e-01 2.51260592e-03 1.19839787e+02] [-4.99006893e-01 -8.66597058e-01 1.28796027e-03 9.50853243e+01] [ 2.82012007e-03 -1.37669769e-04 9.99996014e-01 1.82173961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.517628 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:119.83, Y:95.08, Z:1.82 [[-8.66089624e-01 4.99882390e-01 2.52178815e-03 1.19830357e+02] [-4.99880803e-01 -8.66093280e-01 1.26972352e-03 9.50790900e+01] [ 2.81881620e-03 -1.60899117e-04 9.99996014e-01 1.81973266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.54762800000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:119.84, Y:95.08, Z:1.82 [[-8.66054960e-01 4.99942441e-01 2.52226434e-03 1.19835013e+02] [-4.99940857e-01 -8.66058618e-01 1.26877688e-03 9.50808605e+01] [ 2.81874418e-03 -1.62152483e-04 9.99996014e-01 1.81974851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.577628 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:119.84, Y:95.08, Z:1.82 [[-8.65585552e-01 5.00754718e-01 2.52274033e-03 1.19836452e+02] [-5.00753141e-01 -8.65589212e-01 1.26782975e-03 9.50797379e+01] [ 2.81852855e-03 -1.65855028e-04 9.99996014e-01 1.81801435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.60762800000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:119.83, Y:95.08, Z:1.82 [[-8.66551184e-01 4.99081836e-01 2.52321427e-03 1.19834915e+02] [-4.99080254e-01 -8.66554842e-01 1.26688583e-03 9.50778128e+01] [ 2.81878325e-03 -1.61465003e-04 9.99996014e-01 1.81855514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.637628 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:119.83, Y:95.08, Z:1.82 [[-8.66921322e-01 4.98438614e-01 2.52368716e-03 1.19831443e+02] [-4.98437033e-01 -8.66924981e-01 1.26594310e-03 9.50750515e+01] [ 2.81884237e-03 -1.60426071e-04 9.99996014e-01 1.81854457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.66762800000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:119.83, Y:95.07, Z:1.81 [[-8.67305686e-01 4.97769500e-01 2.52416001e-03 1.19828798e+02] [-4.97767918e-01 -8.67309345e-01 1.26499959e-03 9.50703881e+01] [ 2.81890578e-03 -1.59304539e-04 9.99996014e-01 1.81302738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.697628 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:119.82, Y:95.07, Z:1.81 [[-8.67485748e-01 4.97455629e-01 2.52457336e-03 1.19823293e+02] [-4.97454048e-01 -8.67489407e-01 1.26417413e-03 9.50661123e+01] [ 2.81891118e-03 -1.59206198e-04 9.99996014e-01 1.81336565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.72762800000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:119.82, Y:95.07, Z:1.82 [[-8.67659052e-01 4.97153290e-01 2.52498767e-03 1.19823873e+02] [-4.97151711e-01 -8.67662711e-01 1.26334607e-03 9.50650211e+01] [ 2.81891430e-03 -1.59148284e-04 9.99996014e-01 1.81505032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.757628 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:119.83, Y:95.07, Z:1.81 [[-8.67735574e-01 4.97019713e-01 2.52544549e-03 1.19827220e+02] [-4.97018136e-01 -8.67739235e-01 1.26243022e-03 9.50652038e+01] [ 2.81888084e-03 -1.59736597e-04 9.99996014e-01 1.81064111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.78762800000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:119.82, Y:95.06, Z:1.81 [[-8.68719063e-01 4.95298708e-01 2.52559344e-03 1.19818155e+02] [-4.95297124e-01 -8.68722721e-01 1.26213416e-03 9.50579244e+01] [ 2.81917382e-03 -1.54479163e-04 9.99996014e-01 1.81029816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.817628 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:119.82, Y:95.06, Z:1.81 [[-8.69018789e-01 4.94772640e-01 2.52574146e-03 1.19821129e+02] [-4.94771054e-01 -8.69022446e-01 1.26183788e-03 9.50599374e+01] [ 2.81924888e-03 -1.53102940e-04 9.99996014e-01 1.80983648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.84762800000004 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:119.81, Y:95.05, Z:1.81 [[-8.69272099e-01 4.94327459e-01 2.52621515e-03 1.19811165e+02] [-4.94325874e-01 -8.69275756e-01 1.26088882e-03 9.50547181e+01] [ 2.81926955e-03 -1.52718043e-04 9.99996014e-01 1.80903171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.877628 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:119.82, Y:95.06, Z:1.81 [[-8.69224734e-01 4.94410738e-01 2.52662913e-03 1.19817938e+02] [-4.94409156e-01 -8.69228393e-01 1.26005874e-03 9.50577358e+01] [ 2.81920434e-03 -1.53914353e-04 9.99996014e-01 1.80816485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.90762800000005 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:119.81, Y:95.05, Z:1.81 [[-8.68586740e-01 4.95530715e-01 2.52707643e-03 1.19810684e+02] [-4.95529141e-01 -8.68590401e-01 1.25916101e-03 9.50534551e+01] [ 2.81894729e-03 -1.58549457e-04 9.99996014e-01 1.80632940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.937628 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:119.85, Y:95.06, Z:1.80 [[-8.61725425e-01 5.07368607e-01 2.52748959e-03 1.19847941e+02] [-5.07367085e-01 -8.61729109e-01 1.25833114e-03 9.50626748e+01] [ 2.81644907e-03 -1.98029092e-04 9.99996014e-01 1.80273870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.96762800000005 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:119.82, Y:95.05, Z:1.80 [[-8.67715102e-01 4.97055556e-01 2.50536202e-03 1.19815557e+02] [-4.97053862e-01 -8.67718711e-01 1.30272546e-03 9.50549947e+01] [ 2.82147643e-03 -1.14905314e-04 9.99996013e-01 1.80433875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.997628 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:119.81, Y:95.05, Z:1.80 [[-8.67239479e-01 4.97884822e-01 2.52794289e-03 1.19810729e+02] [-4.97883263e-01 -8.67243147e-01 1.25732498e-03 9.50530998e+01] [ 2.81834417e-03 -1.68218596e-04 9.99996014e-01 1.80153482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.02762800000005 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:119.81, Y:95.05, Z:1.80 [[-8.66980587e-01 4.98335498e-01 2.52835446e-03 1.19808380e+02] [-4.98333943e-01 -8.66984257e-01 1.25649681e-03 9.50511943e+01] [ 2.81820048e-03 -1.70606509e-04 9.99996014e-01 1.80006573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.057628 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:119.81, Y:95.05, Z:1.80 [[-8.66931470e-01 4.98420938e-01 2.52882615e-03 1.19810142e+02] [-4.98419387e-01 -8.66935141e-01 1.25554677e-03 9.50511449e+01] [ 2.81811906e-03 -1.71942973e-04 9.99996014e-01 1.79765327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.08762800000005 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:119.81, Y:95.05, Z:1.80 [[-8.66841578e-01 4.98577257e-01 2.52929679e-03 1.19807855e+02] [-4.98575709e-01 -8.66845251e-01 1.25459795e-03 9.50481318e+01] [ 2.81802292e-03 -1.73508280e-04 9.99996014e-01 1.79551153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.117628 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:119.81, Y:95.05, Z:1.79 [[-8.66688803e-01 4.98842780e-01 2.52973780e-03 1.19808836e+02] [-4.98841235e-01 -8.66692477e-01 1.25370809e-03 9.50480577e+01] [ 2.81790795e-03 -1.75362764e-04 9.99996014e-01 1.79129593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.14762800000005 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:119.81, Y:95.05, Z:1.79 [[-8.66394570e-01 4.99353630e-01 2.53014794e-03 1.19806521e+02] [-4.99352090e-01 -8.66398246e-01 1.25287982e-03 9.50464864e+01] [ 2.81774582e-03 -1.77946388e-04 9.99996014e-01 1.78709347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.177628 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:119.81, Y:95.05, Z:1.79 [[-8.66624666e-01 4.98954190e-01 2.53055769e-03 1.19805757e+02] [-4.98952651e-01 -8.66628343e-01 1.25205166e-03 9.50456550e+01] [ 2.81776944e-03 -1.77569613e-04 9.99996014e-01 1.78580044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.20762800000006 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:119.80, Y:95.04, Z:1.78 [[-8.66369558e-01 4.99397021e-01 2.53070426e-03 1.19800302e+02] [-4.99395484e-01 -8.66373236e-01 1.25175533e-03 9.50430152e+01] [ 2.81765732e-03 -1.79339570e-04 9.99996014e-01 1.78265541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23762800000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:119.80, Y:95.05, Z:1.78 [[-8.65663905e-01 5.00619214e-01 2.53111389e-03 1.19804817e+02] [-5.00617685e-01 -8.65667586e-01 1.25092650e-03 9.50470742e+01] [ 2.81734109e-03 -1.84238456e-04 9.99996014e-01 1.77967320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.267628 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:119.86, Y:95.07, Z:1.78 [[-8.61116202e-01 5.08401887e-01 2.53156856e-03 1.19855293e+02] [-5.08400394e-01 -8.61119897e-01 1.25000568e-03 9.50658249e+01] [ 2.81548930e-03 -2.10650304e-04 9.99996014e-01 1.77702386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29762800000003 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:119.86, Y:95.07, Z:1.77 [[-8.59857445e-01 5.10528025e-01 2.51193371e-03 1.19856811e+02] [-5.10526425e-01 -8.59861097e-01 1.28971240e-03 9.50691105e+01] [ 2.81834840e-03 -1.73439729e-04 9.99996013e-01 1.77494785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.327628 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:119.80, Y:95.05, Z:1.78 [[-8.63360345e-01 5.04581615e-01 2.51187835e-03 1.19797896e+02] [-5.04579989e-01 -8.63363985e-01 1.28982449e-03 9.50483550e+01] [ 2.81948702e-03 -1.53860237e-04 9.99996013e-01 1.78164540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35762800000003 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:119.85, Y:95.07, Z:1.78 [[-8.58818246e-01 5.12274154e-01 2.53213926e-03 1.19853543e+02] [-5.12272681e-01 -8.58821950e-01 1.24874032e-03 9.50725712e+01] [ 2.81435417e-03 -2.24704798e-04 9.99996014e-01 1.77764430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.387628 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:119.85, Y:95.07, Z:1.78 [[-8.57914286e-01 5.13786690e-01 2.51309890e-03 1.19850443e+02] [-5.13785111e-01 -8.57917946e-01 1.28729157e-03 9.50727833e+01] [ 2.81742592e-03 -1.86806972e-04 9.99996014e-01 1.77790924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41762800000004 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:119.85, Y:95.07, Z:1.79 [[-8.59457041e-01 5.11201820e-01 2.50889914e-03 1.19851756e+02] [-5.11200206e-01 -8.59460686e-01 1.29579685e-03 9.50733326e+01] [ 2.81871389e-03 -1.68868031e-04 9.99996013e-01 1.78933787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.447628 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:119.79, Y:95.04, Z:1.78 [[-8.60143972e-01 5.10045086e-01 2.52149952e-03 1.19793566e+02] [-5.10043541e-01 -8.60147646e-01 1.27023677e-03 9.50446836e+01] [ 2.81673989e-03 -1.93488045e-04 9.99996014e-01 1.78312397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47762800000004 meters Centerline goodness : 0.997894 Centerline is valid? [True, True] Translation: X:119.85, Y:95.07, Z:1.78 [[-8.57661118e-01 5.14209093e-01 2.53273997e-03 1.19850983e+02] [-5.14207633e-01 -8.57664827e-01 1.24741425e-03 9.50702042e+01] [ 2.81367373e-03 -2.32495525e-04 9.99996015e-01 1.78123094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.507628 meters Centerline goodness : 0.996924 Centerline is valid? [True, True] Translation: X:119.85, Y:95.07, Z:1.78 [[-8.56326282e-01 5.16429044e-01 2.51812104e-03 1.19847524e+02] [-5.16427507e-01 -8.56329960e-01 1.27706431e-03 9.50669946e+01] [ 2.81585559e-03 -2.06843240e-04 9.99996014e-01 1.77632572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.53762800000004 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:119.85, Y:95.07, Z:1.78 [[-8.55679171e-01 5.17500557e-01 2.51577737e-03 1.19850873e+02] [-5.17499010e-01 -8.55682845e-01 1.28182046e-03 9.50705013e+01] [ 2.81605034e-03 -2.05085233e-04 9.99996014e-01 1.77779552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.567628 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:119.84, Y:95.07, Z:1.77 [[-8.55500354e-01 5.17796106e-01 2.51733903e-03 1.19844307e+02] [-5.17794570e-01 -8.55504032e-01 1.27864957e-03 9.50696843e+01] [ 2.81567346e-03 -2.09579318e-04 9.99996014e-01 1.77302698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.59762800000004 meters Centerline goodness : 0.996477 Centerline is valid? [True, True] Translation: X:119.84, Y:95.07, Z:1.77 [[-8.56934375e-01 5.15419384e-01 2.51704642e-03 1.19842159e+02] [-5.15417836e-01 -8.56938048e-01 1.27924390e-03 9.50690826e+01] [ 2.81629995e-03 -2.01102544e-04 9.99996014e-01 1.77292383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.627628 meters Centerline goodness : 0.995735 Centerline is valid? [True, True] Translation: X:119.79, Y:95.04, Z:1.77 [[-8.61515551e-01 5.07724936e-01 2.51897396e-03 1.19787562e+02] [-5.07723367e-01 -8.61519214e-01 1.27532363e-03 9.50437274e+01] [ 2.81765808e-03 -1.80230801e-04 9.99996014e-01 1.77064097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.65762800000005 meters Centerline goodness : 0.997116 Centerline is valid? [True, True] Translation: X:119.78, Y:95.04, Z:1.77 [[-8.64410804e-01 5.02779813e-01 2.53411704e-03 1.19781501e+02] [-5.02778312e-01 -8.64414496e-01 1.24448821e-03 9.50383415e+01] [ 2.81623105e-03 -1.98350029e-04 9.99996015e-01 1.77177430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.687628 meters Centerline goodness : 0.996526 Centerline is valid? [True, True] Translation: X:119.78, Y:95.03, Z:1.77 [[-8.65583527e-01 5.00758160e-01 2.53445141e-03 1.19776449e+02] [-5.00756652e-01 -8.65587216e-01 1.24380687e-03 9.50333275e+01] [ 2.81663518e-03 -1.92524662e-04 9.99996015e-01 1.76616618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.71762800000005 meters Centerline goodness : 0.996102 Centerline is valid? [True, True] Translation: X:119.83, Y:95.05, Z:1.76 [[-8.63641063e-01 5.04100873e-01 2.53483009e-03 1.19829343e+02] [-5.04099381e-01 -8.63644758e-01 1.24303466e-03 9.50530483e+01] [ 2.81580758e-03 -2.04270510e-04 9.99996015e-01 1.76417117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.747628 meters Centerline goodness : 0.997030 Centerline is valid? [True, True] Translation: X:119.83, Y:95.05, Z:1.76 [[-8.63314466e-01 5.04660086e-01 2.51615146e-03 1.19830034e+02] [-5.04658487e-01 -8.63318117e-01 1.28106481e-03 9.50539281e+01] [ 2.81874142e-03 -1.63835410e-04 9.99996014e-01 1.76443555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.77762800000005 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:119.83, Y:95.05, Z:1.75 [[-8.58704514e-01 5.12464852e-01 2.51665392e-03 1.19834036e+02] [-5.12463289e-01 -8.58708181e-01 1.28004113e-03 9.50544341e+01] [ 2.81704739e-03 -1.90515647e-04 9.99996014e-01 1.75489457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.807628 meters Centerline goodness : 0.996413 Centerline is valid? [True, True] Translation: X:119.84, Y:95.06, Z:1.76 [[-8.58753724e-01 5.12382412e-01 2.51113743e-03 1.19836117e+02] [-5.12380815e-01 -8.58757377e-01 1.29127782e-03 9.50552883e+01] [ 2.81808583e-03 -1.77769008e-04 9.99996013e-01 1.75725450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.83762800000005 meters Centerline goodness : 0.997464 Centerline is valid? [True, True] Translation: X:119.83, Y:95.05, Z:1.76 [[-8.58985236e-01 5.11994191e-01 2.51245361e-03 1.19832772e+02] [-5.11992601e-01 -8.58988892e-01 1.28859510e-03 9.50549954e+01] [ 2.81792295e-03 -1.79473494e-04 9.99996014e-01 1.76133374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.867628 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] Translation: X:119.82, Y:95.05, Z:1.76 [[-8.59429098e-01 5.11248753e-01 2.51747012e-03 1.19823659e+02] [-5.11247190e-01 -8.59432765e-01 1.27836245e-03 9.50513881e+01] [ 2.81715751e-03 -1.88387632e-04 9.99996014e-01 1.75887704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.89762800000005 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] Translation: X:119.82, Y:95.05, Z:1.76 [[-8.59625092e-01 5.10919127e-01 2.51931197e-03 1.19821543e+02] [-5.10917573e-01 -8.59628763e-01 1.27460282e-03 9.50502786e+01] [ 2.81689199e-03 -1.91480187e-04 9.99996014e-01 1.75888520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.927628 meters Centerline goodness : 0.995739 Centerline is valid? [True, True] Translation: X:119.78, Y:95.04, Z:1.76 [[-8.63816466e-01 5.03800319e-01 2.52023519e-03 1.19781724e+02] [-5.03798740e-01 -8.63820126e-01 1.27271578e-03 9.50362686e+01] [ 2.81822450e-03 -1.70298463e-04 9.99996014e-01 1.76151654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.95762800000006 meters Centerline goodness : 0.995968 Centerline is valid? [True, True] Translation: X:119.82, Y:95.05, Z:1.77 [[-8.62995815e-01 5.05204700e-01 2.53654381e-03 1.19815760e+02] [-5.05203224e-01 -8.62999517e-01 1.23933703e-03 9.50496818e+01] [ 2.81515498e-03 -2.11927447e-04 9.99996015e-01 1.76641135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.98762800000003 meters Centerline goodness : 0.996006 Centerline is valid? [True, True] Translation: X:119.77, Y:95.03, Z:1.77 [[-8.64436972e-01 5.02734860e-01 2.52602612e-03 1.19772901e+02] [-5.02733312e-01 -8.64440644e-01 1.26085462e-03 9.50292094e+01] [ 2.81747522e-03 -1.79988123e-04 9.99996015e-01 1.76535395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.017628 meters Centerline goodness : 0.994803 Centerline is valid? [True, True] Translation: X:119.82, Y:95.05, Z:1.76 [[-8.62591598e-01 5.05894553e-01 2.53701777e-03 1.19820204e+02] [-5.05893083e-01 -8.62595302e-01 1.23833569e-03 9.50492957e+01] [ 2.81488689e-03 -2.15281778e-04 9.99996015e-01 1.76235045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.04762800000003 meters Centerline goodness : 0.995496 Centerline is valid? [True, True] Translation: X:119.78, Y:95.03, Z:1.77 [[-8.66039032e-01 4.99970015e-01 2.52557428e-03 1.19775599e+02] [-4.99968452e-01 -8.66042698e-01 1.26177283e-03 9.50292858e+01] [ 2.81810375e-03 -1.69962940e-04 9.99996015e-01 1.76586818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.077628 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:119.77, Y:95.03, Z:1.77 [[-8.68043421e-01 4.96481803e-01 2.53735520e-03 1.19767853e+02] [-4.96480295e-01 -8.68047110e-01 1.23761973e-03 9.50263390e+01] [ 2.81699952e-03 -1.85439193e-04 9.99996015e-01 1.76806855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.10762800000003 meters Centerline goodness : 0.995646 Centerline is valid? [True, True] Translation: X:119.81, Y:95.04, Z:1.77 [[-8.67063090e-01 4.98191889e-01 2.53775851e-03 1.19805444e+02] [-4.98190391e-01 -8.67066782e-01 1.23679217e-03 9.50432034e+01] [ 2.81656593e-03 -1.91910065e-04 9.99996015e-01 1.76620607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.137628 meters Centerline goodness : 0.995134 Centerline is valid? [True, True] Translation: X:119.80, Y:95.04, Z:1.76 [[-8.66419546e-01 4.99310303e-01 2.52832728e-03 1.19799109e+02] [-4.99308753e-01 -8.66423217e-01 1.25615111e-03 9.50393360e+01] [ 2.81781065e-03 -1.74062071e-04 9.99996015e-01 1.76445166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.16762800000004 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:119.76, Y:95.02, Z:1.77 [[-8.69733567e-01 4.93515109e-01 2.52192091e-03 1.19760949e+02] [-4.93513497e-01 -8.69737212e-01 1.26931027e-03 9.50229933e+01] [ 2.81983225e-03 -1.40640261e-04 9.99996014e-01 1.76733808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.197628 meters Centerline goodness : 0.994373 Centerline is valid? [True, True] Translation: X:119.76, Y:95.02, Z:1.77 [[-8.69499182e-01 4.93927855e-01 2.53894401e-03 1.19759762e+02] [-4.93926346e-01 -8.69502870e-01 1.23429373e-03 9.50229852e+01] [ 2.81727116e-03 -1.80833953e-04 9.99996015e-01 1.76961837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.22762800000004 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:119.75, Y:95.02, Z:1.78 [[-8.69379511e-01 4.94138461e-01 2.53903084e-03 1.19750366e+02] [-4.94136953e-01 -8.69383200e-01 1.23411508e-03 9.50189976e+01] [ 2.81721448e-03 -1.81714597e-04 9.99996015e-01 1.77871615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.257628 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:119.75, Y:95.02, Z:1.78 [[-8.69786386e-01 4.93421923e-01 2.53943481e-03 1.19749261e+02] [-4.93420415e-01 -8.69790074e-01 1.23328328e-03 9.50190454e+01] [ 2.81730420e-03 -1.80315967e-04 9.99996015e-01 1.78178097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.28762800000004 meters Centerline goodness : 0.991943 Centerline is valid? [True, True] Translation: X:119.78, Y:95.04, Z:1.77 [[-8.68984544e-01 4.94832711e-01 2.53983971e-03 1.19779810e+02] [-4.94831211e-01 -8.68988236e-01 1.23244886e-03 9.50374012e+01] [ 2.81694684e-03 -1.85812950e-04 9.99996015e-01 1.77047983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.317628 meters Centerline goodness : 0.992462 Centerline is valid? [True, True] Translation: X:119.77, Y:95.04, Z:1.77 [[-8.70386869e-01 4.92361940e-01 2.53351674e-03 1.19773992e+02] [-4.92360392e-01 -8.70390541e-01 1.24547718e-03 9.50357806e+01] [ 2.81837457e-03 -1.63356315e-04 9.99996015e-01 1.77324401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.34762800000004 meters Centerline goodness : 0.992251 Centerline is valid? [True, True] Translation: X:119.77, Y:95.04, Z:1.77 [[-8.71105928e-01 4.91088623e-01 2.53493743e-03 1.19769317e+02] [-4.91087078e-01 -8.71109601e-01 1.24254800e-03 9.50351147e+01] [ 2.81840952e-03 -1.62484089e-04 9.99996015e-01 1.77409936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.377628 meters Centerline goodness : 0.992957 Centerline is valid? [True, True] Translation: X:119.77, Y:95.04, Z:1.77 [[-8.71244773e-01 4.90842243e-01 2.53737537e-03 1.19772326e+02] [-4.90840712e-01 -8.71248451e-01 1.23751876e-03 9.50355525e+01] [ 2.81811085e-03 -1.67265384e-04 9.99996015e-01 1.77483020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.40762800000005 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:119.77, Y:95.04, Z:1.77 [[-8.72258830e-01 4.89037940e-01 2.53522719e-03 1.19768013e+02] [-4.89036388e-01 -8.72262500e-01 1.24195279e-03 9.50357222e+01] [ 2.81874564e-03 -1.56514055e-04 9.99996015e-01 1.77491441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.437628 meters Centerline goodness : 0.992577 Centerline is valid? [True, True] Translation: X:119.77, Y:95.03, Z:1.77 [[-8.72028688e-01 4.89448178e-01 2.53925375e-03 1.19765573e+02] [-4.89446652e-01 -8.72032369e-01 1.23363448e-03 9.50336845e+01] [ 2.81811162e-03 -1.67064588e-04 9.99996015e-01 1.77328857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.46762800000005 meters Centerline goodness : 0.993252 Centerline is valid? [True, True] Translation: X:119.75, Y:95.02, Z:1.77 [[-8.72324220e-01 4.88921261e-01 2.54072343e-03 1.19749610e+02] [-4.88919741e-01 -8.72327904e-01 1.23059609e-03 9.50249349e+01] [ 2.81800853e-03 -1.68731068e-04 9.99996015e-01 1.77415923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.497628 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:120.02, Y:94.42, Z:2.84 [[-8.95030469e-01 -4.45997752e-01 -2.54276923e-03 1.20018497e+02] [-4.45996067e-01 8.95034080e-01 -1.22636187e-03 9.44248572e+01] [ 2.82281975e-03 3.64338369e-05 -9.99996015e-01 2.84439321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.52762800000005 meters Centerline goodness : 0.992122 Centerline is valid? [True, True] Translation: X:119.69, Y:95.03, Z:1.78 [[-8.29728894e-01 5.58161303e-01 2.43358282e-03 1.19689988e+02] [-5.58159541e-01 -8.29732443e-01 1.41424598e-03 9.50328741e+01] [ 2.80860000e-03 -1.84886718e-04 9.99996039e-01 1.77902238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.557628 meters Centerline goodness : 0.991389 Centerline is valid? [True, True] Translation: X:119.65, Y:95.01, Z:1.78 [[-8.28478806e-01 5.60015137e-01 2.43210319e-03 1.19654678e+02] [-5.60013376e-01 -8.28482354e-01 1.41679268e-03 9.50118994e+01] [ 2.80837992e-03 -1.88227609e-04 9.99996039e-01 1.78290253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.58762800000005 meters Centerline goodness : 0.991354 Centerline is valid? [True, True] Translation: X:119.68, Y:95.03, Z:1.78 [[-8.27677565e-01 5.61198649e-01 2.43391024e-03 1.19684226e+02] [-5.61196903e-01 -8.27681121e-01 1.41368153e-03 9.50321819e+01] [ 2.80785771e-03 -1.95830402e-04 9.99996039e-01 1.78060107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.617628 meters Centerline goodness : 0.993147 Centerline is valid? [True, True] Translation: X:119.97, Y:94.43, Z:2.84 [[-8.66090170e-01 -4.99881855e-01 -2.43890063e-03 1.19969177e+02] [-4.99879881e-01 8.66093604e-01 -1.40506797e-03 9.44323996e+01] [ 2.81468422e-03 2.24179903e-06 -9.99996039e-01 2.83972927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.64762800000005 meters Centerline goodness : 0.993785 Centerline is valid? [True, True] Translation: X:119.58, Y:95.01, Z:1.79 [[-7.78569997e-01 6.27553498e-01 2.31682526e-03 1.19576316e+02] [-6.27551539e-01 -7.78573412e-01 1.58365911e-03 9.50054798e+01] [ 2.79764936e-03 -2.20937795e-04 9.99996062e-01 1.79257019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.677628 meters Centerline goodness : 0.992013 Centerline is valid? [True, True] Translation: X:119.57, Y:95.00, Z:1.79 [[-7.76985153e-01 6.29514655e-01 2.31738069e-03 1.19572809e+02] [-6.29512707e-01 -7.76988575e-01 1.58284593e-03 9.50003613e+01] [ 2.79700303e-03 -2.28972805e-04 9.99996062e-01 1.78632982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.70762800000006 meters Centerline goodness : 0.993474 Centerline is valid? [True, True] Translation: X:119.57, Y:95.00, Z:1.79 [[-7.74597454e-01 6.32450323e-01 2.31797329e-03 1.19567867e+02] [-6.32448390e-01 -7.74600885e-01 1.58197763e-03 9.49964584e+01] [ 2.79602642e-03 -2.40602629e-04 9.99996062e-01 1.79028564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73762800000003 meters Centerline goodness : 0.989036 Centerline is valid? [True, True] Translation: X:119.59, Y:95.01, Z:1.78 [[-7.78273971e-01 6.27920577e-01 2.31849015e-03 1.19585034e+02] [-6.27918626e-01 -7.78277392e-01 1.58121978e-03 9.50112791e+01] [ 2.79730890e-03 -2.25200949e-04 9.99996062e-01 1.78126970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.767628 meters Centerline goodness : 0.991401 Centerline is valid? [True, True] Translation: X:119.89, Y:94.43, Z:2.84 [[-8.36195834e-01 -5.48426022e-01 -2.32921754e-03 1.19894494e+02] [-5.48423789e-01 8.36199078e-01 -1.56542147e-03 9.44262955e+01] [ 2.80620743e-03 -3.16006040e-05 -9.99996062e-01 2.83908853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.79762800000003 meters Centerline goodness : 0.991147 Centerline is valid? [True, True] Translation: X:119.47, Y:94.96, Z:1.79 [[-7.25873896e-01 6.87824306e-01 2.19366985e-03 1.19469175e+02] [-6.87822158e-01 -7.25877168e-01 1.73664111e-03 9.49600850e+01] [ 2.78683882e-03 -2.48272280e-04 9.99996086e-01 1.78698130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.827628 meters Centerline goodness : 0.992835 Centerline is valid? [True, True] Translation: X:119.46, Y:94.96, Z:1.79 [[-7.26222762e-01 6.87455952e-01 2.19429909e-03 1.19464490e+02] [-6.87453805e-01 -7.26226035e-01 1.73584568e-03 9.49551461e+01] [ 2.78687457e-03 -2.47868618e-04 9.99996086e-01 1.79025252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.85762800000003 meters Centerline goodness : 0.992387 Centerline is valid? [True, True] Translation: X:119.46, Y:94.95, Z:1.79 [[-7.26051773e-01 6.87636535e-01 2.19494376e-03 1.19464230e+02] [-6.87634392e-01 -7.26055048e-01 1.73503012e-03 9.49532796e+01] [ 2.78672010e-03 -2.49597127e-04 9.99996086e-01 1.78935664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.887628 meters Centerline goodness : 0.992760 Centerline is valid? [True, True] Translation: X:119.47, Y:94.95, Z:1.79 [[-7.25670995e-01 6.88038361e-01 2.19550732e-03 1.19466302e+02] [-6.88036222e-01 -7.25674273e-01 1.73431671e-03 9.49537818e+01] [ 2.78649960e-03 -2.52045228e-04 9.99996086e-01 1.78782723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.91762800000004 meters Centerline goodness : 0.992863 Centerline is valid? [True, True] Translation: X:119.46, Y:94.94, Z:1.78 [[-7.25251759e-01 6.88480257e-01 2.19606980e-03 1.19460335e+02] [-6.88478121e-01 -7.25255039e-01 1.73360417e-03 9.49430950e+01] [ 2.78626293e-03 -2.54646542e-04 9.99996086e-01 1.78290515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.947628 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:119.47, Y:94.95, Z:1.78 [[-7.24946530e-01 6.88801643e-01 2.19667520e-03 1.19468052e+02] [-6.88799511e-01 -7.24949812e-01 1.73283673e-03 9.49477877e+01] [ 2.78606006e-03 -2.56854828e-04 9.99996086e-01 1.78306808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.97762800000004 meters Centerline goodness : 0.994171 Centerline is valid? [True, True] Translation: X:119.47, Y:94.95, Z:1.78 [[-7.24661662e-01 6.89101334e-01 2.19723836e-03 1.19468890e+02] [-6.89099205e-01 -7.24664947e-01 1.73212233e-03 9.49461102e+01] [ 2.78586943e-03 -2.58912561e-04 9.99996086e-01 1.78305029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.007628 meters Centerline goodness : 0.993111 Centerline is valid? [True, True] Translation: X:119.46, Y:94.94, Z:1.78 [[-7.24570320e-01 6.89197375e-01 2.19779898e-03 1.19464439e+02] [-6.89195249e-01 -7.24573606e-01 1.73141070e-03 9.49412328e+01] [ 2.78575085e-03 -2.60183813e-04 9.99996086e-01 1.78062774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.03762800000004 meters Centerline goodness : 0.993980 Centerline is valid? [True, True] Translation: X:119.47, Y:94.94, Z:1.78 [[-7.24315332e-01 6.89465349e-01 2.19836020e-03 1.19468403e+02] [-6.89463226e-01 -7.24318621e-01 1.73069784e-03 9.49440589e+01] [ 2.78556941e-03 -2.62117537e-04 9.99996086e-01 1.78455656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.067628 meters Centerline goodness : 0.994173 Centerline is valid? [True, True] Translation: X:119.46, Y:94.94, Z:1.79 [[-7.23533560e-01 6.90285703e-01 2.19900203e-03 1.19457975e+02] [-6.90283587e-01 -7.23536853e-01 1.72988195e-03 9.49364637e+01] [ 2.78517179e-03 -2.66307360e-04 9.99996086e-01 1.78620644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.09762800000004 meters Centerline goodness : 0.993654 Centerline is valid? [True, True] Translation: X:119.46, Y:94.94, Z:1.79 [[-7.22337487e-01 6.91537214e-01 2.19920276e-03 1.19461980e+02] [-6.91535104e-01 -7.22340784e-01 1.72962672e-03 9.49407069e+01] [ 2.78467509e-03 -2.71451692e-04 9.99996086e-01 1.78785410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.127628 meters Centerline goodness : 0.993721 Centerline is valid? [True, True] Translation: X:119.46, Y:94.94, Z:1.79 [[-7.22078031e-01 6.91808122e-01 2.19976406e-03 1.19458669e+02] [-6.91806016e-01 -7.22081330e-01 1.72891256e-03 9.49395401e+01] [ 2.78448431e-03 -2.73400230e-04 9.99996086e-01 1.79113694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.15762800000005 meters Centerline goodness : 0.993125 Centerline is valid? [True, True] Translation: X:119.46, Y:94.94, Z:1.79 [[-7.21192048e-01 6.92731685e-01 2.20032396e-03 1.19458857e+02] [-6.92729585e-01 -7.21195351e-01 1.72819970e-03 9.49403404e+01] [ 2.78404210e-03 -2.77865630e-04 9.99996086e-01 1.79190675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.187628 meters Centerline goodness : 0.994605 Centerline is valid? [True, True] Translation: X:119.38, Y:94.87, Z:1.80 [[-7.20764925e-01 6.93176080e-01 2.20096685e-03 1.19378695e+02] [-6.93173985e-01 -7.20768231e-01 1.72738055e-03 9.48730391e+01] [ 2.78376586e-03 -2.80617647e-04 9.99996086e-01 1.79777972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.21762800000005 meters Centerline goodness : 0.993017 Centerline is valid? [True, True] Translation: X:119.46, Y:94.93, Z:1.79 [[-7.19185024e-01 6.94815141e-01 2.19589996e-03 1.19460189e+02] [-6.94813033e-01 -7.19188322e-01 1.73383750e-03 9.49343685e+01] [ 2.78396216e-03 -2.78789952e-04 9.99996086e-01 1.79336492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.247628 meters Centerline goodness : 0.986725 Centerline is valid? [True, True] Translation: X:119.46, Y:94.93, Z:1.78 [[-7.16607601e-01 6.97473081e-01 2.20177569e-03 1.19462879e+02] [-6.97471009e-01 -7.16610921e-01 1.72634360e-03 9.49330421e+01] [ 2.78189470e-03 -2.98563766e-04 9.99996086e-01 1.78475052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.27762800000005 meters Centerline goodness : 0.985071 Centerline is valid? [True, True] Translation: X:119.46, Y:94.93, Z:1.79 [[-7.14068291e-01 7.00072587e-01 2.20209454e-03 1.19459595e+02] [-7.00070527e-01 -7.14071620e-01 1.72593679e-03 9.49251197e+01] [ 2.78073425e-03 -3.09184755e-04 9.99996086e-01 1.78972211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.307628 meters Centerline goodness : 0.987161 Centerline is valid? [True, True] Translation: X:119.45, Y:94.91, Z:1.81 [[-7.11965812e-01 7.02210674e-01 2.20268813e-03 1.19450257e+02] [-7.02208627e-01 -7.11969148e-01 1.72517890e-03 9.49121298e+01] [ 2.77968503e-03 -3.18478210e-04 9.99996086e-01 1.80648117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.33762800000005 meters Centerline goodness : 0.980583 Centerline is valid? [True, True] Translation: X:119.41, Y:94.88, Z:1.80 [[-7.10396106e-01 7.03798636e-01 2.20292250e-03 1.19411825e+02] [-7.03796597e-01 -7.10399447e-01 1.72487958e-03 9.48778595e+01] [ 2.77892282e-03 -3.25061617e-04 9.99996086e-01 1.80218346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.367628 meters Centerline goodness : 0.973104 Centerline is valid? [True, True] Translation: X:119.46, Y:94.91, Z:1.81 [[-7.10744163e-01 7.03447163e-01 2.19613445e-03 1.19457654e+02] [-7.03445097e-01 -7.10747487e-01 1.73355138e-03 9.49079219e+01] [ 2.78035884e-03 -3.12748493e-04 9.99996086e-01 1.80666151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.39762800000005 meters Centerline goodness : 0.968791 Centerline is valid? [True, True] Translation: X:119.45, Y:94.90, Z:1.80 [[-7.12776568e-01 7.01387702e-01 2.20377698e-03 1.19453271e+02] [-7.01385655e-01 -7.12779904e-01 1.72378075e-03 9.49019098e+01] [ 2.77984656e-03 -3.17027032e-04 9.99996086e-01 1.80460422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.427628 meters Centerline goodness : 0.968158 Centerline is valid? [True, True] Translation: X:119.45, Y:94.90, Z:1.81 [[-7.15238923e-01 6.98876544e-01 2.20432435e-03 1.19453852e+02] [-6.98874488e-01 -7.15242253e-01 1.72308050e-03 9.49009273e+01] [ 2.78084646e-03 -3.08131812e-04 9.99996086e-01 1.80832070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.45762800000006 meters Centerline goodness : 0.965912 Centerline is valid? [True, True] Translation: X:119.42, Y:94.88, Z:1.82 [[-7.17251788e-01 6.96810600e-01 2.20457962e-03 1.19423345e+02] [-6.96808535e-01 -7.17255113e-01 1.72275384e-03 9.48792385e+01] [ 2.78167914e-03 -3.00521625e-04 9.99996086e-01 1.82001492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.48762800000003 meters Centerline goodness : 0.960576 Centerline is valid? [True, True] Translation: X:119.44, Y:94.90, Z:1.82 [[-7.15383169e-01 6.98728906e-01 2.19929301e-03 1.19440526e+02] [-6.98726830e-01 -7.15386487e-01 1.72951948e-03 9.48954196e+01] [ 2.78180976e-03 -2.99435905e-04 9.99996086e-01 1.81524754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.517628 meters Centerline goodness : 0.961458 Centerline is valid? [True, True] Translation: X:119.43, Y:94.89, Z:1.82 [[-7.11475872e-01 7.02707066e-01 2.20520365e-03 1.19425456e+02] [-7.02705031e-01 -7.11479216e-01 1.72195006e-03 9.48859509e+01] [ 2.77898304e-03 -3.24481782e-04 9.99996086e-01 1.82203555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.54762800000003 meters Centerline goodness : 0.956936 Centerline is valid? [True, True] Translation: X:119.43, Y:94.89, Z:1.82 [[-7.08712700e-01 7.05493770e-01 2.20202426e-03 1.19433258e+02] [-7.05491736e-01 -7.08716044e-01 1.72602241e-03 9.48925142e+01] [ 2.77830798e-03 -3.30255913e-04 9.99996086e-01 1.81991216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.577628 meters Centerline goodness : 0.941403 Centerline is valid? [True, False] Translation: X:119.64, Y:96.96, Z:2.86 [[ 4.98272690e-01 -8.64522497e-01 -6.57660929e-02 1.19635893e+02] [ 3.45858078e-01 2.67747076e-01 -8.99273981e-01 9.69562532e+01] [ 7.95051267e-01 4.25337931e-01 4.32413145e-01 2.85631835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.60762800000003 meters Centerline goodness : 0.952906 Centerline is valid? [False, True] Translation: X:119.66, Y:96.77, Z:2.76 [[ 0.54092638 -0.79267918 -0.28117321 119.66096999] [ 0.34560422 0.51426084 -0.78491624 96.76955403] [ 0.76678313 0.32740725 0.55213053 2.75683338] [ 0. 0. 0. 1. ]] SLAMing on 343.637628 meters Centerline goodness : 0.948429 Centerline is valid? [True, False] Translation: X:119.67, Y:96.64, Z:2.71 [[ 0.57576491 -0.70278199 -0.41784236 119.67151667] [ 0.33638359 0.66940604 -0.66237574 96.64171266] [ 0.74521195 0.2408174 0.62182484 2.71427531] [ 0. 0. 0. 1. ]] SLAMing on 343.66762800000004 meters Centerline goodness : 0.944371 Centerline is valid? [False, False] Translation: X:119.67, Y:96.53, Z:2.69 [[ 0.6034192 -0.60464326 -0.51989595 119.67155204] [ 0.324664 0.78176925 -0.53238156 96.52924002] [ 0.72833959 0.15245776 0.66804047 2.69149278] [ 0. 0. 0. 1. ]] SLAMing on 343.697628 meters Centerline goodness : 0.956957 Centerline is valid? [False, True] Translation: X:119.66, Y:96.43, Z:2.68 [[ 6.26359552e-01 -5.03241661e-01 -5.95333135e-01 1.19662598e+02] [ 3.08739044e-01 8.61400799e-01 -4.03322285e-01 9.64305363e+01] [ 7.15789015e-01 6.88221829e-02 6.94916968e-01 2.68184636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.72762800000004 meters Centerline goodness : 0.957113 Centerline is valid? [True, True] Translation: X:119.69, Y:96.34, Z:2.73 [[ 6.42781009e-01 -3.71623703e-01 -6.69871926e-01 1.19687773e+02] [ 3.04717229e-01 9.26328017e-01 -2.21503536e-01 9.63379406e+01] [ 7.02837097e-01 -6.17432508e-02 7.08666202e-01 2.72838605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.757628 meters Centerline goodness : 0.944367 Centerline is valid? [True, False] Translation: X:119.66, Y:96.28, Z:2.72 [[ 6.51938195e-01 -2.95491284e-01 -6.98327639e-01 1.19663902e+02] [ 2.90298343e-01 9.48045174e-01 -1.30143077e-01 9.62771477e+01] [ 7.00502292e-01 -1.17878114e-01 7.03847490e-01 2.71922267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.78762800000004 meters Centerline goodness : 0.944367 Centerline is valid? [False, False] Translation: X:119.63, Y:96.22, Z:2.70 [[ 6.59076214e-01 -2.34679411e-01 -7.14523700e-01 1.19631086e+02] [ 2.81436897e-01 9.57999372e-01 -5.50497672e-02 9.62220189e+01] [ 6.97432303e-01 -1.64811341e-01 6.97442044e-01 2.70486415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.817628 meters Centerline goodness : 0.945243 Centerline is valid? [False, False] Translation: X:119.61, Y:96.20, Z:2.68 [[ 6.61683270e-01 -1.97752124e-01 -7.23235334e-01 1.19608167e+02] [ 2.74337241e-01 9.61559578e-01 -1.19270801e-02 9.61952705e+01] [ 6.97792468e-01 -1.90518437e-01 6.90498658e-01 2.68081803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.84762800000004 meters Centerline goodness : 0.949733 Centerline is valid? [False, False] Translation: X:119.58, Y:96.18, Z:2.64 [[ 6.63296995e-01 -1.74151628e-01 -7.27810625e-01 1.19582745e+02] [ 2.68881882e-01 9.63062422e-01 1.46049738e-02 9.61776716e+01] [ 6.98383584e-01 -2.05382526e-01 6.85622628e-01 2.64398793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.877628 meters Centerline goodness : 0.947302 Centerline is valid? [False, False] Translation: X:119.56, Y:96.17, Z:2.61 [[ 6.62252771e-01 -1.61321509e-01 -7.31708028e-01 1.19563465e+02] [ 2.63250429e-01 9.64386712e-01 2.56413844e-02 9.61705862e+01] [ 7.01512992e-01 -2.09603530e-01 6.81135729e-01 2.61185610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.90762800000005 meters Centerline goodness : 0.952539 Centerline is valid? [False, True] Translation: X:119.54, Y:96.16, Z:2.58 [[ 6.59971925e-01 -1.52531666e-01 -7.35643357e-01 1.19544172e+02] [ 2.60356408e-01 9.64931175e-01 3.35017780e-02 9.61630890e+01] [ 7.04735127e-01 -2.13639695e-01 6.76540082e-01 2.58090650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.937628 meters Centerline goodness : 0.961828 Centerline is valid? [True, True] Translation: X:119.58, Y:96.31, Z:2.54 [[ 6.47593611e-01 -3.15894460e-01 -6.93421376e-01 1.19578108e+02] [ 2.62995606e-01 9.46758906e-01 -1.85690294e-01 9.63136360e+01] [ 7.15161398e-01 -6.21149274e-02 6.96193874e-01 2.53869483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.96762800000005 meters Centerline goodness : 0.964634 Centerline is valid? [True, True] Translation: X:119.60, Y:96.33, Z:2.56 [[ 6.47589115e-01 -3.24714240e-01 -6.89339540e-01 1.19599820e+02] [ 2.60643055e-01 9.44482953e-01 -2.00042868e-01 9.63310718e+01] [ 7.16026212e-01 -5.01259798e-02 6.96271391e-01 2.55573112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5551.02 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%| | 0/11466 [00:00