+ python -m lidar_slam --no-model /working/47266fdf-506d-4a56-b189-f30ffd4d38ad Lidar SLAM 0.0.15 ===================================================== The recording path: /working/47266fdf-506d-4a56-b189-f30ffd4d38ad 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 0.003617865 Adjusted end_distance from 9.223372036854776e+18 to 254.633617865 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.003617865 meters Centerline goodness : 0.834163 Centerline is valid? [0, False] SLAMing on 0.033617865 meters Centerline goodness : 0.820120 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999328e-01 -8.67793198e-04 -7.68273197e-04 2.68799252e-03] [ 8.66705426e-04 9.99998623e-01 -1.41506866e-03 4.63611074e-03] [ 7.69500126e-04 1.41440184e-03 9.99998704e-01 -1.42645810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.063617865 meters Centerline goodness : 0.809363 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99999682 -0.00203428 -0.00149023 0.00524986] [ 0.00203027 0.99999432 -0.00269062 0.0079533 ] [ 0.0014957 0.00268759 0.99999527 -0.00243796] [ 0. 0. 0. 1. ]] SLAMing on 0.09361786499999998 meters Centerline goodness : 0.796035 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99999231 -0.0032065 -0.00225917 0.00779212] [ 0.00319841 0.99998849 -0.00357652 0.01018307] [ 0.00227061 0.00356926 0.99999105 -0.00308388] [ 0. 0. 0. 1. ]] SLAMing on 0.12361786499999998 meters Centerline goodness : 0.146110 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.00 [[ 0.99999035 -0.00360704 -0.00250911 0.03363154] [ 0.0035982 0.99998734 -0.00351719 0.00919597] [ 0.00252177 0.00350813 0.99999067 -0.00177319] [ 0. 0. 0. 1. ]] SLAMing on 0.15361786499999996 meters Centerline goodness : 0.126365 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.00 [[ 0.99998328 -0.0048487 -0.00315194 0.03583664] [ 0.00483608 0.99998031 -0.00399966 0.01057047] [ 0.00317127 0.00398435 0.99998703 -0.00189517] [ 0. 0. 0. 1. ]] SLAMing on 0.18361786499999996 meters Centerline goodness : 0.120158 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.00 [[ 0.99997102 -0.00651755 -0.00393457 0.03886353] [ 0.00649878 0.99996753 -0.00476592 0.01223052] [ 0.0039655 0.00474021 0.9999809 -0.00247623] [ 0. 0. 0. 1. ]] SLAMing on 0.21361786499999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.24361786499999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.27361786499999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.30361786499999993 meters Centerline goodness : 0.113235 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.00 [[ 0.99974102 -0.02272375 0.00123764 0.10093981] [ 0.0227185 0.99973348 0.00410277 0.01874453] [-0.00133054 -0.00407359 0.99999082 -0.00116966] [ 0. 0. 0. 1. ]] SLAMing on 0.33361786499999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.36361786499999993 meters Centerline goodness : 0.117079 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.00 [[ 9.99727018e-01 -2.28843631e-02 4.71129799e-03 1.22847216e-01] [ 2.28857880e-02 9.99738055e-01 -2.48762197e-04 2.49092587e-02] [-4.70437112e-03 3.56516056e-04 9.99988871e-01 -2.99746611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.39361786499999996 meters Centerline goodness : 0.138575 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:-0.00 [[ 0.99972285 -0.02219469 0.00785025 0.14646881] [ 0.02221681 0.99974942 -0.00274156 0.03179096] [-0.00778743 0.00291521 0.99996543 -0.00466441] [ 0. 0. 0. 1. ]] SLAMing on 0.4236178649999999 meters Centerline goodness : 0.137762 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:-0.00 [[ 9.99757375e-01 -2.10185351e-02 6.58884829e-03 1.51214281e-01] [ 2.10187397e-02 9.99779081e-01 3.82125410e-05 3.47861387e-02] [-6.58819586e-03 1.00286017e-04 9.99978293e-01 -4.96397123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45361786499999995 meters Centerline goodness : 0.138950 Centerline is valid? [False, False] Translation: X:0.16, Y:0.04, Z:-0.01 [[ 0.99977979 -0.02033734 0.00517302 0.15681319] [ 0.02032596 0.99979089 0.00224361 0.03894748] [-0.00521757 -0.00213797 0.9999841 -0.00572874] [ 0. 0. 0. 1. ]] SLAMing on 0.4836178649999999 meters Centerline goodness : 0.140504 Centerline is valid? [False, False] Translation: X:0.18, Y:0.05, Z:-0.01 [[ 9.99800725e-01 -1.84074013e-02 7.72508144e-03 1.80938154e-01] [ 1.84107952e-02 9.99830439e-01 -3.68446034e-04 4.89924293e-02] [-7.71698943e-03 5.10597504e-04 9.99970093e-01 -8.09872152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.513617865 meters Centerline goodness : 0.140863 Centerline is valid? [False, False] Translation: X:0.19, Y:0.05, Z:-0.01 [[ 0.99983593 -0.01688368 0.00656098 0.18562395] [ 0.01686858 0.99985495 0.00234997 0.05270117] [-0.00659971 -0.00223891 0.99997572 -0.00850933] [ 0. 0. 0. 1. ]] SLAMing on 0.543617865 meters Centerline goodness : 0.143049 Centerline is valid? [False, False] Translation: X:0.19, Y:0.06, Z:-0.01 [[ 0.99986688 -0.01537985 0.0054479 0.19030393] [ 0.0153532 0.99987012 0.00490117 0.05680392] [-0.00552257 -0.00481688 0.99997315 -0.00912876] [ 0. 0. 0. 1. ]] SLAMing on 0.573617865 meters Centerline goodness : 0.142036 Centerline is valid? [False, False] Translation: X:0.21, Y:0.06, Z:-0.01 [[ 9.99870275e-01 -1.33153765e-02 9.06274481e-03 2.08968591e-01] [ 1.33147568e-02 9.99911346e-01 1.28714557e-04 6.31823257e-02] [-9.06365525e-03 -8.02961665e-06 9.99958924e-01 -1.21430383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6036178649999999 meters Centerline goodness : 0.134756 Centerline is valid? [False, False] Translation: X:0.22, Y:0.07, Z:-0.01 [[ 0.99991351 -0.01128001 0.00676326 0.21812845] [ 0.01124612 0.99992412 0.00502758 0.07349946] [-0.00681946 -0.00495108 0.99996449 -0.01094466] [ 0. 0. 0. 1. ]] SLAMing on 0.633617865 meters Centerline goodness : 0.133952 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:-0.01 [[ 9.99904096e-01 -8.66286125e-03 1.08052957e-02 2.36096487e-01] [ 8.65455070e-03 9.99962216e-01 8.15641087e-04 8.05153948e-02] [-1.08119533e-02 -7.22047883e-04 9.99941288e-01 -1.34768642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.663617865 meters Centerline goodness : 0.130359 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:-0.01 [[ 0.99993443 -0.00672214 0.00927034 0.24482916] [ 0.00667374 0.99996399 0.00524245 0.09238236] [-0.00930524 -0.00518024 0.99994329 -0.01300836] [ 0. 0. 0. 1. ]] SLAMing on 0.693617865 meters Centerline goodness : 0.130269 Centerline is valid? [False, False] Translation: X:0.25, Y:0.10, Z:-0.01 [[ 0.99994829 -0.00581282 0.00834442 0.24978792] [ 0.00575086 0.99995586 0.00743032 0.09826971] [-0.00838725 -0.00738195 0.99993758 -0.01330483] [ 0. 0. 0. 1. ]] SLAMing on 0.7236178649999999 meters Centerline goodness : 0.131410 Centerline is valid? [False, False] Translation: X:0.25, Y:0.10, Z:-0.01 [[ 0.99995914 -0.00454208 0.0078156 0.2540495 ] [ 0.00446658 0.99994346 0.00965014 0.10333597] [-0.00785899 -0.00961484 0.99992289 -0.01400162] [ 0. 0. 0. 1. ]] SLAMing on 0.7536178649999999 meters Centerline goodness : 0.129507 Centerline is valid? [False, False] Translation: X:0.26, Y:0.11, Z:-0.02 [[ 0.99995693 -0.0056459 0.00736561 0.25781989] [ 0.00558392 0.99994905 0.00840908 0.11079651] [-0.00741271 -0.00836759 0.99993752 -0.01510588] [ 0. 0. 0. 1. ]] SLAMing on 0.783617865 meters Centerline goodness : 0.126363 Centerline is valid? [False, False] Translation: X:0.27, Y:0.12, Z:-0.02 [[ 0.99995821 -0.00689199 0.00600685 0.26768445] [ 0.00682909 0.99992229 0.01043011 0.12249405] [-0.00607827 -0.01038865 0.99992756 -0.01553455] [ 0. 0. 0. 1. ]] SLAMing on 0.8136178649999999 meters Centerline goodness : 0.130680 Centerline is valid? [False, False] Translation: X:0.27, Y:0.13, Z:-0.02 [[ 0.99994751 -0.00861102 0.00555284 0.27158585] [ 0.00856017 0.9999218 0.0091169 0.1287015 ] [-0.00563091 -0.00906888 0.99994302 -0.01629757] [ 0. 0. 0. 1. ]] SLAMing on 0.8436178649999999 meters Centerline goodness : 0.127481 Centerline is valid? [False, False] Translation: X:0.28, Y:0.13, Z:-0.02 [[ 0.99993049 -0.01106232 0.00407926 0.2776299 ] [ 0.01102786 0.99990411 0.00837572 0.13450392] [-0.00417153 -0.00833016 0.9999566 -0.01616775] [ 0. 0. 0. 1. ]] SLAMing on 0.8736178649999999 meters Centerline goodness : 0.110803 Centerline is valid? [False, False] Translation: X:0.29, Y:0.14, Z:-0.02 [[ 0.99987944 -0.01530988 0.0025917 0.29024037] [ 0.01528512 0.99983975 0.00931879 0.14263138] [-0.00273395 -0.00927805 0.99995322 -0.01789404] [ 0. 0. 0. 1. ]] SLAMing on 0.903617865 meters Centerline goodness : 0.662292 Centerline is valid? [False, False] Translation: X:0.29, Y:0.15, Z:-0.02 [[ 0.99984633 -0.01738686 0.00223981 0.29431067] [ 0.01736855 0.99981753 0.00795198 0.14636104] [-0.00237766 -0.00791185 0.99996587 -0.0193871 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9336178649999999 meters Centerline goodness : 0.114066 Centerline is valid? [False, False] Translation: X:0.30, Y:0.15, Z:-0.02 [[ 0.99981584 -0.01905867 0.00224791 0.29740443] [ 0.01904227 0.99979345 0.00710301 0.14873655] [-0.00238282 -0.0070589 0.99997225 -0.02066162] [ 0. 0. 0. 1. ]] SLAMing on 0.9636178649999999 meters Centerline goodness : 0.465886 Centerline is valid? [False, False] Translation: X:0.31, Y:0.15, Z:-0.02 [[ 9.99646248e-01 -2.65931165e-02 4.29597638e-04 3.11774102e-01] [ 2.65899507e-02 9.99627255e-01 6.19073707e-03 1.52958368e-01] [-5.94068499e-04 -6.17712411e-03 9.99980745e-01 -2.29716843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9936178649999999 meters Centerline goodness : 0.141662 Centerline is valid? [False, False] Translation: X:0.32, Y:0.15, Z:-0.03 [[ 9.99584180e-01 -2.88351776e-02 -1.98668461e-05 3.16648347e-01] [ 2.88348937e-02 9.99570772e-01 5.17893820e-03 1.53908862e-01] [-1.29477284e-04 -5.17735755e-03 9.99986589e-01 -2.52637799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0236178649999998 meters Centerline goodness : 0.175168 Centerline is valid? [False, False] Translation: X:0.32, Y:0.15, Z:-0.03 [[ 9.99525201e-01 -3.08110182e-02 -2.33403805e-04 3.21057193e-01] [ 3.08117403e-02 9.99515830e-01 4.32926069e-03 1.54640062e-01] [ 9.99018684e-05 -4.33439673e-03 9.99990601e-01 -2.76708313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0536178649999999 meters Centerline goodness : 0.488025 Centerline is valid? [False, False] Translation: X:0.34, Y:0.16, Z:-0.03 [[ 0.99929978 -0.03737827 -0.00167494 0.33703524] [ 0.0373864 0.99928777 0.00511996 0.15660424] [ 0.00148237 -0.005179 0.99998549 -0.0315143 ] [ 0. 0. 0. 1. ]] SLAMing on 1.083617865 meters Centerline goodness : 0.488025 Centerline is valid? [False, False] Translation: X:0.34, Y:0.16, Z:-0.03 [[ 0.99929978 -0.03737827 -0.00167494 0.33703524] [ 0.0373864 0.99928777 0.00511996 0.15660424] [ 0.00148237 -0.005179 0.99998549 -0.0315143 ] [ 0. 0. 0. 1. ]] SLAMing on 1.113617865 meters Centerline goodness : 0.769465 Centerline is valid? [False, False] Translation: X:0.34, Y:0.16, Z:-0.03 [[ 0.99926556 -0.03826549 -0.00202284 0.34215072] [ 0.03827533 0.99925437 0.00506942 0.15710841] [ 0.00182735 -0.00514313 0.9999851 -0.03484615] [ 0. 0. 0. 1. ]] SLAMing on 1.143617865 meters Centerline goodness : 0.145728 Centerline is valid? [False, False] Translation: X:0.35, Y:0.16, Z:-0.04 [[ 0.99924828 -0.03868958 -0.0024475 0.34759464] [ 0.03870204 0.99923692 0.00526681 0.15802027] [ 0.00224186 -0.00535758 0.99998314 -0.03860856] [ 0. 0. 0. 1. ]] SLAMing on 1.173617865 meters Centerline goodness : 0.770961 Centerline is valid? [False, False] Translation: X:0.37, Y:0.16, Z:-0.04 [[ 0.99933764 -0.03611719 -0.00445266 0.37480765] [ 0.03613991 0.99933356 0.00513224 0.16017638] [ 0.00426433 -0.00528976 0.99997692 -0.04287202] [ 0. 0. 0. 1. ]] SLAMing on 1.2036178649999998 meters Centerline goodness : 0.789126 Centerline is valid? [False, False] Translation: X:0.38, Y:0.16, Z:-0.05 [[ 0.99938825 -0.03455669 -0.00538162 0.38034391] [ 0.03459399 0.99937695 0.00699802 0.16157667] [ 0.00513644 -0.00717991 0.99996103 -0.04631944] [ 0. 0. 0. 1. ]] SLAMing on 1.2336178649999998 meters Centerline goodness : 0.474137 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:-0.05 [[ 0.99956794 -0.02873011 -0.00620532 0.39493326] [ 0.02874545 0.99958389 0.002396 0.16362615] [ 0.0061339 -0.00257334 0.99997788 -0.04919082] [ 0. 0. 0. 1. ]] SLAMing on 1.2636178649999998 meters Centerline goodness : 0.821942 Centerline is valid? [False, False] Translation: X:0.40, Y:0.17, Z:-0.05 [[ 0.99959759 -0.02742351 -0.00725271 0.40076263] [ 0.02745159 0.99961591 0.00380009 0.16509082] [ 0.00714572 -0.00399766 0.99996648 -0.05303452] [ 0. 0. 0. 1. ]] SLAMing on 1.2936178649999999 meters Centerline goodness : 0.172422 Centerline is valid? [False, False] Translation: X:0.41, Y:0.17, Z:-0.06 [[ 0.99960016 -0.02699437 -0.00841604 0.40684656] [ 0.02702979 0.99962612 0.00412422 0.1671663 ] [ 0.00830156 -0.00435006 0.99995608 -0.05696105] [ 0. 0. 0. 1. ]] SLAMing on 1.323617865 meters Centerline goodness : 0.425392 Centerline is valid? [False, False] Translation: X:0.43, Y:0.17, Z:-0.06 [[ 0.99963345 -0.02509607 -0.01015688 0.432878 ] [ 0.02512803 0.99967965 0.00303075 0.17000495] [ 0.01007756 -0.00328487 0.99994382 -0.06007156] [ 0. 0. 0. 1. ]] SLAMing on 1.353617865 meters Centerline goodness : 0.479162 Centerline is valid? [False, False] Translation: X:0.44, Y:0.17, Z:-0.06 [[ 0.99961292 -0.02556607 -0.01097242 0.43784295] [ 0.02559574 0.99966907 0.00257218 0.17164752] [ 0.01090302 -0.00285203 0.99993649 -0.06336255] [ 0. 0. 0. 1. ]] SLAMing on 1.383617865 meters Centerline goodness : 0.783629 Centerline is valid? [False, False] Translation: X:0.44, Y:0.17, Z:-0.07 [[ 0.99957421 -0.02675173 -0.01165125 0.44149712] [ 0.02676901 0.99964076 0.00133005 0.17387225] [ 0.01161148 -0.00164137 0.99993124 -0.06543713] [ 0. 0. 0. 1. ]] SLAMing on 1.4136178649999998 meters Centerline goodness : 0.761302 Centerline is valid? [False, False] Translation: X:0.47, Y:0.18, Z:-0.07 [[ 9.99549824e-01 -2.72851000e-02 -1.24768527e-02 4.66972944e-01] [ 2.72781663e-02 9.99627618e-01 -7.25602825e-04 1.75465571e-01] [ 1.24920047e-02 3.84930514e-04 9.99921898e-01 -6.80671717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4436178649999998 meters Centerline goodness : 0.841121 Centerline is valid? [False, False] Translation: X:0.47, Y:0.18, Z:-0.07 [[ 0.99950352 -0.02861014 -0.01319711 0.47066795] [ 0.02858959 0.99958971 -0.00174305 0.17660786] [ 0.01324156 0.00136489 0.9999114 -0.07002633] [ 0. 0. 0. 1. ]] SLAMing on 1.4736178649999998 meters Centerline goodness : 0.791693 Centerline is valid? [False, False] Translation: X:0.47, Y:0.18, Z:-0.07 [[ 0.99945377 -0.02994605 -0.01397858 0.47439 ] [ 0.02991255 0.99954914 -0.0025998 0.17714894] [ 0.01405013 0.00218024 0.99989892 -0.07193879] [ 0. 0. 0. 1. ]] SLAMing on 1.5036178649999998 meters Centerline goodness : 0.789228 Centerline is valid? [False, False] Translation: X:0.48, Y:0.18, Z:-0.08 [[ 0.99930927 -0.03445414 -0.01392487 0.48014713] [ 0.03438268 0.99939448 -0.0053392 0.17681379] [ 0.0141004 0.00485673 0.99988879 -0.07555342] [ 0. 0. 0. 1. ]] SLAMing on 1.5336178649999999 meters Centerline goodness : 0.904233 Centerline is valid? [False, False] Translation: X:0.48, Y:0.18, Z:-0.08 [[ 0.99924172 -0.03606094 -0.01468291 0.48398215] [ 0.03597604 0.99933461 -0.00600594 0.17531751] [ 0.01488972 0.00547315 0.99987416 -0.07742897] [ 0. 0. 0. 1. ]] SLAMing on 1.5636178649999999 meters Centerline goodness : 0.826014 Centerline is valid? [False, False] Translation: X:0.49, Y:0.17, Z:-0.08 [[ 0.99916577 -0.03778376 -0.01549654 0.48831897] [ 0.03768228 0.99926671 -0.00678936 0.17360196] [ 0.0157417 0.00619975 0.99985687 -0.07981646] [ 0. 0. 0. 1. ]] SLAMing on 1.593617865 meters Centerline goodness : 0.909642 Centerline is valid? [False, False] Translation: X:0.49, Y:0.17, Z:-0.08 [[ 0.99895448 -0.04298736 -0.01555716 0.49483478] [ 0.04283598 0.9990327 -0.00993675 0.17124928] [ 0.01596927 0.00925996 0.9998296 -0.08424633] [ 0. 0. 0. 1. ]] SLAMing on 1.6236178649999997 meters Centerline goodness : 0.186650 Centerline is valid? [False, False] Translation: X:0.50, Y:0.17, Z:-0.09 [[ 0.99888358 -0.04430908 -0.01637979 0.49871638] [ 0.04414416 0.99897211 -0.01029693 0.16934033] [ 0.0168192 0.00956236 0.99981282 -0.0860604 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6536178649999997 meters Centerline goodness : 0.911884 Centerline is valid? [False, False] Translation: X:0.50, Y:0.17, Z:-0.09 [[ 0.99884404 -0.04493529 -0.01707077 0.50178947] [ 0.04477543 0.99895062 -0.0096345 0.16644057] [ 0.01748579 0.00885901 0.99980786 -0.08703722] [ 0. 0. 0. 1. ]] SLAMing on 1.6836178649999998 meters Centerline goodness : 0.920951 Centerline is valid? [False, False] Translation: X:0.52, Y:0.16, Z:-0.09 [[ 9.98811177e-01 -4.71495554e-02 -1.23754472e-02 5.17305407e-01] [ 4.71344607e-02 9.98887414e-01 -1.50873870e-03 1.56436500e-01] [ 1.24328148e-02 9.23635049e-04 9.99922283e-01 -9.11791770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7136178649999998 meters Centerline goodness : 0.942812 Centerline is valid? [False, False] Translation: X:0.53, Y:0.16, Z:-0.10 [[ 0.9989481 -0.04486214 -0.00949077 0.53165044] [ 0.04476634 0.99894666 -0.01007654 0.15737801] [ 0.00993283 0.00964107 0.99990419 -0.09604643] [ 0. 0. 0. 1. ]] SLAMing on 1.7436178649999998 meters Centerline goodness : 0.944470 Centerline is valid? [False, False] Translation: X:0.53, Y:0.16, Z:-0.10 [[ 0.99893048 -0.0450296 -0.01049906 0.53477459] [ 0.0449261 0.99894132 -0.00989417 0.15643232] [ 0.01093348 0.0094119 0.99989593 -0.09720193] [ 0. 0. 0. 1. ]] SLAMing on 1.7736178649999998 meters Centerline goodness : 0.946949 Centerline is valid? [False, False] Translation: X:0.56, Y:0.15, Z:-0.10 [[ 0.99912075 -0.0405747 -0.01055602 0.55907552] [ 0.04052759 0.99916765 -0.00463927 0.15074079] [ 0.01073547 0.00420738 0.99993352 -0.09789764] [ 0. 0. 0. 1. ]] SLAMing on 1.8036178649999999 meters Centerline goodness : 0.918364 Centerline is valid? [False, False] Translation: X:0.57, Y:0.15, Z:-0.10 [[ 0.99930247 -0.03715058 -0.00379566 0.57198951] [ 0.0371151 0.99927024 -0.00902506 0.15200466] [ 0.00412818 0.00887789 0.99995207 -0.10224281] [ 0. 0. 0. 1. ]] SLAMing on 1.8336178649999997 meters Centerline goodness : 0.135490 Centerline is valid? [False, False] Translation: X:0.57, Y:0.15, Z:-0.10 [[ 0.99943484 -0.03329984 -0.00459608 0.57393686] [ 0.03328026 0.99943693 -0.00427214 0.14981051] [ 0.00473575 0.00411677 0.99998031 -0.10231543] [ 0. 0. 0. 1. ]] SLAMing on 1.8636178649999997 meters Centerline goodness : 0.952735 Centerline is valid? [False, True] Translation: X:0.59, Y:0.15, Z:-0.10 [[ 9.99571913e-01 -2.92555434e-02 -3.22940296e-04 5.92808922e-01] [ 2.92537452e-02 9.99561380e-01 -4.61143004e-03 1.52007544e-01] [ 4.57708540e-04 4.60000873e-03 9.99989315e-01 -1.04102795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8936178649999997 meters Centerline goodness : 0.952785 Centerline is valid? [True, True] Translation: X:0.60, Y:0.15, Z:-0.11 [[ 9.99923559e-01 -1.23632876e-02 -1.61207258e-04 6.02211559e-01] [ 1.23632753e-02 9.99923569e-01 -7.67940120e-05 1.50094869e-01] [ 1.62144363e-04 7.47950920e-05 9.99999984e-01 -1.05516062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9236178649999998 meters Centerline goodness : 0.954124 Centerline is valid? [True, True] Translation: X:0.64, Y:0.15, Z:-0.10 [[ 9.99943672e-01 -1.06126268e-02 -1.58891898e-04 6.37025476e-01] [ 1.06126252e-02 9.99943684e-01 -1.09141972e-05 1.50595451e-01] [ 1.58998779e-04 9.22732225e-06 9.99999987e-01 -1.04271196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9536178649999998 meters Centerline goodness : 0.956974 Centerline is valid? [True, True] Translation: X:0.71, Y:0.14, Z:-0.11 [[ 9.99002582e-01 -4.46521733e-02 -1.58582575e-04 7.09865793e-01] [ 4.46521734e-02 9.99002594e-01 -2.72127023e-06 1.39142636e-01] [ 1.58545915e-04 -4.36250066e-06 9.99999987e-01 -1.06391873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9836178649999998 meters Centerline goodness : 0.958408 Centerline is valid? [True, True] Translation: X:0.74, Y:0.15, Z:-0.11 [[ 9.99085442e-01 -4.27580885e-02 -1.57776485e-04 7.44857535e-01] [ 4.27580916e-02 9.99085454e-01 1.60621012e-05 1.45727869e-01] [ 1.56945407e-04 -2.27936329e-05 9.99999987e-01 -1.08506711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0136178649999996 meters Centerline goodness : 0.847613 Centerline is valid? [True, False] Translation: X:0.75, Y:0.15, Z:-0.11 [[ 0.99918698 -0.04029092 -0.0014196 0.74870625] [ 0.04029462 0.99918423 0.00268605 0.14649798] [ 0.00131022 -0.00274107 0.99999538 -0.11024796] [ 0. 0. 0. 1. ]] SLAMing on 2.0436178649999994 meters Centerline goodness : 0.961828 Centerline is valid? [False, True] Translation: X:0.75, Y:0.15, Z:-0.11 [[ 0.99915954 -0.04092063 -0.0023929 0.75127304] [ 0.04092422 0.99916117 0.00147405 0.14930634] [ 0.00233057 -0.00157074 0.99999605 -0.11112947] [ 0. 0. 0. 1. ]] SLAMing on 2.0736178649999997 meters Centerline goodness : 0.968124 Centerline is valid? [True, True] Translation: X:0.79, Y:0.15, Z:-0.11 [[ 9.99052318e-01 -4.34614348e-02 -2.36020544e-03 7.87888543e-01] [ 4.34615740e-02 9.99055099e-01 7.68578349e-06 1.54500904e-01] [ 2.35764124e-03 -1.10256743e-04 9.99997215e-01 -1.10380062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1036178649999995 meters Centerline goodness : 0.969474 Centerline is valid? [True, True] Translation: X:0.82, Y:0.15, Z:-0.11 [[ 9.98930730e-01 -4.61721566e-02 -2.35110440e-03 8.20521128e-01] [ 4.61713069e-02 9.98933451e-01 -4.14444449e-04 1.54321906e-01] [ 2.36773262e-03 3.05447734e-04 9.99997150e-01 -1.07260053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1336178649999997 meters Centerline goodness : 0.964856 Centerline is valid? [True, True] Translation: X:0.85, Y:0.15, Z:-0.09 [[ 9.99420769e-01 -3.39499914e-02 -2.35028487e-03 8.48846422e-01] [ 3.39489493e-02 9.99423452e-01 -4.81868636e-04 1.53905183e-01] [ 2.36528925e-03 4.01799821e-04 9.99997122e-01 -9.02221350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1636178649999995 meters Centerline goodness : 0.969369 Centerline is valid? [True, True] Translation: X:0.89, Y:0.15, Z:-0.09 [[ 9.99079638e-01 -4.28293693e-02 -2.35002055e-03 8.85995513e-01] [ 4.28282942e-02 9.99082320e-01 -5.05955335e-04 1.53353561e-01] [ 2.36953373e-03 4.04842301e-04 9.99997111e-01 -8.81984836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1936178649999993 meters Centerline goodness : 0.973355 Centerline is valid? [True, True] Translation: X:0.92, Y:0.16, Z:-0.10 [[ 9.99115566e-01 -4.19828821e-02 -2.35034246e-03 9.23077864e-01] [ 4.19819608e-02 9.99118272e-01 -4.39978636e-04 1.59851655e-01] [ 2.36674167e-03 3.40917519e-04 9.99997141e-01 -1.02931340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2236178649999996 meters Centerline goodness : 0.971640 Centerline is valid? [True, True] Translation: X:0.96, Y:0.16, Z:-0.08 [[ 9.99244662e-01 -3.87889230e-02 -2.35054493e-03 9.58030788e-01] [ 3.87881496e-02 9.99247387e-01 -3.73755594e-04 1.55418193e-01] [ 2.36327345e-03 2.82299994e-04 9.99997168e-01 -7.88159896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2536178649999994 meters Centerline goodness : 0.972488 Centerline is valid? [True, True] Translation: X:0.99, Y:0.15, Z:-0.08 [[ 9.99001049e-01 -4.46248724e-02 -2.35062546e-03 9.89475957e-01] [ 4.46242234e-02 9.99003789e-01 -3.27817681e-04 1.52857267e-01] [ 2.36291256e-03 2.22595372e-04 9.99997184e-01 -7.94185177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2836178649999996 meters Centerline goodness : 0.974882 Centerline is valid? [True, True] Translation: X:1.03, Y:0.16, Z:-0.07 [[ 9.99353453e-01 -3.58768886e-02 -2.35061164e-03 1.02597736e+00] [ 3.58762790e-02 9.99356194e-01 -3.01022931e-04 1.56532010e-01] [ 2.35989807e-03 2.16497107e-04 9.99997192e-01 -7.17985978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3136178649999994 meters Centerline goodness : 0.976815 Centerline is valid? [True, True] Translation: X:1.05, Y:0.16, Z:-0.10 [[ 9.99242415e-01 -3.88467603e-02 -2.35050771e-03 1.04737339e+00] [ 3.88462753e-02 9.99245167e-01 -2.51685014e-04 1.59633728e-01] [ 2.35851062e-03 1.60185872e-04 9.99997206e-01 -9.54692234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3436178649999997 meters Centerline goodness : 0.977564 Centerline is valid? [True, True] Translation: X:1.12, Y:0.16, Z:-0.08 [[ 9.99261494e-01 -3.83528490e-02 -2.35057768e-03 1.11801412e+00] [ 3.83523484e-02 9.99264245e-01 -2.57671168e-04 1.59430328e-01] [ 2.35873065e-03 1.67330702e-04 9.99997204e-01 -8.42483521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3736178649999995 meters Centerline goodness : 0.978413 Centerline is valid? [True, True] Translation: X:1.11, Y:0.15, Z:-0.08 [[ 9.99255815e-01 -3.85007947e-02 -2.34621656e-03 1.10685397e+00] [ 3.85009422e-02 9.99258564e-01 1.77091171e-05 1.52989063e-01] [ 2.34379517e-03 -1.08027486e-04 9.99997247e-01 -8.37509270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4036178649999993 meters Centerline goodness : 0.981730 Centerline is valid? [True, True] Translation: X:1.14, Y:0.15, Z:-0.07 [[ 9.99297477e-01 -3.74037879e-02 -2.34729975e-03 1.14379372e+00] [ 3.74033382e-02 9.99300223e-01 -2.35217581e-04 1.51080612e-01] [ 2.35445519e-03 1.47255489e-04 9.99997217e-01 -7.38529542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4336178649999995 meters Centerline goodness : 0.982462 Centerline is valid? [True, True] Translation: X:1.17, Y:0.15, Z:-0.08 [[ 9.99230172e-01 -3.91606168e-02 -2.34725263e-03 1.17316261e+00] [ 3.91601907e-02 9.99232920e-01 -2.27251475e-04 1.51157943e-01] [ 2.35435141e-03 1.35157670e-04 9.99997219e-01 -8.15383506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4636178649999994 meters Centerline goodness : 0.984208 Centerline is valid? [True, True] Translation: X:1.21, Y:0.15, Z:-0.08 [[ 9.99127143e-01 -4.17066125e-02 -2.34726613e-03 1.20851157e+00] [ 4.17061886e-02 9.99129892e-01 -2.29280055e-04 1.51527681e-01] [ 2.35478625e-03 1.31184402e-04 9.99997219e-01 -8.04559138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4936178649999996 meters Centerline goodness : 0.984725 Centerline is valid? [True, True] Translation: X:1.24, Y:0.15, Z:-0.08 [[ 9.99067329e-01 -4.31157052e-02 -2.34700366e-03 1.24279492e+00] [ 4.31153636e-02 9.99070081e-01 -1.95993208e-04 1.52298770e-01] [ 2.35327153e-03 9.46184944e-05 9.99997227e-01 -7.99493266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5236178649999994 meters Centerline goodness : 0.985892 Centerline is valid? [True, True] Translation: X:1.27, Y:0.15, Z:-0.08 [[ 9.98971835e-01 -4.52743355e-02 -2.34671208e-03 1.27496570e+00] [ 4.52740774e-02 9.98974590e-01 -1.63027198e-04 1.49059812e-01] [ 2.35168669e-03 5.66143545e-05 9.99997233e-01 -7.53298884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5536178649999997 meters Centerline goodness : 0.986643 Centerline is valid? [True, True] Translation: X:1.31, Y:0.15, Z:-0.07 [[ 9.98897222e-01 -4.68917225e-02 -2.34648726e-03 1.30723692e+00] [ 4.68915231e-02 9.98899978e-01 -1.39970085e-04 1.47253827e-01] [ 2.35046951e-03 2.97853670e-05 9.99997237e-01 -7.44934467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5836178649999995 meters Centerline goodness : 0.987142 Centerline is valid? [True, True] Translation: X:1.36, Y:0.15, Z:-0.07 [[ 9.98528420e-01 -5.41801775e-02 -2.34599746e-03 1.36081633e+00] [ 5.41800818e-02 9.98531175e-01 -1.04366397e-04 1.47284962e-01] [ 2.34820619e-03 -2.28935205e-05 9.99997243e-01 -7.21677100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6136178649999993 meters Centerline goodness : 0.987458 Centerline is valid? [True, True] Translation: X:1.38, Y:0.14, Z:-0.07 [[ 9.98505116e-01 -5.46080685e-02 -2.34366967e-03 1.37958523e+00] [ 5.46083172e-02 9.98507852e-01 4.22178761e-05 1.41764208e-01] [ 2.33786714e-03 -1.70138622e-04 9.99997253e-01 -6.91627554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6436178649999995 meters Centerline goodness : 0.988778 Centerline is valid? [True, True] Translation: X:1.42, Y:0.14, Z:-0.08 [[ 9.98416269e-01 -5.62090520e-02 -2.34445877e-03 1.42047869e+00] [ 5.62091888e-02 9.98419014e-01 -7.57173599e-06 1.43947673e-01] [ 2.34117781e-03 -1.24220381e-04 9.99997252e-01 -7.78498982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6736178649999993 meters Centerline goodness : 0.989514 Centerline is valid? [True, True] Translation: X:1.45, Y:0.14, Z:-0.07 [[ 9.98217829e-01 -5.96294754e-02 -2.34343188e-03 1.45112304e+00] [ 5.96297653e-02 9.98220561e-01 5.39867725e-05 1.40390532e-01] [ 2.33604268e-03 -1.93628852e-04 9.99997253e-01 -6.64604223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7036178649999996 meters Centerline goodness : 0.991026 Centerline is valid? [True, True] Translation: X:1.48, Y:0.14, Z:-0.08 [[ 9.98215753e-01 -5.96642180e-02 -2.34331686e-03 1.48036514e+00] [ 5.96645240e-02 9.98218484e-01 6.08700607e-05 1.39135284e-01] [ 2.33551043e-03 -2.00574338e-04 9.99997253e-01 -7.54212978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7336178649999994 meters Centerline goodness : 0.991882 Centerline is valid? [True, True] Translation: X:1.51, Y:0.14, Z:-0.07 [[ 9.98199993e-01 -5.99273091e-02 -2.34341769e-03 1.50970707e+00] [ 5.99276017e-02 9.98202725e-01 5.47592262e-05 1.35728874e-01] [ 2.33592435e-03 -1.95096061e-04 9.99997253e-01 -7.37105061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7636178649999996 meters Centerline goodness : 0.993204 Centerline is valid? [True, True] Translation: X:1.54, Y:0.13, Z:-0.07 [[ 9.98176166e-01 -6.03228799e-02 -2.34337829e-03 1.53790553e+00] [ 6.03231792e-02 9.98178897e-01 5.71765873e-05 1.31189883e-01] [ 2.33566170e-03 -1.98432335e-04 9.99997253e-01 -7.23473202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7936178649999994 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:1.56, Y:0.13, Z:-0.07 [[ 9.98160665e-01 -6.05788336e-02 -2.34334641e-03 1.56261811e+00] [ 6.05791381e-02 9.98163396e-01 5.91371885e-05 1.31348099e-01] [ 2.33546015e-03 -2.00986321e-04 9.99997253e-01 -7.09670246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8236178649999992 meters Centerline goodness : 0.994211 Centerline is valid? [True, True] Translation: X:1.59, Y:0.12, Z:-0.07 [[ 9.98344550e-01 -5.74688242e-02 -2.34369607e-03 1.58906134e+00] [ 5.74690685e-02 9.98347287e-01 3.69706835e-05 1.24285154e-01] [ 2.33769795e-03 -1.71599511e-04 9.99997253e-01 -6.89431625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8536178649999995 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:1.62, Y:0.12, Z:-0.07 [[ 9.98460364e-01 -5.54202903e-02 -2.34370000e-03 1.61760839e+00] [ 5.54205284e-02 9.98463101e-01 3.67198342e-05 1.21499103e-01] [ 2.33806295e-03 -1.66552392e-04 9.99997253e-01 -6.86903407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8836178649999993 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:1.65, Y:0.12, Z:-0.07 [[ 9.98547807e-01 -5.38217901e-02 -2.34370770e-03 1.64678009e+00] [ 5.38220227e-02 9.98550544e-01 3.62221028e-05 1.18884384e-01] [ 2.33836106e-03 -1.62312590e-04 9.99997253e-01 -6.81809208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9136178649999995 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:1.67, Y:0.11, Z:-0.07 [[ 9.98775563e-01 -4.94154056e-02 -2.34371525e-03 1.67413799e+00] [ 4.94156249e-02 9.98778301e-01 3.57266664e-05 1.10782344e-01] [ 2.33908649e-03 -1.51499075e-04 9.99997253e-01 -6.71656528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9436178649999993 meters Centerline goodness : 0.995315 Centerline is valid? [True, True] Translation: X:1.70, Y:0.11, Z:-0.07 [[ 9.98837646e-01 -4.81441903e-02 -2.34371897e-03 1.70290826e+00] [ 4.81444055e-02 9.98840385e-01 3.54808735e-05 1.05735042e-01] [ 2.33929296e-03 -1.48276589e-04 9.99997253e-01 -6.66398315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9736178649999996 meters Centerline goodness : 0.994281 Centerline is valid? [True, True] Translation: X:1.73, Y:0.10, Z:-0.07 [[ 9.98924935e-01 -4.62977496e-02 -2.34372629e-03 1.73168810e+00] [ 4.62979587e-02 9.98927674e-01 3.49903400e-05 1.00938276e-01] [ 2.33959308e-03 -1.43462466e-04 9.99997253e-01 -6.68383926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0036178649999994 meters Centerline goodness : 0.994281 Centerline is valid? [True, True] Translation: X:1.76, Y:0.10, Z:-0.07 [[ 9.98913854e-01 -4.65362062e-02 -2.34373349e-03 1.76021370e+00] [ 4.65364148e-02 9.98916594e-01 3.45014801e-05 1.00619293e-01] [ 2.33958871e-03 -1.43532960e-04 9.99997253e-01 -6.67716284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.033617864999999 meters Centerline goodness : 0.996075 Centerline is valid? [True, True] Translation: X:1.79, Y:0.09, Z:-0.07 [[ 9.98927843e-01 -4.62349606e-02 -2.34374159e-03 1.79018918e+00] [ 4.62351670e-02 9.98930582e-01 3.39419960e-05 9.37408912e-02] [ 2.33966585e-03 -1.42268889e-04 9.99997253e-01 -6.80120831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0636178649999994 meters Centerline goodness : 0.996241 Centerline is valid? [True, True] Translation: X:1.82, Y:0.09, Z:-0.07 [[ 9.99000758e-01 -4.46317494e-02 -2.34367090e-03 1.81809179e+00] [ 4.46319628e-02 9.99003497e-01 3.88352113e-05 8.99475672e-02] [ 2.33960214e-03 -1.43399038e-04 9.99997253e-01 -6.77545497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0936178649999992 meters Centerline goodness : 0.996513 Centerline is valid? [True, True] Translation: X:1.85, Y:0.09, Z:-0.07 [[ 9.99026185e-01 -4.40589239e-02 -2.34374820e-03 1.84649910e+00] [ 4.40591232e-02 9.99028925e-01 3.34123664e-05 8.57795521e-02] [ 2.34000014e-03 -1.36643320e-04 9.99997253e-01 -6.85159984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1236178649999995 meters Centerline goodness : 0.996679 Centerline is valid? [True, True] Translation: X:1.88, Y:0.08, Z:-0.07 [[ 9.99044906e-01 -4.36323635e-02 -2.34375593e-03 1.87535841e+00] [ 4.36325603e-02 9.99047646e-01 3.28616669e-05 8.11682040e-02] [ 2.34009001e-03 -1.35094353e-04 9.99997253e-01 -6.94596492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1536178649999993 meters Centerline goodness : 0.996719 Centerline is valid? [True, True] Translation: X:1.90, Y:0.07, Z:-0.07 [[ 9.98993746e-01 -4.47884252e-02 -2.34376255e-03 1.90424992e+00] [ 4.47886241e-02 9.98996486e-01 3.23823471e-05 7.24672986e-02] [ 2.33996019e-03 -1.37323662e-04 9.99997253e-01 -6.99165230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1836178649999995 meters Centerline goodness : 0.997087 Centerline is valid? [True, True] Translation: X:1.93, Y:0.07, Z:-0.07 [[ 9.98950921e-01 -4.57336152e-02 -2.34376905e-03 1.93235186e+00] [ 4.57338155e-02 9.98953661e-01 3.19050684e-05 6.74006040e-02] [ 2.33985753e-03 -1.39061099e-04 9.99997253e-01 -6.95770575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2136178649999994 meters Centerline goodness : 0.997216 Centerline is valid? [True, True] Translation: X:1.96, Y:0.06, Z:-0.07 [[ 9.98907288e-01 -4.66769477e-02 -2.34377631e-03 1.96094734e+00] [ 4.66771493e-02 9.98910027e-01 3.13623908e-05 6.25675253e-02] [ 2.33975775e-03 -1.40728917e-04 9.99997253e-01 -6.89478943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.243617864999999 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:1.99, Y:0.05, Z:-0.07 [[ 9.98819263e-01 -4.85240723e-02 -2.34378252e-03 1.98930682e+00] [ 4.85242779e-02 9.98822003e-01 3.08911333e-05 5.36493459e-02] [ 2.33952259e-03 -1.44585013e-04 9.99997253e-01 -6.73941129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2736178649999994 meters Centerline goodness : 0.997888 Centerline is valid? [True, True] Translation: X:2.02, Y:0.05, Z:-0.07 [[ 9.98775075e-01 -4.94252531e-02 -2.34378860e-03 2.01859539e+00] [ 4.94254600e-02 9.98777815e-01 3.04227847e-05 4.91857182e-02] [ 2.33942040e-03 -1.46228349e-04 9.99997253e-01 -6.68633747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.303617864999999 meters Centerline goodness : 0.997867 Centerline is valid? [True, True] Translation: X:2.05, Y:0.04, Z:-0.07 [[ 9.98712293e-01 -5.06780344e-02 -2.34379457e-03 2.04630052e+00] [ 5.06782437e-02 9.98715032e-01 2.99552855e-05 4.49119840e-02] [ 2.33926480e-03 -1.48696104e-04 9.99997253e-01 -6.69945532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3336178649999995 meters Centerline goodness : 0.997924 Centerline is valid? [True, True] Translation: X:2.07, Y:0.04, Z:-0.07 [[ 9.98625040e-01 -5.23692363e-02 -2.34380124e-03 2.07461594e+00] [ 5.23694490e-02 9.98627778e-01 2.94239207e-05 3.68718593e-02] [ 2.33904412e-03 -1.52127044e-04 9.99997253e-01 -6.96121230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3636178649999993 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:2.10, Y:0.03, Z:-0.07 [[ 9.98571621e-01 -5.33781240e-02 -2.34380695e-03 2.10370169e+00] [ 5.33783384e-02 9.98574360e-01 2.89623646e-05 3.27366927e-02] [ 2.33891956e-03 -1.54029516e-04 9.99997253e-01 -7.10012074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3936178649999995 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:2.13, Y:0.03, Z:-0.07 [[ 9.98525714e-01 -5.42301063e-02 -2.34381255e-03 2.13278476e+00] [ 5.42303219e-02 9.98528453e-01 2.85018791e-05 2.85215098e-02] [ 2.33881786e-03 -1.55565568e-04 9.99997253e-01 -7.21471796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4236178649999993 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:2.16, Y:0.02, Z:-0.07 [[ 9.98515925e-01 -5.44100619e-02 -2.34381803e-03 2.16010389e+00] [ 5.44102769e-02 9.98518663e-01 2.80437669e-05 1.96661532e-02] [ 2.33882018e-03 -1.55529936e-04 9.99997253e-01 -7.23425523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.453617864999999 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:2.19, Y:0.02, Z:-0.07 [[ 9.98515656e-01 -5.44149919e-02 -2.34382073e-03 2.18926562e+00] [ 5.44152065e-02 9.98518395e-01 2.78162891e-05 1.54139039e-02] [ 2.33883449e-03 -1.55314489e-04 9.99997253e-01 -7.13869490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4836178649999994 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:2.22, Y:0.01, Z:-0.07 [[ 9.98510716e-01 -5.45055617e-02 -2.34382602e-03 2.21828064e+00] [ 5.45057754e-02 9.98513455e-01 2.73625313e-05 1.10753842e-02] [ 2.33885041e-03 -1.55073836e-04 9.99997253e-01 -7.06274005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.513617864999999 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:2.25, Y:0.00, Z:-0.06 [[ 9.98444740e-01 -5.57010600e-02 -2.34383120e-03 2.24710615e+00] [ 5.57012759e-02 9.98447478e-01 2.69116307e-05 2.51455470e-03] [ 2.33869335e-03 -1.57424165e-04 9.99997253e-01 -6.28781273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5436178649999994 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.00, Z:-0.07 [[ 9.98371923e-01 -5.69913118e-02 -2.34383690e-03 2.27526367e+00] [ 5.69915301e-02 9.98374662e-01 2.64055637e-05 -1.78278449e-03] [ 2.33852249e-03 -1.59941425e-04 9.99997253e-01 -6.50021932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5736178649999992 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.01, Z:-0.06 [[ 9.98309610e-01 -5.80726218e-02 -2.34383891e-03 2.30418164e+00] [ 5.80728426e-02 9.98312348e-01 2.62261559e-05 -6.44276302e-03] [ 2.33836030e-03 -1.62295212e-04 9.99997253e-01 -6.24740660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6036178649999995 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.02, Z:-0.06 [[ 9.98138950e-01 -6.09355664e-02 -2.34384440e-03 2.33156660e+00] [ 6.09357940e-02 9.98141688e-01 2.57260772e-05 -1.51412454e-02] [ 2.33792117e-03 -1.68502219e-04 9.99997253e-01 -6.07213935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6336178649999993 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.02, Z:-0.06 [[ 9.98023009e-01 -6.28058937e-02 -2.34384633e-03 2.35891186e+00] [ 6.28061260e-02 9.98025746e-01 2.55488213e-05 -1.91167043e-02] [ 2.33761437e-03 -1.72706220e-04 9.99997253e-01 -5.94086383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.663617864999999 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.02, Z:-0.06 [[ 9.97910426e-01 -6.45700197e-02 -2.34384861e-03 2.38737518e+00] [ 6.45702563e-02 9.97913163e-01 2.53382948e-05 -2.28898330e-02] [ 2.33732128e-03 -1.76628254e-04 9.99997253e-01 -5.80325258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6936178649999993 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.03, Z:-0.06 [[ 9.97743051e-01 -6.71067145e-02 -2.34385381e-03 2.41492277e+00] [ 6.71069569e-02 9.97745787e-01 2.48479202e-05 -2.99408835e-02] [ 2.33690280e-03 -1.82080736e-04 9.99997253e-01 -5.64363661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.723617864999999 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.03, Z:-0.06 [[ 9.97647403e-01 -6.85139841e-02 -2.34385563e-03 2.44347320e+00] [ 6.85142300e-02 9.97650139e-01 2.46745929e-05 -3.32866953e-02] [ 2.33665734e-03 -1.85204007e-04 9.99997253e-01 -5.63303796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7536178649999994 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.04, Z:-0.06 [[ 9.97345496e-01 -7.27768364e-02 -2.34386060e-03 2.47100152e+00] [ 7.27770929e-02 9.97348231e-01 2.41933749e-05 -3.84721490e-02] [ 2.33588450e-03 -1.94708514e-04 9.99997253e-01 -5.70538200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.783617864999999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.04, Z:-0.06 [[ 9.97204743e-01 -7.46806940e-02 -2.34386324e-03 2.49895158e+00] [ 7.46809551e-02 9.97207478e-01 2.39343037e-05 -4.10960170e-02] [ 2.33553052e-03 -1.98909347e-04 9.99997253e-01 -5.70336723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8136178649999994 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.04, Z:-0.06 [[ 9.97098602e-01 -7.60847134e-02 -2.34386864e-03 2.52749110e+00] [ 7.60849771e-02 9.97101337e-01 2.33935576e-05 -4.33307982e-02] [ 2.33529466e-03 -2.01658875e-04 9.99997253e-01 -5.66059356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8436178649999992 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.05, Z:-0.06 [[ 9.96921826e-01 -7.83669515e-02 -2.34387324e-03 2.55522264e+00] [ 7.83672203e-02 9.96924560e-01 2.29236548e-05 -4.70321355e-02] [ 2.33486834e-03 -2.06535922e-04 9.99997253e-01 -5.56133176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.873617864999999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.05, Z:-0.06 [[ 9.96867029e-01 -7.90609379e-02 -2.34387485e-03 2.58230850e+00] [ 7.90612083e-02 9.96869763e-01 2.27571011e-05 -4.92073792e-02] [ 2.33473877e-03 -2.07995382e-04 9.99997253e-01 -5.57941741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9036178649999993 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.05, Z:-0.06 [[ 9.96838102e-01 -7.94248392e-02 -2.34387707e-03 2.61116156e+00] [ 7.94251099e-02 9.96840836e-01 2.25262702e-05 -5.09575102e-02] [ 2.33468323e-03 -2.08617739e-04 9.99997253e-01 -5.55583742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.933617864999999 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.05, Z:-0.06 [[ 9.96850866e-01 -7.92644762e-02 -2.34388141e-03 2.63961984e+00] [ 7.92647455e-02 9.96853600e-01 2.20652769e-05 -5.22737419e-02] [ 2.33475763e-03 -2.07782954e-04 9.99997253e-01 -5.66692198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9636178649999994 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.05, Z:-0.06 [[ 9.96959399e-01 -7.78874968e-02 -2.34388622e-03 2.66743330e+00] [ 7.78877611e-02 9.96962134e-01 2.15424857e-05 -5.33158855e-02] [ 2.33508791e-03 -2.04037033e-04 9.99997253e-01 -5.72107201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.993617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.05, Z:-0.06 [[ 9.97302696e-01 -7.33610224e-02 -2.34388770e-03 2.69551080e+00] [ 7.33612738e-02 9.97305431e-01 2.13802797e-05 -5.42810322e-02] [ 2.33600345e-03 -1.93273198e-04 9.99997253e-01 -5.96715224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.023617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.05, Z:-0.06 [[ 9.97488512e-01 -7.07896438e-02 -2.34388915e-03 2.72381578e+00] [ 7.07898879e-02 9.97491249e-01 2.12191611e-05 -5.49675324e-02] [ 2.33650682e-03 -1.87089520e-04 9.99997253e-01 -6.11746640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.053617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.06, Z:-0.06 [[ 9.97828121e-01 -6.58296851e-02 -2.34389368e-03 2.75125964e+00] [ 6.58299144e-02 9.97830858e-01 2.07069335e-05 -5.74673940e-02] [ 2.33744631e-03 -1.74960281e-04 9.99997253e-01 -6.22799482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.083617864999999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.06, Z:-0.06 [[ 9.97995479e-01 -6.32418305e-02 -2.34389507e-03 2.77854991e+00] [ 6.32420523e-02 9.97998218e-01 2.05481493e-05 -5.93110926e-02] [ 2.33790360e-03 -1.68739695e-04 9.99997253e-01 -6.20424501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.113617864999999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.06, Z:-0.06 [[ 9.98152144e-01 -6.07190600e-02 -2.34389698e-03 2.80702957e+00] [ 6.07192743e-02 9.98154882e-01 2.03280361e-05 -6.12412379e-02] [ 2.33833792e-03 -1.62610197e-04 9.99997253e-01 -5.97399699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1436178649999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.06, Z:-0.05 [[ 9.98396262e-01 -5.65633375e-02 -2.34390077e-03 2.83578886e+00] [ 5.65635394e-02 9.98399001e-01 1.98815735e-05 -6.47877277e-02] [ 2.33902362e-03 -1.52429012e-04 9.99997253e-01 -5.49119839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.173617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.07, Z:-0.05 [[ 9.98479275e-01 -5.50785230e-02 -2.34390467e-03 2.86472334e+00] [ 5.50787197e-02 9.98482015e-01 1.94105484e-05 -6.69577396e-02] [ 2.33927755e-03 -1.48480299e-04 9.99997253e-01 -5.11200752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.203617864999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.07, Z:-0.05 [[ 9.98540315e-01 -5.39605918e-02 -2.34390919e-03 2.89247241e+00] [ 5.39607842e-02 9.98543055e-01 1.88487528e-05 -6.91323806e-02] [ 2.33947715e-03 -1.45300417e-04 9.99997253e-01 -5.19655851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.233617864999999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.07, Z:-0.05 [[ 9.98699746e-01 -5.09246817e-02 -2.34391077e-03 2.92051263e+00] [ 5.09248653e-02 9.98702487e-01 1.86495533e-05 -7.42285060e-02] [ 2.33991979e-03 -1.37988644e-04 9.99997253e-01 -4.94232588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.263617865 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.08, Z:-0.05 [[ 9.98770632e-01 -4.95149617e-02 -2.34391199e-03 2.94825025e+00] [ 4.95151410e-02 9.98773373e-01 1.84953955e-05 -7.67049923e-02] [ 2.34012108e-03 -1.34531790e-04 9.99997253e-01 -4.78604837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.293617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.08, Z:-0.05 [[ 9.98851546e-01 -4.78549374e-02 -2.34391575e-03 2.97659185e+00] [ 4.78551110e-02 9.98854288e-01 1.80050706e-05 -7.90588133e-02] [ 2.34036867e-03 -1.30152741e-04 9.99997253e-01 -4.68541335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.323617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.08, Z:-0.05 [[ 9.99176202e-01 -4.05144894e-02 -2.34391940e-03 3.00431181e+00] [ 4.05146417e-02 9.99178945e-01 1.75177548e-05 -8.01191895e-02] [ 2.34128519e-03 -1.12466378e-04 9.99997253e-01 -4.58860285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3536178649999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.08, Z:-0.05 [[ 9.99366793e-01 -3.55037876e-02 -2.34392317e-03 3.03263024e+00] [ 3.55039249e-02 9.99369537e-01 1.69979266e-05 -7.94426624e-02] [ 2.34184192e-03 -1.00205635e-04 9.99997253e-01 -4.72713572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.383617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.08, Z:-0.05 [[ 9.99508376e-01 -3.12652086e-02 -2.34392760e-03 3.06088738e+00] [ 3.12653328e-02 9.99511120e-01 1.63632992e-05 -7.91627605e-02] [ 2.34227009e-03 -8.96389311e-05 9.99997253e-01 -4.72497268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.413617864999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.08, Z:-0.05 [[ 9.99581949e-01 -2.88172372e-02 -2.34393191e-03 3.08942087e+00] [ 2.88173532e-02 9.99584694e-01 1.57203585e-05 -7.81273378e-02] [ 2.34250544e-03 -8.32597002e-05 9.99997253e-01 -4.82637779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.443617864999999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.08, Z:-0.05 [[ 9.99755324e-01 -2.19954168e-02 -2.34393414e-03 3.11638021e+00] [ 2.19955133e-02 9.99758069e-01 1.53805585e-05 -7.96802080e-02] [ 2.34302877e-03 -6.69328296e-05 9.99997253e-01 -5.10292635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.473617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.08, Z:-0.05 [[ 9.99800450e-01 -1.98385075e-02 -2.34393716e-03 3.14437230e+00] [ 1.98385969e-02 9.99803196e-01 1.49059390e-05 -7.92119089e-02] [ 2.34318015e-03 -6.14033889e-05 9.99997253e-01 -5.08232455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.503617864999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.08, Z:-0.05 [[ 9.99812847e-01 -1.92035557e-02 -2.34394103e-03 3.17292274e+00] [ 1.92036419e-02 9.99815593e-01 1.42704864e-05 -7.89950917e-02] [ 2.34323474e-03 -5.92800196e-05 9.99997253e-01 -5.18921050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.533617864999999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.08, Z:-0.05 [[ 9.99780509e-01 -2.08191994e-02 -2.34394470e-03 3.20110915e+00] [ 2.08192886e-02 9.99783255e-01 1.36381570e-05 -7.97996149e-02] [ 2.34315273e-03 -6.24344248e-05 9.99997253e-01 -5.40137840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.563617864999999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.08, Z:-0.05 [[ 9.99752504e-01 -2.21232032e-02 -2.34394835e-03 3.22824154e+00] [ 2.21232943e-02 9.99755250e-01 1.29790396e-05 -7.80109232e-02] [ 2.34308753e-03 -6.48316867e-05 9.99997253e-01 -5.48588042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.593617864999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.08, Z:-0.06 [[ 9.99665358e-01 -2.57619285e-02 -2.34394990e-03 3.25666294e+00] [ 2.57620290e-02 9.99668104e-01 1.26935871e-05 -7.84978999e-02] [ 2.34284494e-03 -7.30742446e-05 9.99997253e-01 -5.52950792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.623617864999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.08, Z:-0.05 [[ 9.99539045e-01 -3.02688427e-02 -2.34395322e-03 3.28437386e+00] [ 3.02689541e-02 9.99541790e-01 1.20469422e-05 -7.60642527e-02] [ 2.34251455e-03 -8.29904017e-05 9.99997253e-01 -5.43658036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.653617864999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.08, Z:-0.05 [[ 9.99451613e-01 -3.30299767e-02 -2.34395640e-03 3.31177291e+00] [ 3.30300942e-02 9.99454358e-01 1.13937281e-05 -7.54725893e-02] [ 2.34230110e-03 -8.88085805e-05 9.99997253e-01 -5.46368315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6836178649999995 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.08, Z:-0.05 [[ 9.99314987e-01 -3.69332243e-02 -2.34395774e-03 3.33985789e+00] [ 3.69333518e-02 9.99317731e-01 1.11107910e-05 -7.54564423e-02] [ 2.34194817e-03 -9.76733958e-05 9.99997253e-01 -5.42319606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.713617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.07, Z:-0.05 [[ 9.99068945e-01 -4.30784070e-02 -2.34396058e-03 3.36835927e+00] [ 4.30785498e-02 9.99071688e-01 1.04757032e-05 -7.31440497e-02] [ 2.34133338e-03 -1.11440372e-04 9.99997253e-01 -5.41413626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.743617864999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.07, Z:-0.05 [[ 9.98829263e-01 -4.83177981e-02 -2.34396324e-03 3.39639796e+00] [ 4.83179539e-02 9.98832006e-01 9.84173555e-06 -7.43110882e-02] [ 2.34074997e-03 -1.23085721e-04 9.99997253e-01 -5.39937161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.773617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.07, Z:-0.05 [[ 9.98556784e-01 -5.36549705e-02 -2.34396579e-03 3.42371333e+00] [ 5.36551394e-02 9.98559525e-01 9.19197727e-06 -7.45582910e-02] [ 2.34009617e-03 -1.34944522e-04 9.99997253e-01 -5.41333988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.803617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.07, Z:-0.05 [[ 9.97966957e-01 -6.36903340e-02 -2.34396743e-03 3.45081294e+00] [ 6.36905295e-02 9.97969697e-01 8.75116729e-06 -7.14052364e-02] [ 2.33865111e-03 -1.58021903e-04 9.99997253e-01 -5.45189314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.833617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.07, Z:-0.05 [[ 9.97658286e-01 -6.83553233e-02 -2.34396843e-03 3.47875096e+00] [ 6.83555309e-02 9.97661025e-01 8.47440063e-06 -7.08364256e-02] [ 2.33790668e-03 -1.68677763e-04 9.99997253e-01 -5.33781949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.863617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.07, Z:-0.05 [[ 9.97337278e-01 -7.28893683e-02 -2.34397055e-03 3.50651008e+00] [ 7.28895868e-02 9.97340016e-01 7.84176552e-06 -7.06693187e-02] [ 2.33716405e-03 -1.78671930e-04 9.99997253e-01 -5.26663146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8936178649999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.07, Z:-0.05 [[ 9.97317675e-01 -7.31571032e-02 -2.34397249e-03 3.53509311e+00] [ 7.31573210e-02 9.97320413e-01 7.21186288e-06 -7.06982608e-02] [ 2.33716401e-03 -1.78671266e-04 9.99997253e-01 -5.25995505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.923617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.07, Z:-0.05 [[ 9.96792896e-01 -7.99901751e-02 -2.34397426e-03 3.56333230e+00] [ 7.99904102e-02 9.96795633e-01 6.58261918e-06 -7.06504469e-02] [ 2.33593676e-03 -1.94056970e-04 9.99997253e-01 -5.13537367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.953617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.07, Z:-0.05 [[ 9.96586394e-01 -8.25231218e-02 -2.34397588e-03 3.59132505e+00] [ 8.25233624e-02 9.96589130e-01 5.94384961e-06 -7.12769570e-02] [ 2.33549037e-03 -1.99356330e-04 9.99997253e-01 -5.11004047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.983617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.07, Z:-0.05 [[ 9.96470598e-01 -8.39097918e-02 -2.34397731e-03 3.61795838e+00] [ 8.39100347e-02 9.96473334e-01 5.30942757e-06 -7.26077173e-02] [ 2.33526538e-03 -2.01973906e-04 9.99997253e-01 -5.07295162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.013617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.07, Z:-0.05 [[ 9.96384535e-01 -8.49256422e-02 -2.34397821e-03 3.64572073e+00] [ 8.49258869e-02 9.96387271e-01 4.87834179e-06 -7.34295289e-02] [ 2.33509576e-03 -2.03925133e-04 9.99997253e-01 -5.02585497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.043617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.07, Z:-0.05 [[ 9.96506096e-01 -8.34871659e-02 -2.34397934e-03 3.67391300e+00] [ 8.34874052e-02 9.96508832e-01 4.25339585e-06 -7.25825678e-02] [ 2.33544102e-03 -1.99931288e-04 9.99997253e-01 -5.04017209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.073617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.07, Z:-0.05 [[ 9.96663516e-01 -8.15864080e-02 -2.34398031e-03 3.70088761e+00] [ 8.15866406e-02 9.96666253e-01 3.63118253e-06 -7.16363948e-02] [ 2.33586982e-03 -1.94856546e-04 9.99997253e-01 -5.09337738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1036178649999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.07, Z:-0.05 [[ 9.96817593e-01 -7.96818160e-02 -2.34398070e-03 3.72897678e+00] [ 7.96820427e-02 9.96820331e-01 3.36139374e-06 -7.13317657e-02] [ 2.33625977e-03 -1.90123866e-04 9.99997253e-01 -5.03629566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.133617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.07, Z:-0.05 [[ 9.97163800e-01 -7.52254099e-02 -2.34398143e-03 3.75856001e+00] [ 7.52256229e-02 9.97166539e-01 2.72630026e-06 -7.46726759e-02] [ 2.33713477e-03 -1.79046031e-04 9.99997253e-01 -4.80048474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.163617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.08, Z:-0.05 [[ 9.97201575e-01 -7.47229804e-02 -2.34397845e-03 3.78633303e+00] [ 7.47231994e-02 9.97204314e-01 5.87999895e-06 -7.53698912e-02] [ 2.33698605e-03 -1.81013113e-04 9.99997253e-01 -4.71285676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.193617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.08, Z:-0.05 [[ 9.97315865e-01 -7.31817659e-02 -2.34398354e-03 3.81546060e+00] [ 7.31819614e-02 9.97318605e-01 -2.35782611e-06 -7.72659732e-02] [ 2.33787094e-03 -1.69185816e-04 9.99997253e-01 -4.61670360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.223617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.08, Z:-0.05 [[ 9.97433837e-01 -7.15558959e-02 -2.34398130e-03 3.84311038e+00] [ 7.15560958e-02 9.97436577e-01 1.39766658e-06 -7.88428766e-02] [ 2.33787267e-03 -1.69120230e-04 9.99997253e-01 -4.56602727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.253617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.08, Z:-0.04 [[ 9.97792460e-01 -6.63680105e-02 -2.34398294e-03 3.87146932e+00] [ 6.63681879e-02 9.97795201e-01 -2.13805229e-06 -7.70627705e-02] [ 2.33895683e-03 -1.53432568e-04 9.99997253e-01 -4.36332175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.283617864999999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.08, Z:-0.04 [[ 9.97956744e-01 -6.38501570e-02 -2.34398161e-03 3.89914078e+00] [ 6.38503348e-02 9.97959486e-01 9.95611259e-07 -7.67270692e-02] [ 2.33913511e-03 -1.50657587e-04 9.99997253e-01 -4.37714881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.313617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.08, Z:-0.04 [[ 9.98083671e-01 -6.18343871e-02 -2.34398171e-03 3.92734687e+00] [ 6.18345578e-02 9.98086413e-01 3.66365566e-07 -7.77558787e-02] [ 2.33947364e-03 -1.45304736e-04 9.99997253e-01 -4.44685207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.343617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.08, Z:-0.04 [[ 9.98296628e-01 -5.82953543e-02 -2.34398163e-03 3.95437133e+00] [ 5.82955138e-02 9.98299370e-01 -2.70747487e-07 -7.94426424e-02] [ 2.34001117e-03 -1.36373327e-04 9.99997253e-01 -4.45936131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.373617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.08, Z:-0.04 [[ 9.98428472e-01 -5.59918994e-02 -2.34398157e-03 3.98175124e+00] [ 5.59920519e-02 9.98431215e-01 -5.47269363e-07 -7.87224159e-02] [ 2.34033501e-03 -1.30697928e-04 9.99997253e-01 -4.43631503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.403617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.08, Z:-0.05 [[ 9.98507879e-01 -5.45575074e-02 -2.34398147e-03 4.01030269e+00] [ 5.45576554e-02 9.98510622e-01 -8.20971946e-07 -7.93471030e-02] [ 2.34053519e-03 -1.27062386e-04 9.99997253e-01 -4.50466415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.433617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.08, Z:-0.05 [[ 9.98618645e-01 -5.24910199e-02 -2.34398110e-03 4.03640516e+00] [ 5.24911607e-02 9.98621389e-01 -1.43309901e-06 -7.56359433e-02] [ 2.34082488e-03 -1.21607169e-04 9.99997253e-01 -4.51124423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.463617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.07, Z:-0.05 [[ 9.98629048e-01 -5.22927351e-02 -2.34397267e-03 4.06308363e+00] [ 5.22928462e-02 9.98631793e-01 -1.39027020e-05 -7.29501436e-02] [ 2.34149264e-03 -1.08689360e-04 9.99997253e-01 -4.69933894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.493617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.08, Z:-0.05 [[ 9.98721183e-01 -5.05025276e-02 -2.34395992e-03 4.09167828e+00] [ 5.05026049e-02 9.98723929e-01 -2.62722320e-05 -7.53772667e-02] [ 2.34229568e-03 -9.21374473e-05 9.99997253e-01 -4.71284572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.523617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.08, Z:-0.05 [[ 9.98914273e-01 -4.65271967e-02 -2.34397131e-03 4.12137038e+00] [ 4.65272866e-02 9.98917019e-01 -1.61940489e-05 -7.72355609e-02] [ 2.34218630e-03 -9.28821582e-05 9.99997253e-01 -4.76532134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.553617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.08, Z:-0.05 [[ 9.98952457e-01 -4.57000388e-02 -2.34398670e-03 4.14947461e+00] [ 4.57001581e-02 9.98955202e-01 -2.66795522e-06 -7.59194889e-02] [ 2.34165964e-03 -1.04455402e-04 9.99997253e-01 -4.86062843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.583617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.07, Z:-0.05 [[ 9.98842751e-01 -4.80381613e-02 -2.34398580e-03 4.17578903e+00] [ 4.80382855e-02 9.98845495e-01 -3.30552446e-06 -7.35490562e-02] [ 2.34143845e-03 -1.09299360e-04 9.99997253e-01 -5.15947088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.613617864999999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.08, Z:-0.05 [[ 9.98933695e-01 -4.61083451e-02 -2.34395509e-03 4.20646403e+00] [ 4.61084224e-02 9.98936441e-01 -2.10726281e-05 -7.50456104e-02] [ 2.34243378e-03 -8.70259132e-05 9.99997253e-01 -5.15293586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.643617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.07, Z:-0.05 [[ 9.98847284e-01 -4.79438017e-02 -2.34398375e-03 4.23340794e+00] [ 4.79439243e-02 9.98850029e-01 -3.91465035e-06 -7.16464205e-02] [ 2.34147592e-03 -1.08469641e-04 9.99997253e-01 -5.43084490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.673617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.07, Z:-0.06 [[ 9.98737611e-01 -5.01765918e-02 -2.34395859e-03 4.26078153e+00] [ 5.01766874e-02 9.98740357e-01 -1.80467288e-05 -7.09068325e-02] [ 2.34191156e-03 -9.95881305e-05 9.99997253e-01 -5.51651028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.703617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.07, Z:-0.05 [[ 9.98885445e-01 -4.71420597e-02 -2.34394068e-03 4.29138129e+00] [ 4.71421263e-02 9.98888192e-01 -2.68576939e-05 -7.43329458e-02] [ 2.34260080e-03 -8.36705882e-05 9.99997253e-01 -5.10996515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.733617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.08, Z:-0.05 [[ 9.98846492e-01 -4.79603104e-02 -2.34398315e-03 4.31831089e+00] [ 4.79604318e-02 9.98849236e-01 -4.43989358e-06 -7.55186079e-02] [ 2.34149872e-03 -1.07983672e-04 9.99997253e-01 -5.11715041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.763617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.07, Z:-0.05 [[ 9.98678180e-01 -5.13458773e-02 -2.34398259e-03 4.34212971e+00] [ 5.13460074e-02 9.98680924e-01 -4.71535156e-06 -7.09071545e-02] [ 2.34113282e-03 -1.15645029e-04 9.99997253e-01 -5.33344978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.793617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.07, Z:-0.05 [[ 9.98702633e-01 -5.08680290e-02 -2.34392585e-03 4.36981492e+00] [ 5.08680915e-02 9.98705380e-01 -3.29473322e-05 -7.00090508e-02] [ 2.34256732e-03 -8.63264474e-05 9.99997252e-01 -5.23821735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.823617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.07, Z:-0.05 [[ 9.98711220e-01 -5.06991556e-02 -2.34391990e-03 4.39772219e+00] [ 5.06992112e-02 9.98713967e-01 -3.57136157e-05 -7.16662953e-02] [ 2.34271620e-03 -8.31673015e-05 9.99997252e-01 -5.21515834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.853617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.08, Z:-0.05 [[ 9.98850098e-01 -4.78851470e-02 -2.34393109e-03 4.42990686e+00] [ 4.78852059e-02 9.98852845e-01 -3.10391533e-05 -7.54337569e-02] [ 2.34272855e-03 -8.12361615e-05 9.99997253e-01 -4.92043561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.883617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.08, Z:-0.05 [[ 9.98811824e-01 -4.86769570e-02 -2.34398593e-03 4.45821818e+00] [ 4.86770792e-02 9.98814568e-01 -4.92119476e-06 -7.61252041e-02] [ 2.34144684e-03 -1.09183041e-04 9.99997253e-01 -4.82341310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.913617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.07, Z:-0.05 [[ 9.98653252e-01 -5.18284572e-02 -2.34398439e-03 4.48248350e+00] [ 5.18285866e-02 9.98655996e-01 -5.56699752e-06 -7.30805216e-02] [ 2.34112259e-03 -1.15925898e-04 9.99997253e-01 -4.87725634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.943617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.08, Z:-0.05 [[ 9.98827647e-01 -4.83511957e-02 -2.34390198e-03 4.51516645e+00] [ 4.83512463e-02 9.98830394e-01 -3.50893316e-05 -7.85251722e-02] [ 2.34285715e-03 -7.82823874e-05 9.99997252e-01 -4.55286392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.973617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.08, Z:-0.05 [[ 9.98790286e-01 -4.91168984e-02 -2.34397314e-03 4.54361749e+00] [ 4.91170200e-02 9.98793031e-01 -5.66966405e-06 -7.84592926e-02] [ 2.34142251e-03 -1.09466170e-04 9.99997253e-01 -4.52982583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.003617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.08, Z:-0.05 [[ 9.98808049e-01 -4.87543493e-02 -2.34397143e-03 4.57184141e+00] [ 4.87544685e-02 9.98810794e-01 -6.30677433e-06 -7.71095186e-02] [ 2.34149144e-03 -1.07979824e-04 9.99997253e-01 -4.55407558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.033617864999999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.08, Z:-0.05 [[ 9.98789615e-01 -4.91305581e-02 -2.34396955e-03 4.59910679e+00] [ 4.91306769e-02 9.98792359e-01 -6.94104400e-06 -7.75803061e-02] [ 2.34147989e-03 -1.08228168e-04 9.99997253e-01 -4.52871070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0636178649999986 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.08, Z:-0.04 [[ 9.98824913e-01 -4.84076399e-02 -2.34396870e-03 4.62661874e+00] [ 4.84077560e-02 9.98827657e-01 -7.21603875e-06 -7.74336313e-02] [ 2.34157008e-03 -1.06258706e-04 9.99997253e-01 -4.46237827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.093617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.08, Z:-0.04 [[ 9.98814287e-01 -4.86264012e-02 -2.34396732e-03 4.65421999e+00] [ 4.86265169e-02 9.98817031e-01 -7.64119822e-06 -7.75149775e-02] [ 2.34156604e-03 -1.06346828e-04 9.99997253e-01 -4.44374866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.123617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.08, Z:-0.04 [[ 9.98783518e-01 -4.92543322e-02 -2.34396522e-03 4.68252530e+00] [ 4.92544482e-02 9.98786263e-01 -8.23730248e-06 -7.76230857e-02] [ 2.34152599e-03 -1.07223432e-04 9.99997253e-01 -4.47581524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.153617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.08, Z:-0.05 [[ 9.98744330e-01 -5.00426727e-02 -2.34396291e-03 4.71070167e+00] [ 5.00427895e-02 9.98747075e-01 -8.85032937e-06 -7.68507338e-02] [ 2.34146899e-03 -1.08459226e-04 9.99997253e-01 -4.56628867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.183617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.07, Z:-0.05 [[ 9.98736749e-01 -5.01937363e-02 -2.34396044e-03 4.73901900e+00] [ 5.01938520e-02 9.98739494e-01 -9.46127021e-06 -7.48901934e-02] [ 2.34148076e-03 -1.08203085e-04 9.99997253e-01 -4.64391722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.213617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.07, Z:-0.05 [[ 9.98684371e-01 -5.12253206e-02 -2.34395782e-03 4.76586416e+00] [ 5.12254377e-02 9.98687115e-01 -1.00703532e-05 -7.45573317e-02] [ 2.34139633e-03 -1.10013161e-04 9.99997253e-01 -4.75509079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.243617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.07, Z:-0.05 [[ 9.98542617e-01 -5.39179806e-02 -2.34395666e-03 4.79344753e+00] [ 5.39181045e-02 9.98545361e-01 -1.03344982e-05 -7.49810684e-02] [ 2.34110426e-03 -1.16062263e-04 9.99997253e-01 -4.75699020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2736178649999985 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.07, Z:-0.05 [[ 9.98474071e-01 -5.51727750e-02 -2.34395387e-03 4.82142843e+00] [ 5.51729010e-02 9.98476815e-01 -1.09318570e-05 -7.39703517e-02] [ 2.34098674e-03 -1.18407559e-04 9.99997253e-01 -4.67924755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.303617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.07, Z:-0.05 [[ 9.98327940e-01 -5.77566408e-02 -2.34395095e-03 4.84970176e+00] [ 5.77567725e-02 9.98330684e-01 -1.15259257e-05 -7.43127694e-02] [ 2.34070386e-03 -1.23872388e-04 9.99997253e-01 -4.58102853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.333617864999999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.08, Z:-0.04 [[ 9.97988226e-01 -6.33561872e-02 -2.34394790e-03 4.87682733e+00] [ 6.33563329e-02 9.97990969e-01 -1.21159710e-05 -7.56375842e-02] [ 2.34000646e-03 -1.36412347e-04 9.99997253e-01 -4.43260458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.363617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.07, Z:-0.04 [[ 9.97879663e-01 -6.50437068e-02 -2.34394576e-03 4.90505017e+00] [ 6.50438562e-02 9.97882406e-01 -1.25167965e-05 -7.33667630e-02] [ 2.33979637e-03 -1.39969014e-04 9.99997253e-01 -4.42007360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.393617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.07, Z:-0.04 [[ 9.97754814e-01 -6.69315777e-02 -2.34394252e-03 4.93273683e+00] [ 6.69317310e-02 9.97757557e-01 -1.30973843e-05 -7.19906265e-02] [ 2.33956299e-03 -1.43816152e-04 9.99997253e-01 -4.44483539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.423617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.07, Z:-0.04 [[ 9.97592896e-01 -6.93030963e-02 -2.34393914e-03 4.96034031e+00] [ 6.93032547e-02 9.97595639e-01 -1.36752374e-05 -7.29391905e-02] [ 2.33925121e-03 -1.48800292e-04 9.99997253e-01 -4.21966120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.453617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.07, Z:-0.04 [[ 9.97535268e-01 -7.01277039e-02 -2.34393517e-03 4.98717280e+00] [ 7.01278631e-02 9.97538011e-01 -1.43263229e-05 -7.28092300e-02] [ 2.33916909e-03 -1.50084152e-04 9.99997253e-01 -4.19306535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4836178649999985 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.07, Z:-0.04 [[ 9.97456848e-01 -7.12344165e-02 -2.34393341e-03 5.01524276e+00] [ 7.12345781e-02 9.97459590e-01 -1.46085135e-05 -7.09861321e-02] [ 2.33901948e-03 -1.52397745e-04 9.99997253e-01 -4.11943776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.513617864999999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.07, Z:-0.04 [[ 9.97432297e-01 -7.15773641e-02 -2.34392931e-03 5.04321233e+00] [ 7.15775251e-02 9.97435039e-01 -1.52382564e-05 -7.02250502e-02] [ 2.33900794e-03 -1.52573530e-04 9.99997253e-01 -4.14244653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.543617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.07, Z:-0.04 [[ 9.97442488e-01 -7.14352037e-02 -2.34392504e-03 5.07177521e+00] [ 7.14353628e-02 9.97445231e-01 -1.58689556e-05 -6.96378081e-02] [ 2.33907046e-03 -1.51610765e-04 9.99997253e-01 -4.10662624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.573617864999999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.07, Z:-0.04 [[ 9.97474375e-01 -7.09885743e-02 -2.34392058e-03 5.09991926e+00] [ 7.09887307e-02 9.97477117e-01 -1.65022437e-05 -6.87485169e-02] [ 2.33917862e-03 -1.49931382e-04 9.99997253e-01 -4.13033533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.603617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.07, Z:-0.04 [[ 9.97593121e-01 -6.92998563e-02 -2.34391597e-03 5.12737190e+00] [ 6.93000066e-02 9.97595864e-01 -1.71332377e-05 -6.80627645e-02] [ 2.33946821e-03 -1.45341392e-04 9.99997253e-01 -4.19464114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.633617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.07, Z:-0.04 [[ 9.97640786e-01 -6.86102636e-02 -2.34391394e-03 5.15401412e+00] [ 6.86104113e-02 9.97643529e-01 -1.74065841e-05 -6.86542289e-02] [ 2.33958485e-03 -1.43451381e-04 9.99997253e-01 -4.18619557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.663617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.07, Z:-0.04 [[ 9.97661258e-01 -6.83119305e-02 -2.34391076e-03 5.18209316e+00] [ 6.83120764e-02 9.97664002e-01 -1.78250245e-05 -6.94093188e-02] [ 2.33965305e-03 -1.42334075e-04 9.99997253e-01 -4.11721192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6936178649999984 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.07, Z:-0.04 [[ 9.97714983e-01 -6.75227348e-02 -2.34390569e-03 5.20989538e+00] [ 6.75228771e-02 9.97717726e-01 -1.84685760e-05 -6.85131837e-02] [ 2.33980330e-03 -1.39840881e-04 9.99997253e-01 -4.20240983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.723617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.07, Z:-0.04 [[ 9.97749043e-01 -6.70175669e-02 -2.34390036e-03 5.23701380e+00] [ 6.70177063e-02 9.97751786e-01 -1.91219339e-05 -6.77763779e-02] [ 2.33991227e-03 -1.38003934e-04 9.99997253e-01 -4.30922370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.753617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.07, Z:-0.04 [[ 9.97747136e-01 -6.70459503e-02 -2.34389802e-03 5.26533528e+00] [ 6.70460891e-02 9.97749879e-01 -1.94048914e-05 -6.77833939e-02] [ 2.33992498e-03 -1.37788020e-04 9.99997253e-01 -4.34397748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.783617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.07, Z:-0.04 [[ 9.97820279e-01 -6.59484442e-02 -2.34389249e-03 5.29244412e+00] [ 6.59485784e-02 9.97823023e-01 -2.00513634e-05 -6.96106780e-02] [ 2.34011224e-03 -1.34568720e-04 9.99997253e-01 -4.28204916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8136178649999986 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.07, Z:-0.04 [[ 9.97802317e-01 -6.62196572e-02 -2.34389006e-03 5.32102853e+00] [ 6.62197915e-02 9.97805061e-01 -2.03313684e-05 -6.93041494e-02] [ 2.34009170e-03 -1.34925224e-04 9.99997253e-01 -4.27535923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.843617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.07, Z:-0.04 [[ 9.97863038e-01 -6.52982669e-02 -2.34388436e-03 5.34892928e+00] [ 6.52983972e-02 9.97865782e-01 -2.09684550e-05 -6.98557095e-02] [ 2.34025120e-03 -1.32128246e-04 9.99997253e-01 -4.28354140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.873617864999999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.07, Z:-0.04 [[ 9.97927691e-01 -6.43026496e-02 -2.34387850e-03 5.37681178e+00] [ 6.43027757e-02 9.97930435e-01 -2.16043433e-05 -7.00647629e-02] [ 2.34041690e-03 -1.29158321e-04 9.99997253e-01 -4.27562699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.903617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.07, Z:-0.04 [[ 9.98091244e-01 -6.17120387e-02 -2.34387238e-03 5.40396168e+00] [ 6.17121562e-02 9.98093988e-01 -2.22491115e-05 -7.02944036e-02] [ 2.34077797e-03 -1.22438775e-04 9.99997253e-01 -4.32775386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.933617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.07, Z:-0.04 [[ 9.98188910e-01 -6.01116096e-02 -2.34386969e-03 5.43236305e+00] [ 6.01117220e-02 9.98191655e-01 -2.25287495e-05 -7.01087391e-02] [ 2.34098540e-03 -1.18406095e-04 9.99997253e-01 -4.36497857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.963617864999999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.07, Z:-0.04 [[ 9.98360705e-01 -5.71874827e-02 -2.34386342e-03 5.46080663e+00] [ 5.71875856e-02 9.98363451e-01 -2.31633595e-05 -7.08073527e-02] [ 2.34135222e-03 -1.10914502e-04 9.99997253e-01 -4.35777622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.993617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.07, Z:-0.04 [[ 9.98389531e-01 -5.66820133e-02 -2.34385697e-03 5.48899031e+00] [ 5.66821133e-02 9.98392276e-01 -2.37982686e-05 -7.13273100e-02] [ 2.34143763e-03 -1.09094824e-04 9.99997253e-01 -4.33082822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0236178649999985 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.07, Z:-0.04 [[ 9.98471680e-01 -5.52160399e-02 -2.34385033e-03 5.51745408e+00] [ 5.52161344e-02 9.98474425e-01 -2.44354976e-05 -7.14446905e-02] [ 2.34162384e-03 -1.05020202e-04 9.99997253e-01 -4.26692553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.053617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.07, Z:-0.04 [[ 9.98573984e-01 -5.33338926e-02 -2.34384347e-03 5.54571663e+00] [ 5.33339804e-02 9.98576730e-01 -2.50760509e-05 -7.12798214e-02] [ 2.34184495e-03 -9.99662098e-05 9.99997253e-01 -4.29528148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.083617864999999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.07, Z:-0.04 [[ 9.98713413e-01 -5.06559563e-02 -2.34383642e-03 5.57394843e+00] [ 5.06560352e-02 9.98716159e-01 -2.57185867e-05 -7.18097831e-02] [ 2.34213011e-03 -9.30439629e-05 9.99997253e-01 -4.33775996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.113617864999998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.07, Z:-0.04 [[ 9.98827717e-01 -4.83497559e-02 -2.34382904e-03 5.60173333e+00] [ 4.83498270e-02 9.98830463e-01 -2.63750263e-05 -7.06794126e-02] [ 2.34236307e-03 -8.69796210e-05 9.99997253e-01 -4.30578821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.143617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.07, Z:-0.04 [[ 9.98882414e-01 -4.72062496e-02 -2.34382148e-03 5.62859293e+00] [ 4.72063160e-02 9.98885160e-01 -2.70299458e-05 -7.01780314e-02] [ 2.34248448e-03 -8.36434400e-05 9.99997253e-01 -4.36628450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.173617864999999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.07, Z:-0.04 [[ 9.98885388e-01 -4.71432811e-02 -2.34381817e-03 5.65674683e+00] [ 4.71433466e-02 9.98888134e-01 -2.73141325e-05 -7.09164667e-02] [ 2.34249984e-03 -8.32117446e-05 9.99997253e-01 -4.40072155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.203617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.07, Z:-0.04 [[ 9.98931191e-01 -4.61625561e-02 -2.34381042e-03 5.68519998e+00] [ 4.61626174e-02 9.98933938e-01 -2.79638478e-05 -7.06566458e-02] [ 2.34260265e-03 -8.02624640e-05 9.99997253e-01 -4.35579170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2336178649999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.07, Z:-0.04 [[ 9.99000290e-01 -4.46422229e-02 -2.34380251e-03 5.71249498e+00] [ 4.46422785e-02 9.99003036e-01 -2.86121591e-05 -6.89781319e-02] [ 2.34274313e-03 -7.60491291e-05 9.99997253e-01 -4.39276726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.263617864999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.07, Z:-0.05 [[ 9.98978425e-01 -4.51288545e-02 -2.34379904e-03 5.73915594e+00] [ 4.51289107e-02 9.98981171e-01 -2.88932527e-05 -6.97149666e-02] [ 2.34271503e-03 -7.69093616e-05 9.99997253e-01 -4.50822686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.293617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.07, Z:-0.05 [[ 9.98911015e-01 -4.65971175e-02 -2.34379557e-03 5.76634513e+00] [ 4.65971772e-02 9.98913761e-01 -2.91717938e-05 -6.94694131e-02] [ 2.34260897e-03 -8.00742315e-05 9.99997253e-01 -4.59381691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.323617864999998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.07, Z:-0.05 [[ 9.98875789e-01 -4.73462277e-02 -2.34379211e-03 5.79475867e+00] [ 4.73462888e-02 9.98878535e-01 -2.94470943e-05 -6.89420466e-02] [ 2.34255784e-03 -8.15558687e-05 9.99997253e-01 -4.58956850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.353617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.07, Z:-0.05 [[ 9.98929393e-01 -4.62014579e-02 -2.34378409e-03 5.82320139e+00] [ 4.62015143e-02 9.98932139e-01 -3.00725721e-05 -6.70195278e-02] [ 2.34267065e-03 -7.82459981e-05 9.99997253e-01 -4.51620346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.383617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.07, Z:-0.04 [[ 9.98934993e-01 -4.60802143e-02 -2.34377577e-03 5.85141401e+00] [ 4.60802690e-02 9.98937740e-01 -3.07074592e-05 -6.60899414e-02] [ 2.34270108e-03 -7.73270624e-05 9.99997253e-01 -4.47879793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.413617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.07, Z:-0.05 [[ 9.98892221e-01 -4.69982774e-02 -2.34376730e-03 5.87841660e+00] [ 4.69983331e-02 9.98894967e-01 -3.13408558e-05 -6.55241747e-02] [ 2.34265033e-03 -7.88470194e-05 9.99997253e-01 -4.58469484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4436178649999984 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.07, Z:-0.05 [[ 9.98847493e-01 -4.79394670e-02 -2.34376360e-03 5.90601284e+00] [ 4.79395247e-02 9.98850240e-01 -3.16150982e-05 -6.53125475e-02] [ 2.34258445e-03 -8.07802514e-05 9.99997253e-01 -4.65216908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.473617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.07, Z:-0.05 [[ 9.98790968e-01 -4.91030358e-02 -2.34375508e-03 5.93374989e+00] [ 4.91030951e-02 9.98793715e-01 -3.22347515e-05 -6.52254323e-02] [ 2.34251067e-03 -8.28898500e-05 9.99997253e-01 -4.63779308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.503617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.07, Z:-0.05 [[ 9.98752280e-01 -4.98837603e-02 -2.34374644e-03 5.96141497e+00] [ 4.98838204e-02 9.98755027e-01 -3.28511472e-05 -6.53464503e-02] [ 2.34246728e-03 -8.41048684e-05 9.99997253e-01 -4.54118867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.533617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.07, Z:-0.04 [[ 9.98684858e-01 -5.12158222e-02 -2.34373762e-03 5.99030584e+00] [ 5.12158845e-02 9.98687605e-01 -3.34684579e-05 -6.58128740e-02] [ 2.34237583e-03 -8.66121532e-05 9.99997253e-01 -4.35794737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5636178649999986 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.06, Z:-0.04 [[ 9.98651328e-01 -5.18655106e-02 -2.34370381e-03 6.01905834e+00] [ 5.18655692e-02 9.98654075e-01 -3.58082798e-05 -6.46265144e-02] [ 2.34240657e-03 -8.57975458e-05 9.99997253e-01 -4.40795849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.593617864999999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.06, Z:-0.04 [[ 9.98612836e-01 -5.26014355e-02 -2.34372797e-03 6.04700976e+00] [ 5.26015000e-02 9.98615582e-01 -3.41497356e-05 -6.32458281e-02] [ 2.34227960e-03 -8.91812426e-05 9.99997253e-01 -4.46388611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.623617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.06, Z:-0.04 [[ 9.98737251e-01 -5.01837630e-02 -2.34371903e-03 6.07761684e+00] [ 5.01838195e-02 9.98739998e-01 -3.47527707e-05 -6.30882796e-02] [ 2.34250996e-03 -8.29078862e-05 9.99997253e-01 -4.20656481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.653617864999998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.06, Z:-0.04 [[ 9.98690698e-01 -5.11018178e-02 -2.34379504e-03 6.10592232e+00] [ 5.11018887e-02 9.98693445e-01 -2.96384591e-05 -6.13233827e-02] [ 2.34224732e-03 -9.01726999e-05 9.99997253e-01 -4.40287206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.683617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.06, Z:-0.04 [[ 9.98639207e-01 -5.20983880e-02 -2.34370903e-03 6.13376413e+00] [ 5.20984483e-02 9.98641953e-01 -3.53424479e-05 -6.35322504e-02] [ 2.34236744e-03 -8.68092494e-05 9.99997253e-01 -4.26536978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.713617864999999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.06, Z:-0.04 [[ 9.98565043e-01 -5.35010540e-02 -2.34369938e-03 6.16234356e+00] [ 5.35011167e-02 9.98567789e-01 -3.59706649e-05 -6.33425369e-02] [ 2.34226718e-03 -8.94714858e-05 9.99997253e-01 -4.17550401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.743617864999998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.06, Z:-0.04 [[ 9.98447077e-01 -5.56591583e-02 -2.34368945e-03 6.19068723e+00] [ 5.56592255e-02 9.98449823e-01 -3.66070241e-05 -6.24755489e-02] [ 2.34209383e-03 -9.38977632e-05 9.99997253e-01 -4.14666509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7736178649999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.06, Z:-0.04 [[ 9.98293687e-01 -5.83457015e-02 -2.34367941e-03 6.21787565e+00] [ 5.83457746e-02 9.98296434e-01 -3.72387664e-05 -5.96249958e-02] [ 2.34185952e-03 -9.95685650e-05 9.99997253e-01 -4.19985335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.803617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.06, Z:-0.04 [[ 9.98180673e-01 -6.02482537e-02 -2.34367503e-03 6.24639938e+00] [ 6.02483314e-02 9.98183419e-01 -3.75124332e-05 -5.91096882e-02] [ 2.34167761e-03 -1.03758324e-04 9.99997253e-01 -4.27801145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.833617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.06, Z:-0.04 [[ 9.98034974e-01 -6.26154723e-02 -2.34366475e-03 6.27385353e+00] [ 6.26155550e-02 9.98037720e-01 -3.81437248e-05 -5.94782775e-02] [ 2.34145421e-03 -1.08681098e-04 9.99997253e-01 -4.33034174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.863617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.06, Z:-0.04 [[ 9.97893130e-01 -6.48367795e-02 -2.34365769e-03 6.30082508e+00] [ 6.48368673e-02 9.97895876e-01 -3.85727594e-05 -5.93424744e-02] [ 2.34122728e-03 -1.13463931e-04 9.99997253e-01 -4.24573145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.893617864999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.06, Z:-0.04 [[ 9.97825223e-01 -6.58736086e-02 -2.34365324e-03 6.32865584e+00] [ 6.58736987e-02 9.97827968e-01 -3.88415226e-05 -5.91470694e-02] [ 2.34112138e-03 -1.15628056e-04 9.99997253e-01 -4.21749849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.923617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.06, Z:-0.04 [[ 9.97750513e-01 -6.69956768e-02 -2.34364298e-03 6.35590018e+00] [ 6.69957685e-02 9.97753259e-01 -3.94511415e-05 -6.00158779e-02] [ 2.34102047e-03 -1.17651766e-04 9.99997253e-01 -4.21686360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.953617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.06, Z:-0.04 [[ 9.97713433e-01 -6.75456356e-02 -2.34363593e-03 6.38384654e+00] [ 6.75457279e-02 9.97716179e-01 -3.98653307e-05 -5.87099228e-02] [ 2.34097621e-03 -1.18528419e-04 9.99997253e-01 -4.13450815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9836178649999985 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.05, Z:-0.04 [[ 9.97666198e-01 -6.82397580e-02 -2.34362551e-03 6.41346304e+00] [ 6.82398507e-02 9.97668944e-01 -4.04688113e-05 -5.44161303e-02] [ 2.34092397e-03 -1.19554290e-04 9.99997253e-01 -4.17445331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.013617864999999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.06, Z:-0.04 [[ 9.97733137e-01 -6.72539562e-02 -2.34370223e-03 6.44339099e+00] [ 6.72540565e-02 9.97735882e-01 -3.61149892e-05 -5.58560530e-02] [ 2.34082469e-03 -1.21590361e-04 9.99997253e-01 -4.08550439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.043617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.06, Z:-0.04 [[ 9.97636196e-01 -6.86769854e-02 -2.34370523e-03 6.47178981e+00] [ 6.86770899e-02 9.97638941e-01 -3.59459567e-05 -5.54778866e-02] [ 2.34064026e-03 -1.25097867e-04 9.99997253e-01 -4.08546498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.073617865 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.05, Z:-0.04 [[ 9.97520888e-01 -7.03319689e-02 -2.34365017e-03 6.50180802e+00] [ 7.03320709e-02 9.97523633e-01 -3.90066223e-05 -5.49414724e-02] [ 2.34058984e-03 -1.25923849e-04 9.99997253e-01 -4.16620517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.103617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.05, Z:-0.04 [[ 9.97280991e-01 -7.36554957e-02 -2.34374128e-03 6.52950470e+00] [ 7.36556186e-02 9.97283735e-01 -3.39699229e-05 -5.09322468e-02] [ 2.33987713e-03 -1.38752155e-04 9.99997253e-01 -4.35257473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.133617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.05, Z:-0.04 [[ 9.97287493e-01 -7.35674048e-02 -2.34358349e-03 6.55931077e+00] [ 7.35675071e-02 9.97290239e-01 -4.26416860e-05 -5.19888359e-02] [ 2.34036998e-03 -1.29885575e-04 9.99997253e-01 -4.39117673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.163617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.05, Z:-0.04 [[ 9.97061342e-01 -7.65714508e-02 -2.34365265e-03 6.58980892e+00] [ 7.65715703e-02 9.97064087e-01 -3.88442305e-05 -4.83584487e-02] [ 2.33974624e-03 -1.40727083e-04 9.99997253e-01 -4.35447355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.193617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.05, Z:-0.04 [[ 9.97134956e-01 -7.56067932e-02 -2.34377479e-03 6.61632032e+00] [ 7.56069260e-02 9.97137699e-01 -3.20374466e-05 -4.65219960e-02] [ 2.33948845e-03 -1.45259949e-04 9.99997253e-01 -4.39364661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.223617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.05, Z:-0.04 [[ 9.97197885e-01 -7.47722297e-02 -2.34358101e-03 6.64288251e+00] [ 7.47723353e-02 9.97200630e-01 -4.26783795e-05 -4.54530628e-02] [ 2.34021162e-03 -1.32676235e-04 9.99997253e-01 -4.37026424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.253617864999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.04, Z:-0.04 [[ 9.97259204e-01 -7.39499005e-02 -2.34357596e-03 6.66949334e+00] [ 7.39500031e-02 9.97261949e-01 -4.29536806e-05 -4.49798157e-02] [ 2.34033555e-03 -1.30471496e-04 9.99997253e-01 -4.29870757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.283617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.04, Z:-0.04 [[ 9.97349028e-01 -7.27284298e-02 -2.34356827e-03 6.69749958e+00] [ 7.27285281e-02 9.97351773e-01 -4.33697143e-05 -4.39747180e-02] [ 2.34051618e-03 -1.27189528e-04 9.99997253e-01 -4.26072285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.313617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.04, Z:-0.04 [[ 9.97413131e-01 -7.18439525e-02 -2.34355696e-03 6.72571103e+00] [ 7.18440469e-02 9.97415877e-01 -4.39724361e-05 -4.20547967e-02] [ 2.34066007e-03 -1.24511931e-04 9.99997253e-01 -4.23860800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.343617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.04, Z:-0.04 [[ 9.97641772e-01 -6.85959396e-02 -2.34354554e-03 6.75340977e+00] [ 6.85960237e-02 9.97644518e-01 -4.45726123e-05 -3.93090485e-02] [ 2.34108286e-03 -1.16290406e-04 9.99997253e-01 -4.08664570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.373617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.04, Z:-0.04 [[ 9.97726815e-01 -6.73476801e-02 -2.34353330e-03 6.78088796e+00] [ 6.73477593e-02 9.97729561e-01 -4.52071329e-05 -3.79654582e-02] [ 2.34125705e-03 -1.12727348e-04 9.99997253e-01 -4.06227801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.403617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.04, Z:-0.04 [[ 9.97829997e-01 -6.58012489e-02 -2.34352949e-03 6.80866288e+00] [ 6.58013233e-02 9.97832743e-01 -4.54036691e-05 -3.70195317e-02] [ 2.34143808e-03 -1.08902199e-04 9.99997253e-01 -3.94116874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.433617864999999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.04, Z:-0.04 [[ 9.97988933e-01 -6.33450679e-02 -2.34351707e-03 6.83658804e+00] [ 6.33451341e-02 9.97991679e-01 -4.60360324e-05 -3.64771558e-02] [ 2.34172669e-03 -1.02506952e-04 9.99997253e-01 -3.90707803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.463617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.04, Z:-0.04 [[ 9.98021614e-01 -6.28280717e-02 -2.34350438e-03 6.86512152e+00] [ 6.28281350e-02 9.98024360e-01 -4.66734707e-05 -3.67146718e-02] [ 2.34180686e-03 -1.00656877e-04 9.99997253e-01 -3.80734923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.493617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.04, Z:-0.04 [[ 9.98062117e-01 -6.21813419e-02 -2.34352918e-03 6.89331410e+00] [ 6.21814063e-02 9.98064863e-01 -4.54372236e-05 -3.69729153e-02] [ 2.34181948e-03 -1.00374769e-04 9.99997253e-01 -3.77670344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.523617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.04, Z:-0.04 [[ 9.98104692e-01 -6.14941601e-02 -2.34348673e-03 6.92163719e+00] [ 6.14942177e-02 9.98107439e-01 -4.75301402e-05 -3.64543563e-02] [ 2.34197437e-03 -9.66708275e-05 9.99997253e-01 -3.87119459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.553617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.04, Z:-0.04 [[ 9.98118128e-01 -6.12756911e-02 -2.34347352e-03 6.94887703e+00] [ 6.12757466e-02 9.98120875e-01 -4.81731095e-05 -3.57902062e-02] [ 2.34202168e-03 -9.55156355e-05 9.99997253e-01 -3.95443898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.583617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.04, Z:-0.04 [[ 9.98131881e-01 -6.10512565e-02 -2.34346776e-03 6.97653038e+00] [ 6.10513107e-02 9.98134628e-01 -4.84517232e-05 -3.57214363e-02] [ 2.34205436e-03 -9.47105686e-05 9.99997253e-01 -3.92844658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.613617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.04, Z:-0.04 [[ 9.98196812e-01 -5.99802775e-02 -2.34345433e-03 7.00590444e+00] [ 5.99803273e-02 9.98199558e-01 -4.90928534e-05 -3.69178703e-02] [ 2.34217968e-03 -9.15568278e-05 9.99997253e-01 -3.96414117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.643617865 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.04, Z:-0.04 [[ 9.98213517e-01 -5.97016129e-02 -2.34344231e-03 7.03529423e+00] [ 5.97016606e-02 9.98216264e-01 -4.96597273e-05 -3.73130995e-02] [ 2.34222700e-03 -9.03363866e-05 9.99997253e-01 -4.02643826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.673617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.04, Z:-0.04 [[ 9.98224986e-01 -5.95095403e-02 -2.34343021e-03 7.06290115e+00] [ 5.95095862e-02 9.98227733e-01 -5.02242392e-05 -3.75550004e-02] [ 2.34226585e-03 -8.93214718e-05 9.99997253e-01 -4.24415593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.703617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.04, Z:-0.04 [[ 9.98209713e-01 -5.97651810e-02 -2.34342591e-03 7.09147082e+00] [ 5.97652271e-02 9.98212460e-01 -5.04240960e-05 -3.68565895e-02] [ 2.34225055e-03 -8.97215596e-05 9.99997253e-01 -4.23746484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.733617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.04, Z:-0.04 [[ 9.98204926e-01 -5.98450815e-02 -2.34341285e-03 7.12002407e+00] [ 5.98451264e-02 9.98207673e-01 -5.10242382e-05 -3.80470494e-02] [ 2.34226623e-03 -8.93091921e-05 9.99997253e-01 -4.16288225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.763617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.04, Z:-0.04 [[ 9.98154315e-01 -6.06833790e-02 -2.34340047e-03 7.14851389e+00] [ 6.06834249e-02 9.98157061e-01 -5.15865254e-05 -3.79509316e-02] [ 2.34221217e-03 -9.07142535e-05 9.99997253e-01 -4.18839459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.793617865 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.04, Z:-0.04 [[ 9.98190950e-01 -6.00777562e-02 -2.34338612e-03 7.17772780e+00] [ 6.00777989e-02 9.98193696e-01 -5.22301594e-05 -3.62432820e-02] [ 2.34229113e-03 -8.86498077e-05 9.99997253e-01 -4.16175522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.823617865 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.04, Z:-0.04 [[ 9.98254617e-01 -5.90104068e-02 -2.34337352e-03 7.20518511e+00] [ 5.90104453e-02 9.98257364e-01 -5.27897521e-05 -3.64420578e-02] [ 2.34240501e-03 -8.55859010e-05 9.99997253e-01 -4.13461851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.853617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.04, Z:-0.04 [[ 9.98238495e-01 -5.92825144e-02 -2.34336904e-03 7.23316620e+00] [ 5.92825532e-02 9.98241241e-01 -5.29879745e-05 -3.75888538e-02] [ 2.34238888e-03 -8.60262635e-05 9.99997253e-01 -4.07865213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.883617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.04, Z:-0.04 [[ 9.98198347e-01 -5.99547148e-02 -2.34335467e-03 7.26122671e+00] [ 5.99547539e-02 9.98201094e-01 -5.36159518e-05 -3.73952193e-02] [ 2.34235372e-03 -8.69758980e-05 9.99997253e-01 -4.00682826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.913617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.04, Z:-0.04 [[ 9.98180312e-01 -6.02542324e-02 -2.34334011e-03 7.28964656e+00] [ 6.02542708e-02 9.98183059e-01 -5.42448774e-05 -3.65962744e-02] [ 2.34235088e-03 -8.70500808e-05 9.99997253e-01 -4.00442969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.943617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.04, Z:-0.04 [[ 9.98116984e-01 -6.12943287e-02 -2.34332541e-03 7.31784797e+00] [ 6.12943686e-02 9.98119731e-01 -5.48724854e-05 -3.77134096e-02] [ 2.34228270e-03 -8.88634919e-05 9.99997253e-01 -4.21065044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.973617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.04, Z:-0.04 [[ 9.98074209e-01 -6.19869478e-02 -2.34322357e-03 7.34574674e+00] [ 6.19869794e-02 9.98076956e-01 -5.91883368e-05 -3.77365895e-02] [ 2.34238635e-03 -8.61749985e-05 9.99997253e-01 -4.28439757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.003617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.04, Z:-0.04 [[ 9.98013505e-01 -6.29567602e-02 -2.34324053e-03 7.37505183e+00] [ 6.29567962e-02 9.98016252e-01 -5.84729049e-05 -3.63562312e-02] [ 2.34227340e-03 -8.91661679e-05 9.99997253e-01 -3.98668446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.033617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.03, Z:-0.04 [[ 9.97851027e-01 -6.54815783e-02 -2.34331231e-03 7.40245770e+00] [ 6.54816283e-02 9.97853773e-01 -5.54387544e-05 -3.48420315e-02] [ 2.34191325e-03 -9.81242879e-05 9.99997253e-01 -4.02023051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.063617865 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.03, Z:-0.04 [[ 9.97721403e-01 -6.74278167e-02 -2.34330607e-03 7.43042852e+00] [ 6.74278715e-02 9.97724150e-01 -5.57012358e-05 -3.44737581e-02] [ 2.34172887e-03 -1.02429826e-04 9.99997253e-01 -4.01218152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.093617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.03, Z:-0.04 [[ 9.97642688e-01 -6.85826153e-02 -2.34329172e-03 7.46038961e+00] [ 6.85826719e-02 9.97645435e-01 -5.62987530e-05 -3.48535104e-02] [ 2.34163540e-03 -1.04543168e-04 9.99997253e-01 -3.96213492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.123617865 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.03, Z:-0.04 [[ 9.97460236e-01 -7.11869903e-02 -2.34328799e-03 7.48963758e+00] [ 7.11870537e-02 9.97462982e-01 -5.64537758e-05 -3.31154947e-02] [ 2.34136180e-03 -1.10501371e-04 9.99997253e-01 -3.95594579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.153617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.03, Z:-0.04 [[ 9.97142230e-01 -7.55108065e-02 -2.34328814e-03 7.51815877e+00] [ 7.55108818e-02 9.97144976e-01 -5.64476464e-05 -3.42831234e-02] [ 2.34086040e-03 -1.20657422e-04 9.99997253e-01 -3.56728914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.183617864999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.03, Z:-0.03 [[ 9.96981423e-01 -7.76051034e-02 -2.34327451e-03 7.54620245e+00] [ 7.76051832e-02 9.96984169e-01 -5.70078244e-05 -3.44848822e-02] [ 2.34063169e-03 -1.25014506e-04 9.99997253e-01 -3.40667089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.213617865 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.03, Z:-0.03 [[ 9.96934093e-01 -7.82107588e-02 -2.34325861e-03 7.57435808e+00] [ 7.82108387e-02 9.96936839e-01 -5.76541216e-05 -3.28544944e-02] [ 2.34059000e-03 -1.25790862e-04 9.99997253e-01 -3.34643078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.243617865 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.03, Z:-0.03 [[ 9.96894458e-01 -7.87143550e-02 -2.34325367e-03 7.60239377e+00] [ 7.87144359e-02 9.96897203e-01 -5.78540635e-05 -3.10046997e-02] [ 2.34053698e-03 -1.26773496e-04 9.99997253e-01 -3.30262403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.273617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.03, Z:-0.03 [[ 9.96870818e-01 -7.90131738e-02 -2.34323798e-03 7.63091324e+00] [ 7.90132540e-02 9.96873564e-01 -5.84825992e-05 -2.89911837e-02] [ 2.34053290e-03 -1.26847262e-04 9.99997253e-01 -3.36492702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.303617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.03, Z:-0.03 [[ 9.96849343e-01 -7.92836417e-02 -2.34322218e-03 7.65918785e+00] [ 7.92837212e-02 9.96852089e-01 -5.91090846e-05 -2.79269768e-02] [ 2.34053231e-03 -1.26856522e-04 9.99997253e-01 -3.29385865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.333617864999999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.03, Z:-0.03 [[ 9.96853045e-01 -7.92370837e-02 -2.34320569e-03 7.68672708e+00] [ 7.92371615e-02 9.96855791e-01 -5.97556794e-05 -2.71724941e-02] [ 2.34057303e-03 -1.26101337e-04 9.99997253e-01 -3.33074114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.363617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.02, Z:-0.03 [[ 9.96917867e-01 -7.84173178e-02 -2.34319440e-03 7.71535863e+00] [ 7.84173923e-02 9.96920613e-01 -6.01953002e-05 -2.49398661e-02] [ 2.34069915e-03 -1.23737424e-04 9.99997253e-01 -3.11624383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.393617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.02, Z:-0.03 [[ 9.96973636e-01 -7.77050730e-02 -2.34317970e-03 7.74188954e+00] [ 7.77051443e-02 9.96976382e-01 -6.07619867e-05 -2.30068824e-02] [ 2.34081634e-03 -1.21499018e-04 9.99997253e-01 -3.09202201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.423617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.02, Z:-0.03 [[ 9.97056855e-01 -7.66298705e-02 -2.34316656e-03 7.77008185e+00] [ 7.66299376e-02 9.97059601e-01 -6.12647643e-05 -2.11076169e-02] [ 2.34097142e-03 -1.18472254e-04 9.99997253e-01 -3.04204489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.453617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.02, Z:-0.03 [[ 9.97248920e-01 -7.40884634e-02 -2.34314967e-03 7.79664953e+00] [ 7.40885219e-02 9.97251667e-01 -6.19037660e-05 -1.96370224e-02] [ 2.34129627e-03 -1.11867032e-04 9.99997253e-01 -2.99138238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.483617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.02, Z:-0.03 [[ 9.97323717e-01 -7.30747064e-02 -2.34314232e-03 7.82436164e+00] [ 7.30747615e-02 9.97326464e-01 -6.21809025e-05 -1.90221028e-02] [ 2.34142170e-03 -1.09210077e-04 9.99997253e-01 -2.96714281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.513617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.02, Z:-0.03 [[ 9.97400497e-01 -7.20191542e-02 -2.34312517e-03 7.85268815e+00] [ 7.20192049e-02 9.97403244e-01 -6.28205778e-05 -1.86334984e-02] [ 2.34156493e-03 -1.06092736e-04 9.99997253e-01 -2.97205166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.543617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.02, Z:-0.03 [[ 9.97447608e-01 -7.13637119e-02 -2.34310784e-03 7.88069823e+00] [ 7.13637593e-02 9.97450355e-01 -6.34605542e-05 -1.77422399e-02] [ 2.34166252e-03 -1.03914406e-04 9.99997253e-01 -2.98614368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.573617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.02, Z:-0.03 [[ 9.97576215e-01 -6.95428324e-02 -2.34309023e-03 7.90863572e+00] [ 6.95428733e-02 9.97578962e-01 -6.41041069e-05 -1.53231327e-02] [ 2.34187550e-03 -9.89964948e-05 9.99997253e-01 -3.14917096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.603617864999999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.01, Z:-0.03 [[ 9.97628356e-01 -6.87908007e-02 -2.34307255e-03 7.93676851e+00] [ 6.87908381e-02 9.97631102e-01 -6.47440737e-05 -1.38911338e-02] [ 2.34197584e-03 -9.65914004e-05 9.99997253e-01 -3.22463938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.633617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.01, Z:-0.03 [[ 9.97564812e-01 -6.97062126e-02 -2.34305481e-03 7.96380797e+00] [ 6.97062510e-02 9.97567559e-01 -6.53797385e-05 -1.11609790e-02] [ 2.34191284e-03 -9.81050400e-05 9.99997253e-01 -3.38239246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.663617864999999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.01, Z:-0.03 [[ 9.97775221e-01 -6.66267249e-02 -2.34280675e-03 7.99318887e+00] [ 6.66267343e-02 9.97777968e-01 -7.41517197e-05 -1.27135682e-02] [ 2.34254145e-03 -8.21068144e-05 9.99997253e-01 -3.28916328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.693617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.01, Z:-0.03 [[ 9.97788490e-01 -6.64277052e-02 -2.34303034e-03 8.02046231e+00] [ 6.64277325e-02 9.97791237e-01 -6.62434702e-05 -1.21182962e-02] [ 2.34225554e-03 -8.95452205e-05 9.99997253e-01 -3.34797503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.723617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.01, Z:-0.03 [[ 9.97763362e-01 -6.68040764e-02 -2.34302251e-03 8.04815498e+00] [ 6.68041041e-02 9.97766108e-01 -6.65193877e-05 -1.15378607e-02] [ 2.34223221e-03 -9.01529114e-05 9.99997253e-01 -3.33528600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.753617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.01, Z:-0.03 [[ 9.97541117e-01 -7.00444884e-02 -2.34300445e-03 8.07282397e+00] [ 7.00445235e-02 9.97543864e-01 -6.71494749e-05 -8.54027330e-03] [ 2.34195316e-03 -9.71302680e-05 9.99997253e-01 -3.46168205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.783617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.01, Z:-0.03 [[ 9.97321962e-01 -7.30986807e-02 -2.34250984e-03 8.10113372e+00] [ 7.30986842e-02 9.97324709e-01 -8.42219911e-05 -8.68331105e-03] [ 2.34239946e-03 -8.72379455e-05 9.99997253e-01 -3.42732271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.813617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.01, Z:-0.03 [[ 9.97377616e-01 -7.23353613e-02 -2.34256027e-03 8.13185738e+00] [ 7.23353668e-02 9.97380363e-01 -8.24888144e-05 -1.11273014e-02] [ 2.34239047e-03 -8.71774595e-05 9.99997253e-01 -3.29277578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.843617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.01, Z:-0.03 [[ 9.97044974e-01 -7.67843135e-02 -2.34298234e-03 8.15719949e+00] [ 7.67843654e-02 9.97047720e-01 -6.79315318e-05 -8.66762735e-03] [ 2.34128128e-03 -1.12173620e-04 9.99997253e-01 -3.32262376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.873617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.01, Z:-0.03 [[ 9.96962872e-01 -7.78430716e-02 -2.34250114e-03 8.18868887e+00] [ 7.78430879e-02 9.96965620e-01 -8.43571155e-05 -9.67049725e-03] [ 2.34195972e-03 -9.82466103e-05 9.99997253e-01 -3.17496948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.903617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.01, Z:-0.03 [[ 9.97064087e-01 -7.65357258e-02 -2.34296392e-03 8.21644490e+00] [ 7.65357756e-02 9.97066833e-01 -6.85368944e-05 -1.20641864e-02] [ 2.34133714e-03 -1.10984885e-04 9.99997253e-01 -3.10340414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.933617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.01, Z:-0.03 [[ 9.97106090e-01 -7.59865520e-02 -2.34295837e-03 8.24470774e+00] [ 7.59865998e-02 9.97108837e-01 -6.87261088e-05 -9.79430206e-03] [ 2.34140675e-03 -1.09506218e-04 9.99997253e-01 -3.17051033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.963617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.01, Z:-0.04 [[ 9.97017857e-01 -7.71356166e-02 -2.34294058e-03 8.27205764e+00] [ 7.71356662e-02 9.97020604e-01 -6.93274659e-05 -5.66181648e-03] [ 2.34130764e-03 -1.11603561e-04 9.99997253e-01 -3.50512903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.993617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.01, Z:-0.04 [[ 9.97285886e-01 -7.35892103e-02 -2.34292501e-03 8.30006086e+00] [ 7.35892489e-02 9.97288633e-01 -6.98497475e-05 -6.69369681e-03] [ 2.34171266e-03 -1.02753924e-04 9.99997253e-01 -3.55368585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.023617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.00, Z:-0.04 [[ 9.97402714e-01 -7.19884554e-02 -2.34290710e-03 8.32841120e+00] [ 7.19884882e-02 9.97405460e-01 -7.04452573e-05 -4.63209848e-03] [ 2.34189958e-03 -9.84000494e-05 9.99997253e-01 -3.64073784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.053617865 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.00, Z:-0.04 [[ 9.97489681e-01 -7.07732041e-02 -2.34288922e-03 8.35590976e+00] [ 7.07732322e-02 9.97492428e-01 -7.10350361e-05 -3.58293714e-03] [ 2.34204163e-03 -9.49571271e-05 9.99997253e-01 -3.70047278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.083617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.00, Z:-0.04 [[ 9.97402606e-01 -7.19899531e-02 -2.34287698e-03 8.38433439e+00] [ 7.19899836e-02 9.97405352e-01 -7.14365456e-05 -8.75199097e-04] [ 2.34194075e-03 -9.74126783e-05 9.99997253e-01 -3.66838918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.113617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.00, Z:-0.04 [[ 9.97456515e-01 -7.12391118e-02 -2.34286217e-03 8.41022381e+00] [ 7.12391391e-02 9.97459262e-01 -7.19187166e-05 -1.82625210e-04] [ 2.34203300e-03 -9.51676918e-05 9.99997253e-01 -3.93947689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.143617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.00, Z:-0.04 [[ 9.97483343e-01 -7.08624974e-02 -2.34254508e-03 8.44112569e+00] [ 7.08624995e-02 9.97486090e-01 -8.21839558e-05 -7.29815068e-04] [ 2.34247989e-03 -8.40214729e-05 9.99997253e-01 -3.77580417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.173617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.00, Z:-0.04 [[ 9.97377416e-01 -7.23381061e-02 -2.34284419e-03 8.46944624e+00] [ 7.23381350e-02 9.97380163e-01 -7.25210119e-05 -2.05852369e-04] [ 2.34195235e-03 -9.71461598e-05 9.99997253e-01 -3.73929783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.203617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.00, Z:-0.03 [[ 9.97093449e-01 -7.61522483e-02 -2.34282644e-03 8.49785386e+00] [ 7.61522863e-02 9.97096196e-01 -7.30898851e-05 -9.35968659e-04] [ 2.34158929e-03 -1.05534145e-04 9.99997253e-01 -3.46245581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.233617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:8.53, Y:0.00, Z:-0.03 [[ 9.96982368e-01 -7.75929674e-02 -2.34281819e-03 8.52587192e+00] [ 7.75930088e-02 9.96985115e-01 -7.33536441e-05 1.84327971e-04] [ 2.34144659e-03 -1.08654022e-04 9.99997253e-01 -3.36624574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.263617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:8.55, Y:0.00, Z:-0.03 [[ 9.96797133e-01 -7.99373881e-02 -2.34281269e-03 8.55364872e+00] [ 7.99374356e-02 9.96799880e-01 -7.35286744e-05 1.30540039e-03] [ 2.34119310e-03 -1.13985267e-04 9.99997253e-01 -3.27455056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.293617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.00, Z:-0.03 [[ 9.96521893e-01 -8.32984236e-02 -2.34279418e-03 8.58431037e+00] [ 8.32984790e-02 9.96524640e-01 -7.41138223e-05 -1.34815348e-03] [ 2.34082569e-03 -1.21295145e-04 9.99997253e-01 -3.14920211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.323617865 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:8.61, Y:0.00, Z:-0.03 [[ 9.96257371e-01 -8.64046293e-02 -2.34323061e-03 8.61060826e+00] [ 8.64047257e-02 9.96260117e-01 -6.02843968e-05 1.43129771e-03] [ 2.33967606e-03 -1.42407424e-04 9.99997253e-01 -3.07554228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.353617864999999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:8.64, Y:0.00, Z:-0.03 [[ 9.96170686e-01 -8.73983766e-02 -2.34276325e-03 8.63841312e+00] [ 8.73984414e-02 9.96173432e-01 -7.49023464e-05 3.27967781e-03] [ 2.34034485e-03 -1.30138335e-04 9.99997253e-01 -3.05842041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.383617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:8.67, Y:0.00, Z:-0.03 [[ 9.96166309e-01 -8.74482455e-02 -2.34274284e-03 8.66820727e+00] [ 8.74483089e-02 9.96169056e-01 -7.55353163e-05 3.06964520e-03] [ 2.34037336e-03 -1.29623163e-04 9.99997253e-01 -3.13636448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.413617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:8.69, Y:0.01, Z:-0.03 [[ 9.96085166e-01 -8.83677094e-02 -2.34311495e-03 8.69429902e+00] [ 8.83678025e-02 9.96087911e-01 -6.39889301e-05 5.55557847e-03] [ 2.33960303e-03 -1.43317495e-04 9.99997253e-01 -3.20450919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.443617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.72, Y:0.01, Z:-0.03 [[ 9.96096604e-01 -8.82386931e-02 -2.34271545e-03 8.72184307e+00] [ 8.82387570e-02 9.96099350e-01 -7.62614156e-05 7.33209504e-03] [ 2.34030655e-03 -1.30754562e-04 9.99997253e-01 -3.15613371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.473617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.75, Y:0.01, Z:-0.03 [[ 9.96151766e-01 -8.76137650e-02 -2.34269547e-03 8.75021934e+00] [ 8.76138257e-02 9.96154512e-01 -7.68705106e-05 9.38902580e-03] [ 2.34042157e-03 -1.28677817e-04 9.99997253e-01 -3.09565148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.503617864999999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:8.78, Y:0.01, Z:-0.03 [[ 9.96224017e-01 -8.67883643e-02 -2.34267447e-03 8.77777631e+00] [ 8.67884213e-02 9.96226763e-01 -7.75052500e-05 1.16524202e-02] [ 2.34056155e-03 -1.26104427e-04 9.99997253e-01 -3.07432494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.533617864999998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:8.81, Y:0.02, Z:-0.03 [[ 9.96458055e-01 -8.40586545e-02 -2.34265321e-03 8.80559554e+00] [ 8.40587025e-02 9.96460801e-01 -7.81426085e-05 1.52714827e-02] [ 2.34093065e-03 -1.19054557e-04 9.99997253e-01 -3.04894331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.563617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.83, Y:0.02, Z:-0.03 [[ 9.96545235e-01 -8.30187070e-02 -2.34264660e-03 8.83407596e+00] [ 8.30187516e-02 9.96547982e-01 -7.83400829e-05 1.80774141e-02] [ 2.34106344e-03 -1.16414160e-04 9.99997253e-01 -3.07001667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.593617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.86, Y:0.02, Z:-0.03 [[ 9.96675287e-01 -8.14425240e-02 -2.34262536e-03 8.86140570e+00] [ 8.14425629e-02 9.96678034e-01 -7.89702839e-05 2.06619881e-02] [ 2.34127477e-03 -1.12081683e-04 9.99997253e-01 -3.09481995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.623617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.89, Y:0.02, Z:-0.03 [[ 9.96653573e-01 -8.17078243e-02 -2.34261613e-03 8.88996913e+00] [ 8.17078632e-02 9.96656319e-01 -7.92430246e-05 2.16964847e-02] [ 2.34125795e-03 -1.12432315e-04 9.99997253e-01 -3.08813058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.653617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.92, Y:0.02, Z:-0.03 [[ 9.96686167e-01 -8.13092713e-02 -2.34259487e-03 8.91968064e+00] [ 8.13093077e-02 9.96688913e-01 -7.98665958e-05 2.37428660e-02] [ 2.34133223e-03 -1.10872836e-04 9.99997253e-01 -3.04894346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.683617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:8.95, Y:0.03, Z:-0.03 [[ 9.96867998e-01 -7.90487604e-02 -2.34278365e-03 8.94611455e+00] [ 7.90488035e-02 9.96870744e-01 -7.43441998e-05 2.50376312e-02] [ 2.34132930e-03 -1.11082891e-04 9.99997253e-01 -2.90535303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.713617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.97, Y:0.03, Z:-0.03 [[ 9.96889848e-01 -7.87727265e-02 -2.34256802e-03 8.97366313e+00] [ 7.87727541e-02 9.96892595e-01 -8.06104512e-05 2.71785688e-02] [ 2.34163862e-03 -1.04170794e-04 9.99997253e-01 -2.87158870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.743617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.00, Y:0.03, Z:-0.03 [[ 9.96915347e-01 -7.84493679e-02 -2.34256149e-03 9.00013510e+00] [ 7.84493942e-02 9.96918094e-01 -8.07999396e-05 2.98761908e-02] [ 2.34168064e-03 -1.03221830e-04 9.99997253e-01 -2.86127439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.773617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.03, Y:0.03, Z:-0.03 [[ 9.96980406e-01 -7.76181787e-02 -2.34255241e-03 9.02749470e+00] [ 7.76182021e-02 9.96983153e-01 -8.10622139e-05 3.35765789e-02] [ 2.34177719e-03 -1.01007268e-04 9.99997253e-01 -2.93796947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.803617865 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:9.06, Y:0.03, Z:-0.03 [[ 9.96909534e-01 -7.85232144e-02 -2.34226337e-03 9.05604195e+00] [ 7.85232209e-02 9.96912281e-01 -8.93393804e-05 3.45578396e-02] [ 2.34204633e-03 -9.48587838e-05 9.99997253e-01 -2.91116900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.833617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.08, Y:0.04, Z:-0.03 [[ 9.96887450e-01 -7.88030750e-02 -2.34252525e-03 9.08410428e+00] [ 7.88030998e-02 9.96890197e-01 -8.18438389e-05 3.52161642e-02] [ 2.34169000e-03 -1.03009155e-04 9.99997253e-01 -2.88782574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.863617864999998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:9.11, Y:0.04, Z:-0.03 [[ 9.96863279e-01 -7.91082504e-02 -2.34250451e-03 9.11187328e+00] [ 7.91082747e-02 9.96866026e-01 -8.24331313e-05 3.55000187e-02] [ 2.34168431e-03 -1.03136929e-04 9.99997253e-01 -2.80095701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.893617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.14, Y:0.04, Z:-0.03 [[ 9.96875710e-01 -7.89514510e-02 -2.34248177e-03 9.13924216e+00] [ 7.89514733e-02 9.96878457e-01 -8.30744562e-05 3.59448343e-02] [ 2.34172846e-03 -1.02127479e-04 9.99997253e-01 -2.84723284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.923617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.17, Y:0.04, Z:-0.03 [[ 9.96897169e-01 -7.86800343e-02 -2.34246623e-03 9.16765192e+00] [ 7.86800549e-02 9.96899916e-01 -8.35103255e-05 3.75840047e-02] [ 2.34177498e-03 -1.01054165e-04 9.99997253e-01 -2.89212609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.953617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.19, Y:0.04, Z:-0.03 [[ 9.96650433e-01 -8.17461201e-02 -2.34244342e-03 9.19177665e+00] [ 8.17461476e-02 9.96653180e-01 -8.41453720e-05 4.40099353e-02] [ 2.34148224e-03 -1.07622204e-04 9.99997253e-01 -3.06941944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.983617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:9.22, Y:0.05, Z:-0.03 [[ 9.96604755e-01 -8.23011521e-02 -2.34138347e-03 9.21805323e+00] [ 8.23011128e-02 9.96607502e-01 -1.13279742e-04 4.68270230e-02] [ 2.34276339e-03 -7.98033360e-05 9.99997253e-01 -3.41282355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.013617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:9.25, Y:0.04, Z:-0.03 [[ 9.97054864e-01 -7.66558431e-02 -2.34099579e-03 9.25249663e+00] [ 7.66557635e-02 9.97057610e-01 -1.23831038e-04 4.01894680e-02] [ 2.34360004e-03 -5.59844811e-05 9.99997252e-01 -3.08687933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.043617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.28, Y:0.04, Z:-0.03 [[ 9.96821425e-01 -7.96339071e-02 -2.34240664e-03 9.27752946e+00] [ 7.96339270e-02 9.96824172e-01 -8.49098104e-05 4.36397874e-02] [ 2.34172926e-03 -1.01895121e-04 9.99997253e-01 -3.10536166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.073617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.31, Y:0.04, Z:-0.03 [[ 9.97051908e-01 -7.66942635e-02 -2.34146543e-03 9.30875531e+00] [ 7.66942158e-02 9.97054655e-01 -1.10300997e-04 3.94868251e-02] [ 2.34302846e-03 -6.96010360e-05 9.99997253e-01 -3.13714905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.103617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.33, Y:0.04, Z:-0.03 [[ 9.96551659e-01 -8.29415771e-02 -2.34219842e-03 9.33193223e+00] [ 8.29415932e-02 9.96554406e-01 -9.04313532e-05 4.25877675e-02] [ 2.34162867e-03 -1.04146153e-04 9.99997253e-01 -3.14672021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.133617865 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:9.36, Y:0.04, Z:-0.03 [[ 9.96523684e-01 -8.32770527e-02 -2.34088880e-03 9.36169821e+00] [ 8.32769872e-02 9.96526431e-01 -1.25614076e-04 4.16745070e-02] [ 2.34321833e-03 -6.97647647e-05 9.99997252e-01 -3.24925098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.163617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.39, Y:0.04, Z:-0.03 [[ 9.96464161e-01 -8.39862806e-02 -2.34123936e-03 9.39018682e+00] [ 8.39862391e-02 9.96466908e-01 -1.16219148e-04 4.12782582e-02] [ 2.34272836e-03 -8.08236730e-05 9.99997253e-01 -3.33155906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.193617864999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:9.42, Y:0.04, Z:-0.03 [[ 9.96592458e-01 -8.24499273e-02 -2.34131889e-03 9.42236689e+00] [ 8.24498865e-02 9.96595205e-01 -1.14079787e-04 3.82202274e-02] [ 2.34275305e-03 -7.93504213e-05 9.99997253e-01 -3.11330699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.223617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.45, Y:0.04, Z:-0.03 [[ 9.96312829e-01 -8.57628130e-02 -2.34233844e-03 9.44930130e+00] [ 8.57628462e-02 9.96315576e-01 -8.64580344e-05 3.70922664e-02] [ 2.34112316e-03 -1.14746363e-04 9.99997253e-01 -2.96357595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.253617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.48, Y:0.04, Z:-0.03 [[ 9.96402999e-01 -8.47087847e-02 -2.34192760e-03 9.47809233e+00] [ 8.47087891e-02 9.96405746e-01 -9.74808843e-05 3.61314439e-02] [ 2.34176760e-03 -1.01251606e-04 9.99997253e-01 -2.82977583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.283617864999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:9.50, Y:0.04, Z:-0.03 [[ 9.96309078e-01 -8.58063768e-02 -2.34230322e-03 9.50476690e+00] [ 8.58064078e-02 9.96311825e-01 -8.74161640e-05 3.96995656e-02] [ 2.34116526e-03 -1.13891108e-04 9.99997253e-01 -2.87610951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.313617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.54, Y:0.04, Z:-0.03 [[ 9.96550112e-01 -8.29601729e-02 -2.34176260e-03 9.53517330e+00] [ 8.29601625e-02 9.96552859e-01 -1.01751423e-04 3.90459750e-02] [ 2.34213153e-03 -9.28726140e-05 9.99997253e-01 -2.89490585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.343617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.56, Y:0.04, Z:-0.03 [[ 9.96654322e-01 -8.16986971e-02 -2.34227160e-03 9.56393207e+00] [ 8.16987149e-02 9.96657069e-01 -8.82405153e-05 3.93961824e-02] [ 2.34165068e-03 -1.03415289e-04 9.99997253e-01 -2.93486443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.373617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.59, Y:0.04, Z:-0.03 [[ 9.96671657e-01 -8.14869394e-02 -2.34231580e-03 9.59177086e+00] [ 8.14869594e-02 9.96674404e-01 -8.70710147e-05 4.05476841e-02] [ 2.34162136e-03 -1.04086980e-04 9.99997253e-01 -3.06370504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.403617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.62, Y:0.04, Z:-0.03 [[ 9.96669420e-01 -8.15142984e-02 -2.34224170e-03 9.62007704e+00] [ 8.15143139e-02 9.96672167e-01 -8.90209188e-05 4.21101788e-02] [ 2.34170358e-03 -1.02201797e-04 9.99997253e-01 -3.06605958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.433617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.65, Y:0.04, Z:-0.03 [[ 9.96657013e-01 -8.16658577e-02 -2.34221766e-03 9.64743623e+00] [ 8.16658721e-02 9.96659760e-01 -8.96488860e-05 4.38536238e-02] [ 2.34171534e-03 -1.01930057e-04 9.99997253e-01 -3.19802800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.463617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.67, Y:0.05, Z:-0.03 [[ 9.96206342e-01 -8.69910273e-02 -2.34220721e-03 9.66978954e+00] [ 8.69910558e-02 9.96209089e-01 -8.99209943e-05 5.12241502e-02] [ 2.34115043e-03 -1.14171214e-04 9.99997253e-01 -3.16676386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.493617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:9.70, Y:0.05, Z:-0.03 [[ 9.96486786e-01 -8.37174205e-02 -2.34084161e-03 9.70316165e+00] [ 8.37173579e-02 9.96489533e-01 -1.24885138e-04 4.73114482e-02] [ 2.34307923e-03 -7.15226850e-05 9.99997252e-01 -3.00507548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.523617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.73, Y:0.05, Z:-0.03 [[ 9.96266229e-01 -8.63024613e-02 -2.34207086e-03 9.73242589e+00] [ 8.63024802e-02 9.96268976e-01 -9.31796637e-05 4.81480733e-02] [ 2.34137417e-03 -1.09294772e-04 9.99997253e-01 -2.94186098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.553617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.76, Y:0.05, Z:-0.03 [[ 9.95727509e-01 -9.23105695e-02 -2.34214871e-03 9.76044490e+00] [ 9.23106097e-02 9.95730256e-01 -9.11800612e-05 4.82938719e-02] [ 2.34056521e-03 -1.25414680e-04 9.99997253e-01 -2.83310606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.583617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:9.79, Y:0.05, Z:-0.03 [[ 9.95439967e-01 -9.53613512e-02 -2.34212337e-03 9.78850848e+00] [ 9.53613983e-02 9.95442713e-01 -9.18262013e-05 4.94043555e-02] [ 2.34020631e-03 -1.31940689e-04 9.99997253e-01 -2.79696221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.613617864999998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:9.82, Y:0.05, Z:-0.03 [[ 9.95163162e-01 -9.82079167e-02 -2.34211553e-03 9.81712500e+00] [ 9.82079711e-02 9.95165909e-01 -9.20258661e-05 5.05027362e-02] [ 2.33983120e-03 -1.38433662e-04 9.99997253e-01 -2.66135434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.643617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.84, Y:0.05, Z:-0.03 [[ 9.94932144e-01 -1.00521360e-01 -2.34209340e-03 9.84370076e+00] [ 1.00521419e-01 9.94934890e-01 -9.25856408e-05 5.23430223e-02] [ 2.33953727e-03 -1.43314122e-04 9.99997253e-01 -2.63587312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.673617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.87, Y:0.06, Z:-0.02 [[ 9.94561979e-01 -1.04120048e-01 -2.34191990e-03 9.87232581e+00] [ 1.04120108e-01 9.94564726e-01 -9.69448497e-05 5.57195297e-02] [ 2.33928483e-03 -1.47423290e-04 9.99997253e-01 -2.38761946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.703617864999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:9.90, Y:0.06, Z:-0.02 [[ 9.94457993e-01 -1.05108589e-01 -2.34209261e-03 9.89984078e+00] [ 1.05108661e-01 9.94460739e-01 -9.26108382e-05 5.88628587e-02] [ 2.33885334e-03 -1.54076630e-04 9.99997253e-01 -2.34517194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.733617865 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:9.93, Y:0.06, Z:-0.02 [[ 9.94461436e-01 -1.05076005e-01 -2.34204007e-03 9.92646284e+00] [ 1.05076074e-01 9.94464182e-01 -9.39211649e-05 6.15965724e-02] [ 2.33894382e-03 -1.52691400e-04 9.99997253e-01 -2.33790497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.763617864999999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:9.95, Y:0.06, Z:-0.02 [[ 9.94490668e-01 -1.04798980e-01 -2.34202891e-03 9.95449985e+00] [ 1.04799047e-01 9.94493414e-01 -9.41985278e-05 6.45112369e-02] [ 2.33900424e-03 -1.51762841e-04 9.99997253e-01 -2.33028401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.793617864999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:9.98, Y:0.07, Z:-0.02 [[ 9.94743492e-01 -1.02371387e-01 -2.34200264e-03 9.98289153e+00] [ 1.02371447e-01 9.94746238e-01 -9.48471981e-05 6.89208648e-02] [ 2.33940795e-03 -1.45405565e-04 9.99997253e-01 -2.34785248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.823617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:10.01, Y:0.07, Z:-0.02 [[ 9.94859595e-01 -1.01236859e-01 -2.34197612e-03 1.00100207e+01] [ 1.01236913e-01 9.94862341e-01 -9.54975813e-05 7.14455663e-02] [ 2.33961172e-03 -1.42087748e-04 9.99997253e-01 -2.35005895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.853617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.04, Y:0.07, Z:-0.02 [[ 9.95150855e-01 -9.83325581e-02 -2.34194932e-03 1.00381973e+01] [ 9.83326033e-02 9.95153601e-01 -9.61502361e-05 7.47729663e-02] [ 2.34005400e-03 -1.34605984e-04 9.99997253e-01 -2.47468989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.883617865 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:10.07, Y:0.08, Z:-0.03 [[ 9.95913767e-01 -9.02789283e-02 -2.34192332e-03 1.00704178e+01] [ 9.02789497e-02 9.95916514e-01 -9.67795880e-05 7.63669537e-02] [ 2.34109726e-03 -1.15042253e-04 9.99997253e-01 -2.62324328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.913617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.10, Y:0.08, Z:-0.03 [[ 9.95998299e-01 -8.93414739e-02 -2.34275897e-03 1.00976955e+01] [ 8.93415401e-02 9.96001046e-01 -7.65677613e-05 8.12079980e-02] [ 2.34023107e-03 -1.33044335e-04 9.99997253e-01 -2.57176347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.943617864999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:10.13, Y:0.08, Z:-0.03 [[ 9.96191653e-01 -8.71590725e-02 -2.34242177e-03 1.01275963e+01] [ 8.71591137e-02 9.96194400e-01 -8.46729280e-05 8.38260351e-02] [ 2.34088746e-03 -1.19812941e-04 9.99997253e-01 -2.59931936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.973617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.16, Y:0.09, Z:-0.03 [[ 9.96356427e-01 -8.52548049e-02 -2.34259048e-03 1.01578871e+01] [ 8.52548502e-02 9.96359174e-01 -8.06693750e-05 8.58281049e-02] [ 2.34093897e-03 -1.19341750e-04 9.99997253e-01 -2.55047775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.003617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.18, Y:0.09, Z:-0.03 [[ 9.96335990e-01 -8.54933053e-02 -2.34289646e-03 1.01847401e+01] [ 8.54933683e-02 9.96338737e-01 -7.34466462e-05 9.06856213e-02] [ 2.34059770e-03 -1.27124573e-04 9.99997253e-01 -2.54670507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.033617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.21, Y:0.09, Z:-0.03 [[ 9.96538269e-01 -8.31022989e-02 -2.34238647e-03 1.02128237e+01] [ 8.31023271e-02 9.96541016e-01 -8.54562480e-05 9.11143062e-02] [ 2.34138580e-03 -1.09497345e-04 9.99997253e-01 -2.55928721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.063617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.24, Y:0.09, Z:-0.02 [[ 9.96569129e-01 -8.27314010e-02 -2.34232644e-03 1.02446764e+01] [ 8.27314249e-02 9.96571876e-01 -8.68549405e-05 9.18912269e-02] [ 2.34148228e-03 -1.07227051e-04 9.99997253e-01 -2.36983193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.093617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.27, Y:0.10, Z:-0.02 [[ 9.96293775e-01 -8.59838661e-02 -2.34295859e-03 1.02704393e+01] [ 8.59839336e-02 9.96296521e-01 -7.21230608e-05 9.77766554e-02] [ 2.34048291e-03 -1.29601039e-04 9.99997253e-01 -2.33046452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.123617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.30, Y:0.10, Z:-0.02 [[ 9.96402433e-01 -8.47154534e-02 -2.34178087e-03 1.02984280e+01] [ 8.47154536e-02 9.96405180e-01 -9.92887652e-05 1.01040756e-01] [ 2.34177388e-03 -9.94534618e-05 9.99997253e-01 -2.21784791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.153617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.33, Y:0.10, Z:-0.02 [[ 9.96637456e-01 -8.19041871e-02 -2.34192363e-03 1.03308840e+01] [ 8.19041872e-02 9.96640203e-01 -9.59999140e-05 1.00267312e-01] [ 2.34191804e-03 -9.61362413e-05 9.99997253e-01 -2.08910943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.183617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.35, Y:0.11, Z:-0.02 [[ 9.96370587e-01 -8.50891507e-02 -2.34285125e-03 1.03546056e+01] [ 8.50892094e-02 9.96373334e-01 -7.47742565e-05 1.07073464e-01] [ 2.34071699e-03 -1.24848491e-04 9.99997253e-01 -2.15201090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.213617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.39, Y:0.11, Z:-0.02 [[ 9.96335968e-01 -8.54936035e-02 -2.34158083e-03 1.03854903e+01] [ 8.54935960e-02 9.96338715e-01 -1.03512624e-04 1.07868668e-01] [ 2.34185731e-03 -9.70568150e-05 9.99997253e-01 -2.13097091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.243617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.41, Y:0.11, Z:-0.02 [[ 9.96333887e-01 -8.55178289e-02 -2.34228585e-03 1.04112306e+01] [ 8.55178587e-02 9.96336634e-01 -8.75870380e-05 1.10466133e-01] [ 2.34119546e-03 -1.13041337e-04 9.99997253e-01 -2.17085172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.273617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.44, Y:0.11, Z:-0.02 [[ 9.96272464e-01 -8.62304719e-02 -2.34152418e-03 1.04393978e+01] [ 8.62304638e-02 9.96275211e-01 -1.04632227e-04 1.11778675e-01] [ 2.34182498e-03 -9.76685094e-05 9.99997253e-01 -2.15881206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.303617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.47, Y:0.11, Z:-0.02 [[ 9.96360310e-01 -8.52094503e-02 -2.34149515e-03 1.04715914e+01] [ 8.52094378e-02 9.96363057e-01 -1.05277882e-04 1.10263413e-01] [ 2.34194994e-03 -9.46227823e-05 9.99997253e-01 -2.33363555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.333617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.50, Y:0.11, Z:-0.02 [[ 9.96120084e-01 -8.79732498e-02 -2.34227887e-03 1.04966488e+01] [ 8.79732858e-02 9.96122830e-01 -8.78381568e-05 1.14660717e-01] [ 2.34092487e-03 -1.18560617e-04 9.99997253e-01 -2.38169399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.363617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.53, Y:0.12, Z:-0.02 [[ 9.96047403e-01 -8.87923922e-02 -2.34144890e-03 1.05252899e+01] [ 8.87923876e-02 9.96050150e-01 -1.06146204e-04 1.15896055e-01] [ 2.34162550e-03 -1.02176187e-04 9.99997253e-01 -2.44973648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.393617865 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:10.56, Y:0.11, Z:-0.03 [[ 9.96306757e-01 -8.58333449e-02 -2.34151859e-03 1.05599183e+01] [ 8.58333357e-02 9.96309504e-01 -1.04616969e-04 1.11893851e-01] [ 2.34185685e-03 -9.67497573e-05 9.99997253e-01 -2.57965087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.423617864999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:10.58, Y:0.12, Z:-0.02 [[ 9.96005117e-01 -8.92654217e-02 -2.34327339e-03 1.05848185e+01] [ 8.92655131e-02 9.96007863e-01 -6.57556667e-05 1.15252765e-01] [ 2.33978843e-03 -1.43680521e-04 9.99997252e-01 -2.45307472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.453617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.62, Y:0.11, Z:-0.02 [[ 9.95859287e-01 -9.08779114e-02 -2.34226707e-03 1.06161047e+01] [ 9.08779561e-02 9.95862033e-01 -8.75640342e-05 1.14937214e-01] [ 2.34053248e-03 -1.25658987e-04 9.99997253e-01 -2.33610415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.483617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.64, Y:0.12, Z:-0.02 [[ 9.95408597e-01 -9.56882200e-02 -2.34278569e-03 1.06383784e+01] [ 9.56883039e-02 9.95411343e-01 -7.65126524e-05 1.21586503e-01] [ 2.33935681e-03 -1.48015837e-04 9.99997253e-01 -2.27181163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.513617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.67, Y:0.12, Z:-0.02 [[ 9.95382135e-01 -9.59631375e-02 -2.34113433e-03 1.06669214e+01] [ 9.59631407e-02 9.95384882e-01 -1.11260545e-04 1.23014089e-01] [ 2.34100663e-03 -1.13915844e-04 9.99997253e-01 -2.26631850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.543617864999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:10.70, Y:0.12, Z:-0.02 [[ 9.95581276e-01 -9.38746044e-02 -2.34110343e-03 1.06999233e+01] [ 9.38746002e-02 9.95584023e-01 -1.11906943e-04 1.19735084e-01] [ 2.34127039e-03 -1.08357692e-04 9.99997253e-01 -2.28521761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.573617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.73, Y:0.12, Z:-0.02 [[ 9.95627460e-01 -9.33834840e-02 -2.34236841e-03 1.07278125e+01] [ 9.33835407e-02 9.95630206e-01 -8.53836464e-05 1.19018851e-01] [ 2.34010616e-03 -1.33728353e-04 9.99997253e-01 -2.26200169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.603617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.76, Y:0.12, Z:-0.02 [[ 9.95420320e-01 -9.55662057e-02 -2.34240902e-03 1.07566011e+01] [ 9.55662705e-02 9.95423066e-01 -8.45285682e-05 1.21136259e-01] [ 2.33976604e-03 -1.39713839e-04 9.99997253e-01 -2.21626247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.633617864999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:10.79, Y:0.12, Z:-0.02 [[ 9.95329727e-01 -9.65051743e-02 -2.34203884e-03 1.07850467e+01] [ 9.65052237e-02 9.95332474e-01 -9.21988602e-05 1.23382588e-01] [ 2.34000498e-03 -1.34250716e-04 9.99997253e-01 -2.04814731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.663617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:10.81, Y:0.12, Z:-0.02 [[ 9.95524696e-01 -9.44727327e-02 -2.34166506e-03 1.08126200e+01] [ 9.44727584e-02 9.95527442e-01 -9.98814513e-05 1.24172551e-01] [ 2.34062790e-03 -1.21789106e-04 9.99997253e-01 -2.06661959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.693617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.84, Y:0.13, Z:-0.02 [[ 9.95493281e-01 -9.48031786e-02 -2.34187918e-03 1.08374613e+01] [ 9.48032156e-02 9.95496028e-01 -9.54693871e-05 1.27715498e-01] [ 2.34038222e-03 -1.26978543e-04 9.99997253e-01 -1.99631413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.723617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.86, Y:0.13, Z:-0.02 [[ 9.95505631e-01 -9.46734320e-02 -2.34092132e-03 1.08648235e+01] [ 9.46734226e-02 9.95508378e-01 -1.15065143e-04 1.30204980e-01] [ 2.34130040e-03 -1.07075036e-04 9.99997253e-01 -2.06729041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.753617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.89, Y:0.13, Z:-0.02 [[ 9.95620086e-01 -9.34620992e-02 -2.34093988e-03 1.08943125e+01] [ 9.34620873e-02 9.95622833e-01 -1.14686374e-04 1.31082093e-01] [ 2.34141202e-03 -1.04605070e-04 9.99997253e-01 -2.15588145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.783617864999998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:10.92, Y:0.13, Z:-0.02 [[ 9.95607473e-01 -9.35963555e-02 -2.34126012e-03 1.09205775e+01] [ 9.35963594e-02 9.95610220e-01 -1.08161124e-04 1.33280703e-01] [ 2.34110599e-03 -1.11447400e-04 9.99997253e-01 -2.32139161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.813617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.95, Y:0.13, Z:-0.02 [[ 9.95799789e-01 -9.15275912e-02 -2.34089607e-03 1.09522097e+01] [ 9.15275720e-02 9.95802536e-01 -1.15537320e-04 1.31429929e-01] [ 2.34164509e-03 -9.92044943e-05 9.99997253e-01 -2.39993422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.843617864999999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:10.98, Y:0.13, Z:-0.02 [[ 9.95629849e-01 -9.33580144e-02 -2.34191581e-03 1.09779215e+01] [ 9.33580491e-02 9.95632596e-01 -9.47767613e-05 1.34352552e-01] [ 2.34053589e-03 -1.24274118e-04 9.99997253e-01 -2.37725939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.873617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.01, Y:0.13, Z:-0.03 [[ 9.95797856e-01 -9.15486120e-02 -2.34115410e-03 1.10079017e+01] [ 9.15486055e-02 9.95800603e-01 -1.10167051e-04 1.33305008e-01] [ 2.34140830e-03 -1.04625280e-04 9.99997253e-01 -2.52372329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.903617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.04, Y:0.14, Z:-0.02 [[ 9.95743911e-01 -9.21334834e-02 -2.34194472e-03 1.10359480e+01] [ 9.21335161e-02 9.95746658e-01 -9.41496878e-05 1.35754034e-01] [ 2.34065797e-03 -1.22022623e-04 9.99997253e-01 -2.48270314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.933617864999999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:11.06, Y:0.14, Z:-0.02 [[ 9.95518243e-01 -9.45407028e-02 -2.34160441e-03 1.10625862e+01] [ 9.45407261e-02 9.95520990e-01 -1.00998349e-04 1.39758363e-01] [ 2.34066480e-03 -1.20831282e-04 9.99997253e-01 -2.37679817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.963617864999998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:11.09, Y:0.14, Z:-0.02 [[ 9.95509136e-01 -9.46365661e-02 -2.34103943e-03 1.10895650e+01] [ 9.46365632e-02 9.95511883e-01 -1.12289169e-04 1.42441015e-01] [ 2.34115923e-03 -1.09763032e-04 9.99997253e-01 -2.34528197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.993617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.12, Y:0.14, Z:-0.02 [[ 9.95381960e-01 -9.59649690e-02 -2.34076149e-03 1.11187474e+01] [ 9.59649567e-02 9.95384706e-01 -1.17811414e-04 1.43915593e-01] [ 2.34126396e-03 -1.07363719e-04 9.99997253e-01 -2.26818672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.023617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.15, Y:0.15, Z:-0.02 [[ 9.95209211e-01 -9.77402041e-02 -2.34088705e-03 1.11453286e+01] [ 9.77402026e-02 9.95211957e-01 -1.15325802e-04 1.46402015e-01] [ 2.34095075e-03 -1.14025474e-04 9.99997253e-01 -2.33429093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.053617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.17, Y:0.15, Z:-0.02 [[ 9.95239372e-01 -9.74326098e-02 -2.34051190e-03 1.11735029e+01] [ 9.74325901e-02 9.95242119e-01 -1.22719866e-04 1.46875886e-01] [ 2.34133294e-03 -1.05906494e-04 9.99997253e-01 -2.34221049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.083617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.20, Y:0.15, Z:-0.02 [[ 9.95053777e-01 -9.93101269e-02 -2.34070513e-03 1.12012459e+01] [ 9.93101213e-02 9.95056524e-01 -1.18916374e-04 1.48969012e-01] [ 2.34094351e-03 -1.14127523e-04 9.99997253e-01 -2.39868931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.113617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.23, Y:0.15, Z:-0.02 [[ 9.94832051e-01 -1.01507196e-01 -2.34067453e-03 1.12310330e+01] [ 1.01507195e-01 9.94834798e-01 -1.19515681e-04 1.50728142e-01] [ 2.34071618e-03 -1.18697276e-04 9.99997253e-01 -2.24924846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.143617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.26, Y:0.15, Z:-0.02 [[ 9.94818061e-01 -1.01644201e-01 -2.34119345e-03 1.12564193e+01] [ 1.01644224e-01 9.94820808e-01 -1.09365499e-04 1.52264658e-01] [ 2.34018432e-03 -1.29170017e-04 9.99997253e-01 -2.37746526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.173617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:11.28, Y:0.16, Z:-0.03 [[ 9.93998257e-01 -1.09370870e-01 -2.34063181e-03 1.12775422e+01] [ 1.09370889e-01 9.94001003e-01 -1.20293560e-04 1.60533315e-01] [ 2.33974698e-03 -1.36425394e-04 9.99997253e-01 -2.87618217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.203617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.31, Y:0.15, Z:-0.02 [[ 9.94647303e-01 -1.03301863e-01 -2.33826296e-03 1.13126310e+01] [ 1.03301759e-01 9.94650049e-01 -1.65727382e-04 1.54959383e-01] [ 2.34287332e-03 -7.67063827e-05 9.99997253e-01 -2.30107663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.233617865 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:11.34, Y:0.16, Z:-0.03 [[ 9.94165664e-01 -1.07838555e-01 -2.34058088e-03 1.13355112e+01] [ 1.07838569e-01 9.94168411e-01 -1.20825777e-04 1.61763660e-01] [ 2.33996125e-03 -1.32284054e-04 9.99997254e-01 -2.76602448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.263617864999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:11.37, Y:0.16, Z:-0.02 [[ 9.94785238e-01 -1.01964994e-01 -2.33868992e-03 1.13694972e+01] [ 1.01964906e-01 9.94787984e-01 -1.57026358e-04 1.57385006e-01] [ 2.34251182e-03 -8.22567949e-05 9.99997253e-01 -2.25869724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.293617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.40, Y:0.16, Z:-0.02 [[ 9.94987729e-01 -9.99696978e-02 -2.34054631e-03 1.13976124e+01] [ 9.99696887e-02 9.94990476e-01 -1.21167091e-04 1.59208822e-01] [ 2.34093432e-03 -1.13423917e-04 9.99997254e-01 -2.29334920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.323617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.43, Y:0.16, Z:-0.02 [[ 9.95076812e-01 -9.90790640e-02 -2.34051530e-03 1.14257346e+01] [ 9.90790510e-02 9.95079558e-01 -1.21763174e-04 1.60749949e-01] [ 2.34106311e-03 -1.10732323e-04 9.99997254e-01 -2.23162568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.353617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:11.45, Y:0.16, Z:-0.02 [[ 9.95062634e-01 -9.92213477e-02 -2.34048178e-03 1.14541294e+01] [ 9.92213337e-02 9.95065381e-01 -1.22404105e-04 1.61775256e-01] [ 2.34107749e-03 -1.10425972e-04 9.99997254e-01 -2.24701801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.383617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.48, Y:0.16, Z:-0.02 [[ 9.95202987e-01 -9.78035493e-02 -2.34091225e-03 1.14796134e+01] [ 9.78035507e-02 9.95205734e-01 -1.14152538e-04 1.62172346e-01] [ 2.34085382e-03 -1.15344583e-04 9.99997254e-01 -2.23699239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.413617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.51, Y:0.16, Z:-0.02 [[ 9.95181552e-01 -9.80214289e-02 -2.34045392e-03 1.15079234e+01] [ 9.80214104e-02 9.95184299e-01 -1.22882096e-04 1.63052358e-01] [ 2.34122807e-03 -1.07124600e-04 9.99997254e-01 -2.11415244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.443617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.54, Y:0.16, Z:-0.02 [[ 9.95132373e-01 -9.85194505e-02 -2.34042068e-03 1.15357850e+01] [ 9.85194319e-02 9.95135120e-01 -1.23512000e-04 1.64171445e-01] [ 2.34120315e-03 -1.07666126e-04 9.99997254e-01 -2.12020334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.473617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.56, Y:0.17, Z:-0.02 [[ 9.95041003e-01 -9.94380484e-02 -2.34038730e-03 1.15642897e+01] [ 9.94380309e-02 9.95043749e-01 -1.24141384e-04 1.66143036e-01] [ 2.34113213e-03 -1.09197737e-04 9.99997254e-01 -2.21731440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.503617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.59, Y:0.17, Z:-0.02 [[ 9.95006635e-01 -9.97813556e-02 -2.34035279e-03 1.15913473e+01] [ 9.97813375e-02 9.95009381e-01 -1.24788427e-04 1.68138278e-01] [ 2.34112455e-03 -1.09358219e-04 9.99997254e-01 -2.47875591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.533617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.62, Y:0.17, Z:-0.02 [[ 9.94939042e-01 -1.00453102e-01 -2.34033783e-03 1.16193371e+01] [ 1.00453085e-01 9.94941788e-01 -1.25068373e-04 1.69671543e-01] [ 2.34106342e-03 -1.10658748e-04 9.99997254e-01 -2.34876804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.563617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.65, Y:0.17, Z:-0.02 [[ 9.94893370e-01 -1.00904435e-01 -2.34030386e-03 1.16460246e+01] [ 1.00904418e-01 9.94896116e-01 -1.25700983e-04 1.70466528e-01] [ 2.34104300e-03 -1.11087924e-04 9.99997254e-01 -2.40070934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.593617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.67, Y:0.17, Z:-0.02 [[ 9.94802419e-01 -1.01797204e-01 -2.34028910e-03 1.16726519e+01] [ 1.01797188e-01 9.94805165e-01 -1.25975195e-04 1.70476221e-01] [ 2.34095560e-03 -1.12914421e-04 9.99997254e-01 -2.44797043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.623617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:11.70, Y:0.17, Z:-0.02 [[ 9.94713579e-01 -1.02661673e-01 -2.34027481e-03 1.17010017e+01] [ 1.02661660e-01 9.94716325e-01 -1.26240027e-04 1.72288442e-01] [ 2.34086957e-03 -1.14683827e-04 9.99997254e-01 -2.21141688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.653617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.73, Y:0.17, Z:-0.02 [[ 9.94709672e-01 -1.02699521e-01 -2.34024078e-03 1.17275442e+01] [ 1.02699506e-01 9.94712418e-01 -1.26867759e-04 1.74222853e-01] [ 2.34089582e-03 -1.14144986e-04 9.99997254e-01 -2.22858115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.683617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.76, Y:0.18, Z:-0.02 [[ 9.94556564e-01 -1.04171804e-01 -2.34022600e-03 1.17575711e+01] [ 1.04171792e-01 9.94559310e-01 -1.27139850e-04 1.76570676e-01] [ 2.34073794e-03 -1.17337765e-04 9.99997254e-01 -2.21128546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.713617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.78, Y:0.18, Z:-0.02 [[ 9.94697801e-01 -1.02814418e-01 -2.34086137e-03 1.17834039e+01] [ 1.02814430e-01 9.94700548e-01 -1.15473160e-04 1.78640934e-01] [ 2.34032839e-03 -1.25813428e-04 9.99997254e-01 -2.28109068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.743617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.81, Y:0.18, Z:-0.02 [[ 9.94802458e-01 -1.01796821e-01 -2.34015474e-03 1.18114684e+01] [ 1.01796800e-01 9.94805205e-01 -1.28356344e-04 1.80880135e-01] [ 2.34106438e-03 -1.10531058e-04 9.99997254e-01 -2.27099515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.773617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.84, Y:0.18, Z:-0.02 [[ 9.94887464e-01 -1.00962657e-01 -2.34011973e-03 1.18398096e+01] [ 1.00962632e-01 9.94890210e-01 -1.28991363e-04 1.82468728e-01] [ 2.34118552e-03 -1.07932758e-04 9.99997254e-01 -2.27505099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.803617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.87, Y:0.19, Z:-0.02 [[ 9.94805675e-01 -1.01765384e-01 -2.34008419e-03 1.18665163e+01] [ 1.01765360e-01 9.94808421e-01 -1.29633024e-04 1.86124348e-01] [ 2.34112761e-03 -1.09179842e-04 9.99997254e-01 -2.34408595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.833617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:11.90, Y:0.19, Z:-0.02 [[ 9.94987421e-01 -9.99727915e-02 -2.33938910e-03 1.18953561e+01] [ 9.99727333e-02 9.94990167e-01 -1.42090144e-04 1.85927316e-01] [ 2.34187430e-03 -9.24972166e-05 9.99997254e-01 -2.27216686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.863617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.92, Y:0.19, Z:-0.02 [[ 9.94764870e-01 -1.02163484e-01 -2.34003629e-03 1.19210628e+01] [ 1.02163460e-01 9.94767616e-01 -1.30483831e-04 1.89533912e-01] [ 2.34112300e-03 -1.09265471e-04 9.99997254e-01 -2.30190746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.893617864999998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:11.95, Y:0.19, Z:-0.02 [[ 9.94908732e-01 -1.00752884e-01 -2.33911864e-03 1.19512283e+01] [ 1.00752817e-01 9.94911478e-01 -1.46790251e-04 1.88470476e-01] [ 2.34200552e-03 -8.96298889e-05 9.99997253e-01 -2.28228810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.923617864999999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:11.98, Y:0.19, Z:-0.02 [[ 9.94845471e-01 -1.01375604e-01 -2.33997620e-03 1.19797323e+01] [ 1.01375575e-01 9.94848217e-01 -1.31534487e-04 1.89644728e-01] [ 2.34125554e-03 -1.06359943e-04 9.99997254e-01 -2.24609109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.953617864999998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:12.01, Y:0.19, Z:-0.02 [[ 9.94811961e-01 -1.01703918e-01 -2.33994042e-03 1.20080167e+01] [ 1.01703888e-01 9.94814707e-01 -1.32167816e-04 1.90529885e-01] [ 2.34124913e-03 -1.06498915e-04 9.99997254e-01 -2.17409984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.983617865 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:12.04, Y:0.19, Z:-0.02 [[ 9.94773311e-01 -1.02081262e-01 -2.33992933e-03 1.20365722e+01] [ 1.02081233e-01 9.94776057e-01 -1.32363877e-04 1.91568981e-01] [ 2.34121755e-03 -1.07190818e-04 9.99997254e-01 -2.18887749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.013617864999999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:12.06, Y:0.19, Z:-0.02 [[ 9.94729542e-01 -1.02506890e-01 -2.33989413e-03 1.20647211e+01] [ 1.02506860e-01 9.94732289e-01 -1.32983291e-04 1.92182367e-01] [ 2.34119995e-03 -1.07572792e-04 9.99997254e-01 -2.17629540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.043617864999998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:12.09, Y:0.19, Z:-0.02 [[ 9.94405022e-01 -1.05608606e-01 -2.33985859e-03 1.20900499e+01] [ 1.05608583e-01 9.94407768e-01 -1.33605699e-04 1.93791247e-01] [ 2.34088347e-03 -1.14250973e-04 9.99997254e-01 -2.35416299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.073617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:12.12, Y:0.19, Z:-0.02 [[ 9.94408179e-01 -1.05578900e-01 -2.33875946e-03 1.21177940e+01] [ 1.05578832e-01 9.94410925e-01 -1.52713851e-04 1.94137194e-01] [ 2.34181132e-03 -9.50635896e-05 9.99997253e-01 -2.34801500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.103617864999999 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:12.15, Y:0.19, Z:-0.02 [[ 9.94654806e-01 -1.03229584e-01 -2.33884376e-03 1.21476826e+01] [ 1.03229514e-01 9.94657551e-01 -1.51252230e-04 1.92761368e-01] [ 2.34196231e-03 -9.09939457e-05 9.99997253e-01 -2.14838924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.133617864999998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:12.18, Y:0.19, Z:-0.02 [[ 9.94659788e-01 -1.03181543e-01 -2.33979610e-03 1.21755983e+01] [ 1.03181511e-01 9.94662535e-01 -1.34710972e-04 1.94435974e-01] [ 2.34120721e-03 -1.07432110e-04 9.99997254e-01 -2.22152047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.163617864999999 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:12.20, Y:0.20, Z:-0.02 [[ 9.94789097e-01 -1.01927318e-01 -2.33975928e-03 1.22025538e+01] [ 1.01927281e-01 9.94791843e-01 -1.35347543e-04 1.95170101e-01] [ 2.34136906e-03 -1.03843040e-04 9.99997254e-01 -2.41959839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.193617864999998 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:12.23, Y:0.20, Z:-0.02 [[ 9.94838407e-01 -1.01444913e-01 -2.33974329e-03 1.22302789e+01] [ 1.01444874e-01 9.94841153e-01 -1.35623319e-04 1.95613219e-01] [ 2.34143121e-03 -1.02431676e-04 9.99997254e-01 -2.37258296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.223617864999998 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:12.26, Y:0.20, Z:-0.02 [[ 9.94723804e-01 -1.02562564e-01 -2.33970598e-03 1.22579081e+01] [ 1.02562526e-01 9.94726550e-01 -1.36264038e-04 1.96775987e-01] [ 2.34134324e-03 -1.04421074e-04 9.99997254e-01 -2.44329231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.253617864999999 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:12.29, Y:0.20, Z:-0.02 [[ 9.94812047e-01 -1.01703087e-01 -2.33952145e-03 1.22855425e+01] [ 1.01703040e-01 9.94814793e-01 -1.39423333e-04 1.95707735e-01] [ 2.34157033e-03 -9.92364325e-05 9.99997254e-01 -2.30769637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.283617864999998 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:12.32, Y:0.19, Z:-0.02 [[ 9.94831427e-01 -1.01513337e-01 -2.33965675e-03 1.23171736e+01] [ 1.01513295e-01 9.94834173e-01 -1.37114623e-04 1.92804572e-01] [ 2.34148945e-03 -1.01100330e-04 9.99997254e-01 -2.30094509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.313617864999998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:12.34, Y:0.20, Z:-0.02 [[ 9.94653243e-01 -1.03244604e-01 -2.34061770e-03 1.23419195e+01] [ 1.03244605e-01 9.94655989e-01 -1.20689979e-04 1.96468429e-01] [ 2.34057000e-03 -1.21611472e-04 9.99997253e-01 -2.20312516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.343617864999999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:12.37, Y:0.20, Z:-0.02 [[ 9.94596120e-01 -1.03793469e-01 -2.33961367e-03 1.23686238e+01] [ 1.03793432e-01 9.94598866e-01 -1.37743730e-04 1.98363773e-01] [ 2.34127400e-03 -1.05837152e-04 9.99997254e-01 -2.22014616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.373617864999998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:12.40, Y:0.20, Z:-0.02 [[ 9.94425629e-01 -1.05414397e-01 -2.33958805e-03 1.23952728e+01] [ 1.05414363e-01 9.94428375e-01 -1.38177535e-04 1.98486687e-01] [ 2.34111864e-03 -1.09218900e-04 9.99997254e-01 -2.17963048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.403617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:12.42, Y:0.20, Z:-0.02 [[ 9.94451921e-01 -1.05166077e-01 -2.33956276e-03 1.24216816e+01] [ 1.05166041e-01 9.94454667e-01 -1.38604339e-04 1.98303836e-01] [ 2.34116558e-03 -1.08207202e-04 9.99997254e-01 -2.15229841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.433617864999999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:12.45, Y:0.20, Z:-0.02 [[ 9.94431019e-01 -1.05363558e-01 -2.33878447e-03 1.24501856e+01] [ 1.05363492e-01 9.94433764e-01 -1.51665476e-04 2.00043168e-01] [ 2.34174626e-03 -9.56016465e-05 9.99997254e-01 -2.14608748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.463617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.48, Y:0.20, Z:-0.02 [[ 9.94186779e-01 -1.07643755e-01 -2.33873949e-03 1.24801792e+01] [ 1.07643694e-01 9.94189525e-01 -1.52417169e-04 2.00350302e-01] [ 2.34155706e-03 -1.00219424e-04 9.99997254e-01 -2.07598804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.493617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:12.51, Y:0.20, Z:-0.02 [[ 9.94148624e-01 -1.07995554e-01 -2.33948751e-03 1.25083290e+01] [ 1.07995523e-01 9.94151370e-01 -1.39909196e-04 2.00709370e-01] [ 2.34091429e-03 -1.13563644e-04 9.99997254e-01 -2.05343423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.523617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.54, Y:0.20, Z:-0.02 [[ 9.93999258e-01 -1.09361798e-01 -2.33933671e-03 1.25370038e+01] [ 1.09361765e-01 9.94002004e-01 -1.42424078e-04 2.01597645e-01] [ 2.34088113e-03 -1.14264564e-04 9.99997254e-01 -2.09554349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.553617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.57, Y:0.20, Z:-0.02 [[ 9.94074892e-01 -1.08672145e-01 -2.33944367e-03 1.25663213e+01] [ 1.08672114e-01 9.94077639e-01 -1.40644883e-04 2.03349390e-01] [ 2.34087282e-03 -1.14420743e-04 9.99997254e-01 -2.08931254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.583617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.59, Y:0.20, Z:-0.02 [[ 9.94217294e-01 -1.07361536e-01 -2.33960231e-03 1.25928482e+01] [ 1.07361507e-01 9.94220040e-01 -1.38014779e-04 2.04788364e-01] [ 2.34089698e-03 -1.13966551e-04 9.99997254e-01 -2.02081354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.613617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.62, Y:0.21, Z:-0.02 [[ 9.94320947e-01 -1.06397279e-01 -2.33938794e-03 1.26199234e+01] [ 1.06397239e-01 9.94323693e-01 -1.41557541e-04 2.05317615e-01] [ 2.34117019e-03 -1.08150790e-04 9.99997254e-01 -1.96876600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.643617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.65, Y:0.21, Z:-0.02 [[ 9.94590065e-01 -1.03851482e-01 -2.33936279e-03 1.26468543e+01] [ 1.03851434e-01 9.94592811e-01 -1.41971899e-04 2.06113487e-01] [ 2.34145740e-03 -1.01742341e-04 9.99997254e-01 -1.97554897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.673617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.68, Y:0.21, Z:-0.02 [[ 9.94713028e-01 -1.02667034e-01 -2.33934686e-03 1.26763000e+01] [ 1.02666983e-01 9.94715774e-01 -1.42233937e-04 2.07602601e-01] [ 2.34158796e-03 -9.86917333e-05 9.99997254e-01 -2.17563845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.703617864999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:12.70, Y:0.21, Z:-0.02 [[ 9.94856565e-01 -1.01266687e-01 -2.33955226e-03 1.27048946e+01] [ 1.01266640e-01 9.94859311e-01 -1.38871293e-04 2.08940627e-01] [ 2.34158839e-03 -9.87615782e-05 9.99997254e-01 -2.21677158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.733617864999998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:12.73, Y:0.21, Z:-0.02 [[ 9.95083878e-01 -9.90080877e-02 -2.33984544e-03 1.27304485e+01] [ 9.90080456e-02 9.95086624e-01 -1.34080765e-04 2.10185230e-01] [ 2.34162398e-03 -9.82419167e-05 9.99997254e-01 -2.13889608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.763617864999999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:12.76, Y:0.21, Z:-0.02 [[ 9.95231920e-01 -9.75087366e-02 -2.33923897e-03 1.27607058e+01] [ 9.75086672e-02 9.95234665e-01 -1.43937093e-04 2.10289577e-01] [ 2.34212683e-03 -8.48452846e-05 9.99997254e-01 -2.13805686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.793617864999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:12.79, Y:0.21, Z:-0.02 [[ 9.95291491e-01 -9.68987803e-02 -2.33979874e-03 1.27869656e+01] [ 9.68987306e-02 9.95294237e-01 -1.34847878e-04 2.13112808e-01] [ 2.34185479e-03 -9.25105822e-05 9.99997254e-01 -1.98531852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.823617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.81, Y:0.21, Z:-0.02 [[ 9.95466544e-01 -9.50835844e-02 -2.33919388e-03 1.28148086e+01] [ 9.50835068e-02 9.95469289e-01 -1.44630538e-04 2.14933596e-01] [ 2.34234766e-03 -7.84438956e-05 9.99997254e-01 -1.92753317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.853617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.84, Y:0.22, Z:-0.02 [[ 9.95528079e-01 -9.44371381e-02 -2.33915495e-03 1.28426038e+01] [ 9.44370572e-02 9.95530824e-01 -1.45257537e-04 2.16556176e-01] [ 2.34241856e-03 -7.62949530e-05 9.99997254e-01 -1.94637108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.883617864999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:12.87, Y:0.22, Z:-0.02 [[ 9.95616439e-01 -9.35009911e-02 -2.33911541e-03 1.28737414e+01] [ 9.35009062e-02 9.95619184e-01 -1.45891462e-04 2.17037819e-01] [ 2.34250917e-03 -7.34574723e-05 9.99997254e-01 -2.19052483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.913617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:12.90, Y:0.22, Z:-0.02 [[ 9.95583616e-01 -9.38498225e-02 -2.33984858e-03 1.28992730e+01] [ 9.38497662e-02 9.95586362e-01 -1.34114458e-04 2.19516187e-01] [ 2.34210796e-03 -8.60720851e-05 9.99997254e-01 -1.94404805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.943617864999998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:12.93, Y:0.22, Z:-0.02 [[ 9.95580425e-01 -9.38836885e-02 -2.33909248e-03 1.29292644e+01] [ 9.38836039e-02 9.95583170e-01 -1.46210753e-04 2.19568058e-01] [ 2.34248791e-03 -7.40378680e-05 9.99997254e-01 -2.12423625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.973617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.96, Y:0.22, Z:-0.02 [[ 9.95470782e-01 -9.50391906e-02 -2.33959755e-03 1.29561030e+01] [ 9.50391281e-02 9.95473528e-01 -1.38131346e-04 2.20922189e-01] [ 2.34213532e-03 -8.48475925e-05 9.99997254e-01 -1.87225004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.003617864999999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:12.98, Y:0.22, Z:-0.02 [[ 9.95453284e-01 -9.52223146e-02 -2.33903900e-03 1.29844540e+01] [ 9.52222318e-02 9.95456029e-01 -1.47017862e-04 2.23092190e-01] [ 2.34240985e-03 -7.63790996e-05 9.99997254e-01 -1.92652646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.033617864999998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:13.01, Y:0.23, Z:-0.02 [[ 9.95329381e-01 -9.65088237e-02 -2.33899867e-03 1.30123555e+01] [ 9.65087429e-02 9.95332126e-01 -1.47656716e-04 2.25170273e-01] [ 2.34233069e-03 -7.87667529e-05 9.99997254e-01 -1.97856173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.063617864999998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:13.04, Y:0.23, Z:-0.02 [[ 9.95173551e-01 -9.81026556e-02 -2.33925030e-03 1.30408355e+01] [ 9.81025885e-02 9.95176297e-01 -1.43677661e-04 2.26067474e-01] [ 2.34206161e-03 -8.65023013e-05 9.99997254e-01 -1.94993294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.093617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.07, Y:0.23, Z:-0.02 [[ 9.95100028e-01 -9.88456481e-02 -2.33933962e-03 1.30668755e+01] [ 9.88455863e-02 9.95102773e-01 -1.42268604e-04 2.27248233e-01] [ 2.34194598e-03 -8.96619050e-05 9.99997254e-01 -2.01612459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.123617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.10, Y:0.23, Z:-0.02 [[ 9.94841674e-01 -1.01412889e-01 -2.33854529e-03 1.30971395e+01] [ 1.01412805e-01 9.94844420e-01 -1.54699220e-04 2.28752856e-01] [ 2.34217723e-03 -8.32572059e-05 9.99997254e-01 -1.94750034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.153617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.13, Y:0.23, Z:-0.02 [[ 9.94262240e-01 -1.06944505e-01 -2.33886823e-03 1.31263920e+01] [ 1.06944448e-01 9.94264986e-01 -1.49652082e-04 2.28686491e-01] [ 2.34145926e-03 -1.01335558e-04 9.99997254e-01 -1.70973173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.183617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.15, Y:0.23, Z:-0.02 [[ 9.94131879e-01 -1.08149596e-01 -2.33920540e-03 1.31530782e+01] [ 1.08149555e-01 9.94134625e-01 -1.44393045e-04 2.30620944e-01] [ 2.34110114e-03 -1.09438293e-04 9.99997254e-01 -1.85849655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.213617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.18, Y:0.23, Z:-0.02 [[ 9.93825098e-01 -1.10933337e-01 -2.33881247e-03 1.31819271e+01] [ 1.10933289e-01 9.93827844e-01 -1.50499397e-04 2.32796159e-01] [ 2.34107235e-03 -1.09882081e-04 9.99997254e-01 -1.64845035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.243617865 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:13.21, Y:0.23, Z:-0.02 [[ 9.93742579e-01 -1.11670114e-01 -2.33916562e-03 1.32085378e+01] [ 1.11670081e-01 9.93745326e-01 -1.45022515e-04 2.34763697e-01] [ 2.34072958e-03 -1.17099766e-04 9.99997254e-01 -1.84367384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.273617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:13.24, Y:0.24, Z:-0.02 [[ 9.93351380e-01 -1.15098072e-01 -2.33875657e-03 1.32382287e+01] [ 1.15098034e-01 9.93354126e-01 -1.51343666e-04 2.35909052e-01] [ 2.34063286e-03 -1.18848845e-04 9.99997254e-01 -1.60897047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.303617864999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:13.27, Y:0.24, Z:-0.02 [[ 9.93391740e-01 -1.14749201e-01 -2.33920585e-03 1.32651735e+01] [ 1.14749178e-01 9.93394486e-01 -1.44419306e-04 2.38165400e-01] [ 2.34032619e-03 -1.24957002e-04 9.99997254e-01 -1.60459189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.333617864999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:13.29, Y:0.24, Z:-0.02 [[ 9.93085505e-01 -1.17369972e-01 -2.33867126e-03 1.32927837e+01] [ 1.17369937e-01 9.93088251e-01 -1.52611590e-04 2.42703106e-01] [ 2.34041897e-03 -1.22933340e-04 9.99997254e-01 -1.68575495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.363617864999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:13.32, Y:0.24, Z:-0.02 [[ 9.93460776e-01 -1.14149974e-01 -2.33865839e-03 1.33214106e+01] [ 1.14149930e-01 9.93463522e-01 -1.52808553e-04 2.42614402e-01] [ 2.34081489e-03 -1.15148387e-04 9.99997254e-01 -1.61776567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.393617864999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:13.35, Y:0.25, Z:-0.02 [[ 9.93273879e-01 -1.15764983e-01 -2.33862179e-03 1.33495709e+01] [ 1.15764942e-01 9.93276625e-01 -1.53366529e-04 2.47857586e-01] [ 2.34065284e-03 -1.18395450e-04 9.99997254e-01 -1.64136558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.423617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.38, Y:0.25, Z:-0.02 [[ 9.93673300e-01 -1.12284921e-01 -2.33858315e-03 1.33775276e+01] [ 1.12284869e-01 9.93676046e-01 -1.53953539e-04 2.48241691e-01] [ 2.34108072e-03 -1.09607980e-04 9.99997254e-01 -1.69175309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.453617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:13.40, Y:0.25, Z:-0.02 [[ 9.93856612e-01 -1.10650649e-01 -2.33856953e-03 1.34043935e+01] [ 1.10650592e-01 9.93859358e-01 -1.54160083e-04 2.50591915e-01] [ 2.34126713e-03 -1.05551086e-04 9.99997254e-01 -1.69919430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.483617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:13.43, Y:0.25, Z:-0.02 [[ 9.94307182e-01 -1.06525858e-01 -2.33854007e-03 1.34324649e+01] [ 1.06525788e-01 9.94309928e-01 -1.54605693e-04 2.53954811e-01] [ 2.34170312e-03 -9.53892746e-05 9.99997254e-01 -1.63054597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.513617864999999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:13.46, Y:0.26, Z:-0.02 [[ 9.94476058e-01 -1.04937609e-01 -2.33849865e-03 1.34614790e+01] [ 1.04937534e-01 9.94478803e-01 -1.55229760e-04 2.57070549e-01] [ 2.34187678e-03 -9.10240017e-05 9.99997254e-01 -1.65237918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.543617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:13.49, Y:0.26, Z:-0.02 [[ 9.94735792e-01 -1.02446246e-01 -2.33891753e-03 1.34882079e+01] [ 1.02446178e-01 9.94738538e-01 -1.48936164e-04 2.60520949e-01] [ 2.34186935e-03 -9.14610292e-05 9.99997254e-01 -1.58995495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.573617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.52, Y:0.26, Z:-0.02 [[ 9.94903220e-01 -1.00807316e-01 -2.33840619e-03 1.35156971e+01] [ 1.00807226e-01 9.94905965e-01 -1.56572924e-04 2.63770459e-01] [ 2.34227796e-03 -7.99533360e-05 9.99997254e-01 -1.60004251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.603617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.54, Y:0.27, Z:-0.02 [[ 9.95120685e-01 -9.86374928e-02 -2.33836332e-03 1.35434562e+01] [ 9.86373954e-02 9.95123429e-01 -1.57210620e-04 2.67101813e-01] [ 2.34246699e-03 -7.42065270e-05 9.99997254e-01 -1.60629149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.633617864999998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:13.57, Y:0.27, Z:-0.02 [[ 9.95168995e-01 -9.81488884e-02 -2.33831978e-03 1.35705645e+01] [ 9.81487881e-02 9.95171739e-01 -1.57855555e-04 2.69535512e-01] [ 2.34252311e-03 -7.24102982e-05 9.99997254e-01 -1.61205959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.663617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.60, Y:0.27, Z:-0.02 [[ 9.95131150e-01 -9.85318606e-02 -2.33830087e-03 1.35990135e+01] [ 9.85317607e-02 9.95133894e-01 -1.58135118e-04 2.72201877e-01] [ 2.34250380e-03 -7.30317206e-05 9.99997254e-01 -1.64864819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.693617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.63, Y:0.27, Z:-0.02 [[ 9.94974183e-01 -1.00104483e-01 -2.33825679e-03 1.36263551e+01] [ 1.00104386e-01 9.94976928e-01 -1.58784310e-04 2.74752594e-01] [ 2.34240658e-03 -7.60834696e-05 9.99997254e-01 -1.65659851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.723617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.65, Y:0.28, Z:-0.02 [[ 9.94815476e-01 -1.01669566e-01 -2.33823765e-03 1.36544342e+01] [ 1.01669472e-01 9.94818221e-01 -1.59065587e-04 2.76739652e-01] [ 2.34229355e-03 -7.94864807e-05 9.99997254e-01 -1.66898279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.753617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.68, Y:0.28, Z:-0.02 [[ 9.94631038e-01 -1.03458352e-01 -2.33819441e-03 1.36824985e+01] [ 1.03458262e-01 9.94633783e-01 -1.59698662e-04 2.78903139e-01] [ 2.34216932e-03 -8.30642847e-05 9.99997254e-01 -1.67143078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.783617864999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:13.71, Y:0.28, Z:-0.02 [[ 9.94245944e-01 -1.07095916e-01 -2.33815061e-03 1.37096862e+01] [ 1.07095835e-01 9.94248689e-01 -1.60337507e-04 2.81279639e-01] [ 2.34187467e-03 -9.09912757e-05 9.99997254e-01 -1.70205713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.813617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.74, Y:0.28, Z:-0.02 [[ 9.93983642e-01 -1.09503669e-01 -2.33813160e-03 1.37381796e+01] [ 1.09503593e-01 9.93986387e-01 -1.60614161e-04 2.83469262e-01] [ 2.34165882e-03 -9.63859632e-05 9.99997254e-01 -1.70961998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.843617864999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:13.76, Y:0.29, Z:-0.02 [[ 9.93465973e-01 -1.14104748e-01 -2.33808788e-03 1.37625303e+01] [ 1.14104684e-01 9.93468719e-01 -1.61248177e-04 2.88140738e-01] [ 2.34121635e-03 -1.06592201e-04 9.99997254e-01 -1.69173254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.873617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.79, Y:0.29, Z:-0.02 [[ 9.93402351e-01 -1.14657363e-01 -2.33641265e-03 1.37946002e+01] [ 1.14657244e-01 9.93405095e-01 -1.85392155e-04 2.86270769e-01] [ 2.34226080e-03 -8.37176311e-05 9.99997253e-01 -1.73544290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.903617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.82, Y:0.29, Z:-0.02 [[ 9.93114453e-01 -1.17124795e-01 -2.33805061e-03 1.38203303e+01] [ 1.17124738e-01 9.93117198e-01 -1.61709960e-04 2.90455352e-01] [ 2.34089852e-03 -1.13247067e-04 9.99997254e-01 -1.65513300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.933617864999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.85, Y:0.29, Z:-0.02 [[ 9.93217834e-01 -1.16244886e-01 -2.33685043e-03 1.38516701e+01] [ 1.16244786e-01 9.93220579e-01 -1.78983377e-04 2.90367236e-01] [ 2.34181384e-03 -9.38771958e-05 9.99997254e-01 -1.71816454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.963617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.88, Y:0.29, Z:-0.02 [[ 9.93156783e-01 -1.16765314e-01 -2.33802149e-03 1.38799059e+01] [ 1.16765255e-01 9.93159528e-01 -1.62091931e-04 2.92984478e-01] [ 2.34095503e-03 -1.12016975e-04 9.99997254e-01 -1.80921103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.993617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:13.91, Y:0.30, Z:-0.02 [[ 9.93113221e-01 -1.17135241e-01 -2.33796426e-03 1.39082922e+01] [ 1.17135182e-01 9.93115966e-01 -1.62914386e-04 2.96520132e-01] [ 2.34095265e-03 -1.12065438e-04 9.99997254e-01 -1.80017056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.023617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.93, Y:0.30, Z:-0.02 [[ 9.93138856e-01 -1.16917691e-01 -2.33794093e-03 1.39327925e+01] [ 1.16917630e-01 9.93141602e-01 -1.63248486e-04 3.01109451e-01] [ 2.34099304e-03 -1.11218099e-04 9.99997254e-01 -1.78041491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.053617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.96, Y:0.30, Z:-0.02 [[ 9.93153071e-01 -1.16796910e-01 -2.33644727e-03 1.39643318e+01] [ 1.16796799e-01 9.93155815e-01 -1.84535974e-04 3.02245773e-01] [ 2.34200942e-03 -8.96170928e-05 9.99997253e-01 -1.79998523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.083617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.99, Y:0.31, Z:-0.02 [[ 9.93278841e-01 -1.15722415e-01 -2.33789684e-03 1.39924017e+01] [ 1.15722349e-01 9.93281587e-01 -1.63853051e-04 3.05420726e-01] [ 2.34115136e-03 -1.07795146e-04 9.99997254e-01 -1.80165975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.113617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:14.02, Y:0.31, Z:-0.02 [[ 9.93334741e-01 -1.15241602e-01 -2.33785327e-03 1.40202041e+01] [ 1.15241533e-01 9.93337486e-01 -1.64472421e-04 3.08250602e-01] [ 2.34123136e-03 -1.06041626e-04 9.99997254e-01 -1.77183130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.143617864999996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:14.05, Y:0.31, Z:-0.02 [[ 9.93401985e-01 -1.14660504e-01 -2.33780922e-03 1.40485793e+01] [ 1.14660433e-01 9.93404730e-01 -1.65096158e-04 3.11491122e-01] [ 2.34132075e-03 -1.04047366e-04 9.99997254e-01 -1.75368140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.173617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.08, Y:0.32, Z:-0.02 [[ 9.93555325e-01 -1.13324101e-01 -2.33776480e-03 1.40766358e+01] [ 1.13324024e-01 9.93558070e-01 -1.65722784e-04 3.16406554e-01] [ 2.34148547e-03 -1.00270159e-04 9.99997254e-01 -1.80116519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.203617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:14.10, Y:0.32, Z:-0.02 [[ 9.93596813e-01 -1.12959767e-01 -2.33771940e-03 1.41039237e+01] [ 1.12959688e-01 9.93599558e-01 -1.66360679e-04 3.19770003e-01] [ 2.34154903e-03 -9.87726142e-05 9.99997254e-01 -1.82464395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.233617864999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.13, Y:0.32, Z:-0.02 [[ 9.93591755e-01 -1.13004242e-01 -2.33769971e-03 1.41303178e+01] [ 1.13004162e-01 9.93594501e-01 -1.66637035e-04 3.23240298e-01] [ 2.34155626e-03 -9.86006125e-05 9.99997254e-01 -1.88398081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.263617864999997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:14.16, Y:0.33, Z:-0.02 [[ 9.93446251e-01 -1.14276338e-01 -2.33768104e-03 1.41576783e+01] [ 1.14276261e-01 9.93448996e-01 -1.66898445e-04 3.27755232e-01] [ 2.34143943e-03 -1.01336815e-04 9.99997254e-01 -2.02713240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.293617864999998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.19, Y:0.33, Z:-0.02 [[ 9.93303074e-01 -1.15514239e-01 -2.33763451e-03 1.41860887e+01] [ 1.15514164e-01 9.93305819e-01 -1.67547622e-04 3.30347112e-01] [ 2.34134010e-03 -1.03604328e-04 9.99997254e-01 -2.02759643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.323617864999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.21, Y:0.33, Z:-0.02 [[ 9.93270898e-01 -1.15790583e-01 -2.33758770e-03 1.42145938e+01] [ 1.15790507e-01 9.93273643e-01 -1.68198196e-04 3.32450445e-01] [ 2.34134002e-03 -1.03604093e-04 9.99997254e-01 -2.02092091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.353617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.24, Y:0.33, Z:-0.02 [[ 9.93101886e-01 -1.17231307e-01 -2.33754073e-03 1.42415433e+01] [ 1.17231234e-01 9.93104632e-01 -1.68848526e-04 3.34397035e-01] [ 2.34121685e-03 -1.06348993e-04 9.99997254e-01 -1.91790769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.383617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.27, Y:0.34, Z:-0.02 [[ 9.92586634e-01 -1.21516704e-01 -2.33752034e-03 1.42684409e+01] [ 1.21516642e-01 9.92589380e-01 -1.69130315e-04 3.38464131e-01] [ 2.34075002e-03 -1.16171131e-04 9.99997254e-01 -1.77403226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.413617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.30, Y:0.34, Z:-0.02 [[ 9.92489024e-01 -1.22311393e-01 -2.33691613e-03 1.42972972e+01] [ 1.22311313e-01 9.92491769e-01 -1.77441068e-04 3.41022704e-01] [ 2.34107309e-03 -1.09722968e-04 9.99997254e-01 -1.75626924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.443617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:14.33, Y:0.34, Z:-0.02 [[ 9.92294291e-01 -1.23881301e-01 -2.33745679e-03 1.43255347e+01] [ 1.23881243e-01 9.92297037e-01 -1.70007437e-04 3.44473359e-01] [ 2.34051219e-03 -1.20869644e-04 9.99997254e-01 -1.73149634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.473617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.35, Y:0.35, Z:-0.02 [[ 9.92126044e-01 -1.25221598e-01 -2.33740976e-03 1.43528025e+01] [ 1.25221543e-01 9.92128790e-01 -1.70651584e-04 3.47627412e-01] [ 2.34038079e-03 -1.23386176e-04 9.99997254e-01 -1.69268981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.503617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:14.38, Y:0.35, Z:-0.02 [[ 9.91882390e-01 -1.27137172e-01 -2.33738936e-03 1.43804652e+01] [ 1.27137122e-01 9.91885136e-01 -1.70930561e-04 3.50689207e-01] [ 2.34015339e-03 -1.27625943e-04 9.99997254e-01 -1.73609463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.533617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.41, Y:0.36, Z:-0.02 [[ 9.91522478e-01 -1.29914249e-01 -2.33734295e-03 1.44086263e+01] [ 1.29914204e-01 9.91525224e-01 -1.71562887e-04 3.55910024e-01] [ 2.33982296e-03 -1.33545590e-04 9.99997254e-01 -1.84849913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.563617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.44, Y:0.36, Z:-0.02 [[ 9.91561025e-01 -1.29619715e-01 -2.33729619e-03 1.44369385e+01] [ 1.29619668e-01 9.91563771e-01 -1.72197511e-04 3.57567184e-01] [ 2.33989842e-03 -1.32215216e-04 9.99997254e-01 -1.68420276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.593617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.47, Y:0.36, Z:-0.02 [[ 9.91688290e-01 -1.28642420e-01 -2.33724928e-03 1.44654582e+01] [ 1.28642369e-01 9.91691036e-01 -1.72831970e-04 3.59411928e-01] [ 2.34006268e-03 -1.29273843e-04 9.99997254e-01 -1.72513413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.623617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.49, Y:0.36, Z:-0.02 [[ 9.91713791e-01 -1.28445686e-01 -2.33720547e-03 1.44920319e+01] [ 1.28445633e-01 9.91716537e-01 -1.73422417e-04 3.62041188e-01] [ 2.34012067e-03 -1.28218433e-04 9.99997254e-01 -1.68138241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.653617864999998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.52, Y:0.37, Z:-0.02 [[ 9.91762266e-01 -1.28070864e-01 -2.33717357e-03 1.45200837e+01] [ 1.28070809e-01 9.91765011e-01 -1.73851255e-04 3.65025597e-01] [ 2.34019225e-03 -1.26904593e-04 9.99997254e-01 -1.65049580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.683617864999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:14.55, Y:0.37, Z:-0.02 [[ 9.91808553e-01 -1.27711907e-01 -2.33712716e-03 1.45480178e+01] [ 1.27711850e-01 9.91811299e-01 -1.74472937e-04 3.68788817e-01] [ 2.34027139e-03 -1.25435082e-04 9.99997254e-01 -1.56797409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.713617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.58, Y:0.37, Z:-0.01 [[ 9.92390295e-01 -1.23109879e-01 -2.33680041e-03 1.45763511e+01] [ 1.23109798e-01 9.92393040e-01 -1.78843126e-04 3.71503528e-01] [ 2.34104182e-03 -1.10200845e-04 9.99997254e-01 -1.42596547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.743617864999997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.60, Y:0.37, Z:-0.01 [[ 9.92710386e-01 -1.20501568e-01 -2.33699797e-03 1.46049943e+01] [ 1.20501487e-01 9.92713131e-01 -1.76207250e-04 3.74132684e-01] [ 2.34120183e-03 -1.06688962e-04 9.99997254e-01 -1.38576302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.773617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.63, Y:0.38, Z:-0.01 [[ 9.92863986e-01 -1.19229369e-01 -2.33713522e-03 1.46314049e+01] [ 1.19229288e-01 9.92866731e-01 -1.74379983e-04 3.78443636e-01] [ 2.34125503e-03 -1.05519364e-04 9.99997254e-01 -1.44688005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.803617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.66, Y:0.38, Z:-0.02 [[ 9.93307059e-01 -1.15479989e-01 -2.33644725e-03 1.46600514e+01] [ 1.15479877e-01 9.93309803e-01 -1.83500361e-04 3.80888590e-01] [ 2.34200658e-03 -8.75404372e-05 9.99997254e-01 -1.51603802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.833617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.69, Y:0.39, Z:-0.02 [[ 9.93781279e-01 -1.11325232e-01 -2.33699450e-03 1.46875890e+01] [ 1.11325124e-01 9.93784024e-01 -1.76243918e-04 3.86045090e-01] [ 2.34208819e-03 -8.50182971e-05 9.99997254e-01 -1.61395330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.863617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.72, Y:0.39, Z:-0.02 [[ 9.94080620e-01 -1.08619801e-01 -2.33649394e-03 1.47150270e+01] [ 1.08619670e-01 9.94083364e-01 -1.82863662e-04 3.88370198e-01] [ 2.34253237e-03 -7.20079786e-05 9.99997254e-01 -1.66409443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.893617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.74, Y:0.39, Z:-0.02 [[ 9.94258937e-01 -1.06975255e-01 -2.33681473e-03 1.47425975e+01] [ 1.06975130e-01 9.94261681e-01 -1.78628017e-04 3.91499047e-01] [ 2.34251412e-03 -7.23785571e-05 9.99997254e-01 -1.70452884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.923617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.77, Y:0.39, Z:-0.02 [[ 9.94675649e-01 -1.03028611e-01 -2.33650469e-03 1.47726601e+01] [ 1.03028466e-01 9.94678391e-01 -1.82711593e-04 3.92491844e-01] [ 2.34289525e-03 -5.89877209e-05 9.99997254e-01 -1.69373356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.953617864999995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:14.80, Y:0.39, Z:-0.02 [[ 9.94709291e-01 -1.02703288e-01 -2.33689487e-03 1.48006118e+01] [ 1.02703154e-01 9.94712034e-01 -1.77576873e-04 3.94485465e-01] [ 2.34277518e-03 -6.33691090e-05 9.99997254e-01 -1.50734448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.983617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:14.83, Y:0.40, Z:-0.02 [[ 9.94821836e-01 -1.01607354e-01 -2.33655928e-03 1.48296614e+01] [ 1.01607207e-01 9.94824579e-01 -1.81976321e-04 3.95793788e-01] [ 2.34295673e-03 -5.63772430e-05 9.99997254e-01 -1.61344661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.013617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:14.86, Y:0.40, Z:-0.02 [[ 9.94824496e-01 -1.01581301e-01 -2.33683621e-03 1.48579052e+01] [ 1.01581162e-01 9.94827239e-01 -1.78347798e-04 3.97471163e-01] [ 2.34286511e-03 -5.99537798e-05 9.99997254e-01 -1.62170547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.043617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.89, Y:0.40, Z:-0.02 [[ 9.94815528e-01 -1.01669092e-01 -2.33678723e-03 1.48853282e+01] [ 1.01668952e-01 9.94818271e-01 -1.78987257e-04 3.97662344e-01] [ 2.34287610e-03 -5.95194058e-05 9.99997254e-01 -1.60464032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.073617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.91, Y:0.40, Z:-0.02 [[ 9.94791813e-01 -1.01900873e-01 -2.33676596e-03 1.49121632e+01] [ 1.01900733e-01 9.94794556e-01 -1.79264466e-04 3.98311534e-01] [ 2.34286926e-03 -5.97873408e-05 9.99997254e-01 -1.63453770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.103617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.94, Y:0.40, Z:-0.02 [[ 9.94733524e-01 -1.02468316e-01 -2.33674507e-03 1.49406780e+01] [ 1.02468177e-01 9.94736267e-01 -1.79536391e-04 3.99205968e-01] [ 2.34284186e-03 -6.08511404e-05 9.99997254e-01 -1.65519049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.133617864999998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:14.97, Y:0.40, Z:-0.02 [[ 9.94538850e-01 -1.04340859e-01 -2.33669682e-03 1.49677686e+01] [ 1.04340723e-01 9.94541593e-01 -1.80162223e-04 3.98671265e-01] [ 2.34274046e-03 -6.46343055e-05 9.99997254e-01 -1.81741823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.163617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.00, Y:0.40, Z:-0.02 [[ 9.94347255e-01 -1.06151198e-01 -2.33667589e-03 1.49954076e+01] [ 1.06151067e-01 9.94349998e-01 -1.80433239e-04 3.99300054e-01] [ 2.34262687e-03 -6.86273420e-05 9.99997254e-01 -1.84064031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.193617864999997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:15.02, Y:0.40, Z:-0.02 [[ 9.94116714e-01 -1.08288964e-01 -2.33662818e-03 1.50235481e+01] [ 1.08288837e-01 9.94119457e-01 -1.81048961e-04 3.99741529e-01] [ 2.34249314e-03 -7.30469507e-05 9.99997254e-01 -1.85395717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.223617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.05, Y:0.40, Z:-0.02 [[ 9.93848879e-01 -1.10720129e-01 -2.33658064e-03 1.50518394e+01] [ 1.10720008e-01 9.93851622e-01 -1.81660401e-04 3.99964884e-01] [ 2.34232793e-03 -7.81632406e-05 9.99997254e-01 -1.82735837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.253617864999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:15.08, Y:0.40, Z:-0.02 [[ 9.93361298e-01 -1.15012491e-01 -2.33653304e-03 1.50792255e+01] [ 1.15012380e-01 9.93364042e-01 -1.82270583e-04 3.97008789e-01] [ 2.34199130e-03 -8.76696836e-05 9.99997254e-01 -1.80470656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.283617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.11, Y:0.40, Z:-0.02 [[ 9.93087393e-01 -1.17354037e-01 -2.33651239e-03 1.51077065e+01] [ 1.17353932e-01 9.93090138e-01 -1.82534989e-04 3.96449169e-01] [ 2.34178863e-03 -9.29257186e-05 9.99997254e-01 -1.78547797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.313617864999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:15.14, Y:0.40, Z:-0.02 [[ 9.92843154e-01 -1.19402736e-01 -2.33646518e-03 1.51362791e+01] [ 1.19402635e-01 9.92845898e-01 -1.83137231e-04 3.96028632e-01] [ 2.34161696e-03 -9.71535544e-05 9.99997254e-01 -1.75725341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.343617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.16, Y:0.39, Z:-0.02 [[ 9.92538143e-01 -1.21912168e-01 -2.33641419e-03 1.51632289e+01] [ 1.21912072e-01 9.92540887e-01 -1.83785525e-04 3.94112991e-01] [ 2.34139230e-03 -1.02422952e-04 9.99997254e-01 -1.78665758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.373617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:15.19, Y:0.39, Z:-0.02 [[ 9.92485969e-01 -1.22336190e-01 -2.33639207e-03 1.51913895e+01] [ 1.22336095e-01 9.92488713e-01 -1.84066211e-04 3.94335189e-01] [ 2.34136072e-03 -1.03141951e-04 9.99997254e-01 -1.82639986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.403617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.22, Y:0.39, Z:-0.02 [[ 9.92523188e-01 -1.22033856e-01 -2.33634120e-03 1.52192241e+01] [ 1.22033759e-01 9.92525933e-01 -1.84709753e-04 3.92330643e-01] [ 2.34142007e-03 -1.01783786e-04 9.99997254e-01 -1.89065475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.433617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:15.25, Y:0.39, Z:-0.02 [[ 9.92618496e-01 -1.21256187e-01 -2.33629053e-03 1.52460252e+01] [ 1.21256086e-01 9.92621241e-01 -1.85348395e-04 3.92624057e-01] [ 2.34152624e-03 -9.93092000e-05 9.99997254e-01 -1.89312996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.463617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.27, Y:0.39, Z:-0.02 [[ 9.92753964e-01 -1.20142038e-01 -2.33626921e-03 1.52737292e+01] [ 1.20141934e-01 9.92756708e-01 -1.85616751e-04 3.92836950e-01] [ 2.34164730e-03 -9.64121355e-05 9.99997254e-01 -1.83736851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.493617864999997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:15.30, Y:0.39, Z:-0.02 [[ 9.93053787e-01 -1.17638084e-01 -2.33621843e-03 1.53016158e+01] [ 1.17637971e-01 9.93056531e-01 -1.86253710e-04 3.90631820e-01] [ 2.34190750e-03 -8.98680439e-05 9.99997254e-01 -1.76049082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.523617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:15.33, Y:0.39, Z:-0.02 [[ 9.93181410e-01 -1.16555694e-01 -2.33616763e-03 1.53299700e+01] [ 1.16555577e-01 9.93184153e-01 -1.86888699e-04 3.90990998e-01] [ 2.34202761e-03 -8.66789838e-05 9.99997254e-01 -1.73229395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.553617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.36, Y:0.39, Z:-0.02 [[ 9.93309683e-01 -1.15457422e-01 -2.33611671e-03 1.53570963e+01] [ 1.15457300e-01 9.93312427e-01 -1.87523002e-04 3.92214501e-01] [ 2.34214468e-03 -8.34533137e-05 9.99997254e-01 -1.77720365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.583617864999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:15.38, Y:0.39, Z:-0.02 [[ 9.93626638e-01 -1.12697151e-01 -2.33608207e-03 1.53840204e+01] [ 1.12697021e-01 9.93629381e-01 -1.87953636e-04 3.91572129e-01] [ 2.34238162e-03 -7.65137497e-05 9.99997254e-01 -1.97470127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.613617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.41, Y:0.39, Z:-0.02 [[ 9.93707337e-01 -1.11983352e-01 -2.33606009e-03 1.54125965e+01] [ 1.11983218e-01 9.93710080e-01 -1.88226413e-04 3.91824654e-01] [ 2.34244468e-03 -7.45575590e-05 9.99997254e-01 -1.98321239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.643617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.44, Y:0.39, Z:-0.02 [[ 9.93842627e-01 -1.10776245e-01 -2.33601091e-03 1.54408301e+01] [ 1.10776107e-01 9.93845369e-01 -1.88834802e-04 3.93017700e-01] [ 2.34255203e-03 -7.11021185e-05 9.99997254e-01 -1.85089379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.673617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.47, Y:0.40, Z:-0.02 [[ 9.94060423e-01 -1.08804496e-01 -2.33595950e-03 1.54706223e+01] [ 1.08804351e-01 9.94063166e-01 -1.89468542e-04 3.95968405e-01] [ 2.34270633e-03 -6.58193785e-05 9.99997254e-01 -1.68087800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.703617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.50, Y:0.40, Z:-0.02 [[ 9.94320307e-01 -1.06403325e-01 -2.33643747e-03 1.54972223e+01] [ 1.06403187e-01 9.94323050e-01 -1.83583115e-04 3.97175903e-01] [ 2.34270749e-03 -6.60639746e-05 9.99997254e-01 -1.79514436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.733617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.53, Y:0.40, Z:-0.02 [[ 9.94694458e-01 -1.02846875e-01 -2.33589676e-03 1.55252496e+01] [ 1.02846712e-01 9.94697199e-01 -1.90222918e-04 3.98371504e-01] [ 2.34307380e-03 -5.10256192e-05 9.99997254e-01 -1.70456910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.763617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.55, Y:0.40, Z:-0.02 [[ 9.94809442e-01 -1.01728645e-01 -2.33584637e-03 1.55523901e+01] [ 1.01728477e-01 9.94812184e-01 -1.90839701e-04 4.00320677e-01] [ 2.34314229e-03 -4.77729571e-05 9.99997254e-01 -1.74775981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.793617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.58, Y:0.41, Z:-0.02 [[ 9.94608554e-01 -1.03674338e-01 -2.33581199e-03 1.55753605e+01] [ 1.03674174e-01 9.94611295e-01 -1.91259535e-04 4.05902943e-01] [ 2.34305370e-03 -5.19350106e-05 9.99997254e-01 -2.05849815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.823617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.61, Y:0.40, Z:-0.02 [[ 9.95092507e-01 -9.89214721e-02 -2.33340697e-03 1.56088048e+01] [ 9.89212272e-02 9.95095243e-01 -2.20408647e-04 4.04633246e-01] [ 2.34376533e-03 -1.14964885e-05 9.99997253e-01 -1.75698243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.853617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.64, Y:0.41, Z:-0.02 [[ 9.95157949e-01 -9.82608858e-02 -2.33574822e-03 1.56366261e+01] [ 9.82607059e-02 9.95160689e-01 -1.91913825e-04 4.08110580e-01] [ 2.34330243e-03 -3.85276997e-05 9.99997254e-01 -1.73759344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.883617864999998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:15.66, Y:0.41, Z:-0.02 [[ 9.95207877e-01 -9.77539051e-02 -2.33569592e-03 1.56634003e+01] [ 9.77537224e-02 9.95210617e-01 -1.92548165e-04 4.11591681e-01] [ 2.34333172e-03 -3.66975204e-05 9.99997254e-01 -1.82906406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.913617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:15.69, Y:0.41, Z:-0.02 [[ 9.95070957e-01 -9.91379555e-02 -2.33567321e-03 1.56909926e+01] [ 9.91377760e-02 9.95073698e-01 -1.92823243e-04 4.13253434e-01] [ 2.34328308e-03 -3.96806386e-05 9.99997254e-01 -2.00993524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.943617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.72, Y:0.42, Z:-0.02 [[ 9.94919845e-01 -1.00643167e-01 -2.33565714e-03 1.57186995e+01] [ 1.00642991e-01 9.94922585e-01 -1.93017796e-04 4.15664337e-01] [ 2.34322396e-03 -4.30302847e-05 9.99997254e-01 -1.97503208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.973617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.74, Y:0.42, Z:-0.02 [[ 9.94405449e-01 -1.05604677e-01 -2.33560727e-03 1.57406727e+01] [ 1.05604514e-01 9.94408190e-01 -1.93619347e-04 4.23989893e-01] [ 2.34299410e-03 -5.41145358e-05 9.99997254e-01 -2.16581778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.003617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.78, Y:0.42, Z:-0.02 [[ 9.94543327e-01 -1.04298277e-01 -2.33258799e-03 1.57752818e+01] [ 1.04298025e-01 9.94546062e-01 -2.29796546e-04 4.21732976e-01] [ 2.34383358e-03 -1.47416991e-05 9.99997253e-01 -1.93026308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.033617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.80, Y:0.42, Z:-0.02 [[ 9.94316644e-01 -1.06437568e-01 -2.33556770e-03 1.58037232e+01] [ 1.06437406e-01 9.94319386e-01 -1.93906450e-04 4.23935603e-01] [ 2.34293918e-03 -5.57873571e-05 9.99997254e-01 -1.83849602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.063617864999998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:15.83, Y:0.43, Z:-0.02 [[ 9.93644270e-01 -1.12541596e-01 -2.33551334e-03 1.58253420e+01] [ 1.12541449e-01 9.93647012e-01 -1.94559049e-04 4.32168825e-01] [ 2.34257184e-03 -6.95195728e-05 9.99997254e-01 -2.16581392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.093617864999995 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:15.85, Y:0.43, Z:-0.02 [[ 9.93377809e-01 -1.14869876e-01 -2.33236523e-03 1.58524664e+01] [ 1.14869647e-01 9.93380547e-01 -2.32320303e-04 4.34732403e-01] [ 2.34361285e-03 -3.71361373e-05 9.99997253e-01 -2.14357421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.123617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.89, Y:0.43, Z:-0.02 [[ 9.93766572e-01 -1.11456544e-01 -2.33208745e-03 1.58878761e+01] [ 1.11456298e-01 9.93769308e-01 -2.35648655e-04 4.32054428e-01] [ 2.34382152e-03 -2.57460781e-05 9.99997253e-01 -1.82870507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.153617864999998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:15.92, Y:0.43, Z:-0.02 [[ 9.93589382e-01 -1.13025150e-01 -2.33556947e-03 1.59159619e+01] [ 1.13025006e-01 9.93592125e-01 -1.93653648e-04 4.34838395e-01] [ 2.34249116e-03 -7.15655456e-05 9.99997254e-01 -1.87843596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.183617864999995 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:15.94, Y:0.44, Z:-0.02 [[ 9.93095653e-01 -1.17284139e-01 -2.33551578e-03 1.59402728e+01] [ 1.17284006e-01 9.93098396e-01 -1.94298971e-04 4.42904652e-01] [ 2.34218517e-03 -8.09611827e-05 9.99997254e-01 -2.10428794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.213617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.97, Y:0.44, Z:-0.02 [[ 9.93331116e-01 -1.15272938e-01 -2.33322552e-03 1.59738631e+01] [ 1.15272735e-01 9.93333855e-01 -2.21674713e-04 4.41845514e-01] [ 2.34322500e-03 -4.87608967e-05 9.99997253e-01 -1.94839610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.243617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.00, Y:0.44, Z:-0.02 [[ 9.93301366e-01 -1.15528966e-01 -2.33547543e-03 1.60023411e+01] [ 1.15528828e-01 9.93304109e-01 -1.94684366e-04 4.44287902e-01] [ 2.34232902e-03 -7.64344911e-05 9.99997254e-01 -1.94065136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.273617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.03, Y:0.45, Z:-0.02 [[ 9.92960732e-01 -1.18420991e-01 -2.33542508e-03 1.60264212e+01] [ 1.18420858e-01 9.92963475e-01 -1.95286475e-04 4.49559490e-01] [ 2.34211782e-03 -8.26512411e-05 9.99997254e-01 -2.07981395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.303617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:16.06, Y:0.45, Z:-0.02 [[ 9.93282355e-01 -1.15692351e-01 -2.33303859e-03 1.60596002e+01] [ 1.15692144e-01 9.93285094e-01 -2.23665905e-04 4.49222297e-01] [ 2.34324889e-03 -4.77508401e-05 9.99997253e-01 -1.93009912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.333617864999997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:16.09, Y:0.45, Z:-0.02 [[ 9.93299571e-01 -1.15544400e-01 -2.33537786e-03 1.60862524e+01] [ 1.15544259e-01 9.93302313e-01 -1.95758673e-04 4.53482157e-01] [ 2.34235505e-03 -7.53924974e-05 9.99997254e-01 -2.03986421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.363617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.12, Y:0.46, Z:-0.02 [[ 9.93495181e-01 -1.13850243e-01 -2.33416442e-03 1.61174283e+01] [ 1.13850063e-01 9.93497921e-01 -2.10191180e-04 4.55481055e-01] [ 2.34291781e-03 -5.69208413e-05 9.99997254e-01 -1.95067367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.393617864999996 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:16.14, Y:0.46, Z:-0.02 [[ 9.93618751e-01 -1.12766674e-01 -2.33536802e-03 1.61439206e+01] [ 1.12766525e-01 9.93621494e-01 -1.95838306e-04 4.58344491e-01] [ 2.34255589e-03 -6.87627232e-05 9.99997254e-01 -1.94286787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.423617864999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:16.17, Y:0.46, Z:-0.02 [[ 9.93905458e-01 -1.10211099e-01 -2.33533175e-03 1.61701809e+01] [ 1.10210942e-01 9.93908200e-01 -1.96269805e-04 4.62837769e-01] [ 2.34273649e-03 -6.23054804e-05 9.99997254e-01 -1.97366954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.453617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:16.20, Y:0.47, Z:-0.02 [[ 9.93985389e-01 -1.09487863e-01 -2.33530887e-03 1.61980209e+01] [ 1.09487703e-01 9.93988131e-01 -1.96541670e-04 4.66342045e-01] [ 2.34278823e-03 -6.03280571e-05 9.99997254e-01 -1.96422498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.483617864999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:16.23, Y:0.47, Z:-0.02 [[ 9.94146632e-01 -1.08013985e-01 -2.33525684e-03 1.62274472e+01] [ 1.08013820e-01 9.94149373e-01 -1.97158013e-04 4.68843696e-01] [ 2.34288994e-03 -5.62360374e-05 9.99997254e-01 -2.06438769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.513617864999997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:16.26, Y:0.47, Z:-0.02 [[ 9.94113577e-01 -1.08317790e-01 -2.33498987e-03 1.62566815e+01] [ 1.08317618e-01 9.94116318e-01 -2.00316213e-04 4.71289860e-01] [ 2.34294934e-03 -5.37834722e-05 9.99997254e-01 -1.88416348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.543617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:16.28, Y:0.47, Z:-0.02 [[ 9.94089113e-01 -1.08542075e-01 -2.33523279e-03 1.62846964e+01] [ 1.08541911e-01 9.94091854e-01 -1.97443145e-04 4.73128973e-01] [ 2.34286678e-03 -5.71945473e-05 9.99997254e-01 -1.80378989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.573617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.31, Y:0.48, Z:-0.02 [[ 9.94021314e-01 -1.09161229e-01 -2.33518087e-03 1.63129056e+01] [ 1.09161064e-01 9.94024055e-01 -1.98055264e-04 4.75133487e-01] [ 2.34284591e-03 -5.80396755e-05 9.99997254e-01 -1.73706812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.603617864999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:16.34, Y:0.48, Z:-0.02 [[ 9.93686074e-01 -1.12171892e-01 -2.33512648e-03 1.63377856e+01] [ 1.12171735e-01 9.93688816e-01 -1.98694422e-04 4.78446728e-01] [ 2.34267700e-03 -6.44953086e-05 9.99997254e-01 -1.91276254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.633617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.37, Y:0.48, Z:-0.02 [[ 9.93687154e-01 -1.12162369e-01 -2.33301304e-03 1.63711666e+01] [ 1.12162154e-01 9.93689892e-01 -2.23413496e-04 4.78031884e-01] [ 2.34335006e-03 -3.96726458e-05 9.99997254e-01 -1.76807684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.663617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.40, Y:0.48, Z:-0.02 [[ 9.93656995e-01 -1.12429190e-01 -2.33508448e-03 1.63996441e+01] [ 1.12429032e-01 9.93659737e-01 -1.99121875e-04 4.80515186e-01] [ 2.34266654e-03 -6.46724439e-05 9.99997254e-01 -1.76044204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.693617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.43, Y:0.48, Z:-0.02 [[ 9.93524658e-01 -1.13592698e-01 -2.33503083e-03 1.64272786e+01] [ 1.13592542e-01 9.93527400e-01 -1.99749013e-04 4.82497074e-01] [ 2.34260714e-03 -6.67865195e-05 9.99997254e-01 -1.76112083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.723617864999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.46, Y:0.48, Z:-0.02 [[ 9.93389290e-01 -1.14770492e-01 -2.33497628e-03 1.64557187e+01] [ 1.14770338e-01 9.93392032e-01 -2.00384654e-04 4.83962541e-01] [ 2.34254508e-03 -6.89260471e-05 9.99997254e-01 -1.73091688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.753617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:16.48, Y:0.49, Z:-0.02 [[ 9.93389966e-01 -1.14764641e-01 -2.33492066e-03 1.64840053e+01] [ 1.14764486e-01 9.93392708e-01 -2.01030665e-04 4.85420163e-01] [ 2.34256437e-03 -6.82641232e-05 9.99997254e-01 -1.76140063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.783617864999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:16.51, Y:0.49, Z:-0.02 [[ 9.93448787e-01 -1.14254361e-01 -2.33440422e-03 1.65138475e+01] [ 1.14254190e-01 9.93451527e-01 -2.07014878e-04 4.87327559e-01] [ 2.34276979e-03 -6.10567839e-05 9.99997254e-01 -1.59132088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.813617864999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:16.54, Y:0.49, Z:-0.02 [[ 9.93536908e-01 -1.13485510e-01 -2.33487145e-03 1.65425247e+01] [ 1.13485350e-01 9.93539649e-01 -2.01603626e-04 4.89209891e-01] [ 2.34266646e-03 -6.46730601e-05 9.99997254e-01 -1.56072974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.843617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.57, Y:0.49, Z:-0.02 [[ 9.93572092e-01 -1.13177059e-01 -2.33482349e-03 1.65690750e+01] [ 1.13176896e-01 9.93574833e-01 -2.02157568e-04 4.92519073e-01] [ 2.34270146e-03 -6.33899585e-05 9.99997254e-01 -1.63837429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.873617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.60, Y:0.49, Z:-0.02 [[ 9.93624871e-01 -1.12712752e-01 -2.33478615e-03 1.65976960e+01] [ 1.12712587e-01 9.93627612e-01 -2.02587962e-04 4.94938183e-01] [ 2.34274223e-03 -6.18633489e-05 9.99997254e-01 -1.80757753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.903617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.62, Y:0.50, Z:-0.02 [[ 9.93716838e-01 -1.11899036e-01 -2.33482698e-03 1.66244914e+01] [ 1.11898870e-01 9.93719579e-01 -2.02117778e-04 4.97890298e-01] [ 2.34278007e-03 -6.04166603e-05 9.99997254e-01 -1.89697711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.933617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.65, Y:0.50, Z:-0.02 [[ 9.93680533e-01 -1.12220980e-01 -2.33471309e-03 1.66525370e+01] [ 1.12220812e-01 9.93683273e-01 -2.03424861e-04 5.01764694e-01] [ 2.34279389e-03 -5.98640749e-05 9.99997254e-01 -1.64350475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.963617864999996 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:16.68, Y:0.50, Z:-0.02 [[ 9.93682203e-01 -1.12206184e-01 -2.33468587e-03 1.66807871e+01] [ 1.12206015e-01 9.93684944e-01 -2.03736832e-04 5.04197040e-01] [ 2.34280273e-03 -5.95161342e-05 9.99997254e-01 -1.81459289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.993617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.71, Y:0.51, Z:-0.02 [[ 9.93296063e-01 -1.15574568e-01 -2.33447430e-03 1.67087726e+01] [ 1.15574402e-01 9.93298805e-01 -2.06155672e-04 5.07541979e-01] [ 2.34265689e-03 -6.50318543e-05 9.99997254e-01 -1.56827398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.023617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.74, Y:0.51, Z:-0.02 [[ 9.93074742e-01 -1.17461082e-01 -2.33461115e-03 1.67370640e+01] [ 1.17460925e-01 9.93077484e-01 -2.04594105e-04 5.11140434e-01] [ 2.34248161e-03 -7.10483471e-05 9.99997254e-01 -1.55832528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.053617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:16.76, Y:0.51, Z:-0.02 [[ 9.92846972e-01 -1.19371017e-01 -2.33455815e-03 1.67638628e+01] [ 1.19370865e-01 9.92849714e-01 -2.05197141e-04 5.14419323e-01] [ 2.34235998e-03 -7.49488636e-05 9.99997254e-01 -1.59420146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.083617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.79, Y:0.52, Z:-0.02 [[ 9.92396185e-01 -1.23062430e-01 -2.33452217e-03 1.67903732e+01] [ 1.23062286e-01 9.92398928e-01 -2.05605617e-04 5.16632552e-01] [ 2.34207962e-03 -8.32494051e-05 9.99997254e-01 -1.58956522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.113617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.82, Y:0.52, Z:-0.01 [[ 9.92155894e-01 -1.24984924e-01 -2.33448652e-03 1.68186214e+01] [ 1.24984785e-01 9.92158637e-01 -2.06009624e-04 5.19305143e-01] [ 2.34192906e-03 -8.73816332e-05 9.99997254e-01 -1.41476811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.143617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:16.85, Y:0.52, Z:-0.02 [[ 9.91950859e-01 -1.26601913e-01 -2.33443107e-03 1.68450844e+01] [ 1.26601776e-01 9.91953601e-01 -2.06636011e-04 5.21911552e-01] [ 2.34180782e-03 -9.05703521e-05 9.99997254e-01 -1.56558914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.173617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.87, Y:0.52, Z:-0.01 [[ 9.91714429e-01 -1.28440814e-01 -2.33440703e-03 1.68728472e+01] [ 1.28440682e-01 9.91717172e-01 -2.06907319e-04 5.24861953e-01] [ 2.34164688e-03 -9.46398558e-05 9.99997254e-01 -1.33315552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.203617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.90, Y:0.53, Z:-0.01 [[ 9.91399231e-01 -1.30851501e-01 -2.33434943e-03 1.69008800e+01] [ 1.30851374e-01 9.91401974e-01 -2.07555041e-04 5.28274912e-01] [ 2.34143753e-03 -9.96829238e-05 9.99997254e-01 -1.40694704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.233617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.93, Y:0.53, Z:-0.01 [[ 9.91306132e-01 -1.31554946e-01 -2.33429207e-03 1.69279703e+01] [ 1.31554820e-01 9.91308875e-01 -2.08198173e-04 5.31427143e-01] [ 2.34139395e-03 -1.00699247e-04 9.99997254e-01 -1.46021582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.263617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.96, Y:0.53, Z:-0.01 [[ 9.91243447e-01 -1.32026435e-01 -2.33426721e-03 1.69556841e+01] [ 1.32026310e-01 9.91246190e-01 -2.08476527e-04 5.34428010e-01] [ 2.34135789e-03 -1.01533695e-04 9.99997254e-01 -1.47468619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.293617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.98, Y:0.54, Z:-0.01 [[ 9.91165145e-01 -1.32612996e-01 -2.33421023e-03 1.69847709e+01] [ 1.32612871e-01 9.91167888e-01 -2.09112635e-04 5.36236688e-01] [ 2.34132527e-03 -1.02281164e-04 9.99997254e-01 -1.34657656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.323617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.01, Y:0.54, Z:-0.01 [[ 9.91133120e-01 -1.32852140e-01 -2.33415972e-03 1.70126199e+01] [ 1.32852014e-01 9.91135863e-01 -2.09674914e-04 5.38667605e-01] [ 2.34132517e-03 -1.02282068e-04 9.99997254e-01 -1.33913228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.353617864999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:17.04, Y:0.54, Z:-0.01 [[ 9.91087727e-01 -1.33190346e-01 -2.33414183e-03 1.70403077e+01] [ 1.33190220e-01 9.91090471e-01 -2.09873899e-04 5.41603228e-01] [ 2.34129890e-03 -1.02881419e-04 9.99997254e-01 -1.29424592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.383617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.07, Y:0.55, Z:-0.01 [[ 9.91201461e-01 -1.32341287e-01 -2.33408474e-03 1.70682066e+01] [ 1.32341158e-01 9.91204204e-01 -2.10506829e-04 5.45790264e-01] [ 2.34141335e-03 -1.00240800e-04 9.99997254e-01 -1.28828548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.413617864999996 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:17.10, Y:0.55, Z:-0.01 [[ 9.91301534e-01 -1.31589595e-01 -2.33402777e-03 1.70959867e+01] [ 1.31589462e-01 9.91304277e-01 -2.11136632e-04 5.48908618e-01] [ 2.34151509e-03 -9.78333915e-05 9.99997254e-01 -1.26175484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.443617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.12, Y:0.55, Z:-0.01 [[ 9.91518414e-01 -1.29945322e-01 -2.33396993e-03 1.71228484e+01] [ 1.29945183e-01 9.91521157e-01 -2.11774113e-04 5.51696134e-01] [ 2.34169962e-03 -9.33102175e-05 9.99997254e-01 -1.22810537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.473617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.15, Y:0.55, Z:-0.01 [[ 9.91562655e-01 -1.29607310e-01 -2.33393058e-03 1.71503470e+01] [ 1.29607169e-01 9.91565397e-01 -2.12206869e-04 5.54702495e-01] [ 2.34174836e-03 -9.20777296e-05 9.99997254e-01 -1.16883949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.503617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.18, Y:0.56, Z:-0.01 [[ 9.91518100e-01 -1.29947720e-01 -2.33387342e-03 1.71801239e+01] [ 1.29947578e-01 9.91520843e-01 -2.12833696e-04 5.57914139e-01] [ 2.34174139e-03 -9.22527366e-05 9.99997254e-01 -9.98055491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.533617864999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:17.21, Y:0.56, Z:-0.01 [[ 9.91642654e-01 -1.28993791e-01 -2.33432924e-03 1.72079199e+01] [ 1.28993659e-01 9.91645397e-01 -2.07840524e-04 5.61332050e-01] [ 2.34163698e-03 -9.50101404e-05 9.99997254e-01 -1.09262473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.563617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.24, Y:0.56, Z:-0.01 [[ 9.91692406e-01 -1.28610752e-01 -2.33380074e-03 1.72352357e+01] [ 1.28610605e-01 9.91695148e-01 -2.13614508e-04 5.64884881e-01] [ 2.34189200e-03 -8.83116401e-05 9.99997254e-01 -1.00798707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.593617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.26, Y:0.57, Z:-0.01 [[ 9.91695479e-01 -1.28587048e-01 -2.33388671e-03 1.72638025e+01] [ 1.28586903e-01 9.91698222e-01 -2.12677126e-04 5.68329771e-01] [ 2.34185883e-03 -8.91963209e-05 9.99997254e-01 -1.32331870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.623617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.29, Y:0.57, Z:-0.01 [[ 9.91795627e-01 -1.27812320e-01 -2.33343139e-03 1.72929277e+01] [ 1.27812162e-01 9.91798369e-01 -2.17628869e-04 5.71155853e-01] [ 2.34210909e-03 -8.23975490e-05 9.99997254e-01 -1.35926581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.653617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.32, Y:0.58, Z:-0.01 [[ 9.91814932e-01 -1.27662425e-01 -2.33356153e-03 1.73220207e+01] [ 1.27662269e-01 9.91817674e-01 -2.16215032e-04 5.75661811e-01] [ 2.34207010e-03 -8.34624627e-05 9.99997254e-01 -1.27260418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.683617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:17.35, Y:0.58, Z:-0.02 [[ 9.91811057e-01 -1.27692523e-01 -2.33370009e-03 1.73496317e+01] [ 1.27692370e-01 9.91813799e-01 -2.14711905e-04 5.78537763e-01] [ 2.34201306e-03 -8.50420551e-05 9.99997254e-01 -1.51966964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.713617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:17.38, Y:0.58, Z:-0.01 [[ 9.91477135e-01 -1.30259916e-01 -2.33346262e-03 1.73780655e+01] [ 1.30259765e-01 9.91479877e-01 -2.17281461e-04 5.80437122e-01] [ 2.34188430e-03 -8.85266918e-05 9.99997254e-01 -1.28397428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.743617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.41, Y:0.58, Z:-0.01 [[ 9.91255193e-01 -1.31938227e-01 -2.33358279e-03 1.74061344e+01] [ 1.31938084e-01 9.91257936e-01 -2.15983163e-04 5.81937202e-01] [ 2.34167889e-03 -9.37940095e-05 9.99997254e-01 -1.27762654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.773617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:17.43, Y:0.59, Z:-0.01 [[ 9.90773158e-01 -1.35510533e-01 -2.33352391e-03 1.74317527e+01] [ 1.35510398e-01 9.90775901e-01 -2.16617433e-04 5.85731773e-01] [ 2.34135319e-03 -1.01598015e-04 9.99997254e-01 -1.39496724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.803617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.46, Y:0.59, Z:-0.01 [[ 9.90866819e-01 -1.34823991e-01 -2.33202818e-03 1.74619443e+01] [ 1.34823817e-01 9.90869560e-01 -2.32641161e-04 5.86051435e-01] [ 2.34210134e-03 -8.38965323e-05 9.99997254e-01 -1.20466710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.833617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.49, Y:0.59, Z:-0.01 [[ 9.90662829e-01 -1.36314760e-01 -2.33344054e-03 1.74893879e+01] [ 1.36314625e-01 9.90665572e-01 -2.17487796e-04 5.89151291e-01] [ 2.34130601e-03 -1.02624998e-04 9.99997254e-01 -1.19802376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.863617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:17.52, Y:0.59, Z:-0.01 [[ 9.90601142e-01 -1.36762324e-01 -2.33341339e-03 1.75175928e+01] [ 1.36762190e-01 9.90603885e-01 -2.17778746e-04 5.91818252e-01] [ 2.34127230e-03 -1.03390850e-04 9.99997254e-01 -1.17032704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.893617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.55, Y:0.59, Z:-0.02 [[ 9.90614837e-01 -1.36663092e-01 -2.33335444e-03 1.75460426e+01] [ 1.36662956e-01 9.90617579e-01 -2.18408516e-04 5.93686262e-01] [ 2.34131031e-03 -1.02524400e-04 9.99997254e-01 -1.54098076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.923617864999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:17.57, Y:0.60, Z:-0.01 [[ 9.90712685e-01 -1.35951941e-01 -2.33344865e-03 1.75738041e+01] [ 1.35951805e-01 9.90715428e-01 -2.17403304e-04 5.95592350e-01] [ 2.34133998e-03 -1.01852346e-04 9.99997254e-01 -1.34258968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.953617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:17.60, Y:0.60, Z:-0.01 [[ 9.90841019e-01 -1.35013449e-01 -2.33329895e-03 1.76003563e+01] [ 1.35013307e-01 9.90843761e-01 -2.18998270e-04 5.97672040e-01] [ 2.34150242e-03 -9.80339378e-05 9.99997254e-01 -1.34163038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.983617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.63, Y:0.60, Z:-0.01 [[ 9.90943475e-01 -1.34259397e-01 -2.33327435e-03 1.76287097e+01] [ 1.34259252e-01 9.90946217e-01 -2.19260146e-04 6.00350846e-01] [ 2.34158712e-03 -9.59892583e-05 9.99997254e-01 -1.18107651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.013617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.66, Y:0.60, Z:-0.01 [[ 9.91291267e-01 -1.31666930e-01 -2.33321428e-03 1.76561581e+01] [ 1.31666776e-01 9.91294009e-01 -2.19897420e-04 6.03071163e-01] [ 2.34185456e-03 -8.92244111e-05 9.99997254e-01 -1.22830141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.043617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.68, Y:0.61, Z:-0.01 [[ 9.91448313e-01 -1.30479109e-01 -2.33319566e-03 1.76843258e+01] [ 1.30478952e-01 9.91451055e-01 -2.20094861e-04 6.06611668e-01] [ 2.34196708e-03 -8.62202458e-05 9.99997254e-01 -1.03941231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.073617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.71, Y:0.61, Z:-0.01 [[ 9.91678145e-01 -1.28720682e-01 -2.33313618e-03 1.77124803e+01] [ 1.28720518e-01 9.91680886e-01 -2.20723613e-04 6.10094789e-01] [ 2.34213825e-03 -8.14357152e-05 9.99997254e-01 -9.65498444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.103617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.74, Y:0.61, Z:-0.01 [[ 9.91862949e-01 -1.27288832e-01 -2.33311731e-03 1.77398307e+01] [ 1.27288664e-01 9.91865690e-01 -2.20922850e-04 6.13768290e-01] [ 2.34226002e-03 -7.78541951e-05 9.99997254e-01 -9.76481766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.133617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.77, Y:0.62, Z:-0.01 [[ 9.91828281e-01 -1.27558680e-01 -2.33309854e-03 1.77682817e+01] [ 1.27558512e-01 9.91831022e-01 -2.21120874e-04 6.16527904e-01] [ 2.34224540e-03 -7.82926426e-05 9.99997254e-01 -9.69790286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.163617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:17.80, Y:0.62, Z:-0.01 [[ 9.92126405e-01 -1.25218825e-01 -2.33303821e-03 1.77961529e+01] [ 1.25218650e-01 9.92129145e-01 -2.21755616e-04 6.20376406e-01] [ 2.34244318e-03 -7.21302921e-05 9.99997254e-01 -1.04393671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.193617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.82, Y:0.62, Z:-0.01 [[ 9.92171290e-01 -1.24862679e-01 -2.33301952e-03 1.78238373e+01] [ 1.24862502e-01 9.92174030e-01 -2.21952104e-04 6.23195408e-01] [ 2.34247491e-03 -7.10921489e-05 9.99997254e-01 -9.65046473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.223617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.85, Y:0.63, Z:-0.01 [[ 9.92158254e-01 -1.24966218e-01 -2.33295850e-03 1.78510280e+01] [ 1.24966039e-01 9.92160995e-01 -2.22591658e-04 6.26750857e-01] [ 2.34248686e-03 -7.06944329e-05 9.99997254e-01 -1.06289371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.253617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:17.88, Y:0.63, Z:-0.01 [[ 9.92114120e-01 -1.25316119e-01 -2.33291700e-03 1.78774257e+01] [ 1.25315940e-01 9.92116861e-01 -2.23025750e-04 6.30001139e-01] [ 2.34247501e-03 -7.10846915e-05 9.99997254e-01 -1.10252753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.283617864999997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:17.91, Y:0.63, Z:-0.01 [[ 9.92040495e-01 -1.25897631e-01 -2.33289128e-03 1.79054222e+01] [ 1.25897453e-01 9.92043236e-01 -2.23294496e-04 6.33275832e-01] [ 2.34244126e-03 -7.21878882e-05 9.99997254e-01 -1.08843088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.313617864999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:17.93, Y:0.64, Z:-0.01 [[ 9.91970014e-01 -1.26451768e-01 -2.33283067e-03 1.79324636e+01] [ 1.26451591e-01 9.91972754e-01 -2.23925901e-04 6.36437886e-01] [ 2.34242029e-03 -7.28623700e-05 9.99997254e-01 -1.14639365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.343617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.96, Y:0.64, Z:-0.01 [[ 9.91859544e-01 -1.27315365e-01 -2.33278945e-03 1.79603136e+01] [ 1.27315190e-01 9.91862285e-01 -2.24354432e-04 6.39528700e-01] [ 2.34236964e-03 -7.44714470e-05 9.99997254e-01 -9.92722891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.373617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.99, Y:0.64, Z:-0.01 [[ 9.91748024e-01 -1.28181179e-01 -2.33272884e-03 1.79884163e+01] [ 1.28181004e-01 9.91750765e-01 -2.24982926e-04 6.42465614e-01] [ 2.34232419e-03 -7.58851517e-05 9.99997254e-01 -1.01952243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.403617864999998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.02, Y:0.65, Z:-0.01 [[ 9.91656838e-01 -1.28884736e-01 -2.33266755e-03 1.80159178e+01] [ 1.28884562e-01 9.91659578e-01 -2.25616593e-04 6.45249667e-01] [ 2.34229065e-03 -7.69105975e-05 9.99997254e-01 -1.00331784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.433617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:18.04, Y:0.65, Z:-0.01 [[ 9.91355546e-01 -1.31182088e-01 -2.33260435e-03 1.80425454e+01] [ 1.31181919e-01 9.91358287e-01 -2.26268147e-04 6.48093258e-01] [ 2.34212898e-03 -8.16833320e-05 9.99997254e-01 -1.09205826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.463617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:18.07, Y:0.65, Z:-0.01 [[ 9.91182714e-01 -1.32481646e-01 -2.33257691e-03 1.80704303e+01] [ 1.32481479e-01 9.91185455e-01 -2.26550597e-04 6.50639187e-01] [ 2.34203011e-03 -8.44702051e-05 9.99997254e-01 -1.06571817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.493617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.10, Y:0.65, Z:-0.01 [[ 9.90858078e-01 -1.34888211e-01 -2.33251392e-03 1.80981118e+01] [ 1.34888050e-01 9.90860819e-01 -2.27197337e-04 6.53594609e-01] [ 2.34184289e-03 -8.95079367e-05 9.99997254e-01 -1.19499850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.523617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:18.13, Y:0.66, Z:-0.01 [[ 9.90686091e-01 -1.36145612e-01 -2.33249441e-03 1.81259647e+01] [ 1.36145454e-01 9.90688833e-01 -2.27397404e-04 6.56772164e-01] [ 2.34173533e-03 -9.22790642e-05 9.99997254e-01 -1.15496998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.553617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:18.15, Y:0.66, Z:-0.01 [[ 9.90552997e-01 -1.37110609e-01 -2.33243376e-03 1.81545563e+01] [ 1.37110452e-01 9.90555739e-01 -2.28017837e-04 6.59366260e-01] [ 2.34166931e-03 -9.39372947e-05 9.99997254e-01 -1.09640407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.583617864999997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:18.18, Y:0.66, Z:-0.01 [[ 9.90491569e-01 -1.37553667e-01 -2.33253984e-03 1.81826629e+01] [ 1.37553513e-01 9.90494311e-01 -2.26934301e-04 6.62156926e-01] [ 2.34158308e-03 -9.60725380e-05 9.99997254e-01 -1.06998137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.613617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.21, Y:0.66, Z:-0.01 [[ 9.90449207e-01 -1.37858367e-01 -2.33235161e-03 1.82093276e+01] [ 1.37858210e-01 9.90451948e-01 -2.28852569e-04 6.63688378e-01] [ 2.34163144e-03 -9.48669720e-05 9.99997254e-01 -1.11867223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.643617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.24, Y:0.67, Z:-0.01 [[ 9.90434267e-01 -1.37965656e-01 -2.33230865e-03 1.82368307e+01] [ 1.37965498e-01 9.90437009e-01 -2.29289630e-04 6.66081742e-01] [ 2.34163889e-03 -9.46818170e-05 9.99997254e-01 -1.15682531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.673617864999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:18.26, Y:0.67, Z:-0.01 [[ 9.90502921e-01 -1.37471904e-01 -2.33224650e-03 1.82641388e+01] [ 1.37471743e-01 9.90505662e-01 -2.29920062e-04 6.69120479e-01] [ 2.34171091e-03 -9.28814988e-05 9.99997254e-01 -1.20606250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.703617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.29, Y:0.67, Z:-0.01 [[ 9.90530295e-01 -1.37274526e-01 -2.33221950e-03 1.82908073e+01] [ 1.37274364e-01 9.90533036e-01 -2.30193544e-04 6.72002220e-01] [ 2.34174017e-03 -9.21402688e-05 9.99997254e-01 -1.26100776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.733617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.32, Y:0.67, Z:-0.01 [[ 9.90531017e-01 -1.37269314e-01 -2.33219281e-03 1.83183582e+01] [ 1.37269152e-01 9.90533759e-01 -2.30463673e-04 6.74610303e-01] [ 2.34175130e-03 -9.18567118e-05 9.99997254e-01 -1.25533842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.763617864999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:18.35, Y:0.68, Z:-0.01 [[ 9.90666648e-01 -1.36287027e-01 -2.33213084e-03 1.83461317e+01] [ 1.36286860e-01 9.90669389e-01 -2.31089083e-04 6.76466166e-01] [ 2.34186508e-03 -8.89065418e-05 9.99997254e-01 -1.38015318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.793617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.37, Y:0.68, Z:-0.01 [[ 9.90729761e-01 -1.35827470e-01 -2.33211164e-03 1.83740269e+01] [ 1.35827301e-01 9.90732502e-01 -2.31282677e-04 6.78735133e-01] [ 2.34191334e-03 -8.76257984e-05 9.99997254e-01 -1.38365092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.823617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.40, Y:0.68, Z:-0.01 [[ 9.90813184e-01 -1.35217590e-01 -2.33205171e-03 1.84020634e+01] [ 1.35217418e-01 9.90815924e-01 -2.31885400e-04 6.81118045e-01] [ 2.34198895e-03 -8.55788997e-05 9.99997254e-01 -1.38541835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.853617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.43, Y:0.68, Z:-0.01 [[ 9.90938447e-01 -1.34296520e-01 -2.33199175e-03 1.84300310e+01] [ 1.34296345e-01 9.90941188e-01 -2.32486760e-04 6.83594811e-01] [ 2.34208884e-03 -8.27978993e-05 9.99997254e-01 -1.39797716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.883617864999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:18.46, Y:0.69, Z:-0.01 [[ 9.91161696e-01 -1.32638815e-01 -2.33193204e-03 1.84580482e+01] [ 1.32638634e-01 9.91164436e-01 -2.33084157e-04 6.86855559e-01] [ 2.34224411e-03 -7.82801918e-05 9.99997254e-01 -1.23084671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.913617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.49, Y:0.69, Z:-0.01 [[ 9.91190824e-01 -1.32420972e-01 -2.33186614e-03 1.84850272e+01] [ 1.32420788e-01 9.91193563e-01 -2.33741642e-04 6.90704253e-01] [ 2.34228300e-03 -7.71049805e-05 9.99997254e-01 -1.42226095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.943617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.51, Y:0.69, Z:-0.01 [[ 9.91277671e-01 -1.31769295e-01 -2.33076743e-03 1.85146994e+01] [ 1.31769084e-01 9.91280409e-01 -2.44664860e-04 6.92308053e-01] [ 2.34268341e-03 -6.45922767e-05 9.99997254e-01 -1.27888633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.973617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.54, Y:0.69, Z:-0.01 [[ 9.91245366e-01 -1.32012069e-01 -2.33177519e-03 1.85429450e+01] [ 1.32011882e-01 9.91248106e-01 -2.34650513e-04 6.93991410e-01] [ 2.34234444e-03 -7.52257972e-05 9.99997254e-01 -1.30524486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.003617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.57, Y:0.70, Z:-0.01 [[ 9.91191632e-01 -1.32414924e-01 -2.33171131e-03 1.85705721e+01] [ 1.32414736e-01 9.91194372e-01 -2.35283620e-04 6.96215684e-01] [ 2.34233419e-03 -7.55417824e-05 9.99997254e-01 -1.32257793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.033617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.60, Y:0.70, Z:-0.01 [[ 9.91095124e-01 -1.33135337e-01 -2.33164705e-03 1.85985009e+01] [ 1.33135150e-01 9.91097864e-01 -2.35918658e-04 6.98315373e-01] [ 2.34229952e-03 -7.66063498e-05 9.99997254e-01 -1.29055478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.063617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.63, Y:0.70, Z:-0.01 [[ 9.90921386e-01 -1.34422361e-01 -2.33158198e-03 1.86256666e+01] [ 1.34422176e-01 9.90924126e-01 -2.36560045e-04 6.99267295e-01] [ 2.34221979e-03 -7.90039157e-05 9.99997254e-01 -1.28462184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.093617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.65, Y:0.70, Z:-0.01 [[ 9.90837247e-01 -1.35041160e-01 -2.33155382e-03 1.86531601e+01] [ 1.35040976e-01 9.90839986e-01 -2.36837242e-04 7.02226916e-01] [ 2.34217953e-03 -8.01881419e-05 9.99997254e-01 -1.23198630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.123617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:18.68, Y:0.71, Z:-0.01 [[ 9.90920245e-01 -1.34430771e-01 -2.33149004e-03 1.86819132e+01] [ 1.34430584e-01 9.90922985e-01 -2.37463429e-04 7.06850292e-01] [ 2.34224946e-03 -7.81162489e-05 9.99997254e-01 -1.21647419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.153617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.71, Y:0.71, Z:-0.01 [[ 9.90808705e-01 -1.35250415e-01 -2.33143369e-03 1.87085019e+01] [ 1.35250229e-01 9.90811445e-01 -2.38015378e-04 7.08808302e-01] [ 2.34220287e-03 -7.94992318e-05 9.99997254e-01 -1.19665453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.183617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.74, Y:0.71, Z:-0.01 [[ 9.90607625e-01 -1.36715391e-01 -2.33140566e-03 1.87364156e+01] [ 1.36715208e-01 9.90610365e-01 -2.38289710e-04 7.10721813e-01] [ 2.34209248e-03 -8.26870059e-05 9.99997254e-01 -1.13095900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.213617864999996 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:18.76, Y:0.71, Z:-0.01 [[ 9.90339943e-01 -1.38641128e-01 -2.33134130e-03 1.87647070e+01] [ 1.38640949e-01 9.90342683e-01 -2.38917682e-04 7.13393194e-01] [ 2.34195062e-03 -8.66096471e-05 9.99997254e-01 -1.07545584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.243617864999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:18.79, Y:0.72, Z:-0.01 [[ 9.90230460e-01 -1.39420950e-01 -2.33127681e-03 1.87921815e+01] [ 1.39420772e-01 9.90233200e-01 -2.39545273e-04 7.16230074e-01] [ 2.34190533e-03 -8.78233869e-05 9.99997254e-01 -1.03990283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.273617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:18.82, Y:0.72, Z:-0.01 [[ 9.90117473e-01 -1.40221094e-01 -2.33121148e-03 1.88188435e+01] [ 1.40220916e-01 9.90120213e-01 -2.40179368e-04 7.18784011e-01] [ 2.34185783e-03 -8.90788219e-05 9.99997254e-01 -1.03795065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.303617864999996 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:18.85, Y:0.72, Z:-0.01 [[ 9.89997012e-01 -1.41069066e-01 -2.33118317e-03 1.88464206e+01] [ 1.41068891e-01 9.89999753e-01 -2.40453917e-04 7.21966433e-01] [ 2.34179137e-03 -9.08087631e-05 9.99997254e-01 -9.85348101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.333617864999997 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:18.87, Y:0.73, Z:-0.01 [[ 9.89857700e-01 -1.42043302e-01 -2.33111767e-03 1.88743866e+01] [ 1.42043128e-01 9.89860441e-01 -2.41087164e-04 7.26287498e-01] [ 2.34172598e-03 -9.24772599e-05 9.99997254e-01 -9.77571737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.363617864999995 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:18.90, Y:0.73, Z:-0.01 [[ 9.89773098e-01 -1.42631626e-01 -2.33105200e-03 1.89013122e+01] [ 1.42631452e-01 9.89775838e-01 -2.41720543e-04 7.29187006e-01] [ 2.34169594e-03 -9.32328401e-05 9.99997254e-01 -9.46221214e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.393617864999996 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:18.93, Y:0.73, Z:-0.01 [[ 9.89732336e-01 -1.42914206e-01 -2.33102351e-03 1.89300825e+01] [ 1.42914031e-01 9.89735076e-01 -2.41994939e-04 7.31900156e-01] [ 2.34168024e-03 -9.36257508e-05 9.99997254e-01 -8.57799631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.423617864999997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:18.96, Y:0.74, Z:-0.01 [[ 9.89793551e-01 -1.42489618e-01 -2.33111325e-03 1.89553613e+01] [ 1.42489445e-01 9.89796292e-01 -2.41131405e-04 7.36391047e-01] [ 2.34168598e-03 -9.34887237e-05 9.99997254e-01 -1.16010198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.453617864999995 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:18.99, Y:0.74, Z:-0.01 [[ 9.89594110e-01 -1.43868233e-01 -2.32993211e-03 1.89852977e+01] [ 1.43868037e-01 9.89596849e-01 -2.52472146e-04 7.40858681e-01] [ 2.34201620e-03 -8.53578099e-05 9.99997254e-01 -8.15916012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.483617864999996 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:19.01, Y:0.74, Z:-0.01 [[ 9.89526336e-01 -1.44333634e-01 -2.33092753e-03 1.90135387e+01] [ 1.44333461e-01 9.89529076e-01 -2.42920718e-04 7.44493587e-01] [ 2.34158219e-03 -9.60543901e-05 9.99997254e-01 -7.90355464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.513617864999997 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:19.04, Y:0.75, Z:-0.01 [[ 9.89290573e-01 -1.45940840e-01 -2.33086188e-03 1.90401820e+01] [ 1.45940670e-01 9.89293314e-01 -2.43549005e-04 7.48405124e-01] [ 2.34144982e-03 -9.92268098e-05 9.99997254e-01 -6.46810087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.543617864999995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:19.07, Y:0.75, Z:-0.01 [[ 9.89394698e-01 -1.45233271e-01 -2.32984953e-03 1.90702508e+01] [ 1.45233077e-01 9.89397437e-01 -2.53208455e-04 7.51770877e-01] [ 2.34192145e-03 -8.78481132e-05 9.99997254e-01 -7.55372459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.573617864999996 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:19.10, Y:0.76, Z:-0.01 [[ 9.89206626e-01 -1.46508765e-01 -2.33078348e-03 1.90966993e+01] [ 1.46508595e-01 9.89209367e-01 -2.44297844e-04 7.57429682e-01] [ 2.34142463e-03 -9.98187687e-05 9.99997254e-01 -6.91502438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.603617864999997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:19.13, Y:0.76, Z:-0.01 [[ 9.89471901e-01 -1.44706354e-01 -2.32972451e-03 1.91264732e+01] [ 1.44706155e-01 9.89474640e-01 -2.54371654e-04 7.61332075e-01] [ 2.34201251e-03 -8.54318722e-05 9.99997254e-01 -5.81368236e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.633617864999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:19.15, Y:0.77, Z:-0.00 [[ 9.89415649e-01 -1.45090457e-01 -2.33072335e-03 1.91538310e+01] [ 1.45090283e-01 9.89418390e-01 -2.44864215e-04 7.65890773e-01] [ 2.34158801e-03 -9.58928235e-05 9.99997254e-01 -4.36988829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.663617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:19.18, Y:0.77, Z:-0.00 [[ 9.89592437e-01 -1.43879736e-01 -2.33013303e-03 1.91828405e+01] [ 1.43879545e-01 9.89595177e-01 -2.50468463e-04 7.69374210e-01] [ 2.34192574e-03 -8.73967831e-05 9.99997254e-01 -3.53546319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.693617864999997 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:19.21, Y:0.77, Z:-0.00 [[ 9.89770481e-01 -1.42649792e-01 -2.33064068e-03 1.92106793e+01] [ 1.42649608e-01 9.89773221e-01 -2.45652125e-04 7.74564168e-01] [ 2.34184795e-03 -8.93257584e-05 9.99997254e-01 -2.67427405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.723617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.24, Y:0.78, Z:-0.00 [[ 9.89777584e-01 -1.42600496e-01 -2.33061973e-03 1.92371800e+01] [ 1.42600312e-01 9.89780324e-01 -2.45850710e-04 7.78378997e-01] [ 2.34185998e-03 -8.90095786e-05 9.99997254e-01 -2.97944136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.753617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.27, Y:0.78, Z:-0.00 [[ 9.89829032e-01 -1.42242948e-01 -2.33059067e-03 1.92651402e+01] [ 1.42242763e-01 9.89831772e-01 -2.46125897e-04 7.81739204e-01] [ 2.34190236e-03 -8.78870960e-05 9.99997254e-01 -1.68458043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.783617864999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:19.29, Y:0.79, Z:-0.00 [[ 9.89827266e-01 -1.42255239e-01 -2.33052339e-03 1.92933975e+01] [ 1.42255052e-01 9.89830005e-01 -2.46761304e-04 7.85324253e-01] [ 2.34192507e-03 -8.72776580e-05 9.99997254e-01 -1.56031024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.813617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:19.32, Y:0.79, Z:-0.00 [[ 9.89936961e-01 -1.41489867e-01 -2.33045490e-03 1.93206354e+01] [ 1.41489676e-01 9.89939700e-01 -2.47406463e-04 7.89043699e-01] [ 2.34201533e-03 -8.48185072e-05 9.99997254e-01 -9.07801767e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.843617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.35, Y:0.79, Z:-0.00 [[ 9.90026139e-01 -1.40864519e-01 -2.33042517e-03 1.93493125e+01] [ 1.40864326e-01 9.90028879e-01 -2.47686179e-04 7.92436047e-01] [ 2.34207841e-03 -8.30579789e-05 9.99997254e-01 -1.54058686e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.873617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.38, Y:0.80, Z:-0.00 [[ 9.89950368e-01 -1.41396034e-01 -2.33051447e-03 1.93760135e+01] [ 1.41395844e-01 9.89953107e-01 -2.46846829e-04 7.99177565e-01] [ 2.34200321e-03 -8.51589525e-05 9.99997254e-01 -6.34593379e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.903617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.41, Y:0.80, Z:-0.00 [[ 9.90405950e-01 -1.38168836e-01 -2.32972379e-03 1.94069141e+01] [ 1.38168620e-01 9.90408687e-01 -2.54247337e-04 8.00555034e-01] [ 2.34250774e-03 -7.00866461e-05 9.99997254e-01 -2.64949359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.933617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:19.43, Y:0.81, Z:-0.00 [[ 9.90223515e-01 -1.39470265e-01 -2.33159374e-03 1.94325705e+01] [ 1.39470093e-01 9.90226255e-01 -2.36720121e-04 8.06296844e-01] [ 2.34182076e-03 -9.07817663e-05 9.99997254e-01 -1.76166558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.963617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.46, Y:0.81, Z:-0.00 [[ 9.90218522e-01 -1.39505730e-01 -2.33024376e-03 1.94605689e+01] [ 1.39505529e-01 9.90221261e-01 -2.49336739e-04 8.08836888e-01] [ 2.34224082e-03 -7.81840298e-05 9.99997254e-01 -2.29201277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.993617864999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:19.49, Y:0.81, Z:-0.00 [[ 9.90174200e-01 -1.39819971e-01 -2.33022254e-03 1.94883605e+01] [ 1.39819770e-01 9.90176939e-01 -2.49534874e-04 8.11334475e-01] [ 2.34222258e-03 -7.87281862e-05 9.99997254e-01 -1.86578796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.023617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.51, Y:0.82, Z:-0.01 [[ 9.89747393e-01 -1.42809902e-01 -2.33015507e-03 1.95148507e+01] [ 1.42809708e-01 9.89750132e-01 -2.50163335e-04 8.17404077e-01] [ 2.34199709e-03 -8.51702559e-05 9.99997254e-01 -5.28593396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.053617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.54, Y:0.82, Z:-0.01 [[ 9.89722816e-01 -1.42980158e-01 -2.32860225e-03 1.95432296e+01] [ 1.42979930e-01 9.89725553e-01 -2.64594149e-04 8.20479088e-01] [ 2.34250886e-03 -7.10685209e-05 9.99997254e-01 -5.22419185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.083617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.57, Y:0.82, Z:-0.00 [[ 9.90143787e-01 -1.40035207e-01 -2.32852250e-03 1.95732420e+01] [ 1.40034970e-01 9.90146523e-01 -2.65333615e-04 8.21154555e-01] [ 2.34273451e-03 -6.33561484e-05 9.99997254e-01 -1.92637516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.113617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.60, Y:0.83, Z:-0.00 [[ 9.90195361e-01 -1.39670033e-01 -2.33003531e-03 1.96011808e+01] [ 1.39669827e-01 9.90198099e-01 -2.51307376e-04 8.25509890e-01] [ 2.34229665e-03 -7.65922319e-05 9.99997254e-01 -1.77326142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.143617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:19.63, Y:0.83, Z:-0.00 [[ 9.90219321e-01 -1.39500064e-01 -2.32996792e-03 1.96287289e+01] [ 1.39499857e-01 9.90222059e-01 -2.51930609e-04 8.28273620e-01] [ 2.34232997e-03 -7.55636360e-05 9.99997254e-01 -1.22206663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.173617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.66, Y:0.83, Z:-0.00 [[ 9.90132415e-01 -1.40115566e-01 -2.32990030e-03 1.96561853e+01] [ 1.40115359e-01 9.90135154e-01 -2.52554475e-04 8.29878114e-01] [ 2.34230300e-03 -7.63924435e-05 9.99997254e-01 -1.92004041e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.203617864999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:19.69, Y:0.83, Z:0.00 [[ 9.90034118e-01 -1.40808443e-01 -2.32987934e-03 1.96850080e+01] [ 1.40808238e-01 9.90036856e-01 -2.52747639e-04 8.32451188e-01] [ 2.34225542e-03 -7.78374187e-05 9.99997254e-01 1.24580612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.233617864999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:19.71, Y:0.84, Z:0.00 [[ 9.89885073e-01 -1.41852435e-01 -2.32981997e-03 1.97139232e+01] [ 1.41852232e-01 9.89887812e-01 -2.53293795e-04 8.35184620e-01] [ 2.34219073e-03 -7.97584143e-05 9.99997254e-01 1.85177683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.263617864999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:19.74, Y:0.84, Z:0.00 [[ 9.89699832e-01 -1.43139146e-01 -2.32976043e-03 1.97416715e+01] [ 1.43138944e-01 9.89702571e-01 -2.53840169e-04 8.38175091e-01] [ 2.34210436e-03 -8.22538768e-05 9.99997254e-01 2.18890360e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.293617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.77, Y:0.84, Z:0.00 [[ 9.89465725e-01 -1.44748582e-01 -2.32969183e-03 1.97696439e+01] [ 1.44748384e-01 9.89468464e-01 -2.54468289e-04 8.41634854e-01] [ 2.34199052e-03 -8.54314761e-05 9.99997254e-01 2.80647519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.323617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.80, Y:0.84, Z:0.00 [[ 9.89374757e-01 -1.45369059e-01 -2.32962111e-03 1.97979070e+01] [ 1.45368860e-01 9.89377496e-01 -2.55114071e-04 8.44968681e-01] [ 2.34196039e-03 -8.62509430e-05 9.99997254e-01 2.65564588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.353617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.83, Y:0.85, Z:0.00 [[ 9.89422868e-01 -1.45041241e-01 -2.32955055e-03 1.98250589e+01] [ 1.45041040e-01 9.89425607e-01 -2.55756743e-04 8.47659118e-01] [ 2.34201224e-03 -8.48288642e-05 9.99997254e-01 2.26708306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.383617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.85, Y:0.85, Z:0.00 [[ 9.89451397e-01 -1.44846495e-01 -2.32950254e-03 1.98530023e+01] [ 1.44846293e-01 9.89454135e-01 -2.56193278e-04 8.51067448e-01] [ 2.34204462e-03 -8.39290110e-05 9.99997254e-01 2.62330169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.413617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.88, Y:0.85, Z:0.00 [[ 9.89483187e-01 -1.44629170e-01 -2.32943230e-03 1.98802581e+01] [ 1.44628966e-01 9.89485925e-01 -2.56830350e-04 8.54903763e-01] [ 2.34208564e-03 -8.27740724e-05 9.99997254e-01 1.44531267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.443617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.91, Y:0.86, Z:-0.00 [[ 9.89515430e-01 -1.44408405e-01 -2.32940185e-03 1.99083487e+01] [ 1.44408200e-01 9.89518169e-01 -2.57106217e-04 8.58846952e-01] [ 2.34211375e-03 -8.19741584e-05 9.99997254e-01 -5.34566477e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.473617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.94, Y:0.86, Z:0.00 [[ 9.89462501e-01 -1.44770620e-01 -2.32933500e-03 1.99363496e+01] [ 1.44770414e-01 9.89465240e-01 -2.57710476e-04 8.61936319e-01] [ 2.34210492e-03 -8.22239403e-05 9.99997254e-01 3.67361882e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.503617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.97, Y:0.86, Z:-0.00 [[ 9.89343882e-01 -1.45579046e-01 -2.32926518e-03 1.99660192e+01] [ 1.45578841e-01 9.89346620e-01 -2.58339953e-04 8.64159016e-01] [ 2.34205952e-03 -8.35046726e-05 9.99997254e-01 -3.12114756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.533617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.99, Y:0.87, Z:-0.00 [[ 9.89157815e-01 -1.46837961e-01 -2.33047528e-03 1.99937263e+01] [ 1.46837785e-01 9.89160555e-01 -2.47432461e-04 8.66548081e-01] [ 2.34154670e-03 -9.74520763e-05 9.99997254e-01 -4.09178554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.563617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.02, Y:0.87, Z:0.00 [[ 9.88889374e-01 -1.48635048e-01 -2.32990135e-03 2.00200741e+01] [ 1.48634865e-01 9.88892114e-01 -2.52585744e-04 8.67679068e-01] [ 2.34156416e-03 -9.65252130e-05 9.99997254e-01 9.54055948e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.593617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:20.05, Y:0.87, Z:0.00 [[ 9.88773953e-01 -1.49400952e-01 -2.32905856e-03 2.00477833e+01] [ 1.49400753e-01 9.88776692e-01 -2.60131500e-04 8.70137094e-01] [ 2.34178272e-03 -9.07518516e-05 9.99997254e-01 1.67957615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.623617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:20.08, Y:0.87, Z:0.00 [[ 9.88708272e-01 -1.49835007e-01 -2.32903675e-03 2.00757269e+01] [ 1.49834809e-01 9.88711011e-01 -2.60326648e-04 8.73659690e-01] [ 2.34175032e-03 -9.15836658e-05 9.99997254e-01 1.97045359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.653617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:20.10, Y:0.88, Z:0.00 [[ 9.88760940e-01 -1.49487051e-01 -2.32901512e-03 2.01039969e+01] [ 1.49486852e-01 9.88763679e-01 -2.60519985e-04 8.76729518e-01] [ 2.34178993e-03 -9.05651537e-05 9.99997254e-01 2.12704929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.683617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.13, Y:0.88, Z:0.00 [[ 9.88843674e-01 -1.48938794e-01 -2.32894514e-03 2.01306384e+01] [ 1.48938591e-01 9.88846413e-01 -2.61144100e-04 8.79141619e-01] [ 2.34186354e-03 -8.86391166e-05 9.99997254e-01 2.09581632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.713617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.16, Y:0.88, Z:0.00 [[ 9.88943252e-01 -1.48276164e-01 -2.32891481e-03 2.01589025e+01] [ 1.48275959e-01 9.88945990e-01 -2.61414322e-04 8.81512478e-01] [ 2.34193248e-03 -8.67981473e-05 9.99997254e-01 2.44849555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.743617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.19, Y:0.88, Z:0.00 [[ 9.89243311e-01 -1.46260891e-01 -2.32884465e-03 2.01865648e+01] [ 1.46260679e-01 9.89246049e-01 -2.62037905e-04 8.84106848e-01] [ 2.34212626e-03 -8.13991544e-05 9.99997254e-01 1.81815592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.773617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.21, Y:0.89, Z:0.00 [[ 9.89383338e-01 -1.45310656e-01 -2.32882292e-03 2.02146808e+01] [ 1.45310441e-01 9.89386076e-01 -2.62230812e-04 8.87928787e-01] [ 2.34220991e-03 -7.89554893e-05 9.99997254e-01 1.45083377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.803617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.24, Y:0.89, Z:0.00 [[ 9.89731888e-01 -1.42917342e-01 -2.32875099e-03 2.02409572e+01] [ 1.42917119e-01 9.89734625e-01 -2.62868073e-04 8.92462154e-01] [ 2.34241390e-03 -7.26494677e-05 9.99997254e-01 2.81920839e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.833617864999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:20.27, Y:0.90, Z:-0.00 [[ 9.89845428e-01 -1.42128835e-01 -2.32871977e-03 2.02676612e+01] [ 1.42128609e-01 9.89848165e-01 -2.63144327e-04 8.95751605e-01] [ 2.34247939e-03 -7.05054938e-05 9.99997254e-01 -4.00085376e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.863617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.30, Y:0.90, Z:-0.00 [[ 9.89957581e-01 -1.41345550e-01 -2.32868911e-03 2.02957553e+01] [ 1.41345321e-01 9.89960318e-01 -2.63415446e-04 8.96866154e-01] [ 2.34254241e-03 -6.83791905e-05 9.99997254e-01 -4.63646243e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.893617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:20.32, Y:0.90, Z:-0.00 [[ 9.89972236e-01 -1.41242875e-01 -2.32861830e-03 2.03223923e+01] [ 1.41242644e-01 9.89974972e-01 -2.64039914e-04 8.98786078e-01] [ 2.34256759e-03 -6.75080218e-05 9.99997254e-01 -8.58746202e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.923617864999997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:20.35, Y:0.90, Z:-0.00 [[ 9.89959467e-01 -1.41332341e-01 -2.32858757e-03 2.03504188e+01] [ 1.41332110e-01 9.89962204e-01 -2.64310651e-04 9.01470064e-01] [ 2.34256932e-03 -6.74473633e-05 9.99997254e-01 -1.38931280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.953617864999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:20.38, Y:0.90, Z:-0.00 [[ 9.89948530e-01 -1.41408935e-01 -2.32851763e-03 2.03779488e+01] [ 1.41408702e-01 9.89951266e-01 -2.64925358e-04 9.04605655e-01] [ 2.34258179e-03 -6.70101881e-05 9.99997254e-01 -2.12036940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.983617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.41, Y:0.91, Z:-0.00 [[ 9.89917071e-01 -1.41628992e-01 -2.32844616e-03 2.04069313e+01] [ 1.41628759e-01 9.89919807e-01 -2.65552040e-04 9.07696821e-01] [ 2.34258484e-03 -6.69004416e-05 9.99997254e-01 -4.94768894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.013617864999997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:20.43, Y:0.91, Z:-0.01 [[ 9.89905533e-01 -1.41709610e-01 -2.32853289e-03 2.04345227e+01] [ 1.41709378e-01 9.89908269e-01 -2.64792391e-04 9.11600046e-01] [ 2.34255759e-03 -6.78554955e-05 9.99997254e-01 -8.07124010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.043617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:20.46, Y:0.91, Z:-0.01 [[ 9.90117223e-01 -1.40222918e-01 -2.32779721e-03 2.04630591e+01] [ 1.40222668e-01 9.90119957e-01 -2.71223353e-04 9.13186308e-01] [ 2.34283020e-03 -5.78670206e-05 9.99997254e-01 -5.56101279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.073617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:20.49, Y:0.92, Z:-0.01 [[ 9.90081240e-01 -1.40476746e-01 -2.32833804e-03 2.04908365e+01] [ 1.40476508e-01 9.90083976e-01 -2.66498194e-04 9.15151399e-01] [ 2.34268698e-03 -6.32219336e-05 9.99997254e-01 -5.52480637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.103617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.52, Y:0.92, Z:-0.01 [[ 9.89900049e-01 -1.41747914e-01 -2.32826594e-03 2.05203564e+01] [ 1.41747678e-01 9.89902785e-01 -2.67126591e-04 9.15171869e-01] [ 2.34262158e-03 -6.55976653e-05 9.99997254e-01 -6.22819705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.133617864999994 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:20.55, Y:0.92, Z:-0.00 [[ 9.89843989e-01 -1.42138857e-01 -2.32848764e-03 2.05479949e+01] [ 1.42138626e-01 9.89846726e-01 -2.65196969e-04 9.16925953e-01] [ 2.34254066e-03 -6.84644081e-05 9.99997254e-01 -2.93096536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.163617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.58, Y:0.92, Z:-0.00 [[ 9.89656924e-01 -1.43435534e-01 -2.32817787e-03 2.05757047e+01] [ 1.43435300e-01 9.89659660e-01 -2.67889087e-04 9.19153105e-01] [ 2.34252854e-03 -6.88246025e-05 9.99997254e-01 -1.92223168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.193617864999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:20.60, Y:0.92, Z:-0.00 [[ 9.89274653e-01 -1.46048760e-01 -2.32815575e-03 2.06047926e+01] [ 1.46048533e-01 9.89277390e-01 -2.68081228e-04 9.20682310e-01] [ 2.34234477e-03 -7.48177674e-05 9.99997254e-01 -4.66368618e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.223617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.63, Y:0.92, Z:-0.00 [[ 9.89096910e-01 -1.47247690e-01 -2.32818915e-03 2.06331711e+01] [ 1.47247467e-01 9.89099647e-01 -2.67791414e-04 9.23207943e-01] [ 2.34224273e-03 -7.79482940e-05 9.99997254e-01 -1.01902981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.253617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.66, Y:0.92, Z:-0.00 [[ 9.88863078e-01 -1.48809924e-01 -2.32812442e-03 2.06616670e+01] [ 1.48809704e-01 9.88865815e-01 -2.68352917e-04 9.24468965e-01] [ 2.34213623e-03 -8.10832145e-05 9.99997254e-01 -6.27377306e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.283617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.69, Y:0.92, Z:0.00 [[ 9.88537647e-01 -1.50956619e-01 -2.32805497e-03 2.06890989e+01] [ 1.50956404e-01 9.88540384e-01 -2.68954138e-04 9.24953865e-01] [ 2.34197676e-03 -8.55635157e-05 9.99997254e-01 1.13033341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.313617864999994 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:20.72, Y:0.93, Z:-0.00 [[ 9.88779851e-01 -1.49361944e-01 -2.32720478e-03 2.07188245e+01] [ 1.49361707e-01 9.88782587e-01 -2.76302627e-04 9.28136512e-01] [ 2.34236866e-03 -7.43928059e-05 9.99997254e-01 -1.96643384e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.343617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.74, Y:0.93, Z:0.00 [[ 9.88573776e-01 -1.50719836e-01 -2.32803007e-03 2.07435760e+01] [ 1.50719619e-01 9.88576514e-01 -2.69164606e-04 9.32948903e-01] [ 2.34200429e-03 -8.47907342e-05 9.99997254e-01 9.49434552e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.373617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.77, Y:0.93, Z:0.00 [[ 9.89302892e-01 -1.45857396e-01 -2.32549581e-03 2.07746639e+01] [ 1.45857115e-01 9.89305624e-01 -2.91009938e-04 9.34422073e-01] [ 2.34307204e-03 -5.12931354e-05 9.99997254e-01 1.08878546e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.403617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.80, Y:0.94, Z:-0.00 [[ 9.88953089e-01 -1.48210554e-01 -2.32795584e-03 2.07990734e+01] [ 1.48210329e-01 9.88955826e-01 -2.69782353e-04 9.41142988e-01] [ 2.34223008e-03 -7.82250101e-05 9.99997254e-01 -1.10486974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.433617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.83, Y:0.94, Z:-0.00 [[ 9.89539753e-01 -1.44241708e-01 -2.32517511e-03 2.08305488e+01] [ 1.44241416e-01 9.89542484e-01 -2.93676560e-04 9.41782279e-01] [ 2.34321996e-03 -4.47819191e-05 9.99997254e-01 -1.60953297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.463617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.86, Y:0.95, Z:-0.00 [[ 9.89642702e-01 -1.43533632e-01 -2.32787560e-03 2.08587161e+01] [ 1.43533392e-01 9.89645438e-01 -2.70430673e-04 9.45155565e-01] [ 2.34258736e-03 -6.64981401e-05 9.99997254e-01 -1.93121055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.493617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.89, Y:0.95, Z:-0.00 [[ 9.89653857e-01 -1.43456696e-01 -2.32780111e-03 2.08863026e+01] [ 1.43456455e-01 9.89656593e-01 -2.71070334e-04 9.48562545e-01] [ 2.34261057e-03 -6.56722950e-05 9.99997254e-01 -1.66578333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.523617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:20.91, Y:0.96, Z:-0.00 [[ 9.89128731e-01 -1.47033790e-01 -2.32772645e-03 2.09084414e+01] [ 1.47033557e-01 9.89131467e-01 -2.71709974e-04 9.56633700e-01] [ 2.34237802e-03 -7.34977587e-05 9.99997254e-01 -2.84042919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.553617864999996 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:20.94, Y:0.96, Z:0.00 [[ 9.89609183e-01 -1.43764620e-01 -2.32362906e-03 2.09428667e+01] [ 1.43764296e-01 9.89611910e-01 -3.06658166e-04 9.56314340e-01] [ 2.34357758e-03 -3.05831595e-05 9.99997253e-01 4.97468398e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.583617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.97, Y:0.96, Z:0.00 [[ 9.89139013e-01 -1.46964606e-01 -2.32768585e-03 2.09676359e+01] [ 1.46964373e-01 9.89141749e-01 -2.71932963e-04 9.61757632e-01] [ 2.34237577e-03 -7.31073875e-05 9.99997254e-01 1.38539682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.613617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:21.00, Y:0.96, Z:0.00 [[ 9.88900407e-01 -1.48561702e-01 -2.32522401e-03 2.09960688e+01] [ 1.48561424e-01 9.88903139e-01 -2.92921074e-04 9.63880558e-01] [ 2.34293818e-03 -5.57688200e-05 9.99997254e-01 1.73203482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.643617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:21.02, Y:0.97, Z:0.00 [[ 9.88731542e-01 -1.49681431e-01 -2.32552284e-03 2.10225241e+01] [ 1.49681161e-01 9.88734275e-01 -2.90387443e-04 9.67483291e-01] [ 2.34278975e-03 -6.09717354e-05 9.99997254e-01 5.16981700e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.673617864999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:21.05, Y:0.97, Z:-0.00 [[ 9.88669070e-01 -1.50093516e-01 -2.32521736e-03 2.10513369e+01] [ 1.50093241e-01 9.88671802e-01 -2.92974342e-04 9.71229897e-01] [ 2.34285039e-03 -5.93447403e-05 9.99997254e-01 -2.86068518e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.703617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.08, Y:0.97, Z:0.00 [[ 9.88943290e-01 -1.48275964e-01 -2.32550624e-03 2.10813695e+01] [ 1.48275691e-01 9.88946022e-01 -2.90533996e-04 9.72948951e-01] [ 2.34287935e-03 -5.74943979e-05 9.99997254e-01 1.62335231e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.733617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.11, Y:0.98, Z:-0.00 [[ 9.88714763e-01 -1.49792205e-01 -2.32652815e-03 2.11065708e+01] [ 1.49791956e-01 9.88717498e-01 -2.81901516e-04 9.78179809e-01] [ 2.34250574e-03 -6.97750118e-05 9.99997254e-01 -1.12791119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.763617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.14, Y:0.98, Z:-0.00 [[ 9.88389658e-01 -1.51922605e-01 -2.32515954e-03 2.11371395e+01] [ 1.51922335e-01 9.88392391e-01 -2.93445100e-04 9.83074859e-01] [ 2.34275094e-03 -6.32055640e-05 9.99997254e-01 -2.06811180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.793617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.16, Y:0.99, Z:0.00 [[ 9.88368319e-01 -1.52061338e-01 -2.32724718e-03 2.11647801e+01] [ 1.52061109e-01 9.88371055e-01 -2.75831227e-04 9.85496394e-01] [ 2.34212701e-03 -8.12609410e-05 9.99997254e-01 2.23347454e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.823617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.19, Y:0.99, Z:0.00 [[ 9.88543842e-01 -1.50916057e-01 -2.32717209e-03 2.11930183e+01] [ 1.50915824e-01 9.88546578e-01 -2.76463251e-04 9.85889721e-01] [ 2.34224075e-03 -7.79110496e-05 9.99997254e-01 1.93383049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.853617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.22, Y:0.99, Z:0.00 [[ 9.88201774e-01 -1.53139929e-01 -2.32714995e-03 2.12193964e+01] [ 1.53139702e-01 9.88204511e-01 -2.76649509e-04 9.92073754e-01] [ 2.34206617e-03 -8.29935138e-05 9.99997254e-01 1.52583609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.883617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.25, Y:0.99, Z:0.00 [[ 9.88431760e-01 -1.51648409e-01 -2.32711924e-03 2.12470306e+01] [ 1.51648177e-01 9.88434496e-01 -2.76907629e-04 9.93693728e-01] [ 2.34219753e-03 -7.91990952e-05 9.99997254e-01 1.55284493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.913617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:21.27, Y:1.00, Z:-0.00 [[ 9.88235602e-01 -1.52921483e-01 -2.32704935e-03 2.12696250e+01] [ 1.52921253e-01 9.88238338e-01 -2.77493738e-04 1.00071328e+00] [ 2.34211413e-03 -8.16261097e-05 9.99997254e-01 -2.08375986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.943617864999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:21.30, Y:1.00, Z:-0.00 [[ 9.88221561e-01 -1.53012236e-01 -2.32412903e-03 2.12979421e+01] [ 1.53011949e-01 9.88224292e-01 -3.01879589e-04 1.00410655e+00] [ 2.34295204e-03 -5.72955947e-05 9.99997254e-01 -2.02611568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.973617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.33, Y:1.00, Z:0.00 [[ 9.88433043e-01 -1.51640089e-01 -2.32433882e-03 2.13310660e+01] [ 1.51639803e-01 9.88435774e-01 -3.00121716e-04 1.00499146e+00] [ 2.34297013e-03 -5.58120594e-05 9.99997254e-01 6.49257636e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.003617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:21.36, Y:1.01, Z:0.00 [[ 9.88365741e-01 -1.52078095e-01 -2.32706380e-03 2.13595206e+01] [ 1.52077863e-01 9.88368477e-01 -2.77249948e-04 1.00804165e+00] [ 2.34216015e-03 -7.98705411e-05 9.99997254e-01 1.12147498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.033617864999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:21.39, Y:1.01, Z:0.00 [[ 9.88015069e-01 -1.54339912e-01 -2.32718363e-03 2.13866066e+01] [ 1.54339689e-01 9.88017806e-01 -2.76245206e-04 1.01178555e+00] [ 2.34193452e-03 -8.62423717e-05 9.99997254e-01 1.54837146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.063617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:21.41, Y:1.02, Z:0.00 [[ 9.87638420e-01 -1.56732055e-01 -2.32696416e-03 2.14147963e+01] [ 1.56731834e-01 9.87641157e-01 -2.78081726e-04 1.01575015e+00] [ 2.34178989e-03 -9.00651636e-05 9.99997254e-01 1.12596955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.093617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.44, Y:1.02, Z:0.00 [[ 9.87887947e-01 -1.55151507e-01 -2.32689931e-03 2.14415392e+01] [ 1.55151281e-01 9.87890683e-01 -2.78623290e-04 1.01613381e+00] [ 2.34195097e-03 -8.57728176e-05 9.99997254e-01 2.01838838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.123617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.47, Y:1.02, Z:0.00 [[ 9.87857300e-01 -1.55346520e-01 -2.32686440e-03 2.14691884e+01] [ 1.55346294e-01 9.87860036e-01 -2.78914553e-04 1.01891607e+00] [ 2.34194475e-03 -8.59419830e-05 9.99997254e-01 1.84403943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.153617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.50, Y:1.02, Z:0.00 [[ 9.87970903e-01 -1.54622382e-01 -2.32679008e-03 2.14975146e+01] [ 1.54622152e-01 9.87973639e-01 -2.79533131e-04 1.02255382e+00] [ 2.34202935e-03 -8.36026893e-05 9.99997254e-01 1.07631915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.183617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.53, Y:1.03, Z:-0.00 [[ 9.88166907e-01 -1.53364762e-01 -2.32671441e-03 2.15254797e+01] [ 1.53364527e-01 9.88169643e-01 -2.80161622e-04 1.02632193e+00] [ 2.34215546e-03 -7.99890118e-05 9.99997254e-01 -2.60311510e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.213617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.55, Y:1.03, Z:-0.00 [[ 9.88624392e-01 -1.50387492e-01 -2.32663890e-03 2.15532251e+01] [ 1.50387248e-01 9.88627127e-01 -2.80787308e-04 1.02962506e+00] [ 2.34240523e-03 -7.23036381e-05 9.99997254e-01 -2.79868762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.243617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.58, Y:1.03, Z:-0.00 [[ 9.88780838e-01 -1.49355423e-01 -2.32656088e-03 2.15804288e+01] [ 1.49355174e-01 9.88783572e-01 -2.81432241e-04 1.03240156e+00] [ 2.34249861e-03 -6.92090970e-05 9.99997254e-01 -3.88685248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.273617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.61, Y:1.03, Z:-0.00 [[ 9.88923962e-01 -1.48404798e-01 -2.32650781e-03 2.16073069e+01] [ 1.48404545e-01 9.88926697e-01 -2.81870288e-04 1.03452837e+00] [ 2.34257659e-03 -6.65160519e-05 9.99997254e-01 -3.93864212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.303617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:21.64, Y:1.04, Z:-0.00 [[ 9.89158842e-01 -1.46831100e-01 -2.32645607e-03 2.16367549e+01] [ 1.46830842e-01 9.89161576e-01 -2.82296666e-04 1.03556628e+00] [ 2.34269089e-03 -6.23592611e-05 9.99997254e-01 -3.79030867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.333617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:21.66, Y:1.04, Z:-0.00 [[ 9.89116350e-01 -1.47117074e-01 -2.32654534e-03 2.16641981e+01] [ 1.47116819e-01 9.89119084e-01 -2.81561563e-04 1.03875798e+00] [ 2.34265291e-03 -6.37768030e-05 9.99997254e-01 -2.63246700e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.363617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.69, Y:1.04, Z:-0.00 [[ 9.89422162e-01 -1.45046100e-01 -2.32677475e-03 2.16917557e+01] [ 1.45045843e-01 9.89424896e-01 -2.79676480e-04 1.04298802e+00] [ 2.34273484e-03 -6.07708976e-05 9.99997254e-01 -2.10217068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.393617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:21.72, Y:1.05, Z:-0.00 [[ 9.89700813e-01 -1.43132416e-01 -2.32626807e-03 2.17184294e+01] [ 1.43132144e-01 9.89703546e-01 -2.83829204e-04 1.04659219e+00] [ 2.34294092e-03 -5.20577428e-05 9.99997254e-01 -2.16554322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.423617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:21.75, Y:1.05, Z:0.00 [[ 9.89977876e-01 -1.41203389e-01 -2.32558294e-03 2.17470750e+01] [ 1.41203099e-01 9.89980606e-01 -2.89433488e-04 1.04899546e+00] [ 2.34315100e-03 -4.18467680e-05 9.99997254e-01 2.96494981e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.453617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.78, Y:1.05, Z:0.00 [[ 9.90036540e-01 -1.40791470e-01 -2.32617384e-03 2.17752961e+01] [ 1.40791189e-01 9.90039272e-01 -2.84603817e-04 1.05226748e+00] [ 2.34307325e-03 -4.57366045e-05 9.99997254e-01 1.14603559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.483617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:21.80, Y:1.06, Z:0.00 [[ 9.90072413e-01 -1.40538988e-01 -2.32609477e-03 2.18019736e+01] [ 1.40538706e-01 9.90075144e-01 -2.85248621e-04 1.05522363e+00] [ 2.34309717e-03 -4.44895580e-05 9.99997254e-01 1.56261607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.513617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.83, Y:1.06, Z:0.00 [[ 9.89896183e-01 -1.41774951e-01 -2.32606044e-03 2.18291304e+01] [ 1.41774671e-01 9.89898915e-01 -2.85528319e-04 1.05770300e+00] [ 2.34304547e-03 -4.71330602e-05 9.99997254e-01 1.25483383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.543617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:21.86, Y:1.06, Z:0.00 [[ 9.89742942e-01 -1.42840814e-01 -2.32602668e-03 2.18571036e+01] [ 1.42840536e-01 9.89745674e-01 -2.85803077e-04 1.06087953e+00] [ 2.34299919e-03 -4.93793197e-05 9.99997254e-01 1.31693666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.573617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.89, Y:1.06, Z:0.00 [[ 9.89315475e-01 -1.45772020e-01 -2.32594951e-03 2.18852320e+01] [ 1.45771749e-01 9.89318207e-01 -2.86429744e-04 1.06498283e+00] [ 2.34285764e-03 -5.56883499e-05 9.99997254e-01 1.07648575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.603617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.91, Y:1.07, Z:0.00 [[ 9.89136053e-01 -1.46984552e-01 -2.32587211e-03 2.19117533e+01] [ 1.46984283e-01 9.89138786e-01 -2.87056835e-04 1.06929609e+00] [ 2.34280324e-03 -5.79283815e-05 9.99997254e-01 1.00954545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.633617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:21.94, Y:1.07, Z:0.00 [[ 9.88948840e-01 -1.48238937e-01 -2.32583849e-03 2.19386331e+01] [ 1.48238671e-01 9.88951573e-01 -2.87328980e-04 1.07284304e+00] [ 2.34273498e-03 -6.06255452e-05 9.99997254e-01 6.18570802e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.663617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.97, Y:1.08, Z:0.00 [[ 9.88478677e-01 -1.51342314e-01 -2.32580517e-03 2.19665017e+01] [ 1.51342056e-01 9.88481411e-01 -2.87598499e-04 1.07515853e+00] [ 2.34254099e-03 -6.77071522e-05 9.99997254e-01 6.60455300e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.693617864999997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.99, Y:1.08, Z:0.00 [[ 9.88322344e-01 -1.52359886e-01 -2.32572919e-03 2.19934791e+01] [ 1.52359630e-01 9.88325078e-01 -2.88211555e-04 1.07894946e+00] [ 2.34248837e-03 -6.95013189e-05 9.99997254e-01 9.95925545e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.723617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:22.02, Y:1.08, Z:0.00 [[ 9.88170227e-01 -1.53343384e-01 -2.32569625e-03 2.20209625e+01] [ 1.53343129e-01 9.88172961e-01 -2.88477134e-04 1.08268017e+00] [ 2.34242621e-03 -7.15650252e-05 9.99997254e-01 1.51638845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.753617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:22.05, Y:1.09, Z:0.00 [[ 9.88027663e-01 -1.54259291e-01 -2.32561806e-03 2.20480912e+01] [ 1.54259038e-01 9.88030397e-01 -2.89106140e-04 1.08641001e+00] [ 2.34237864e-03 -7.31027397e-05 9.99997254e-01 5.71372759e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.783617864999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.08, Y:1.09, Z:-0.00 [[ 9.87746577e-01 -1.56049006e-01 -2.32558417e-03 2.20755740e+01] [ 1.56048756e-01 9.87749311e-01 -2.89378496e-04 1.09217262e+00] [ 2.34225139e-03 -7.70718983e-05 9.99997254e-01 -2.11138141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.813617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.10, Y:1.10, Z:-0.00 [[ 9.87642823e-01 -1.56704329e-01 -2.32550925e-03 2.21024385e+01] [ 1.56704081e-01 9.87645557e-01 -2.89979264e-04 1.09770401e+00] [ 2.34221989e-03 -7.80208507e-05 9.99997254e-01 -2.08728714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.843617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.13, Y:1.10, Z:-0.00 [[ 9.87658294e-01 -1.56606792e-01 -2.32547431e-03 2.21297464e+01] [ 1.56606542e-01 9.87661028e-01 -2.90259232e-04 1.10213452e+00] [ 2.34223692e-03 -7.75075518e-05 9.99997254e-01 -2.20451387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.873617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:22.16, Y:1.11, Z:0.00 [[ 9.87233303e-01 -1.59263924e-01 -2.32539757e-03 2.21581058e+01] [ 1.59263680e-01 9.87236038e-01 -2.90872746e-04 1.10565912e+00] [ 2.34204182e-03 -8.31921131e-05 9.99997254e-01 5.69352740e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.903617864999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:22.18, Y:1.11, Z:0.00 [[ 9.87118504e-01 -1.59973908e-01 -2.32531521e-03 2.21848947e+01] [ 1.59973665e-01 9.87121240e-01 -2.91529667e-04 1.10910690e+00] [ 2.34200517e-03 -8.42148667e-05 9.99997254e-01 1.74670501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.933617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.21, Y:1.11, Z:0.00 [[ 9.87026715e-01 -1.60539268e-01 -2.32526273e-03 2.22119078e+01] [ 1.60539026e-01 9.87029450e-01 -2.91947604e-04 1.11376300e+00] [ 2.34197185e-03 -8.51353286e-05 9.99997254e-01 1.85043642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.963617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.24, Y:1.12, Z:0.00 [[ 9.86605903e-01 -1.63105442e-01 -2.32522950e-03 2.22357228e+01] [ 1.63105206e-01 9.86608639e-01 -2.92212040e-04 1.12402223e+00] [ 2.34175289e-03 -9.09589128e-05 9.99997254e-01 4.49163854e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.993617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:22.26, Y:1.13, Z:0.00 [[ 9.86680955e-01 -1.62650848e-01 -2.32265268e-03 2.22629543e+01] [ 1.62650563e-01 9.86683686e-01 -3.12636057e-04 1.12943457e+00] [ 2.34257402e-03 -6.93087214e-05 9.99997254e-01 5.49766679e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.023617864999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:22.29, Y:1.13, Z:0.00 [[ 9.87251974e-01 -1.59148185e-01 -2.32285919e-03 2.22936635e+01] [ 1.59147893e-01 9.87254704e-01 -3.11001910e-04 1.13272209e+00] [ 2.34274905e-03 -6.26408967e-05 9.99997254e-01 2.25139793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.053617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:22.32, Y:1.14, Z:0.00 [[ 9.87208870e-01 -1.59415310e-01 -2.32504759e-03 2.23207324e+01] [ 1.59415060e-01 9.87211605e-01 -2.93676187e-04 1.13597460e+00] [ 2.34213045e-03 -8.07278658e-05 9.99997254e-01 2.11278874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.083617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.35, Y:1.14, Z:0.00 [[ 9.87202533e-01 -1.59454552e-01 -2.32501359e-03 2.23494618e+01] [ 1.59454301e-01 9.87205267e-01 -2.93945144e-04 1.13984462e+00] [ 2.34213655e-03 -8.05500269e-05 9.99997254e-01 3.64802849e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.113617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.38, Y:1.15, Z:0.00 [[ 9.87293593e-01 -1.58889761e-01 -2.32494375e-03 2.23770976e+01] [ 1.58889508e-01 9.87296327e-01 -2.94496505e-04 1.14665077e+00] [ 2.34220090e-03 -7.86546557e-05 9.99997254e-01 2.87098075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.143617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.40, Y:1.15, Z:0.00 [[ 9.87016417e-01 -1.60602575e-01 -2.32491823e-03 2.24034435e+01] [ 1.60602326e-01 9.87019152e-01 -2.94697835e-04 1.15315491e+00] [ 2.34206805e-03 -8.25156732e-05 9.99997254e-01 1.50116474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.173617864999994 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:22.43, Y:1.16, Z:0.00 [[ 9.87338333e-01 -1.58611529e-01 -2.32334999e-03 2.24328393e+01] [ 1.58611246e-01 9.87341065e-01 -3.07034117e-04 1.15598907e+00] [ 2.34263800e-03 -6.53628817e-05 9.99997254e-01 2.57249894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.203617864999995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:22.46, Y:1.16, Z:0.00 [[ 9.87343414e-01 -1.58579877e-01 -2.32482023e-03 2.24607165e+01] [ 1.58579620e-01 9.87346148e-01 -2.95465793e-04 1.15994190e+00] [ 2.34225722e-03 -7.69429034e-05 9.99997254e-01 3.72506282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.233617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.49, Y:1.16, Z:0.01 [[ 9.87487015e-01 -1.57683197e-01 -2.32473886e-03 2.24869973e+01] [ 1.57682937e-01 9.87489749e-01 -2.96104613e-04 1.16418885e+00] [ 2.34234651e-03 -7.41721900e-05 9.99997254e-01 6.35494999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.263617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.52, Y:1.17, Z:0.01 [[ 9.87575406e-01 -1.57128654e-01 -2.32458036e-03 2.25158950e+01] [ 1.57128389e-01 9.87578139e-01 -2.97346495e-04 1.16879966e+00] [ 2.34242640e-03 -7.16054830e-05 9.99997254e-01 5.79053081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.293617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:22.54, Y:1.17, Z:0.00 [[ 9.87789270e-01 -1.55778540e-01 -2.32463656e-03 2.25437990e+01] [ 1.55778272e-01 9.87792003e-01 -2.96906491e-04 1.17415928e+00] [ 2.34250907e-03 -6.88468198e-05 9.99997254e-01 4.89565953e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.323617864999996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:22.57, Y:1.18, Z:0.00 [[ 9.87931007e-01 -1.54877119e-01 -2.32455542e-03 2.25705285e+01] [ 1.54876848e-01 9.87933739e-01 -2.97540422e-04 1.17843203e+00] [ 2.34258893e-03 -6.60704065e-05 9.99997254e-01 3.91040737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.353617864999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:22.60, Y:1.18, Z:0.00 [[ 9.88025716e-01 -1.54271780e-01 -2.32452023e-03 2.25979405e+01] [ 1.54271506e-01 9.88028448e-01 -2.97815111e-04 1.18329740e+00] [ 2.34263658e-03 -6.43582476e-05 9.99997254e-01 3.98392052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.383617864999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:22.62, Y:1.19, Z:0.00 [[ 9.88168234e-01 -1.53356247e-01 -2.32443825e-03 2.26246644e+01] [ 1.53355969e-01 9.88170966e-01 -2.98453541e-04 1.18762233e+00] [ 2.34271211e-03 -6.15441721e-05 9.99997254e-01 3.45458081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.413617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:22.65, Y:1.19, Z:0.00 [[ 9.87829217e-01 -1.55525037e-01 -2.32384720e-03 2.26497465e+01] [ 1.55524754e-01 9.87831949e-01 -3.03052474e-04 1.19487736e+00] [ 2.34270275e-03 -6.20516749e-05 9.99997254e-01 2.62688731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.443617864999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:22.68, Y:1.20, Z:0.00 [[ 9.87646359e-01 -1.56682098e-01 -2.32163259e-03 2.26759207e+01] [ 1.56681778e-01 9.87649086e-01 -3.20249705e-04 1.19946879e+00] [ 2.34313570e-03 -4.74640666e-05 9.99997254e-01 1.46923035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.473617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.71, Y:1.20, Z:0.00 [[ 9.88022037e-01 -1.54295392e-01 -2.32088931e-03 2.27079994e+01] [ 1.54295052e-01 9.88024762e-01 -3.26006660e-04 1.20002596e+00] [ 2.34339744e-03 -3.59999719e-05 9.99997254e-01 3.00671169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.503617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.74, Y:1.20, Z:0.00 [[ 9.87766446e-01 -1.55923204e-01 -2.32431564e-03 2.27354208e+01] [ 1.55922931e-01 9.87769178e-01 -2.99407955e-04 1.20357006e+00] [ 2.34257200e-03 -6.66689749e-05 9.99997254e-01 2.34645059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.533617864999997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:22.76, Y:1.21, Z:0.00 [[ 9.87219963e-01 -1.59346608e-01 -2.32429064e-03 2.27602687e+01] [ 1.59346343e-01 9.87222697e-01 -2.99601884e-04 1.20911585e+00] [ 2.34233302e-03 -7.45942539e-05 9.99997254e-01 3.12989644e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.563617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.79, Y:1.21, Z:0.00 [[ 9.87003359e-01 -1.60682851e-01 -2.32173749e-03 2.27886966e+01] [ 1.60682544e-01 9.87006088e-01 -3.19412459e-04 1.21236105e+00] [ 2.34289314e-03 -5.78015169e-05 9.99997254e-01 9.48227429e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.593617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.81, Y:1.22, Z:0.00 [[ 9.86433271e-01 -1.64146310e-01 -2.32173970e-03 2.28149574e+01] [ 1.64146013e-01 9.86436001e-01 -3.19395357e-04 1.21679706e+00] [ 2.34267519e-03 -6.60421070e-05 9.99997254e-01 6.07042682e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.623617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.84, Y:1.22, Z:-0.00 [[ 9.85760674e-01 -1.68138353e-01 -2.32101872e-03 2.28432531e+01] [ 1.68138054e-01 9.85763404e-01 -3.24979356e-04 1.22032010e+00] [ 2.34261681e-03 -6.98997010e-05 9.99997254e-01 -3.07939470e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.653617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:22.87, Y:1.22, Z:0.00 [[ 9.85547365e-01 -1.69384190e-01 -2.32122239e-03 2.28723964e+01] [ 1.69383898e-01 9.85550095e-01 -3.23398135e-04 1.22313512e+00] [ 2.34245948e-03 -7.44535167e-05 9.99997254e-01 1.52079853e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.683617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:22.90, Y:1.22, Z:0.00 [[ 9.84939397e-01 -1.72884336e-01 -2.32167831e-03 2.29005743e+01] [ 1.72884062e-01 9.84942130e-01 -3.19864282e-04 1.22493830e+00] [ 2.34201830e-03 -8.63342433e-05 9.99997254e-01 1.66345828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.713617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.93, Y:1.23, Z:0.00 [[ 9.84554155e-01 -1.75064922e-01 -2.32148381e-03 2.29271921e+01] [ 1.75064651e-01 9.84556888e-01 -3.21369195e-04 1.22913164e+00] [ 2.34189335e-03 -9.00043756e-05 9.99997254e-01 1.23978132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.743617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:22.95, Y:1.23, Z:0.00 [[ 9.84379823e-01 -1.76042557e-01 -2.31976059e-03 2.29545667e+01] [ 1.76042256e-01 9.84382554e-01 -3.34680202e-04 1.23238038e+00] [ 2.34244981e-03 -7.89234505e-05 9.99997253e-01 6.95137960e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.773617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:22.98, Y:1.23, Z:0.00 [[ 9.84504514e-01 -1.75343890e-01 -2.32009988e-03 2.29846399e+01] [ 1.75343594e-01 9.84507244e-01 -3.32059689e-04 1.23444354e+00] [ 2.34237978e-03 -7.99003898e-05 9.99997253e-01 5.29916728e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.803617864999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:23.01, Y:1.24, Z:-0.00 [[ 9.84325433e-01 -1.76346401e-01 -2.32139441e-03 2.30124935e+01] [ 1.76346131e-01 9.84328166e-01 -3.22055161e-04 1.23837499e+00] [ 2.34180717e-03 -9.23618378e-05 9.99997254e-01 -6.55900681e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.833617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.04, Y:1.24, Z:-0.00 [[ 9.84396014e-01 -1.75951991e-01 -2.32059005e-03 2.30404887e+01] [ 1.75951705e-01 9.84398745e-01 -3.28265622e-04 1.24009707e+00] [ 2.34214492e-03 -8.51684054e-05 9.99997254e-01 -1.94454400e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.863617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.07, Y:1.24, Z:-0.00 [[ 9.84400617e-01 -1.75926227e-01 -2.32121862e-03 2.30677443e+01] [ 1.75925953e-01 9.84403349e-01 -3.23410353e-04 1.24362802e+00] [ 2.34191175e-03 -8.99972470e-05 9.99997254e-01 -1.28288790e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.893617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.10, Y:1.24, Z:0.00 [[ 9.84632667e-01 -1.74622799e-01 -2.32149561e-03 2.30977480e+01] [ 1.74622527e-01 9.84635400e-01 -3.21262574e-04 1.24307652e+00] [ 2.34192653e-03 -8.90598036e-05 9.99997254e-01 2.35006164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.923617864999994 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:23.13, Y:1.25, Z:0.00 [[ 9.84447235e-01 -1.75665159e-01 -2.32237006e-03 2.31254889e+01] [ 1.75664905e-01 9.84449969e-01 -3.14476302e-04 1.24661155e+00] [ 2.34149966e-03 -9.83735890e-05 9.99997254e-01 2.48607836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.953617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:23.16, Y:1.25, Z:0.00 [[ 9.84984471e-01 -1.72627355e-01 -2.32137437e-03 2.31576301e+01] [ 1.72627075e-01 9.84987203e-01 -3.22195211e-04 1.24637170e+00] [ 2.34214376e-03 -8.33747873e-05 9.99997254e-01 4.96055848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.983617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.18, Y:1.25, Z:0.00 [[ 9.84645234e-01 -1.74551883e-01 -2.32432574e-03 2.31816554e+01] [ 1.74551661e-01 9.84647972e-01 -2.99273225e-04 1.25198361e+00] [ 2.34088133e-03 -1.11036964e-04 9.99997254e-01 1.94960149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.013617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.21, Y:1.26, Z:0.00 [[ 9.84657914e-01 -1.74480382e-01 -2.32144954e-03 2.32101122e+01] [ 1.74480109e-01 9.84660646e-01 -3.21548862e-04 1.25556046e+00] [ 2.34194397e-03 -8.84311354e-05 9.99997254e-01 4.07270387e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.043617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.24, Y:1.26, Z:0.00 [[ 9.84970425e-01 -1.72707476e-01 -2.32173294e-03 2.32380493e+01] [ 1.72707202e-01 9.84973157e-01 -3.19352623e-04 1.25795528e+00] [ 2.34199921e-03 -8.64271110e-05 9.99997254e-01 3.66676604e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.073617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:23.27, Y:1.26, Z:0.00 [[ 9.85711095e-01 -1.68428761e-01 -2.32156000e-03 2.32690966e+01] [ 1.68428472e-01 9.85713826e-01 -3.20691023e-04 1.25708564e+00] [ 2.34240738e-03 -7.49081045e-05 9.99997254e-01 3.12511167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.103617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.30, Y:1.26, Z:0.00 [[ 9.86102753e-01 -1.66120313e-01 -2.32424689e-03 2.32968772e+01] [ 1.66120067e-01 9.86105488e-01 -2.99864946e-04 1.25863934e+00] [ 2.34176628e-03 -9.04063998e-05 9.99997254e-01 3.76788213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.133617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.32, Y:1.26, Z:0.00 [[ 9.86286934e-01 -1.65023274e-01 -2.32422157e-03 2.33247903e+01] [ 1.65023024e-01 9.86289669e-01 -3.00061120e-04 1.26167437e+00] [ 2.34187279e-03 -8.76037095e-05 9.99997254e-01 4.11963660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.163617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:23.35, Y:1.26, Z:0.00 [[ 9.86667038e-01 -1.62735228e-01 -2.32414500e-03 2.33522808e+01] [ 1.62734971e-01 9.86669772e-01 -3.00653035e-04 1.26426925e+00] [ 2.34209045e-03 -8.15752292e-05 9.99997254e-01 4.77718538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.193617864999997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:23.38, Y:1.27, Z:0.00 [[ 9.86963224e-01 -1.60929157e-01 -2.32406296e-03 2.33777117e+01] [ 1.60928893e-01 9.86965957e-01 -3.01285856e-04 1.26720246e+00] [ 2.34225670e-03 -7.66508201e-05 9.99997254e-01 4.14159938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.223617864999994 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:23.41, Y:1.27, Z:0.00 [[ 9.86999931e-01 -1.60703885e-01 -2.32320743e-03 2.34057004e+01] [ 1.60703605e-01 9.87002663e-01 -3.07869719e-04 1.27075544e+00] [ 2.34248778e-03 -6.94804190e-05 9.99997254e-01 4.19477402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.253617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:23.43, Y:1.27, Z:0.00 [[ 9.87340512e-01 -1.58597960e-01 -2.32392946e-03 2.34321597e+01] [ 1.58597687e-01 9.87343244e-01 -3.02319471e-04 1.27338255e+00] [ 2.34246330e-03 -7.00775757e-05 9.99997254e-01 3.43812142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.283617864999997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:23.46, Y:1.28, Z:0.00 [[ 9.86946453e-01 -1.61031979e-01 -2.32389481e-03 2.34564544e+01] [ 1.61031713e-01 9.86949186e-01 -3.02585611e-04 1.27908396e+00] [ 2.34229205e-03 -7.55849658e-05 9.99997254e-01 9.66716136e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.313617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.49, Y:1.28, Z:0.00 [[ 9.87534930e-01 -1.57382897e-01 -2.32090003e-03 2.34878469e+01] [ 1.57382566e-01 9.87537656e-01 -3.25486339e-04 1.27826051e+00] [ 2.34320216e-03 -4.38400741e-05 9.99997254e-01 4.77404282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.343617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.52, Y:1.28, Z:0.01 [[ 9.87770888e-01 -1.55895073e-01 -2.32379152e-03 2.35155689e+01] [ 1.55894791e-01 9.87773619e-01 -3.03335167e-04 1.28086533e+00] [ 2.34266842e-03 -6.26413458e-05 9.99997254e-01 5.24621243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.373617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:23.54, Y:1.28, Z:0.00 [[ 9.87865597e-01 -1.55293792e-01 -2.32370852e-03 2.35435959e+01] [ 1.55293507e-01 9.87868328e-01 -3.03969693e-04 1.28432069e+00] [ 2.34272266e-03 -6.05756418e-05 9.99997254e-01 4.84315712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.403617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:23.57, Y:1.29, Z:0.00 [[ 9.88001692e-01 -1.54425574e-01 -2.32362556e-03 2.35713356e+01] [ 1.54425285e-01 9.88004422e-01 -3.04602546e-04 1.28779174e+00] [ 2.34279075e-03 -5.78787077e-05 9.99997254e-01 4.88634955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.433617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.60, Y:1.29, Z:0.00 [[ 9.88135045e-01 -1.53569965e-01 -2.32354139e-03 2.35980767e+01] [ 1.53569672e-01 9.88137775e-01 -3.05243250e-04 1.29122100e+00] [ 2.34285521e-03 -5.52039362e-05 9.99997254e-01 4.90800163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.463617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:23.63, Y:1.29, Z:0.01 [[ 9.88464807e-01 -1.51432913e-01 -2.32350485e-03 2.36260350e+01] [ 1.51432614e-01 9.88467536e-01 -3.05521156e-04 1.29354028e+00] [ 2.34297507e-03 -4.98575014e-05 9.99997254e-01 5.81009478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.493617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.65, Y:1.30, Z:0.01 [[ 9.88614063e-01 -1.50455426e-01 -2.32347908e-03 2.36545118e+01] [ 1.50455123e-01 9.88616793e-01 -3.05717014e-04 1.29578925e+00] [ 2.34302722e-03 -4.73431903e-05 9.99997254e-01 6.61151111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.523617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.68, Y:1.30, Z:0.01 [[ 9.88699363e-01 -1.49893866e-01 -2.32339635e-03 2.36815627e+01] [ 1.49893559e-01 9.88702092e-01 -3.06344460e-04 1.29795582e+00] [ 2.34306598e-03 -4.53795754e-05 9.99997254e-01 7.21910605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.553617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.71, Y:1.30, Z:0.01 [[ 9.88889437e-01 -1.48634732e-01 -2.32336048e-03 2.37095697e+01] [ 1.48634422e-01 9.88892165e-01 -3.06616208e-04 1.29993293e+00] [ 2.34312680e-03 -4.21218121e-05 9.99997254e-01 7.83535214e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.583617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.74, Y:1.30, Z:0.01 [[ 9.88944543e-01 -1.48267641e-01 -2.32327909e-03 2.37373859e+01] [ 1.48267328e-01 9.88947271e-01 -3.07231717e-04 1.30328828e+00] [ 2.34315304e-03 -4.06312535e-05 9.99997254e-01 7.37158251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.613617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.76, Y:1.31, Z:0.00 [[ 9.88772042e-01 -1.49413695e-01 -2.32319711e-03 2.37581816e+01] [ 1.49413384e-01 9.88774770e-01 -3.07850335e-04 1.30944009e+00] [ 2.34311575e-03 -4.27229394e-05 9.99997254e-01 4.97531297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.643617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.79, Y:1.31, Z:0.01 [[ 9.89258016e-01 -1.46161564e-01 -2.31827214e-03 2.37932010e+01] [ 1.46161157e-01 9.89260733e-01 -3.44865209e-04 1.30802056e+00] [ 2.34378163e-03 2.31933379e-06 9.99997253e-01 6.67623222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.673617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.82, Y:1.31, Z:0.01 [[ 9.89474857e-01 -1.44686251e-01 -2.32314935e-03 2.38198638e+01] [ 1.44685926e-01 9.89477583e-01 -3.08088459e-04 1.31285603e+00] [ 2.34328037e-03 -3.12812325e-05 9.99997254e-01 7.39612968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.703617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.85, Y:1.32, Z:0.01 [[ 9.89740330e-01 -1.42858958e-01 -2.32311426e-03 2.38478411e+01] [ 1.42858628e-01 9.89743056e-01 -3.08352881e-04 1.31671301e+00] [ 2.34333718e-03 -2.66876326e-05 9.99997254e-01 8.15737976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.733617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.87, Y:1.32, Z:0.01 [[ 9.89844867e-01 -1.42132835e-01 -2.32302914e-03 2.38745993e+01] [ 1.42132501e-01 9.89847593e-01 -3.08992756e-04 1.32127594e+00] [ 2.34336282e-03 -2.43230486e-05 9.99997254e-01 8.51489959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.763617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.90, Y:1.33, Z:0.01 [[ 9.89856213e-01 -1.42053794e-01 -2.32299225e-03 2.39023202e+01] [ 1.42053460e-01 9.89858939e-01 -3.09269903e-04 1.32543398e+00] [ 2.34336760e-03 -2.38563499e-05 9.99997254e-01 8.54013539e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.793617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.93, Y:1.33, Z:0.01 [[ 9.90012869e-01 -1.40957875e-01 -2.32291318e-03 2.39299325e+01] [ 1.40957536e-01 9.90015594e-01 -3.09862621e-04 1.33182830e+00] [ 2.34339785e-03 -2.06641364e-05 9.99997254e-01 9.47761511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.823617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.96, Y:1.34, Z:0.01 [[ 9.89955658e-01 -1.41359115e-01 -2.32282808e-03 2.39582468e+01] [ 1.41358776e-01 9.89958383e-01 -3.10499245e-04 1.33542926e+00] [ 2.34339503e-03 -2.09716501e-05 9.99997254e-01 9.24246328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.853617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.99, Y:1.34, Z:0.01 [[ 9.89948309e-01 -1.41410574e-01 -2.32274345e-03 2.39857919e+01] [ 1.41410233e-01 9.89951034e-01 -3.11131036e-04 1.34197182e+00] [ 2.34339950e-03 -2.04560496e-05 9.99997254e-01 6.99115792e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.883617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.01, Y:1.35, Z:0.01 [[ 9.89836382e-01 -1.42191921e-01 -2.32265915e-03 2.40139317e+01] [ 1.42191581e-01 9.89839107e-01 -3.11759093e-04 1.34672134e+00] [ 2.34338849e-03 -2.16720834e-05 9.99997254e-01 5.25594552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.913617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.04, Y:1.35, Z:0.00 [[ 9.89713648e-01 -1.43043705e-01 -2.32257497e-03 2.40413123e+01] [ 1.43043366e-01 9.89716372e-01 -3.12384999e-04 1.35033277e+00] [ 2.34337518e-03 -2.30572439e-05 9.99997254e-01 4.68136213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.943617864999993 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:24.07, Y:1.35, Z:0.00 [[ 9.89178673e-01 -1.46697505e-01 -2.32253558e-03 2.40676909e+01] [ 1.46697175e-01 9.89181399e-01 -3.12677548e-04 1.35409175e+00] [ 2.34327802e-03 -3.14154462e-05 9.99997254e-01 4.72260943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.973617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.10, Y:1.36, Z:0.01 [[ 9.88813107e-01 -1.49141695e-01 -2.32249952e-03 2.40954853e+01] [ 1.49141371e-01 9.88815834e-01 -3.12945226e-04 1.35884323e+00] [ 2.34319748e-03 -3.69364205e-05 9.99997254e-01 5.68810607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.003617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:24.12, Y:1.36, Z:0.01 [[ 9.87677839e-01 -1.56483521e-01 -2.32241268e-03 2.41226933e+01] [ 1.56483216e-01 9.87680568e-01 -3.13588314e-04 1.36236017e+00] [ 2.34287328e-03 -5.36943768e-05 9.99997254e-01 5.60843596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.033617864999997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:24.15, Y:1.37, Z:0.01 [[ 9.87157188e-01 -1.59735068e-01 -2.32237504e-03 2.41492796e+01] [ 1.59734771e-01 9.87159918e-01 -3.13866839e-04 1.36674803e+00] [ 2.34269109e-03 -6.11281397e-05 9.99997254e-01 5.71591550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.063617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.17, Y:1.38, Z:0.00 [[ 9.86058167e-01 -1.66384789e-01 -2.32231656e-03 2.41699529e+01] [ 1.66384509e-01 9.86060899e-01 -3.14298959e-04 1.37584991e+00] [ 2.34224012e-03 -7.64804460e-05 9.99997254e-01 4.00451631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.093617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.21, Y:1.37, Z:0.01 [[ 9.86369916e-01 -1.64526660e-01 -2.31658816e-03 2.42054231e+01] [ 1.64526276e-01 9.86372636e-01 -3.56433866e-04 1.37482099e+00] [ 2.34366204e-03 -2.95639817e-05 9.99997253e-01 7.07628972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.123617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.23, Y:1.38, Z:0.01 [[ 9.85600235e-01 -1.69076265e-01 -2.32226566e-03 2.42325270e+01] [ 1.69075992e-01 9.85602968e-01 -3.14513004e-04 1.37783163e+00] [ 2.34200861e-03 -8.26552799e-05 9.99997254e-01 8.25217703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.153617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.26, Y:1.39, Z:0.01 [[ 9.84863793e-01 -1.73314502e-01 -2.32222864e-03 2.42567343e+01] [ 1.73314240e-01 9.84866526e-01 -3.14786122e-04 1.38515700e+00] [ 2.34164225e-03 -9.24538385e-05 9.99997254e-01 7.33497961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.183617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.28, Y:1.39, Z:0.01 [[ 9.84514362e-01 -1.75288606e-01 -2.31839651e-03 2.42839411e+01] [ 1.75288284e-01 9.84517090e-01 -3.42985547e-04 1.39050650e+00] [ 2.34262244e-03 -6.87135474e-05 9.99997254e-01 6.31061531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.213617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.32, Y:1.39, Z:0.01 [[ 9.84495650e-01 -1.75393674e-01 -2.31840100e-03 2.43172850e+01] [ 1.75393353e-01 9.84498377e-01 -3.42952523e-04 1.39323487e+00] [ 2.34261373e-03 -6.89968573e-05 9.99997254e-01 8.16028654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.243617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.34, Y:1.40, Z:0.01 [[ 9.84322584e-01 -1.76362293e-01 -2.32215249e-03 2.43438097e+01] [ 1.76362039e-01 9.84325318e-01 -3.15325444e-04 1.39747449e+00] [ 2.34136501e-03 -9.91575935e-05 9.99997254e-01 7.86613930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.273617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.37, Y:1.40, Z:0.01 [[ 9.84151243e-01 -1.77315928e-01 -2.32211503e-03 2.43709571e+01] [ 1.77315676e-01 9.84153977e-01 -3.15601051e-04 1.40143766e+00] [ 2.34127984e-03 -1.01148231e-04 9.99997254e-01 7.91665145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.303617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.40, Y:1.40, Z:0.01 [[ 9.83930203e-01 -1.78538411e-01 -2.32207807e-03 2.43984736e+01] [ 1.78538161e-01 9.83932937e-01 -3.15872782e-04 1.40434130e+00] [ 2.34116452e-03 -1.03782779e-04 9.99997254e-01 9.17038323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.333617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.42, Y:1.41, Z:0.01 [[ 9.83672616e-01 -1.79952196e-01 -2.32199196e-03 2.44249438e+01] [ 1.79951949e-01 9.83675351e-01 -3.16504519e-04 1.40921997e+00] [ 2.34104194e-03 -1.06510151e-04 9.99997254e-01 7.09299648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.363617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.45, Y:1.41, Z:0.01 [[ 9.83684611e-01 -1.79886635e-01 -2.32037565e-03 2.44533633e+01] [ 1.79886360e-01 9.83687343e-01 -3.28332883e-04 1.41286279e+00] [ 2.34158686e-03 -9.44279263e-05 9.99997254e-01 7.77368305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.393617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:24.48, Y:1.42, Z:0.01 [[ 9.83774881e-01 -1.79392300e-01 -2.32068304e-03 2.44824444e+01] [ 1.79392029e-01 9.83777614e-01 -3.26084806e-04 1.41907801e+00] [ 2.34153313e-03 -9.55179980e-05 9.99997254e-01 7.93992553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.423617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.51, Y:1.42, Z:0.01 [[ 9.83810987e-01 -1.79194170e-01 -2.32186123e-03 2.45105572e+01] [ 1.79193919e-01 9.83813721e-01 -3.17467886e-04 1.42404609e+00] [ 2.34116734e-03 -1.03735020e-04 9.99997254e-01 6.96500328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.453617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:24.54, Y:1.43, Z:0.01 [[ 9.83843372e-01 -1.79016279e-01 -2.32177544e-03 2.45388428e+01] [ 1.79016025e-01 9.83846107e-01 -3.18094087e-04 1.42780748e+00] [ 2.34121375e-03 -1.02680253e-04 9.99997254e-01 6.86098723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.483617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.57, Y:1.43, Z:0.01 [[ 9.83806708e-01 -1.79217665e-01 -2.32168820e-03 2.45667617e+01] [ 1.79217411e-01 9.83809442e-01 -3.18729566e-04 1.42922917e+00] [ 2.34122074e-03 -1.02518664e-04 9.99997254e-01 8.20122194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.513617864999993 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:24.59, Y:1.43, Z:0.01 [[ 9.83706373e-01 -1.79767575e-01 -2.32160054e-03 2.45940344e+01] [ 1.79767321e-01 9.83709108e-01 -3.19366840e-04 1.43259662e+00] [ 2.34119139e-03 -1.03184712e-04 9.99997254e-01 8.39356343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.543617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.62, Y:1.44, Z:0.01 [[ 9.83557135e-01 -1.80582316e-01 -2.32154096e-03 2.46214696e+01] [ 1.80582063e-01 9.83559869e-01 -3.19799324e-04 1.43669847e+00] [ 2.34112462e-03 -1.04687749e-04 9.99997254e-01 8.48250173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.573617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:24.65, Y:1.44, Z:0.01 [[ 9.83259161e-01 -1.82197783e-01 -2.32145542e-03 2.46494772e+01] [ 1.82197534e-01 9.83261896e-01 -3.20419054e-04 1.44149663e+00] [ 2.34097830e-03 -1.07908482e-04 9.99997254e-01 7.73501576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.603617864999993 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:24.68, Y:1.45, Z:0.01 [[ 9.83144297e-01 -1.82816583e-01 -2.32136773e-03 2.46763023e+01] [ 1.82816333e-01 9.83147031e-01 -3.21053092e-04 1.44519353e+00] [ 2.34093962e-03 -1.08742420e-04 9.99997254e-01 7.55083889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.633617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:24.70, Y:1.45, Z:0.01 [[ 9.83080753e-01 -1.83157975e-01 -2.32132971e-03 2.47039356e+01] [ 1.83157726e-01 9.83083488e-01 -3.21327758e-04 1.44839308e+00] [ 2.34091465e-03 -1.09278336e-04 9.99997254e-01 7.88998442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.663617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.73, Y:1.45, Z:0.01 [[ 9.83088266e-01 -1.83117647e-01 -2.32124186e-03 2.47315517e+01] [ 1.83117396e-01 9.83091001e-01 -3.21961157e-04 1.45036748e+00] [ 2.34094875e-03 -1.08543530e-04 9.99997254e-01 8.43246384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.693617864999993 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:24.76, Y:1.45, Z:0.01 [[ 9.83102754e-01 -1.83039853e-01 -2.32121466e-03 2.47598787e+01] [ 1.83039602e-01 9.83105488e-01 -3.22157155e-04 1.45335511e+00] [ 2.34096646e-03 -1.08160621e-04 9.99997254e-01 9.06865344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.723617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:24.79, Y:1.46, Z:0.01 [[ 9.83196869e-01 -1.82533636e-01 -2.32112527e-03 2.47870402e+01] [ 1.82533382e-01 9.83199603e-01 -3.22799887e-04 1.45659864e+00] [ 2.34105128e-03 -1.06307007e-04 9.99997254e-01 8.54405652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.753617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:24.82, Y:1.46, Z:0.01 [[ 9.83148094e-01 -1.82796163e-01 -2.32108652e-03 2.48153416e+01] [ 1.82795908e-01 9.83150828e-01 -3.23078257e-04 1.46060540e+00] [ 2.34103560e-03 -1.06651347e-04 9.99997254e-01 8.61093494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.783617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.84, Y:1.46, Z:0.01 [[ 9.83626555e-01 -1.80203810e-01 -2.32100009e-03 2.48430024e+01] [ 1.80203547e-01 9.83629288e-01 -3.23698009e-04 1.46399327e+00] [ 2.34133528e-03 -9.98544910e-05 9.99997254e-01 8.81923700e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.813617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.87, Y:1.47, Z:0.00 [[ 9.83443804e-01 -1.81198506e-01 -2.32059880e-03 2.48674399e+01] [ 1.81198239e-01 9.83446537e-01 -3.26572403e-04 1.47103204e+00] [ 2.34135929e-03 -9.93228100e-05 9.99997254e-01 4.61361815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.843617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.89, Y:1.48, Z:0.00 [[ 9.84157874e-01 -1.77279180e-01 -2.31744395e-03 2.48942412e+01] [ 1.77278849e-01 9.84160601e-01 -3.49214657e-04 1.47541724e+00] [ 2.34264552e-03 -6.71514414e-05 9.99997254e-01 4.62973557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.873617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.92, Y:1.48, Z:0.00 [[ 9.84397821e-01 -1.75941934e-01 -2.31660575e-03 2.49206041e+01] [ 1.75941585e-01 9.84400545e-01 -3.55220958e-04 1.47962542e+00] [ 2.34296622e-03 -5.79085500e-05 9.99997254e-01 4.27735416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.903617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.96, Y:1.48, Z:0.01 [[ 9.85485177e-01 -1.69745701e-01 -2.31575916e-03 2.49551023e+01] [ 1.69745321e-01 9.85487897e-01 -3.61267302e-04 1.47851706e+00] [ 2.34347620e-03 -3.70657111e-05 9.99997253e-01 8.16015845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.933617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.98, Y:1.48, Z:0.01 [[ 9.85784721e-01 -1.67997316e-01 -2.32077273e-03 2.49830836e+01] [ 1.67997015e-01 9.85787450e-01 -3.25368371e-04 1.48141028e+00] [ 2.34244964e-03 -6.91397216e-05 9.99997254e-01 8.10719016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.963617864999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:25.01, Y:1.48, Z:0.01 [[ 9.86180505e-01 -1.65658160e-01 -2.32091550e-03 2.50109139e+01] [ 1.65657855e-01 9.86183233e-01 -3.24346788e-04 1.48421598e+00] [ 2.34257864e-03 -6.46134029e-05 9.99997254e-01 8.38606818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.993617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:25.04, Y:1.49, Z:0.01 [[ 9.86340392e-01 -1.64703508e-01 -2.32082659e-03 2.50381048e+01] [ 1.64703198e-01 9.86343120e-01 -3.24981728e-04 1.48843438e+00] [ 2.34265697e-03 -6.17049570e-05 9.99997254e-01 8.03356353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.023617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.07, Y:1.49, Z:0.01 [[ 9.86557379e-01 -1.63398749e-01 -2.32079906e-03 2.50661154e+01] [ 1.63398436e-01 9.86560107e-01 -3.25178198e-04 1.49245218e+00] [ 2.34274148e-03 -5.84079857e-05 9.99997254e-01 8.15492467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.053617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.09, Y:1.49, Z:0.01 [[ 9.87045713e-01 -1.60422489e-01 -2.32071133e-03 2.50940979e+01] [ 1.60422166e-01 9.87048440e-01 -3.25803092e-04 1.49494652e+00] [ 2.34292064e-03 -5.07109935e-05 9.99997254e-01 8.57588029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.083617864999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:25.11, Y:1.50, Z:0.01 [[ 9.86302963e-01 -1.64927500e-01 -2.32062151e-03 2.51136841e+01] [ 1.64927188e-01 9.86305691e-01 -3.26441618e-04 1.50362496e+00] [ 2.34268140e-03 -6.07632437e-05 9.99997254e-01 6.85843079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.113617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.15, Y:1.50, Z:0.01 [[ 9.87826052e-01 -1.55545292e-01 -2.31371161e-03 2.51504435e+01] [ 1.55544840e-01 9.87828761e-01 -3.75199983e-04 1.50171099e+00] [ 2.34391146e-03 1.07464160e-05 9.99997253e-01 9.79305204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.143617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.18, Y:1.51, Z:0.01 [[ 9.87929675e-01 -1.54885673e-01 -2.32047898e-03 2.51767812e+01] [ 1.54885332e-01 9.87932400e-01 -3.27207341e-04 1.50550651e+00] [ 2.34315610e-03 -3.61503148e-05 9.99997254e-01 8.98919272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.173617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.20, Y:1.51, Z:0.01 [[ 9.88011701e-01 -1.54361568e-01 -2.32044050e-03 2.52045451e+01] [ 1.54361225e-01 9.88014425e-01 -3.27480032e-04 1.51002615e+00] [ 2.34317902e-03 -3.46319340e-05 9.99997254e-01 8.70906096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.203617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.23, Y:1.51, Z:0.01 [[ 9.87910469e-01 -1.55008131e-01 -2.32035302e-03 2.52319362e+01] [ 1.55007787e-01 9.87913194e-01 -3.28098679e-04 1.51335123e+00] [ 2.34316533e-03 -3.55406680e-05 9.99997254e-01 7.71373560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.233617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.26, Y:1.52, Z:0.01 [[ 9.87807064e-01 -1.55665731e-01 -2.32026607e-03 2.52599752e+01] [ 1.55665389e-01 9.87809789e-01 -3.28712406e-04 1.51767273e+00] [ 2.34315080e-03 -3.64806832e-05 9.99997254e-01 7.79571248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.263617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.29, Y:1.52, Z:0.01 [[ 9.87591783e-01 -1.57025750e-01 -2.32017968e-03 2.52862975e+01] [ 1.57025409e-01 9.87594508e-01 -3.29321075e-04 1.52161398e+00] [ 2.34310860e-03 -3.90923758e-05 9.99997254e-01 7.85119211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.293617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:25.31, Y:1.53, Z:0.01 [[ 9.87318407e-01 -1.58735565e-01 -2.32012088e-03 2.53139308e+01] [ 1.58735228e-01 9.87321132e-01 -3.29734802e-04 1.52608091e+00] [ 2.34304502e-03 -4.27316784e-05 9.99997254e-01 8.50286232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.323617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.34, Y:1.53, Z:0.01 [[ 9.86413195e-01 -1.64266933e-01 -2.32003178e-03 2.53373994e+01] [ 1.64266610e-01 9.86415922e-01 -3.30360533e-04 1.53352985e+00] [ 2.34278360e-03 -5.52317676e-05 9.99997254e-01 6.83391718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.353617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.37, Y:1.53, Z:0.01 [[ 9.85889892e-01 -1.67379082e-01 -2.31605815e-03 2.53697573e+01] [ 1.67378702e-01 9.85892612e-01 -3.58173071e-04 1.53374902e+00] [ 2.34333530e-03 -3.45395966e-05 9.99997254e-01 1.04138146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.383617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.40, Y:1.54, Z:0.01 [[ 9.85316087e-01 -1.70724420e-01 -2.31993585e-03 2.53975076e+01] [ 1.70724113e-01 9.85318815e-01 -3.30994271e-04 1.53728296e+00] [ 2.34238525e-03 -6.99350111e-05 9.99997254e-01 1.13738768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.413617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.42, Y:1.54, Z:0.01 [[ 9.84782076e-01 -1.73778251e-01 -2.31984687e-03 2.54247683e+01] [ 1.73777951e-01 9.84784806e-01 -3.31616745e-04 1.54068447e+00] [ 2.34217773e-03 -7.65680090e-05 9.99997254e-01 1.25495748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.443617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.45, Y:1.54, Z:0.01 [[ 9.83841430e-01 -1.79026980e-01 -2.31978630e-03 2.54527012e+01] [ 1.79026694e-01 9.83844161e-01 -3.32039941e-04 1.54431237e+00] [ 2.34175231e-03 -8.86290202e-05 9.99997254e-01 1.38165081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.473617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:25.48, Y:1.55, Z:0.01 [[ 9.83439043e-01 -1.81224358e-01 -2.31969853e-03 2.54802848e+01] [ 1.81224076e-01 9.83441774e-01 -3.32651972e-04 1.54887613e+00] [ 2.34157308e-03 -9.32422866e-05 9.99997254e-01 1.41356515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.503617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.51, Y:1.55, Z:0.01 [[ 9.83105881e-01 -1.83023073e-01 -2.31961102e-03 2.55072580e+01] [ 1.83022795e-01 9.83108613e-01 -3.33261115e-04 1.55371088e+00] [ 2.34142404e-03 -9.69107296e-05 9.99997254e-01 1.37842556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.533617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.54, Y:1.56, Z:0.01 [[ 9.82846692e-01 -1.84409868e-01 -2.31955145e-03 2.55352189e+01] [ 1.84409594e-01 9.82849424e-01 -3.33675207e-04 1.55904957e+00] [ 2.34130280e-03 -9.97959661e-05 9.99997254e-01 1.32401344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.563617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.56, Y:1.56, Z:0.01 [[ 9.82600130e-01 -1.85719153e-01 -2.31946505e-03 2.55630882e+01] [ 1.85718880e-01 9.82602863e-01 -3.34274678e-04 1.56455557e+00] [ 2.34119421e-03 -1.02310110e-04 9.99997254e-01 1.27945743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.593617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:25.59, Y:1.57, Z:0.01 [[ 9.82537629e-01 -1.86049533e-01 -2.31937559e-03 2.55902483e+01] [ 1.86049260e-01 9.82540361e-01 -3.34894286e-04 1.56841224e+00] [ 2.34118705e-03 -1.02471873e-04 9.99997254e-01 1.26424735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.623617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.62, Y:1.57, Z:0.01 [[ 9.82434719e-01 -1.86592183e-01 -2.31933685e-03 2.56179866e+01] [ 1.86591910e-01 9.82437452e-01 -3.35162378e-04 1.57220961e+00] [ 2.34114206e-03 -1.03494336e-04 9.99997254e-01 1.33194906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.653617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:25.64, Y:1.58, Z:0.01 [[ 9.82359822e-01 -1.86986101e-01 -2.31924565e-03 2.56446630e+01] [ 1.86985828e-01 9.82362554e-01 -3.35792250e-04 1.57615848e+00] [ 2.34112856e-03 -1.03797255e-04 9.99997254e-01 1.29849109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.683617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:25.67, Y:1.58, Z:0.01 [[ 9.82285505e-01 -1.87376114e-01 -2.31920607e-03 2.56725142e+01] [ 1.87375841e-01 9.82288237e-01 -3.36065363e-04 1.57988079e+00] [ 2.34109947e-03 -1.04451055e-04 9.99997254e-01 1.31220811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.713617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.70, Y:1.58, Z:0.01 [[ 9.82169036e-01 -1.87985657e-01 -2.31911720e-03 2.56998932e+01] [ 1.87985385e-01 9.82171768e-01 -3.36677587e-04 1.58362402e+00] [ 2.34106199e-03 -1.05285837e-04 9.99997254e-01 1.35332538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.743617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:25.73, Y:1.59, Z:0.01 [[ 9.82093749e-01 -1.88378583e-01 -2.31902732e-03 2.57277939e+01] [ 1.88378310e-01 9.82096481e-01 -3.37295527e-04 1.58792161e+00] [ 2.34104782e-03 -1.05598620e-04 9.99997254e-01 1.47747722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.773617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.76, Y:1.59, Z:0.02 [[ 9.82104867e-01 -1.88320611e-01 -2.31895859e-03 2.57564718e+01] [ 1.88320337e-01 9.82107599e-01 -3.37767853e-04 1.59237089e+00] [ 2.34107550e-03 -1.04983609e-04 9.99997254e-01 1.54567725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.803617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.78, Y:1.60, Z:0.01 [[ 9.82012944e-01 -1.88799362e-01 -2.31906765e-03 2.57846620e+01] [ 1.88799091e-01 9.82015677e-01 -3.37019022e-04 1.59668149e+00] [ 2.34098976e-03 -1.06880822e-04 9.99997254e-01 1.34985496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.833617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.81, Y:1.60, Z:0.01 [[ 9.81245939e-01 -1.92746024e-01 -2.31889078e-03 2.58076609e+01] [ 1.92745761e-01 9.81248672e-01 -3.38231595e-04 1.60476910e+00] [ 2.34060130e-03 -1.15067991e-04 9.99997254e-01 9.48364398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.863617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.84, Y:1.61, Z:0.01 [[ 9.81352568e-01 -1.92202437e-01 -2.31521894e-03 2.58365560e+01] [ 1.92202114e-01 9.81355295e-01 -3.63366042e-04 1.60856532e+00] [ 2.34189221e-03 -8.83997769e-05 9.99997254e-01 9.99287792e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.893617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:25.87, Y:1.61, Z:0.01 [[ 9.81886221e-01 -1.89457349e-01 -2.31552402e-03 2.58676360e+01] [ 1.89457024e-01 9.81888948e-01 -3.61279437e-04 1.60916348e+00] [ 2.34203449e-03 -8.39569883e-05 9.99997254e-01 1.29263322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.923617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.89, Y:1.62, Z:0.01 [[ 9.80935904e-01 -1.94317718e-01 -2.31885185e-03 2.58903612e+01] [ 1.94317460e-01 9.80938637e-01 -3.38481285e-04 1.61835828e+00] [ 2.34042429e-03 -1.18564957e-04 9.99997254e-01 7.93817258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.953617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.92, Y:1.62, Z:0.01 [[ 9.81766547e-01 -1.90076540e-01 -2.31440771e-03 2.59239921e+01] [ 1.90076198e-01 9.81769272e-01 -3.68795921e-04 1.61848256e+00] [ 2.34231383e-03 -7.78423219e-05 9.99997254e-01 1.28883193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.983617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:25.95, Y:1.63, Z:0.01 [[ 9.81073945e-01 -1.93619568e-01 -2.31875348e-03 2.59475645e+01] [ 1.93619306e-01 9.81076679e-01 -3.39077782e-04 1.62856822e+00] [ 2.34052706e-03 -1.16295063e-04 9.99997254e-01 7.16402632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.013617864999993 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:25.98, Y:1.63, Z:0.01 [[ 9.81776660e-01 -1.90024288e-01 -2.31499729e-03 2.59799652e+01] [ 1.90023956e-01 9.81779386e-01 -3.64666348e-04 1.63009865e+00] [ 2.34211208e-03 -8.18840331e-05 9.99997254e-01 1.08018633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.043617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.01, Y:1.63, Z:0.01 [[ 9.81789462e-01 -1.89958088e-01 -2.31865930e-03 2.60075058e+01] [ 1.89957815e-01 9.81792195e-01 -3.39668615e-04 1.63483871e+00] [ 2.34096440e-03 -1.06964386e-04 9.99997254e-01 1.06472859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.073617864999996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:26.03, Y:1.64, Z:0.01 [[ 9.81055166e-01 -1.93714703e-01 -2.31856783e-03 2.60301073e+01] [ 1.93714438e-01 9.81057899e-01 -3.40291837e-04 1.64410924e+00] [ 2.34056881e-03 -1.15295000e-04 9.99997254e-01 7.42415795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.103617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.06, Y:1.64, Z:0.01 [[ 9.81777352e-01 -1.90020725e-01 -2.31426970e-03 2.60631096e+01] [ 1.90020381e-01 9.81780076e-01 -3.69479020e-04 1.64467073e+00] [ 2.34231256e-03 -7.70122766e-05 9.99997254e-01 1.03238500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.133617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.09, Y:1.65, Z:0.01 [[ 9.81763038e-01 -1.90094613e-01 -2.31852481e-03 2.60906920e+01] [ 1.90094338e-01 9.81765770e-01 -3.40505708e-04 1.65013171e+00] [ 2.34097660e-03 -1.06442522e-04 9.99997254e-01 8.88696808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.163617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.12, Y:1.66, Z:0.01 [[ 9.81845626e-01 -1.89667582e-01 -2.31849627e-03 2.61188193e+01] [ 1.89667305e-01 9.81848358e-01 -3.40699972e-04 1.65745574e+00] [ 2.34103149e-03 -1.05228161e-04 9.99997254e-01 7.47845217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.193617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.14, Y:1.67, Z:0.01 [[ 9.81446607e-01 -1.91721629e-01 -2.31841895e-03 2.61439783e+01] [ 1.91721357e-01 9.81449339e-01 -3.41225311e-04 1.66537642e+00] [ 2.34083102e-03 -1.09596002e-04 9.99997254e-01 6.50812101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.223617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.17, Y:1.67, Z:0.01 [[ 9.81631013e-01 -1.90775237e-01 -2.31577605e-03 2.61746847e+01] [ 1.90774920e-01 9.81633741e-01 -3.59138296e-04 1.66834848e+00] [ 2.34175860e-03 -8.92507002e-05 9.99997254e-01 7.60187423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.253617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.20, Y:1.67, Z:0.01 [[ 9.81404682e-01 -1.91936124e-01 -2.31831709e-03 2.62014873e+01] [ 1.91935850e-01 9.81407414e-01 -3.41908709e-04 1.67275755e+00] [ 2.34083822e-03 -1.09417355e-04 9.99997254e-01 6.94380276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.283617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.23, Y:1.68, Z:0.01 [[ 9.81143652e-01 -1.93266034e-01 -2.31827664e-03 2.62294700e+01] [ 1.93265763e-01 9.81146384e-01 -3.42182795e-04 1.67747656e+00] [ 2.34070105e-03 -1.12313027e-04 9.99997254e-01 7.86741746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.313617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:26.26, Y:1.68, Z:0.01 [[ 9.80796656e-01 -1.95019348e-01 -2.31818480e-03 2.62575575e+01] [ 1.95019081e-01 9.80799389e-01 -3.42803815e-04 1.68389469e+00] [ 2.34052761e-03 -1.15869434e-04 9.99997254e-01 7.17465407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.343617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.28, Y:1.69, Z:0.01 [[ 9.80762318e-01 -1.95191960e-01 -2.31810222e-03 2.62844319e+01] [ 1.95191692e-01 9.80765051e-01 -3.43361371e-04 1.68931656e+00] [ 2.34053502e-03 -1.15718400e-04 9.99997254e-01 5.44438184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.373617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.31, Y:1.69, Z:0.01 [[ 9.80761904e-01 -1.95194043e-01 -2.31807299e-03 2.63120163e+01] [ 1.95193774e-01 9.80764637e-01 -3.43558552e-04 1.69458917e+00] [ 2.34054460e-03 -1.15524277e-04 9.99997254e-01 5.54412005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.403617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.34, Y:1.70, Z:0.01 [[ 9.80927844e-01 -1.94358410e-01 -2.31797964e-03 2.63392838e+01] [ 1.94358138e-01 9.80930576e-01 -3.44187265e-04 1.69951479e+00] [ 2.34067279e-03 -1.12895335e-04 9.99997254e-01 6.58136734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.433617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.37, Y:1.70, Z:0.01 [[ 9.81046823e-01 -1.93756955e-01 -2.31795071e-03 2.63670617e+01] [ 1.93756681e-01 9.81049555e-01 -3.44381982e-04 1.70400289e+00] [ 2.34075092e-03 -1.11263586e-04 9.99997254e-01 7.87011671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.463617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.39, Y:1.71, Z:0.01 [[ 9.81163882e-01 -1.93163312e-01 -2.31785745e-03 2.63944470e+01] [ 1.93163034e-01 9.81166613e-01 -3.45008525e-04 1.70936960e+00] [ 2.34084733e-03 -1.09214475e-04 9.99997254e-01 8.00288972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.493617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:26.42, Y:1.72, Z:0.01 [[ 9.81388135e-01 -1.92020719e-01 -2.31776433e-03 2.64219775e+01] [ 1.92020438e-01 9.81390866e-01 -3.45632987e-04 1.71515232e+00] [ 2.34100144e-03 -1.05858008e-04 9.99997254e-01 8.08991934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.523617864999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:26.45, Y:1.72, Z:0.01 [[ 9.81254791e-01 -1.92700970e-01 -2.31767027e-03 2.64501587e+01] [ 1.92700689e-01 9.81257522e-01 -3.46262581e-04 1.72381592e+00] [ 2.34095652e-03 -1.06844840e-04 9.99997254e-01 8.25891483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.553617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.48, Y:1.73, Z:0.01 [[ 9.82381781e-01 -1.86870717e-01 -2.31759165e-03 2.64775456e+01] [ 1.86870419e-01 9.82384510e-01 -3.46787941e-04 1.72824176e+00] [ 2.34157065e-03 -9.24111671e-05 9.99997254e-01 8.29561750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.583617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:26.51, Y:1.73, Z:0.01 [[ 9.82717265e-01 -1.85098369e-01 -2.31756142e-03 2.65059607e+01] [ 1.85098065e-01 9.82719994e-01 -3.46989884e-04 1.73411837e+00] [ 2.34174120e-03 -8.79831840e-05 9.99997254e-01 8.88682878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.613617864999995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:26.53, Y:1.74, Z:0.01 [[ 9.83099067e-01 -1.83059700e-01 -2.31747795e-03 2.65332830e+01] [ 1.83059389e-01 9.83101795e-01 -3.47546439e-04 1.73747754e+00] [ 2.34193848e-03 -8.25635182e-05 9.99997254e-01 9.29935668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.643617864999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:26.56, Y:1.74, Z:0.01 [[ 9.83263327e-01 -1.82175354e-01 -2.31744839e-03 2.65607963e+01] [ 1.82175040e-01 9.83266055e-01 -3.47743487e-04 1.74201620e+00] [ 2.34201862e-03 -8.02578338e-05 9.99997254e-01 1.02707223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.673617864999994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:26.59, Y:1.75, Z:0.01 [[ 9.83212655e-01 -1.82448636e-01 -2.31735155e-03 2.65890498e+01] [ 1.82448321e-01 9.83215383e-01 -3.48387573e-04 1.74631736e+00] [ 2.34201853e-03 -8.02578307e-05 9.99997254e-01 1.03374650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.703617864999995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:26.62, Y:1.75, Z:0.01 [[ 9.83310120e-01 -1.81922619e-01 -2.31725454e-03 2.66165520e+01] [ 1.81922301e-01 9.83312847e-01 -3.49031632e-04 1.75437481e+00] [ 2.34208291e-03 -7.83539425e-05 9.99997254e-01 7.52909579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.733617864999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:26.64, Y:1.76, Z:0.01 [[ 9.83516275e-01 -1.80804780e-01 -2.31717029e-03 2.66448206e+01] [ 1.80804457e-01 9.83519001e-01 -3.49590061e-04 1.76054691e+00] [ 2.34218857e-03 -7.51272032e-05 9.99997254e-01 9.09409578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.763617864999993 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:26.67, Y:1.77, Z:0.01 [[ 9.83828675e-01 -1.79097095e-01 -2.31708105e-03 2.66732037e+01] [ 1.79096766e-01 9.83831401e-01 -3.50180572e-04 1.76537458e+00] [ 2.34233342e-03 -7.04640354e-05 9.99997254e-01 9.14069252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.793617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.70, Y:1.77, Z:0.01 [[ 9.84586869e-01 -1.74880900e-01 -2.31698942e-03 2.67014209e+01] [ 1.74880559e-01 9.84589593e-01 -3.50785786e-04 1.76872896e+00] [ 2.34262941e-03 -5.98173258e-05 9.99997254e-01 1.03263102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.823617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.73, Y:1.77, Z:0.01 [[ 9.84783338e-01 -1.73771138e-01 -2.31689848e-03 2.67300728e+01] [ 1.73770791e-01 9.84786062e-01 -3.51385424e-04 1.77308215e+00] [ 2.34270998e-03 -5.65707722e-05 9.99997254e-01 9.19792180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.853617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.76, Y:1.78, Z:0.01 [[ 9.84870128e-01 -1.73278569e-01 -2.31681702e-03 2.67572793e+01] [ 1.73278220e-01 9.84872852e-01 -3.51921708e-04 1.77862407e+00] [ 2.34275068e-03 -5.48567530e-05 9.99997254e-01 8.05085266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.883617864999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.79, Y:1.78, Z:0.01 [[ 9.84596978e-01 -1.74823981e-01 -2.31678571e-03 2.67857121e+01] [ 1.74823636e-01 9.84599702e-01 -3.52127717e-04 1.78376162e+00] [ 2.34266689e-03 -5.83250145e-05 9.99997254e-01 1.03800807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.913617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.81, Y:1.79, Z:0.01 [[ 9.84444726e-01 -1.75679296e-01 -2.31669403e-03 2.68128042e+01] [ 1.75678952e-01 9.84447450e-01 -3.52729853e-04 1.78841785e+00] [ 2.34263086e-03 -5.97513352e-05 9.99997254e-01 1.04830527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.943617864999993 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:26.84, Y:1.79, Z:0.01 [[ 9.84203594e-01 -1.77025190e-01 -2.31666192e-03 2.68400101e+01] [ 1.77024849e-01 9.84206319e-01 -3.52940611e-04 1.79068104e+00] [ 2.34255268e-03 -6.27413094e-05 9.99997254e-01 1.12594927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.973617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.87, Y:1.79, Z:0.01 [[ 9.83871259e-01 -1.78863015e-01 -2.31661807e-03 2.68682882e+01] [ 1.78862679e-01 9.83873984e-01 -3.53228233e-04 1.79405968e+00] [ 2.34243971e-03 -6.68254070e-05 9.99997254e-01 1.30436120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.003617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.89, Y:1.80, Z:0.01 [[ 9.83534486e-01 -1.80705697e-01 -2.31652179e-03 2.68945180e+01] [ 1.80705364e-01 9.83537211e-01 -3.53858482e-04 1.79673353e+00] [ 2.34232963e-03 -7.05758931e-05 9.99997254e-01 1.08530403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.033617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.92, Y:1.80, Z:0.01 [[ 9.83011871e-01 -1.83527390e-01 -2.31495708e-03 2.69245661e+01] [ 1.83527042e-01 9.83014594e-01 -3.64083701e-04 1.80056054e+00] [ 2.34245593e-03 -6.69586240e-05 9.99997254e-01 1.48811851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.063617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.95, Y:1.80, Z:0.02 [[ 9.82288715e-01 -1.87359317e-01 -2.31640492e-03 2.69524770e+01] [ 1.87359001e-01 9.82291443e-01 -3.54626499e-04 1.80473472e+00] [ 2.34182731e-03 -8.56537039e-05 9.99997254e-01 1.58826449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.093617864999995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:26.98, Y:1.81, Z:0.02 [[ 9.81936457e-01 -1.89196798e-01 -2.31630626e-03 2.69794187e+01] [ 1.89196485e-01 9.81939185e-01 -3.55269753e-04 1.80941837e+00] [ 2.34168778e-03 -8.93846797e-05 9.99997254e-01 1.55870167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.123617864999993 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:27.00, Y:1.82, Z:0.01 [[ 9.81022169e-01 -1.93881768e-01 -2.31623920e-03 2.70041584e+01] [ 1.93881467e-01 9.81024898e-01 -3.55706385e-04 1.81742175e+00] [ 2.34125331e-03 -1.00120005e-04 9.99997254e-01 1.15052361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.153617864999994 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:27.03, Y:1.82, Z:0.01 [[ 9.80793169e-01 -1.95036942e-01 -2.31328852e-03 2.70318721e+01] [ 1.95036600e-01 9.80795893e-01 -3.74928695e-04 1.82199302e+00] [ 2.34198883e-03 -8.34484243e-05 9.99997254e-01 1.21153391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.183617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.06, Y:1.82, Z:0.02 [[ 9.81276841e-01 -1.92588712e-01 -2.31299432e-03 2.70634166e+01] [ 1.92588358e-01 9.81279564e-01 -3.76842136e-04 1.82273817e+00] [ 2.34226960e-03 -7.56693175e-05 9.99997254e-01 1.63080999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.213617864999993 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:27.09, Y:1.83, Z:0.02 [[ 9.81168892e-01 -1.93137877e-01 -2.31622335e-03 2.70909533e+01] [ 1.93137574e-01 9.81171621e-01 -3.55822795e-04 1.82714302e+00] [ 2.34133548e-03 -9.82275030e-05 9.99997254e-01 1.71190349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.243617864999994 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:27.12, Y:1.83, Z:0.02 [[ 9.81108841e-01 -1.93442697e-01 -2.31612644e-03 2.71185894e+01] [ 1.93442394e-01 9.81111570e-01 -3.56452486e-04 1.83130038e+00] [ 2.34133158e-03 -9.83183581e-05 9.99997254e-01 1.72980132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.273617864999995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:27.15, Y:1.84, Z:0.02 [[ 9.81098842e-01 -1.93493407e-01 -2.31602987e-03 2.71458106e+01] [ 1.93493103e-01 9.81101571e-01 -3.57078899e-04 1.83530591e+00] [ 2.34135295e-03 -9.78061107e-05 9.99997254e-01 1.81392488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.303617864999993 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:27.17, Y:1.84, Z:0.02 [[ 9.80592305e-01 -1.96044298e-01 -2.31598798e-03 2.71711614e+01] [ 1.96044000e-01 9.80595035e-01 -3.57350370e-04 1.84256592e+00] [ 2.34110282e-03 -1.03620523e-04 9.99997254e-01 1.63128473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.333617864999994 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:27.20, Y:1.85, Z:0.02 [[ 9.81027985e-01 -1.93852369e-01 -2.31345411e-03 2.72011664e+01] [ 1.93852026e-01 9.81030709e-01 -3.73726292e-04 1.84554811e+00] [ 2.34201726e-03 -8.18318151e-05 9.99997254e-01 1.75868757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.363617864999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:27.23, Y:1.85, Z:0.01 [[ 9.80489972e-01 -1.96555469e-01 -2.31586340e-03 2.72256494e+01] [ 1.96555170e-01 9.80492701e-01 -3.58147271e-04 1.85342601e+00] [ 2.34108297e-03 -1.04035117e-04 9.99997254e-01 1.42787210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.393617864999996 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:27.26, Y:1.85, Z:0.02 [[ 9.81161903e-01 -1.93173420e-01 -2.31274614e-03 2.72563810e+01] [ 1.93173065e-01 9.81164626e-01 -3.78247376e-04 1.85445406e+00] [ 2.34225204e-03 -7.56383453e-05 9.99997254e-01 1.70355243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.423617864999994 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:27.28, Y:1.86, Z:0.02 [[ 9.81473844e-01 -1.91582179e-01 -2.31575852e-03 2.72846177e+01] [ 1.91581865e-01 9.81476571e-01 -3.58805207e-04 1.85797905e+00] [ 2.34160342e-03 -9.14994105e-05 9.99997254e-01 1.73806928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.453617864999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:27.31, Y:1.86, Z:0.02 [[ 9.81549680e-01 -1.91193263e-01 -2.31566619e-03 2.73125786e+01] [ 1.91192946e-01 9.81552407e-01 -3.59400159e-04 1.86231403e+00] [ 2.34166261e-03 -8.99699292e-05 9.99997254e-01 1.85792604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.483617864999996 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:27.34, Y:1.87, Z:0.02 [[ 9.81734026e-01 -1.90244423e-01 -2.31556790e-03 2.73392059e+01] [ 1.90244102e-01 9.81736753e-01 -3.60032312e-04 1.86648929e+00] [ 2.34177225e-03 -8.70671653e-05 9.99997254e-01 1.75606832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.513617864999993 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:27.37, Y:1.87, Z:0.02 [[ 9.82038837e-01 -1.88664677e-01 -2.31552535e-03 2.73667855e+01] [ 1.88664351e-01 9.82041564e-01 -3.60305720e-04 1.87182220e+00] [ 2.34191910e-03 -8.30228785e-05 9.99997254e-01 1.72317654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.543617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.39, Y:1.88, Z:0.02 [[ 9.82125043e-01 -1.88215404e-01 -2.31549712e-03 2.73949044e+01] [ 1.88215077e-01 9.82127769e-01 -3.60487053e-04 1.87625802e+00] [ 2.34196324e-03 -8.17681057e-05 9.99997254e-01 1.79830990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.573617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.42, Y:1.88, Z:0.02 [[ 9.82158399e-01 -1.88041269e-01 -2.31540129e-03 2.74231738e+01] [ 1.88040940e-01 9.82161125e-01 -3.61101537e-04 1.88019930e+00] [ 2.34199913e-03 -8.07313269e-05 9.99997254e-01 1.75333477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.603617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.45, Y:1.88, Z:0.02 [[ 9.82369550e-01 -1.86935034e-01 -2.31524340e-03 2.74507528e+01] [ 1.86934699e-01 9.82372275e-01 -3.62112284e-04 1.88202125e+00] [ 2.34212239e-03 -7.70712456e-05 9.99997254e-01 1.81077837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.633617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.48, Y:1.89, Z:0.02 [[ 9.82339082e-01 -1.87095077e-01 -2.31527388e-03 2.74786154e+01] [ 1.87094744e-01 9.82341807e-01 -3.61917296e-04 1.88576232e+00] [ 2.34210327e-03 -7.76500678e-05 9.99997254e-01 1.84699427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.663617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.51, Y:1.89, Z:0.02 [[ 9.82340536e-01 -1.87087444e-01 -2.31517628e-03 2.75067369e+01] [ 1.87087109e-01 9.82343261e-01 -3.62540553e-04 1.89010060e+00] [ 2.34212460e-03 -7.70013546e-05 9.99997254e-01 1.85946470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.693617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.53, Y:1.89, Z:0.02 [[ 9.82601201e-01 -1.85713546e-01 -2.31507486e-03 2.75318753e+01] [ 1.85713205e-01 9.82603925e-01 -3.63187052e-04 1.89467827e+00] [ 2.34225040e-03 -7.30719387e-05 9.99997254e-01 1.56502727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.723617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.56, Y:1.90, Z:0.02 [[ 9.82383026e-01 -1.86864232e-01 -2.31286329e-03 2.75626650e+01] [ 1.86863861e-01 9.82385747e-01 -3.77227649e-04 1.89897710e+00] [ 2.34261429e-03 -6.16085258e-05 9.99997254e-01 1.67301483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.753617864999995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:27.59, Y:1.90, Z:0.02 [[ 9.82320968e-01 -1.87190163e-01 -2.31485777e-03 2.75906206e+01] [ 1.87189823e-01 9.82323693e-01 -3.64563365e-04 1.90231238e+00] [ 2.34218231e-03 -7.51995789e-05 9.99997254e-01 1.71796371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.783617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.62, Y:1.90, Z:0.02 [[ 9.82285063e-01 -1.87378484e-01 -2.31475880e-03 2.76191029e+01] [ 1.87378144e-01 9.82287788e-01 -3.65190689e-04 1.90419425e+00] [ 2.34218818e-03 -7.50138471e-05 9.99997254e-01 1.81675031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.813617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.65, Y:1.91, Z:0.02 [[ 9.82256375e-01 -1.87528813e-01 -2.31465914e-03 2.76462046e+01] [ 1.87528471e-01 9.82259100e-01 -3.65821251e-04 1.90784852e+00] [ 2.34219703e-03 -7.47342347e-05 9.99997254e-01 1.76862313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.843617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.67, Y:1.91, Z:0.02 [[ 9.82132674e-01 -1.88175592e-01 -2.31455637e-03 2.76737627e+01] [ 1.88175250e-01 9.82135398e-01 -3.66470360e-04 1.91148393e+00] [ 2.34216852e-03 -7.56197084e-05 9.99997254e-01 1.71159140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.873617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.70, Y:1.91, Z:0.02 [[ 9.82080285e-01 -1.88448816e-01 -2.31445337e-03 2.77014770e+01] [ 1.88448473e-01 9.82083010e-01 -3.67119673e-04 1.91426190e+00] [ 2.34216860e-03 -7.56142120e-05 9.99997254e-01 1.69007450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.903617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.73, Y:1.92, Z:0.02 [[ 9.82064896e-01 -1.88529001e-01 -2.31435384e-03 2.77297512e+01] [ 1.88528657e-01 9.82067620e-01 -3.67746077e-04 1.91522037e+00] [ 2.34218277e-03 -7.51715083e-05 9.99997254e-01 1.65815148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.933617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.76, Y:1.92, Z:0.02 [[ 9.82096034e-01 -1.88366726e-01 -2.31425196e-03 2.77569006e+01] [ 1.88366380e-01 9.82098758e-01 -3.68386059e-04 1.91846762e+00] [ 2.34221566e-03 -7.41367779e-05 9.99997254e-01 1.58910577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.963617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.79, Y:1.92, Z:0.01 [[ 9.82095991e-01 -1.88366953e-01 -2.31420781e-03 2.77850558e+01] [ 1.88366606e-01 9.82098715e-01 -3.68663241e-04 1.92109028e+00] [ 2.34222449e-03 -7.38567800e-05 9.99997254e-01 1.48053072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.993617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:27.81, Y:1.92, Z:0.01 [[ 9.82136009e-01 -1.88158192e-01 -2.31410691e-03 2.78133816e+01] [ 1.88157843e-01 9.82138732e-01 -3.69295516e-04 1.92433454e+00] [ 2.34226000e-03 -7.27189405e-05 9.99997254e-01 1.44780624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.023617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.84, Y:1.93, Z:0.01 [[ 9.82147827e-01 -1.88096493e-01 -2.31400547e-03 2.78414367e+01] [ 1.88096143e-01 9.82150551e-01 -3.69930027e-04 1.92742333e+00] [ 2.34228429e-03 -7.19295307e-05 9.99997254e-01 1.43151786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.053617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.87, Y:1.93, Z:0.01 [[ 9.82209259e-01 -1.87775444e-01 -2.31390426e-03 2.78684209e+01] [ 1.87775091e-01 9.82211982e-01 -3.70562027e-04 1.92859371e+00] [ 2.34232694e-03 -7.05241297e-05 9.99997254e-01 1.36766259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.083617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.90, Y:1.93, Z:0.01 [[ 9.82183490e-01 -1.87910185e-01 -2.31386040e-03 2.78953064e+01] [ 1.87909833e-01 9.82186213e-01 -3.70835700e-04 1.93059364e+00] [ 2.34232559e-03 -7.05684180e-05 9.99997254e-01 1.40783992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.113617864999995 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:27.92, Y:1.93, Z:0.02 [[ 9.82055095e-01 -1.88580055e-01 -2.31381712e-03 2.79237414e+01] [ 1.88579703e-01 9.82057818e-01 -3.71105536e-04 1.93110395e+00] [ 2.34228529e-03 -7.18928629e-05 9.99997254e-01 1.53301260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.143617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.95, Y:1.93, Z:0.02 [[ 9.81997652e-01 -1.88878950e-01 -2.31371475e-03 2.79502496e+01] [ 1.88878598e-01 9.82000375e-01 -3.71742692e-04 1.93423360e+00] [ 2.34228312e-03 -7.19607471e-05 9.99997254e-01 1.54652612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.173617864999994 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:27.98, Y:1.94, Z:0.02 [[ 9.81931388e-01 -1.89223138e-01 -2.31367027e-03 2.79776850e+01] [ 1.89222787e-01 9.81934111e-01 -3.72019310e-04 1.93765018e+00] [ 2.34226642e-03 -7.25016986e-05 9.99997254e-01 1.55488571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.203617864999995 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:28.00, Y:1.94, Z:0.02 [[ 9.82379083e-01 -1.86884951e-01 -2.31356867e-03 2.80046584e+01] [ 1.86884591e-01 9.82381805e-01 -3.72650094e-04 1.94160537e+00] [ 2.34245046e-03 -6.62866781e-05 9.99997254e-01 1.63069701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.233617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.03, Y:1.95, Z:0.02 [[ 9.82652538e-01 -1.85441734e-01 -2.31349941e-03 2.80326588e+01] [ 1.85441370e-01 9.82655260e-01 -3.73079564e-04 1.94506055e+00] [ 2.34255689e-03 -6.24109186e-05 9.99997254e-01 1.65497286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.263617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.06, Y:1.95, Z:0.02 [[ 9.83600690e-01 -1.80345035e-01 -2.31339642e-03 2.80605844e+01] [ 1.80344655e-01 9.83603409e-01 -3.73717093e-04 1.94966311e+00] [ 2.34286263e-03 -4.96202885e-05 9.99997254e-01 1.79694744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.293617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.09, Y:1.95, Z:0.02 [[ 9.83977516e-01 -1.78277581e-01 -2.31329315e-03 2.80874079e+01] [ 1.78277193e-01 9.83980235e-01 -3.74355280e-04 1.95355153e+00] [ 2.34297389e-03 -4.40502301e-05 9.99997254e-01 1.80943819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.323617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:28.11, Y:1.96, Z:0.02 [[ 9.84119123e-01 -1.77494225e-01 -2.31324837e-03 2.81149393e+01] [ 1.77493835e-01 9.84121841e-01 -3.74631735e-04 1.95725188e+00] [ 2.34301322e-03 -4.19050694e-05 9.99997254e-01 1.71928700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.353617864999993 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:28.14, Y:1.96, Z:0.02 [[ 9.84132058e-01 -1.77422498e-01 -2.31314536e-03 2.81426285e+01] [ 1.77422106e-01 9.84134775e-01 -3.75266689e-04 1.96103283e+00] [ 2.34302755e-03 -4.10911425e-05 9.99997254e-01 1.69042413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.383617864999994 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:28.17, Y:1.97, Z:0.02 [[ 9.84340588e-01 -1.76261897e-01 -2.31304277e-03 2.81693180e+01] [ 1.76261500e-01 9.84343305e-01 -3.75898001e-04 1.96543215e+00] [ 2.34308466e-03 -3.76887288e-05 9.99997254e-01 1.74431954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.413617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.20, Y:1.97, Z:0.02 [[ 9.84335987e-01 -1.76287591e-01 -2.31299828e-03 2.81966830e+01] [ 1.76287194e-01 9.84338704e-01 -3.76171572e-04 1.96903918e+00] [ 2.34308810e-03 -3.74727598e-05 9.99997254e-01 1.81511227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.443617864999993 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.22, Y:1.97, Z:0.02 [[ 9.84171198e-01 -1.77205259e-01 -2.31289704e-03 2.82242880e+01] [ 1.77204863e-01 9.84173915e-01 -3.76792977e-04 1.97340838e+00] [ 2.34306263e-03 -3.90278075e-05 9.99997254e-01 1.82827806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.473617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.25, Y:1.98, Z:0.02 [[ 9.83877783e-01 -1.78827176e-01 -2.31279637e-03 2.82520646e+01] [ 1.78826783e-01 9.83880500e-01 -3.77409897e-04 1.97895839e+00] [ 2.34300640e-03 -4.22647221e-05 9.99997254e-01 1.78397315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.503617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:28.28, Y:1.98, Z:0.02 [[ 9.83536536e-01 -1.80694589e-01 -2.31269432e-03 2.82797830e+01] [ 1.80694199e-01 9.83539254e-01 -3.78034238e-04 1.98375278e+00] [ 2.34293438e-03 -4.60799619e-05 9.99997254e-01 1.75422190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.533617864999993 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.31, Y:1.99, Z:0.02 [[ 9.83226786e-01 -1.82372529e-01 -2.31259174e-03 2.83069251e+01] [ 1.82372142e-01 9.83229504e-01 -3.78660678e-04 1.98721490e+00] [ 2.34286574e-03 -4.94429890e-05 9.99997254e-01 1.79689178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.563617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.34, Y:1.99, Z:0.02 [[ 9.83177753e-01 -1.82636685e-01 -2.31254723e-03 2.83351238e+01] [ 1.82636299e-01 9.83180471e-01 -3.78932309e-04 1.99190668e+00] [ 2.34285822e-03 -4.97972526e-05 9.99997254e-01 1.80358010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.593617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.36, Y:1.99, Z:0.02 [[ 9.82426495e-01 -1.86635564e-01 -2.31244526e-03 2.83619805e+01] [ 1.86635187e-01 9.82429215e-01 -3.79553593e-04 1.99439968e+00] [ 2.34265198e-03 -5.87001477e-05 9.99997254e-01 1.94099444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.623617864999993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.39, Y:2.00, Z:0.02 [[ 9.82083475e-01 -1.88432219e-01 -2.31237594e-03 2.83901898e+01] [ 1.88431846e-01 9.82086195e-01 -3.79975437e-04 1.99826363e+00] [ 2.34255211e-03 -6.25576696e-05 9.99997254e-01 2.00201092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.653617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.42, Y:2.00, Z:0.02 [[ 9.81833675e-01 -1.89729513e-01 -2.31227369e-03 2.84167538e+01] [ 1.89729142e-01 9.81836396e-01 -3.80596675e-04 2.00201370e+00] [ 2.34248488e-03 -6.50230707e-05 9.99997254e-01 2.08836947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.683617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:28.44, Y:2.01, Z:0.02 [[ 9.81578927e-01 -1.91043096e-01 -2.31222938e-03 2.84449810e+01] [ 1.91042728e-01 9.81581648e-01 -3.80865642e-04 2.00609191e+00] [ 2.34240368e-03 -6.78849219e-05 9.99997254e-01 2.16432475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.713617864999993 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:28.47, Y:2.01, Z:0.02 [[ 9.81635918e-01 -1.90750043e-01 -2.31212812e-03 2.84715873e+01] [ 1.90749673e-01 9.81638639e-01 -3.81479400e-04 2.01110776e+00] [ 2.34244151e-03 -6.65638025e-05 9.99997254e-01 1.99637378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.743617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.50, Y:2.02, Z:0.02 [[ 9.81626818e-01 -1.90796871e-01 -2.31182801e-03 2.85001299e+01] [ 1.90796497e-01 9.81629538e-01 -3.83296276e-04 2.01728108e+00] [ 2.34249039e-03 -6.48347842e-05 9.99997254e-01 2.03888566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.773617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:28.53, Y:2.02, Z:0.02 [[ 9.81778671e-01 -1.90013937e-01 -2.31200965e-03 2.85260673e+01] [ 1.90013563e-01 9.81781391e-01 -3.82197512e-04 2.02414779e+00] [ 2.34251090e-03 -6.40798254e-05 9.99997254e-01 1.96372442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.803617864999993 meters Centerline goodness : 0.994837 Centerline is valid? [True, True] Translation: X:28.56, Y:2.03, Z:0.02 [[ 9.81627039e-01 -1.90795731e-01 -2.31196372e-03 2.85560497e+01] [ 1.90795359e-01 9.81629760e-01 -3.82475124e-04 2.02990361e+00] [ 2.34246701e-03 -6.56640236e-05 9.99997254e-01 1.89622256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.833617864999994 meters Centerline goodness : 0.995210 Centerline is valid? [True, True] Translation: X:28.58, Y:2.03, Z:0.02 [[ 9.81750098e-01 -1.90161487e-01 -2.31382715e-03 2.85824896e+01] [ 1.90161140e-01 9.81752822e-01 -3.71222816e-04 2.03410677e+00] [ 2.34219862e-03 -7.55519726e-05 9.99997254e-01 1.86144140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.863617864999995 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:28.61, Y:2.04, Z:0.02 [[ 9.81392943e-01 -1.91996216e-01 -2.31189642e-03 2.86114591e+01] [ 1.91995846e-01 9.81395664e-01 -3.82850275e-04 2.03943362e+00] [ 2.34239093e-03 -6.81479512e-05 9.99997254e-01 1.85660592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.893617864999992 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.64, Y:2.04, Z:0.02 [[ 9.81513415e-01 -1.91379371e-01 -2.31367163e-03 2.86383202e+01] [ 1.91379025e-01 9.81516139e-01 -3.72184308e-04 2.04455594e+00] [ 2.34213445e-03 -7.74843311e-05 9.99997254e-01 1.89467661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.923617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.67, Y:2.05, Z:0.02 [[ 9.81266247e-01 -1.92642691e-01 -2.31219253e-03 2.86650670e+01] [ 1.92642328e-01 9.81268968e-01 -3.81031829e-04 2.05142615e+00] [ 2.34228578e-03 -7.15324784e-05 9.99997254e-01 1.73788427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.953617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.69, Y:2.06, Z:0.02 [[ 9.81459639e-01 -1.91654995e-01 -2.31062492e-03 2.86934304e+01] [ 1.91654607e-01 9.81462358e-01 -3.90387052e-04 2.05711120e+00] [ 2.34261101e-03 -5.96927755e-05 9.99997254e-01 1.84087180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.983617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.72, Y:2.06, Z:0.02 [[ 9.81579123e-01 -1.91042097e-01 -2.31128107e-03 2.87196229e+01] [ 1.91041716e-01 9.81581842e-01 -3.86476383e-04 2.06170542e+00] [ 2.34254479e-03 -6.21939539e-05 9.99997254e-01 2.03537753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.013617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.75, Y:2.07, Z:0.02 [[ 9.81412508e-01 -1.91896192e-01 -2.31095584e-03 2.87467387e+01] [ 1.91895809e-01 9.81415227e-01 -3.88411438e-04 2.06657033e+00] [ 2.34254193e-03 -6.22708960e-05 9.99997254e-01 2.05668771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.043617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.77, Y:2.07, Z:0.02 [[ 9.81147906e-01 -1.93244525e-01 -2.31088507e-03 2.87741473e+01] [ 1.93244144e-01 9.81150625e-01 -3.88832042e-04 2.07129013e+00] [ 2.34246599e-03 -6.50632647e-05 9.99997254e-01 2.01375967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.073617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.80, Y:2.07, Z:0.02 [[ 9.81117783e-01 -1.93397406e-01 -2.31078558e-03 2.88025877e+01] [ 1.93397025e-01 9.81120502e-01 -3.89422384e-04 2.07474837e+00] [ 2.34247239e-03 -6.48298315e-05 9.99997254e-01 2.11959896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.103617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.83, Y:2.08, Z:0.02 [[ 9.80938415e-01 -1.94305133e-01 -2.31093598e-03 2.88315700e+01] [ 1.94304757e-01 9.80941135e-01 -3.88530791e-04 2.07975198e+00] [ 2.34238569e-03 -6.79010746e-05 9.99997254e-01 2.12319849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.133617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.86, Y:2.09, Z:0.02 [[ 9.80968178e-01 -1.94154816e-01 -2.31111992e-03 2.88590983e+01] [ 1.94154441e-01 9.80970898e-01 -3.87441434e-04 2.08565092e+00] [ 2.34236501e-03 -6.86464798e-05 9.99997254e-01 2.11668915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.163617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:28.89, Y:2.09, Z:0.02 [[ 9.80790962e-01 -1.95048071e-01 -2.31059118e-03 2.88881948e+01] [ 1.95047692e-01 9.80793681e-01 -3.90569473e-04 2.09122183e+00] [ 2.34239305e-03 -6.76084662e-05 9.99997254e-01 2.01577328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.193617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.91, Y:2.10, Z:0.02 [[ 9.80889311e-01 -1.94552858e-01 -2.31206972e-03 2.89132927e+01] [ 1.94552498e-01 9.80892033e-01 -3.81821959e-04 2.09631222e+00] [ 2.34217532e-03 -7.52938615e-05 9.99997254e-01 2.12903923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.223617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.94, Y:2.10, Z:0.02 [[ 9.80868687e-01 -1.94656830e-01 -2.31044962e-03 2.89413881e+01] [ 1.94656447e-01 9.80871406e-01 -3.91385872e-04 2.10129068e+00] [ 2.34243989e-03 -6.58457671e-05 9.99997254e-01 2.11300830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.253617864999995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:28.97, Y:2.11, Z:0.02 [[ 9.81035733e-01 -1.93813191e-01 -2.31034483e-03 2.89693394e+01] [ 1.93812805e-01 9.81038451e-01 -3.92003423e-04 2.10625537e+00] [ 2.34251255e-03 -6.32050467e-05 9.99997254e-01 1.99777884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.283617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:29.00, Y:2.11, Z:0.02 [[ 9.81066537e-01 -1.93657203e-01 -2.31023848e-03 2.89959008e+01] [ 1.93656815e-01 9.81069255e-01 -3.92629226e-04 2.11105845e+00] [ 2.34253942e-03 -6.21980309e-05 9.99997254e-01 1.95774046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.313617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:29.02, Y:2.12, Z:0.02 [[ 9.81149860e-01 -1.93234613e-01 -2.31019233e-03 2.90241171e+01] [ 1.93234223e-01 9.81152578e-01 -3.92900579e-04 2.11550321e+00] [ 2.34257315e-03 -6.09138713e-05 9.99997254e-01 1.93841408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.343617865 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:29.05, Y:2.12, Z:0.02 [[ 9.81094454e-01 -1.93515725e-01 -2.31008776e-03 2.90519297e+01] [ 1.93515335e-01 9.81097172e-01 -3.93514431e-04 2.12054789e+00] [ 2.34257180e-03 -6.09625798e-05 9.99997254e-01 1.91380444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.373617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:29.08, Y:2.13, Z:0.02 [[ 9.81002644e-01 -1.93980609e-01 -2.30998125e-03 2.90800130e+01] [ 1.93980219e-01 9.81005362e-01 -3.94138697e-04 2.12563396e+00] [ 2.34255925e-03 -6.14395630e-05 9.99997254e-01 1.87989907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.403617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:29.11, Y:2.13, Z:0.02 [[ 9.80839410e-01 -1.94804302e-01 -2.30987112e-03 2.91068981e+01] [ 1.94803912e-01 9.80842128e-01 -3.94783041e-04 2.13049421e+00] [ 2.34252434e-03 -6.27531658e-05 9.99997254e-01 1.91081467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.433617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.13, Y:2.13, Z:0.02 [[ 9.80683501e-01 -1.95587667e-01 -2.30982339e-03 2.91343241e+01] [ 1.95587279e-01 9.80686219e-01 -3.95062112e-04 2.13491250e+00] [ 2.34248124e-03 -6.43411764e-05 9.99997254e-01 1.90162644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.463617864999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:29.16, Y:2.14, Z:0.02 [[ 9.80370910e-01 -1.97148532e-01 -2.30972123e-03 2.91626311e+01] [ 1.97148146e-01 9.80373629e-01 -3.95658463e-04 2.13895063e+00] [ 2.34239327e-03 -6.74652112e-05 9.99997254e-01 1.84887897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.493617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.19, Y:2.14, Z:0.02 [[ 9.80425398e-01 -1.96877375e-01 -2.31065364e-03 2.91922995e+01] [ 1.96877001e-01 9.80428118e-01 -3.90219336e-04 2.14270471e+00] [ 2.34225516e-03 -7.23336113e-05 9.99997254e-01 1.63770063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.523617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:29.22, Y:2.15, Z:0.02 [[ 9.80311805e-01 -1.97442202e-01 -2.31127032e-03 2.92206226e+01] [ 1.97441839e-01 9.80314527e-01 -3.86623237e-04 2.14812009e+00] [ 2.34210761e-03 -7.73301385e-05 9.99997254e-01 1.77789012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.553617865 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:29.25, Y:2.15, Z:0.02 [[ 9.80423714e-01 -1.96885760e-01 -2.31059077e-03 2.92471196e+01] [ 1.96885386e-01 9.80426434e-01 -3.90584117e-04 2.15218617e+00] [ 2.34226472e-03 -7.19836241e-05 9.99997254e-01 1.82391271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.583617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:29.28, Y:2.16, Z:0.02 [[ 9.80480780e-01 -1.96601387e-01 -2.30951494e-03 2.92757263e+01] [ 1.96600997e-01 9.80483498e-01 -3.96845126e-04 2.15729912e+00] [ 2.34246159e-03 -6.49539211e-05 9.99997254e-01 1.77605841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.613617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.31, Y:2.16, Z:0.02 [[ 9.81307123e-01 -1.92434389e-01 -2.30991196e-03 2.93076043e+01] [ 1.92433993e-01 9.81309840e-01 -3.94535208e-04 2.15973954e+00] [ 2.34266148e-03 -5.73453715e-05 9.99997254e-01 1.74283495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.643617864999996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:29.33, Y:2.17, Z:0.02 [[ 9.81142281e-01 -1.93273052e-01 -2.31325937e-03 2.93307416e+01] [ 1.93272704e-01 9.81145005e-01 -3.75049934e-04 2.16651885e+00] [ 2.34212992e-03 -7.91125458e-05 9.99997254e-01 1.68457733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.673617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.36, Y:2.17, Z:0.02 [[ 9.81223407e-01 -1.92860811e-01 -2.30930255e-03 2.93606428e+01] [ 1.92860408e-01 9.81226123e-01 -3.98008006e-04 2.17111173e+00] [ 2.34270814e-03 -5.48382615e-05 9.99997254e-01 1.70546998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.703617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.39, Y:2.18, Z:0.02 [[ 9.81416571e-01 -1.91875420e-01 -2.31042044e-03 2.93873512e+01] [ 1.91875029e-01 9.81419289e-01 -3.91526496e-04 2.17588162e+00] [ 2.34261550e-03 -5.90613986e-05 9.99997254e-01 1.64806302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.733617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:29.41, Y:2.18, Z:0.02 [[ 9.81531602e-01 -1.91286126e-01 -2.30915355e-03 2.94140368e+01] [ 1.91285717e-01 9.81534317e-01 -3.98860971e-04 2.18028218e+00] [ 2.34281003e-03 -5.02134448e-05 9.99997254e-01 1.58392445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.763617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.44, Y:2.18, Z:0.02 [[ 9.81387630e-01 -1.92023405e-01 -2.30910622e-03 2.94418040e+01] [ 1.92022997e-01 9.81390345e-01 -3.99134788e-04 2.18482660e+00] [ 2.34277777e-03 -5.16955546e-05 9.99997254e-01 1.52711779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.793617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.47, Y:2.19, Z:0.02 [[ 9.81502345e-01 -1.91436201e-01 -2.30828462e-03 2.94704928e+01] [ 1.91435780e-01 9.81505058e-01 -4.03879619e-04 2.18868546e+00] [ 2.34291021e-03 -4.54794732e-05 9.99997254e-01 1.53522672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.823617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.50, Y:2.19, Z:0.02 [[ 9.81361858e-01 -1.92155076e-01 -2.30897682e-03 2.94995783e+01] [ 1.92154667e-01 9.81364573e-01 -3.99882779e-04 2.19346328e+00] [ 2.34278755e-03 -5.12509641e-05 9.99997254e-01 1.62170256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.853617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.53, Y:2.20, Z:0.01 [[ 9.81278004e-01 -1.92582826e-01 -2.30967010e-03 2.95282710e+01] [ 1.92582427e-01 9.81280720e-01 -3.95882268e-04 2.19791230e+00] [ 2.34267487e-03 -5.63313134e-05 9.99997254e-01 1.29552042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.883617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.56, Y:2.20, Z:0.02 [[ 9.81184575e-01 -1.93058268e-01 -2.30976830e-03 2.95556873e+01] [ 1.93057872e-01 9.81187292e-01 -3.95316254e-04 2.20119916e+00] [ 2.34263437e-03 -5.80407423e-05 9.99997254e-01 1.57966242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.913617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:29.58, Y:2.21, Z:0.02 [[ 9.80981973e-01 -1.94085132e-01 -2.30877398e-03 2.95835881e+01] [ 1.94084725e-01 9.80984688e-01 -4.01040506e-04 2.20501270e+00] [ 2.34270792e-03 -5.46842571e-05 9.99997254e-01 1.56795978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.943617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:29.61, Y:2.21, Z:0.02 [[ 9.80523691e-01 -1.96387276e-01 -2.30866870e-03 2.96121693e+01] [ 1.96386874e-01 9.80526407e-01 -4.01645675e-04 2.20813006e+00] [ 2.34258872e-03 -5.95691290e-05 9.99997254e-01 1.61124442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.973617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.64, Y:2.21, Z:0.02 [[ 9.80106198e-01 -1.98460345e-01 -2.30913772e-03 2.96376802e+01] [ 1.98459955e-01 9.80108916e-01 -3.98954134e-04 2.21315063e+00] [ 2.34238305e-03 -6.72539504e-05 9.99997254e-01 1.52376596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.003617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:29.67, Y:2.22, Z:0.02 [[ 9.80195951e-01 -1.98016615e-01 -2.30613266e-03 2.96685587e+01] [ 1.98016183e-01 9.80198663e-01 -4.16159249e-04 2.21568502e+00] [ 2.34287460e-03 -4.87339765e-05 9.99997254e-01 1.68265627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.033617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.69, Y:2.22, Z:0.02 [[ 9.80355436e-01 -1.97225471e-01 -2.30949798e-03 2.96947952e+01] [ 1.97225082e-01 9.80358154e-01 -3.96852906e-04 2.22092449e+00] [ 2.34240468e-03 -6.64340255e-05 9.99997254e-01 1.60148613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.063617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:29.72, Y:2.23, Z:0.02 [[ 9.80615962e-01 -1.95926020e-01 -2.30843705e-03 2.97225997e+01] [ 1.95925614e-01 9.80618678e-01 -4.02931065e-04 2.22784309e+00] [ 2.34264117e-03 -5.71613139e-05 9.99997254e-01 1.54640011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.093617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:29.75, Y:2.23, Z:0.01 [[ 9.80674546e-01 -1.95632578e-01 -2.30833220e-03 2.97491230e+01] [ 1.95632170e-01 9.80677262e-01 -4.03530890e-04 2.23227122e+00] [ 2.34267268e-03 -5.58515627e-05 9.99997254e-01 1.49508647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.123617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.78, Y:2.24, Z:0.01 [[ 9.80701874e-01 -1.95495540e-01 -2.30828675e-03 2.97755420e+01] [ 1.95495131e-01 9.80704589e-01 -4.03790696e-04 2.23576647e+00] [ 2.34268669e-03 -5.52605270e-05 9.99997254e-01 1.47810089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.153617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:29.80, Y:2.24, Z:0.02 [[ 9.80581973e-01 -1.96096062e-01 -2.30824184e-03 2.98026770e+01] [ 1.96095653e-01 9.80584689e-01 -4.04047248e-04 2.24079139e+00] [ 2.34265868e-03 -5.64347441e-05 9.99997254e-01 1.52491733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.183617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.83, Y:2.25, Z:0.01 [[ 9.80535532e-01 -1.96328151e-01 -2.30813049e-03 2.98292676e+01] [ 1.96327742e-01 9.80538247e-01 -4.04682337e-04 2.24575704e+00] [ 2.34266076e-03 -5.63446377e-05 9.99997254e-01 1.48619725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.213617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.86, Y:2.25, Z:0.01 [[ 9.80495113e-01 -1.96529913e-01 -2.30808218e-03 2.98565170e+01] [ 1.96529504e-01 9.80497828e-01 -4.04957679e-04 2.25229207e+00] [ 2.34265586e-03 -5.65472206e-05 9.99997254e-01 1.45617086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.243617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.88, Y:2.26, Z:0.01 [[ 9.80428508e-01 -1.96861915e-01 -2.30797174e-03 2.98831874e+01] [ 1.96861505e-01 9.80431223e-01 -4.05586119e-04 2.25813676e+00] [ 2.34265202e-03 -5.67025984e-05 9.99997254e-01 1.47848891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.273617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.91, Y:2.26, Z:0.01 [[ 9.80262613e-01 -1.97686326e-01 -2.30792388e-03 2.99100608e+01] [ 1.97685918e-01 9.80265328e-01 -4.05858279e-04 2.26349989e+00] [ 2.34261039e-03 -5.83963547e-05 9.99997254e-01 1.48722861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.303617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:29.94, Y:2.27, Z:0.02 [[ 9.80233767e-01 -1.97829309e-01 -2.30787688e-03 2.99379544e+01] [ 1.97828901e-01 9.80236482e-01 -4.06125382e-04 2.26826858e+00] [ 2.34260862e-03 -5.84669328e-05 9.99997254e-01 1.57165466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.333617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.96, Y:2.27, Z:0.02 [[ 9.80280667e-01 -1.97596790e-01 -2.30682941e-03 2.99626791e+01] [ 1.97596367e-01 9.80283380e-01 -4.12070602e-04 2.27241496e+00] [ 2.34277036e-03 -5.18762670e-05 9.99997254e-01 1.54293520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.363617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:29.99, Y:2.28, Z:0.02 [[ 9.79083649e-01 -2.03445068e-01 -2.30502651e-03 2.99920047e+01] [ 2.03444637e-01 9.79086361e-01 -4.22318674e-04 2.28144571e+00] [ 2.34273866e-03 -5.54599726e-05 9.99997254e-01 1.53824206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.393617864999996 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:30.02, Y:2.29, Z:0.01 [[ 9.78606044e-01 -2.05730123e-01 -2.30793720e-03 3.00151197e+01] [ 2.05729738e-01 9.78608763e-01 -4.05762933e-04 2.28752188e+00] [ 2.34204523e-03 -7.77292573e-05 9.99997254e-01 1.45699886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.423617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.04, Y:2.29, Z:0.01 [[ 9.78671954e-01 -2.05416400e-01 -2.30426037e-03 3.00427655e+01] [ 2.05415965e-01 9.78674665e-01 -4.26658167e-04 2.29271813e+00] [ 2.34276383e-03 -5.57734864e-05 9.99997254e-01 1.31906035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.453617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.07, Y:2.30, Z:0.02 [[ 9.79106803e-01 -2.03333623e-01 -2.30366149e-03 3.00743137e+01] [ 2.03333173e-01 9.79109512e-01 -4.30063408e-04 2.29716321e+00] [ 2.34298323e-03 -4.73327930e-05 9.99997254e-01 1.50315063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.483617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.10, Y:2.30, Z:0.02 [[ 9.79050598e-01 -2.03604027e-01 -2.30798034e-03 3.01024627e+01] [ 2.03603636e-01 9.79053316e-01 -4.05480670e-04 2.30215777e+00] [ 2.34219330e-03 -7.29270971e-05 9.99997254e-01 1.51080090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.513617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.13, Y:2.31, Z:0.01 [[ 9.78954657e-01 -2.04064824e-01 -2.30786815e-03 3.01292731e+01] [ 2.04064433e-01 9.78957375e-01 -4.06118200e-04 2.30884775e+00] [ 2.34217899e-03 -7.33825032e-05 9.99997254e-01 1.49187226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.543617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:30.16, Y:2.31, Z:0.01 [[ 9.79049734e-01 -2.03608185e-01 -2.30768498e-03 3.01568340e+01] [ 2.03607790e-01 9.79052451e-01 -4.07157493e-04 2.31415070e+00] [ 2.34224523e-03 -7.12352036e-05 9.99997254e-01 1.49808855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.573617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.19, Y:2.32, Z:0.01 [[ 9.78902805e-01 -2.04313425e-01 -2.30693358e-03 3.01856833e+01] [ 2.04313022e-01 9.78905521e-01 -4.11413016e-04 2.31983041e+00] [ 2.34232722e-03 -6.86032163e-05 9.99997254e-01 1.48841179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.603617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:30.21, Y:2.33, Z:0.01 [[ 9.78883378e-01 -2.04406477e-01 -2.30753991e-03 3.02125773e+01] [ 2.04406083e-01 9.78886095e-01 -4.07983646e-04 2.32675384e+00] [ 2.34221323e-03 -7.23067839e-05 9.99997254e-01 1.42627671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.633617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:30.23, Y:2.34, Z:0.01 [[ 9.77788415e-01 -2.09581705e-01 -2.30742646e-03 3.02329783e+01] [ 2.09581323e-01 9.77791134e-01 -4.08624278e-04 2.33804360e+00] [ 2.34182131e-03 -8.40454043e-05 9.99997254e-01 9.73825852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.663617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.27, Y:2.34, Z:0.01 [[ 9.79043454e-01 -2.03638461e-01 -2.30037367e-03 3.02667108e+01] [ 2.03637969e-01 9.79046156e-01 -4.48291118e-04 2.33826655e+00] [ 2.34346132e-03 -2.95469388e-05 9.99997254e-01 1.39625532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.693617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.30, Y:2.34, Z:0.01 [[ 9.78936599e-01 -2.04151453e-01 -2.30629449e-03 3.02952066e+01] [ 2.04151042e-01 9.78939314e-01 -4.14928012e-04 2.34388169e+00] [ 2.34243050e-03 -6.46442053e-05 9.99997254e-01 1.37570494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.723617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.32, Y:2.35, Z:0.01 [[ 9.78932462e-01 -2.04171281e-01 -2.30722228e-03 3.03213523e+01] [ 2.04170882e-01 9.78935178e-01 -4.09703231e-04 2.35029012e+00] [ 2.34227068e-03 -6.99958145e-05 9.99997254e-01 1.43084086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.753617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.35, Y:2.36, Z:0.01 [[ 9.78892840e-01 -2.04361162e-01 -2.30714514e-03 3.03493896e+01] [ 2.04360762e-01 9.78895557e-01 -4.10137116e-04 2.35558662e+00] [ 2.34227023e-03 -7.00096543e-05 9.99997254e-01 1.40284015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.783617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:30.38, Y:2.36, Z:0.01 [[ 9.78841573e-01 -2.04606580e-01 -2.30703303e-03 3.03766856e+01] [ 2.04606180e-01 9.78844289e-01 -4.10766787e-04 2.36021481e+00] [ 2.34227170e-03 -6.99576065e-05 9.99997254e-01 1.42489823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.813617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:30.40, Y:2.36, Z:0.02 [[ 9.78812810e-01 -2.04744138e-01 -2.30696191e-03 3.04031700e+01] [ 2.04743737e-01 9.78815526e-01 -4.11165861e-04 2.36430440e+00] [ 2.34227393e-03 -6.98815888e-05 9.99997254e-01 1.54601852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.843617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.43, Y:2.37, Z:0.02 [[ 9.78882902e-01 -2.04408762e-01 -2.30688366e-03 3.04304776e+01] [ 2.04408359e-01 9.78885618e-01 -4.11604384e-04 2.36960986e+00] [ 2.34231078e-03 -6.86338099e-05 9.99997254e-01 1.59188273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.873617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.46, Y:2.38, Z:0.02 [[ 9.78938076e-01 -2.04144371e-01 -2.30613257e-03 3.04594220e+01] [ 2.04143957e-01 9.78940791e-01 -4.15806933e-04 2.37524624e+00] [ 2.34245188e-03 -6.37337900e-05 9.99997254e-01 1.60175788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.903617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.49, Y:2.38, Z:0.02 [[ 9.79254659e-01 -2.02620316e-01 -2.30667995e-03 3.04861345e+01] [ 2.02619906e-01 9.79257373e-01 -4.12747843e-04 2.38016869e+00] [ 2.34246445e-03 -6.31940258e-05 9.99997254e-01 1.56069259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.933617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.51, Y:2.39, Z:0.02 [[ 9.79362270e-01 -2.02099538e-01 -2.30663133e-03 3.05138633e+01] [ 2.02099125e-01 9.79364985e-01 -4.13019367e-04 2.38545798e+00] [ 2.34250498e-03 -6.16725882e-05 9.99997254e-01 1.58195824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.963617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.54, Y:2.39, Z:0.02 [[ 9.79432138e-01 -2.01760667e-01 -2.30652086e-03 3.05412744e+01] [ 2.01760252e-01 9.79434852e-01 -4.13635398e-04 2.39096180e+00] [ 2.34254227e-03 -6.02364264e-05 9.99997254e-01 1.59520846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.993617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:30.57, Y:2.40, Z:0.02 [[ 9.79669694e-01 -2.00604017e-01 -2.30641080e-03 3.05681654e+01] [ 2.00603597e-01 9.79672407e-01 -4.14248130e-04 2.39578523e+00] [ 2.34262686e-03 -5.68479651e-05 9.99997254e-01 1.52000009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.023617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.60, Y:2.40, Z:0.01 [[ 9.79671799e-01 -2.00593736e-01 -2.30636305e-03 3.05955582e+01] [ 2.00593315e-01 9.79674512e-01 -4.14513820e-04 2.39996201e+00] [ 2.34263397e-03 -5.65535111e-05 9.99997254e-01 1.48768977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.053617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:30.62, Y:2.40, Z:0.01 [[ 9.79628095e-01 -2.00807065e-01 -2.30625442e-03 3.06235589e+01] [ 2.00806644e-01 9.79630808e-01 -4.15117324e-04 2.40448155e+00] [ 2.34263638e-03 -5.64506173e-05 9.99997254e-01 1.49263686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.083617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:30.65, Y:2.41, Z:0.01 [[ 9.79489900e-01 -2.01480067e-01 -2.30614470e-03 3.06513922e+01] [ 2.01479646e-01 9.79492613e-01 -4.15725983e-04 2.40938309e+00] [ 2.34261220e-03 -5.74418160e-05 9.99997254e-01 1.48161876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.113617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.68, Y:2.41, Z:0.01 [[ 9.79317164e-01 -2.02318004e-01 -2.30603486e-03 3.06794300e+01] [ 2.02317584e-01 9.79319877e-01 -4.16334410e-04 2.41442746e+00] [ 2.34257772e-03 -5.88279681e-05 9.99997254e-01 1.42584228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.143617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.71, Y:2.42, Z:0.01 [[ 9.78930236e-01 -2.04181966e-01 -2.30592487e-03 3.07075810e+01] [ 2.04181550e-01 9.78932950e-01 -4.16942666e-04 2.41908445e+00] [ 2.34247801e-03 -6.26695326e-05 9.99997254e-01 1.26030706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.173617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.73, Y:2.42, Z:0.01 [[ 9.78618019e-01 -2.05673176e-01 -2.30582734e-03 3.07339126e+01] [ 2.05672762e-01 9.78620734e-01 -4.17481359e-04 2.42305594e+00] [ 2.34239516e-03 -6.56910982e-05 9.99997254e-01 1.15072281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.203617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.76, Y:2.43, Z:0.01 [[ 9.78500482e-01 -2.06231640e-01 -2.30577901e-03 3.07641306e+01] [ 2.06231227e-01 9.78503197e-01 -4.17748116e-04 2.42600614e+00] [ 2.34236501e-03 -6.67569030e-05 9.99997254e-01 9.37740666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.233617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:30.79, Y:2.43, Z:0.02 [[ 9.77676338e-01 -2.10103919e-01 -2.30665332e-03 3.07917055e+01] [ 2.10103529e-01 9.77679056e-01 -4.12923697e-04 2.42925037e+00] [ 2.34192353e-03 -8.09302747e-05 9.99997254e-01 1.55447986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.263617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:30.82, Y:2.43, Z:0.02 [[ 9.77312583e-01 -2.11789518e-01 -2.30571857e-03 3.08207062e+01] [ 2.11789120e-01 9.77315299e-01 -4.18078855e-04 2.43387884e+00] [ 2.34195876e-03 -7.97323821e-05 9.99997254e-01 1.64272728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.293617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.85, Y:2.44, Z:0.01 [[ 9.77193112e-01 -2.12340070e-01 -2.30561945e-03 3.08491513e+01] [ 2.12339673e-01 9.77195829e-01 -4.18624809e-04 2.43838251e+00] [ 2.34193253e-03 -8.04971983e-05 9.99997254e-01 1.33894777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.323617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.88, Y:2.44, Z:0.01 [[ 9.77005003e-01 -2.13203909e-01 -2.30577024e-03 3.08771965e+01] [ 2.13203516e-01 9.77007721e-01 -4.17794858e-04 2.44427481e+00] [ 2.34183083e-03 -8.34106569e-05 9.99997254e-01 1.28799761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.353617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.91, Y:2.45, Z:0.01 [[ 9.77048059e-01 -2.13006512e-01 -2.30553267e-03 3.09060250e+01] [ 2.13006115e-01 9.77050776e-01 -4.19100624e-04 2.44976158e+00] [ 2.34189365e-03 -8.16111071e-05 9.99997254e-01 1.29442561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.383617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:30.93, Y:2.46, Z:0.01 [[ 9.77084990e-01 -2.12837041e-01 -2.30576982e-03 3.09329210e+01] [ 2.12836647e-01 9.77087707e-01 -4.17798274e-04 2.45515990e+00] [ 2.34186230e-03 -8.25278951e-05 9.99997254e-01 1.49391144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.413617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:30.96, Y:2.46, Z:0.01 [[ 9.77376901e-01 -2.11492501e-01 -2.30535360e-03 3.09633440e+01] [ 2.11492098e-01 9.77379617e-01 -4.20082462e-04 2.45854299e+00] [ 2.34204991e-03 -7.69851747e-05 9.99997254e-01 1.28760871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.443617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.99, Y:2.47, Z:0.02 [[ 9.77353463e-01 -2.11600772e-01 -2.30686729e-03 3.09899513e+01] [ 2.11600388e-01 9.77356182e-01 -4.11774337e-04 2.46601011e+00] [ 2.34176278e-03 -8.56849403e-05 9.99997254e-01 1.51005032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.473617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.02, Y:2.47, Z:0.01 [[ 9.77837248e-01 -2.09353774e-01 -2.30522714e-03 3.10177838e+01] [ 2.09353363e-01 9.77839962e-01 -4.20760298e-04 2.47195183e+00] [ 2.34223097e-03 -7.11719623e-05 9.99997254e-01 1.15459387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.503617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.05, Y:2.48, Z:0.01 [[ 9.77976918e-01 -2.08700345e-01 -2.30523577e-03 3.10451523e+01] [ 2.08699932e-01 9.77979632e-01 -4.20713031e-04 2.47755767e+00] [ 2.34227658e-03 -6.96549147e-05 9.99997254e-01 1.48591195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.533617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:31.07, Y:2.48, Z:0.01 [[ 9.78135437e-01 -2.07956135e-01 -2.30487531e-03 3.10725451e+01] [ 2.07955716e-01 9.78138151e-01 -4.22684819e-04 2.48287477e+00] [ 2.34238637e-03 -6.58689952e-05 9.99997254e-01 1.41851183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.563617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.10, Y:2.49, Z:0.02 [[ 9.78217460e-01 -2.07569959e-01 -2.30505485e-03 3.10995795e+01] [ 2.07569541e-01 9.78220174e-01 -4.21703458e-04 2.48870325e+00] [ 2.34238412e-03 -6.59414909e-05 9.99997254e-01 1.50740427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.593617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:31.13, Y:2.49, Z:0.02 [[ 9.78423596e-01 -2.06596114e-01 -2.30494101e-03 3.11271613e+01] [ 2.06595692e-01 9.78426309e-01 -4.22324758e-04 2.49439898e+00] [ 2.34246558e-03 -6.29783750e-05 9.99997254e-01 1.59949827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.623617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:31.15, Y:2.50, Z:0.02 [[ 9.78436103e-01 -2.06536872e-01 -2.30482694e-03 3.11543764e+01] [ 2.06536448e-01 9.78438816e-01 -4.22946388e-04 2.50012274e+00] [ 2.34248616e-03 -6.22047533e-05 9.99997254e-01 1.64871718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.653617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:31.18, Y:2.51, Z:0.02 [[ 9.78421620e-01 -2.06605474e-01 -2.30471181e-03 3.11815787e+01] [ 2.06605049e-01 9.78424332e-01 -4.23572827e-04 2.50586793e+00] [ 2.34249858e-03 -6.17322842e-05 9.99997254e-01 1.67000653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.683617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:31.21, Y:2.51, Z:0.02 [[ 9.78319327e-01 -2.07089312e-01 -2.30459645e-03 3.12093208e+01] [ 2.07088887e-01 9.78322039e-01 -4.24199533e-04 2.51204696e+00] [ 2.34248469e-03 -6.22537126e-05 9.99997254e-01 1.62232028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.713617864999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:31.24, Y:2.52, Z:0.02 [[ 9.78000754e-01 -2.08588627e-01 -2.30448173e-03 3.12366061e+01] [ 2.08588204e-01 9.78003467e-01 -4.24821871e-04 2.51835891e+00] [ 2.34240413e-03 -6.52115948e-05 9.99997254e-01 1.54248288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.743617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.26, Y:2.52, Z:0.02 [[ 9.77782138e-01 -2.09611022e-01 -2.30436445e-03 3.12632343e+01] [ 2.09610601e-01 9.77784851e-01 -4.25457064e-04 2.52360226e+00] [ 2.34235314e-03 -6.70148995e-05 9.99997254e-01 1.54991800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.773617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.29, Y:2.53, Z:0.02 [[ 9.77450914e-01 -2.11150187e-01 -2.30431362e-03 3.12911393e+01] [ 2.11149770e-01 9.77453627e-01 -4.25732204e-04 2.52927985e+00] [ 2.34225314e-03 -7.04229575e-05 9.99997254e-01 1.64287290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.803617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.32, Y:2.53, Z:0.02 [[ 9.77205359e-01 -2.12283716e-01 -2.30419636e-03 3.13189264e+01] [ 2.12283300e-01 9.77208073e-01 -4.26365905e-04 2.53468446e+00] [ 2.34218982e-03 -7.24953596e-05 9.99997254e-01 1.69335101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.833617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.35, Y:2.54, Z:0.02 [[ 9.77088458e-01 -2.12821138e-01 -2.30407905e-03 3.13452926e+01] [ 2.12820722e-01 9.77091172e-01 -4.26998896e-04 2.53922093e+00] [ 2.34216969e-03 -7.31400750e-05 9.99997254e-01 1.69800825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.863617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:31.37, Y:2.55, Z:0.02 [[ 9.76880780e-01 -2.13772386e-01 -2.30399923e-03 3.13729062e+01] [ 2.13771972e-01 9.76883494e-01 -4.27429124e-04 2.54543624e+00] [ 2.34211137e-03 -7.49831630e-05 9.99997254e-01 1.67184710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.893617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.40, Y:2.55, Z:0.02 [[ 9.76864688e-01 -2.13845910e-01 -2.30388283e-03 3.13996768e+01] [ 2.13845494e-01 9.76867402e-01 -4.28055636e-04 2.55158020e+00] [ 2.34212598e-03 -7.45225271e-05 9.99997254e-01 1.56755827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.923617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:31.43, Y:2.56, Z:0.02 [[ 9.76862644e-01 -2.13855248e-01 -2.30383234e-03 3.14264139e+01] [ 2.13854832e-01 9.76865358e-01 -4.28327180e-04 2.55794011e+00] [ 2.34213402e-03 -7.42688570e-05 9.99997254e-01 1.50795320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.953617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:31.45, Y:2.56, Z:0.02 [[ 9.76900012e-01 -2.13684488e-01 -2.30359149e-03 3.14540110e+01] [ 2.13684069e-01 9.76902725e-01 -4.29621197e-04 2.56289608e+00] [ 2.34218819e-03 -7.25438497e-05 9.99997254e-01 1.55579293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.983617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:31.48, Y:2.57, Z:0.02 [[ 9.76717659e-01 -2.14516461e-01 -2.30280768e-03 3.14817244e+01] [ 2.14516034e-01 9.76720371e-01 -4.33825422e-04 2.56764364e+00] [ 2.34226186e-03 -7.02642197e-05 9.99997254e-01 1.51939489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.013617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:31.51, Y:2.57, Z:0.02 [[ 9.76596168e-01 -2.15068866e-01 -2.30358277e-03 3.15080094e+01] [ 2.15068451e-01 9.76598882e-01 -4.29669926e-04 2.57229893e+00] [ 2.34208498e-03 -7.58139735e-05 9.99997254e-01 1.54717875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.043617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.54, Y:2.58, Z:0.02 [[ 9.76433079e-01 -2.15808099e-01 -2.30353274e-03 3.15351584e+01] [ 2.15807685e-01 9.76435793e-01 -4.29937986e-04 2.57784934e+00] [ 2.34203592e-03 -7.73143953e-05 9.99997254e-01 1.52557064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.073617864999996 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:31.56, Y:2.58, Z:0.01 [[ 9.76408334e-01 -2.15920030e-01 -2.30341891e-03 3.15616051e+01] [ 2.15919615e-01 9.76411048e-01 -4.30546975e-04 2.58333158e+00] [ 2.34204739e-03 -7.69636686e-05 9.99997254e-01 1.46284679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.103617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:31.59, Y:2.59, Z:0.01 [[ 9.76378872e-01 -2.16053219e-01 -2.30336948e-03 3.15888317e+01] [ 2.16052804e-01 9.76381585e-01 -4.30811221e-04 2.58900680e+00] [ 2.34204570e-03 -7.70144612e-05 9.99997254e-01 1.44508945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.133617865 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:31.62, Y:2.59, Z:0.01 [[ 9.76450529e-01 -2.15729135e-01 -2.30325722e-03 3.16157594e+01] [ 2.15728717e-01 9.76453242e-01 -4.31410607e-04 2.59480192e+00] [ 2.34209081e-03 -7.56276092e-05 9.99997254e-01 1.38721502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.163617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:31.64, Y:2.60, Z:0.02 [[ 9.76428858e-01 -2.15827202e-01 -2.30318082e-03 3.16428954e+01] [ 2.15826784e-01 9.76431571e-01 -4.31818102e-04 2.59989022e+00] [ 2.34209656e-03 -7.54484519e-05 9.99997254e-01 1.51010979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.193617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.67, Y:2.61, Z:0.02 [[ 9.76330520e-01 -2.16271614e-01 -2.30307037e-03 3.16708030e+01] [ 2.16271195e-01 9.76333234e-01 -4.32406342e-04 2.60555343e+00] [ 2.34208136e-03 -7.59162735e-05 9.99997254e-01 1.62722602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.223617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.70, Y:2.61, Z:0.01 [[ 9.75996253e-01 -2.17775137e-01 -2.30295081e-03 3.16965673e+01] [ 2.17774720e-01 9.75998967e-01 -4.33042205e-04 2.61209978e+00] [ 2.34198343e-03 -7.88768976e-05 9.99997254e-01 1.34794011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.253617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:31.73, Y:2.62, Z:0.02 [[ 9.76345528e-01 -2.16203884e-01 -2.30024965e-03 3.17265706e+01] [ 2.16203430e-01 9.76348235e-01 -4.47383198e-04 2.61665759e+00] [ 2.34257067e-03 -6.05212784e-05 9.99997254e-01 1.59202183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.283617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:31.75, Y:2.62, Z:0.02 [[ 9.76301585e-01 -2.16402199e-01 -2.30289358e-03 3.17530634e+01] [ 2.16401778e-01 9.76304298e-01 -4.33332339e-04 2.62191557e+00] [ 2.34209897e-03 -7.52872167e-05 9.99997254e-01 1.53213663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.313617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:31.78, Y:2.63, Z:0.02 [[ 9.76262692e-01 -2.16577592e-01 -2.30284203e-03 3.17813789e+01] [ 2.16577171e-01 9.76265405e-01 -4.33606122e-04 2.62756064e+00] [ 2.34209438e-03 -7.54295322e-05 9.99997254e-01 1.61466363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.343617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:31.81, Y:2.63, Z:0.02 [[ 9.76203422e-01 -2.16844580e-01 -2.30368856e-03 3.18094458e+01] [ 2.16844171e-01 9.76206137e-01 -4.29109196e-04 2.63296582e+00] [ 2.34192491e-03 -8.06435693e-05 9.99997254e-01 1.62152867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.373617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:31.84, Y:2.64, Z:0.02 [[ 9.76144079e-01 -2.17111564e-01 -2.30356784e-03 3.18375107e+01] [ 2.17111154e-01 9.76146793e-01 -4.29749516e-04 2.63838136e+00] [ 2.34192395e-03 -8.06328264e-05 9.99997254e-01 1.62820254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.403617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.86, Y:2.64, Z:0.02 [[ 9.76306155e-01 -2.16381576e-01 -2.30339659e-03 3.18645408e+01] [ 2.16381162e-01 9.76308869e-01 -4.30656211e-04 2.64485927e+00] [ 2.34201259e-03 -7.79593202e-05 9.99997254e-01 1.63705105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.433617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.89, Y:2.65, Z:0.02 [[ 9.76269567e-01 -2.16546605e-01 -2.30247193e-03 3.18918325e+01] [ 2.16546179e-01 9.76272279e-01 -4.35544345e-04 2.65095746e+00] [ 2.34215517e-03 -7.33828103e-05 9.99997254e-01 1.67440930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.463617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.92, Y:2.66, Z:0.02 [[ 9.76238598e-01 -2.16686178e-01 -2.30235350e-03 3.19185695e+01] [ 2.16685752e-01 9.76241310e-01 -4.36169481e-04 2.65697437e+00] [ 2.34216449e-03 -7.30817161e-05 9.99997254e-01 1.65725651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.493617865 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:31.95, Y:2.66, Z:0.02 [[ 9.76167212e-01 -2.17007544e-01 -2.30230212e-03 3.19457137e+01] [ 2.17007117e-01 9.76169924e-01 -4.36440496e-04 2.66273151e+00] [ 2.34214897e-03 -7.35770453e-05 9.99997254e-01 1.67782339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.523617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.97, Y:2.67, Z:0.02 [[ 9.76141992e-01 -2.17120961e-01 -2.30218623e-03 3.19724034e+01] [ 2.17120533e-01 9.76144704e-01 -4.37050983e-04 2.66900598e+00] [ 2.34215982e-03 -7.32280853e-05 9.99997254e-01 1.66924092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.553617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:32.00, Y:2.68, Z:0.02 [[ 9.76082036e-01 -2.17390340e-01 -2.30210733e-03 3.19994662e+01] [ 2.17389912e-01 9.76084748e-01 -4.37466172e-04 2.67512487e+00] [ 2.34215277e-03 -7.34520379e-05 9.99997254e-01 1.77349537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.583617864999994 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:32.03, Y:2.68, Z:0.02 [[ 9.76061844e-01 -2.17480984e-01 -2.30198820e-03 3.20260363e+01] [ 2.17480555e-01 9.76064555e-01 -4.38092169e-04 2.68112688e+00] [ 2.34216580e-03 -7.30326201e-05 9.99997254e-01 1.70422333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.613617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.05, Y:2.69, Z:0.02 [[ 9.75819935e-01 -2.18563849e-01 -2.30193653e-03 3.20524850e+01] [ 2.18563422e-01 9.75822647e-01 -4.38363489e-04 2.68850568e+00] [ 2.34209221e-03 -7.53552936e-05 9.99997254e-01 1.68275601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.643617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:32.08, Y:2.69, Z:0.02 [[ 9.75745644e-01 -2.18895272e-01 -2.30188679e-03 3.20804123e+01] [ 2.18894845e-01 9.75748356e-01 -4.38624523e-04 2.69456749e+00] [ 2.34207508e-03 -7.58851852e-05 9.99997254e-01 1.78168834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.673617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.11, Y:2.70, Z:0.02 [[ 9.75612984e-01 -2.19485778e-01 -2.30176611e-03 3.21068029e+01] [ 2.19485352e-01 9.75615696e-01 -4.39256877e-04 2.70086997e+00] [ 2.34204979e-03 -7.66592331e-05 9.99997254e-01 1.76165822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.703617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.13, Y:2.71, Z:0.02 [[ 9.75588204e-01 -2.19595899e-01 -2.30171375e-03 3.21338304e+01] [ 2.19595472e-01 9.75590916e-01 -4.39531102e-04 2.70898880e+00] [ 2.34205025e-03 -7.66445590e-05 9.99997254e-01 1.81383793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.733617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:32.16, Y:2.72, Z:0.02 [[ 9.75570385e-01 -2.19675046e-01 -2.30159036e-03 3.21604940e+01] [ 2.19674618e-01 9.75573097e-01 -4.40176259e-04 2.71607518e+00] [ 2.34206538e-03 -7.61780617e-05 9.99997254e-01 1.80843145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.763617865 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:32.19, Y:2.72, Z:0.02 [[ 9.75403647e-01 -2.20414221e-01 -2.30153687e-03 3.21871373e+01] [ 2.20413794e-01 9.75406359e-01 -4.40455803e-04 2.72400418e+00] [ 2.34201642e-03 -7.76682770e-05 9.99997254e-01 1.88159427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.793617864999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:32.22, Y:2.73, Z:0.02 [[ 9.75342933e-01 -2.20682728e-01 -2.30141553e-03 3.22151947e+01] [ 2.20682301e-01 9.75345645e-01 -4.41088892e-04 2.72944086e+00] [ 2.34201631e-03 -7.76687397e-05 9.99997254e-01 1.88826885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.823617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.24, Y:2.74, Z:0.02 [[ 9.74981755e-01 -2.22272991e-01 -2.30129393e-03 3.22421890e+01] [ 2.22272567e-01 9.74984467e-01 -4.41722405e-04 2.73725630e+00] [ 2.34190879e-03 -8.08432225e-05 9.99997254e-01 1.84936141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.853617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.27, Y:2.75, Z:0.02 [[ 9.74117071e-01 -2.26032381e-01 -2.30117250e-03 3.22678779e+01] [ 2.26031965e-01 9.74119785e-01 -4.42354071e-04 2.74715865e+00] [ 2.34160401e-03 -8.92338909e-05 9.99997254e-01 1.54947373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.883617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.30, Y:2.75, Z:0.02 [[ 9.73974405e-01 -2.26646361e-01 -2.29907769e-03 3.22960854e+01] [ 2.26645922e-01 9.73977115e-01 -4.53252704e-04 2.75359826e+00] [ 2.34197713e-03 -7.96200501e-05 9.99997254e-01 1.61111600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.913617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.33, Y:2.76, Z:0.02 [[ 9.73980641e-01 -2.26619559e-01 -2.29917808e-03 3.23252694e+01] [ 2.26619121e-01 9.73983352e-01 -4.52730614e-04 2.75911983e+00] [ 2.34195879e-03 -8.00868618e-05 9.99997254e-01 1.79481115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.943617865 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:32.35, Y:2.77, Z:0.02 [[ 9.73006459e-01 -2.30766409e-01 -2.30116749e-03 3.23475264e+01] [ 2.30766007e-01 9.73009175e-01 -4.42382204e-04 2.76883582e+00] [ 2.34114403e-03 -1.00590491e-04 9.99997254e-01 1.74084160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.973617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.38, Y:2.78, Z:0.02 [[ 9.72803349e-01 -2.31621181e-01 -2.29632932e-03 3.23755890e+01] [ 2.31620722e-01 9.72806056e-01 -4.67514418e-04 2.77728191e+00] [ 2.34216931e-03 -7.70778638e-05 9.99997254e-01 1.78684843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.003617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.41, Y:2.78, Z:0.02 [[ 9.73316052e-01 -2.29457157e-01 -2.29696618e-03 3.24060887e+01] [ 2.29456699e-01 9.73318760e-01 -4.64209626e-04 2.78138714e+00] [ 2.34219649e-03 -7.52315972e-05 9.99997254e-01 1.89050197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.033617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.43, Y:2.79, Z:0.02 [[ 9.73233119e-01 -2.29808619e-01 -2.30102141e-03 3.24334696e+01] [ 2.29808213e-01 9.73235834e-01 -4.43153305e-04 2.78867091e+00] [ 2.34127694e-03 -9.75021449e-05 9.99997254e-01 1.88478284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.063617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.46, Y:2.80, Z:0.02 [[ 9.73147256e-01 -2.30171946e-01 -2.30089863e-03 3.24608435e+01] [ 2.30171539e-01 9.73149971e-01 -4.43789903e-04 2.79624409e+00] [ 2.34126742e-03 -9.77284531e-05 9.99997254e-01 1.88665331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.093617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.49, Y:2.80, Z:0.02 [[ 9.73219712e-01 -2.29865391e-01 -2.30077408e-03 3.24862686e+01] [ 2.29864982e-01 9.73222427e-01 -4.44434672e-04 2.80491370e+00] [ 2.34132508e-03 -9.63348078e-05 9.99997254e-01 1.92440037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.123617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.52, Y:2.81, Z:0.02 [[ 9.73709612e-01 -2.27781250e-01 -2.30072011e-03 3.25159420e+01] [ 2.27780834e-01 9.73712326e-01 -4.44713861e-04 2.81063017e+00] [ 2.34153701e-03 -9.10377845e-05 9.99997254e-01 1.78866341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.153617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.54, Y:2.82, Z:0.02 [[ 9.73361225e-01 -2.29265407e-01 -2.30195715e-03 3.25438481e+01] [ 2.29265011e-01 9.73363942e-01 -4.38319147e-04 2.81981422e+00] [ 2.34113350e-03 -1.01115368e-04 9.99997254e-01 2.01968667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.183617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.58, Y:2.83, Z:0.02 [[ 9.74271299e-01 -2.25366687e-01 -2.30059290e-03 3.25751816e+01] [ 2.25366263e-01 9.74274011e-01 -4.45366339e-04 2.82741770e+00] [ 2.34177861e-03 -8.45683813e-05 9.99997254e-01 2.20230413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.213617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.60, Y:2.84, Z:0.02 [[ 9.73676062e-01 -2.27924586e-01 -2.30408562e-03 3.25996087e+01] [ 2.27924212e-01 9.73678782e-01 -4.27322040e-04 2.83768171e+00] [ 2.34083648e-03 -1.09083658e-04 9.99997254e-01 2.01619054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.243617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.63, Y:2.84, Z:0.02 [[ 9.74478471e-01 -2.24469189e-01 -2.30043024e-03 3.26325529e+01] [ 2.24468761e-01 9.74481183e-01 -4.46169017e-04 2.84221611e+00] [ 2.34187718e-03 -8.15926239e-05 9.99997254e-01 2.14866112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.273617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.66, Y:2.85, Z:0.02 [[ 9.74383196e-01 -2.24882368e-01 -2.30390330e-03 3.26603097e+01] [ 2.24881982e-01 9.74385915e-01 -4.28310632e-04 2.85010156e+00] [ 2.34121043e-03 -1.00767658e-04 9.99997254e-01 2.11071792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.303617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.69, Y:2.86, Z:0.02 [[ 9.74512693e-01 -2.24320544e-01 -2.30332528e-03 3.26891885e+01] [ 2.24320150e-01 9.74515410e-01 -4.31274783e-04 2.85827182e+00] [ 2.34136977e-03 -9.63995212e-05 9.99997254e-01 2.17827612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.333617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.71, Y:2.87, Z:0.02 [[ 9.73541963e-01 -2.28496689e-01 -2.30419170e-03 3.27125500e+01] [ 2.28496317e-01 9.73544684e-01 -4.26834569e-04 2.86905196e+00] [ 2.34076387e-03 -1.10957953e-04 9.99997254e-01 1.93732264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.363617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.74, Y:2.87, Z:0.02 [[ 9.73759210e-01 -2.27569136e-01 -2.29974048e-03 3.27421588e+01] [ 2.27568708e-01 9.73761922e-01 -4.49602806e-04 2.87421427e+00] [ 2.34171543e-03 -8.55440964e-05 9.99997255e-01 2.13508031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.393617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.77, Y:2.88, Z:0.02 [[ 9.73073063e-01 -2.30485402e-01 -2.30081396e-03 3.27684155e+01] [ 2.30484995e-01 9.73075778e-01 -4.44114428e-04 2.88382076e+00] [ 2.34122822e-03 -9.81473061e-05 9.99997255e-01 2.05830035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.423617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.79, Y:2.89, Z:0.02 [[ 9.72851488e-01 -2.31418872e-01 -2.29959942e-03 3.27949242e+01] [ 2.31418453e-01 9.72854201e-01 -4.50316632e-04 2.89073171e+00] [ 2.34138672e-03 -9.40785349e-05 9.99997255e-01 2.09214050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.453617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.82, Y:2.90, Z:0.02 [[ 9.72506934e-01 -2.32862567e-01 -2.29954614e-03 3.28218481e+01] [ 2.32862151e-01 9.72509648e-01 -4.50588503e-04 2.89966519e+00] [ 2.34125601e-03 -9.72768178e-05 9.99997255e-01 2.07147500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.483617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.85, Y:2.91, Z:0.02 [[ 9.72413866e-01 -2.33250907e-01 -2.29942840e-03 3.28490292e+01] [ 2.33250491e-01 9.72416580e-01 -4.51188584e-04 2.90686659e+00] [ 2.34124244e-03 -9.76007685e-05 9.99997255e-01 2.02875930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.51361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.88, Y:2.91, Z:0.02 [[ 9.72318032e-01 -2.33650076e-01 -2.29931071e-03 3.28761575e+01] [ 2.33649659e-01 9.72320746e-01 -4.51787552e-04 2.91402371e+00] [ 2.34122770e-03 -9.79519807e-05 9.99997255e-01 2.02646375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.543617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.90, Y:2.92, Z:0.02 [[ 9.72264909e-01 -2.33871032e-01 -2.29918951e-03 3.29027866e+01] [ 2.33870615e-01 9.72267623e-01 -4.52403483e-04 2.92093267e+00] [ 2.34123159e-03 -9.78568346e-05 9.99997255e-01 2.00060546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.573617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.93, Y:2.93, Z:0.02 [[ 9.72297438e-01 -2.33735762e-01 -2.29913699e-03 3.29300142e+01] [ 2.33735344e-01 9.72300151e-01 -4.52670250e-04 2.92919570e+00] [ 2.34125647e-03 -9.72594506e-05 9.99997255e-01 1.95647204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.603617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.96, Y:2.94, Z:0.02 [[ 9.72415316e-01 -2.33244868e-01 -2.29900921e-03 3.29563675e+01] [ 2.33244447e-01 9.72418029e-01 -4.53318311e-04 2.93584965e+00] [ 2.34133217e-03 -9.54174630e-05 9.99997255e-01 1.88226700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.633617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.98, Y:2.94, Z:0.02 [[ 9.72611776e-01 -2.32424286e-01 -2.29895377e-03 3.29832940e+01] [ 2.32423862e-01 9.72614488e-01 -4.53599289e-04 2.94400259e+00] [ 2.34142323e-03 -9.31557040e-05 9.99997255e-01 1.83537687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.663617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.01, Y:2.95, Z:0.02 [[ 9.72759744e-01 -2.31804219e-01 -2.29882839e-03 3.30099056e+01] [ 2.31803792e-01 9.72762456e-01 -4.54233791e-04 2.95037053e+00] [ 2.34150726e-03 -9.10167923e-05 9.99997255e-01 1.86700405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.693617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.04, Y:2.96, Z:0.02 [[ 9.72982603e-01 -2.30866997e-01 -2.29874309e-03 3.30362262e+01] [ 2.30866566e-01 9.72985314e-01 -4.54665072e-04 2.95642384e+00] [ 2.34161043e-03 -8.83217187e-05 9.99997255e-01 1.86711616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.723617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.06, Y:2.96, Z:0.02 [[ 9.73125656e-01 -2.30263269e-01 -2.29868912e-03 3.30635959e+01] [ 2.30262835e-01 9.73128368e-01 -4.54937764e-04 2.96285316e+00] [ 2.34167505e-03 -8.65910651e-05 9.99997255e-01 1.90554065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.753617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.09, Y:2.97, Z:0.02 [[ 9.73474084e-01 -2.28785762e-01 -2.29856469e-03 3.30902355e+01] [ 2.28785324e-01 9.73476794e-01 -4.55565574e-04 2.96985271e+00] [ 2.34182630e-03 -8.23965872e-05 9.99997255e-01 1.88810027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.783617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.12, Y:2.98, Z:0.02 [[ 9.73588893e-01 -2.28296701e-01 -2.29851074e-03 3.31178947e+01] [ 2.28296261e-01 9.73591603e-01 -4.55837648e-04 2.97572388e+00] [ 2.34187698e-03 -8.09429343e-05 9.99997255e-01 1.88392155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.813617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.15, Y:2.98, Z:0.02 [[ 9.74775707e-01 -2.23174904e-01 -2.29838857e-03 3.31519335e+01] [ 2.23174448e-01 9.74778415e-01 -4.56452789e-04 2.97661415e+00] [ 2.34228837e-03 -6.80025098e-05 9.99997255e-01 1.78547226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.843617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.18, Y:2.98, Z:0.02 [[ 9.74891425e-01 -2.22668834e-01 -2.30225511e-03 3.31843651e+01] [ 2.22668422e-01 9.74894139e-01 -4.37021394e-04 2.98146494e+00] [ 2.34176606e-03 -8.65911044e-05 9.99997254e-01 2.23000522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.873617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.21, Y:2.99, Z:0.02 [[ 9.74366219e-01 -2.24955897e-01 -2.30548901e-03 3.32050240e+01] [ 2.24955530e-01 9.74368941e-01 -4.20764517e-04 2.99139954e+00] [ 2.34105034e-03 -1.08653769e-04 9.99997254e-01 1.79505465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.903617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.23, Y:3.00, Z:0.02 [[ 9.74696214e-01 -2.23521832e-01 -2.29793893e-03 3.32324895e+01] [ 2.23521372e-01 9.74698921e-01 -4.58596502e-04 2.99650184e+00] [ 2.34230493e-03 -6.66461873e-05 9.99997255e-01 1.82392954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.933617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.26, Y:3.00, Z:0.02 [[ 9.74952734e-01 -2.22400282e-01 -2.29781187e-03 3.32613273e+01] [ 2.22399817e-01 9.74955440e-01 -4.59232246e-04 3.00192973e+00] [ 2.34239757e-03 -6.33032066e-05 9.99997255e-01 1.94531506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.963617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.30, Y:3.00, Z:0.02 [[ 9.76786804e-01 -2.14201433e-01 -2.29881469e-03 3.32965341e+01] [ 2.14200957e-01 9.76789508e-01 -4.54219431e-04 3.00193608e+00] [ 2.34275252e-03 -4.87327602e-05 9.99997255e-01 1.98446600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.993617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.32, Y:3.01, Z:0.02 [[ 9.76363710e-01 -2.16121716e-01 -2.30442406e-03 3.33179126e+01] [ 2.16121312e-01 9.76366426e-01 -4.26150532e-04 3.01133308e+00] [ 2.34206266e-03 -8.19572359e-05 9.99997254e-01 1.92731574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.023617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.35, Y:3.01, Z:0.02 [[ 9.77673746e-01 -2.10116082e-01 -2.29751992e-03 3.33531394e+01] [ 2.10115580e-01 9.77676445e-01 -4.60594546e-04 3.01179341e+00] [ 2.34300943e-03 -3.24335349e-05 9.99997255e-01 1.80104020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.053617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.38, Y:3.02, Z:0.02 [[ 9.77824690e-01 -2.09412435e-01 -2.30378252e-03 3.33755596e+01] [ 2.09412005e-01 9.77827402e-01 -4.29291191e-04 3.01895656e+00] [ 2.34260059e-03 -6.26681897e-05 9.99997254e-01 1.98088622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.083617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.40, Y:3.02, Z:0.02 [[ 9.78227506e-01 -2.07522696e-01 -2.29743670e-03 3.34036369e+01] [ 2.07522185e-01 9.78230203e-01 -4.60916638e-04 3.02353990e+00] [ 2.34307263e-03 -2.58877525e-05 9.99997255e-01 2.04441295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.113617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.43, Y:3.03, Z:0.02 [[ 9.78490835e-01 -2.06277504e-01 -2.29721928e-03 3.34319212e+01] [ 2.06276987e-01 9.78493531e-01 -4.61999413e-04 3.02844656e+00] [ 2.34311429e-03 -2.18012811e-05 9.99997255e-01 1.83926952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.143617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.46, Y:3.03, Z:0.02 [[ 9.78609372e-01 -2.05714410e-01 -2.29731249e-03 3.34596117e+01] [ 2.05713893e-01 9.78612069e-01 -4.61535480e-04 3.03158490e+00] [ 2.34312222e-03 -2.09261489e-05 9.99997255e-01 1.68701629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.173617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.49, Y:3.03, Z:0.02 [[ 9.78466992e-01 -2.06390574e-01 -2.29718458e-03 3.34868466e+01] [ 2.06390058e-01 9.78469688e-01 -4.62171205e-04 3.03449624e+00] [ 2.34311326e-03 -2.18967912e-05 9.99997255e-01 1.70565483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.203617865 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.52, Y:3.03, Z:0.02 [[ 9.77680484e-01 -2.10084730e-01 -2.29712908e-03 3.35154468e+01] [ 2.10084224e-01 9.77683182e-01 -4.62446924e-04 3.03379488e+00] [ 2.34301750e-03 -3.04652464e-05 9.99997255e-01 1.82980750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.233617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.54, Y:3.04, Z:0.02 [[ 9.77217429e-01 -2.12228229e-01 -2.29700099e-03 3.35421338e+01] [ 2.12227726e-01 9.77220128e-01 -4.63082290e-04 3.03593235e+00] [ 2.34295473e-03 -3.49552123e-05 9.99997255e-01 1.94739507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.57, Y:3.04, Z:0.02 [[ 9.76579650e-01 -2.15143934e-01 -2.29655900e-03 3.35708259e+01] [ 2.15143435e-01 9.76582350e-01 -4.65272312e-04 3.03911333e+00] [ 2.34287950e-03 -3.97141206e-05 9.99997255e-01 1.84883205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.293617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.60, Y:3.04, Z:0.02 [[ 9.76520726e-01 -2.15411226e-01 -2.29684254e-03 3.35988156e+01] [ 2.15410731e-01 9.76523426e-01 -4.63868402e-04 3.04483042e+00] [ 2.34284300e-03 -4.17874204e-05 9.99997255e-01 1.85557018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.323617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.63, Y:3.05, Z:0.02 [[ 9.75602166e-01 -2.19533913e-01 -2.29671540e-03 3.36264300e+01] [ 2.19533427e-01 9.75604868e-01 -4.64497046e-04 3.04609231e+00] [ 2.34265958e-03 -5.10414775e-05 9.99997255e-01 1.75746449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.353617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.65, Y:3.05, Z:0.02 [[ 9.74753881e-01 -2.23270233e-01 -2.29666028e-03 3.36528326e+01] [ 2.23269758e-01 9.74756585e-01 -4.64769388e-04 3.05072103e+00] [ 2.34245390e-03 -5.97390197e-05 9.99997255e-01 1.53496700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.383617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.68, Y:3.05, Z:0.02 [[ 9.74136875e-01 -2.25947081e-01 -2.29483993e-03 3.36815429e+01] [ 2.25946592e-01 9.74139576e-01 -4.73748473e-04 3.05054916e+00] [ 2.34253648e-03 -5.70154032e-05 9.99997255e-01 1.56099636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.413617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.71, Y:3.05, Z:0.02 [[ 9.74206259e-01 -2.25647728e-01 -2.29523767e-03 3.37098938e+01] [ 2.25647242e-01 9.74208961e-01 -4.71789484e-04 3.05203896e+00] [ 2.34249933e-03 -5.82937827e-05 9.99997255e-01 1.60246042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.443617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.74, Y:3.06, Z:0.01 [[ 9.73412659e-01 -2.29046988e-01 -2.29634199e-03 3.37361249e+01] [ 2.29046524e-01 9.73415365e-01 -4.66351762e-04 3.05707256e+00] [ 2.34211104e-03 -7.20164434e-05 9.99997255e-01 1.37327158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.473617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.76, Y:3.06, Z:0.01 [[ 9.72869194e-01 -2.31344484e-01 -2.29356297e-03 3.37611872e+01] [ 2.31343994e-01 9.72871896e-01 -4.80015772e-04 3.06179383e+00] [ 2.34239196e-03 -6.36094619e-05 9.99997255e-01 1.11075484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.503617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.79, Y:3.06, Z:0.02 [[ 9.73436494e-01 -2.28945716e-01 -2.29160004e-03 3.37919298e+01] [ 2.28945197e-01 9.73439190e-01 -4.89688452e-04 3.06071323e+00] [ 2.34284536e-03 -4.79702124e-05 9.99997254e-01 1.57991897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.533617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.82, Y:3.06, Z:0.02 [[ 9.73522728e-01 -2.28578733e-01 -2.29357350e-03 3.38200525e+01] [ 2.28578236e-01 9.73525428e-01 -4.79966444e-04 3.06408704e+00] [ 2.34256225e-03 -5.70027442e-05 9.99997255e-01 1.59825204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.563617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.85, Y:3.06, Z:0.02 [[ 9.74135588e-01 -2.25952639e-01 -2.29370616e-03 3.38504828e+01] [ 2.25952136e-01 9.74138287e-01 -4.79313328e-04 3.06365927e+00] [ 2.34268910e-03 -5.13516345e-05 9.99997255e-01 1.64540472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.593617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.88, Y:3.07, Z:0.02 [[ 9.74057502e-01 -2.26288998e-01 -2.29634011e-03 3.38781842e+01] [ 2.26288527e-01 9.74060206e-01 -4.66343354e-04 3.06701671e+00] [ 2.34230189e-03 -6.53901778e-05 9.99997255e-01 1.70067396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.623617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.90, Y:3.07, Z:0.02 [[ 9.73223924e-01 -2.29847605e-01 -2.29621356e-03 3.39028437e+01] [ 2.29847143e-01 9.73226630e-01 -4.66965653e-04 3.07331582e+00] [ 2.34206712e-03 -7.33159807e-05 9.99997255e-01 1.50678771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.653617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.94, Y:3.07, Z:0.02 [[ 9.73741761e-01 -2.27643864e-01 -2.29231582e-03 3.39361530e+01] [ 2.27643351e-01 9.73744458e-01 -4.86096527e-04 3.07093493e+00] [ 2.34278672e-03 -4.84979654e-05 9.99997254e-01 1.81264332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.683617864999995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:33.96, Y:3.07, Z:0.02 [[ 9.73587491e-01 -2.28302704e-01 -2.29611043e-03 3.39642694e+01] [ 2.28302236e-01 9.73590196e-01 -4.67457745e-04 3.07416563e+00] [ 2.34219247e-03 -6.90961307e-05 9.99997255e-01 1.87676658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.713617864999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.99, Y:3.08, Z:0.02 [[ 9.73471517e-01 -2.28796709e-01 -2.29598499e-03 3.39917376e+01] [ 2.28796241e-01 9.73474222e-01 -4.68073028e-04 3.07778548e+00] [ 2.34217577e-03 -6.96569741e-05 9.99997255e-01 1.94565301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.743617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:34.02, Y:3.08, Z:0.02 [[ 9.73446657e-01 -2.28902456e-01 -2.29585842e-03 3.40195792e+01] [ 2.28901986e-01 9.73449362e-01 -4.68693038e-04 3.07996892e+00] [ 2.34218690e-03 -6.92788817e-05 9.99997255e-01 1.92651083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.773617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.05, Y:3.08, Z:0.02 [[ 9.73382242e-01 -2.29176220e-01 -2.29573198e-03 3.40471342e+01] [ 2.29175750e-01 9.73384947e-01 -4.69311564e-04 3.08386394e+00] [ 2.34218600e-03 -6.93065562e-05 9.99997255e-01 1.87561863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.803617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.08, Y:3.09, Z:0.02 [[ 9.73381705e-01 -2.29178506e-01 -2.29560462e-03 3.40750813e+01] [ 2.29178034e-01 9.73384409e-01 -4.69933697e-04 3.08738069e+00] [ 2.34220445e-03 -6.86772904e-05 9.99997255e-01 1.80869632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.833617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.10, Y:3.09, Z:0.02 [[ 9.73503936e-01 -2.28658735e-01 -2.29547726e-03 3.41033735e+01] [ 2.28658261e-01 9.73506640e-01 -4.70554992e-04 3.08824352e+00] [ 2.34225886e-03 -6.67927001e-05 9.99997255e-01 1.84525262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.863617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:34.13, Y:3.09, Z:0.02 [[ 9.73467368e-01 -2.28814369e-01 -2.29534655e-03 3.41311137e+01] [ 2.28813893e-01 9.73470072e-01 -4.71191737e-04 3.09160014e+00] [ 2.34226661e-03 -6.65174005e-05 9.99997255e-01 1.87472647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.893617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.16, Y:3.09, Z:0.02 [[ 9.73420667e-01 -2.29012961e-01 -2.29521624e-03 3.41587036e+01] [ 2.29012484e-01 9.73423371e-01 -4.71825618e-04 3.09475504e+00] [ 2.34227131e-03 -6.63483648e-05 9.99997255e-01 1.86748442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.923617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.19, Y:3.10, Z:0.02 [[ 9.73355039e-01 -2.29291738e-01 -2.29508510e-03 3.41857126e+01] [ 2.29291261e-01 9.73357742e-01 -4.72462670e-04 3.09816340e+00] [ 2.34227064e-03 -6.63690359e-05 9.99997255e-01 1.83829417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.953617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.21, Y:3.10, Z:0.02 [[ 9.73232372e-01 -2.29811841e-01 -2.29502823e-03 3.42138804e+01] [ 2.29811365e-01 9.73235076e-01 -4.72738748e-04 3.10196831e+00] [ 2.34224294e-03 -6.73389157e-05 9.99997255e-01 1.85777752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.983617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.24, Y:3.10, Z:0.02 [[ 9.73108749e-01 -2.30334749e-01 -2.29489863e-03 3.42406240e+01] [ 2.30334272e-01 9.73111452e-01 -4.73367046e-04 3.10485148e+00] [ 2.34222502e-03 -6.79561926e-05 9.99997255e-01 1.85475317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.01361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:34.27, Y:3.11, Z:0.02 [[ 9.73132700e-01 -2.30233539e-01 -2.29481047e-03 3.42684175e+01] [ 2.30233061e-01 9.73135403e-01 -4.73794048e-04 3.10951894e+00] [ 2.34224459e-03 -6.72767581e-05 9.99997255e-01 1.94624729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.043617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.30, Y:3.11, Z:0.02 [[ 9.73267682e-01 -2.29662261e-01 -2.29468202e-03 3.42959508e+01] [ 2.29661780e-01 9.73270385e-01 -4.74415342e-04 3.11434557e+00] [ 2.34230135e-03 -6.52676388e-05 9.99997255e-01 1.93664050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.073617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.32, Y:3.12, Z:0.02 [[ 9.73594500e-01 -2.28272831e-01 -2.29455345e-03 3.43228492e+01] [ 2.28272344e-01 9.73597202e-01 -4.75036387e-04 3.12002832e+00] [ 2.34240872e-03 -6.12902820e-05 9.99997255e-01 1.91632530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.103617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.35, Y:3.13, Z:0.02 [[ 9.73611758e-01 -2.28199211e-01 -2.29449771e-03 3.43499990e+01] [ 2.28198724e-01 9.73614460e-01 -4.75305446e-04 3.12506235e+00] [ 2.34242048e-03 -6.08384808e-05 9.99997255e-01 1.92670623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.133617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.38, Y:3.13, Z:0.02 [[ 9.73481794e-01 -2.28752995e-01 -2.29437034e-03 3.43768550e+01] [ 2.28752509e-01 9.73484496e-01 -4.75919510e-04 3.13022717e+00] [ 2.34240197e-03 -6.15439920e-05 9.99997255e-01 1.90783050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.163617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:34.40, Y:3.14, Z:0.02 [[ 9.73381194e-01 -2.29180689e-01 -2.29428354e-03 3.44039436e+01] [ 2.29180203e-01 9.73383895e-01 -4.76337572e-04 3.13575384e+00] [ 2.34238602e-03 -6.21463318e-05 9.99997255e-01 2.00149712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.19361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:34.43, Y:3.14, Z:0.02 [[ 9.73373955e-01 -2.29211431e-01 -2.29424475e-03 3.44299056e+01] [ 2.29210944e-01 9.73376657e-01 -4.76524324e-04 3.14098374e+00] [ 2.34238911e-03 -6.20296401e-05 9.99997255e-01 2.04022461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.223617864999994 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:34.46, Y:3.15, Z:0.02 [[ 9.72621890e-01 -2.32382024e-01 -2.29226145e-03 3.44595182e+01] [ 2.32381523e-01 9.72624589e-01 -4.86067299e-04 3.14817477e+00] [ 2.34246315e-03 -5.99195122e-05 9.99997255e-01 2.01757901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.253617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.49, Y:3.15, Z:0.02 [[ 9.72318933e-01 -2.33646377e-01 -2.29415810e-03 3.44872486e+01] [ 2.33645901e-01 9.72321637e-01 -4.76944205e-04 3.15472365e+00] [ 2.34209584e-03 -7.22787557e-05 9.99997255e-01 2.01100425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.283617865 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:34.52, Y:3.16, Z:0.02 [[ 9.72143253e-01 -2.34376264e-01 -2.29403266e-03 3.45155847e+01] [ 2.34375789e-01 9.72145957e-01 -4.77546769e-04 3.16035627e+00] [ 2.34206020e-03 -7.34218443e-05 9.99997255e-01 2.05685514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.313617865 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:34.54, Y:3.17, Z:0.02 [[ 9.71994530e-01 -2.34992276e-01 -2.29429769e-03 3.45417415e+01] [ 2.34991806e-01 9.71997235e-01 -4.76274452e-04 3.16726811e+00] [ 2.34197183e-03 -7.62049951e-05 9.99997255e-01 1.92179424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.343617865 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:34.57, Y:3.17, Z:0.02 [[ 9.72007468e-01 -2.34938757e-01 -2.29390203e-03 3.45691511e+01] [ 2.34938282e-01 9.72010172e-01 -4.78172523e-04 3.17436262e+00] [ 2.34203737e-03 -7.41381375e-05 9.99997255e-01 1.95345623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.373617865 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:34.60, Y:3.18, Z:0.02 [[ 9.72121710e-01 -2.34465604e-01 -2.29376953e-03 3.45952359e+01] [ 2.34465126e-01 9.72124413e-01 -4.78807302e-04 3.18103972e+00] [ 2.34209320e-03 -7.23499879e-05 9.99997255e-01 1.86144353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.403617864999994 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:34.62, Y:3.19, Z:0.02 [[ 9.72591946e-01 -2.32507301e-01 -2.29371210e-03 3.46231186e+01] [ 2.32506817e-01 9.72594649e-01 -4.79082251e-04 3.18729434e+00] [ 2.34224223e-03 -6.73521602e-05 9.99997255e-01 1.80839816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.433617864999995 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:34.65, Y:3.19, Z:0.02 [[ 9.72738015e-01 -2.31895436e-01 -2.29358175e-03 3.46502203e+01] [ 2.31894949e-01 9.72740717e-01 -4.79705450e-04 3.19331392e+00] [ 2.34230186e-03 -6.52422979e-05 9.99997255e-01 1.82019615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.463617864999996 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:34.68, Y:3.20, Z:0.02 [[ 9.72812427e-01 -2.31583076e-01 -2.29345201e-03 3.46780565e+01] [ 2.31582587e-01 9.72815129e-01 -4.80324956e-04 3.19963199e+00] [ 2.34233994e-03 -6.38574630e-05 9.99997255e-01 1.84836449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.493617865 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:34.71, Y:3.21, Z:0.02 [[ 9.73090396e-01 -2.30412288e-01 -2.29332226e-03 3.47060934e+01] [ 2.30411794e-01 9.73093096e-01 -4.80943628e-04 3.20507614e+00] [ 2.34243138e-03 -6.04068724e-05 9.99997255e-01 1.95852313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.523617865 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:34.73, Y:3.21, Z:0.02 [[ 9.73067089e-01 -2.30510698e-01 -2.29319312e-03 3.47333430e+01] [ 2.30510203e-01 9.73069789e-01 -4.81558596e-04 3.21051897e+00] [ 2.34244136e-03 -6.00155921e-05 9.99997255e-01 2.03445469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.553617865 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:34.76, Y:3.22, Z:0.02 [[ 9.73005363e-01 -2.30771112e-01 -2.29306355e-03 3.47598828e+01] [ 2.30770616e-01 9.73008063e-01 -4.82174818e-04 3.21588536e+00] [ 2.34244134e-03 -6.00130044e-05 9.99997255e-01 2.11503655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.583617864999994 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:34.79, Y:3.22, Z:0.02 [[ 9.72746193e-01 -2.31861135e-01 -2.29300738e-03 3.47875172e+01] [ 2.31860642e-01 9.72748894e-01 -4.82441783e-04 3.22193957e+00] [ 2.34237989e-03 -6.23647550e-05 9.99997255e-01 2.16531150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.613617864999995 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:34.81, Y:3.23, Z:0.02 [[ 9.72558431e-01 -2.32647460e-01 -2.29287446e-03 3.48141737e+01] [ 2.32646967e-01 9.72561132e-01 -4.83072674e-04 3.22704228e+00] [ 2.34234621e-03 -6.36138870e-05 9.99997255e-01 2.10241335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.643617864999996 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:34.84, Y:3.23, Z:0.02 [[ 9.72308450e-01 -2.33690011e-01 -2.29281677e-03 3.48416587e+01] [ 2.33689520e-01 9.72311151e-01 -4.83346331e-04 3.23195597e+00] [ 2.34228452e-03 -6.58455288e-05 9.99997255e-01 2.18924545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.673617865 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:34.87, Y:3.24, Z:0.02 [[ 9.72039550e-01 -2.34805998e-01 -2.29268885e-03 3.48694077e+01] [ 2.34805509e-01 9.72042252e-01 -4.83952343e-04 3.23714521e+00] [ 2.34222535e-03 -6.79151551e-05 9.99997255e-01 2.22438067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.703617865 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:34.90, Y:3.24, Z:0.02 [[ 9.71602833e-01 -2.36606593e-01 -2.29255488e-03 3.48962420e+01] [ 2.36606107e-01 9.71605535e-01 -4.84586172e-04 3.24295616e+00] [ 2.34211529e-03 -7.16071878e-05 9.99997255e-01 2.11941660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.733617865 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:34.92, Y:3.25, Z:0.02 [[ 9.71348219e-01 -2.37649705e-01 -2.29249686e-03 3.49234446e+01] [ 2.37649222e-01 9.71350921e-01 -4.84860506e-04 3.24872437e+00] [ 2.34204589e-03 -7.38417052e-05 9.99997255e-01 2.11679491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76361786499999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:34.95, Y:3.25, Z:0.02 [[ 9.71257441e-01 -2.38020438e-01 -2.29236338e-03 3.49504079e+01] [ 2.38019955e-01 9.71260143e-01 -4.85490732e-04 3.25499212e+00] [ 2.34203790e-03 -7.40917430e-05 9.99997255e-01 2.14853078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.793617864999995 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:34.98, Y:3.26, Z:0.02 [[ 9.71203728e-01 -2.38239510e-01 -2.29222924e-03 3.49782311e+01] [ 2.38239025e-01 9.71206430e-01 -4.86123260e-04 3.26101024e+00] [ 2.34204154e-03 -7.39737378e-05 9.99997255e-01 2.14747077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.823617864999996 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:35.00, Y:3.27, Z:0.02 [[ 9.71274736e-01 -2.37949854e-01 -2.29209580e-03 3.50047545e+01] [ 2.37949368e-01 9.71277438e-01 -4.86751611e-04 3.26632862e+00] [ 2.34208341e-03 -7.26332038e-05 9.99997255e-01 2.06933661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.853617865 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:35.03, Y:3.27, Z:0.02 [[ 9.71522113e-01 -2.36937818e-01 -2.29203793e-03 3.50325617e+01] [ 2.36937328e-01 9.71524815e-01 -4.87023975e-04 3.27157885e+00] [ 2.34216612e-03 -6.99147801e-05 9.99997255e-01 2.02046010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.883617865 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:35.06, Y:3.28, Z:0.02 [[ 9.71583340e-01 -2.36686637e-01 -2.29097447e-03 3.50588684e+01] [ 2.36686135e-01 9.71586039e-01 -4.92022280e-04 3.27736955e+00] [ 2.34233391e-03 -6.42012415e-05 9.99997255e-01 1.96064956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.913617865 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:35.09, Y:3.29, Z:0.02 [[ 9.71742676e-01 -2.36031619e-01 -2.29047695e-03 3.50870391e+01] [ 2.36031108e-01 9.71745374e-01 -4.94357309e-04 3.28537129e+00] [ 2.34244433e-03 -6.02357184e-05 9.99997255e-01 1.92899338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94361786499999 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:35.11, Y:3.29, Z:0.02 [[ 9.71848507e-01 -2.35595474e-01 -2.29170922e-03 3.51145457e+01] [ 2.35594976e-01 9.71851207e-01 -4.88577252e-04 3.29254002e+00] [ 2.34230696e-03 -6.50921059e-05 9.99997255e-01 1.95246171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.973617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:35.14, Y:3.30, Z:0.02 [[ 9.71939135e-01 -2.35221313e-01 -2.29157783e-03 3.51411040e+01] [ 2.35220813e-01 9.71941834e-01 -4.89192719e-04 3.29946161e+00] [ 2.34234891e-03 -6.35612530e-05 9.99997255e-01 1.89774574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.003617864999995 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:35.17, Y:3.31, Z:0.02 [[ 9.71912141e-01 -2.35332826e-01 -2.29152089e-03 3.51689256e+01] [ 2.35332326e-01 9.71914840e-01 -4.89459276e-04 3.30565881e+00] [ 2.34234900e-03 -6.35575285e-05 9.99997255e-01 2.00093810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.033617865 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:35.20, Y:3.31, Z:0.02 [[ 9.71721446e-01 -2.36118997e-01 -2.29138395e-03 3.51958085e+01] [ 2.36118497e-01 9.71724146e-01 -4.90099544e-04 3.31137991e+00] [ 2.34231492e-03 -6.47978962e-05 9.99997255e-01 1.89703734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.063617865 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:35.22, Y:3.32, Z:0.02 [[ 9.71383144e-01 -2.37506920e-01 -2.29132454e-03 3.52229615e+01] [ 2.37506423e-01 9.71385844e-01 -4.90377112e-04 3.31684815e+00] [ 2.34222818e-03 -6.78602365e-05 9.99997255e-01 2.01808375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.093617865 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:35.25, Y:3.32, Z:0.02 [[ 9.70967072e-01 -2.39202206e-01 -2.29119143e-03 3.52509404e+01] [ 2.39201713e-01 9.70969773e-01 -4.90998263e-04 3.32266579e+00] [ 2.34212549e-03 -7.13137697e-05 9.99997255e-01 2.11436712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.123617865 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:35.28, Y:3.33, Z:0.02 [[ 9.70265561e-01 -2.42032005e-01 -2.29105592e-03 3.52780833e+01] [ 2.42031518e-01 9.70268263e-01 -4.91629788e-04 3.32865156e+00] [ 2.34192899e-03 -7.74962895e-05 9.99997255e-01 2.17295658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.153617864999994 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:35.31, Y:3.33, Z:0.02 [[ 9.70037037e-01 -2.42946286e-01 -2.29099582e-03 3.53051671e+01] [ 2.42945801e-01 9.70039739e-01 -4.91909666e-04 3.33488348e+00] [ 2.34186462e-03 -7.94172194e-05 9.99997255e-01 2.21313552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.183617864999995 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:35.33, Y:3.34, Z:0.02 [[ 9.69970677e-01 -2.43211098e-01 -2.29086147e-03 3.53331006e+01] [ 2.43210613e-01 9.69973379e-01 -4.92534557e-04 3.34095195e+00] [ 2.34186451e-03 -7.94177439e-05 9.99997255e-01 2.21980964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.213617864999996 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:35.36, Y:3.35, Z:0.02 [[ 9.69870382e-01 -2.43610744e-01 -2.29072684e-03 3.53591561e+01] [ 2.43610258e-01 9.69873084e-01 -4.93159928e-04 3.34780165e+00] [ 2.34185336e-03 -7.97433482e-05 9.99997255e-01 2.12004601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.243617865 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:35.39, Y:3.36, Z:0.02 [[ 9.69455925e-01 -2.45254891e-01 -2.29066848e-03 3.53855620e+01] [ 2.45254409e-01 9.69458628e-01 -4.93430858e-04 3.35567997e+00] [ 2.34172465e-03 -8.34370753e-05 9.99997255e-01 2.05943258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.273617865 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:35.41, Y:3.36, Z:0.02 [[ 9.69841050e-01 -2.43727503e-01 -2.28950918e-03 3.54137279e+01] [ 2.43727004e-01 9.69843750e-01 -4.98805444e-04 3.36025580e+00] [ 2.34203878e-03 -7.42532184e-05 9.99997255e-01 2.11165507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.303617865 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:35.44, Y:3.37, Z:0.02 [[ 9.69797384e-01 -2.43901184e-01 -2.29049228e-03 3.54409348e+01] [ 2.43900696e-01 9.69800086e-01 -4.94249502e-04 3.36613144e+00] [ 2.34186765e-03 -7.93307865e-05 9.99997255e-01 2.14930719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.333617864999994 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:35.47, Y:3.37, Z:0.02 [[ 9.69717383e-01 -2.44219063e-01 -2.29035991e-03 3.54680742e+01] [ 2.44218575e-01 9.69720085e-01 -4.94862141e-04 3.37223872e+00] [ 2.34186277e-03 -7.94720126e-05 9.99997255e-01 2.18024352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.363617864999995 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:35.50, Y:3.38, Z:0.02 [[ 9.69769509e-01 -2.44011997e-01 -2.29022778e-03 3.54959253e+01] [ 2.44011507e-01 9.69772210e-01 -4.95472898e-04 3.37824422e+00] [ 2.34190058e-03 -7.83474222e-05 9.99997255e-01 2.23412603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.393617864999996 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:35.52, Y:3.38, Z:0.02 [[ 9.69868298e-01 -2.43619048e-01 -2.29009432e-03 3.55234146e+01] [ 2.43618555e-01 9.69870998e-01 -4.96088967e-04 3.38427031e+00] [ 2.34195279e-03 -7.67685079e-05 9.99997255e-01 2.32350423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.423617865 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:35.55, Y:3.39, Z:0.02 [[ 9.70389928e-01 -2.41532903e-01 -2.28995946e-03 3.55500287e+01] [ 2.41532403e-01 9.70392628e-01 -4.96710738e-04 3.39089535e+00] [ 2.34213176e-03 -7.10963130e-05 9.99997255e-01 2.40604253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.453617865 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:35.58, Y:3.40, Z:0.02 [[ 9.70651259e-01 -2.40480539e-01 -2.28991769e-03 3.55770425e+01] [ 2.40480035e-01 9.70653958e-01 -4.96903195e-04 3.39728299e+00] [ 2.34221322e-03 -6.83597749e-05 9.99997255e-01 2.48088473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.483617865 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:35.60, Y:3.40, Z:0.03 [[ 9.70868617e-01 -2.39601513e-01 -2.28978728e-03 3.56045834e+01] [ 2.39601005e-01 9.70871315e-01 -4.97503415e-04 3.40405354e+00] [ 2.34229136e-03 -6.56248819e-05 9.99997255e-01 2.56736537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.51361786499999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:35.63, Y:3.41, Z:0.03 [[ 9.71432464e-01 -2.37305133e-01 -2.28965301e-03 3.56306980e+01] [ 2.37304618e-01 9.71435160e-01 -4.98120594e-04 3.41013718e+00] [ 2.34245602e-03 -5.94547176e-05 9.99997255e-01 2.50638828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.543617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:35.66, Y:3.42, Z:0.02 [[ 9.71606752e-01 -2.36590527e-01 -2.28959479e-03 3.56578159e+01] [ 2.36590009e-01 9.71609448e-01 -4.98388052e-04 3.41552811e+00] [ 2.34250583e-03 -5.74580563e-05 9.99997255e-01 2.45899772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.573617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:35.69, Y:3.42, Z:0.02 [[ 9.71990342e-01 -2.35009645e-01 -2.28946237e-03 3.56857088e+01] [ 2.35009121e-01 9.71993037e-01 -4.98995652e-04 3.42037197e+00] [ 2.34261027e-03 -5.30255839e-05 9.99997255e-01 2.47871233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.603617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.71, Y:3.43, Z:0.03 [[ 9.72091241e-01 -2.34591940e-01 -2.28933055e-03 3.57133565e+01] [ 2.34591413e-01 9.72093935e-01 -4.99599671e-04 3.42594169e+00] [ 2.34264640e-03 -5.14008255e-05 9.99997255e-01 2.51844229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.633617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.74, Y:3.43, Z:0.03 [[ 9.72176249e-01 -2.34239408e-01 -2.28919746e-03 3.57394413e+01] [ 2.34238880e-01 9.72178943e-01 -5.00208744e-04 3.43127027e+00] [ 2.34267817e-03 -4.99279884e-05 9.99997255e-01 2.53887018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.663617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:35.77, Y:3.44, Z:0.02 [[ 9.71834324e-01 -2.35653997e-01 -2.28913969e-03 3.57666048e+01] [ 2.35653471e-01 9.71837019e-01 -5.00473012e-04 3.43769741e+00] [ 2.34260915e-03 -5.30668620e-05 9.99997255e-01 2.48292052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.69361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.79, Y:3.44, Z:0.03 [[ 9.72064625e-01 -2.34702207e-01 -2.28899801e-03 3.57932635e+01] [ 2.34701677e-01 9.72067318e-01 -5.01120153e-04 3.44172955e+00] [ 2.34267416e-03 -5.01104990e-05 9.99997255e-01 2.54424750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.723617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.82, Y:3.45, Z:0.03 [[ 9.71784858e-01 -2.35857903e-01 -2.28893654e-03 3.58208476e+01] [ 2.35857376e-01 9.71787552e-01 -5.01400771e-04 3.44751084e+00] [ 2.34261937e-03 -5.26088898e-05 9.99997255e-01 2.60799752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.753617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:35.85, Y:3.45, Z:0.02 [[ 9.71158383e-01 -2.38424322e-01 -2.28880218e-03 3.58475646e+01] [ 2.38423801e-01 9.71161078e-01 -5.02013345e-04 3.45369134e+00] [ 2.34248779e-03 -5.81704472e-05 9.99997255e-01 2.16909683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.783617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.87, Y:3.46, Z:0.03 [[ 9.70557671e-01 -2.40857984e-01 -2.28885220e-03 3.58740860e+01] [ 2.40857470e-01 9.70560368e-01 -5.01785416e-04 3.45785261e+00] [ 2.34232826e-03 -6.42754674e-05 9.99997255e-01 2.51706880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.813617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:35.90, Y:3.46, Z:0.03 [[ 9.69869327e-01 -2.43614977e-01 -2.28720312e-03 3.59013533e+01] [ 2.43614453e-01 9.69872022e-01 -5.09288698e-04 3.46279819e+00] [ 2.34236467e-03 -6.32522514e-05 9.99997255e-01 2.54473141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.843617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:35.93, Y:3.47, Z:0.02 [[ 9.69382795e-01 -2.45543819e-01 -2.28674479e-03 3.59282885e+01] [ 2.45543295e-01 9.69385490e-01 -5.11372512e-04 3.46954559e+00] [ 2.34230158e-03 -6.57791368e-05 9.99997255e-01 2.43491288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.873617865 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:35.96, Y:3.48, Z:0.03 [[ 9.69256542e-01 -2.46041727e-01 -2.28572592e-03 3.59577370e+01] [ 2.46041194e-01 9.69259235e-01 -5.15999179e-04 3.47623167e+00] [ 2.34241829e-03 -6.22471551e-05 9.99997255e-01 2.76804311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.903617864999994 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:35.99, Y:3.48, Z:0.03 [[ 9.69218791e-01 -2.46190370e-01 -2.28839882e-03 3.59856679e+01] [ 2.46189866e-01 9.69221490e-01 -5.03859600e-04 3.48212866e+00] [ 2.34201069e-03 -7.50304063e-05 9.99997255e-01 2.74538239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.933617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:36.01, Y:3.49, Z:0.03 [[ 9.68304545e-01 -2.49762030e-01 -2.28828017e-03 3.60110178e+01] [ 2.49761534e-01 9.68307245e-01 -5.04397856e-04 3.49146259e+00] [ 2.34173770e-03 -8.31136300e-05 9.99997255e-01 2.52805438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.963617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:36.04, Y:3.50, Z:0.03 [[ 9.68725820e-01 -2.48123071e-01 -2.28624422e-03 3.60412444e+01] [ 2.48122549e-01 9.68728516e-01 -5.13631731e-04 3.49655097e+00] [ 2.34219385e-03 -6.97004241e-05 9.99997255e-01 2.82113902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.993617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:36.07, Y:3.50, Z:0.03 [[ 9.68702664e-01 -2.48213441e-01 -2.28824649e-03 3.60671172e+01] [ 2.48212941e-01 9.68705364e-01 -5.04550991e-04 3.50247070e+00] [ 2.34187299e-03 -7.92125029e-05 9.99997255e-01 2.84177252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.023617865 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:36.09, Y:3.51, Z:0.03 [[ 9.68702581e-01 -2.48213765e-01 -2.28818577e-03 3.60947629e+01] [ 2.48213264e-01 9.68705281e-01 -5.04826247e-04 3.50901525e+00] [ 2.34188246e-03 -7.89315699e-05 9.99997255e-01 2.88676433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.053617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:36.12, Y:3.52, Z:0.03 [[ 9.69043107e-01 -2.46880988e-01 -2.28804753e-03 3.61209484e+01] [ 2.46880482e-01 9.69045805e-01 -5.05452000e-04 3.51686564e+00] [ 2.34200935e-03 -7.50695014e-05 9.99997255e-01 2.82874831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.083617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:36.15, Y:3.52, Z:0.03 [[ 9.69290814e-01 -2.45906655e-01 -2.28798758e-03 3.61475990e+01] [ 2.45906146e-01 9.69293512e-01 -5.05723206e-04 3.52415711e+00] [ 2.34209222e-03 -7.24373517e-05 9.99997255e-01 2.77538000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.113617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:36.18, Y:3.53, Z:0.03 [[ 9.69834480e-01 -2.43753659e-01 -2.28785007e-03 3.61763902e+01] [ 2.43753142e-01 9.69837177e-01 -5.06344551e-04 3.53304715e+00] [ 2.34226539e-03 -6.66002385e-05 9.99997255e-01 2.74903266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.143617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.20, Y:3.54, Z:0.03 [[ 9.70395728e-01 -2.41509604e-01 -2.28951047e-03 3.62027129e+01] [ 2.41509099e-01 9.70398427e-01 -4.98843027e-04 3.54009829e+00] [ 2.34221274e-03 -6.88624679e-05 9.99997255e-01 2.66988733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.173617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.23, Y:3.55, Z:0.03 [[ 9.70726102e-01 -2.40178270e-01 -2.28765562e-03 3.62291973e+01] [ 2.40177742e-01 9.70728796e-01 -5.07208928e-04 3.54694791e+00] [ 2.34251375e-03 -5.70830150e-05 9.99997255e-01 2.60743817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.203617865 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:36.26, Y:3.55, Z:0.03 [[ 9.71115139e-01 -2.38600408e-01 -2.28759588e-03 3.62563023e+01] [ 2.38599874e-01 9.71117832e-01 -5.07478212e-04 3.55497626e+00] [ 2.34260966e-03 -5.30003149e-05 9.99997255e-01 2.66384493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.233617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.28, Y:3.56, Z:0.03 [[ 9.71113547e-01 -2.38606887e-01 -2.28745881e-03 3.62833907e+01] [ 2.38606352e-01 9.71116240e-01 -5.08095303e-04 3.56234825e+00] [ 2.34262344e-03 -5.23839709e-05 9.99997255e-01 2.61797061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.31, Y:3.57, Z:0.03 [[ 9.70897853e-01 -2.39483040e-01 -2.28732257e-03 3.63106677e+01] [ 2.39482505e-01 9.70900546e-01 -5.08707912e-04 3.57068698e+00] [ 2.34258965e-03 -5.38703194e-05 9.99997255e-01 2.58945374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.293617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.34, Y:3.58, Z:0.03 [[ 9.70578097e-01 -2.40775678e-01 -2.28718224e-03 3.63381768e+01] [ 2.40775146e-01 9.70580790e-01 -5.09338065e-04 3.57732388e+00] [ 2.34253136e-03 -5.63442683e-05 9.99997255e-01 2.60645485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.323617864999996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:36.37, Y:3.58, Z:0.03 [[ 9.70330509e-01 -2.41771529e-01 -2.28704001e-03 3.63650555e+01] [ 2.41770998e-01 9.70333203e-01 -5.09975884e-04 3.58339458e+00] [ 2.34248851e-03 -5.80947877e-05 9.99997255e-01 2.62214064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.353617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.39, Y:3.59, Z:0.03 [[ 9.69506613e-01 -2.45054476e-01 -2.28699599e-03 3.63899186e+01] [ 2.45053954e-01 9.69509309e-01 -5.10173243e-04 3.59114051e+00] [ 2.34228413e-03 -6.58210752e-05 9.99997255e-01 2.54838563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.383617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.42, Y:3.60, Z:0.03 [[ 9.69294113e-01 -2.45893695e-01 -2.28334424e-03 3.64201386e+01] [ 2.45893136e-01 9.69296801e-01 -5.26507360e-04 3.59678199e+00] [ 2.34270311e-03 -5.11181920e-05 9.99997255e-01 2.81488014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.413617865 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:36.45, Y:3.60, Z:0.03 [[ 9.69021624e-01 -2.46965308e-01 -2.28682139e-03 3.64470360e+01] [ 2.46964789e-01 9.69024319e-01 -5.10944774e-04 3.60373102e+00] [ 2.34217118e-03 -6.96478287e-05 9.99997255e-01 2.79858823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:36.47, Y:3.61, Z:0.03 [[ 9.68884172e-01 -2.47504004e-01 -2.28668234e-03 3.64729517e+01] [ 2.47503485e-01 9.68886868e-01 -5.11566313e-04 3.61080532e+00] [ 2.34215120e-03 -7.03133461e-05 9.99997255e-01 2.76633181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.473617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:36.50, Y:3.62, Z:0.03 [[ 9.68748156e-01 -2.48035847e-01 -2.28662204e-03 3.65000981e+01] [ 2.48035329e-01 9.68750852e-01 -5.11835721e-04 3.61858873e+00] [ 2.34212066e-03 -7.13231399e-05 9.99997255e-01 2.75299423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.503617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.53, Y:3.63, Z:0.03 [[ 9.68742259e-01 -2.48058878e-01 -2.28648140e-03 3.65263862e+01] [ 2.48058358e-01 9.68744955e-01 -5.12463204e-04 3.62521703e+00] [ 2.34213837e-03 -7.07360610e-05 9.99997255e-01 2.75172133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.533617865 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:36.55, Y:3.63, Z:0.03 [[ 9.69086165e-01 -2.46711929e-01 -2.28642039e-03 3.65543585e+01] [ 2.46711406e-01 9.69088860e-01 -5.12735280e-04 3.63206429e+00] [ 2.34224244e-03 -6.72013224e-05 9.99997255e-01 2.61480412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.563617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.58, Y:3.64, Z:0.03 [[ 9.69052358e-01 -2.46844691e-01 -2.28606228e-03 3.65829130e+01] [ 2.46844164e-01 9.69055052e-01 -5.14331504e-04 3.63992500e+00] [ 2.34228020e-03 -6.58869740e-05 9.99997255e-01 2.62785425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.593617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:36.61, Y:3.65, Z:0.03 [[ 9.69605531e-01 -2.44662803e-01 -2.28632903e-03 3.66127277e+01] [ 2.44662273e-01 9.69608224e-01 -5.13142964e-04 3.64534079e+00] [ 2.34239043e-03 -6.18322005e-05 9.99997255e-01 2.78080020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.64, Y:3.65, Z:0.03 [[ 9.69530728e-01 -2.44959045e-01 -2.28784683e-03 3.66388854e+01] [ 2.44958532e-01 9.69533425e-01 -5.06381553e-04 3.65336563e+00] [ 2.34218671e-03 -6.94751255e-05 9.99997255e-01 2.64811147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.653617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:36.67, Y:3.66, Z:0.03 [[ 9.70341222e-01 -2.41728539e-01 -2.28619877e-03 3.66661271e+01] [ 2.41727999e-01 9.70343914e-01 -5.13715934e-04 3.66022684e+00] [ 2.34257887e-03 -5.41585077e-05 9.99997255e-01 2.63735816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.683617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.69, Y:3.67, Z:0.03 [[ 9.70659844e-01 -2.40445931e-01 -2.28513543e-03 3.66940674e+01] [ 2.40445376e-01 9.70662533e-01 -5.18442703e-04 3.66712891e+00] [ 2.34275278e-03 -4.62187345e-05 9.99997255e-01 2.63556561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.713617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.73, Y:3.67, Z:0.03 [[ 9.71401171e-01 -2.37433238e-01 -2.28525720e-03 3.67259259e+01] [ 2.37432676e-01 9.71403858e-01 -5.17901402e-04 3.67201899e+00] [ 2.34287467e-03 -3.95047051e-05 9.99997255e-01 2.83041655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.743617865 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:36.75, Y:3.68, Z:0.03 [[ 9.71361319e-01 -2.37596180e-01 -2.28966701e-03 3.67507327e+01] [ 2.37595665e-01 9.71364016e-01 -4.98286732e-04 3.68226587e+00] [ 2.34249117e-03 -5.99984995e-05 9.99997255e-01 2.60150288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.773617865 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:36.78, Y:3.69, Z:0.03 [[ 9.71470759e-01 -2.37148347e-01 -2.28600068e-03 3.67768296e+01] [ 2.37147793e-01 9.71473448e-01 -5.14574456e-04 3.68888931e+00] [ 2.34281944e-03 -4.22259765e-05 9.99997255e-01 2.55549572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.803617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:36.80, Y:3.70, Z:0.02 [[ 9.71694366e-01 -2.36230468e-01 -2.28593970e-03 3.68045637e+01] [ 2.36229911e-01 9.71697054e-01 -5.14845177e-04 3.69524168e+00] [ 2.34286299e-03 -3.97351743e-05 9.99997255e-01 2.47580768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.833617864999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:36.83, Y:3.70, Z:0.02 [[ 9.71607672e-01 -2.36586786e-01 -2.28580001e-03 3.68320749e+01] [ 2.36586228e-01 9.71610360e-01 -5.15464653e-04 3.70158952e+00] [ 2.34285909e-03 -3.99593902e-05 9.99997255e-01 2.46387780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.863617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.86, Y:3.71, Z:0.02 [[ 9.71748313e-01 -2.36008456e-01 -2.28566072e-03 3.68585995e+01] [ 2.36007895e-01 9.71751001e-01 -5.16081550e-04 3.70742169e+00] [ 2.34289270e-03 -3.79325988e-05 9.99997255e-01 2.46679368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.893617864999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.89, Y:3.71, Z:0.03 [[ 9.72244923e-01 -2.33954255e-01 -2.28383486e-03 3.68928263e+01] [ 2.33953669e-01 9.72247605e-01 -5.24160484e-04 3.71012959e+00] [ 2.34308255e-03 -2.46991761e-05 9.99997255e-01 2.80239276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.923617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.92, Y:3.72, Z:0.03 [[ 9.71952685e-01 -2.35165339e-01 -2.28958258e-03 3.69231800e+01] [ 2.35164816e-01 9.71955380e-01 -4.98785117e-04 3.71777486e+00] [ 2.34266908e-03 -5.36337322e-05 9.99997255e-01 2.93203618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.953617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.95, Y:3.72, Z:0.03 [[ 9.71883677e-01 -2.35450348e-01 -2.29150433e-03 3.69508770e+01] [ 2.35449846e-01 9.71886377e-01 -4.90309751e-04 3.72420392e+00] [ 2.34252545e-03 -6.30102997e-05 9.99997254e-01 2.93900626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.983617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.97, Y:3.74, Z:0.03 [[ 9.70714463e-01 -2.40225269e-01 -2.29143737e-03 3.69725342e+01] [ 2.40224780e-01 9.70717165e-01 -4.90604785e-04 3.73594199e+00] [ 2.34219326e-03 -7.42228777e-05 9.99997254e-01 2.71367570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.01361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:37.00, Y:3.74, Z:0.03 [[ 9.70501211e-01 -2.41085417e-01 -2.28480617e-03 3.70000691e+01] [ 2.41084862e-01 9.70503900e-01 -5.19755058e-04 3.74253419e+00] [ 2.34271867e-03 -4.64092672e-05 9.99997255e-01 2.74805701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.043617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.03, Y:3.75, Z:0.03 [[ 9.70947024e-01 -2.39283632e-01 -2.28466690e-03 3.70327241e+01] [ 2.39283069e-01 9.70949711e-01 -5.20366525e-04 3.74535439e+00] [ 2.34281186e-03 -4.14337804e-05 9.99997255e-01 3.10427331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.073617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.06, Y:3.76, Z:0.03 [[ 9.69781721e-01 -2.43963463e-01 -2.28969031e-03 3.70555664e+01] [ 2.43962966e-01 9.69784421e-01 -4.98297144e-04 3.75571521e+00] [ 2.34207229e-03 -7.53601788e-05 9.99997255e-01 2.91897362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.103617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.08, Y:3.76, Z:0.03 [[ 9.69713842e-01 -2.44233179e-01 -2.28450822e-03 3.70834157e+01] [ 2.44232629e-01 9.69716531e-01 -5.21019015e-04 3.76213699e+00] [ 2.34257552e-03 -5.27120995e-05 9.99997255e-01 2.92486179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.133617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.11, Y:3.77, Z:0.03 [[ 9.69465004e-01 -2.45219060e-01 -2.28436316e-03 3.71100681e+01] [ 2.45218511e-01 9.69467694e-01 -5.21654241e-04 3.76851798e+00] [ 2.34253585e-03 -5.44426040e-05 9.99997255e-01 2.92247912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.163617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.15, Y:3.77, Z:0.03 [[ 9.70280821e-01 -2.41970888e-01 -2.28430030e-03 3.71456106e+01] [ 2.41970330e-01 9.70283509e-01 -5.21929390e-04 3.77068799e+00] [ 2.34271062e-03 -4.63148194e-05 9.99997255e-01 3.24380861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.19361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:37.17, Y:3.78, Z:0.03 [[ 9.68828845e-01 -2.47720433e-01 -2.29254673e-03 3.71661316e+01] [ 2.47719976e-01 9.68831553e-01 -4.85794603e-04 3.78323758e+00] [ 2.34143286e-03 -9.72577977e-05 9.99997254e-01 2.93798693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.223617864999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:37.19, Y:3.79, Z:0.03 [[ 9.68270094e-01 -2.49895593e-01 -2.28407157e-03 3.71923275e+01] [ 2.49895055e-01 9.68272786e-01 -5.22820472e-04 3.79098453e+00] [ 2.34225487e-03 -6.45467625e-05 9.99997255e-01 2.87806728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.253617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.22, Y:3.79, Z:0.03 [[ 9.68666338e-01 -2.48355207e-01 -2.28400949e-03 3.72228328e+01] [ 2.48354664e-01 9.68669029e-01 -5.23091556e-04 3.79465531e+00] [ 2.34236176e-03 -6.05432248e-05 9.99997255e-01 3.14040689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.283617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.25, Y:3.80, Z:0.03 [[ 9.67434971e-01 -2.53109366e-01 -2.28586251e-03 3.72478805e+01] [ 2.53108854e-01 9.67437669e-01 -5.15001273e-04 3.80443262e+00] [ 2.34178115e-03 -8.03418003e-05 9.99997255e-01 2.91563412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.313617865 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.28, Y:3.81, Z:0.03 [[ 9.67075215e-01 -2.54480476e-01 -2.28388227e-03 3.72751402e+01] [ 2.54479948e-01 9.67077909e-01 -5.23638252e-04 3.81222206e+00] [ 2.34194780e-03 -7.48046646e-05 9.99997255e-01 2.86507820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.343617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.30, Y:3.82, Z:0.03 [[ 9.66842244e-01 -2.55364171e-01 -2.28374014e-03 3.73009444e+01] [ 2.55363645e-01 9.66844938e-01 -5.24257384e-04 3.81966384e+00] [ 2.34189914e-03 -7.63100194e-05 9.99997255e-01 2.77417007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.33, Y:3.82, Z:0.03 [[ 9.67555925e-01 -2.52646625e-01 -2.28367855e-03 3.73339034e+01] [ 2.52646090e-01 9.67558617e-01 -5.24525518e-04 3.82383279e+00] [ 2.34211246e-03 -6.94546855e-05 9.99997255e-01 2.87675163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.403617864999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.36, Y:3.83, Z:0.03 [[ 9.67056121e-01 -2.54552977e-01 -2.28928036e-03 3.73597787e+01] [ 2.54552505e-01 9.67058826e-01 -5.00111548e-04 3.83197519e+00] [ 2.34117366e-03 -9.91061161e-05 9.99997255e-01 2.73804462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.433617864999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.39, Y:3.84, Z:0.03 [[ 9.66726979e-01 -2.55800144e-01 -2.28805726e-03 3.73856824e+01] [ 2.55799663e-01 9.66729681e-01 -5.05432453e-04 3.83967007e+00] [ 2.34122256e-03 -9.66690865e-05 9.99997255e-01 2.74848521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.463617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.41, Y:3.85, Z:0.03 [[ 9.66835219e-01 -2.55390744e-01 -2.28650814e-03 3.74139443e+01] [ 2.55390246e-01 9.66837918e-01 -5.12163735e-04 3.84626575e+00] [ 2.34148465e-03 -8.87739402e-05 9.99997255e-01 2.73600821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.493617865 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.44, Y:3.86, Z:0.03 [[ 9.67039192e-01 -2.54617301e-01 -2.28721181e-03 3.74423359e+01] [ 2.54616808e-01 9.67041893e-01 -5.09109012e-04 3.85502395e+00] [ 2.34145760e-03 -9.00342032e-05 9.99997255e-01 2.78053014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.523617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.47, Y:3.87, Z:0.03 [[ 9.66500784e-01 -2.56653461e-01 -2.28832629e-03 3.74656889e+01] [ 2.56652985e-01 9.66503487e-01 -5.04273535e-04 3.86620253e+00] [ 2.34109889e-03 -9.99250062e-05 9.99997255e-01 2.80440429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.553617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.49, Y:3.88, Z:0.03 [[ 9.66972733e-01 -2.54869617e-01 -2.28304259e-03 3.74925343e+01] [ 2.54869082e-01 9.66975425e-01 -5.27156526e-04 3.87506857e+00] [ 2.34200226e-03 -7.21309813e-05 9.99997255e-01 2.73168558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.583617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.52, Y:3.88, Z:0.03 [[ 9.67136676e-01 -2.54246805e-01 -2.28290148e-03 3.75196016e+01] [ 2.54246267e-01 9.67139368e-01 -5.27766884e-04 3.88203620e+00] [ 2.34206694e-03 -6.99964705e-05 9.99997255e-01 2.78057409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.613617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.55, Y:3.89, Z:0.03 [[ 9.67297690e-01 -2.53633529e-01 -2.28275679e-03 3.75463591e+01] [ 2.53632988e-01 9.67300382e-01 -5.28392007e-04 3.88883151e+00] [ 2.34212944e-03 -6.78700564e-05 9.99997255e-01 2.81859397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.643617864999996 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:37.57, Y:3.90, Z:0.03 [[ 9.67764590e-01 -2.51846158e-01 -2.28261195e-03 3.75744498e+01] [ 2.51845611e-01 9.67767280e-01 -5.29016941e-04 3.89625356e+00] [ 2.34226805e-03 -6.29019375e-05 9.99997255e-01 2.59690704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.673617865 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:37.60, Y:3.90, Z:0.03 [[ 9.67735627e-01 -2.51957422e-01 -2.28316435e-03 3.76017704e+01] [ 2.51956880e-01 9.67738319e-01 -5.26635615e-04 3.90435893e+00] [ 2.34219538e-03 -6.56149193e-05 9.99997255e-01 2.90275955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.703617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.63, Y:3.91, Z:0.03 [[ 9.67637171e-01 -2.52335284e-01 -2.28244201e-03 3.76290694e+01] [ 2.52334736e-01 9.67639861e-01 -5.29747862e-04 3.91206153e+00] [ 2.34225594e-03 -6.33356782e-05 9.99997255e-01 2.94397614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.733617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.66, Y:3.92, Z:0.03 [[ 9.67591879e-01 -2.52508906e-01 -2.28229822e-03 3.76557933e+01] [ 2.52508357e-01 9.67594568e-01 -5.30366603e-04 3.92015075e+00] [ 2.34226165e-03 -6.31209555e-05 9.99997255e-01 2.95897818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.68, Y:3.93, Z:0.03 [[ 9.67543231e-01 -2.52695249e-01 -2.28215506e-03 3.76828048e+01] [ 2.52694698e-01 9.67545920e-01 -5.30981907e-04 3.92702106e+00] [ 2.34226642e-03 -6.29405354e-05 9.99997255e-01 2.97540412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.793617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.71, Y:3.93, Z:0.03 [[ 9.67582969e-01 -2.52543048e-01 -2.28201260e-03 3.77098402e+01] [ 2.52542497e-01 9.67585658e-01 -5.31593445e-04 3.93351631e+00] [ 2.34229289e-03 -6.19443958e-05 9.99997255e-01 2.94511574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.823617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.74, Y:3.94, Z:0.03 [[ 9.67185773e-01 -2.54059986e-01 -2.28140224e-03 3.77364332e+01] [ 2.54059432e-01 9.67188461e-01 -5.34213033e-04 3.94098610e+00] [ 2.34226808e-03 -6.29285120e-05 9.99997255e-01 2.98036811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.853617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.76, Y:3.95, Z:0.03 [[ 9.66862492e-01 -2.55287523e-01 -2.28096867e-03 3.77637463e+01] [ 2.55286968e-01 9.66865180e-01 -5.36072344e-04 3.94757440e+00] [ 2.34224177e-03 -6.39933348e-05 9.99997255e-01 2.86609081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.883617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.79, Y:3.95, Z:0.03 [[ 9.66657218e-01 -2.56063699e-01 -2.28154867e-03 3.77922944e+01] [ 2.56063152e-01 9.66659908e-01 -5.33587297e-04 3.95372795e+00] [ 2.34211397e-03 -6.84245337e-05 9.99997255e-01 2.85310031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.913617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.82, Y:3.96, Z:0.03 [[ 9.66402015e-01 -2.57025174e-01 -2.28164814e-03 3.78194163e+01] [ 2.57024631e-01 9.66404706e-01 -5.33161294e-04 3.95923483e+00] [ 2.34203138e-03 -7.11916234e-05 9.99997255e-01 2.81819106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.85, Y:3.96, Z:0.03 [[ 9.65931313e-01 -2.58788508e-01 -2.28167437e-03 3.78494163e+01] [ 2.58787970e-01 9.65934005e-01 -5.33049023e-04 3.96409406e+00] [ 2.34189383e-03 -7.55811353e-05 9.99997255e-01 2.78589852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.973617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.88, Y:3.97, Z:0.03 [[ 9.65822544e-01 -2.59194140e-01 -2.28285372e-03 3.78778256e+01] [ 2.59193615e-01 9.65825238e-01 -5.28009487e-04 3.97032040e+00] [ 2.34169470e-03 -8.17376425e-05 9.99997255e-01 2.99526686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.003617864999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:37.91, Y:3.98, Z:0.03 [[ 9.66037575e-01 -2.58391541e-01 -2.28367637e-03 3.79053742e+01] [ 2.58391022e-01 9.66040271e-01 -5.24498077e-04 3.97626067e+00] [ 2.34164921e-03 -8.33966208e-05 9.99997255e-01 2.83750863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.033617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.93, Y:3.98, Z:0.03 [[ 9.66193103e-01 -2.57809369e-01 -2.28423226e-03 3.79335949e+01] [ 2.57808854e-01 9.66195799e-01 -5.22125879e-04 3.98197311e+00] [ 2.34162455e-03 -8.44208778e-05 9.99997255e-01 2.80885769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.063617865 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.96, Y:3.99, Z:0.03 [[ 9.65805500e-01 -2.59257624e-01 -2.28474825e-03 3.79587635e+01] [ 2.59257119e-01 9.65808198e-01 -5.19926009e-04 3.98893177e+00] [ 2.34142337e-03 -9.01898486e-05 9.99997255e-01 2.77259500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.093617865 meters Centerline goodness : 0.995367 Centerline is valid? [True, True] Translation: X:37.99, Y:3.99, Z:0.03 [[ 9.66374349e-01 -2.57129181e-01 -2.28094335e-03 3.79889062e+01] [ 2.57128631e-01 9.66377038e-01 -5.36114259e-04 3.99355924e+00] [ 2.34210190e-03 -6.84087737e-05 9.99997255e-01 2.50186468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.02, Y:4.00, Z:0.03 [[ 9.66488245e-01 -2.56700693e-01 -2.28626005e-03 3.80158216e+01] [ 2.56700195e-01 9.66490945e-01 -5.13495657e-04 4.00091334e+00] [ 2.34146433e-03 -9.05958851e-05 9.99997255e-01 2.71266316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.153617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.04, Y:4.01, Z:0.03 [[ 9.66097137e-01 -2.58168750e-01 -2.28434727e-03 3.80404866e+01] [ 2.58168238e-01 9.66099834e-01 -5.21589791e-04 4.00974718e+00] [ 2.34156571e-03 -8.58395069e-05 9.99997255e-01 2.78207713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.183617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.07, Y:4.01, Z:0.03 [[ 9.66634468e-01 -2.56149579e-01 -2.27998950e-03 3.80675359e+01] [ 2.56149017e-01 9.66637155e-01 -5.39989546e-04 4.01465399e+00] [ 2.34224066e-03 -6.20445630e-05 9.99997255e-01 2.81865810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.213617864999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.09, Y:4.02, Z:0.03 [[ 9.66478280e-01 -2.56738264e-01 -2.27994262e-03 3.80943153e+01] [ 2.56737703e-01 9.66480967e-01 -5.40187421e-04 4.02107927e+00] [ 2.34220793e-03 -6.32678225e-05 9.99997255e-01 2.66220539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.243617865 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:38.12, Y:4.03, Z:0.03 [[ 9.67235505e-01 -2.53870599e-01 -2.27987131e-03 3.81233318e+01] [ 2.53870029e-01 9.67238190e-01 -5.40488300e-04 4.02545417e+00] [ 2.34239269e-03 -5.60115226e-05 9.99997255e-01 2.76780960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.273617865 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.15, Y:4.03, Z:0.03 [[ 9.66299110e-01 -2.57411796e-01 -2.27977143e-03 3.81471803e+01] [ 2.57411236e-01 9.66301797e-01 -5.40909275e-04 4.03397966e+00] [ 2.34218365e-03 -6.41586286e-05 9.99997255e-01 2.78361948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.18, Y:4.04, Z:0.03 [[ 9.66510180e-01 -2.56618204e-01 -2.27385572e-03 3.81754940e+01] [ 2.56617583e-01 9.66512854e-01 -5.65799738e-04 4.03685975e+00] [ 2.34290529e-03 -3.66601511e-05 9.99997255e-01 2.70414034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.333617864999994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:38.21, Y:4.04, Z:0.03 [[ 9.67309908e-01 -2.53587003e-01 -2.27458143e-03 3.82062270e+01] [ 2.53586381e-01 9.67312582e-01 -5.62748714e-04 4.03970465e+00] [ 2.34293700e-03 -3.24504657e-05 9.99997255e-01 2.89918078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.363617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.23, Y:4.05, Z:0.03 [[ 9.66590802e-01 -2.56314308e-01 -2.27952919e-03 3.82326003e+01] [ 2.56313743e-01 9.66593488e-01 -5.41937158e-04 4.04814924e+00] [ 2.34228432e-03 -6.04431848e-05 9.99997255e-01 2.72851183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.393617864999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:38.26, Y:4.05, Z:0.03 [[ 9.66327538e-01 -2.57305059e-01 -2.27937432e-03 3.82565833e+01] [ 2.57304495e-01 9.66330224e-01 -5.42587726e-04 4.05423985e+00] [ 2.34223887e-03 -6.21757975e-05 9.99997255e-01 2.54151004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.423617865 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:38.29, Y:4.06, Z:0.03 [[ 9.66145379e-01 -2.57988238e-01 -2.27496006e-03 3.82889683e+01] [ 2.57987632e-01 9.66148056e-01 -5.61107018e-04 4.05767712e+00] [ 2.34270725e-03 -4.48006061e-05 9.99997255e-01 2.79456649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.453617865 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:38.32, Y:4.06, Z:0.03 [[ 9.66449145e-01 -2.56847922e-01 -2.27923864e-03 3.83168912e+01] [ 2.56847355e-01 9.66451831e-01 -5.43152770e-04 4.05889587e+00] [ 2.34228201e-03 -6.04868856e-05 9.99997255e-01 2.91230285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.483617865 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:38.35, Y:4.06, Z:0.03 [[ 9.65533101e-01 -2.60270313e-01 -2.27916737e-03 3.83454913e+01] [ 2.60269755e-01 9.65535789e-01 -5.43451636e-04 4.06171430e+00] [ 2.34206199e-03 -6.84777899e-05 9.99997255e-01 3.11482825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.51361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:38.37, Y:4.07, Z:0.03 [[ 9.65084020e-01 -2.61930604e-01 -2.27903898e-03 3.83724851e+01] [ 2.61930049e-01 9.65086708e-01 -5.43989556e-04 4.06694971e+00] [ 2.34195774e-03 -7.19531623e-05 9.99997255e-01 3.12741145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.543617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.40, Y:4.07, Z:0.03 [[ 9.64690531e-01 -2.63376131e-01 -2.27899350e-03 3.83997592e+01] [ 2.63375580e-01 9.64693220e-01 -5.44180024e-04 4.07202388e+00] [ 2.34185360e-03 -7.52659171e-05 9.99997255e-01 3.19182093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.573617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.43, Y:4.08, Z:0.03 [[ 9.64503911e-01 -2.64058729e-01 -2.27884718e-03 3.84282301e+01] [ 2.64058178e-01 9.64506600e-01 -5.44792071e-04 4.07514470e+00] [ 2.34182024e-03 -7.62941491e-05 9.99997255e-01 3.01621368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.603617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.46, Y:4.08, Z:0.03 [[ 9.64519912e-01 -2.64000278e-01 -2.27872013e-03 3.84580179e+01] [ 2.63999725e-01 9.64522601e-01 -5.45322966e-04 4.08018240e+00] [ 2.34184248e-03 -7.56066286e-05 9.99997255e-01 3.08566033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.633617865 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:38.48, Y:4.09, Z:0.03 [[ 9.64159753e-01 -2.65312595e-01 -2.27976354e-03 3.84849705e+01] [ 2.65312056e-01 9.64162445e-01 -5.40970851e-04 4.08771156e+00] [ 2.34158877e-03 -8.32664316e-05 9.99997255e-01 3.09355845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.663617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.51, Y:4.09, Z:0.03 [[ 9.65763859e-01 -2.59412755e-01 -2.27834539e-03 3.85133001e+01] [ 2.59412186e-01 9.65766544e-01 -5.46878978e-04 4.08858691e+00] [ 2.34221714e-03 -6.28746076e-05 9.99997255e-01 3.01879427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.69361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.54, Y:4.09, Z:0.03 [[ 9.66197505e-01 -2.57792923e-01 -2.27827227e-03 3.85412564e+01] [ 2.57792349e-01 9.66200189e-01 -5.47183420e-04 4.09409066e+00] [ 2.34232712e-03 -5.86339048e-05 9.99997255e-01 2.97419275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.723617864999994 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:38.57, Y:4.10, Z:0.03 [[ 9.66598572e-01 -2.56285019e-01 -2.27812237e-03 3.85689203e+01] [ 2.56284439e-01 9.66601255e-01 -5.47806826e-04 4.09962577e+00] [ 2.34243062e-03 -5.43380172e-05 9.99997255e-01 2.94322604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.753617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:38.60, Y:4.10, Z:0.03 [[ 9.66863169e-01 -2.55284985e-01 -2.27797174e-03 3.85962025e+01] [ 2.55284401e-01 9.66865851e-01 -5.48432494e-04 4.10426691e+00] [ 2.34249966e-03 -5.12714717e-05 9.99997255e-01 2.60242158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.783617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:38.62, Y:4.11, Z:0.03 [[ 9.67615323e-01 -2.52419093e-01 -2.27783579e-03 3.86245860e+01] [ 2.52418500e-01 9.67618003e-01 -5.48996529e-04 4.10769257e+00] [ 2.34265213e-03 -4.37504398e-05 9.99997255e-01 2.84793356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.813617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.65, Y:4.11, Z:0.03 [[ 9.67414820e-01 -2.53186450e-01 -2.27778819e-03 3.86529877e+01] [ 2.53185859e-01 9.67417500e-01 -5.49193974e-04 4.11434383e+00] [ 2.34262063e-03 -4.54053684e-05 9.99997255e-01 2.81696659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.843617865 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:38.68, Y:4.12, Z:0.03 [[ 9.68539464e-01 -2.48849590e-01 -2.27764976e-03 3.86800980e+01] [ 2.48848986e-01 9.68542142e-01 -5.49767462e-04 4.11751180e+00] [ 2.34280919e-03 -3.43193497e-05 9.99997255e-01 2.91466316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.87361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:38.71, Y:4.12, Z:0.03 [[ 9.69203401e-01 -2.46251052e-01 -2.27757524e-03 3.87080635e+01] [ 2.46250439e-01 9.69206076e-01 -5.50075999e-04 4.12367222e+00] [ 2.34289656e-03 -2.77183755e-05 9.99997255e-01 3.07390926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.903617864999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:38.74, Y:4.13, Z:0.03 [[ 9.70209470e-01 -2.42256885e-01 -2.27744399e-03 3.87351791e+01] [ 2.42256260e-01 9.70212142e-01 -5.50618905e-04 4.12894187e+00] [ 2.34299503e-03 -1.75093864e-05 9.99997255e-01 3.19269195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.933617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.76, Y:4.14, Z:0.03 [[ 9.70609277e-01 -2.40650046e-01 -2.27728963e-03 3.87614529e+01] [ 2.40649415e-01 9.70611949e-01 -5.51256553e-04 4.13538355e+00] [ 2.34302444e-03 -1.29736942e-05 9.99997255e-01 3.12308660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.963617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:38.79, Y:4.14, Z:0.03 [[ 9.70944101e-01 -2.39295564e-01 -2.27722267e-03 3.87894591e+01] [ 2.39294928e-01 9.70946772e-01 -5.51533031e-04 4.14301971e+00] [ 2.34304141e-03 -9.42009290e-06 9.99997255e-01 3.11246047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.993617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:38.82, Y:4.15, Z:0.03 [[ 9.70877106e-01 -2.39567235e-01 -2.27724863e-03 3.88172260e+01] [ 2.39566600e-01 9.70879776e-01 -5.51425879e-04 4.14981267e+00] [ 2.34303822e-03 -1.01859509e-05 9.99997255e-01 3.11916238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.023617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.84, Y:4.16, Z:0.03 [[ 9.70140084e-01 -2.42534598e-01 -2.27708902e-03 3.88388685e+01] [ 2.42533971e-01 9.70142757e-01 -5.52083831e-04 4.16040563e+00] [ 2.34300085e-03 -1.66727880e-05 9.99997255e-01 2.85399527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.05361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.87, Y:4.16, Z:0.03 [[ 9.71176145e-01 -2.38352144e-01 -2.26933426e-03 3.88720999e+01] [ 2.38351430e-01 9.71178796e-01 -5.83977599e-04 4.16331184e+00] [ 2.34312162e-03 2.62460489e-05 9.99997255e-01 3.05139466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.083617864999994 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:38.90, Y:4.17, Z:0.03 [[ 9.70830605e-01 -2.39755609e-01 -2.27688332e-03 3.88983248e+01] [ 2.39754971e-01 9.70833275e-01 -5.52889385e-04 4.16899075e+00] [ 2.34303243e-03 -9.13216007e-06 9.99997255e-01 3.03472033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.113617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:38.93, Y:4.18, Z:0.03 [[ 9.69849663e-01 -2.43693348e-01 -2.27681710e-03 3.89258049e+01] [ 2.43692721e-01 9.69852335e-01 -5.53161952e-04 4.17513412e+00] [ 2.34297827e-03 -1.83598219e-05 9.99997255e-01 3.11794098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.143617864999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:38.95, Y:4.18, Z:0.03 [[ 9.69278117e-01 -2.45956803e-01 -2.27666516e-03 3.89529298e+01] [ 2.45956180e-01 9.69280790e-01 -5.53786591e-04 4.18270981e+00] [ 2.34293539e-03 -2.31866430e-05 9.99997255e-01 3.12862483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.173617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.98, Y:4.19, Z:0.03 [[ 9.67550407e-01 -2.52667820e-01 -2.27651184e-03 3.89750375e+01] [ 2.52667214e-01 9.67553085e-01 -5.54416137e-04 4.19404449e+00] [ 2.34272917e-03 -3.87743469e-05 9.99997255e-01 2.92654125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.203617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.00, Y:4.20, Z:0.03 [[ 9.66214477e-01 -2.57729390e-01 -2.26864359e-03 3.90011862e+01] [ 2.57728723e-01 9.66217140e-01 -5.86650226e-04 4.20027870e+00] [ 2.34319932e-03 -1.78646735e-05 9.99997255e-01 2.89313213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.233617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:39.03, Y:4.20, Z:0.03 [[ 9.66452610e-01 -2.56834983e-01 -2.26824733e-03 3.90342115e+01] [ 2.56834309e-01 9.66455271e-01 -5.88271811e-04 4.20285109e+00] [ 2.34324837e-03 -1.40269089e-05 9.99997254e-01 3.00801023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.06, Y:4.21, Z:0.03 [[ 9.64166671e-01 -2.65287482e-01 -2.27631643e-03 3.90588718e+01] [ 2.65286910e-01 9.64169356e-01 -5.55187809e-04 4.21219919e+00] [ 2.34203892e-03 -6.85833700e-05 9.99997255e-01 2.97057145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.293617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:39.09, Y:4.22, Z:0.03 [[ 9.63969150e-01 -2.66004356e-01 -2.27188501e-03 3.90896043e+01] [ 2.66003743e-01 9.63971825e-01 -5.73332553e-04 4.21674712e+00] [ 2.34254210e-03 -5.16550229e-05 9.99997255e-01 3.21945220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.323617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.12, Y:4.22, Z:0.03 [[ 9.63282917e-01 -2.68478751e-01 -2.27624999e-03 3.91154442e+01] [ 2.68478187e-01 9.63285604e-01 -5.55444568e-04 4.22369712e+00] [ 2.34180391e-03 -7.60732079e-05 9.99997255e-01 3.16601885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.353617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.14, Y:4.23, Z:0.03 [[ 9.62529012e-01 -2.71169172e-01 -2.27618369e-03 3.91421140e+01] [ 2.71168615e-01 9.62531700e-01 -5.55716131e-04 4.23083587e+00] [ 2.34159204e-03 -8.23366804e-05 9.99997255e-01 3.13648101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.383617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:39.17, Y:4.24, Z:0.03 [[ 9.62335639e-01 -2.71854636e-01 -2.27468195e-03 3.91698484e+01] [ 2.71854066e-01 9.62338325e-01 -5.61861611e-04 4.23679345e+00] [ 2.34175830e-03 -7.76820847e-05 9.99997255e-01 3.19081901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.413617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:39.20, Y:4.24, Z:0.03 [[ 9.62243948e-01 -2.72179002e-01 -2.27514966e-03 3.91973707e+01] [ 2.72178438e-01 9.62246634e-01 -5.59948322e-04 4.24330587e+00] [ 2.34166128e-03 -8.04397967e-05 9.99997255e-01 3.11498279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:39.22, Y:4.25, Z:0.03 [[ 9.62319636e-01 -2.71911267e-01 -2.27595921e-03 3.92244259e+01] [ 2.71910710e-01 9.62322324e-01 -5.56638252e-04 4.25015026e+00] [ 2.34156257e-03 -8.31937659e-05 9.99997255e-01 3.11613148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.473617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.25, Y:4.26, Z:0.03 [[ 9.63124124e-01 -2.69047845e-01 -2.27580904e-03 3.92512176e+01] [ 2.69047278e-01 9.63126810e-01 -5.57251555e-04 4.25905054e+00] [ 2.34182003e-03 -7.55978125e-05 9.99997255e-01 3.00692185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.503617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.28, Y:4.27, Z:0.03 [[ 9.63572063e-01 -2.67439154e-01 -2.27576283e-03 3.92782555e+01] [ 2.67438583e-01 9.63574747e-01 -5.57440232e-04 4.26650164e+00] [ 2.34194893e-03 -7.14929502e-05 9.99997255e-01 2.99444516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.533617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:39.30, Y:4.27, Z:0.03 [[ 9.64452114e-01 -2.64247878e-01 -2.27561317e-03 3.93041522e+01] [ 2.64247297e-01 9.64454797e-01 -5.58050486e-04 4.27241172e+00] [ 2.34218970e-03 -6.31116584e-05 9.99997255e-01 2.94839826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.563617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:39.33, Y:4.28, Z:0.03 [[ 9.64739963e-01 -2.63195035e-01 -2.27554826e-03 3.93317876e+01] [ 2.63194450e-01 9.64742644e-01 -5.58315057e-04 4.27881362e+00] [ 2.34226420e-03 -6.02828255e-05 9.99997255e-01 3.04859409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.593617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.36, Y:4.29, Z:0.03 [[ 9.64995152e-01 -2.62257849e-01 -2.27539977e-03 3.93587496e+01] [ 2.62257260e-01 9.64997833e-01 -5.58919551e-04 4.28537355e+00] [ 2.34233689e-03 -5.73854528e-05 9.99997255e-01 3.08319691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.39, Y:4.29, Z:0.03 [[ 9.65510895e-01 -2.60352712e-01 -2.27525196e-03 3.93870748e+01] [ 2.60352116e-01 9.65513574e-01 -5.59520612e-04 4.29193760e+00] [ 2.34245937e-03 -5.21434167e-05 9.99997255e-01 3.20320565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.653617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:39.41, Y:4.30, Z:0.03 [[ 9.65678511e-01 -2.59730317e-01 -2.27512198e-03 3.94134747e+01] [ 2.59729718e-01 9.65681190e-01 -5.60048654e-04 4.29826514e+00] [ 2.34250411e-03 -5.00898396e-05 9.99997255e-01 3.24124286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.683617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.44, Y:4.30, Z:0.03 [[ 9.65792630e-01 -2.59305648e-01 -2.27502078e-03 3.94407128e+01] [ 2.59305047e-01 9.65795309e-01 -5.60459426e-04 4.30476255e+00] [ 2.34253470e-03 -4.86367884e-05 9.99997255e-01 3.25614222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.713617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:39.47, Y:4.31, Z:0.03 [[ 9.65823557e-01 -2.59190435e-01 -2.27497565e-03 3.94685410e+01] [ 2.59189833e-01 9.65826235e-01 -5.60642559e-04 4.31099826e+00] [ 2.34254436e-03 -4.81687692e-05 9.99997255e-01 3.31102006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.743617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:39.50, Y:4.32, Z:0.03 [[ 9.65772968e-01 -2.59378872e-01 -2.27483153e-03 3.94960843e+01] [ 2.59378269e-01 9.65775646e-01 -5.61226757e-04 4.31629063e+00] [ 2.34254725e-03 -4.80242332e-05 9.99997255e-01 3.41616875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.773617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:39.52, Y:4.32, Z:0.03 [[ 9.65739440e-01 -2.59503680e-01 -2.27468665e-03 3.95223354e+01] [ 2.59503076e-01 9.65742118e-01 -5.61813339e-04 4.32173269e+00] [ 2.34255333e-03 -4.77228838e-05 9.99997255e-01 3.42262281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:39.55, Y:4.33, Z:0.03 [[ 9.65546906e-01 -2.60219133e-01 -2.27462374e-03 3.95500758e+01] [ 2.60218531e-01 9.65549585e-01 -5.62067912e-04 4.32779424e+00] [ 2.34252283e-03 -4.91963155e-05 9.99997255e-01 3.40456877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.833617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.59, Y:4.33, Z:0.03 [[ 9.66181750e-01 -2.57851997e-01 -2.27448211e-03 3.95853683e+01] [ 2.57851387e-01 9.66184426e-01 -5.62640471e-04 4.32944757e+00] [ 2.34264716e-03 -4.28654107e-05 9.99997255e-01 3.34967100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.863617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.61, Y:4.34, Z:0.03 [[ 9.65300756e-01 -2.61130700e-01 -2.28196052e-03 3.96069430e+01] [ 2.61130170e-01 9.65303450e-01 -5.32349778e-04 4.34068361e+00] [ 2.34179723e-03 -8.20110963e-05 9.99997255e-01 3.36318975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.893617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.63, Y:4.35, Z:0.03 [[ 9.64870431e-01 -2.62716347e-01 -2.27443522e-03 3.96343203e+01] [ 2.62715750e-01 9.64873110e-01 -5.62763632e-04 4.34662868e+00] [ 2.34238859e-03 -5.45359678e-05 9.99997255e-01 3.38482193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.923617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.66, Y:4.35, Z:0.03 [[ 9.64892471e-01 -2.62635388e-01 -2.27428970e-03 3.96613018e+01] [ 2.62634789e-01 9.64895150e-01 -5.63351100e-04 4.35358330e+00] [ 2.34240704e-03 -5.37343621e-05 9.99997255e-01 3.47766659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.953617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.69, Y:4.36, Z:0.04 [[ 9.64900574e-01 -2.62605619e-01 -2.27413690e-03 3.96883708e+01] [ 2.62605018e-01 9.64903252e-01 -5.63967270e-04 4.36113088e+00] [ 2.34242306e-03 -5.30274200e-05 9.99997255e-01 3.60364269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.72, Y:4.37, Z:0.03 [[ 9.64639231e-01 -2.63564010e-01 -2.27307446e-03 3.97155652e+01] [ 2.63563403e-01 9.64641908e-01 -5.68246147e-04 4.36752032e+00] [ 2.34247212e-03 -5.09467140e-05 9.99997255e-01 3.42471382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.75, Y:4.37, Z:0.03 [[ 9.64645468e-01 -2.63541175e-01 -2.27391389e-03 3.97451085e+01] [ 2.63540575e-01 9.64648146e-01 -5.64866985e-04 4.37418340e+00] [ 2.34239253e-03 -5.43721960e-05 9.99997255e-01 3.22434464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.043617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:39.77, Y:4.38, Z:0.04 [[ 9.64329437e-01 -2.64695223e-01 -2.27511129e-03 3.97721833e+01] [ 2.64694638e-01 9.64332119e-01 -5.60047722e-04 4.38260411e+00] [ 2.34220485e-03 -6.21392533e-05 9.99997255e-01 3.53544370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.073617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:39.80, Y:4.39, Z:0.03 [[ 9.64423128e-01 -2.64353646e-01 -2.27574051e-03 3.97980607e+01] [ 2.64353066e-01 9.64425811e-01 -5.57515581e-04 4.38964122e+00] [ 2.34216416e-03 -6.39180601e-05 9.99997255e-01 3.20529610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.103617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:39.83, Y:4.40, Z:0.03 [[ 9.64355280e-01 -2.64601068e-01 -2.27346173e-03 3.98251010e+01] [ 2.64600467e-01 9.64357958e-01 -5.66673661e-04 4.39850068e+00] [ 2.34237336e-03 -5.50842979e-05 9.99997255e-01 3.33393865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.133617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.85, Y:4.41, Z:0.03 [[ 9.64295119e-01 -2.64820229e-01 -2.27362300e-03 3.98534029e+01] [ 2.64819630e-01 9.64297798e-01 -5.66025862e-04 4.40632390e+00] [ 2.34234475e-03 -5.62840260e-05 9.99997255e-01 3.43263122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.163617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:39.88, Y:4.41, Z:0.03 [[ 9.64065207e-01 -2.65655995e-01 -2.27354515e-03 3.98757186e+01] [ 2.65655398e-01 9.64067886e-01 -5.66338385e-04 4.41423687e+00] [ 2.34230305e-03 -5.79924086e-05 9.99997255e-01 3.09754488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.19361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.90, Y:4.42, Z:0.04 [[ 9.64714305e-01 -2.63289132e-01 -2.26785045e-03 3.99040697e+01] [ 2.63288474e-01 9.64716970e-01 -5.89130600e-04 4.41908734e+00] [ 2.34294550e-03 -2.87561678e-05 9.99997255e-01 3.50585514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.223617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.93, Y:4.43, Z:0.03 [[ 9.64390843e-01 -2.64471452e-01 -2.26998822e-03 3.99333152e+01] [ 2.64470818e-01 9.64393514e-01 -5.80567392e-04 4.42770320e+00] [ 2.34270542e-03 -4.04517635e-05 9.99997255e-01 3.33661862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.253617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.96, Y:4.43, Z:0.04 [[ 9.64818611e-01 -2.62906599e-01 -2.27326688e-03 3.99602728e+01] [ 2.62905991e-01 9.64821288e-01 -5.67432297e-04 4.43452208e+00] [ 2.34247798e-03 -5.01862424e-05 9.99997255e-01 3.59019257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.283617865 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:39.99, Y:4.44, Z:0.04 [[ 9.65057602e-01 -2.62027969e-01 -2.27321713e-03 3.99867106e+01] [ 2.62027358e-01 9.65060279e-01 -5.67631539e-04 4.44208697e+00] [ 2.34252690e-03 -4.78479482e-05 9.99997255e-01 3.56105720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.313617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:40.02, Y:4.45, Z:0.04 [[ 9.65007256e-01 -2.62213333e-01 -2.27231407e-03 4.00151374e+01] [ 2.62212715e-01 9.65009930e-01 -5.71244468e-04 4.44978594e+00] [ 2.34259356e-03 -4.45745833e-05 9.99997255e-01 3.53461372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.343617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:40.04, Y:4.46, Z:0.04 [[ 9.65039565e-01 -2.62094394e-01 -2.27297469e-03 4.00414138e+01] [ 2.62093782e-01 9.65042241e-01 -5.68603637e-04 4.45694403e+00] [ 2.34254442e-03 -4.70075269e-05 9.99997255e-01 3.56024000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.37361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:40.07, Y:4.46, Z:0.04 [[ 9.64702107e-01 -2.63333789e-01 -2.27147924e-03 4.00693307e+01] [ 2.63333166e-01 9.64704780e-01 -5.74574608e-04 4.46402256e+00] [ 2.34261179e-03 -4.38624857e-05 9.99997255e-01 3.57510148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.403617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.10, Y:4.47, Z:0.04 [[ 9.64448201e-01 -2.64262185e-01 -2.27275688e-03 4.00965805e+01] [ 2.64261577e-01 9.64450877e-01 -5.69475579e-04 4.46957992e+00] [ 2.34245323e-03 -5.13726200e-05 9.99997255e-01 3.74297524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.433617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:40.12, Y:4.48, Z:0.04 [[ 9.64078727e-01 -2.65606934e-01 -2.27251671e-03 4.01237641e+01] [ 2.65606327e-01 9.64081404e-01 -5.70433083e-04 4.47600836e+00] [ 2.34240208e-03 -5.36524142e-05 9.99997255e-01 3.82111565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.463617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.15, Y:4.48, Z:0.04 [[ 9.63857327e-01 -2.66409253e-01 -2.27243414e-03 4.01499142e+01] [ 2.66408647e-01 9.63860004e-01 -5.70761822e-04 4.48251523e+00] [ 2.34236461e-03 -5.52631409e-05 9.99997255e-01 3.87362206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.493617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.18, Y:4.49, Z:0.04 [[ 9.63616710e-01 -2.67278267e-01 -2.27236628e-03 4.01773566e+01] [ 2.67277663e-01 9.63619388e-01 -5.71031848e-04 4.48992910e+00] [ 2.34232061e-03 -5.70969188e-05 9.99997255e-01 3.83451839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.523617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.20, Y:4.50, Z:0.04 [[ 9.63042853e-01 -2.69338632e-01 -2.27243984e-03 4.02032171e+01] [ 2.69338035e-01 9.63045532e-01 -5.70739221e-04 4.49739989e+00] [ 2.34218516e-03 -6.24081521e-05 9.99997255e-01 3.76072209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.55361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.23, Y:4.50, Z:0.04 [[ 9.62819554e-01 -2.70135789e-01 -2.27215523e-03 4.02291233e+01] [ 2.70135191e-01 9.62822233e-01 -5.71870047e-04 4.50358625e+00] [ 2.34216413e-03 -6.31814233e-05 9.99997255e-01 3.77674683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.583617864999994 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:40.26, Y:4.51, Z:0.04 [[ 9.62223819e-01 -2.72250181e-01 -2.27182337e-03 4.02571143e+01] [ 2.72249586e-01 9.62226498e-01 -5.73187092e-04 4.50971777e+00] [ 2.34205893e-03 -6.69686986e-05 9.99997255e-01 3.79440662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.613617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.28, Y:4.52, Z:0.04 [[ 9.61393096e-01 -2.75169318e-01 -2.27174527e-03 4.02846354e+01] [ 2.75168730e-01 9.61395777e-01 -5.73496744e-04 4.51854328e+00] [ 2.34185502e-03 -7.37574521e-05 9.99997255e-01 3.87900752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.643617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.31, Y:4.53, Z:0.04 [[ 9.60843344e-01 -2.77082853e-01 -2.27181883e-03 4.03103219e+01] [ 2.77082271e-01 9.60846026e-01 -5.73205200e-04 4.52646189e+00] [ 2.34169343e-03 -7.87203189e-05 9.99997255e-01 3.88225795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.673617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.34, Y:4.53, Z:0.04 [[ 9.60680737e-01 -2.77646109e-01 -2.27170779e-03 4.03375524e+01] [ 2.77645527e-01 9.60683419e-01 -5.73644953e-04 4.53316005e+00] [ 2.34166229e-03 -7.96398500e-05 9.99997255e-01 3.68566252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.703617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:40.36, Y:4.54, Z:0.04 [[ 9.60357270e-01 -2.78762898e-01 -2.27165778e-03 4.03642749e+01] [ 2.78762320e-01 9.60359953e-01 -5.73842915e-04 4.54002734e+00] [ 2.34157527e-03 -8.21583765e-05 9.99997255e-01 3.76614489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.39, Y:4.55, Z:0.04 [[ 9.59271159e-01 -2.82477758e-01 -2.27149679e-03 4.03898100e+01] [ 2.82477189e-01 9.59273844e-01 -5.74479480e-04 4.55015786e+00] [ 2.34126513e-03 -9.05644299e-05 9.99997255e-01 3.66332283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.41, Y:4.55, Z:0.04 [[ 9.60520262e-01 -2.78200767e-01 -2.27142722e-03 4.04135970e+01] [ 2.78200184e-01 9.60522945e-01 -5.74754413e-04 4.55353611e+00] [ 2.34165508e-03 -7.98482114e-05 9.99997255e-01 3.91315913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.793617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.44, Y:4.56, Z:0.04 [[ 9.60088634e-01 -2.79686754e-01 -2.26613696e-03 4.04441395e+01] [ 2.79686126e-01 9.60091306e-01 -5.95657142e-04 4.56225383e+00] [ 2.34229581e-03 -6.19234164e-05 9.99997255e-01 3.84731298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.823617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.47, Y:4.57, Z:0.04 [[ 9.60528309e-01 -2.78172981e-01 -2.27151281e-03 4.04716803e+01] [ 2.78172399e-01 9.60530992e-01 -5.74397840e-04 4.57207152e+00] [ 2.34164041e-03 -8.01467813e-05 9.99997255e-01 3.94067828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.853617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.50, Y:4.58, Z:0.04 [[ 9.60146003e-01 -2.79489700e-01 -2.27159269e-03 4.04983895e+01] [ 2.79489123e-01 9.60148687e-01 -5.74082050e-04 4.58275649e+00] [ 2.34151676e-03 -8.36828630e-05 9.99997255e-01 3.91055000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.883617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.53, Y:4.59, Z:0.04 [[ 9.61078105e-01 -2.76267476e-01 -2.27130116e-03 4.05258726e+01] [ 2.76266887e-01 9.61080786e-01 -5.75233169e-04 4.58846741e+00] [ 2.34182212e-03 -7.46412977e-05 9.99997255e-01 3.87592239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.913617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.55, Y:4.60, Z:0.04 [[ 9.61003251e-01 -2.76527743e-01 -2.27125102e-03 4.05535620e+01] [ 2.76527154e-01 9.61005932e-01 -5.75431076e-04 4.59554929e+00] [ 2.34180836e-03 -7.50714458e-05 9.99997255e-01 3.88261153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.58, Y:4.60, Z:0.04 [[ 9.61718511e-01 -2.74029829e-01 -2.27109502e-03 4.05798028e+01] [ 2.74029232e-01 9.61721190e-01 -5.76046130e-04 4.60382956e+00] [ 2.34201403e-03 -6.83521967e-05 9.99997255e-01 4.00720786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.973617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.61, Y:4.61, Z:0.04 [[ 9.61935348e-01 -2.73267685e-01 -2.27102740e-03 4.06080636e+01] [ 2.73267086e-01 9.61938027e-01 -5.76312567e-04 4.61199222e+00] [ 2.34207522e-03 -6.62216098e-05 9.99997255e-01 4.15477074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.003617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.63, Y:4.62, Z:0.04 [[ 9.62494731e-01 -2.71290862e-01 -2.27203966e-03 4.06345650e+01] [ 2.71290266e-01 9.62497410e-01 -5.72325402e-04 4.62029559e+00] [ 2.34209894e-03 -6.55220595e-05 9.99997255e-01 4.10162221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.033617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.66, Y:4.63, Z:0.04 [[ 9.62559132e-01 -2.71062282e-01 -2.27080588e-03 4.06574386e+01] [ 2.71061674e-01 9.62561809e-01 -5.77179480e-04 4.63235365e+00] [ 2.34224260e-03 -5.99590651e-05 9.99997255e-01 3.86977492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.063617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.69, Y:4.64, Z:0.04 [[ 9.63587503e-01 -2.67383605e-01 -2.26529360e-03 4.06882184e+01] [ 2.67382936e-01 9.63590165e-01 -5.98822508e-04 4.63802110e+00] [ 2.34292996e-03 -2.86829700e-05 9.99997255e-01 4.17416101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.093617865 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:40.71, Y:4.65, Z:0.04 [[ 9.62880507e-01 -2.69918469e-01 -2.26941398e-03 4.07148964e+01] [ 2.69917845e-01 9.62883180e-01 -5.82633074e-04 4.64890774e+00] [ 2.34244398e-03 -5.15493024e-05 9.99997255e-01 4.11877711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.74, Y:4.65, Z:0.04 [[ 9.63537624e-01 -2.67563247e-01 -2.27057473e-03 4.07421788e+01] [ 2.67562628e-01 9.63540298e-01 -5.78073859e-04 4.65381980e+00] [ 2.34246157e-03 -5.05250278e-05 9.99997255e-01 4.20067535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.153617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.77, Y:4.67, Z:0.04 [[ 9.62580743e-01 -2.70985531e-01 -2.27052384e-03 4.07687690e+01] [ 2.70984920e-01 9.62583419e-01 -5.78273667e-04 4.66502199e+00] [ 2.34227240e-03 -5.86426259e-05 9.99997255e-01 4.27496894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.183617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.80, Y:4.67, Z:0.04 [[ 9.62251406e-01 -2.72152671e-01 -2.27036826e-03 4.07958710e+01] [ 2.72152062e-01 9.62254083e-01 -5.78883855e-04 4.67256154e+00] [ 2.34221591e-03 -6.08536000e-05 9.99997255e-01 4.34525195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.213617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.82, Y:4.68, Z:0.04 [[ 9.61268384e-01 -2.75604680e-01 -2.27020042e-03 4.08200576e+01] [ 2.75604079e-01 9.61271063e-01 -5.79541333e-04 4.68163203e+00] [ 2.34200227e-03 -6.85817343e-05 9.99997255e-01 4.25152243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.243617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.85, Y:4.69, Z:0.04 [[ 9.60952995e-01 -2.76702367e-01 -2.26764172e-03 4.08487589e+01] [ 2.76701745e-01 9.60955668e-01 -5.89560698e-04 4.68944219e+00] [ 2.34223601e-03 -6.09203032e-05 9.99997255e-01 4.41263048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.273617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.87, Y:4.70, Z:0.04 [[ 9.60620271e-01 -2.77855252e-01 -2.27011470e-03 4.08744826e+01] [ 2.77854656e-01 9.60622951e-01 -5.79879456e-04 4.69668992e+00] [ 2.34184684e-03 -7.37179803e-05 9.99997255e-01 4.49098937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.90, Y:4.70, Z:0.04 [[ 9.60466806e-01 -2.78385277e-01 -2.27004159e-03 4.09047302e+01] [ 2.78384682e-01 9.60469485e-01 -5.80165531e-04 4.70448374e+00] [ 2.34181522e-03 -7.47150721e-05 9.99997255e-01 4.34307876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.333617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.93, Y:4.71, Z:0.04 [[ 9.60084506e-01 -2.79700870e-01 -2.27266046e-03 4.09325096e+01] [ 2.79700304e-01 9.60087191e-01 -5.69924224e-04 4.71282357e+00] [ 2.34136050e-03 -8.84884052e-05 9.99997255e-01 4.33207832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.363617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.96, Y:4.72, Z:0.04 [[ 9.59062784e-01 -2.83184408e-01 -2.27328787e-03 4.09567759e+01] [ 2.83183857e-01 9.59065473e-01 -5.67472961e-04 4.72262802e+00] [ 2.34093140e-03 -9.95162297e-05 9.99997255e-01 4.38699525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.393617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.99, Y:4.73, Z:0.04 [[ 9.59478660e-01 -2.81772158e-01 -2.26963538e-03 4.09892573e+01] [ 2.81771569e-01 9.59481341e-01 -5.81723396e-04 4.72855359e+00] [ 2.34158626e-03 -8.13675389e-05 9.99997255e-01 4.45759541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.423617865 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:41.01, Y:4.74, Z:0.04 [[ 9.57990966e-01 -2.86789351e-01 -2.27543380e-03 4.10122292e+01] [ 2.86788829e-01 9.57993661e-01 -5.59096359e-04 4.74065765e+00] [ 2.34019404e-03 -1.16959736e-04 9.99997255e-01 4.37282068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.453617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.05, Y:4.74, Z:0.04 [[ 9.59330057e-01 -2.82277684e-01 -2.26941151e-03 4.10487322e+01] [ 2.82277094e-01 9.59332738e-01 -5.82556836e-04 4.74487968e+00] [ 2.34156355e-03 -8.17386051e-05 9.99997255e-01 4.39393165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.07, Y:4.76, Z:0.04 [[ 9.57570281e-01 -2.88190843e-01 -2.27939250e-03 4.10685282e+01] [ 2.88190363e-01 9.57572984e-01 -5.43578172e-04 4.75992826e+00] [ 2.33933893e-03 -1.36384648e-04 9.99997254e-01 4.35134744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.51361786499999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:41.10, Y:4.77, Z:0.04 [[ 9.57455036e-01 -2.88573567e-01 -2.26937215e-03 4.10952855e+01] [ 2.88572995e-01 9.57457721e-01 -5.82609311e-04 4.76840739e+00] [ 2.34095353e-03 -9.70572987e-05 9.99997255e-01 4.37903120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.543617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.13, Y:4.77, Z:0.04 [[ 9.58658797e-01 -2.84549050e-01 -2.26921522e-03 4.11303958e+01] [ 2.84548465e-01 9.58661479e-01 -5.83219907e-04 4.77193741e+00] [ 2.34136389e-03 -8.65928128e-05 9.99997255e-01 4.42888734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.573617864999996 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:41.15, Y:4.78, Z:0.04 [[ 9.57344624e-01 -2.88939587e-01 -2.27733085e-03 4.11513720e+01] [ 2.88939090e-01 9.57347324e-01 -5.51615581e-04 4.78484878e+00] [ 2.33958017e-03 -1.29923691e-04 9.99997255e-01 4.44279837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.603617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.18, Y:4.79, Z:0.05 [[ 9.57348529e-01 -2.88926713e-01 -2.26901307e-03 4.11765484e+01] [ 2.88926139e-01 9.57351213e-01 -5.83936138e-04 4.79435757e+00] [ 2.34095717e-03 -9.65467839e-05 9.99997255e-01 4.50639882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.633617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.20, Y:4.80, Z:0.05 [[ 9.57409783e-01 -2.88723672e-01 -2.26890720e-03 4.12037872e+01] [ 2.88723097e-01 9.57412467e-01 -5.84347212e-04 4.80295974e+00] [ 2.34099491e-03 -9.56261759e-05 9.99997255e-01 4.52799310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.23, Y:4.81, Z:0.05 [[ 9.57742412e-01 -2.87618368e-01 -2.26875375e-03 4.12306380e+01] [ 2.87617788e-01 9.57745094e-01 -5.84942390e-04 4.81218025e+00] [ 2.34112795e-03 -9.23097995e-05 9.99997255e-01 4.71549011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.69361786499999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:41.26, Y:4.82, Z:0.05 [[ 9.58050426e-01 -2.86590709e-01 -2.26859044e-03 4.12566446e+01] [ 2.86590124e-01 9.58053108e-01 -5.85575064e-04 4.81992922e+00] [ 2.34125050e-03 -8.91451771e-05 9.99997255e-01 4.60027880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.723617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.29, Y:4.82, Z:0.05 [[ 9.59594855e-01 -2.81376205e-01 -2.26851966e-03 4.12912524e+01] [ 2.81375605e-01 9.59597533e-01 -5.85849145e-04 4.82404595e+00] [ 2.34170988e-03 -7.61282679e-05 9.99997255e-01 4.72047854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.753617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.32, Y:4.83, Z:0.05 [[ 9.59746631e-01 -2.80858012e-01 -2.27629398e-03 4.13192425e+01] [ 2.80857482e-01 9.59749325e-01 -5.55712927e-04 4.83251654e+00] [ 2.34074804e-03 -1.05970585e-04 9.99997255e-01 4.69007968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.783617865 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:41.34, Y:4.84, Z:0.05 [[ 9.59658702e-01 -2.81158321e-01 -2.27473667e-03 4.13431200e+01] [ 2.81157777e-01 9.59661393e-01 -5.61741375e-04 4.84401726e+00] [ 2.34091522e-03 -1.00479908e-04 9.99997255e-01 4.97258538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.813617865 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.37, Y:4.85, Z:0.05 [[ 9.59883008e-01 -2.80391631e-01 -2.26820099e-03 4.13704134e+01] [ 2.80391026e-01 9.59885685e-01 -5.86991639e-04 4.85316320e+00] [ 2.34180120e-03 -7.25399034e-05 9.99997255e-01 5.00361938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.843617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.40, Y:4.86, Z:0.05 [[ 9.60209165e-01 -2.79272654e-01 -2.26814431e-03 4.13975890e+01] [ 2.79272045e-01 9.60211841e-01 -5.87210568e-04 4.86138168e+00] [ 2.34189088e-03 -6.95843319e-05 9.99997255e-01 5.04447910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.87361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.43, Y:4.87, Z:0.05 [[ 9.61001316e-01 -2.76534494e-01 -2.26798307e-03 4.14258521e+01] [ 2.76533876e-01 9.61003990e-01 -5.87832676e-04 4.86960013e+00] [ 2.34209679e-03 -6.22661738e-05 9.99997255e-01 4.99932396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.903617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.45, Y:4.88, Z:0.05 [[ 9.60719509e-01 -2.77511935e-01 -2.26939904e-03 4.14522902e+01] [ 2.77511333e-01 9.60722187e-01 -5.82370186e-04 4.87857970e+00] [ 2.34187669e-03 -7.02895534e-05 9.99997255e-01 5.09783210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.933617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.48, Y:4.89, Z:0.05 [[ 9.60759621e-01 -2.77373049e-01 -2.26786113e-03 4.14789931e+01] [ 2.77372432e-01 9.60762295e-01 -5.88298744e-04 4.88555289e+00] [ 2.34205368e-03 -6.38284794e-05 9.99997255e-01 5.16989518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.963617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.51, Y:4.89, Z:0.05 [[ 9.60594466e-01 -2.77944473e-01 -2.26770198e-03 4.15059435e+01] [ 2.77943857e-01 9.60597140e-01 -5.88911584e-04 4.89257746e+00] [ 2.34203276e-03 -6.45886259e-05 9.99997255e-01 5.49017853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.993617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.53, Y:4.90, Z:0.05 [[ 9.60405622e-01 -2.78596303e-01 -2.26717416e-03 4.15331057e+01] [ 2.78595684e-01 9.60408296e-01 -5.90942257e-04 4.90020480e+00] [ 2.34204720e-03 -6.40806685e-05 9.99997255e-01 5.43698969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.023617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.56, Y:4.91, Z:0.06 [[ 9.60388257e-01 -2.78656158e-01 -2.26752419e-03 4.15597205e+01] [ 2.78655542e-01 9.60390932e-01 -5.89596045e-04 4.90758506e+00] [ 2.34200424e-03 -6.56170654e-05 9.99997255e-01 5.55057243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.05361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.59, Y:4.91, Z:0.06 [[ 9.60537993e-01 -2.78139575e-01 -2.26736166e-03 4.15874355e+01] [ 2.78138956e-01 9.60540667e-01 -5.90220436e-04 4.91493786e+00] [ 2.34205674e-03 -6.37124528e-05 9.99997255e-01 5.53024808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.083617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.61, Y:4.92, Z:0.05 [[ 9.60360291e-01 -2.78752524e-01 -2.26777012e-03 4.16129970e+01] [ 2.78751910e-01 9.60362966e-01 -5.88652126e-04 4.92260357e+00] [ 2.34197071e-03 -6.68271267e-05 9.99997255e-01 5.43272859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.113617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.64, Y:4.93, Z:0.05 [[ 9.60530410e-01 -2.78165764e-01 -2.26713919e-03 4.16411159e+01] [ 2.78165143e-01 9.60533083e-01 -5.91072160e-04 4.92977466e+00] [ 2.34207824e-03 -6.28963139e-05 9.99997255e-01 5.33199086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.143617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.67, Y:4.94, Z:0.05 [[ 9.60536341e-01 -2.78145283e-01 -2.26700197e-03 4.16681029e+01] [ 2.78144661e-01 9.60539014e-01 -5.91597986e-04 4.93683900e+00] [ 2.34209403e-03 -6.23031287e-05 9.99997255e-01 5.40433679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.173617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.69, Y:4.94, Z:0.05 [[ 9.60548618e-01 -2.78102885e-01 -2.26683966e-03 4.16946526e+01] [ 2.78102261e-01 9.60551290e-01 -5.92219265e-04 4.94418748e+00] [ 2.34211365e-03 -6.15578389e-05 9.99997255e-01 5.40028143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.203617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.72, Y:4.95, Z:0.05 [[ 9.60531169e-01 -2.78163144e-01 -2.26678938e-03 4.17216937e+01] [ 2.78162520e-01 9.60533842e-01 -5.92411660e-04 4.95202927e+00] [ 2.34211500e-03 -6.15059806e-05 9.99997255e-01 5.48150250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.75, Y:4.96, Z:0.05 [[ 9.60520213e-01 -2.78200974e-01 -2.26662310e-03 4.17483742e+01] [ 2.78200349e-01 9.60522886e-01 -5.93047171e-04 4.96030323e+00] [ 2.34212966e-03 -6.09415423e-05 9.99997255e-01 5.30140173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.77, Y:4.97, Z:0.05 [[ 9.60525799e-01 -2.78181689e-01 -2.26657166e-03 4.17748744e+01] [ 2.78181063e-01 9.60528471e-01 -5.93243724e-04 4.96724646e+00] [ 2.34213615e-03 -6.06914109e-05 9.99997255e-01 5.15124866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.293617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.80, Y:4.97, Z:0.05 [[ 9.60558962e-01 -2.78067155e-01 -2.26652095e-03 4.18017848e+01] [ 2.78066529e-01 9.60561634e-01 -5.93437371e-04 4.97394005e+00] [ 2.34214851e-03 -6.02120285e-05 9.99997255e-01 5.06365179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.323617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.83, Y:4.98, Z:0.05 [[ 9.60486128e-01 -2.78318631e-01 -2.26647157e-03 4.18293397e+01] [ 2.78318005e-01 9.60488800e-01 -5.93625921e-04 4.98067364e+00] [ 2.34213771e-03 -6.06303828e-05 9.99997255e-01 5.18739435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.353617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.86, Y:4.99, Z:0.05 [[ 9.60370155e-01 -2.78718548e-01 -2.26642101e-03 4.18560230e+01] [ 2.78717922e-01 9.60372827e-01 -5.93818881e-04 4.98764316e+00] [ 2.34211749e-03 -6.14062234e-05 9.99997255e-01 5.20731971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.383617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.88, Y:5.00, Z:0.05 [[ 9.60300879e-01 -2.78957139e-01 -2.26625919e-03 4.18824045e+01] [ 2.78956512e-01 9.60303551e-01 -5.94435816e-04 4.99526784e+00] [ 2.34211886e-03 -6.13505232e-05 9.99997255e-01 5.16616076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.91, Y:5.00, Z:0.05 [[ 9.60366707e-01 -2.78730430e-01 -2.26620909e-03 4.19092691e+01] [ 2.78729802e-01 9.60369379e-01 -5.94626771e-04 5.00239715e+00] [ 2.34213839e-03 -6.06002563e-05 9.99997255e-01 5.13562452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.94, Y:5.01, Z:0.05 [[ 9.60348408e-01 -2.78793473e-01 -2.26604950e-03 4.19365656e+01] [ 2.78792844e-01 9.60351079e-01 -5.95234317e-04 5.00919615e+00] [ 2.34215053e-03 -6.01260567e-05 9.99997255e-01 5.12870373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.473617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.96, Y:5.02, Z:0.05 [[ 9.60401700e-01 -2.78609836e-01 -2.26588947e-03 4.19634898e+01] [ 2.78609205e-01 9.60404371e-01 -5.95842885e-04 5.01501181e+00] [ 2.34217784e-03 -5.90491437e-05 9.99997255e-01 4.94273801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.503617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.00, Y:5.02, Z:0.05 [[ 9.60701941e-01 -2.77572778e-01 -2.26563421e-03 4.19966021e+01] [ 2.77572142e-01 9.60704611e-01 -5.96812708e-04 5.01970323e+00] [ 2.34226419e-03 -5.55178140e-05 9.99997255e-01 4.68384239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.533617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.02, Y:5.03, Z:0.05 [[ 9.60079819e-01 -2.79716973e-01 -2.27081635e-03 4.20199209e+01] [ 2.79716389e-01 9.60082501e-01 -5.77201586e-04 5.02891642e+00] [ 2.34162412e-03 -8.10249564e-05 9.99997255e-01 5.15680136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.563617865 meters Centerline goodness : 0.994072 Centerline is valid? [True, True] Translation: X:42.05, Y:5.04, Z:0.05 [[ 9.60115514e-01 -2.79594472e-01 -2.26495331e-03 4.20468430e+01] [ 2.79593836e-01 9.60118184e-01 -5.99357823e-04 5.03576446e+00] [ 2.34220000e-03 -5.78142400e-05 9.99997255e-01 4.79369652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.593617865 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.07, Y:5.04, Z:0.05 [[ 9.59963441e-01 -2.80116160e-01 -2.26452078e-03 4.20741114e+01] [ 2.80115521e-01 9.59966111e-01 -6.00990555e-04 5.04188720e+00] [ 2.34221037e-03 -5.73984570e-05 9.99997255e-01 5.16234253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.10, Y:5.05, Z:0.05 [[ 9.59864372e-01 -2.80455450e-01 -2.26470242e-03 4.21017370e+01] [ 2.80454813e-01 9.59867041e-01 -6.00305297e-04 5.04833902e+00] [ 2.34217210e-03 -5.89350271e-05 9.99997255e-01 5.18634025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.653617864999994 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:42.13, Y:5.05, Z:0.05 [[ 9.59759800e-01 -2.80813101e-01 -2.26454348e-03 4.21304138e+01] [ 2.80812465e-01 9.59762470e-01 -6.00904285e-04 5.05432946e+00] [ 2.34216564e-03 -5.91882578e-05 9.99997255e-01 5.40241221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.683617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.16, Y:5.06, Z:0.05 [[ 9.59622123e-01 -2.81283229e-01 -2.26432182e-03 4.21585365e+01] [ 2.81282591e-01 9.59624792e-01 -6.01738939e-04 5.06123890e+00] [ 2.34215843e-03 -5.94723115e-05 9.99997255e-01 5.31907345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.713617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.19, Y:5.07, Z:0.05 [[ 9.59481045e-01 -2.81764080e-01 -2.26437157e-03 4.21856495e+01] [ 2.81763444e-01 9.59483715e-01 -6.01551659e-04 5.06807732e+00] [ 2.34212330e-03 -6.08397197e-05 9.99997255e-01 5.36458461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.743617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.21, Y:5.08, Z:0.05 [[ 9.59296840e-01 -2.82390592e-01 -2.26420359e-03 4.22130968e+01] [ 2.82389957e-01 9.59299510e-01 -6.02183264e-04 5.07514734e+00] [ 2.34210029e-03 -6.17158539e-05 9.99997255e-01 5.34335072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.773617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.24, Y:5.08, Z:0.05 [[ 9.59210781e-01 -2.82682775e-01 -2.26415158e-03 4.22394391e+01] [ 2.82682140e-01 9.59213451e-01 -6.02378750e-04 5.08194943e+00] [ 2.34208675e-03 -6.22270231e-05 9.99997255e-01 5.28628918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.27, Y:5.09, Z:0.05 [[ 9.59134780e-01 -2.82940536e-01 -2.26403955e-03 4.22670274e+01] [ 2.82939901e-01 9.59137451e-01 -6.02799532e-04 5.08936576e+00] [ 2.34208155e-03 -6.24211298e-05 9.99997255e-01 5.29296855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.833617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.29, Y:5.10, Z:0.05 [[ 9.58869900e-01 -2.83836907e-01 -2.26387740e-03 4.22946203e+01] [ 2.83836273e-01 9.58872570e-01 -6.03407910e-04 5.09645498e+00] [ 2.34203937e-03 -6.39808399e-05 9.99997255e-01 5.25655898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.863617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.32, Y:5.10, Z:0.05 [[ 9.58695979e-01 -2.84423797e-01 -2.26371511e-03 4.23225531e+01] [ 2.84423163e-01 9.58698649e-01 -6.04016102e-04 5.10238479e+00] [ 2.34201718e-03 -6.47852041e-05 9.99997255e-01 5.18593091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.893617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.35, Y:5.11, Z:0.05 [[ 9.58474506e-01 -2.85169244e-01 -2.26355391e-03 4.23507697e+01] [ 2.85168611e-01 9.58477176e-01 -6.04619605e-04 5.10954438e+00] [ 2.34198368e-03 -6.59820475e-05 9.99997255e-01 5.33524468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.923617865 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.38, Y:5.12, Z:0.05 [[ 9.58567813e-01 -2.84855445e-01 -2.26339903e-03 4.23773577e+01] [ 2.84854809e-01 9.58570483e-01 -6.05198852e-04 5.11642357e+00] [ 2.34202169e-03 -6.46159587e-05 9.99997255e-01 5.15770567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.953617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.40, Y:5.12, Z:0.05 [[ 9.58800504e-01 -2.84071242e-01 -2.26334423e-03 4.24043186e+01] [ 2.84070604e-01 9.58803173e-01 -6.05403728e-04 5.12357364e+00] [ 2.34207942e-03 -6.24881626e-05 9.99997255e-01 5.01662035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.43, Y:5.13, Z:0.05 [[ 9.58881826e-01 -2.83796620e-01 -2.26329285e-03 4.24316602e+01] [ 2.83795981e-01 9.58884495e-01 -6.05595750e-04 5.13080278e+00] [ 2.34210245e-03 -6.16186555e-05 9.99997255e-01 5.02451384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.01361786499999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:42.46, Y:5.14, Z:0.05 [[ 9.59033513e-01 -2.83283602e-01 -2.26312531e-03 4.24577144e+01] [ 2.83282960e-01 9.59036181e-01 -6.06221222e-04 5.13731833e+00] [ 2.34215158e-03 -5.97183670e-05 9.99997255e-01 4.96417037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.043617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.48, Y:5.14, Z:0.05 [[ 9.59293026e-01 -2.82403556e-01 -2.26305273e-03 4.24846864e+01] [ 2.82402911e-01 9.59295694e-01 -6.06492032e-04 5.14367724e+00] [ 2.34221224e-03 -5.72891004e-05 9.99997255e-01 5.05416754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.073617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.51, Y:5.15, Z:0.05 [[ 9.59958635e-01 -2.80132644e-01 -2.26289330e-03 4.25123630e+01] [ 2.80131991e-01 9.59961301e-01 -6.07086281e-04 5.15032607e+00] [ 2.34235469e-03 -5.11310896e-05 9.99997255e-01 5.19356526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.103617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.54, Y:5.16, Z:0.05 [[ 9.60350299e-01 -2.78786986e-01 -2.26274833e-03 4.25392712e+01] [ 2.78786328e-01 9.60352963e-01 -6.07626154e-04 5.15798080e+00] [ 2.34243533e-03 -4.72893400e-05 9.99997255e-01 5.16910777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.133617865 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.57, Y:5.17, Z:0.05 [[ 9.60785056e-01 -2.77284973e-01 -2.26269696e-03 4.25656357e+01] [ 2.77284311e-01 9.60787719e-01 -6.07817382e-04 5.16532643e+00] [ 2.34251008e-03 -4.34285096e-05 9.99997255e-01 5.16049736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.59, Y:5.17, Z:0.05 [[ 9.61443693e-01 -2.74992557e-01 -2.26262553e-03 4.25926596e+01] [ 2.74991887e-01 9.61446354e-01 -6.08083174e-04 5.17178159e+00] [ 2.34261141e-03 -3.75659331e-05 9.99997255e-01 5.16594843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.19361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.62, Y:5.18, Z:0.05 [[ 9.61471322e-01 -2.74895940e-01 -2.26246317e-03 4.26197488e+01] [ 2.74895269e-01 9.61473983e-01 -6.08686668e-04 5.17903265e+00] [ 2.34262497e-03 -3.67056453e-05 9.99997255e-01 5.17584012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.223617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.65, Y:5.18, Z:0.05 [[ 9.62120518e-01 -2.72615098e-01 -2.26228782e-03 4.26461488e+01] [ 2.72614419e-01 9.62123177e-01 -6.09337682e-04 5.18441290e+00] [ 2.34271420e-03 -3.04759927e-05 9.99997255e-01 5.46386691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.253617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.67, Y:5.19, Z:0.06 [[ 9.62485185e-01 -2.71324816e-01 -2.26099959e-03 4.26743701e+01] [ 2.71324122e-01 9.62487841e-01 -6.14113456e-04 5.18949798e+00] [ 2.34280884e-03 -2.23886248e-05 9.99997255e-01 5.59122624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.283617865 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.70, Y:5.20, Z:0.06 [[ 9.62500730e-01 -2.71269661e-01 -2.26168080e-03 4.27018870e+01] [ 2.71268973e-01 9.62503387e-01 -6.11588777e-04 5.19580275e+00] [ 2.34278091e-03 -2.48691833e-05 9.99997255e-01 5.50157575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.313617865 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.73, Y:5.20, Z:0.06 [[ 9.62379629e-01 -2.71698975e-01 -2.26196007e-03 4.27292093e+01] [ 2.71698290e-01 9.62382287e-01 -6.10554141e-04 5.20195139e+00] [ 2.34275724e-03 -2.69858172e-05 9.99997255e-01 5.52626205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.343617865 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:42.76, Y:5.21, Z:0.05 [[ 9.62203565e-01 -2.72321839e-01 -2.26178987e-03 4.27559771e+01] [ 2.72321154e-01 9.62206223e-01 -6.11184026e-04 5.20828545e+00] [ 2.34274704e-03 -2.78497790e-05 9.99997255e-01 5.37530736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.37361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:42.78, Y:5.21, Z:0.05 [[ 9.61901885e-01 -2.73385530e-01 -2.26173734e-03 4.27819585e+01] [ 2.73384848e-01 9.61904544e-01 -6.11378357e-04 5.21434087e+00] [ 2.34271742e-03 -3.02387225e-05 9.99997255e-01 5.28395096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.403617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.81, Y:5.22, Z:0.05 [[ 9.61435428e-01 -2.75021459e-01 -2.26162363e-03 4.28093376e+01] [ 2.75020780e-01 9.61438087e-01 -6.11798690e-04 5.22045186e+00] [ 2.34266887e-03 -3.37885599e-05 9.99997255e-01 5.26953010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.433617864999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.84, Y:5.22, Z:0.05 [[ 9.60472897e-01 -2.78364329e-01 -2.26145782e-03 4.28363305e+01] [ 2.78363658e-01 9.60475559e-01 -6.12410989e-04 5.22427133e+00] [ 2.34254833e-03 -4.13035150e-05 9.99997255e-01 5.28681382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.463617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.86, Y:5.23, Z:0.05 [[ 9.59843826e-01 -2.80525785e-01 -2.26138594e-03 4.28640467e+01] [ 2.80525119e-01 9.59846489e-01 -6.12676295e-04 5.23049581e+00] [ 2.34245485e-03 -4.63020016e-05 9.99997255e-01 5.31401395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.493617865 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:42.89, Y:5.24, Z:0.05 [[ 9.59214378e-01 -2.82670594e-01 -2.26122193e-03 4.28911609e+01] [ 2.82669933e-01 9.59217042e-01 -6.13280998e-04 5.23676271e+00] [ 2.34235912e-03 -5.09115011e-05 9.99997255e-01 5.31713633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.523617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.92, Y:5.24, Z:0.05 [[ 9.58596412e-01 -2.84759207e-01 -2.26105898e-03 4.29188957e+01] [ 2.84758550e-01 9.58599077e-01 -6.13881200e-04 5.24334252e+00] [ 2.34225737e-03 -5.53915606e-05 9.99997255e-01 5.33013198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.55361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.94, Y:5.25, Z:0.05 [[ 9.58225336e-01 -2.86005410e-01 -2.26089648e-03 4.29439382e+01] [ 2.86004756e-01 9.58228001e-01 -6.14479085e-04 5.24790354e+00] [ 2.34219866e-03 -5.78177177e-05 9.99997255e-01 5.29180194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.583617864999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.97, Y:5.25, Z:0.05 [[ 9.57265052e-01 -2.89203275e-01 -2.25534527e-03 4.29741684e+01] [ 2.89202582e-01 9.57267707e-01 -6.34869853e-04 5.25452518e+00] [ 2.34257564e-03 -4.45129532e-05 9.99997255e-01 5.31778727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.613617864999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:43.00, Y:5.26, Z:0.05 [[ 9.57009438e-01 -2.90047970e-01 -2.26068318e-03 4.30008904e+01] [ 2.90047325e-01 9.57012106e-01 -6.15256386e-04 5.26011015e+00] [ 2.34195503e-03 -6.68989399e-05 9.99997255e-01 5.30018164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.643617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.03, Y:5.26, Z:0.05 [[ 9.56647191e-01 -2.91240523e-01 -2.26061384e-03 4.30282714e+01] [ 2.91239881e-01 9.56649859e-01 -6.15511042e-04 5.26495800e+00] [ 2.34187767e-03 -6.95539967e-05 9.99997255e-01 5.33640006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.673617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:43.05, Y:5.27, Z:0.05 [[ 9.56562336e-01 -2.91519103e-01 -2.26044677e-03 4.30546242e+01] [ 2.91518460e-01 9.56565004e-01 -6.16124005e-04 5.27126988e+00] [ 2.34187619e-03 -6.96009439e-05 9.99997255e-01 5.26218378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.703617865 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:43.08, Y:5.28, Z:0.05 [[ 9.55515502e-01 -2.94932224e-01 -2.26037437e-03 4.30781425e+01] [ 2.94931590e-01 9.55518172e-01 -6.16389507e-04 5.28074812e+00] [ 2.34162191e-03 -7.76860763e-05 9.99997255e-01 4.97549418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:43.11, Y:5.29, Z:0.05 [[ 9.55310471e-01 -2.95595704e-01 -2.25460060e-03 4.31071106e+01] [ 2.95595022e-01 9.55313130e-01 -6.37535939e-04 5.28638798e+00] [ 2.34230245e-03 -5.74039578e-05 9.99997255e-01 5.01642689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:43.14, Y:5.29, Z:0.05 [[ 9.55948960e-01 -2.93524274e-01 -2.25519964e-03 4.31379687e+01] [ 2.93523592e-01 9.55951619e-01 -6.35343292e-04 5.29016289e+00] [ 2.34235043e-03 -5.45985393e-05 9.99997255e-01 5.12952478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.793617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.16, Y:5.30, Z:0.05 [[ 9.55836060e-01 -2.93891676e-01 -2.26020638e-03 4.31645790e+01] [ 2.93891037e-01 9.55838730e-01 -6.17002611e-04 5.29593114e+00] [ 2.34172472e-03 -7.45010518e-05 9.99997255e-01 5.13367561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.823617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.19, Y:5.30, Z:0.05 [[ 9.54450936e-01 -2.98359361e-01 -2.25897326e-03 4.31903229e+01] [ 2.98358724e-01 9.54453606e-01 -6.21519368e-04 5.30308347e+00] [ 2.34152130e-03 -8.07746383e-05 9.99997255e-01 5.08563927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.853617865 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:43.22, Y:5.31, Z:0.05 [[ 9.54892980e-01 -2.96941588e-01 -2.25611471e-03 4.32199597e+01] [ 2.96940923e-01 9.54895643e-01 -6.31988227e-04 5.30716847e+00] [ 2.34201769e-03 -6.64516620e-05 9.99997255e-01 5.18975621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.883617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.25, Y:5.31, Z:0.05 [[ 9.54542626e-01 -2.98065876e-01 -2.26023381e-03 4.32474276e+01] [ 2.98065250e-01 9.54545298e-01 -6.16896318e-04 5.31394179e+00] [ 2.34137130e-03 -8.48433243e-05 9.99997255e-01 5.30776509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.27, Y:5.32, Z:0.05 [[ 9.53132264e-01 -3.02545499e-01 -2.26006597e-03 4.32708193e+01] [ 3.02544884e-01 9.53134939e-01 -6.17510622e-04 5.32315811e+00] [ 2.34097290e-03 -9.52020993e-05 9.99997255e-01 5.06913319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.30, Y:5.33, Z:0.05 [[ 9.52592573e-01 -3.04240544e-01 -2.25423371e-03 4.32961311e+01] [ 3.04239883e-01 9.52595237e-01 -6.38790215e-04 5.33132633e+00] [ 2.34171818e-03 -7.73209870e-05 9.99997255e-01 5.11814066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.973617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:43.32, Y:5.34, Z:0.05 [[ 9.52402160e-01 -3.04836124e-01 -2.25013691e-03 4.33219715e+01] [ 3.04835430e-01 9.52404816e-01 -6.53715156e-04 5.33792125e+00] [ 2.34231722e-03 -6.33217242e-05 9.99997255e-01 5.14572948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.003617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.35, Y:5.34, Z:0.05 [[ 9.52247017e-01 -3.05320419e-01 -2.24960997e-03 4.33507745e+01] [ 3.05319722e-01 9.52249672e-01 -6.55632773e-04 5.34456840e+00] [ 2.34236843e-03 -6.25259367e-05 9.99997255e-01 4.96801656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.033617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.38, Y:5.35, Z:0.06 [[ 9.54092494e-01 -2.99503654e-01 -2.25265010e-03 4.33846966e+01] [ 2.99502966e-01 9.54095151e-01 -6.44546957e-04 5.34720881e+00] [ 2.34228671e-03 -5.97179730e-05 9.99997255e-01 5.55835852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.063617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:43.41, Y:5.36, Z:0.05 [[ 9.53282815e-01 -3.02070800e-01 -2.25965667e-03 4.34080120e+01] [ 3.02070180e-01 9.53285489e-01 -6.18968195e-04 5.35801994e+00] [ 2.34107013e-03 -9.25231522e-05 9.99997255e-01 5.16934367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.44, Y:5.36, Z:0.05 [[ 9.55233905e-01 -2.95843047e-01 -2.25360454e-03 4.34389940e+01] [ 2.95842358e-01 9.55236562e-01 -6.41019001e-04 5.36133131e+00] [ 2.34236647e-03 -5.43885963e-05 9.99997255e-01 5.43241814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.46, Y:5.37, Z:0.05 [[ 9.55071185e-01 -2.96367892e-01 -2.25944203e-03 4.34634378e+01] [ 2.96367254e-01 9.55073854e-01 -6.19736617e-04 5.37095170e+00] [ 2.34160404e-03 -7.77320463e-05 9.99997255e-01 5.00794594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.153617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.49, Y:5.38, Z:0.05 [[ 9.56169222e-01 -2.92805957e-01 -2.25623565e-03 4.34933446e+01] [ 2.92805282e-01 9.56171882e-01 -6.31409006e-04 5.37632231e+00] [ 2.34222940e-03 -5.69038568e-05 9.99997255e-01 5.32541894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.183617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.52, Y:5.38, Z:0.05 [[ 9.56563919e-01 -2.91513919e-01 -2.25913884e-03 4.35191846e+01] [ 2.91513265e-01 9.56566585e-01 -6.20844802e-04 5.38330149e+00] [ 2.34200163e-03 -6.46912040e-05 9.99997255e-01 5.28727097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.213617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.55, Y:5.39, Z:0.05 [[ 9.57290416e-01 -2.89119277e-01 -2.25906494e-03 4.35453106e+01] [ 2.89118616e-01 9.57293079e-01 -6.21113596e-04 5.38973510e+00] [ 2.34216315e-03 -5.85516368e-05 9.99997255e-01 5.12790574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.243617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.57, Y:5.40, Z:0.05 [[ 9.57438218e-01 -2.88629444e-01 -2.25899242e-03 4.35726429e+01] [ 2.88628781e-01 9.57440881e-01 -6.21377246e-04 5.39662468e+00] [ 2.34219946e-03 -5.70799051e-05 9.99997255e-01 5.12541358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.273617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.60, Y:5.40, Z:0.05 [[ 9.57510841e-01 -2.88388431e-01 -2.25882472e-03 4.35998274e+01] [ 2.88387766e-01 9.57513504e-01 -6.21986260e-04 5.40314929e+00] [ 2.34222882e-03 -5.58588278e-05 9.99997255e-01 5.11791384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.63, Y:5.41, Z:0.05 [[ 9.57497862e-01 -2.88431522e-01 -2.25865809e-03 4.36272786e+01] [ 2.88430855e-01 9.57500524e-01 -6.22590766e-04 5.40894755e+00] [ 2.34224111e-03 -5.53373569e-05 9.99997255e-01 5.07891883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.333617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.65, Y:5.42, Z:0.05 [[ 9.57498480e-01 -2.88429471e-01 -2.25855351e-03 4.36539523e+01] [ 2.88428803e-01 9.57501142e-01 -6.22969941e-04 5.41578438e+00] [ 2.34225045e-03 -5.49391138e-05 9.99997255e-01 5.08658808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.363617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.68, Y:5.42, Z:0.05 [[ 9.57428385e-01 -2.88662063e-01 -2.25843859e-03 4.36798263e+01] [ 2.88661395e-01 9.57431047e-01 -6.23386261e-04 5.42279283e+00] [ 2.34224719e-03 -5.50763325e-05 9.99997255e-01 5.03916417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.393617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.71, Y:5.43, Z:0.05 [[ 9.57282339e-01 -2.89146023e-01 -2.25836678e-03 4.37066368e+01] [ 2.89145355e-01 9.57285002e-01 -6.23646321e-04 5.42988060e+00] [ 2.34222550e-03 -5.59906550e-05 9.99997255e-01 4.99476356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.423617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:43.73, Y:5.44, Z:0.05 [[ 9.56890827e-01 -2.90439056e-01 -2.25820290e-03 4.37329109e+01] [ 2.90438391e-01 9.56893490e-01 -6.24239140e-04 5.43590021e+00] [ 2.34216308e-03 -5.85401114e-05 9.99997255e-01 4.98913567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.453617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:43.76, Y:5.44, Z:0.05 [[ 9.56615096e-01 -2.91345943e-01 -2.25813183e-03 4.37593786e+01] [ 2.91345280e-01 9.56617760e-01 -6.24496142e-04 5.44243010e+00] [ 2.34211343e-03 -6.04936117e-05 9.99997255e-01 4.98674703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.79, Y:5.45, Z:0.05 [[ 9.56235997e-01 -2.92587797e-01 -2.25802127e-03 4.37865768e+01] [ 2.92587137e-01 9.56238661e-01 -6.24895646e-04 5.44900286e+00] [ 2.34204407e-03 -6.31202658e-05 9.99997255e-01 5.03199949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.51361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:43.81, Y:5.46, Z:0.05 [[ 9.55831803e-01 -2.93905539e-01 -2.25785910e-03 4.38138983e+01] [ 2.93904881e-01 9.55834468e-01 -6.25481037e-04 5.45526689e+00] [ 2.34197189e-03 -6.57411434e-05 9.99997255e-01 5.13071445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.543617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:43.84, Y:5.46, Z:0.05 [[ 9.55165818e-01 -2.96062768e-01 -2.25768728e-03 4.38421409e+01] [ 2.96062114e-01 9.55168484e-01 -6.26100618e-04 5.45982151e+00] [ 2.34183682e-03 -7.03857597e-05 9.99997255e-01 5.20528015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.573617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:43.87, Y:5.47, Z:0.05 [[ 9.54725365e-01 -2.97480053e-01 -2.25751681e-03 4.38684947e+01] [ 2.97479402e-01 9.54728031e-01 -6.26714667e-04 5.46574714e+00] [ 2.34174969e-03 -7.32243603e-05 9.99997255e-01 5.16521856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.603617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.90, Y:5.47, Z:0.05 [[ 9.54373155e-01 -2.98608079e-01 -2.25744294e-03 4.38957803e+01] [ 2.98607430e-01 9.54375822e-01 -6.26980638e-04 5.47235436e+00] [ 2.34167044e-03 -7.57157451e-05 9.99997255e-01 5.21163898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.633617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.92, Y:5.48, Z:0.05 [[ 9.54093462e-01 -2.99500534e-01 -2.25727169e-03 4.39220788e+01] [ 2.99499886e-01 9.54096129e-01 -6.27596581e-04 5.47909471e+00] [ 2.34161969e-03 -7.72668187e-05 9.99997255e-01 5.15492723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66361786499999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:43.95, Y:5.49, Z:0.05 [[ 9.54291101e-01 -2.98870204e-01 -2.25715524e-03 4.39493115e+01] [ 2.98869554e-01 9.54293768e-01 -6.28015101e-04 5.48696142e+00] [ 2.34168418e-03 -7.52857575e-05 9.99997255e-01 5.15983007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.69361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.98, Y:5.49, Z:0.05 [[ 9.54594963e-01 -2.97898244e-01 -2.25698688e-03 4.39765137e+01] [ 2.97897589e-01 9.54597628e-01 -6.28619585e-04 5.49478641e+00] [ 2.34177899e-03 -7.22738603e-05 9.99997255e-01 5.22264565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.723617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.00, Y:5.50, Z:0.05 [[ 9.54513368e-01 -2.98159582e-01 -2.25681465e-03 4.40040341e+01] [ 2.98158927e-01 9.54516034e-01 -6.29237308e-04 5.50252249e+00] [ 2.34177890e-03 -7.22740112e-05 9.99997255e-01 5.22931902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.753617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:44.03, Y:5.51, Z:0.05 [[ 9.54898650e-01 -2.96923351e-01 -2.25664221e-03 4.40304368e+01] [ 2.96922690e-01 9.54901314e-01 -6.29855132e-04 5.51000272e+00] [ 2.34188930e-03 -6.86004601e-05 9.99997255e-01 5.23221418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.783617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:44.06, Y:5.52, Z:0.05 [[ 9.55057366e-01 -2.96412443e-01 -2.25656745e-03 4.40568222e+01] [ 2.96411781e-01 9.55060029e-01 -6.30122826e-04 5.51717551e+00] [ 2.34193362e-03 -6.70697315e-05 9.99997255e-01 5.20133502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.813617865 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:44.08, Y:5.52, Z:0.05 [[ 9.54972824e-01 -2.96684704e-01 -2.25649356e-03 4.40842433e+01] [ 2.96684042e-01 9.54975488e-01 -6.30387325e-04 5.52486614e+00] [ 2.34192232e-03 -6.74628678e-05 9.99997255e-01 5.16905131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.11, Y:5.53, Z:0.05 [[ 9.54889009e-01 -2.96954355e-01 -2.25632272e-03 4.41110417e+01] [ 2.96953692e-01 9.54891673e-01 -6.30998233e-04 5.53379602e+00] [ 2.34192145e-03 -6.74900853e-05 9.99997255e-01 5.14720674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.87361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.14, Y:5.54, Z:0.05 [[ 9.54727813e-01 -2.97472204e-01 -2.25615082e-03 4.41384004e+01] [ 2.97471541e-01 9.54730477e-01 -6.31612269e-04 5.54129233e+00] [ 2.34190304e-03 -6.81228596e-05 9.99997255e-01 5.13076915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.903617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.16, Y:5.55, Z:0.05 [[ 9.54440164e-01 -2.98393839e-01 -2.25597964e-03 4.41646303e+01] [ 2.98393177e-01 9.54442828e-01 -6.32223085e-04 5.54868676e+00] [ 2.34185506e-03 -6.97498274e-05 9.99997255e-01 5.18770219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.933617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.19, Y:5.56, Z:0.05 [[ 9.54065950e-01 -2.99588175e-01 -2.25590544e-03 4.41912576e+01] [ 2.99587516e-01 9.54068614e-01 -6.32487748e-04 5.55655848e+00] [ 2.34177442e-03 -7.24060836e-05 9.99997255e-01 5.19013186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.963617864999996 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:44.22, Y:5.57, Z:0.05 [[ 9.53234651e-01 -3.02222785e-01 -2.25573674e-03 4.42174302e+01] [ 3.02222132e-01 9.53237317e-01 -6.33088822e-04 5.56544846e+00] [ 2.34158631e-03 -7.82513636e-05 9.99997255e-01 5.14441154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.993617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.24, Y:5.57, Z:0.05 [[ 9.52889572e-01 -3.03309043e-01 -2.25556405e-03 4.42437521e+01] [ 3.03308392e-01 9.52892238e-01 -6.33703498e-04 5.57343003e+00] [ 2.34151747e-03 -8.02820486e-05 9.99997255e-01 5.16154510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.023617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:44.27, Y:5.58, Z:0.05 [[ 9.52546406e-01 -3.04385049e-01 -2.25548926e-03 4.42705101e+01] [ 3.04384400e-01 9.52549072e-01 -6.33969581e-04 5.58151568e+00] [ 2.34143506e-03 -8.26502983e-05 9.99997255e-01 5.20292423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.05361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.30, Y:5.59, Z:0.05 [[ 9.52325840e-01 -3.05074429e-01 -2.25532220e-03 4.42965047e+01] [ 3.05073780e-01 9.52328507e-01 -6.34563330e-04 5.59139228e+00] [ 2.34139667e-03 -8.37286123e-05 9.99997255e-01 5.23514523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.083617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.32, Y:5.60, Z:0.05 [[ 9.52331632e-01 -3.05056351e-01 -2.25515512e-03 4.43231226e+01] [ 3.05055701e-01 9.52334298e-01 -6.35156563e-04 5.60038702e+00] [ 2.34142011e-03 -8.30682378e-05 9.99997255e-01 5.21741510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.113617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.35, Y:5.61, Z:0.05 [[ 9.52348427e-01 -3.05003914e-01 -2.25498721e-03 4.43498522e+01] [ 3.05003263e-01 9.52351094e-01 -6.35752134e-04 5.60944030e+00] [ 2.34144642e-03 -8.23209112e-05 9.99997255e-01 5.18004043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.143617864999996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:44.38, Y:5.62, Z:0.05 [[ 9.52662569e-01 -3.04021292e-01 -2.25481994e-03 4.43765297e+01] [ 3.04020637e-01 9.52665234e-01 -6.36344807e-04 5.61987775e+00] [ 2.34155094e-03 -7.92899169e-05 9.99997255e-01 5.15335180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.173617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.40, Y:5.63, Z:0.05 [[ 9.52617449e-01 -3.04162641e-01 -2.25465189e-03 4.44034051e+01] [ 3.04161984e-01 9.52620114e-01 -6.36939676e-04 5.62900572e+00] [ 2.34156000e-03 -7.90195433e-05 9.99997255e-01 5.16320953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.203617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.43, Y:5.64, Z:0.05 [[ 9.52670223e-01 -3.03997308e-01 -2.25447844e-03 4.44290987e+01] [ 3.03996650e-01 9.52672887e-01 -6.37553045e-04 5.63729902e+00] [ 2.34159489e-03 -7.79760893e-05 9.99997255e-01 5.17279451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.23361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.46, Y:5.65, Z:0.05 [[ 9.52734829e-01 -3.03794772e-01 -2.25440326e-03 4.44559133e+01] [ 3.03794112e-01 9.52737493e-01 -6.37818763e-04 5.64596741e+00] [ 2.34162051e-03 -7.72022867e-05 9.99997255e-01 5.24607442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26361786499999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:44.48, Y:5.65, Z:0.05 [[ 9.52932977e-01 -3.03172656e-01 -2.25422938e-03 4.44827979e+01] [ 3.03171993e-01 9.52935641e-01 -6.38432716e-04 5.65454803e+00] [ 2.34169086e-03 -7.50356250e-05 9.99997255e-01 5.28980716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.293617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:44.51, Y:5.66, Z:0.05 [[ 9.53203123e-01 -3.02322223e-01 -2.25405253e-03 4.45087344e+01] [ 3.02321556e-01 9.53205785e-01 -6.39056504e-04 5.66341174e+00] [ 2.34177689e-03 -7.22980118e-05 9.99997255e-01 5.28205523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.323617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:44.54, Y:5.67, Z:0.05 [[ 9.54136838e-01 -2.99362346e-01 -2.25393226e-03 4.45354292e+01] [ 2.99361670e-01 9.54139498e-01 -6.39480381e-04 5.67331395e+00] [ 2.34200215e-03 -6.45891386e-05 9.99997255e-01 5.25499218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.353617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.56, Y:5.68, Z:0.05 [[ 9.54675844e-01 -2.97638964e-01 -2.25376257e-03 4.45616239e+01] [ 2.97638282e-01 9.54678503e-01 -6.40077889e-04 5.68137262e+00] [ 2.34213079e-03 -5.97391192e-05 9.99997255e-01 5.27198822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.383617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:44.59, Y:5.69, Z:0.05 [[ 9.55272685e-01 -2.95717803e-01 -2.25364706e-03 4.45888055e+01] [ 2.95717114e-01 9.55275341e-01 -6.40484339e-04 5.68982876e+00] [ 2.34225608e-03 -5.46048106e-05 9.99997255e-01 5.26823174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.41361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.61, Y:5.70, Z:0.05 [[ 9.56216843e-01 -2.92650424e-01 -2.25347842e-03 4.46143995e+01] [ 2.92649726e-01 9.56219497e-01 -6.41077131e-04 5.69905222e+00] [ 2.34243149e-03 -4.64710907e-05 9.99997255e-01 5.17638061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:44.64, Y:5.71, Z:0.05 [[ 9.56544643e-01 -2.91577209e-01 -2.25340530e-03 4.46416454e+01] [ 2.91576507e-01 9.56547296e-01 -6.41334036e-04 5.70741250e+00] [ 2.34248713e-03 -4.35754095e-05 9.99997255e-01 5.17995849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.473617864999994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:44.67, Y:5.72, Z:0.05 [[ 9.56723398e-01 -2.90990143e-01 -2.25324785e-03 4.46673451e+01] [ 2.90989438e-01 9.56726050e-01 -6.41886755e-04 5.71558342e+00] [ 2.34252363e-03 -4.15632460e-05 9.99997255e-01 5.19653846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.503617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.69, Y:5.72, Z:0.05 [[ 9.56918535e-01 -2.90347793e-01 -2.25317946e-03 4.46937382e+01] [ 2.90347086e-01 9.56921187e-01 -6.42126708e-04 5.72402763e+00] [ 2.34255524e-03 -3.97411426e-05 9.99997255e-01 5.19684758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.533617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.72, Y:5.73, Z:0.05 [[ 9.56852915e-01 -2.90563973e-01 -2.25301294e-03 4.47208337e+01] [ 2.90563265e-01 9.56855567e-01 -6.42710445e-04 5.73180063e+00] [ 2.34255648e-03 -3.96634333e-05 9.99997255e-01 5.17623603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.563617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.75, Y:5.74, Z:0.05 [[ 9.56809414e-01 -2.90707190e-01 -2.25284536e-03 4.47480008e+01] [ 2.90706480e-01 9.56812065e-01 -6.43297308e-04 5.73936231e+00] [ 2.34256078e-03 -3.94038260e-05 9.99997255e-01 5.14728443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.59361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.78, Y:5.75, Z:0.05 [[ 9.56755068e-01 -2.90886002e-01 -2.25267843e-03 4.47751750e+01] [ 2.90885292e-01 9.56757719e-01 -6.43881356e-04 5.74672573e+00] [ 2.34256354e-03 -3.92342709e-05 9.99997255e-01 5.19871412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.80, Y:5.75, Z:0.05 [[ 9.56655983e-01 -2.91211702e-01 -2.25250285e-03 4.48024893e+01] [ 2.91210992e-01 9.56658634e-01 -6.44494984e-04 5.75431586e+00] [ 2.34256078e-03 -3.93936069e-05 9.99997255e-01 5.14388200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.653617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.83, Y:5.76, Z:0.05 [[ 9.56745117e-01 -2.90918727e-01 -2.25300389e-03 4.48292601e+01] [ 2.90918020e-01 9.56747768e-01 -6.42745321e-04 5.76173008e+00] [ 2.34254309e-03 -4.04959832e-05 9.99997255e-01 5.20277087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.683617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.86, Y:5.77, Z:0.05 [[ 9.56691011e-01 -2.91096610e-01 -2.25242104e-03 4.48553113e+01] [ 2.91095899e-01 9.56693661e-01 -6.44778649e-04 5.76935938e+00] [ 2.34256981e-03 -3.88165892e-05 9.99997255e-01 5.14937120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.713617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.88, Y:5.78, Z:0.05 [[ 9.56932559e-01 -2.90301577e-01 -2.25200115e-03 4.48828216e+01] [ 2.90300860e-01 9.56935208e-01 -6.46241845e-04 5.77644198e+00] [ 2.34262422e-03 -3.53480090e-05 9.99997255e-01 5.08168354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.743617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.91, Y:5.78, Z:0.05 [[ 9.57004719e-01 -2.90063608e-01 -2.25182406e-03 4.49103194e+01] [ 2.90062888e-01 9.57007368e-01 -6.46858350e-04 5.78389372e+00] [ 2.34264228e-03 -3.41240964e-05 9.99997255e-01 5.02165153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.94, Y:5.79, Z:0.05 [[ 9.57146222e-01 -2.89596339e-01 -2.25164799e-03 4.49361568e+01] [ 2.89595617e-01 9.57148870e-01 -6.47470657e-04 5.79062559e+00] [ 2.34266746e-03 -3.23432929e-05 9.99997255e-01 4.98652798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:44.96, Y:5.80, Z:0.05 [[ 9.57261041e-01 -2.89216579e-01 -2.25157164e-03 4.49633848e+01] [ 2.89215855e-01 9.57263689e-01 -6.47736041e-04 5.79761548e+00] [ 2.34268377e-03 -3.11377406e-05 9.99997255e-01 4.95633277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.833617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.99, Y:5.80, Z:0.05 [[ 9.57248338e-01 -2.89258621e-01 -2.25139706e-03 4.49902991e+01] [ 2.89257896e-01 9.57250986e-01 -6.48342272e-04 5.80420308e+00] [ 2.34269065e-03 -3.06098146e-05 9.99997255e-01 4.86211965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.863617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.02, Y:5.81, Z:0.05 [[ 9.57133883e-01 -2.89637121e-01 -2.25121990e-03 4.50172692e+01] [ 2.89636396e-01 9.57136530e-01 -6.48956857e-04 5.81066918e+00] [ 2.34268679e-03 -3.08966208e-05 9.99997255e-01 4.83214621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.893617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.04, Y:5.82, Z:0.05 [[ 9.57013655e-01 -2.90034130e-01 -2.25104288e-03 4.50437205e+01] [ 2.90033405e-01 9.57016302e-01 -6.49570300e-04 5.81671517e+00] [ 2.34268229e-03 -3.12299825e-05 9.99997255e-01 4.79016409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.923617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.07, Y:5.82, Z:0.05 [[ 9.56724076e-01 -2.90987931e-01 -2.25096606e-03 4.50708552e+01] [ 2.90987207e-01 9.56726723e-01 -6.49836403e-04 5.82298481e+00] [ 2.34265393e-03 -3.32881932e-05 9.99997255e-01 4.81587947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.953617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.10, Y:5.83, Z:0.05 [[ 9.55981889e-01 -2.93417043e-01 -2.25079521e-03 4.50990184e+01] [ 2.93416324e-01 9.55984538e-01 -6.50427611e-04 5.82745429e+00] [ 2.34257197e-03 -3.86230408e-05 9.99997255e-01 4.96947810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.13, Y:5.83, Z:0.05 [[ 9.55419762e-01 -2.95242297e-01 -2.25062273e-03 4.51279997e+01] [ 2.95241582e-01 9.55422411e-01 -6.51023871e-04 5.83383696e+00] [ 2.34250518e-03 -4.24763458e-05 9.99997255e-01 5.00670331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.01361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.15, Y:5.84, Z:0.05 [[ 9.55151806e-01 -2.96108011e-01 -2.25259802e-03 4.51539030e+01] [ 2.96107315e-01 9.55154460e-01 -6.44196796e-04 5.83978700e+00] [ 2.34233088e-03 -5.17050173e-05 9.99997255e-01 5.08557160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.043617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.19, Y:5.84, Z:0.05 [[ 9.55080577e-01 -2.96337692e-01 -2.25040039e-03 4.51873681e+01] [ 2.96336979e-01 9.55083227e-01 -6.51784505e-04 5.84201353e+00] [ 2.34246798e-03 -4.43701312e-05 9.99997255e-01 4.82952853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.073617864999996 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:45.21, Y:5.85, Z:0.05 [[ 9.54058553e-01 -2.99611725e-01 -2.25659032e-03 4.52108882e+01] [ 2.99611071e-01 9.54061218e-01 -6.30401039e-04 5.85097285e+00] [ 2.34180086e-03 -7.46599413e-05 9.99997255e-01 5.05886563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.103617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.24, Y:5.86, Z:0.05 [[ 9.53662350e-01 -3.00870502e-01 -2.25021447e-03 4.52387847e+01] [ 3.00869800e-01 9.53665003e-01 -6.52392453e-04 5.85745238e+00] [ 2.34223644e-03 -5.48594585e-05 9.99997255e-01 5.08246827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.133617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.27, Y:5.86, Z:0.05 [[ 9.53726886e-01 -3.00665857e-01 -2.25157234e-03 4.52658677e+01] [ 3.00665165e-01 9.53729542e-01 -6.47710962e-04 5.86463839e+00] [ 2.34213562e-03 -5.92300090e-05 9.99997255e-01 5.09289872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.29, Y:5.87, Z:0.05 [[ 9.54337454e-01 -2.98722216e-01 -2.24995903e-03 4.52926736e+01] [ 2.98721506e-01 9.54340105e-01 -6.53267466e-04 5.87393249e+00] [ 2.34237164e-03 -4.86735382e-05 9.99997255e-01 5.12149854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.19361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.32, Y:5.88, Z:0.05 [[ 9.54501493e-01 -2.98197648e-01 -2.24990375e-03 4.53195739e+01] [ 2.98196936e-01 9.54504144e-01 -6.53457782e-04 5.88097626e+00] [ 2.34240203e-03 -4.71879766e-05 9.99997255e-01 5.13526348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.223617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.35, Y:5.89, Z:0.05 [[ 9.55171690e-01 -2.96043883e-01 -2.24972821e-03 4.53498089e+01] [ 2.96043163e-01 9.55174339e-01 -6.54061583e-04 5.88638405e+00] [ 2.34251358e-03 -4.12755465e-05 9.99997255e-01 4.91022387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.253617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.37, Y:5.90, Z:0.05 [[ 9.54929913e-01 -2.96822804e-01 -2.25461681e-03 4.53731562e+01] [ 2.96822126e-01 9.54932573e-01 -6.37238048e-04 5.89550009e+00] [ 2.34215381e-03 -6.07024806e-05 9.99997255e-01 5.10216619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.283617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.40, Y:5.90, Z:0.05 [[ 9.55276816e-01 -2.95704493e-01 -2.24903599e-03 4.54007347e+01] [ 2.95703767e-01 9.55279462e-01 -6.56410482e-04 5.90438372e+00] [ 2.34256142e-03 -3.79947014e-05 9.99997255e-01 5.19710490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.313617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.43, Y:5.91, Z:0.05 [[ 9.55286381e-01 -2.95673588e-01 -2.24941481e-03 4.54273220e+01] [ 2.95672865e-01 9.55289028e-01 -6.55109756e-04 5.91217994e+00] [ 2.34253994e-03 -3.92734945e-05 9.99997255e-01 5.18009860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.45, Y:5.92, Z:0.05 [[ 9.55381819e-01 -2.95365060e-01 -2.24969715e-03 4.54545116e+01] [ 2.95364338e-01 9.55384467e-01 -6.54140683e-04 5.92068202e+00] [ 2.34253601e-03 -3.95261938e-05 9.99997255e-01 5.16398852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.37361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:45.48, Y:5.93, Z:0.05 [[ 9.55118222e-01 -2.96216347e-01 -2.24920194e-03 4.54803992e+01] [ 2.96215623e-01 9.55120869e-01 -6.55839000e-04 5.93085228e+00] [ 2.34252994e-03 -3.98449752e-05 9.99997255e-01 5.13026522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.403617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.51, Y:5.94, Z:0.05 [[ 9.55381720e-01 -2.95365386e-01 -2.24900963e-03 4.55086962e+01] [ 2.95364659e-01 9.55384366e-01 -6.56497796e-04 5.93767725e+00] [ 2.34257537e-03 -3.70719705e-05 9.99997255e-01 4.97664976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.433617864999995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:45.53, Y:5.95, Z:0.05 [[ 9.54954255e-01 -2.96744507e-01 -2.25143896e-03 4.55329335e+01] [ 2.96743803e-01 9.54956908e-01 -6.48170310e-04 5.94592763e+00] [ 2.34236816e-03 -4.91275632e-05 9.99997255e-01 5.11395589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.463617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.56, Y:5.95, Z:0.05 [[ 9.54658558e-01 -2.97694443e-01 -2.24851925e-03 4.55605442e+01] [ 2.97693718e-01 9.54661205e-01 -6.58166331e-04 5.95401048e+00] [ 2.34250656e-03 -4.10459357e-05 9.99997255e-01 5.31659039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.493617865 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:45.59, Y:5.96, Z:0.05 [[ 9.54741075e-01 -2.97429693e-01 -2.24881337e-03 4.55896457e+01] [ 2.97428969e-01 9.54743723e-01 -6.57159862e-04 5.96224137e+00] [ 2.34249930e-03 -4.14447298e-05 9.99997255e-01 5.26502378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.61, Y:5.97, Z:0.05 [[ 9.54393204e-01 -2.98544040e-01 -2.25116880e-03 4.56140586e+01] [ 2.98543339e-01 9.54395858e-01 -6.49100843e-04 5.97169821e+00] [ 2.34229137e-03 -5.25740173e-05 9.99997255e-01 5.33638148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.55361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.64, Y:5.98, Z:0.05 [[ 9.54338055e-01 -2.98720304e-01 -2.24855971e-03 4.56410989e+01] [ 2.98719583e-01 9.54340703e-01 -6.58016585e-04 5.98009178e+00] [ 2.34245497e-03 -4.37185489e-05 9.99997255e-01 5.34284322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.583617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:45.67, Y:5.99, Z:0.05 [[ 9.54340816e-01 -2.98711487e-01 -2.24838037e-03 4.56677846e+01] [ 2.98710764e-01 9.54343463e-01 -6.58628799e-04 5.98829149e+00] [ 2.34246709e-03 -4.30590714e-05 9.99997255e-01 5.25788992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.613617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:45.70, Y:6.00, Z:0.05 [[ 9.54252359e-01 -2.98993945e-01 -2.24863568e-03 4.56951799e+01] [ 2.98993225e-01 9.54255007e-01 -6.57757637e-04 5.99649026e+00] [ 2.34243741e-03 -4.46600552e-05 9.99997255e-01 5.26462342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.643617864999996 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:45.72, Y:6.00, Z:0.05 [[ 9.54481673e-01 -2.98261096e-01 -2.24844535e-03 4.57212700e+01] [ 2.98260372e-01 9.54484320e-01 -6.58406356e-04 6.00444132e+00] [ 2.34248283e-03 -4.21853474e-05 9.99997255e-01 5.20076655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.673617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.75, Y:6.01, Z:0.05 [[ 9.54364917e-01 -2.98634491e-01 -2.24619286e-03 4.57491519e+01] [ 2.98633751e-01 9.54367560e-01 -6.66074529e-04 6.01310918e+00] [ 2.34260643e-03 -3.51108361e-05 9.99997255e-01 5.21882936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.703617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:45.78, Y:6.02, Z:0.05 [[ 9.54482114e-01 -2.98259686e-01 -2.24781391e-03 4.57751108e+01] [ 2.98258958e-01 9.54484760e-01 -6.60558277e-04 6.02074244e+00] [ 2.34252202e-03 -3.99395713e-05 9.99997255e-01 5.21317056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73361786499999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:45.80, Y:6.03, Z:0.05 [[ 9.55531092e-01 -2.94881807e-01 -2.24769034e-03 4.58017017e+01] [ 2.94881068e-01 9.55533735e-01 -6.60978487e-04 6.02635494e+00] [ 2.34265447e-03 -3.12158304e-05 9.99997255e-01 5.22807606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.83, Y:6.04, Z:0.05 [[ 9.54821929e-01 -2.97170039e-01 -2.24748374e-03 4.58263176e+01] [ 2.97169305e-01 9.54824574e-01 -6.61680201e-04 6.03765463e+00] [ 2.34258424e-03 -3.60964150e-05 9.99997255e-01 5.16536924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.793617864999995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:45.85, Y:6.05, Z:0.05 [[ 9.54835032e-01 -2.97127938e-01 -2.24739525e-03 4.58525809e+01] [ 2.97127203e-01 9.54837676e-01 -6.61980652e-04 6.04633805e+00] [ 2.34259060e-03 -3.56799473e-05 9.99997255e-01 5.13019090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.823617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.88, Y:6.05, Z:0.05 [[ 9.55290762e-01 -2.95659450e-01 -2.24721932e-03 4.58830334e+01] [ 2.95658709e-01 9.55293404e-01 -6.62577318e-04 6.05382300e+00] [ 2.34265104e-03 -3.14559731e-05 9.99997255e-01 5.04322429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.853617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.91, Y:6.06, Z:0.05 [[ 9.54917955e-01 -2.96861286e-01 -2.25298827e-03 4.59058251e+01] [ 2.96860594e-01 9.54920611e-01 -6.43005943e-04 6.06282575e+00] [ 2.34230851e-03 -5.48055176e-05 9.99997255e-01 5.21131953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.883617865 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:45.93, Y:6.07, Z:0.05 [[ 9.55168014e-01 -2.96055766e-01 -2.24695196e-03 4.59315030e+01] [ 2.96055024e-01 9.55170656e-01 -6.63449550e-04 6.07062535e+00] [ 2.34264064e-03 -3.15156279e-05 9.99997256e-01 5.19778786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.91361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.96, Y:6.08, Z:0.05 [[ 9.54876834e-01 -2.96993600e-01 -2.24367905e-03 4.59602292e+01] [ 2.96992835e-01 9.54879469e-01 -6.74521029e-04 6.07943660e+00] [ 2.34277149e-03 -2.22720959e-05 9.99997255e-01 5.26073221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:45.99, Y:6.09, Z:0.05 [[ 9.54902031e-01 -2.96912553e-01 -2.24666875e-03 4.59866777e+01] [ 2.96911811e-01 9.54904673e-01 -6.64411532e-04 6.08855424e+00] [ 2.34262661e-03 -3.26145662e-05 9.99997256e-01 5.16546083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.973617864999994 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:46.02, Y:6.10, Z:0.05 [[ 9.55483608e-01 -2.95035641e-01 -2.24612351e-03 4.60187372e+01] [ 2.95034890e-01 9.55486248e-01 -6.66253816e-04 6.09533183e+00] [ 2.34270875e-03 -2.60902028e-05 9.99997256e-01 5.12085405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.003617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:46.04, Y:6.11, Z:0.05 [[ 9.54776519e-01 -2.97315847e-01 -2.25518717e-03 4.60402538e+01] [ 2.97315174e-01 9.54779180e-01 -6.35593127e-04 6.10582401e+00] [ 2.34217766e-03 -6.36519726e-05 9.99997255e-01 5.12824385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.033617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.07, Y:6.11, Z:0.05 [[ 9.54901920e-01 -2.96912913e-01 -2.24633078e-03 4.60659589e+01] [ 2.96912169e-01 9.54904561e-01 -6.65487556e-04 6.11357458e+00] [ 2.34262336e-03 -3.14875998e-05 9.99997256e-01 5.08063146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.063617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.10, Y:6.12, Z:0.05 [[ 9.54285204e-01 -2.98889131e-01 -2.24405106e-03 4.60953874e+01] [ 2.98888375e-01 9.54287842e-01 -6.73176565e-04 6.12124522e+00] [ 2.34267580e-03 -2.83183379e-05 9.99997256e-01 5.15392073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.09361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.12, Y:6.13, Z:0.05 [[ 9.54022680e-01 -2.99726011e-01 -2.24609200e-03 4.61219591e+01] [ 2.99725272e-01 9.54025323e-01 -6.66296533e-04 6.12867738e+00] [ 2.34253505e-03 -3.75485320e-05 9.99997256e-01 5.16237311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:46.15, Y:6.14, Z:0.05 [[ 9.54065893e-01 -2.99588431e-01 -2.24590874e-03 4.61529757e+01] [ 2.99587691e-01 9.54068536e-01 -6.66913691e-04 6.13543342e+00] [ 2.34255049e-03 -3.65670059e-05 9.99997256e-01 5.13471279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.153617864999994 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:46.17, Y:6.15, Z:0.05 [[ 9.53147063e-01 -3.02498927e-01 -2.25274663e-03 4.61744816e+01] [ 3.02498249e-01 9.53149723e-01 -6.43872055e-04 6.14536356e+00] [ 2.34197544e-03 -6.77471543e-05 9.99997255e-01 5.08762962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.183617864999995 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:46.20, Y:6.15, Z:0.05 [[ 9.52739739e-01 -3.03779439e-01 -2.24569403e-03 4.62015437e+01] [ 3.03778709e-01 9.52742384e-01 -6.67595969e-04 6.15337690e+00] [ 2.34236981e-03 -4.61488235e-05 9.99997256e-01 5.09723658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.213617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:46.23, Y:6.16, Z:0.05 [[ 9.53025387e-01 -3.02882104e-01 -2.24552303e-03 4.62335408e+01] [ 3.02881370e-01 9.53028032e-01 -6.68170656e-04 6.15889469e+00] [ 2.34242333e-03 -4.33434937e-05 9.99997256e-01 5.08257118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.243617865 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:46.26, Y:6.17, Z:0.05 [[ 9.52528446e-01 -3.04441264e-01 -2.25295126e-03 4.62611003e+01] [ 3.04440594e-01 9.52531108e-01 -6.43160521e-04 6.16522013e+00] [ 2.34181076e-03 -7.32611266e-05 9.99997255e-01 5.13911800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.27361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:46.28, Y:6.17, Z:0.05 [[ 9.51540257e-01 -3.07515946e-01 -2.25426300e-03 4.62818387e+01] [ 3.07515295e-01 9.51542924e-01 -6.38742510e-04 6.17461498e+00] [ 2.34145151e-03 -8.54311387e-05 9.99997255e-01 5.20065820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30361786499999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:46.31, Y:6.18, Z:0.05 [[ 9.51945808e-01 -3.06258285e-01 -2.24544548e-03 4.63149799e+01] [ 3.06257560e-01 9.51948455e-01 -6.68365913e-04 6.17976946e+00] [ 2.34224095e-03 -5.14365243e-05 9.99997256e-01 5.10153064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.333617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.34, Y:6.19, Z:0.05 [[ 9.51044691e-01 -3.09045159e-01 -2.25517505e-03 4.63353176e+01] [ 3.09044519e-01 9.51047360e-01 -6.35635567e-04 6.19004173e+00] [ 2.34121837e-03 -9.24316569e-05 9.99997255e-01 5.17817848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.363617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:46.36, Y:6.20, Z:0.05 [[ 9.50970639e-01 -3.09273023e-01 -2.24519439e-03 4.63614704e+01] [ 3.09272304e-01 9.50973288e-01 -6.69124866e-04 6.19834633e+00] [ 2.34206216e-03 -5.80583405e-05 9.99997256e-01 5.11709930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.393617864999996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:46.39, Y:6.21, Z:0.05 [[ 9.50983127e-01 -3.09234621e-01 -2.24511450e-03 4.63882626e+01] [ 3.09233902e-01 9.50985776e-01 -6.69392830e-04 6.20638257e+00] [ 2.34207139e-03 -5.76842284e-05 9.99997256e-01 5.07303037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.423617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.41, Y:6.21, Z:0.05 [[ 9.51028980e-01 -3.09093577e-01 -2.24493182e-03 4.64145829e+01] [ 3.09092856e-01 9.51031628e-01 -6.70004900e-04 6.21398940e+00] [ 2.34209538e-03 -5.66983104e-05 9.99997256e-01 5.08531410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:46.44, Y:6.22, Z:0.05 [[ 9.51102573e-01 -3.08867051e-01 -2.24485262e-03 4.64411864e+01] [ 3.08866329e-01 9.51105221e-01 -6.70270175e-04 6.22157339e+00] [ 2.34211542e-03 -5.58636982e-05 9.99997256e-01 5.09800460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48361786499999 meters Centerline goodness : 0.995749 Centerline is valid? [True, True] Translation: X:46.47, Y:6.23, Z:0.05 [[ 9.51521168e-01 -3.07575079e-01 -2.24466922e-03 4.64731610e+01] [ 3.07574352e-01 9.51523814e-01 -6.70883772e-04 6.22854335e+00] [ 2.34220335e-03 -5.20425719e-05 9.99997256e-01 4.86500525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.51361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.49, Y:6.24, Z:0.05 [[ 9.51070047e-01 -3.08967123e-01 -2.25437435e-03 4.64943635e+01] [ 3.08966477e-01 9.51072715e-01 -6.38384300e-04 6.23774425e+00] [ 2.34131369e-03 -8.93779117e-05 9.99997255e-01 5.04509416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.543617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.53, Y:6.24, Z:0.05 [[ 9.51498428e-01 -3.07645421e-01 -2.24423014e-03 4.65269379e+01] [ 3.07644691e-01 9.51501073e-01 -6.72249608e-04 6.24412857e+00] [ 2.34220190e-03 -5.07810421e-05 9.99997256e-01 4.90900250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.573617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.55, Y:6.25, Z:0.05 [[ 9.50756772e-01 -3.09929811e-01 -2.25216276e-03 4.65494991e+01] [ 3.09929150e-01 9.50759436e-01 -6.45740441e-04 6.25349812e+00] [ 2.34139921e-03 -8.40687927e-05 9.99997255e-01 5.09801318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.603617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.58, Y:6.26, Z:0.05 [[ 9.50621538e-01 -3.10344416e-01 -2.24398506e-03 4.65784248e+01] [ 3.10343691e-01 9.50624185e-01 -6.73007063e-04 6.26058529e+00] [ 2.34205046e-03 -5.66315990e-05 9.99997256e-01 5.03080118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.633617865 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:46.60, Y:6.27, Z:0.05 [[ 9.50308570e-01 -3.11301421e-01 -2.24659275e-03 4.66042127e+01] [ 3.11300720e-01 9.50311223e-01 -6.64322944e-04 6.27006130e+00] [ 2.34176698e-03 -6.80541535e-05 9.99997256e-01 5.10381428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66361786499999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:46.63, Y:6.28, Z:0.05 [[ 9.50396298e-01 -3.11033510e-01 -2.24350589e-03 4.66297070e+01] [ 3.11032783e-01 9.50398944e-01 -6.74589042e-04 6.27923962e+00] [ 2.34204542e-03 -5.66769521e-05 9.99997256e-01 5.20282198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.69361786499999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:46.66, Y:6.29, Z:0.05 [[ 9.50406783e-01 -3.11001469e-01 -2.24337194e-03 4.66573628e+01] [ 3.11000742e-01 9.50409429e-01 -6.75034192e-04 6.28829039e+00] [ 2.34205847e-03 -5.61332620e-05 9.99997256e-01 5.21427776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.723617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.68, Y:6.30, Z:0.05 [[ 9.50427145e-01 -3.10939234e-01 -2.24376555e-03 4.66833847e+01] [ 3.10938509e-01 9.50429792e-01 -6.73726631e-04 6.29668125e+00] [ 2.34202967e-03 -5.73450378e-05 9.99997256e-01 5.23824026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.753617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:46.71, Y:6.31, Z:0.05 [[ 9.50356402e-01 -3.11155392e-01 -2.24312368e-03 4.67097063e+01] [ 3.11154663e-01 9.50359047e-01 -6.75856965e-04 6.30570763e+00] [ 2.34206942e-03 -5.56533982e-05 9.99997256e-01 5.19508595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.783617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.74, Y:6.31, Z:0.05 [[ 9.50479331e-01 -3.10779682e-01 -2.24294138e-03 4.67357778e+01] [ 3.10778951e-01 9.50481976e-01 -6.76461411e-04 6.31433894e+00] [ 2.34210582e-03 -5.40963795e-05 9.99997256e-01 5.09283443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.813617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.76, Y:6.32, Z:0.05 [[ 9.50096375e-01 -3.11948471e-01 -2.24274748e-03 4.67621187e+01] [ 3.11947741e-01 9.50099020e-01 -6.77103669e-04 6.32349161e+00] [ 2.34205364e-03 -5.63062676e-05 9.99997256e-01 5.09349502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.79, Y:6.33, Z:0.05 [[ 9.50001270e-01 -3.12237981e-01 -2.24255124e-03 4.67889347e+01] [ 3.12237251e-01 9.50003916e-01 -6.77752975e-04 6.33261961e+00] [ 2.34205268e-03 -5.63418475e-05 9.99997256e-01 5.03313152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.87361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:46.82, Y:6.34, Z:0.05 [[ 9.49981141e-01 -3.12299220e-01 -2.24236479e-03 4.68157453e+01] [ 3.12298488e-01 9.49983786e-01 -6.78369307e-04 6.34238684e+00] [ 2.34206440e-03 -5.58490841e-05 9.99997256e-01 5.00099971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.903617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.84, Y:6.35, Z:0.05 [[ 9.49989950e-01 -3.12272425e-01 -2.24217805e-03 4.68409345e+01] [ 3.12271692e-01 9.49992594e-01 -6.78985952e-04 6.35100353e+00] [ 2.34208113e-03 -5.51389036e-05 9.99997256e-01 4.96387567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.933617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:46.87, Y:6.36, Z:0.05 [[ 9.49816090e-01 -3.12800846e-01 -2.24205119e-03 4.68670792e+01] [ 3.12800113e-01 9.49818734e-01 -6.79404613e-04 6.36146516e+00] [ 2.34206056e-03 -5.60044307e-05 9.99997256e-01 5.01126386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.963617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.89, Y:6.37, Z:0.05 [[ 9.49373658e-01 -3.14141101e-01 -2.24186631e-03 4.68944907e+01] [ 3.14140370e-01 9.49376303e-01 -6.80014115e-04 6.37030001e+00] [ 2.34199513e-03 -5.86732241e-05 9.99997256e-01 5.07971847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.993617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.92, Y:6.38, Z:0.05 [[ 9.49528525e-01 -3.13672667e-01 -2.24463589e-03 4.69198544e+01] [ 3.13671956e-01 9.49531176e-01 -6.70885708e-04 6.37864408e+00] [ 2.34179026e-03 -6.70542141e-05 9.99997256e-01 5.06695530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.95, Y:6.39, Z:0.05 [[ 9.49288493e-01 -3.14398367e-01 -2.24162802e-03 4.69462840e+01] [ 3.14397635e-01 9.49291137e-01 -6.80789696e-04 6.38723359e+00] [ 2.34199678e-03 -5.84967225e-05 9.99997256e-01 5.09782316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.05361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.97, Y:6.40, Z:0.05 [[ 9.49087127e-01 -3.15005718e-01 -2.24144529e-03 4.69729101e+01] [ 3.15004986e-01 9.49089771e-01 -6.81390787e-04 6.39681065e+00] [ 2.34197479e-03 -5.93672182e-05 9.99997256e-01 5.13840023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.083617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:47.00, Y:6.41, Z:0.05 [[ 9.49192582e-01 -3.14687812e-01 -2.24126141e-03 4.69982714e+01] [ 3.14687078e-01 9.49195226e-01 -6.81995065e-04 6.40533987e+00] [ 2.34201017e-03 -5.79513475e-05 9.99997256e-01 5.13090847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.113617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.02, Y:6.41, Z:0.05 [[ 9.49198638e-01 -3.14669545e-01 -2.24118168e-03 4.70249992e+01] [ 3.14668811e-01 9.49201282e-01 -6.82256970e-04 6.41439309e+00] [ 2.34201802e-03 -5.76325888e-05 9.99997256e-01 5.12367207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.143617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.05, Y:6.42, Z:0.05 [[ 9.49582309e-01 -3.13509834e-01 -2.24099655e-03 4.70502043e+01] [ 3.13509095e-01 9.49584952e-01 -6.82864513e-04 6.42378933e+00] [ 2.34210135e-03 -5.41367413e-05 9.99997256e-01 5.11359922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.173617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:47.08, Y:6.43, Z:0.05 [[ 9.49784701e-01 -3.12896149e-01 -2.24087074e-03 4.70771055e+01] [ 3.12895407e-01 9.49787343e-01 -6.83277115e-04 6.43260670e+00] [ 2.34214545e-03 -5.21920130e-05 9.99997256e-01 5.09909234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:47.10, Y:6.44, Z:0.05 [[ 9.49914432e-01 -3.12502083e-01 -2.24068898e-03 4.71042049e+01] [ 3.12501338e-01 9.49917073e-01 -6.83872665e-04 6.44157117e+00] [ 2.34218035e-03 -5.05977911e-05 9.99997256e-01 5.15187879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.23361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:47.13, Y:6.45, Z:0.05 [[ 9.50306235e-01 -3.11308592e-01 -2.24050048e-03 4.71311992e+01] [ 3.11307843e-01 9.50308875e-01 -6.84489659e-04 6.45055722e+00] [ 2.34225501e-03 -4.70105814e-05 9.99997256e-01 5.22007441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.16, Y:6.46, Z:0.05 [[ 9.50628503e-01 -3.10323099e-01 -2.24144121e-03 4.71581498e+01] [ 3.10322355e-01 9.50631144e-01 -6.81412778e-04 6.45960002e+00] [ 2.34224195e-03 -4.77989068e-05 9.99997256e-01 5.31617377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.293617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.19, Y:6.47, Z:0.05 [[ 9.50825123e-01 -3.09720143e-01 -2.24013885e-03 4.71850710e+01] [ 3.09719387e-01 9.50827761e-01 -6.85667731e-04 6.46868678e+00] [ 2.34235131e-03 -4.18643256e-05 9.99997256e-01 5.35966757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.323617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:47.21, Y:6.48, Z:0.05 [[ 9.51075804e-01 -3.08949505e-01 -2.23994800e-03 4.72111187e+01] [ 3.08948745e-01 9.51078441e-01 -6.86290606e-04 6.47756383e+00] [ 2.34239540e-03 -3.93147360e-05 9.99997256e-01 5.33057834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.353617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.24, Y:6.49, Z:0.05 [[ 9.51202248e-01 -3.08559989e-01 -2.23986527e-03 4.72376203e+01] [ 3.08559228e-01 9.51204884e-01 -6.86560513e-04 6.48713119e+00] [ 2.34241589e-03 -3.80731963e-05 9.99997256e-01 5.28354941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.383617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.26, Y:6.50, Z:0.05 [[ 9.49980206e-01 -3.12302084e-01 -2.23967816e-03 4.72599098e+01] [ 3.12301331e-01 9.49982845e-01 -6.87170357e-04 6.49887570e+00] [ 2.34226057e-03 -4.66562341e-05 9.99997256e-01 4.79118225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.41361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:47.29, Y:6.50, Z:0.05 [[ 9.50926343e-01 -3.09409284e-01 -2.23290543e-03 4.72903269e+01] [ 3.09408472e-01 9.50928964e-01 -7.09196849e-04 6.50392928e+00] [ 2.34276654e-03 -1.64858921e-05 9.99997256e-01 5.25893858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44361786499999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:47.31, Y:6.51, Z:0.05 [[ 9.49613292e-01 -3.13415987e-01 -2.23936521e-03 4.73135871e+01] [ 3.13415235e-01 9.49615931e-01 -6.88176377e-04 6.51484310e+00] [ 2.34222236e-03 -4.83497387e-05 9.99997256e-01 4.96284338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.473617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:47.34, Y:6.52, Z:0.05 [[ 9.49866326e-01 -3.12648321e-01 -2.23364284e-03 4.73437027e+01] [ 3.12647524e-01 9.49868952e-01 -7.06773585e-04 6.52202186e+00] [ 2.34263956e-03 -2.70024759e-05 9.99997256e-01 5.25787287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.503617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.37, Y:6.53, Z:0.05 [[ 9.49986920e-01 -3.12281663e-01 -2.23914070e-03 4.73696822e+01] [ 3.12280907e-01 9.49989558e-01 -6.88903932e-04 6.52917634e+00] [ 2.34229235e-03 -4.47911643e-05 9.99997256e-01 5.43457997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.533617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.40, Y:6.54, Z:0.05 [[ 9.49904740e-01 -3.12531553e-01 -2.23900235e-03 4.73969692e+01] [ 3.12530796e-01 9.49907378e-01 -6.89353281e-04 6.53766096e+00] [ 2.34228951e-03 -4.49372391e-05 9.99997256e-01 5.44125797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.563617865 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.42, Y:6.55, Z:0.06 [[ 9.49324288e-01 -3.14290285e-01 -2.23882086e-03 4.74233430e+01] [ 3.14289532e-01 9.49326927e-01 -6.89942218e-04 6.54653746e+00] [ 2.34221506e-03 -4.86590551e-05 9.99997256e-01 5.52255075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.59361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.45, Y:6.56, Z:0.05 [[ 9.48947757e-01 -3.15425335e-01 -2.23863135e-03 4.74506411e+01] [ 3.15424584e-01 9.48950397e-01 -6.90556569e-04 6.55520271e+00] [ 2.34216914e-03 -5.08172534e-05 9.99997256e-01 5.40969091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.48, Y:6.56, Z:0.06 [[ 9.48648195e-01 -3.16325126e-01 -2.23970420e-03 4.74762242e+01] [ 3.16324385e-01 9.48650837e-01 -6.87079948e-04 6.56378180e+00] [ 2.34203792e-03 -5.66759007e-05 9.99997256e-01 5.56457170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.653617864999994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:47.50, Y:6.57, Z:0.06 [[ 9.48497705e-01 -3.16776094e-01 -2.23839332e-03 4.75033933e+01] [ 3.16775344e-01 9.48500344e-01 -6.91324378e-04 6.57257252e+00] [ 2.34211187e-03 -5.33482272e-05 9.99997256e-01 5.59677150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.683617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.53, Y:6.58, Z:0.06 [[ 9.48440794e-01 -3.16946430e-01 -2.24069603e-03 4.75281088e+01] [ 3.16945698e-01 9.48443439e-01 -6.83870946e-04 6.58243938e+00] [ 2.34192391e-03 -6.15678651e-05 9.99997256e-01 5.53692771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.713617864999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.55, Y:6.59, Z:0.06 [[ 9.48356657e-01 -3.17198100e-01 -2.23973280e-03 4.75546023e+01] [ 3.17197362e-01 9.48359300e-01 -6.86986609e-04 6.59189688e+00] [ 2.34198228e-03 -5.89290120e-05 9.99997256e-01 5.52459647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.743617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.58, Y:6.60, Z:0.05 [[ 9.47804640e-01 -3.18843774e-01 -2.23879233e-03 4.75810990e+01] [ 3.18843033e-01 9.47807282e-01 -6.90026112e-04 6.60208253e+00] [ 2.34195420e-03 -5.98133864e-05 9.99997256e-01 5.27705994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.61, Y:6.61, Z:0.05 [[ 9.47441903e-01 -3.19920040e-01 -2.23791299e-03 4.76064218e+01] [ 3.19919295e-01 9.47444544e-01 -6.92866312e-04 6.61112730e+00] [ 2.34196028e-03 -5.95009712e-05 9.99997256e-01 5.32973908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.63, Y:6.62, Z:0.05 [[ 9.47024871e-01 -3.21152439e-01 -2.23728699e-03 4.76339777e+01] [ 3.21151693e-01 9.47027511e-01 -6.94886698e-04 6.62048274e+00] [ 2.34193689e-03 -6.04335198e-05 9.99997256e-01 5.22179907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.833617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.66, Y:6.63, Z:0.06 [[ 9.47416144e-01 -3.19996311e-01 -2.23842275e-03 4.76603801e+01] [ 3.19995570e-01 9.47418787e-01 -6.91222420e-04 6.62842554e+00] [ 2.34191239e-03 -6.14100860e-05 9.99997256e-01 5.50795374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.863617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.69, Y:6.64, Z:0.05 [[ 9.47009313e-01 -3.21198310e-01 -2.23756771e-03 4.76866518e+01] [ 3.21197566e-01 9.47011955e-01 -6.93979281e-04 6.63913714e+00] [ 2.34190835e-03 -6.14964606e-05 9.99997256e-01 5.48898032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.893617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.71, Y:6.65, Z:0.05 [[ 9.45879417e-01 -3.24510590e-01 -2.23737805e-03 4.77102250e+01] [ 3.24509854e-01 9.45882060e-01 -6.94590234e-04 6.65084676e+00] [ 2.34169764e-03 -6.90526173e-05 9.99997256e-01 5.18726324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.923617865 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.74, Y:6.66, Z:0.06 [[ 9.46863105e-01 -3.21629103e-01 -2.23182693e-03 4.77396182e+01] [ 3.21628316e-01 9.46865734e-01 -7.12446983e-04 6.65740014e+00] [ 2.34238413e-03 -4.32289750e-05 9.99997256e-01 5.52902779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95361786499999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:47.76, Y:6.67, Z:0.05 [[ 9.46041295e-01 -3.24038368e-01 -2.23712811e-03 4.77632963e+01] [ 3.24037629e-01 9.46043938e-01 -6.95392697e-04 6.66891896e+00] [ 2.34175540e-03 -6.70434800e-05 9.99997256e-01 5.26295264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.79, Y:6.68, Z:0.05 [[ 9.47241078e-01 -3.20514205e-01 -2.23246108e-03 4.77918198e+01] [ 3.20513421e-01 9.47243708e-01 -7.10382280e-04 6.67842165e+00] [ 2.34237233e-03 -4.26304620e-05 9.99997256e-01 5.48264279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.82, Y:6.69, Z:0.05 [[ 9.47388187e-01 -3.20079082e-01 -2.23689083e-03 4.78183652e+01] [ 3.20078330e-01 9.47390826e-01 -6.96148465e-04 6.68829455e+00] [ 2.34203241e-03 -5.64574479e-05 9.99997256e-01 5.41162854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.043617864999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.84, Y:6.70, Z:0.05 [[ 9.46214000e-01 -3.23533713e-01 -2.23670119e-03 4.78391019e+01] [ 3.23532969e-01 9.46216641e-01 -6.96757209e-04 6.70077111e+00] [ 2.34182834e-03 -6.43651532e-05 9.99997256e-01 5.00334460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.073617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.87, Y:6.71, Z:0.05 [[ 9.48243259e-01 -3.17537019e-01 -2.22790539e-03 4.78707847e+01] [ 3.17536192e-01 9.48245876e-01 -7.24927849e-04 6.70739280e+00] [ 2.34279352e-03 -2.00326463e-05 9.99997255e-01 5.40445995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.103617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.90, Y:6.72, Z:0.05 [[ 9.48481739e-01 -3.16823910e-01 -2.23642331e-03 4.78970833e+01] [ 3.16823145e-01 9.48484374e-01 -6.97621223e-04 6.71704502e+00] [ 2.34223565e-03 -4.68696782e-05 9.99997256e-01 5.42789204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.92, Y:6.73, Z:0.05 [[ 9.47686341e-01 -3.19195235e-01 -2.23623204e-03 4.79198997e+01] [ 3.19194476e-01 9.47688978e-01 -6.98233819e-04 6.72936973e+00] [ 2.34212536e-03 -5.20862596e-05 9.99997256e-01 5.09212359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16361786499999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:47.95, Y:6.74, Z:0.05 [[ 9.48443413e-01 -3.16938666e-01 -2.23036067e-03 4.79472517e+01] [ 3.16937856e-01 9.48446035e-01 -7.16990766e-04 6.73971243e+00] [ 2.34261883e-03 -2.68605599e-05 9.99997256e-01 5.00961885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.19361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.97, Y:6.75, Z:0.05 [[ 9.47798879e-01 -3.18860939e-01 -2.23280537e-03 4.79708536e+01] [ 3.18860153e-01 9.47801509e-01 -7.09179212e-04 6.75093158e+00] [ 2.34238584e-03 -3.97933989e-05 9.99997256e-01 4.81747631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.223617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.00, Y:6.76, Z:0.05 [[ 9.49223654e-01 -3.14594172e-01 -2.22742202e-03 4.80022008e+01] [ 3.14593334e-01 9.49226267e-01 -7.26358026e-04 6.75643015e+00] [ 2.34283549e-03 -1.12558999e-05 9.99997255e-01 5.24853434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.253617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.02, Y:6.77, Z:0.05 [[ 9.47772273e-01 -3.18939993e-01 -2.23571590e-03 4.80227965e+01] [ 3.18939229e-01 9.47774909e-01 -6.99863195e-04 6.76873496e+00] [ 2.34216980e-03 -4.97465753e-05 9.99997256e-01 4.67798121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.283617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.06, Y:6.77, Z:0.05 [[ 9.48744802e-01 -3.16035351e-01 -2.22664625e-03 4.80564557e+01] [ 3.16034511e-01 9.48747415e-01 -7.28822950e-04 6.77452370e+00] [ 2.34285869e-03 -1.22300749e-05 9.99997255e-01 5.27331680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.313617865 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.08, Y:6.78, Z:0.05 [[ 9.48421202e-01 -3.17005087e-01 -2.23587475e-03 4.80816106e+01] [ 3.17004318e-01 9.48423836e-01 -6.99317372e-04 6.78337566e+00] [ 2.34224407e-03 -4.55345296e-05 9.99997256e-01 5.28219956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.11, Y:6.79, Z:0.05 [[ 9.48131179e-01 -3.17871467e-01 -2.23578989e-03 4.81072614e+01] [ 3.17870701e-01 9.48133813e-01 -6.99588571e-04 6.79415389e+00] [ 2.34220724e-03 -4.73903633e-05 9.99997256e-01 5.30662398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.13, Y:6.80, Z:0.05 [[ 9.47431617e-01 -3.19950515e-01 -2.23559744e-03 4.81333398e+01] [ 3.19949754e-01 9.47434254e-01 -7.00203043e-04 6.80283017e+00] [ 2.34211191e-03 -5.18843471e-05 9.99997256e-01 5.34558678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.403617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.16, Y:6.81, Z:0.05 [[ 9.47044218e-01 -3.21095402e-01 -2.23434694e-03 4.81612216e+01] [ 3.21094634e-01 9.47046852e-01 -7.04191924e-04 6.81200976e+00] [ 2.34214402e-03 -5.05359222e-05 9.99997256e-01 5.19326658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.433617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.19, Y:6.82, Z:0.05 [[ 9.46864954e-01 -3.21623635e-01 -2.23526805e-03 4.81871350e+01] [ 3.21622875e-01 9.46867591e-01 -7.01255859e-04 6.82038876e+00] [ 2.34204333e-03 -5.49187397e-05 9.99997256e-01 5.16447863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.463617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.21, Y:6.83, Z:0.05 [[ 9.46984859e-01 -3.21270416e-01 -2.23518351e-03 4.82125071e+01] [ 3.21269654e-01 9.46987496e-01 -7.01525202e-04 6.82909893e+00] [ 2.34207013e-03 -5.37628904e-05 9.99997256e-01 5.15359174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.493617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.24, Y:6.84, Z:0.05 [[ 9.47036660e-01 -3.21117703e-01 -2.23282762e-03 4.82390584e+01] [ 3.21116924e-01 9.47039291e-01 -7.09021084e-04 6.83792168e+00] [ 2.34225471e-03 -4.55297783e-05 9.99997256e-01 5.07439110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.27, Y:6.85, Z:0.05 [[ 9.46897937e-01 -3.21526532e-01 -2.23314809e-03 4.82661623e+01] [ 3.21525756e-01 9.46900569e-01 -7.08001413e-04 6.84739218e+00] [ 2.34221043e-03 -4.76095501e-05 9.99997256e-01 5.04043551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.55361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.29, Y:6.86, Z:0.05 [[ 9.47028366e-01 -3.21142155e-01 -2.23376909e-03 4.82928267e+01] [ 3.21141383e-01 9.47030999e-01 -7.06026245e-04 6.85647465e+00] [ 2.34218337e-03 -4.87288147e-05 9.99997256e-01 4.96328069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.583617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.32, Y:6.87, Z:0.05 [[ 9.46779493e-01 -3.21875145e-01 -2.23230916e-03 4.83205292e+01] [ 3.21874364e-01 9.46782123e-01 -7.10665226e-04 6.86556220e+00] [ 2.34225588e-03 -4.56798292e-05 9.99997256e-01 4.91543708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.613617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.35, Y:6.87, Z:0.05 [[ 9.46549522e-01 -3.22550785e-01 -2.23463625e-03 4.83472524e+01] [ 3.22550023e-01 9.46552158e-01 -7.03270920e-04 6.87371621e+00] [ 2.34204036e-03 -5.51012220e-05 9.99997256e-01 4.95987496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.643617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.37, Y:6.88, Z:0.05 [[ 9.46087414e-01 -3.23903708e-01 -2.23444568e-03 4.83745502e+01] [ 3.23902948e-01 9.46090051e-01 -7.03875904e-04 6.88066408e+00] [ 2.34197484e-03 -5.78154081e-05 9.99997256e-01 5.25831310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.673617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.40, Y:6.89, Z:0.05 [[ 9.45671788e-01 -3.25115177e-01 -2.23387522e-03 4.84012871e+01] [ 3.25114417e-01 9.45674425e-01 -7.05685695e-04 6.88879661e+00] [ 2.34194779e-03 -5.89179850e-05 9.99997256e-01 5.09703027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.43, Y:6.90, Z:0.05 [[ 9.45219546e-01 -3.26427661e-01 -2.23421887e-03 4.84276474e+01] [ 3.26426906e-01 9.45222185e-01 -7.04595994e-04 6.89716919e+00] [ 2.34183286e-03 -6.33112475e-05 9.99997256e-01 5.10811744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.45, Y:6.91, Z:0.05 [[ 9.44770299e-01 -3.27725635e-01 -2.23403345e-03 4.84541917e+01] [ 3.27724883e-01 9.44772938e-01 -7.05183400e-04 6.90526711e+00] [ 2.34176102e-03 -6.59120195e-05 9.99997256e-01 5.08498627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.48, Y:6.91, Z:0.05 [[ 9.44518613e-01 -3.28450301e-01 -2.23384887e-03 4.84778044e+01] [ 3.28449550e-01 9.44521252e-01 -7.05767629e-04 6.91172958e+00] [ 2.34172732e-03 -6.70959939e-05 9.99997256e-01 4.72156443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.793617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.51, Y:6.92, Z:0.05 [[ 9.43987778e-01 -3.29972885e-01 -2.22943737e-03 4.85077664e+01] [ 3.29972105e-01 9.43990409e-01 -7.19742100e-04 6.92000567e+00] [ 2.34206287e-03 -5.62243944e-05 9.99997256e-01 5.12716107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.823617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.54, Y:6.93, Z:0.05 [[ 9.43613387e-01 -3.31041969e-01 -2.23408933e-03 4.85364583e+01] [ 3.31041226e-01 9.43616029e-01 -7.05000401e-04 6.92815090e+00] [ 2.34150722e-03 -7.43278553e-05 9.99997256e-01 4.89573220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.853617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.56, Y:6.94, Z:0.05 [[ 9.43869822e-01 -3.30310088e-01 -2.23715117e-03 4.85615375e+01] [ 3.30309367e-01 9.43872470e-01 -6.95299433e-04 6.93570946e+00] [ 2.34124981e-03 -8.26798329e-05 9.99997256e-01 5.26352173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.59, Y:6.94, Z:0.05 [[ 9.44107542e-01 -3.29630047e-01 -2.23197688e-03 4.85871552e+01] [ 3.29629285e-01 9.44110178e-01 -7.11666829e-04 6.94270097e+00] [ 2.34181886e-03 -6.38349222e-05 9.99997256e-01 5.35020059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.61, Y:6.95, Z:0.05 [[ 9.43987634e-01 -3.29973286e-01 -2.23095516e-03 4.86146737e+01] [ 3.29972518e-01 9.43990268e-01 -7.14896154e-04 6.95097217e+00] [ 2.34189659e-03 -6.13007615e-05 9.99997256e-01 5.25336690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.64, Y:6.96, Z:0.05 [[ 9.44122357e-01 -3.29587602e-01 -2.23353349e-03 4.86417146e+01] [ 3.29586851e-01 9.44124996e-01 -7.06747858e-04 6.95932736e+00] [ 2.34167013e-03 -6.88868165e-05 9.99997256e-01 5.27193947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.973617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.67, Y:6.97, Z:0.05 [[ 9.44804239e-01 -3.27627780e-01 -2.23334307e-03 4.86687625e+01] [ 3.27627023e-01 9.44806876e-01 -7.07349085e-04 6.96698019e+00] [ 2.34182510e-03 -6.33971258e-05 9.99997256e-01 5.41337988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.003617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.70, Y:6.98, Z:0.05 [[ 9.44139099e-01 -3.29539648e-01 -2.23184145e-03 4.86959460e+01] [ 3.29538885e-01 9.44141735e-01 -7.12089126e-04 6.97653291e+00] [ 2.34183626e-03 -6.31673556e-05 9.99997256e-01 5.14798879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.033617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.72, Y:6.98, Z:0.05 [[ 9.44945493e-01 -3.27220152e-01 -2.23324144e-03 4.87230111e+01] [ 3.27219393e-01 9.44948130e-01 -7.07671080e-04 6.98217284e+00] [ 2.34186156e-03 -6.20493100e-05 9.99997256e-01 5.46475937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.063617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.75, Y:6.99, Z:0.06 [[ 9.45192671e-01 -3.26505480e-01 -2.23315499e-03 4.87494706e+01] [ 3.26504718e-01 9.45195307e-01 -7.07943765e-04 6.98996655e+00] [ 2.34191514e-03 -5.99923845e-05 9.99997256e-01 5.57594298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.09361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.78, Y:7.00, Z:0.05 [[ 9.44516150e-01 -3.28457396e-01 -2.23174073e-03 4.87771372e+01] [ 3.28456629e-01 9.44518785e-01 -7.12403776e-04 7.00000860e+00] [ 2.34191533e-03 -6.01531648e-05 9.99997256e-01 5.32976390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.80, Y:7.01, Z:0.05 [[ 9.44673628e-01 -3.28004192e-01 -2.23305659e-03 4.88035986e+01] [ 3.28003433e-01 9.44676265e-01 -7.08254988e-04 7.00745227e+00] [ 2.34182617e-03 -6.33804199e-05 9.99997256e-01 5.38619771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.153617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.83, Y:7.02, Z:0.05 [[ 9.44632009e-01 -3.28124034e-01 -2.23296969e-03 4.88307161e+01] [ 3.28123275e-01 9.44634646e-01 -7.08528857e-04 7.01514806e+00] [ 2.34182588e-03 -6.33902915e-05 9.99997256e-01 5.47758295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.183617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.86, Y:7.02, Z:0.05 [[ 9.44874360e-01 -3.27425500e-01 -2.23276859e-03 4.88583672e+01] [ 3.27424738e-01 9.44876996e-01 -7.09162039e-04 7.02145735e+00] [ 2.34188941e-03 -6.09946418e-05 9.99997256e-01 5.45588764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.213617864999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.89, Y:7.03, Z:0.06 [[ 9.44893101e-01 -3.27371414e-01 -2.23270635e-03 4.88851942e+01] [ 3.27370651e-01 9.44895737e-01 -7.09357911e-04 7.02890607e+00] [ 2.34189822e-03 -6.06551361e-05 9.99997256e-01 5.51701835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.243617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.91, Y:7.04, Z:0.05 [[ 9.44961304e-01 -3.27174493e-01 -2.23264662e-03 4.89118401e+01] [ 3.27173729e-01 9.44963940e-01 -7.09545871e-04 7.03721777e+00] [ 2.34191586e-03 -5.99699277e-05 9.99997256e-01 5.46231886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.94, Y:7.04, Z:0.05 [[ 9.44873958e-01 -3.27426664e-01 -2.23245515e-03 4.89401944e+01] [ 3.27425900e-01 9.44876593e-01 -7.10147775e-04 7.04467360e+00] [ 2.34191594e-03 -5.99634986e-05 9.99997256e-01 5.32540670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.97, Y:7.05, Z:0.05 [[ 9.44581720e-01 -3.28268774e-01 -2.23309197e-03 4.89663005e+01] [ 3.28268016e-01 9.44584357e-01 -7.08148295e-04 7.05430038e+00] [ 2.34180671e-03 -6.41487361e-05 9.99997256e-01 5.35043289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.333617864999994 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:48.99, Y:7.06, Z:0.05 [[ 9.44567672e-01 -3.28309201e-01 -2.23207078e-03 4.89918067e+01] [ 3.28308436e-01 9.44570307e-01 -7.11352559e-04 7.06271415e+00] [ 2.34189137e-03 -6.08870368e-05 9.99997256e-01 5.23943511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.363617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.02, Y:7.07, Z:0.05 [[ 9.45319187e-01 -3.26139008e-01 -2.23197886e-03 4.90182370e+01] [ 3.26138236e-01 9.45321821e-01 -7.11640853e-04 7.06881230e+00] [ 2.34203216e-03 -5.52058958e-05 9.99997256e-01 5.42223982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.393617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.04, Y:7.08, Z:0.06 [[ 9.45523530e-01 -3.25546116e-01 -2.23189189e-03 4.90445799e+01] [ 3.25545342e-01 9.45526162e-01 -7.11913522e-04 7.07568046e+00] [ 2.34207285e-03 -5.34510213e-05 9.99997256e-01 5.56742483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.423617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.07, Y:7.08, Z:0.06 [[ 9.45451540e-01 -3.25755140e-01 -2.23035686e-03 4.90717646e+01] [ 3.25754355e-01 9.45454169e-01 -7.16720400e-04 7.08442967e+00] [ 2.34217555e-03 -4.89240543e-05 9.99997256e-01 5.57394649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:49.10, Y:7.09, Z:0.05 [[ 9.44414111e-01 -3.28750685e-01 -2.23046725e-03 4.90970307e+01] [ 3.28749909e-01 9.44416743e-01 -7.16374756e-04 7.09452052e+00] [ 2.34199930e-03 -5.67114752e-05 9.99997256e-01 5.29793385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.13, Y:7.10, Z:0.05 [[ 9.44432433e-01 -3.28698070e-01 -2.22684701e-03 4.91252368e+01] [ 3.28697267e-01 9.44435057e-01 -7.27699880e-04 7.10266733e+00] [ 2.34230593e-03 -4.46951595e-05 9.99997256e-01 5.28627599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.51361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.15, Y:7.11, Z:0.05 [[ 9.44259515e-01 -3.29194480e-01 -2.22757546e-03 4.91516844e+01] [ 3.29193684e-01 9.44262142e-01 -7.25422334e-04 7.11025301e+00] [ 2.34222020e-03 -4.83168291e-05 9.99997256e-01 5.18392143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.543617864999995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:49.18, Y:7.12, Z:0.05 [[ 9.45031156e-01 -3.26972711e-01 -2.22703821e-03 4.91813342e+01] [ 3.26971905e-01 9.45033780e-01 -7.27099735e-04 7.11620177e+00] [ 2.34236811e-03 -4.10470234e-05 9.99997256e-01 5.45198819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.573617864999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:49.21, Y:7.13, Z:0.05 [[ 9.44210811e-01 -3.29334127e-01 -2.23105514e-03 4.92074767e+01] [ 3.29333357e-01 9.44213445e-01 -7.14557714e-04 7.12589525e+00] [ 2.34192050e-03 -6.00677619e-05 9.99997256e-01 5.26265318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.603617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.23, Y:7.13, Z:0.05 [[ 9.44786486e-01 -3.27678988e-01 -2.23084944e-03 4.92347249e+01] [ 3.27678212e-01 9.44789118e-01 -7.15199359e-04 7.13104793e+00] [ 2.34203807e-03 -5.52900650e-05 9.99997256e-01 5.47676629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.26, Y:7.14, Z:0.05 [[ 9.44164101e-01 -3.29468018e-01 -2.23071023e-03 4.92594797e+01] [ 3.29467246e-01 9.44166734e-01 -7.15633296e-04 7.14078092e+00] [ 2.34194067e-03 -5.92706868e-05 9.99997256e-01 5.23601832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.29, Y:7.15, Z:0.05 [[ 9.44720685e-01 -3.27868672e-01 -2.22728857e-03 4.92870035e+01] [ 3.27867870e-01 9.44723310e-01 -7.26290146e-04 7.14799564e+00] [ 2.34229921e-03 -4.41150339e-05 9.99997256e-01 5.33763798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.69361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:49.31, Y:7.16, Z:0.05 [[ 9.45660658e-01 -3.25147588e-01 -2.22854950e-03 4.93134680e+01] [ 3.25146789e-01 9.45663283e-01 -7.22366143e-04 7.15541165e+00] [ 2.34233304e-03 -4.14924713e-05 9.99997256e-01 5.27088377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.723617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.34, Y:7.16, Z:0.05 [[ 9.46133436e-01 -3.23769309e-01 -2.22607933e-03 4.93426332e+01] [ 3.23768487e-01 9.46136054e-01 -7.30044424e-04 7.16298045e+00] [ 2.34253989e-03 -3.00148971e-05 9.99997256e-01 5.46951082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.753617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.37, Y:7.17, Z:0.05 [[ 9.46627589e-01 -3.22321632e-01 -2.23011746e-03 4.93691046e+01] [ 3.22320836e-01 9.46630215e-01 -7.17493074e-04 7.17082060e+00] [ 2.34236011e-03 -3.96145838e-05 9.99997256e-01 5.48447898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.783617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.40, Y:7.18, Z:0.06 [[ 9.47341115e-01 -3.20218424e-01 -2.22991398e-03 4.93961096e+01] [ 3.20217620e-01 9.47343739e-01 -7.18124904e-04 7.17818822e+00] [ 2.34245187e-03 -3.37485006e-05 9.99997256e-01 5.53031290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.813617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.42, Y:7.19, Z:0.05 [[ 9.48223251e-01 -3.17596748e-01 -2.22970995e-03 4.94237473e+01] [ 3.17595936e-01 9.48225872e-01 -7.18757847e-04 7.18520834e+00] [ 2.34254382e-03 -2.66039147e-05 9.99997256e-01 5.01812039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:49.45, Y:7.19, Z:0.05 [[ 9.48869179e-01 -3.15661690e-01 -2.23116653e-03 4.94530566e+01] [ 3.15660883e-01 9.48871802e-01 -7.14241156e-04 7.19248887e+00] [ 2.34254957e-03 -2.65705780e-05 9.99997256e-01 4.99629574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.87361786499999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:49.48, Y:7.20, Z:0.05 [[ 9.48653575e-01 -3.16309039e-01 -2.23280590e-03 4.94782664e+01] [ 3.16308246e-01 9.48656202e-01 -7.09159976e-04 7.20097807e+00] [ 2.34247888e-03 -3.35077728e-05 9.99997256e-01 5.44684207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.903617864999994 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:49.50, Y:7.21, Z:0.05 [[ 9.48785269e-01 -3.15913822e-01 -2.22933402e-03 4.95049578e+01] [ 3.15913002e-01 9.48787888e-01 -7.19911303e-04 7.20653991e+00] [ 2.34259504e-03 -2.12343623e-05 9.99997256e-01 5.31842394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.933617864999995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:49.53, Y:7.21, Z:0.05 [[ 9.48408691e-01 -3.17042562e-01 -2.22924604e-03 4.95319910e+01] [ 3.17041745e-01 9.48411310e-01 -7.20183622e-04 7.21300481e+00] [ 2.34257102e-03 -2.37356479e-05 9.99997256e-01 5.43962472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.963617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.56, Y:7.22, Z:0.05 [[ 9.48098589e-01 -3.17968705e-01 -2.22903505e-03 4.95578749e+01] [ 3.17967889e-01 9.48101209e-01 -7.20836065e-04 7.21940330e+00] [ 2.34255413e-03 -2.53379119e-05 9.99997256e-01 5.44664334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.993617865 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:49.59, Y:7.23, Z:0.05 [[ 9.48368271e-01 -3.17163450e-01 -2.22894349e-03 4.95852125e+01] [ 3.17162631e-01 9.48370890e-01 -7.21119056e-04 7.22501984e+00] [ 2.34257773e-03 -2.30511509e-05 9.99997256e-01 5.23814545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02361786499999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:49.61, Y:7.23, Z:0.05 [[ 9.47487410e-01 -3.19785302e-01 -2.22887866e-03 4.96126341e+01] [ 3.19784490e-01 9.47490031e-01 -7.21319407e-04 7.23067610e+00] [ 2.34250765e-03 -2.93197673e-05 9.99997256e-01 5.39293289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.05361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.64, Y:7.24, Z:0.06 [[ 9.46942551e-01 -3.21395142e-01 -2.22878914e-03 4.96408912e+01] [ 3.21394333e-01 9.46945174e-01 -7.21595882e-04 7.23880681e+00] [ 2.34245853e-03 -3.30103555e-05 9.99997256e-01 5.55152348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.083617864999994 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:49.67, Y:7.24, Z:0.05 [[ 9.47381673e-01 -3.20098420e-01 -2.22860459e-03 4.96686177e+01] [ 3.20097607e-01 9.47384294e-01 -7.22165429e-04 7.24415898e+00] [ 2.34250900e-03 -2.92047031e-05 9.99997256e-01 5.27603553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.113617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:49.70, Y:7.25, Z:0.05 [[ 9.47141165e-01 -3.20809362e-01 -2.22853956e-03 4.96961079e+01] [ 3.20808551e-01 9.47143786e-01 -7.22366045e-04 7.25095193e+00] [ 2.34248919e-03 -3.07519286e-05 9.99997256e-01 5.34021494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.143617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.72, Y:7.25, Z:0.05 [[ 9.46697320e-01 -3.22116779e-01 -2.22834413e-03 4.97231390e+01] [ 3.22115969e-01 9.46699942e-01 -7.22968391e-04 7.25487104e+00] [ 2.34245351e-03 -3.33529913e-05 9.99997256e-01 5.35275973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.173617865 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:49.75, Y:7.26, Z:0.05 [[ 9.46808439e-01 -3.21790015e-01 -2.22825947e-03 4.97493910e+01] [ 3.21789204e-01 9.46811061e-01 -7.23229246e-04 7.26343142e+00] [ 2.34246866e-03 -3.22702868e-05 9.99997256e-01 5.46013427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:49.78, Y:7.27, Z:0.06 [[ 9.46926463e-01 -3.21442545e-01 -2.22807404e-03 4.97778850e+01] [ 3.21441732e-01 9.46929084e-01 -7.23800036e-04 7.27197916e+00] [ 2.34248824e-03 -3.08105705e-05 9.99997256e-01 5.57179408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:49.80, Y:7.28, Z:0.06 [[ 9.47436277e-01 -3.19936749e-01 -2.23094083e-03 4.98040032e+01] [ 3.19935952e-01 9.47438903e-01 -7.14978519e-04 7.27896471e+00] [ 2.34242804e-03 -3.63615924e-05 9.99997256e-01 5.50007834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:49.83, Y:7.29, Z:0.06 [[ 9.47462903e-01 -3.19857912e-01 -2.22781399e-03 4.98308650e+01] [ 3.19857092e-01 9.47465522e-01 -7.24592245e-04 7.28656618e+00] [ 2.34254350e-03 -2.60578303e-05 9.99997256e-01 5.56123635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.293617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:49.86, Y:7.29, Z:0.06 [[ 9.47569141e-01 -3.19543051e-01 -2.22761678e-03 4.98582720e+01] [ 3.19542229e-01 9.47571759e-01 -7.25198018e-04 7.29461553e+00] [ 2.34255874e-03 -2.46423673e-05 9.99997256e-01 5.61617519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.323617864999996 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:49.88, Y:7.30, Z:0.06 [[ 9.47559658e-01 -3.19571170e-01 -2.22749755e-03 4.98843801e+01] [ 3.19570347e-01 9.47562276e-01 -7.25563896e-04 7.30220713e+00] [ 2.34256195e-03 -2.43270891e-05 9.99997256e-01 5.63170880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.353617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:49.91, Y:7.31, Z:0.06 [[ 9.47479511e-01 -3.19808718e-01 -2.22720465e-03 4.99109791e+01] [ 3.19807893e-01 9.47482128e-01 -7.26461882e-04 7.31046262e+00] [ 2.34256544e-03 -2.39698780e-05 9.99997256e-01 5.69094880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38361786499999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:49.94, Y:7.32, Z:0.06 [[ 9.47319357e-01 -3.20282807e-01 -2.22700528e-03 4.99377347e+01] [ 3.20281983e-01 9.47321974e-01 -7.27072536e-04 7.31965826e+00] [ 2.34255987e-03 -2.44997797e-05 9.99997256e-01 5.70996762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.41361786499999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:49.96, Y:7.33, Z:0.06 [[ 9.47147181e-01 -3.20791612e-01 -2.22680745e-03 4.99640514e+01] [ 3.20790788e-01 9.47149799e-01 -7.27677944e-04 7.32971478e+00] [ 2.34255320e-03 -2.51212003e-05 9.99997256e-01 5.70162154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:49.99, Y:7.34, Z:0.06 [[ 9.47250414e-01 -3.20486654e-01 -2.22660604e-03 4.99900569e+01] [ 3.20485827e-01 9.47253031e-01 -7.28293689e-04 7.33858279e+00] [ 2.34256773e-03 -2.37191803e-05 9.99997256e-01 5.67195868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.473617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.02, Y:7.35, Z:0.06 [[ 9.47312109e-01 -3.20304248e-01 -2.22651886e-03 5.00171180e+01] [ 3.20303420e-01 9.47314725e-01 -7.28560128e-04 7.34777136e+00] [ 2.34257501e-03 -2.29877753e-05 9.99997256e-01 5.69134372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.503617864999995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:50.04, Y:7.36, Z:0.06 [[ 9.47644658e-01 -3.19319033e-01 -2.22632041e-03 5.00440403e+01] [ 3.19318201e-01 9.47647273e-01 -7.29166046e-04 7.35620013e+00] [ 2.34260306e-03 -1.99143202e-05 9.99997256e-01 5.72499632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.533617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:50.07, Y:7.36, Z:0.06 [[ 9.48433605e-01 -3.16968044e-01 -2.22611939e-03 5.00697115e+01] [ 3.16967204e-01 9.48436218e-01 -7.29779227e-04 7.36495261e+00] [ 2.34264895e-03 -1.34596963e-05 9.99997256e-01 5.72822882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.10, Y:7.37, Z:0.06 [[ 9.48675158e-01 -3.16244351e-01 -2.22603219e-03 5.00961163e+01] [ 3.16243508e-01 9.48677770e-01 -7.30045127e-04 7.37455572e+00] [ 2.34265990e-03 -1.13925531e-05 9.99997256e-01 5.73246760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.59361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.12, Y:7.38, Z:0.06 [[ 9.48782358e-01 -3.15922589e-01 -2.22583333e-03 5.01225994e+01] [ 3.15921744e-01 9.48784969e-01 -7.30650913e-04 7.38486785e+00] [ 2.34266634e-03 -9.96045338e-06 9.99997256e-01 5.71686170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.15, Y:7.40, Z:0.06 [[ 9.49004455e-01 -3.15254802e-01 -2.22563047e-03 5.01486295e+01] [ 3.15253954e-01 9.49007065e-01 -7.31268317e-04 7.39507301e+00] [ 2.34267489e-03 -7.66191583e-06 9.99997256e-01 5.76290395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.653617864999994 meters Centerline goodness : 0.993848 Centerline is valid? [True, True] Translation: X:50.18, Y:7.40, Z:0.06 [[ 9.49138666e-01 -3.14850506e-01 -2.22542830e-03 5.01760237e+01] [ 3.14849655e-01 9.49141275e-01 -7.31883073e-04 7.40369488e+00] [ 2.34267961e-03 -6.01680842e-06 9.99997256e-01 5.61893335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.683617864999995 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:50.20, Y:7.41, Z:0.06 [[ 9.48991407e-01 -3.15294069e-01 -2.22683744e-03 5.01989240e+01] [ 3.15293230e-01 9.48994020e-01 -7.27602568e-04 7.41109338e+00] [ 2.34266419e-03 -1.16181825e-05 9.99997256e-01 5.86318912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.713617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.23, Y:7.42, Z:0.06 [[ 9.48770238e-01 -3.15959043e-01 -2.21798701e-03 5.02273032e+01] [ 3.15958142e-01 9.48772830e-01 -7.54721676e-04 7.41897677e+00] [ 2.34282695e-03 1.52664107e-05 9.99997255e-01 5.94080972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.743617865 meters Centerline goodness : 0.993334 Centerline is valid? [True, True] Translation: X:50.26, Y:7.43, Z:0.06 [[ 9.49004955e-01 -3.15253335e-01 -2.22025358e-03 5.02579837e+01] [ 3.15252448e-01 9.49007552e-01 -7.47825732e-04 7.42709819e+00] [ 2.34279197e-03 9.74994813e-06 9.99997256e-01 5.83115945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.28, Y:7.44, Z:0.06 [[ 9.48109832e-01 -3.17935189e-01 -2.22765914e-03 5.02825012e+01] [ 3.17934363e-01 9.48112448e-01 -7.25282749e-04 7.43756584e+00] [ 2.34266427e-03 -2.06016847e-05 9.99997256e-01 5.83746709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.31, Y:7.45, Z:0.06 [[ 9.47278903e-01 -3.20402444e-01 -2.22554934e-03 5.03080331e+01] [ 3.20401609e-01 9.47281518e-01 -7.31699956e-04 7.44737606e+00] [ 2.34266021e-03 -1.99456571e-05 9.99997256e-01 5.78668534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.833617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.33, Y:7.46, Z:0.06 [[ 9.46847271e-01 -3.21675757e-01 -2.22546369e-03 5.03349121e+01] [ 3.21674925e-01 9.46849886e-01 -7.31960356e-04 7.45595293e+00] [ 2.34263394e-03 -2.28212019e-05 9.99997256e-01 5.76324977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.863617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:50.36, Y:7.46, Z:0.06 [[ 9.46279830e-01 -3.23341200e-01 -2.22526181e-03 5.03615216e+01] [ 3.23340371e-01 9.46282446e-01 -7.32573596e-04 7.46419974e+00] [ 2.34259741e-03 -2.62973612e-05 9.99997256e-01 5.77023842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.893617864999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.38, Y:7.47, Z:0.06 [[ 9.44975392e-01 -3.27133853e-01 -2.22505954e-03 5.03842918e+01] [ 3.27133033e-01 9.44978011e-01 -7.33187441e-04 7.47383737e+00] [ 2.34248277e-03 -3.50463853e-05 9.99997256e-01 5.91432241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.923617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.42, Y:7.48, Z:0.06 [[ 9.44664186e-01 -3.28031495e-01 -2.21669098e-03 5.04168237e+01] [ 3.28030619e-01 9.44666787e-01 -7.58559464e-04 7.48056804e+00] [ 2.34286574e-03 -1.05585545e-05 9.99997255e-01 5.82639908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.44, Y:7.49, Z:0.06 [[ 9.44508935e-01 -3.28478189e-01 -2.22508525e-03 5.04428494e+01] [ 3.28477374e-01 9.44511555e-01 -7.33080738e-04 7.49095005e+00] [ 2.34241976e-03 -3.84888515e-05 9.99997256e-01 5.82809354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:50.47, Y:7.50, Z:0.06 [[ 9.44304980e-01 -3.29064060e-01 -2.22488578e-03 5.04681638e+01] [ 3.29063244e-01 9.44307600e-01 -7.33685624e-04 7.50088621e+00] [ 2.34240612e-03 -3.93051448e-05 9.99997256e-01 5.80954538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.01361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:50.49, Y:7.51, Z:0.06 [[ 9.44134686e-01 -3.29552339e-01 -2.22479927e-03 5.04935199e+01] [ 3.29551525e-01 9.44137307e-01 -7.33947852e-04 7.51208637e+00] [ 2.34239022e-03 -4.02403668e-05 9.99997256e-01 5.72171641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.043617864999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:50.52, Y:7.52, Z:0.06 [[ 9.44112160e-01 -3.29616869e-01 -2.22459942e-03 5.05186731e+01] [ 3.29616053e-01 9.44114780e-01 -7.34553092e-04 7.52149454e+00] [ 2.34239829e-03 -3.97631748e-05 9.99997256e-01 5.65001167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.073617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:50.55, Y:7.53, Z:0.06 [[ 9.43996968e-01 -3.29946625e-01 -2.22451285e-03 5.05450490e+01] [ 3.29945810e-01 9.43999588e-01 -7.34815183e-04 7.53008158e+00] [ 2.34238900e-03 -4.03053884e-05 9.99997256e-01 5.64398884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.103617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.57, Y:7.54, Z:0.06 [[ 9.43728012e-01 -3.30715121e-01 -2.22431739e-03 5.05720192e+01] [ 3.30714306e-01 9.43730633e-01 -7.35406381e-04 7.53703127e+00] [ 2.34236646e-03 -4.15899779e-05 9.99997256e-01 5.65252241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:50.60, Y:7.55, Z:0.06 [[ 9.43414985e-01 -3.31607026e-01 -2.22412066e-03 5.05989113e+01] [ 3.31606212e-01 9.43417606e-01 -7.36000884e-04 7.54591491e+00] [ 2.34233765e-03 -4.31779621e-05 9.99997256e-01 5.62542643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.63, Y:7.56, Z:0.06 [[ 9.43247219e-01 -3.32083931e-01 -2.22391727e-03 5.06255159e+01] [ 3.32083117e-01 9.43249840e-01 -7.36614926e-04 7.55535713e+00] [ 2.34232759e-03 -4.37153985e-05 9.99997256e-01 5.53347574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.19361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:50.65, Y:7.56, Z:0.05 [[ 9.43249361e-01 -3.32077849e-01 -2.22371367e-03 5.06509621e+01] [ 3.32077034e-01 9.43251981e-01 -7.37229060e-04 7.56471187e+00] [ 2.34233976e-03 -4.30533980e-05 9.99997256e-01 5.39521297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.223617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:50.68, Y:7.57, Z:0.05 [[ 9.44085785e-01 -3.29692411e-01 -2.22362538e-03 5.06760640e+01] [ 3.29691588e-01 9.44088403e-01 -7.37495260e-04 7.57471426e+00] [ 2.34244552e-03 -3.68517902e-05 9.99997256e-01 5.43292891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.253617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.70, Y:7.58, Z:0.05 [[ 9.44413046e-01 -3.28753800e-01 -2.22209290e-03 5.07036354e+01] [ 3.28752964e-01 9.44415660e-01 -7.42111528e-04 7.58416500e+00] [ 2.34255132e-03 -2.96598172e-05 9.99997256e-01 5.39883368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.283617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:50.72, Y:7.60, Z:0.05 [[ 9.43884828e-01 -3.30267299e-01 -2.22337376e-03 5.07236105e+01] [ 3.30266476e-01 9.43887445e-01 -7.38254005e-04 7.59527050e+00] [ 2.34243574e-03 -3.74790627e-05 9.99997256e-01 5.45214995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31361786499999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:50.76, Y:7.60, Z:0.05 [[ 9.45624685e-01 -3.25252307e-01 -2.21157536e-03 5.07571278e+01] [ 3.25251387e-01 9.45627272e-01 -7.73724449e-04 7.60110745e+00] [ 2.34298163e-03 1.23349865e-05 9.99997255e-01 5.48350424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34361786499999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:50.78, Y:7.61, Z:0.05 [[ 9.45540327e-01 -3.25497383e-01 -2.22323825e-03 5.07842284e+01] [ 3.25496546e-01 9.45542941e-01 -7.38619230e-04 7.61017884e+00] [ 2.34258586e-03 -2.52621049e-05 9.99997256e-01 5.49155788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.37361786499999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:50.81, Y:7.62, Z:0.06 [[ 9.46636584e-01 -3.22295261e-01 -2.22304660e-03 5.08104293e+01] [ 3.22294413e-01 9.46639195e-01 -7.39195595e-04 7.61890226e+00] [ 2.34266228e-03 -1.67259082e-05 9.99997256e-01 5.53680234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.403617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.84, Y:7.63, Z:0.06 [[ 9.47001067e-01 -3.21222723e-01 -2.22284656e-03 5.08370561e+01] [ 3.21221872e-01 9.47003676e-01 -7.39796662e-04 7.62832482e+00] [ 2.34268336e-03 -1.34387043e-05 9.99997256e-01 5.51391389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.433617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:50.86, Y:7.64, Z:0.05 [[ 9.47357392e-01 -3.20170316e-01 -2.22264635e-03 5.08627474e+01] [ 3.20169460e-01 9.47359999e-01 -7.40397675e-04 7.63710204e+00] [ 2.34269961e-03 -1.02022724e-05 9.99997256e-01 5.45041097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.463617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.89, Y:7.65, Z:0.06 [[ 9.47565134e-01 -3.19554967e-01 -2.22255961e-03 5.08894252e+01] [ 3.19554108e-01 9.47567741e-01 -7.40657965e-04 7.64534327e+00] [ 2.34270672e-03 -8.40639128e-06 9.99997256e-01 5.50101973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.493617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.91, Y:7.66, Z:0.05 [[ 9.46427105e-01 -3.22909889e-01 -2.22235990e-03 5.09106587e+01] [ 3.22909038e-01 9.46429714e-01 -7.41256723e-04 7.65588839e+00] [ 2.34266657e-03 -1.60746435e-05 9.99997256e-01 5.42632001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:50.94, Y:7.66, Z:0.05 [[ 9.46074022e-01 -3.23942975e-01 -2.21217570e-03 5.09376181e+01] [ 3.23942056e-01 9.46076608e-01 -7.71763909e-04 7.66382548e+00] [ 2.34289518e-03 1.35290404e-05 9.99997255e-01 5.44040786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.55361786499999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:50.97, Y:7.67, Z:0.05 [[ 9.45339796e-01 -3.26079412e-01 -2.21075083e-03 5.09661476e+01] [ 3.26078489e-01 9.45342381e-01 -7.76031518e-04 7.67048962e+00] [ 2.34296435e-03 1.27351880e-05 9.99997255e-01 5.42476193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.583617864999994 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:50.99, Y:7.68, Z:0.05 [[ 9.44665849e-01 -3.28026743e-01 -2.21137910e-03 5.09921967e+01] [ 3.28025829e-01 9.44668437e-01 -7.74149230e-04 7.67896406e+00] [ 2.34296169e-03 5.92287515e-06 9.99997255e-01 5.29911648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.613617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.02, Y:7.69, Z:0.05 [[ 9.44459035e-01 -3.28621741e-01 -2.20969576e-03 5.10179885e+01] [ 3.28620818e-01 9.44461620e-01 -7.79189478e-04 7.68833681e+00] [ 2.34303144e-03 9.76051420e-06 9.99997255e-01 5.23329854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.643617864999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:51.05, Y:7.70, Z:0.05 [[ 9.44947694e-01 -3.27213947e-01 -2.21096268e-03 5.10455685e+01] [ 3.27213029e-01 9.44950280e-01 -7.75385457e-04 7.69707711e+00] [ 2.34296674e-03 9.24290530e-06 9.99997255e-01 5.23552616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.673617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.07, Y:7.71, Z:0.05 [[ 9.44916189e-01 -3.27304914e-01 -2.21130861e-03 5.10713597e+01] [ 3.27303998e-01 9.44918776e-01 -7.74346245e-04 7.70591696e+00] [ 2.34295436e-03 7.92215345e-06 9.99997255e-01 5.21646627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.10, Y:7.71, Z:0.05 [[ 9.44772029e-01 -3.27720817e-01 -2.20908288e-03 5.10974210e+01] [ 3.27719887e-01 9.44774611e-01 -7.81040155e-04 7.71481259e+00] [ 2.34304854e-03 1.39444989e-05 9.99997255e-01 5.21155306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.13, Y:7.72, Z:0.05 [[ 9.45666693e-01 -3.25130171e-01 -2.20858723e-03 5.11326367e+01] [ 3.25129230e-01 9.45669272e-01 -7.82529657e-04 7.72063033e+00] [ 2.34301708e-03 2.19359683e-05 9.99997255e-01 5.39020913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.15, Y:7.73, Z:0.05 [[ 9.43613928e-01 -3.31040499e-01 -2.22318514e-03 5.11531860e+01] [ 3.31039677e-01 9.43616546e-01 -7.38589322e-04 7.73148944e+00] [ 2.34233726e-03 -3.90193207e-05 9.99997256e-01 4.98348210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.793617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:51.19, Y:7.74, Z:0.05 [[ 9.44394999e-01 -3.28805705e-01 -2.21249455e-03 5.11861388e+01] [ 3.28804802e-01 9.44397590e-01 -7.70729054e-04 7.73716482e+00] [ 2.34289463e-03 3.93833681e-07 9.99997255e-01 5.29655017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.823617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.21, Y:7.75, Z:0.05 [[ 9.42652194e-01 -3.33769229e-01 -2.22318248e-03 5.12073280e+01] [ 3.33768415e-01 9.42654815e-01 -7.38556521e-04 7.74935831e+00] [ 2.34220111e-03 -4.58261680e-05 9.99997256e-01 4.96313014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.853617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.24, Y:7.76, Z:0.05 [[ 9.43299585e-01 -3.31935219e-01 -2.21415974e-03 5.12385142e+01] [ 3.31934336e-01 9.43302184e-01 -7.65674984e-04 7.75659461e+00] [ 2.34277621e-03 -1.26947501e-05 9.99997256e-01 5.23025191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88361786499999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:51.26, Y:7.77, Z:0.05 [[ 9.40965813e-01 -3.38494310e-01 -2.22301817e-03 5.12584390e+01] [ 3.38493508e-01 9.40968437e-01 -7.39028607e-04 7.77021435e+00] [ 2.34194691e-03 -5.70765627e-05 9.99997256e-01 4.75931585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91361786499999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:51.29, Y:7.78, Z:0.05 [[ 9.40623566e-01 -3.39444268e-01 -2.21270948e-03 5.12852942e+01] [ 3.39443395e-01 9.40626168e-01 -7.70065399e-04 7.77926865e+00] [ 2.34272672e-03 -2.67479563e-05 9.99997255e-01 4.85610134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.31, Y:7.79, Z:0.05 [[ 9.40282798e-01 -3.40387079e-01 -2.21257794e-03 5.13116011e+01] [ 3.40386209e-01 9.40285401e-01 -7.70461434e-04 7.78778887e+00] [ 2.34270985e-03 -2.86793833e-05 9.99997255e-01 4.68525911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.973617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.35, Y:7.79, Z:0.05 [[ 9.40459458e-01 -3.39898694e-01 -2.21041175e-03 5.13458599e+01] [ 3.39897806e-01 9.40462055e-01 -7.76956466e-04 7.79444765e+00] [ 2.34289487e-03 -2.06180479e-05 9.99997255e-01 5.16175027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.003617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:51.37, Y:7.80, Z:0.05 [[ 9.39706674e-01 -3.41974307e-01 -2.22271420e-03 5.13723258e+01] [ 3.41973512e-01 9.39709300e-01 -7.40004211e-04 7.80396459e+00] [ 2.34176763e-03 -6.47224851e-05 9.99997256e-01 5.25951655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.033617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.40, Y:7.81, Z:0.05 [[ 9.39415244e-01 -3.42774066e-01 -2.22251323e-03 5.13988073e+01] [ 3.42773272e-01 9.39417870e-01 -7.40607317e-04 7.81397833e+00] [ 2.34172962e-03 -6.60803290e-05 9.99997256e-01 5.26816976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:51.42, Y:7.82, Z:0.05 [[ 9.39130905e-01 -3.43552332e-01 -2.22231135e-03 5.14249667e+01] [ 3.43551539e-01 9.39133532e-01 -7.41212576e-04 7.82480822e+00] [ 2.34169242e-03 -6.73828472e-05 9.99997256e-01 5.30153477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.09361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.45, Y:7.84, Z:0.05 [[ 9.38938286e-01 -3.44078418e-01 -2.22210369e-03 5.14506097e+01] [ 3.44077625e-01 9.38940913e-01 -7.41834619e-04 7.83606532e+00] [ 2.34167335e-03 -6.80392335e-05 9.99997256e-01 5.33581471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.48, Y:7.85, Z:0.05 [[ 9.38689452e-01 -3.44756689e-01 -2.22203948e-03 5.14770195e+01] [ 3.44755898e-01 9.38692080e-01 -7.42026880e-04 7.84578911e+00] [ 2.34162960e-03 -6.95284126e-05 9.99997256e-01 5.43072021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.153617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.50, Y:7.86, Z:0.06 [[ 9.38417169e-01 -3.45497148e-01 -2.22183822e-03 5.15034389e+01] [ 3.45496357e-01 9.38419797e-01 -7.42629022e-04 7.85537925e+00] [ 2.34159318e-03 -7.07411889e-05 9.99997256e-01 5.52750478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.183617864999995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:51.53, Y:7.87, Z:0.06 [[ 9.38058877e-01 -3.46468770e-01 -2.22163067e-03 5.15300246e+01] [ 3.46467980e-01 9.38061505e-01 -7.43249426e-04 7.86546196e+00] [ 2.34153892e-03 -7.25121685e-05 9.99997256e-01 5.55173281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.213617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:51.55, Y:7.88, Z:0.06 [[ 9.37578243e-01 -3.47767312e-01 -2.22142454e-03 5.15547381e+01] [ 3.47766524e-01 9.37580872e-01 -7.43864998e-04 7.87569586e+00] [ 2.34145709e-03 -7.51054530e-05 9.99997256e-01 5.68718833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.58, Y:7.89, Z:0.06 [[ 9.37402848e-01 -3.48239812e-01 -2.22128440e-03 5.15811901e+01] [ 3.48239025e-01 9.37405477e-01 -7.44283232e-04 7.88561798e+00] [ 2.34143321e-03 -7.58446925e-05 9.99997256e-01 5.75935684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.27361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.61, Y:7.90, Z:0.06 [[ 9.37160183e-01 -3.48892331e-01 -2.22108061e-03 5.16077998e+01] [ 3.48891544e-01 9.37162812e-01 -7.44890883e-04 7.89599807e+00] [ 2.34140087e-03 -7.68341675e-05 9.99997256e-01 5.83949563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.63, Y:7.91, Z:0.06 [[ 9.37248819e-01 -3.48654154e-01 -2.22087831e-03 5.16323375e+01] [ 3.48653366e-01 9.37251447e-01 -7.45493545e-04 7.90652104e+00] [ 2.34144083e-03 -7.56037541e-05 9.99997256e-01 5.96391323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.333617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.66, Y:7.92, Z:0.06 [[ 9.37275941e-01 -3.48581237e-01 -2.22079060e-03 5.16581528e+01] [ 3.48580447e-01 9.37278569e-01 -7.45754732e-04 7.91644095e+00] [ 2.34145555e-03 -7.51462126e-05 9.99997256e-01 5.99119259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.363617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.68, Y:7.93, Z:0.06 [[ 9.37436625e-01 -3.48148880e-01 -2.22059092e-03 5.16848056e+01] [ 3.48148088e-01 9.37439252e-01 -7.46348848e-04 7.92645749e+00] [ 2.34150961e-03 -7.34397370e-05 9.99997256e-01 6.00151217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.393617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.71, Y:7.94, Z:0.06 [[ 9.37920407e-01 -3.46843451e-01 -2.22038598e-03 5.17097128e+01] [ 3.46842654e-01 9.37923033e-01 -7.46958046e-04 7.93749233e+00] [ 2.34162866e-03 -6.95373707e-05 9.99997256e-01 5.90640163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.423617865 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.73, Y:7.95, Z:0.06 [[ 9.36076397e-01 -3.51789780e-01 -2.22024642e-03 5.17259487e+01] [ 3.51788996e-01 9.36079027e-01 -7.47372636e-04 7.95304636e+00] [ 2.34124416e-03 -8.14603743e-05 9.99997256e-01 5.54140682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.76, Y:7.96, Z:0.06 [[ 9.38285921e-01 -3.45853542e-01 -2.20432342e-03 5.17621772e+01] [ 3.45852629e-01 9.38288510e-01 -7.94551968e-04 7.95812566e+00] [ 2.34308995e-03 -1.68541254e-05 9.99997255e-01 5.94282256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.79, Y:7.97, Z:0.06 [[ 9.38506452e-01 -3.45254559e-01 -2.22008589e-03 5.17865951e+01] [ 3.45253755e-01 9.38509076e-01 -7.47753045e-04 7.96918959e+00] [ 2.34173591e-03 -6.47219330e-05 9.99997256e-01 5.98246524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.51361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.81, Y:7.98, Z:0.06 [[ 9.38528596e-01 -3.45194360e-01 -2.21999471e-03 5.18122004e+01] [ 3.45193556e-01 9.38531219e-01 -7.48023650e-04 7.97907848e+00] [ 2.34174789e-03 -6.42862811e-05 9.99997256e-01 5.95302563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.543617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.84, Y:7.99, Z:0.06 [[ 9.38171755e-01 -3.46163012e-01 -2.21985528e-03 5.18350637e+01] [ 3.46162209e-01 9.38174379e-01 -7.48437191e-04 7.99110222e+00] [ 2.34169262e-03 -6.62673761e-05 9.99997256e-01 5.58945631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.573617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.86, Y:8.00, Z:0.06 [[ 9.38408554e-01 -3.45520598e-01 -2.21391525e-03 5.18644027e+01] [ 3.45519752e-01 9.38411165e-01 -7.66035214e-04 7.99945260e+00] [ 2.34224373e-03 -4.60974510e-05 9.99997256e-01 5.92032022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.603617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.89, Y:8.01, Z:0.06 [[ 9.37990289e-01 -3.46654425e-01 -2.21967673e-03 5.18897676e+01] [ 3.46653622e-01 9.37992913e-01 -7.48960027e-04 8.01054696e+00] [ 2.34167135e-03 -6.69417473e-05 9.99997256e-01 5.98564625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.92, Y:8.02, Z:0.06 [[ 9.37711755e-01 -3.47407165e-01 -2.21947587e-03 5.19158474e+01] [ 3.47406364e-01 9.37714379e-01 -7.49554807e-04 8.02050317e+00] [ 2.34163515e-03 -6.81936862e-05 9.99997256e-01 6.07912793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.94, Y:8.03, Z:0.06 [[ 9.37357437e-01 -3.48362039e-01 -2.21927214e-03 5.19421835e+01] [ 3.48361239e-01 9.37360061e-01 -7.50157528e-04 8.03084121e+00] [ 2.34158347e-03 -6.99426525e-05 9.99997256e-01 6.14129793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.69361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.97, Y:8.04, Z:0.06 [[ 9.36997312e-01 -3.49329518e-01 -2.21906610e-03 5.19682917e+01] [ 3.49328719e-01 9.36999937e-01 -7.50766510e-04 8.04152557e+00] [ 2.34152970e-03 -7.17173153e-05 9.99997256e-01 6.15038142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.723617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.99, Y:8.05, Z:0.06 [[ 9.36659087e-01 -3.50235395e-01 -2.21885919e-03 5.19939261e+01] [ 3.50234597e-01 9.36661712e-01 -7.51377544e-04 8.05443479e+00] [ 2.34147945e-03 -7.33366480e-05 9.99997256e-01 6.11155019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.753617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.02, Y:8.07, Z:0.06 [[ 9.36465614e-01 -3.50752379e-01 -2.21865145e-03 5.20199646e+01] [ 3.50751581e-01 9.36468239e-01 -7.51990429e-04 8.06540024e+00] [ 2.34145905e-03 -7.39823270e-05 9.99997256e-01 6.10259975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.783617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.05, Y:8.08, Z:0.06 [[ 9.36389125e-01 -3.50956530e-01 -2.21844475e-03 5.20451935e+01] [ 3.50955731e-01 9.36391750e-01 -7.52599746e-04 8.07566125e+00] [ 2.34146315e-03 -7.38496788e-05 9.99997256e-01 6.11226783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.07, Y:8.09, Z:0.06 [[ 9.35918780e-01 -3.52208909e-01 -2.21835520e-03 5.20695193e+01] [ 3.52208112e-01 9.35921406e-01 -7.52863591e-04 8.08714893e+00] [ 2.34137138e-03 -7.67035245e-05 9.99997256e-01 6.14591250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.10, Y:8.10, Z:0.06 [[ 9.35411394e-01 -3.53554245e-01 -2.21826635e-03 5.20956069e+01] [ 3.53553452e-01 9.35414020e-01 -7.53125282e-04 8.09791591e+00] [ 2.34126809e-03 -7.97937564e-05 9.99997256e-01 6.16464525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.87361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.12, Y:8.11, Z:0.06 [[ 9.34987120e-01 -3.54674731e-01 -2.21806444e-03 5.21209758e+01] [ 3.54673939e-01 9.34989748e-01 -7.53719481e-04 8.10854988e+00] [ 2.34119277e-03 -8.19716459e-05 9.99997256e-01 6.18787848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.903617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.15, Y:8.12, Z:0.06 [[ 9.33824588e-01 -3.57724362e-01 -2.21792734e-03 5.21462921e+01] [ 3.57723579e-01 9.33827218e-01 -7.54122702e-04 8.12085682e+00] [ 2.34092898e-03 -8.91865838e-05 9.99997256e-01 6.24481295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.933617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.17, Y:8.13, Z:0.06 [[ 9.33206708e-01 -3.59333163e-01 -2.21772806e-03 5.21713762e+01] [ 3.59332382e-01 9.33209339e-01 -7.54708296e-04 8.13077684e+00] [ 2.34079625e-03 -9.26026611e-05 9.99997256e-01 6.29745577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.963617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.20, Y:8.14, Z:0.06 [[ 9.32570510e-01 -3.60981060e-01 -2.21759249e-03 5.21974612e+01] [ 3.60980283e-01 9.32573142e-01 -7.55106429e-04 8.14136252e+00] [ 2.34064632e-03 -9.63171765e-05 9.99997256e-01 6.37704463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.22, Y:8.15, Z:0.06 [[ 9.31984512e-01 -3.62491314e-01 -2.21738672e-03 5.22234444e+01] [ 3.62490540e-01 9.31987144e-01 -7.55710204e-04 8.15213633e+00] [ 2.34051430e-03 -9.94715031e-05 9.99997256e-01 6.41514382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02361786499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:52.25, Y:8.16, Z:0.06 [[ 9.31576196e-01 -3.63539373e-01 -2.21718056e-03 5.22497886e+01] [ 3.63538600e-01 9.31578829e-01 -7.56314564e-04 8.16326787e+00] [ 2.34042859e-03 -1.01466074e-04 9.99997256e-01 6.37874686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.05361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.28, Y:8.17, Z:0.06 [[ 9.31897345e-01 -3.62715347e-01 -2.21697446e-03 5.22779151e+01] [ 3.62714570e-01 9.31899977e-01 -7.56918226e-04 8.17312048e+00] [ 2.34054430e-03 -9.87588529e-05 9.99997256e-01 6.16628061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.083617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.30, Y:8.19, Z:0.06 [[ 9.31294624e-01 -3.64260058e-01 -2.22109789e-03 5.23008590e+01] [ 3.64259315e-01 9.31297265e-01 -7.44841068e-04 8.18510667e+00] [ 2.33981824e-03 -1.15389115e-04 9.99997256e-01 6.43454023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.113617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.33, Y:8.20, Z:0.06 [[ 9.31419247e-01 -3.63941304e-01 -2.21670517e-03 5.23273142e+01] [ 3.63940529e-01 9.31421879e-01 -7.57692408e-04 8.19599732e+00] [ 2.34044326e-03 -1.01019560e-04 9.99997256e-01 6.46193629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.143617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.35, Y:8.21, Z:0.06 [[ 9.32201738e-01 -3.61932324e-01 -2.21650300e-03 5.23525118e+01] [ 3.61931543e-01 9.32204368e-01 -7.58283367e-04 8.20839563e+00] [ 2.34068104e-03 -9.53492779e-05 9.99997256e-01 6.40962434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.173617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.38, Y:8.22, Z:0.06 [[ 9.32854896e-01 -3.60245515e-01 -2.21630139e-03 5.23777187e+01] [ 3.60244728e-01 9.32857524e-01 -7.58872160e-04 8.21929103e+00] [ 2.34087372e-03 -9.04932821e-05 9.99997256e-01 6.39698287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.40, Y:8.23, Z:0.06 [[ 9.33573844e-01 -3.58378246e-01 -2.21621401e-03 5.24032893e+01] [ 3.58377452e-01 9.33576470e-01 -7.59127267e-04 8.23036353e+00] [ 2.34105995e-03 -8.55397698e-05 9.99997256e-01 6.45720348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.43, Y:8.24, Z:0.06 [[ 9.33475763e-01 -3.58633643e-01 -2.21600628e-03 5.24302898e+01] [ 3.58632849e-01 9.33478389e-01 -7.59733173e-04 8.23968236e+00] [ 2.34105985e-03 -8.55401430e-05 9.99997256e-01 6.46387582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.46, Y:8.25, Z:0.06 [[ 9.35344322e-01 -3.53731662e-01 -2.21579827e-03 5.24555676e+01] [ 3.53730853e-01 9.35346944e-01 -7.60339379e-04 8.25256356e+00] [ 2.34149625e-03 -7.26170892e-05 9.99997256e-01 6.43531714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.293617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.48, Y:8.26, Z:0.06 [[ 9.36376199e-01 -3.50991032e-01 -2.21558761e-03 5.24809090e+01] [ 3.50990213e-01 9.36378818e-01 -7.60952738e-04 8.26282820e+00] [ 2.34171689e-03 -6.51115332e-05 9.99997256e-01 6.26640444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.323617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.51, Y:8.27, Z:0.07 [[ 9.37224814e-01 -3.48718710e-01 -2.21549624e-03 5.25067795e+01] [ 3.48717884e-01 9.37227431e-01 -7.61218659e-04 8.27342536e+00] [ 2.34187504e-03 -5.91501445e-05 9.99997256e-01 6.50816140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.353617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.53, Y:8.29, Z:0.07 [[ 9.38593899e-01 -3.45016789e-01 -2.21528258e-03 5.25312462e+01] [ 3.45015951e-01 9.38596512e-01 -7.61839927e-04 8.28534233e+00] [ 2.34210407e-03 -4.92495187e-05 9.99997256e-01 6.50931163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.56, Y:8.30, Z:0.07 [[ 9.38976858e-01 -3.43973188e-01 -2.21518993e-03 5.25570819e+01] [ 3.43972346e-01 9.38979469e-01 -7.62109231e-04 8.29575149e+00] [ 2.34216301e-03 -4.63611481e-05 9.99997256e-01 6.51732548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.41361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.58, Y:8.31, Z:0.07 [[ 9.39214895e-01 -3.43322698e-01 -2.21497830e-03 5.25830786e+01] [ 3.43321853e-01 9.39217506e-01 -7.62723830e-04 8.30588398e+00] [ 2.34220679e-03 -4.40888727e-05 9.99997256e-01 6.50087121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.61, Y:8.32, Z:0.07 [[ 9.39710794e-01 -3.41963037e-01 -2.21476799e-03 5.26077702e+01] [ 3.41962187e-01 9.39713403e-01 -7.63334031e-04 8.31585949e+00] [ 2.34227919e-03 -4.00536757e-05 9.99997256e-01 6.54666564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.473617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.63, Y:8.33, Z:0.07 [[ 9.39554508e-01 -3.42392216e-01 -2.21292672e-03 5.26342339e+01] [ 3.42391355e-01 9.39557113e-01 -7.68671807e-04 8.32594801e+00] [ 2.34235829e-03 -3.54779173e-05 9.99997256e-01 6.51023706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.503617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.66, Y:8.34, Z:0.07 [[ 9.39473694e-01 -3.42613884e-01 -2.21448612e-03 5.26602950e+01] [ 3.42613035e-01 9.39476303e-01 -7.64152742e-04 8.33563430e+00] [ 2.34226657e-03 -4.08104093e-05 9.99997256e-01 6.55552045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.533617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.69, Y:8.35, Z:0.07 [[ 9.39368066e-01 -3.42903389e-01 -2.21427657e-03 5.26870126e+01] [ 3.42902538e-01 9.39370675e-01 -7.64759469e-04 8.34533227e+00] [ 2.34226509e-03 -4.08904321e-05 9.99997256e-01 6.57032702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.71, Y:8.36, Z:0.06 [[ 9.38926230e-01 -3.44111366e-01 -2.21406849e-03 5.27124495e+01] [ 3.44110517e-01 9.38928840e-01 -7.65361414e-04 8.35530527e+00] [ 2.34222232e-03 -4.32663445e-05 9.99997256e-01 6.47128757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.59361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.74, Y:8.36, Z:0.06 [[ 9.38504854e-01 -3.45258942e-01 -2.21397832e-03 5.27386542e+01] [ 3.45258096e-01 9.38507465e-01 -7.65622160e-04 8.36455611e+00] [ 2.34217307e-03 -4.58538244e-05 9.99997256e-01 6.46867112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.76, Y:8.37, Z:0.06 [[ 9.38006888e-01 -3.46609547e-01 -2.21377200e-03 5.27649852e+01] [ 3.46608703e-01 9.38009499e-01 -7.66218259e-04 8.37359548e+00] [ 2.34211773e-03 -4.85946379e-05 9.99997256e-01 6.46025251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.653617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.79, Y:8.38, Z:0.07 [[ 9.37051785e-01 -3.49183408e-01 -2.21356320e-03 5.27913053e+01] [ 3.49182570e-01 9.37054398e-01 -7.66820992e-04 8.38191164e+00] [ 2.34199030e-03 -5.43867073e-05 9.99997256e-01 6.52199588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.683617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.82, Y:8.39, Z:0.06 [[ 9.36595963e-01 -3.50404201e-01 -2.21334876e-03 5.28171514e+01] [ 3.50403365e-01 9.36598576e-01 -7.67439455e-04 8.39085229e+00] [ 2.34193331e-03 -5.67841591e-05 9.99997256e-01 6.47522461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.713617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.84, Y:8.40, Z:0.06 [[ 9.36156958e-01 -3.51575386e-01 -2.21326912e-03 5.28435496e+01] [ 3.51574552e-01 9.36159572e-01 -7.67669058e-04 8.40001536e+00] [ 2.34186662e-03 -5.94703714e-05 9.99997256e-01 6.47240660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.87, Y:8.41, Z:0.07 [[ 9.35625838e-01 -3.52986393e-01 -2.21320516e-03 5.28704156e+01] [ 3.52985563e-01 9.35628453e-01 -7.67853410e-04 8.40947162e+00] [ 2.34177953e-03 -6.28059797e-05 9.99997256e-01 6.58398260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.90, Y:8.42, Z:0.06 [[ 9.35164131e-01 -3.54207779e-01 -2.21299283e-03 5.28986029e+01] [ 3.54206951e-01 9.35166747e-01 -7.68464879e-04 8.41831645e+00] [ 2.34171354e-03 -6.52166521e-05 9.99997256e-01 6.46192120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.92, Y:8.43, Z:0.07 [[ 9.34680452e-01 -3.55482136e-01 -2.21457370e-03 5.29244896e+01] [ 3.55481322e-01 9.34683072e-01 -7.63913216e-04 8.42818658e+00] [ 2.34148205e-03 -7.32248380e-05 9.99997256e-01 6.59855955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.833617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.95, Y:8.44, Z:0.07 [[ 9.34502091e-01 -3.55950762e-01 -2.21275961e-03 5.29507291e+01] [ 3.55949938e-01 9.34504708e-01 -7.69132288e-04 8.43720009e+00] [ 2.34160750e-03 -6.88759135e-05 9.99997256e-01 6.65729688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.863617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.98, Y:8.45, Z:0.07 [[ 9.34652474e-01 -3.55555703e-01 -2.21254748e-03 5.29763534e+01] [ 3.55554876e-01 9.34655090e-01 -7.69742025e-04 8.44600370e+00] [ 2.34165493e-03 -6.72407579e-05 9.99997256e-01 6.57899203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.893617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.00, Y:8.46, Z:0.07 [[ 9.34828587e-01 -3.55092407e-01 -2.21240333e-03 5.30025466e+01] [ 3.55091578e-01 9.34831203e-01 -7.70156126e-04 8.45512889e+00] [ 2.34170026e-03 -6.56418256e-05 9.99997256e-01 6.61607704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.03, Y:8.46, Z:0.07 [[ 9.35145901e-01 -3.54255911e-01 -2.21218775e-03 5.30279503e+01] [ 3.54255078e-01 9.35148515e-01 -7.70774870e-04 8.46399462e+00] [ 2.34177564e-03 -6.28917829e-05 9.99997256e-01 6.52792947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.05, Y:8.47, Z:0.07 [[ 9.35543981e-01 -3.53203294e-01 -2.21204115e-03 5.30539848e+01] [ 3.53202458e-01 9.35546594e-01 -7.71195363e-04 8.47311422e+00] [ 2.34185630e-03 -5.98111890e-05 9.99997256e-01 6.57534377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.08, Y:8.48, Z:0.07 [[ 9.36386582e-01 -3.50963363e-01 -2.21079340e-03 5.30808753e+01] [ 3.50962511e-01 9.36389190e-01 -7.74770903e-04 8.48289316e+00] [ 2.34207924e-03 -5.04205263e-05 9.99997256e-01 6.67971967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.11, Y:8.49, Z:0.07 [[ 9.36905469e-01 -3.49575815e-01 -2.21156691e-03 5.31073414e+01] [ 3.49574965e-01 9.36908078e-01 -7.72555436e-04 8.49234738e+00] [ 2.34210160e-03 -4.92970112e-05 9.99997256e-01 6.64519808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.043617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.13, Y:8.50, Z:0.07 [[ 9.37325658e-01 -3.48447590e-01 -2.21070174e-03 5.31339831e+01] [ 3.48446731e-01 9.37328264e-01 -7.75031969e-04 8.50158510e+00] [ 2.34221124e-03 -4.38544426e-05 9.99997256e-01 6.67039373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.073617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.16, Y:8.51, Z:0.07 [[ 9.37602913e-01 -3.47700869e-01 -2.20997310e-03 5.31609351e+01] [ 3.47700003e-01 9.37605516e-01 -7.77116463e-04 8.50988633e+00] [ 2.34228704e-03 -3.97809933e-05 9.99997256e-01 6.55535723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.103617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.19, Y:8.52, Z:0.07 [[ 9.37478525e-01 -3.48036097e-01 -2.21133569e-03 5.31874494e+01] [ 3.48035241e-01 9.37481132e-01 -7.73219573e-04 8.51847875e+00] [ 2.34219381e-03 -4.47460057e-05 9.99997256e-01 6.68981268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.21, Y:8.53, Z:0.07 [[ 9.36986890e-01 -3.49357522e-01 -2.21112421e-03 5.32137124e+01] [ 3.49356668e-01 9.36989498e-01 -7.73823855e-04 8.52597401e+00] [ 2.34214135e-03 -4.74081806e-05 9.99997256e-01 6.62180578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.24, Y:8.53, Z:0.07 [[ 9.36558137e-01 -3.50505304e-01 -2.21103258e-03 5.32408173e+01] [ 3.50504452e-01 9.36560745e-01 -7.74085600e-04 8.53481327e+00] [ 2.34208743e-03 -5.00005950e-05 9.99997256e-01 6.74868054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.19361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.27, Y:8.54, Z:0.07 [[ 9.36021281e-01 -3.51936462e-01 -2.21082048e-03 5.32678193e+01] [ 3.51935613e-01 9.36023891e-01 -7.74690879e-04 8.54402180e+00] [ 2.34202276e-03 -5.29393132e-05 9.99997256e-01 6.80375898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.223617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.29, Y:8.55, Z:0.07 [[ 9.35532525e-01 -3.53233646e-01 -2.21060426e-03 5.32940652e+01] [ 3.53232800e-01 9.35535135e-01 -7.75307382e-04 8.55280140e+00] [ 2.34196261e-03 -5.55326597e-05 9.99997256e-01 6.82512165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.253617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.32, Y:8.56, Z:0.07 [[ 9.35103448e-01 -3.54367966e-01 -2.21038578e-03 5.33201389e+01] [ 3.54367122e-01 9.35106059e-01 -7.75929777e-04 8.56150388e+00] [ 2.34190979e-03 -5.77134352e-05 9.99997256e-01 6.93849182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.283617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.35, Y:8.57, Z:0.07 [[ 9.34419456e-01 -3.56167649e-01 -2.21022295e-03 5.33475632e+01] [ 3.56166808e-01 9.34422068e-01 -7.76393240e-04 8.56940509e+00] [ 2.34180726e-03 -6.17311064e-05 9.99997256e-01 6.84018699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.37, Y:8.58, Z:0.07 [[ 9.34056918e-01 -3.57117334e-01 -2.21000511e-03 5.33745202e+01] [ 3.57116494e-01 9.34059530e-01 -7.77012849e-04 8.57788729e+00] [ 2.34176109e-03 -6.34550487e-05 9.99997256e-01 6.90465574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.40, Y:8.59, Z:0.07 [[ 9.33765161e-01 -3.57879505e-01 -2.20978776e-03 5.34001150e+01] [ 3.57878666e-01 9.33767774e-01 -7.77630467e-04 8.58603476e+00] [ 2.34172661e-03 -6.47116592e-05 9.99997256e-01 6.92279403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.43, Y:8.59, Z:0.07 [[ 9.33230209e-01 -3.59272172e-01 -2.20969366e-03 5.34264575e+01] [ 3.59271336e-01 9.33232823e-01 -7.77897793e-04 8.59409732e+00] [ 2.34163568e-03 -6.79218728e-05 9.99997256e-01 6.90749474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.403617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.45, Y:8.60, Z:0.07 [[ 9.33073888e-01 -3.59677964e-01 -2.20960050e-03 5.34527424e+01] [ 3.59677129e-01 9.33076501e-01 -7.78162313e-04 8.60255553e+00] [ 2.34161414e-03 -6.86598287e-05 9.99997256e-01 6.90163974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.433617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.48, Y:8.61, Z:0.07 [[ 9.32965724e-01 -3.59958437e-01 -2.20953446e-03 5.34785941e+01] [ 3.59957603e-01 9.32968337e-01 -7.78349774e-04 8.61119251e+00] [ 2.34159926e-03 -6.91650674e-05 9.99997256e-01 6.91982399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.463617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.51, Y:8.62, Z:0.07 [[ 9.33413494e-01 -3.58795718e-01 -2.20944320e-03 5.35057207e+01] [ 3.58794880e-01 9.33416107e-01 -7.78608757e-04 8.62002924e+00] [ 2.34169135e-03 -6.59729851e-05 9.99997256e-01 6.98946886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.53, Y:8.63, Z:0.07 [[ 9.34365157e-01 -3.56310080e-01 -2.20922997e-03 5.35296158e+01] [ 3.56309233e-01 9.34367767e-01 -7.79213311e-04 8.62807086e+00] [ 2.34187483e-03 -5.90992670e-05 9.99997256e-01 6.94781655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.56, Y:8.64, Z:0.07 [[ 9.34527130e-01 -3.55885071e-01 -2.20442562e-03 5.35589514e+01] [ 3.55884191e-01 9.34529729e-01 -7.92817273e-04 8.63787787e+00] [ 2.34225310e-03 -4.36109768e-05 9.99997256e-01 6.89983433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.55361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.59, Y:8.65, Z:0.07 [[ 9.35215330e-01 -3.54072603e-01 -2.20890637e-03 5.35860701e+01] [ 3.54071747e-01 9.35217937e-01 -7.80130216e-04 8.64682742e+00] [ 2.34203159e-03 -5.25215993e-05 9.99997256e-01 6.86281005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.583617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.61, Y:8.66, Z:0.07 [[ 9.36628900e-01 -3.50316180e-01 -2.20870626e-03 5.36141117e+01] [ 3.50315313e-01 9.36631503e-01 -7.80696340e-04 8.65555964e+00] [ 2.34223443e-03 -4.25208712e-05 9.99997256e-01 6.68205444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.613617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.64, Y:8.66, Z:0.07 [[ 9.37360025e-01 -3.48355143e-01 -2.20860366e-03 5.36409094e+01] [ 3.48354270e-01 9.37362626e-01 -7.80986492e-04 8.66390942e+00] [ 2.34232319e-03 -3.73109988e-05 9.99997256e-01 6.66483739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.643617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.67, Y:8.67, Z:0.07 [[ 9.38032792e-01 -3.46539469e-01 -2.20838878e-03 5.36664785e+01] [ 3.46538589e-01 9.38035391e-01 -7.81593631e-04 8.67192741e+00] [ 2.34239988e-03 -3.21314768e-05 9.99997256e-01 6.62917131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.69, Y:8.68, Z:0.07 [[ 9.38665615e-01 -3.44821672e-01 -2.20829555e-03 5.36922043e+01] [ 3.44820787e-01 9.38668213e-01 -7.81856963e-04 8.68022237e+00] [ 2.34245806e-03 -2.75639613e-05 9.99997256e-01 6.61480085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.72, Y:8.69, Z:0.07 [[ 9.39646332e-01 -3.42140168e-01 -2.20820461e-03 5.37209140e+01] [ 3.42139275e-01 9.39648926e-01 -7.82113729e-04 8.68754937e+00] [ 2.34252961e-03 -2.06032257e-05 9.99997256e-01 6.82181621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.75, Y:8.70, Z:0.07 [[ 9.39834819e-01 -3.41622066e-01 -2.20843130e-03 5.37486609e+01] [ 3.41621172e-01 9.39837414e-01 -7.81473997e-04 8.69532579e+00] [ 2.34253512e-03 -1.99904179e-05 9.99997256e-01 6.71208270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.78, Y:8.70, Z:0.07 [[ 9.39818156e-01 -3.41667906e-01 -2.20791786e-03 5.37755717e+01] [ 3.41667009e-01 9.39820750e-01 -7.82921966e-04 8.70263675e+00] [ 2.34254632e-03 -1.85684112e-05 9.99997256e-01 6.74888757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.793617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.80, Y:8.71, Z:0.07 [[ 9.39597269e-01 -3.42274887e-01 -2.20770260e-03 5.38046011e+01] [ 3.42273990e-01 9.39599863e-01 -7.83528479e-04 8.71100834e+00] [ 2.34253918e-03 -1.94379590e-05 9.99997256e-01 6.92532861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.823617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.83, Y:8.72, Z:0.07 [[ 9.39093203e-01 -3.43655461e-01 -2.20921473e-03 5.38321353e+01] [ 3.43654578e-01 9.39095801e-01 -7.79268940e-04 8.71670205e+00] [ 2.34246430e-03 -2.74005905e-05 9.99997256e-01 6.81277137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.853617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.86, Y:8.72, Z:0.07 [[ 9.38663389e-01 -3.44827739e-01 -2.20742596e-03 5.38593093e+01] [ 3.44826848e-01 9.38665984e-01 -7.84303427e-04 8.72374716e+00] [ 2.34248524e-03 -2.49828231e-05 9.99997256e-01 6.81114996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.89, Y:8.73, Z:0.07 [[ 9.37414328e-01 -3.48208997e-01 -2.20735912e-03 5.38869096e+01] [ 3.48208115e-01 9.37416926e-01 -7.84491510e-04 8.72941206e+00] [ 2.34238280e-03 -3.32267759e-05 9.99997256e-01 6.84337638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.91, Y:8.74, Z:0.07 [[ 9.36727222e-01 -3.50053196e-01 -2.20714777e-03 5.39138508e+01] [ 3.50052317e-01 9.36729822e-01 -7.85085685e-04 8.73673003e+00] [ 2.34232289e-03 -3.72060578e-05 9.99997256e-01 6.86279150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94361786499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:53.94, Y:8.74, Z:0.07 [[ 9.36097526e-01 -3.51733636e-01 -2.20693532e-03 5.39410785e+01] [ 3.51732761e-01 9.36100127e-01 -7.85682450e-04 8.74396689e+00] [ 2.34226337e-03 -4.07760553e-05 9.99997256e-01 6.94737572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.973617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.97, Y:8.75, Z:0.07 [[ 9.34867846e-01 -3.54989068e-01 -2.20704049e-03 5.39686051e+01] [ 3.54988203e-01 9.34870450e-01 -7.85387108e-04 8.74943059e+00] [ 2.34210078e-03 -4.92401843e-05 9.99997256e-01 6.93276012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.003617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.00, Y:8.76, Z:0.07 [[ 9.34358844e-01 -3.56326649e-01 -2.20666035e-03 5.39955663e+01] [ 3.56325785e-01 9.34361448e-01 -7.86453734e-04 8.75678569e+00] [ 2.34205278e-03 -5.14599799e-05 9.99997256e-01 6.95862891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.033617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.02, Y:8.76, Z:0.07 [[ 9.33877614e-01 -3.57585980e-01 -2.20644733e-03 5.40225026e+01] [ 3.57585118e-01 9.33880219e-01 -7.87050932e-04 8.76403971e+00] [ 2.34199589e-03 -5.39834796e-05 9.99997256e-01 6.95598077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:54.05, Y:8.77, Z:0.07 [[ 9.33249186e-01 -3.59222898e-01 -2.20623374e-03 5.40498045e+01] [ 3.59222039e-01 9.33251792e-01 -7.87649194e-04 8.76929738e+00] [ 2.34191322e-03 -5.74548137e-05 9.99997256e-01 6.89788720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.09361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.08, Y:8.78, Z:0.07 [[ 9.33174956e-01 -3.59415685e-01 -2.20608847e-03 5.40761982e+01] [ 3.59414826e-01 9.33177562e-01 -7.88055864e-04 8.77676740e+00] [ 2.34191190e-03 -5.75069067e-05 9.99997256e-01 6.88616896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.10, Y:8.78, Z:0.07 [[ 9.33122246e-01 -3.59552510e-01 -2.20599669e-03 5.41030999e+01] [ 3.59551650e-01 9.33124852e-01 -7.88312699e-04 8.78484972e+00] [ 2.34191014e-03 -5.75776345e-05 9.99997256e-01 6.90073236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.153617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.13, Y:8.79, Z:0.07 [[ 9.33027131e-01 -3.59799258e-01 -2.20578802e-03 5.41299786e+01] [ 3.59798398e-01 9.33029737e-01 -7.88896146e-04 8.79454208e+00] [ 2.34191007e-03 -5.75774891e-05 9.99997256e-01 6.90740488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.183617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.16, Y:8.80, Z:0.07 [[ 9.33093895e-01 -3.59626082e-01 -2.20557925e-03 5.41562236e+01] [ 3.59625219e-01 9.33096500e-01 -7.89479402e-04 8.80266168e+00] [ 2.34193566e-03 -5.65235100e-05 9.99997256e-01 6.89518319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.213617864999996 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:54.18, Y:8.81, Z:0.07 [[ 9.33351321e-01 -3.58957446e-01 -2.20548873e-03 5.41829019e+01] [ 3.58956581e-01 9.33353925e-01 -7.89732200e-04 8.80913740e+00] [ 2.34198181e-03 -5.45771002e-05 9.99997256e-01 6.79522326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.21, Y:8.82, Z:0.07 [[ 9.33388263e-01 -3.58861375e-01 -2.20539892e-03 5.42097902e+01] [ 3.58860509e-01 9.33390867e-01 -7.89982912e-04 8.81655246e+00] [ 2.34199356e-03 -5.40698006e-05 9.99997256e-01 6.72703959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.24, Y:8.82, Z:0.07 [[ 9.33347705e-01 -3.58966848e-01 -2.20519455e-03 5.42368665e+01] [ 3.58965981e-01 9.33350309e-01 -7.90552978e-04 8.82402070e+00] [ 2.34200133e-03 -5.37290188e-05 9.99997256e-01 6.71595590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:54.26, Y:8.83, Z:0.07 [[ 9.33219712e-01 -3.59299466e-01 -2.20499105e-03 5.42632904e+01] [ 3.59298599e-01 9.33222316e-01 -7.91120191e-04 8.83156619e+00] [ 2.34199591e-03 -5.39612373e-05 9.99997256e-01 6.70838072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.333617864999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:54.29, Y:8.84, Z:0.07 [[ 9.32816867e-01 -3.60344047e-01 -2.20485271e-03 5.42910242e+01] [ 3.60343182e-01 9.32819471e-01 -7.91505553e-04 8.83838174e+00] [ 2.34194385e-03 -5.61739106e-05 9.99997256e-01 6.74410148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.363617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.32, Y:8.85, Z:0.07 [[ 9.32402211e-01 -3.61415628e-01 -2.20465176e-03 5.43183829e+01] [ 3.61414765e-01 9.32404816e-01 -7.92064869e-04 8.84669505e+00] [ 2.34189254e-03 -5.82706625e-05 9.99997256e-01 6.82985352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.393617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.34, Y:8.85, Z:0.07 [[ 9.31863335e-01 -3.62802791e-01 -2.20443638e-03 5.43445983e+01] [ 3.62801930e-01 9.31865941e-01 -7.92663845e-04 8.85276933e+00] [ 2.34181984e-03 -6.11194001e-05 9.99997256e-01 6.73788197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.37, Y:8.86, Z:0.07 [[ 9.31469080e-01 -3.63813819e-01 -2.20434304e-03 5.43719069e+01] [ 3.63812960e-01 9.31471686e-01 -7.92923329e-04 8.86081431e+00] [ 2.34175960e-03 -6.33850045e-05 9.99997256e-01 6.79666266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.40, Y:8.87, Z:0.07 [[ 9.31174492e-01 -3.64567150e-01 -2.20413106e-03 5.43991225e+01] [ 3.64566292e-01 9.31177099e-01 -7.93512151e-04 8.86881869e+00] [ 2.34172483e-03 -6.46536145e-05 9.99997256e-01 6.83727597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.43, Y:8.88, Z:0.07 [[ 9.30891988e-01 -3.65287898e-01 -2.20392063e-03 5.44260234e+01] [ 3.65287041e-01 9.30894595e-01 -7.94096173e-04 8.87709800e+00] [ 2.34169153e-03 -6.58458803e-05 9.99997256e-01 6.87708074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.51361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.45, Y:8.89, Z:0.07 [[ 9.30714653e-01 -3.65739496e-01 -2.20370925e-03 5.44533323e+01] [ 3.65738639e-01 9.30717259e-01 -7.94682365e-04 8.88553340e+00] [ 2.34167696e-03 -6.63590991e-05 9.99997256e-01 6.89093305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.543617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.48, Y:8.89, Z:0.07 [[ 9.30580446e-01 -3.66080835e-01 -2.20349359e-03 5.44807546e+01] [ 3.66079978e-01 9.30583052e-01 -7.95279884e-04 8.89320904e+00] [ 2.34167052e-03 -6.65829755e-05 9.99997256e-01 6.87699098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.573617864999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:54.51, Y:8.90, Z:0.07 [[ 9.30582298e-01 -3.66076129e-01 -2.20327426e-03 5.45078822e+01] [ 3.66075269e-01 9.30584904e-01 -7.95887065e-04 8.90206723e+00] [ 2.34168902e-03 -6.59258039e-05 9.99997256e-01 6.83635480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:54.53, Y:8.91, Z:0.07 [[ 9.30583213e-01 -3.66073803e-01 -2.20305534e-03 5.45347413e+01] [ 3.66072943e-01 9.30585819e-01 -7.96492592e-04 8.91079686e+00] [ 2.34170713e-03 -6.52763134e-05 9.99997256e-01 6.78454011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.56, Y:8.92, Z:0.07 [[ 9.30970949e-01 -3.65086620e-01 -2.20283451e-03 5.45608049e+01] [ 3.65085755e-01 9.30973553e-01 -7.97102865e-04 8.91677509e+00] [ 2.34179226e-03 -6.21438880e-05 9.99997256e-01 6.79200148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.59, Y:8.93, Z:0.07 [[ 9.31141784e-01 -3.64650691e-01 -2.20273901e-03 5.45870948e+01] [ 3.64649824e-01 9.31144387e-01 -7.97366670e-04 8.92500579e+00] [ 2.34182838e-03 -6.07669703e-05 9.99997256e-01 6.80648803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.69361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.61, Y:8.93, Z:0.07 [[ 9.31413485e-01 -3.63956137e-01 -2.20259039e-03 5.46135571e+01] [ 3.63955267e-01 9.31416087e-01 -7.97776994e-04 8.93368687e+00] [ 2.34188396e-03 -5.85841245e-05 9.99997256e-01 6.84699928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.723617864999994 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:54.64, Y:8.94, Z:0.07 [[ 9.32496636e-01 -3.61171943e-01 -2.20237090e-03 5.46378444e+01] [ 3.61171064e-01 9.32499236e-01 -7.98382479e-04 8.94303264e+00] [ 2.34206253e-03 -5.09436648e-05 9.99997256e-01 6.84881973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.753617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:54.66, Y:8.95, Z:0.07 [[ 9.32739748e-01 -3.60543649e-01 -2.20001223e-03 5.46649959e+01] [ 3.60542753e-01 9.32742341e-01 -8.04883451e-04 8.95314572e+00] [ 2.34224018e-03 -4.24516798e-05 9.99997256e-01 6.84190026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.783617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:54.69, Y:8.96, Z:0.07 [[ 9.33496520e-01 -3.58579694e-01 -2.20204403e-03 5.46910056e+01] [ 3.58578806e-01 9.33499117e-01 -7.99285827e-04 8.96362055e+00] [ 2.34221382e-03 -4.34757801e-05 9.99997256e-01 6.88845014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.72, Y:8.97, Z:0.07 [[ 9.34732217e-01 -3.55346078e-01 -2.20182741e-03 5.47172067e+01] [ 3.55345180e-01 9.34734809e-01 -7.99882122e-04 8.97405554e+00] [ 2.34235969e-03 -3.47331660e-05 9.99997256e-01 6.87068694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:54.74, Y:8.98, Z:0.07 [[ 9.35128862e-01 -3.54300951e-01 -2.20160686e-03 5.47432231e+01] [ 3.54300048e-01 9.35131453e-01 -8.00488697e-04 8.98250529e+00] [ 2.34240573e-03 -3.14693311e-05 9.99997256e-01 6.88866187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.87361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:54.77, Y:8.99, Z:0.07 [[ 9.35332756e-01 -3.53762335e-01 -2.20151121e-03 5.47699200e+01] [ 3.53761430e-01 9.35335346e-01 -8.00751668e-04 8.99150107e+00] [ 2.34242703e-03 -2.98404885e-05 9.99997256e-01 6.86150535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.903617864999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:54.80, Y:9.00, Z:0.07 [[ 9.35779022e-01 -3.52580170e-01 -2.20129106e-03 5.47965148e+01] [ 3.52579260e-01 9.35781611e-01 -8.01356420e-04 9.00184786e+00] [ 2.34247007e-03 -2.62370446e-05 9.99997256e-01 6.81657616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.933617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.82, Y:9.01, Z:0.07 [[ 9.36139302e-01 -3.51622471e-01 -2.20107160e-03 5.48214477e+01] [ 3.51621557e-01 9.36141890e-01 -8.01958741e-04 9.01221820e+00] [ 2.34250204e-03 -2.31991273e-05 9.99997256e-01 6.77949146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.963617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.85, Y:9.02, Z:0.07 [[ 9.36491179e-01 -3.50684227e-01 -2.20097659e-03 5.48469430e+01] [ 3.50683310e-01 9.36493765e-01 -8.02219399e-04 9.02256496e+00] [ 2.34252655e-03 -2.05743661e-05 9.99997256e-01 6.74778786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99361786499999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:54.87, Y:9.03, Z:0.07 [[ 9.36910998e-01 -3.49561072e-01 -2.19994696e-03 5.48732729e+01] [ 3.49560145e-01 9.36913580e-01 -8.05043386e-04 9.03308114e+00] [ 2.34257201e-03 -1.47597752e-05 9.99997256e-01 6.70549172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:54.90, Y:9.04, Z:0.07 [[ 9.37154258e-01 -3.48908382e-01 -2.19951645e-03 5.48978834e+01] [ 3.48907451e-01 9.37156839e-01 -8.06223122e-04 9.04183223e+00] [ 2.34258989e-03 -1.18722477e-05 9.99997256e-01 6.59938073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.05361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.93, Y:9.05, Z:0.07 [[ 9.36647781e-01 -3.50265769e-01 -2.19657769e-03 5.49266867e+01] [ 3.50264823e-01 9.36650357e-01 -8.14269417e-04 9.05176378e+00] [ 2.34263598e-03 -6.70025248e-06 9.99997256e-01 6.70480449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.083617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:54.95, Y:9.06, Z:0.07 [[ 9.36511963e-01 -3.50628724e-01 -2.20036034e-03 5.49535426e+01] [ 3.50627803e-01 9.36514548e-01 -8.03916103e-04 9.06064636e+00] [ 2.34254555e-03 -1.86304640e-05 9.99997256e-01 6.76545756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.113617864999995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:54.98, Y:9.07, Z:0.07 [[ 9.35603019e-01 -3.53046963e-01 -2.19852695e-03 5.49802940e+01] [ 3.53046036e-01 9.35605602e-01 -8.08930054e-04 9.07002912e+00] [ 2.34254443e-03 -1.93438257e-05 9.99997256e-01 6.67830160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.143617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:55.01, Y:9.08, Z:0.07 [[ 9.35246509e-01 -3.53990291e-01 -2.20007308e-03 5.50061202e+01] [ 3.53989378e-01 9.35249097e-01 -8.04702907e-04 9.08000355e+00] [ 2.34247338e-03 -2.62069159e-05 9.99997256e-01 6.74134419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:55.03, Y:9.09, Z:0.07 [[ 9.34918705e-01 -3.54855152e-01 -2.19922838e-03 5.50327765e+01] [ 3.54854236e-01 9.34921291e-01 -8.07011226e-04 9.09053406e+00] [ 2.34247753e-03 -2.59156167e-05 9.99997256e-01 6.66549411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:55.06, Y:9.10, Z:0.07 [[ 9.34602917e-01 -3.55686026e-01 -2.19961066e-03 5.50591836e+01] [ 3.55685114e-01 9.34605505e-01 -8.05966927e-04 9.10040318e+00] [ 2.34243941e-03 -2.91097280e-05 9.99997256e-01 6.71622603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:55.09, Y:9.11, Z:0.07 [[ 9.33943333e-01 -3.57414354e-01 -2.19784960e-03 5.50853334e+01] [ 3.57413436e-01 9.33945918e-01 -8.10773109e-04 9.11077224e+00] [ 2.34245461e-03 -2.83248364e-05 9.99997256e-01 6.75580145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:55.11, Y:9.12, Z:0.07 [[ 9.32892338e-01 -3.60148657e-01 -2.19810822e-03 5.51128319e+01] [ 3.60147747e-01 9.32894927e-01 -8.10067420e-04 9.12017590e+00] [ 2.34234870e-03 -3.59380346e-05 9.99997256e-01 6.73267617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.293617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:55.14, Y:9.13, Z:0.07 [[ 9.32154091e-01 -3.62055125e-01 -2.19937387e-03 5.51395146e+01] [ 3.62054230e-01 9.32156684e-01 -8.06616410e-04 9.12831214e+00] [ 2.34220066e-03 -4.44018271e-05 9.99997256e-01 6.83212694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.323617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:55.16, Y:9.14, Z:0.07 [[ 9.30650894e-01 -3.65901735e-01 -2.19876226e-03 5.51648827e+01] [ 3.65900846e-01 9.30653490e-01 -8.08283164e-04 9.13673132e+00] [ 2.34203798e-03 -5.22995207e-05 9.99997256e-01 6.89543976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:55.19, Y:9.15, Z:0.07 [[ 9.29708745e-01 -3.68289042e-01 -2.19777759e-03 5.51917266e+01] [ 3.68288153e-01 9.29711341e-01 -8.10965459e-04 9.14806692e+00] [ 2.34196845e-03 -5.54537726e-05 9.99997256e-01 6.85290451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38361786499999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:55.22, Y:9.16, Z:0.07 [[ 9.29163315e-01 -3.69662952e-01 -2.19894626e-03 5.52165864e+01] [ 3.69662075e-01 9.29165915e-01 -8.07784137e-04 9.15785740e+00] [ 2.34179378e-03 -6.23036488e-05 9.99997256e-01 6.88439207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.41361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:55.24, Y:9.17, Z:0.07 [[ 9.28408455e-01 -3.71554723e-01 -2.19751010e-03 5.52422519e+01] [ 3.71553842e-01 9.28411053e-01 -8.11689137e-04 9.16788661e+00] [ 2.34177960e-03 -6.29142648e-05 9.99997256e-01 6.78101701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:55.27, Y:9.18, Z:0.07 [[ 9.27321200e-01 -3.74260013e-01 -2.19861315e-03 5.52684219e+01] [ 3.74259147e-01 9.27323804e-01 -8.08690252e-04 9.17782016e+00] [ 2.34148673e-03 -7.29354662e-05 9.99997256e-01 6.73646070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.473617864999994 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:55.29, Y:9.19, Z:0.07 [[ 9.26849184e-01 -3.75427432e-01 -2.19839738e-03 5.52949932e+01] [ 3.75426567e-01 9.26851788e-01 -8.09276383e-04 9.18737033e+00] [ 2.34141310e-03 -7.52596274e-05 9.99997256e-01 6.70222897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.503617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:55.32, Y:9.20, Z:0.07 [[ 9.26612264e-01 -3.76011809e-01 -2.19818263e-03 5.53209597e+01] [ 3.76010945e-01 9.26614868e-01 -8.09859291e-04 9.19645730e+00] [ 2.34138536e-03 -7.61151750e-05 9.99997256e-01 6.78593155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.533617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.35, Y:9.21, Z:0.07 [[ 9.26602229e-01 -3.76036546e-01 -2.19670430e-03 5.53478389e+01] [ 3.76035672e-01 9.26604830e-01 -8.13868562e-04 9.20710302e+00] [ 2.34152114e-03 -7.19067529e-05 9.99997256e-01 6.80626943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56361786499999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:55.37, Y:9.22, Z:0.07 [[ 9.26931062e-01 -3.75225235e-01 -2.19779800e-03 5.53740474e+01] [ 3.75224365e-01 9.26933664e-01 -8.10904293e-04 9.21781395e+00] [ 2.34148471e-03 -7.30149840e-05 9.99997256e-01 6.77994453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.59361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:55.40, Y:9.23, Z:0.07 [[ 9.27130738e-01 -3.74731595e-01 -2.19699546e-03 5.53994852e+01] [ 3.74730719e-01 9.27133338e-01 -8.13078234e-04 9.22834325e+00] [ 2.34159384e-03 -6.94518678e-05 9.99997256e-01 6.63455142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62361786499999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:55.43, Y:9.24, Z:0.06 [[ 9.27900561e-01 -3.72821297e-01 -2.19759376e-03 5.54271256e+01] [ 3.72820420e-01 9.27903161e-01 -8.11457918e-04 9.23888061e+00] [ 2.34168299e-03 -6.63555717e-05 9.99997256e-01 6.22877913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.653617864999994 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:55.45, Y:9.25, Z:0.06 [[ 9.28149739e-01 -3.72200509e-01 -2.20052129e-03 5.54515578e+01] [ 3.72199649e-01 9.28152345e-01 -8.03528545e-04 9.24937201e+00] [ 2.34149273e-03 -7.32384409e-05 9.99997256e-01 6.49149013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.683617864999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:55.48, Y:9.26, Z:0.06 [[ 9.28416873e-01 -3.71533688e-01 -2.19747212e-03 5.54780156e+01] [ 3.71532807e-01 9.28419471e-01 -8.11782554e-04 9.25937153e+00] [ 2.34178047e-03 -6.27603645e-05 9.99997256e-01 6.49958649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.713617864999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:55.50, Y:9.27, Z:0.06 [[ 9.28696191e-01 -3.70834946e-01 -2.19725320e-03 5.55042488e+01] [ 3.70834061e-01 9.28698788e-01 -8.12374688e-04 9.26885099e+00] [ 2.34184330e-03 -6.03670491e-05 9.99997256e-01 6.46918986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.53, Y:9.28, Z:0.06 [[ 9.29117248e-01 -3.69778734e-01 -2.19704761e-03 5.55295307e+01] [ 3.69777845e-01 9.29119844e-01 -8.12930316e-04 9.27889063e+00] [ 2.34192487e-03 -5.71119520e-05 9.99997256e-01 6.47778879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.56, Y:9.29, Z:0.06 [[ 9.29312637e-01 -3.69287416e-01 -2.19695180e-03 5.55550883e+01] [ 3.69286525e-01 9.29315232e-01 -8.13189159e-04 9.28899164e+00] [ 2.34196129e-03 -5.55977326e-05 9.99997256e-01 6.45601448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.58, Y:9.30, Z:0.07 [[ 9.29361614e-01 -3.69164142e-01 -2.19685765e-03 5.55815657e+01] [ 3.69163250e-01 9.29364209e-01 -8.13443414e-04 9.29963024e+00] [ 2.34197502e-03 -5.50160274e-05 9.99997256e-01 6.57440851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.833617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.61, Y:9.31, Z:0.07 [[ 9.29549894e-01 -3.68689795e-01 -2.19754589e-03 5.56078671e+01] [ 3.68688906e-01 9.29552490e-01 -8.11586010e-04 9.31000224e+00] [ 2.34195773e-03 -5.58011018e-05 9.99997256e-01 6.54484098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.863617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.63, Y:9.32, Z:0.07 [[ 9.29690114e-01 -3.68336079e-01 -2.19652173e-03 5.56325463e+01] [ 3.68335182e-01 9.29692707e-01 -8.14348448e-04 9.31876001e+00] [ 2.34204415e-03 -5.19645305e-05 9.99997256e-01 6.54051629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.893617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.66, Y:9.33, Z:0.07 [[ 9.29238458e-01 -3.69474052e-01 -2.19406688e-03 5.56593653e+01] [ 3.69473143e-01 9.29241047e-01 -8.20963880e-04 9.32831581e+00] [ 2.34214185e-03 -4.77775750e-05 9.99997256e-01 6.56926074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.69, Y:9.34, Z:0.07 [[ 9.28889264e-01 -3.70351067e-01 -2.19624936e-03 5.56855983e+01] [ 3.70350174e-01 9.28891858e-01 -8.15083156e-04 9.33794248e+00] [ 2.34194507e-03 -5.62593396e-05 9.99997256e-01 6.64189427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.71, Y:9.35, Z:0.07 [[ 9.28162393e-01 -3.72168980e-01 -2.19602807e-03 5.57107865e+01] [ 3.72168091e-01 9.28164989e-01 -8.15678933e-04 9.34676626e+00] [ 2.34184676e-03 -6.02090642e-05 9.99997256e-01 6.65416399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.73, Y:9.36, Z:0.06 [[ 9.26838764e-01 -3.75453171e-01 -2.19593218e-03 5.57339787e+01] [ 3.75452291e-01 9.26841363e-01 -8.15936993e-04 9.35850357e+00] [ 2.34162691e-03 -6.82257341e-05 9.99997256e-01 6.35549468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.01361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:55.76, Y:9.37, Z:0.07 [[ 9.27334150e-01 -3.74227979e-01 -2.18949876e-03 5.57636585e+01] [ 3.74227054e-01 9.27336734e-01 -8.33233940e-04 9.36640471e+00] [ 2.34222208e-03 -4.66833828e-05 9.99997256e-01 6.69514428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.043617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:55.79, Y:9.38, Z:0.07 [[ 9.27230627e-01 -3.74484369e-01 -2.19583562e-03 5.57904357e+01] [ 3.74483485e-01 9.27233225e-01 -8.16185463e-04 9.37640788e+00] [ 2.34170044e-03 -6.55120181e-05 9.99997256e-01 6.70250762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.073617864999996 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:55.82, Y:9.39, Z:0.07 [[ 9.26736619e-01 -3.75705229e-01 -2.19560975e-03 5.58154001e+01] [ 3.75704347e-01 9.26739217e-01 -8.16792637e-04 9.38621756e+00] [ 2.34163092e-03 -6.79484799e-05 9.99997256e-01 6.61332581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:55.84, Y:9.40, Z:0.07 [[ 9.26514548e-01 -3.76252537e-01 -2.19551189e-03 5.58421056e+01] [ 3.76251656e-01 9.26517147e-01 -8.17055602e-04 9.39639408e+00] [ 2.34159865e-03 -6.90510815e-05 9.99997256e-01 6.59567012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:55.87, Y:9.41, Z:0.07 [[ 9.26432810e-01 -3.76453756e-01 -2.19528819e-03 5.58678774e+01] [ 3.76452874e-01 9.26435408e-01 -8.17656196e-04 9.40601534e+00] [ 2.34160245e-03 -6.89190206e-05 9.99997256e-01 6.52390116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:55.89, Y:9.42, Z:0.06 [[ 9.26407330e-01 -3.76516454e-01 -2.19519136e-03 5.58940790e+01] [ 3.76515572e-01 9.26409928e-01 -8.17916066e-04 9.41632446e+00] [ 2.34160593e-03 -6.88002930e-05 9.99997256e-01 6.45515173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.19361786499999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:55.92, Y:9.43, Z:0.06 [[ 9.26569117e-01 -3.76118137e-01 -2.19496925e-03 5.59205297e+01] [ 3.76117252e-01 9.26571715e-01 -8.18511697e-04 9.42605805e+00] [ 2.34165352e-03 -6.71581422e-05 9.99997256e-01 6.40301707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.223617864999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:55.95, Y:9.44, Z:0.06 [[ 9.26478314e-01 -3.76341755e-01 -2.19475765e-03 5.59466380e+01] [ 3.76340870e-01 9.26480911e-01 -8.19078687e-04 9.43564988e+00] [ 2.34165458e-03 -6.71183623e-05 9.99997256e-01 6.37307397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.253617864999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:55.97, Y:9.45, Z:0.06 [[ 9.26803982e-01 -3.75539030e-01 -2.19468720e-03 5.59729011e+01] [ 3.75538142e-01 9.26806578e-01 -8.19267410e-04 9.44549578e+00] [ 2.34171742e-03 -6.48884548e-05 9.99997256e-01 6.37423285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.283617865 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:56.00, Y:9.46, Z:0.06 [[ 9.27058785e-01 -3.74909580e-01 -2.19446255e-03 5.59982843e+01] [ 3.74908689e-01 9.27061380e-01 -8.19868708e-04 9.45560825e+00] [ 2.34177811e-03 -6.26565888e-05 9.99997256e-01 6.32673085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.02, Y:9.47, Z:0.06 [[ 9.27358313e-01 -3.74168069e-01 -2.19436505e-03 5.60241609e+01] [ 3.74167175e-01 9.27360907e-01 -8.20129595e-04 9.46585752e+00] [ 2.34183467e-03 -6.05053722e-05 9.99997256e-01 6.32179018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.05, Y:9.48, Z:0.06 [[ 9.27703883e-01 -3.73310448e-01 -2.19414421e-03 5.60507604e+01] [ 3.73309550e-01 9.27706476e-01 -8.20719992e-04 9.47600159e+00] [ 2.34190514e-03 -5.77098639e-05 9.99997256e-01 6.25580127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.08, Y:9.49, Z:0.06 [[ 9.28492003e-01 -3.71345912e-01 -2.19389907e-03 5.60757638e+01] [ 3.71345008e-01 9.28494594e-01 -8.21374840e-04 9.48597513e+00] [ 2.34203762e-03 -5.20534968e-05 9.99997256e-01 6.25927159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.403617864999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:56.10, Y:9.50, Z:0.06 [[ 9.28555501e-01 -3.71187111e-01 -2.19338334e-03 5.61041950e+01] [ 3.71186203e-01 9.28558090e-01 -8.22751361e-04 9.49662368e+00] [ 2.34207854e-03 -5.01833300e-05 9.99997256e-01 6.20851356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.433617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:56.13, Y:9.51, Z:0.06 [[ 9.28866798e-01 -3.70407407e-01 -2.19630412e-03 5.61293378e+01] [ 3.70406515e-01 9.28869393e-01 -8.14954666e-04 9.50540745e+00] [ 2.34194492e-03 -5.65410253e-05 9.99997256e-01 6.40564206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.463617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.16, Y:9.51, Z:0.07 [[ 9.29079946e-01 -3.69872458e-01 -2.19528223e-03 5.61554955e+01] [ 3.69871558e-01 9.29082538e-01 -8.17679498e-04 9.51442549e+00] [ 2.34203551e-03 -5.22828350e-05 9.99997256e-01 6.50800381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:56.18, Y:9.52, Z:0.07 [[ 9.29038234e-01 -3.69977227e-01 -2.19357396e-03 5.61822927e+01] [ 3.69976317e-01 9.29040822e-01 -8.22232119e-04 9.52403890e+00] [ 2.34212691e-03 -4.76853379e-05 9.99997256e-01 6.52116108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52361786499999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:56.21, Y:9.53, Z:0.07 [[ 9.29010152e-01 -3.70047737e-01 -2.19308648e-03 5.62087124e+01] [ 3.70046823e-01 9.29012740e-01 -8.23530292e-04 9.53395412e+00] [ 2.34215080e-03 -4.64766815e-05 9.99997256e-01 6.53791211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.55361786499999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:56.24, Y:9.54, Z:0.07 [[ 9.28715421e-01 -3.70786814e-01 -2.19210118e-03 5.62353431e+01] [ 3.70785896e-01 9.28718007e-01 -8.26153258e-04 9.54442394e+00] [ 2.34217058e-03 -4.55389304e-05 9.99997256e-01 6.65951977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.583617864999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:56.26, Y:9.55, Z:0.07 [[ 9.28636370e-01 -3.70984749e-01 -2.19285228e-03 5.62605609e+01] [ 3.70983837e-01 9.28638957e-01 -8.24154784e-04 9.55368355e+00] [ 2.34211691e-03 -4.81726466e-05 9.99997256e-01 6.58257968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.613617864999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:56.29, Y:9.56, Z:0.07 [[ 9.28233864e-01 -3.71990708e-01 -2.19261254e-03 5.62870562e+01] [ 3.71989797e-01 9.28236452e-01 -8.24792113e-04 9.56359726e+00] [ 2.34207789e-03 -5.00295241e-05 9.99997256e-01 6.78002735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.643617864999996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:56.31, Y:9.57, Z:0.07 [[ 9.27792653e-01 -3.73089787e-01 -2.19196245e-03 5.63137751e+01] [ 3.73088875e-01 9.27795240e-01 -8.26519258e-04 9.57385038e+00] [ 2.34205822e-03 -5.09583080e-05 9.99997256e-01 6.80872171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.34, Y:9.58, Z:0.07 [[ 9.26620965e-01 -3.75990400e-01 -2.19234639e-03 5.63395056e+01] [ 3.75989498e-01 9.26623557e-01 -8.25499590e-04 9.58417864e+00] [ 2.34185973e-03 -5.93739919e-05 9.99997256e-01 6.72066682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:56.37, Y:9.59, Z:0.07 [[ 9.26063492e-01 -3.77361363e-01 -2.19326718e-03 5.63658974e+01] [ 3.77360471e-01 9.26066087e-01 -8.23055787e-04 9.59448748e+00] [ 2.34169981e-03 -6.54504196e-05 9.99997256e-01 6.72048769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73361786499999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:56.39, Y:9.60, Z:0.07 [[ 9.25317936e-01 -3.79185855e-01 -2.19203214e-03 5.63916150e+01] [ 3.79184960e-01 9.25320530e-01 -8.26332003e-04 9.60427788e+00] [ 2.34166575e-03 -6.65657963e-05 9.99997256e-01 6.74067359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.42, Y:9.62, Z:0.07 [[ 9.23732608e-01 -3.83031676e-01 -2.19193378e-03 5.64183994e+01] [ 3.83030791e-01 9.23735205e-01 -8.26592835e-04 9.61507499e+00] [ 2.34137764e-03 -7.60273747e-05 9.99997256e-01 6.74208912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.793617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:56.44, Y:9.63, Z:0.07 [[ 9.22712665e-01 -3.85482206e-01 -2.19240116e-03 5.64440060e+01] [ 3.85481331e-01 9.22715266e-01 -8.25353802e-04 9.62557966e+00] [ 2.34112122e-03 -8.35653105e-05 9.99997256e-01 6.69517841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.823617864999996 meters Centerline goodness : 0.994320 Centerline is valid? [True, True] Translation: X:56.47, Y:9.64, Z:0.07 [[ 9.22080390e-01 -3.86992175e-01 -2.19349191e-03 5.64710854e+01] [ 3.86991311e-01 9.22082994e-01 -8.22460810e-04 9.63626298e+00] [ 2.34086749e-03 -9.04873281e-05 9.99997256e-01 6.53317177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:56.50, Y:9.65, Z:0.07 [[ 9.21687717e-01 -3.87926451e-01 -2.19547767e-03 5.64950180e+01] [ 3.87925603e-01 9.21690327e-01 -8.17195866e-04 9.64554350e+00] [ 2.34056242e-03 -9.84826059e-05 9.99997256e-01 6.57577329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88361786499999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:56.52, Y:9.66, Z:0.07 [[ 9.20810243e-01 -3.90004736e-01 -2.19161667e-03 5.65229221e+01] [ 3.90003869e-01 9.20812846e-01 -8.27422605e-04 9.65594878e+00] [ 2.34076751e-03 -9.28397695e-05 9.99997256e-01 6.77057433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.91361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:56.55, Y:9.67, Z:0.07 [[ 9.20684081e-01 -3.90302462e-01 -2.19328964e-03 5.65488507e+01] [ 3.90301607e-01 9.20686688e-01 -8.22992127e-04 9.66622235e+00] [ 2.34054843e-03 -9.83287189e-05 9.99997256e-01 6.73354122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94361786499999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:56.57, Y:9.68, Z:0.07 [[ 9.20710107e-01 -3.90241075e-01 -2.19134004e-03 5.65737750e+01] [ 3.90240207e-01 9.20712710e-01 -8.28150877e-04 9.67606243e+00] [ 2.34077312e-03 -9.26621090e-05 9.99997256e-01 6.78678627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.973617864999994 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:56.60, Y:9.69, Z:0.07 [[ 9.20417315e-01 -3.90931158e-01 -2.18974380e-03 5.66006600e+01] [ 3.90930282e-01 9.20419916e-01 -8.32370460e-04 9.68736674e+00] [ 2.34088335e-03 -8.99089790e-05 9.99997256e-01 6.67253536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.003617864999995 meters Centerline goodness : 0.995418 Centerline is valid? [True, True] Translation: X:56.63, Y:9.70, Z:0.06 [[ 9.21077682e-01 -3.89372706e-01 -2.19089514e-03 5.66284270e+01] [ 3.89371833e-01 9.21080283e-01 -8.29328895e-04 9.69913162e+00] [ 2.34090835e-03 -8.91965213e-05 9.99997256e-01 6.33495302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:56.65, Y:9.71, Z:0.07 [[ 9.21537768e-01 -3.88282530e-01 -2.19534734e-03 5.66523995e+01] [ 3.88281682e-01 9.21540377e-01 -8.17568956e-04 9.70994164e+00] [ 2.34054896e-03 -9.89924854e-05 9.99997256e-01 6.70403869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06361786499999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:56.68, Y:9.72, Z:0.07 [[ 9.22792138e-01 -3.85291931e-01 -2.19052677e-03 5.66785184e+01] [ 3.85291045e-01 9.22794734e-01 -8.30286958e-04 9.72157486e+00] [ 2.34130943e-03 -7.78080696e-05 9.99997256e-01 6.74941110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.09361786499999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:56.70, Y:9.73, Z:0.07 [[ 9.23410141e-01 -3.83808434e-01 -2.19030023e-03 5.67035113e+01] [ 3.83807542e-01 9.23412736e-01 -8.30884133e-04 9.73204555e+00] [ 2.34145147e-03 -7.34069121e-05 9.99997256e-01 6.73352567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.73, Y:9.75, Z:0.06 [[ 9.22839006e-01 -3.85179662e-01 -2.19020205e-03 5.67256997e+01] [ 3.85178773e-01 9.22841602e-01 -8.31142847e-04 9.74528255e+00] [ 2.34134889e-03 -7.66083002e-05 9.99997256e-01 6.27274963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.153617864999994 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:56.75, Y:9.75, Z:0.07 [[ 9.24499423e-01 -3.81177183e-01 -2.18430769e-03 5.67548096e+01] [ 3.81176246e-01 9.24502002e-01 -8.46665803e-04 9.75406707e+00] [ 2.34212652e-03 -4.98641610e-05 9.99997256e-01 6.76073400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.183617864999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:56.78, Y:9.77, Z:0.07 [[ 9.25321322e-01 -3.79177603e-01 -2.19009747e-03 5.67803125e+01] [ 3.79176696e-01 9.25323912e-01 -8.31414463e-04 9.76674539e+00] [ 2.34180331e-03 -6.11083950e-05 9.99997256e-01 6.69175160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.213617864999996 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:56.81, Y:9.78, Z:0.07 [[ 9.25498874e-01 -3.78744028e-01 -2.18987127e-03 5.68057369e+01] [ 3.78743119e-01 9.25501463e-01 -8.32009829e-04 9.77811161e+00] [ 2.34184782e-03 -5.93745157e-05 9.99997256e-01 6.63445502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.83, Y:9.79, Z:0.07 [[ 9.25489696e-01 -3.78766457e-01 -2.18964480e-03 5.68317647e+01] [ 3.78765546e-01 9.25492284e-01 -8.32605417e-04 9.78925197e+00] [ 2.34186237e-03 -5.87942757e-05 9.99997256e-01 6.67495947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.27361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:56.86, Y:9.80, Z:0.07 [[ 9.25525717e-01 -3.78678431e-01 -2.18941458e-03 5.68574226e+01] [ 3.78677519e-01 9.25528304e-01 -8.33210371e-04 9.80117801e+00] [ 2.34188396e-03 -5.79244552e-05 9.99997256e-01 6.71057433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30361786499999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:56.88, Y:9.82, Z:0.06 [[ 9.23283120e-01 -3.84113899e-01 -2.18934329e-03 5.68753452e+01] [ 3.84113001e-01 9.23285713e-01 -8.33397651e-04 9.81566211e+00] [ 2.34150900e-03 -7.14932389e-05 9.99997256e-01 6.33707363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.333617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.91, Y:9.82, Z:0.07 [[ 9.25201520e-01 -3.79469913e-01 -2.17545169e-03 5.69083441e+01] [ 3.79468917e-01 9.25204077e-01 -8.69764859e-04 9.82233817e+00] [ 2.34278637e-03 -2.08085254e-05 9.99997255e-01 6.90127525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.363617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.93, Y:9.84, Z:0.07 [[ 9.23074218e-01 -3.84615663e-01 -2.18636052e-03 5.69303775e+01] [ 3.84614749e-01 9.23076805e-01 -8.41166742e-04 9.83660630e+00] [ 2.34170459e-03 -6.44471704e-05 9.99997256e-01 6.53575881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.393617864999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.96, Y:9.85, Z:0.07 [[ 9.24138096e-01 -3.82052387e-01 -2.18011862e-03 5.69597960e+01] [ 3.82051427e-01 9.24140667e-01 -8.57510613e-04 9.84520246e+00] [ 2.34235025e-03 -4.04592023e-05 9.99997256e-01 6.81404630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.99, Y:9.86, Z:0.07 [[ 9.23815240e-01 -3.82832355e-01 -2.18855744e-03 5.69859899e+01] [ 3.82831449e-01 9.23817830e-01 -8.35402888e-04 9.85658132e+00] [ 2.34164765e-03 -6.60906982e-05 9.99997256e-01 6.81579150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.01, Y:9.87, Z:0.07 [[ 9.23450885e-01 -3.83710404e-01 -2.18833152e-03 5.70120847e+01] [ 3.83709499e-01 9.23453476e-01 -8.35994279e-04 9.86778714e+00] [ 2.34160205e-03 -6.76839343e-05 9.99997256e-01 6.90423124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:57.04, Y:9.88, Z:0.07 [[ 9.23370440e-01 -3.83903949e-01 -2.18810234e-03 5.70378450e+01] [ 3.83903043e-01 9.23373031e-01 -8.36593690e-04 9.87815366e+00] [ 2.34160631e-03 -6.75332640e-05 9.99997256e-01 6.91457683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.51361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.06, Y:9.89, Z:0.07 [[ 9.22388290e-01 -3.86257758e-01 -2.18787229e-03 5.70593938e+01] [ 3.86256857e-01 9.22390882e-01 -8.37194900e-04 9.89070953e+00] [ 2.34144647e-03 -7.28619020e-05 9.99997256e-01 6.69753160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.543617864999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.09, Y:9.90, Z:0.07 [[ 9.23789209e-01 -3.82895214e-01 -2.18012828e-03 5.70870033e+01] [ 3.82894256e-01 9.23791780e-01 -8.57406406e-04 9.90196719e+00] [ 2.34228139e-03 -4.26958085e-05 9.99997256e-01 6.65749814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.573617864999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.11, Y:9.91, Z:0.07 [[ 9.24320116e-01 -3.81611780e-01 -2.18444327e-03 5.71137614e+01] [ 3.81610845e-01 9.24322696e-01 -8.46138483e-04 9.91380899e+00] [ 2.34202691e-03 -5.15044221e-05 9.99997256e-01 6.69907974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.14, Y:9.92, Z:0.07 [[ 9.25148255e-01 -3.79599707e-01 -2.18389201e-03 5.71400608e+01] [ 3.79598763e-01 9.25150831e-01 -8.47577185e-04 9.92450705e+00] [ 2.34216956e-03 -4.48681541e-05 9.99997256e-01 6.61444363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.17, Y:9.94, Z:0.07 [[ 9.25732738e-01 -3.78172078e-01 -2.18562509e-03 5.71654131e+01] [ 3.78171141e-01 9.25735317e-01 -8.43056361e-04 9.93526189e+00] [ 2.34213071e-03 -4.60954611e-05 9.99997256e-01 6.61270168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.19, Y:9.95, Z:0.06 [[ 9.26726583e-01 -3.75730045e-01 -2.18476772e-03 5.71908752e+01] [ 3.75729096e-01 9.26729158e-01 -8.45291574e-04 9.94605649e+00] [ 2.34228939e-03 -3.75266311e-05 9.99997256e-01 6.45787157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.69361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.22, Y:9.96, Z:0.06 [[ 9.27066575e-01 -3.74890370e-01 -2.18517521e-03 5.72167165e+01] [ 3.74889421e-01 9.27069150e-01 -8.44229707e-04 9.95620875e+00] [ 2.34230211e-03 -3.65419265e-05 9.99997256e-01 6.35551272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.723617864999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.24, Y:9.97, Z:0.06 [[ 9.27333166e-01 -3.74230439e-01 -2.18574090e-03 5.72428513e+01] [ 3.74229492e-01 9.27335741e-01 -8.42755456e-04 9.96678866e+00] [ 2.34230040e-03 -3.64536192e-05 9.99997256e-01 6.43695613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.753617864999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.27, Y:9.98, Z:0.06 [[ 9.27398243e-01 -3.74069143e-01 -2.18513459e-03 5.72671787e+01] [ 3.74068192e-01 9.27400817e-01 -8.44334476e-04 9.97862310e+00] [ 2.34233508e-03 -3.43550342e-05 9.99997256e-01 6.46832193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.29, Y:9.99, Z:0.06 [[ 9.27873402e-01 -3.72888982e-01 -2.18128680e-03 5.72928634e+01] [ 3.72888003e-01 9.27875965e-01 -8.54338949e-04 9.98866950e+00] [ 2.34253717e-03 -2.06572928e-05 9.99997256e-01 6.46544153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.32, Y:10.00, Z:0.07 [[ 9.27637764e-01 -3.73474806e-01 -2.17883985e-03 5.73236685e+01] [ 3.73473814e-01 9.27640323e-01 -8.60699196e-04 9.99889603e+00] [ 2.34262917e-03 -1.53225522e-05 9.99997256e-01 6.59603183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.35, Y:10.01, Z:0.07 [[ 9.27359075e-01 -3.74166227e-01 -2.18642558e-03 5.73504290e+01] [ 3.74165284e-01 9.27361652e-01 -8.40977333e-04 1.00087376e+01] [ 2.34227256e-03 -3.81965873e-05 9.99997256e-01 6.63647738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.87361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:57.38, Y:10.02, Z:0.07 [[ 9.26448398e-01 -3.76415444e-01 -2.18619643e-03 5.73761252e+01] [ 3.76414505e-01 9.26450977e-01 -8.41572615e-04 1.00181488e+01] [ 2.34218475e-03 -4.32424469e-05 9.99997256e-01 6.55992658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.903617864999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.40, Y:10.03, Z:0.07 [[ 9.26342608e-01 -3.76675726e-01 -2.18395330e-03 5.74034770e+01] [ 3.76674775e-01 9.26345182e-01 -8.47395581e-04 1.00274842e+01] [ 2.34228796e-03 -3.76614840e-05 9.99997256e-01 6.76644095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.933617864999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:57.43, Y:10.04, Z:0.07 [[ 9.25609458e-01 -3.78473714e-01 -2.18592512e-03 5.74282979e+01] [ 3.78472780e-01 9.25612038e-01 -8.42278211e-04 1.00382537e+01] [ 2.34209877e-03 -4.76924781e-05 9.99997256e-01 6.67011276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.963617864999996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:57.45, Y:10.05, Z:0.07 [[ 9.25571027e-01 -3.78567719e-01 -2.18088738e-03 5.74539680e+01] [ 3.78566754e-01 9.25573596e-01 -8.55344712e-04 1.00481793e+01] [ 2.34237767e-03 -3.39291716e-05 9.99997256e-01 6.67609584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.48, Y:10.06, Z:0.07 [[ 9.25754877e-01 -3.78117907e-01 -2.18068831e-03 5.74834816e+01] [ 3.78116940e-01 9.25757445e-01 -8.55860814e-04 1.00568871e+01] [ 2.34240474e-03 -3.22378662e-05 9.99997256e-01 6.94835546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.51, Y:10.07, Z:0.07 [[ 9.26082088e-01 -3.77315769e-01 -2.18572682e-03 5.75079405e+01] [ 3.77314830e-01 9.26084666e-01 -8.42793775e-04 1.00667176e+01] [ 2.34216748e-03 -4.42109261e-05 9.99997256e-01 6.86949792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.54, Y:10.08, Z:0.07 [[ 9.25623285e-01 -3.78439923e-01 -2.18131555e-03 5.75363953e+01] [ 3.78438961e-01 9.25625855e-01 -8.54231936e-04 1.00776572e+01] [ 2.34235754e-03 -3.47978205e-05 9.99997256e-01 6.95990370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.56, Y:10.09, Z:0.07 [[ 9.25746537e-01 -3.78138302e-01 -2.18476890e-03 5.75621423e+01] [ 3.78137360e-01 9.25749114e-01 -8.45277787e-04 1.00862866e+01] [ 2.34217978e-03 -4.36297612e-05 9.99997256e-01 6.85600667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.59, Y:10.10, Z:0.07 [[ 9.24989955e-01 -3.79985290e-01 -2.18237468e-03 5.75886949e+01] [ 3.79984339e-01 9.24992528e-01 -8.51482929e-04 1.00964106e+01] [ 2.34223126e-03 -4.16550427e-05 9.99997256e-01 6.71704931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:57.62, Y:10.11, Z:0.07 [[ 9.25031097e-01 -3.79885125e-01 -2.18197148e-03 5.76172016e+01] [ 3.79884170e-01 9.25033670e-01 -8.52527345e-04 1.01056050e+01] [ 2.34225954e-03 -4.02821195e-05 9.99997256e-01 6.78707945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.64, Y:10.12, Z:0.07 [[ 9.24971763e-01 -3.80029552e-01 -2.18544210e-03 5.76426781e+01] [ 3.80028619e-01 9.24974344e-01 -8.43535610e-04 1.01150996e+01] [ 2.34204634e-03 -5.02839248e-05 9.99997256e-01 6.78190133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.67, Y:10.12, Z:0.07 [[ 9.24162358e-01 -3.81993666e-01 -2.18534432e-03 5.76696942e+01] [ 3.81992738e-01 9.24164940e-01 -8.43788852e-04 1.01247516e+01] [ 2.34194060e-03 -5.49877664e-05 9.99997256e-01 6.65236723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.70, Y:10.13, Z:0.07 [[ 9.23496001e-01 -3.83601827e-01 -2.18514824e-03 5.76966101e+01] [ 3.83600902e-01 9.23498584e-01 -8.44296335e-04 1.01346999e+01] [ 2.34185492e-03 -5.85205476e-05 9.99997256e-01 6.50494406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26361786499999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:57.72, Y:10.14, Z:0.07 [[ 9.23288342e-01 -3.84101375e-01 -2.18457445e-03 5.77246853e+01] [ 3.84100448e-01 9.23290924e-01 -8.45780607e-04 1.01440638e+01] [ 2.34186326e-03 -5.81966515e-05 9.99997256e-01 6.74752812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.75, Y:10.15, Z:0.07 [[ 9.22385202e-01 -3.86265147e-01 -2.18500535e-03 5.77503202e+01] [ 3.86264229e-01 9.22387788e-01 -8.44666298e-04 1.01526710e+01] [ 2.34168740e-03 -6.48817123e-05 9.99997256e-01 6.64497060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.78, Y:10.16, Z:0.07 [[ 9.21784106e-01 -3.87697429e-01 -2.18306242e-03 5.77772996e+01] [ 3.87696503e-01 9.21786689e-01 -8.49687163e-04 1.01624765e+01] [ 2.34173941e-03 -6.31375432e-05 9.99997256e-01 6.63875390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35361786499999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:57.80, Y:10.17, Z:0.07 [[ 9.21460144e-01 -3.88466769e-01 -2.18464930e-03 5.78023587e+01] [ 3.88465855e-01 9.21462731e-01 -8.45587311e-04 1.01714147e+01] [ 2.34155548e-03 -6.94866534e-05 9.99997256e-01 6.61166007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38361786499999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:57.83, Y:10.18, Z:0.07 [[ 9.21131386e-01 -3.89245678e-01 -2.18455319e-03 5.78296727e+01] [ 3.89244766e-01 9.21133973e-01 -8.45835536e-04 1.01814356e+01] [ 2.34150399e-03 -7.12002355e-05 9.99997256e-01 6.62268155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41361786499999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:57.86, Y:10.19, Z:0.06 [[ 9.21088384e-01 -3.89347426e-01 -2.18423861e-03 5.78554754e+01] [ 3.89346512e-01 9.21090971e-01 -8.46647498e-04 1.01909838e+01] [ 2.34152248e-03 -7.05885066e-05 9.99997256e-01 6.48342319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.88, Y:10.20, Z:0.07 [[ 9.21303425e-01 -3.88838305e-01 -2.18427583e-03 5.78818339e+01] [ 3.88837390e-01 9.21306012e-01 -8.46551444e-04 1.02011496e+01] [ 2.34155809e-03 -6.93973688e-05 9.99997256e-01 6.57003155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.90, Y:10.21, Z:0.07 [[ 9.19693080e-01 -3.92631987e-01 -2.18229228e-03 5.79015926e+01] [ 3.92631070e-01 9.19695666e-01 -8.51669393e-04 1.02143135e+01] [ 2.34143739e-03 -7.35613036e-05 9.99997256e-01 6.56906398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.93, Y:10.22, Z:0.07 [[ 9.21339415e-01 -3.88753086e-01 -2.17269606e-03 5.79304088e+01] [ 3.88752100e-01 9.21341976e-01 -8.76492550e-04 1.02218551e+01] [ 2.34253526e-03 -3.70930211e-05 9.99997256e-01 6.59119335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.96, Y:10.23, Z:0.07 [[ 9.22104212e-01 -3.86935512e-01 -2.17517269e-03 5.79579880e+01] [ 3.86934535e-01 9.22106777e-01 -8.70088108e-04 1.02308830e+01] [ 2.34240947e-03 -3.93375247e-05 9.99997256e-01 6.55636359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:57.99, Y:10.24, Z:0.07 [[ 9.22801539e-01 -3.85269486e-01 -2.17781055e-03 5.79859946e+01] [ 3.85268521e-01 9.22804108e-01 -8.63274530e-04 1.02405681e+01] [ 2.34228586e-03 -4.24107861e-05 9.99997256e-01 6.63192762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:58.01, Y:10.25, Z:0.06 [[ 9.23627086e-01 -3.83286118e-01 -2.18134994e-03 5.80116553e+01] [ 3.83285169e-01 9.23629660e-01 -8.54131361e-04 1.02503397e+01] [ 2.34213620e-03 -4.71802209e-05 9.99997256e-01 6.47970682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.04, Y:10.26, Z:0.07 [[ 9.24164504e-01 -3.81988512e-01 -2.17864689e-03 5.80402920e+01] [ 3.81987543e-01 9.24167071e-01 -8.61112258e-04 1.02602995e+01] [ 2.34236870e-03 -3.64065887e-05 9.99997256e-01 6.60601931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:58.07, Y:10.27, Z:0.07 [[ 9.24556493e-01 -3.81038756e-01 -2.18116368e-03 5.80663351e+01] [ 3.81037800e-01 9.24559065e-01 -8.54614021e-04 1.02689815e+01] [ 2.34225572e-03 -4.09668673e-05 9.99997256e-01 6.52567933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.09, Y:10.28, Z:0.07 [[ 9.24816620e-01 -3.80406969e-01 -2.18129236e-03 5.80940911e+01] [ 3.80406012e-01 9.24819191e-01 -8.54281860e-04 1.02783051e+01] [ 2.34227581e-03 -3.97226651e-05 9.99997256e-01 6.57296841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.12, Y:10.29, Z:0.07 [[ 9.25081110e-01 -3.79763322e-01 -2.18146218e-03 5.81218180e+01] [ 3.79762365e-01 9.25083681e-01 -8.53843581e-04 1.02872141e+01] [ 2.34229354e-03 -3.85626690e-05 9.99997256e-01 6.58048121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.15, Y:10.30, Z:0.07 [[ 9.24888448e-01 -3.80232284e-01 -2.18397907e-03 5.81480856e+01] [ 3.80231343e-01 9.24891025e-01 -8.47347154e-04 1.02970673e+01] [ 2.34213138e-03 -4.67156994e-05 9.99997256e-01 6.53913309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.18, Y:10.31, Z:0.07 [[ 9.24707999e-01 -3.80670927e-01 -2.18237759e-03 5.81762168e+01] [ 3.80669977e-01 9.24710573e-01 -8.51477191e-04 1.03070884e+01] [ 2.34220024e-03 -4.33978551e-05 9.99997256e-01 6.82616035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.20, Y:10.32, Z:0.07 [[ 9.23988636e-01 -3.82413690e-01 -2.18411148e-03 5.82010901e+01] [ 3.82412755e-01 9.23991216e-01 -8.47006127e-04 1.03180729e+01] [ 2.34200656e-03 -5.26080534e-05 9.99997256e-01 6.68943631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.23, Y:10.33, Z:0.07 [[ 9.23966087e-01 -3.82468198e-01 -2.17871267e-03 5.82286289e+01] [ 3.82467231e-01 9.23968655e-01 -8.60918319e-04 1.03275076e+01] [ 2.34233610e-03 -3.78268723e-05 9.99997256e-01 6.71929211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:58.26, Y:10.34, Z:0.07 [[ 9.24249729e-01 -3.81782256e-01 -2.17880160e-03 5.82579143e+01] [ 3.81781288e-01 9.24252297e-01 -8.60689173e-04 1.03360322e+01] [ 2.34235824e-03 -3.63339459e-05 9.99997256e-01 6.83409778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:58.28, Y:10.34, Z:0.07 [[ 9.23478244e-01 -3.83644579e-01 -2.18397165e-03 5.82844352e+01] [ 3.83643647e-01 9.23480825e-01 -8.47364031e-04 1.03444415e+01] [ 2.34194256e-03 -5.53446028e-05 9.99997256e-01 6.72506929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:58.31, Y:10.35, Z:0.07 [[ 9.22801065e-01 -3.85270598e-01 -2.18182154e-03 5.83096573e+01] [ 3.85269658e-01 9.22803643e-01 -8.52901702e-04 1.03542565e+01] [ 2.34199081e-03 -5.35310390e-05 9.99997256e-01 6.58701737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.34, Y:10.36, Z:0.07 [[ 9.23298747e-01 -3.84076390e-01 -2.17935823e-03 5.83392494e+01] [ 3.84075431e-01 9.23301318e-01 -8.59241667e-04 1.03628025e+01] [ 2.34221876e-03 -4.37011976e-05 9.99997256e-01 6.84119806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.36, Y:10.37, Z:0.07 [[ 9.22290793e-01 -3.86490525e-01 -2.18363244e-03 5.83630411e+01] [ 3.86489599e-01 9.22293376e-01 -8.48238506e-04 1.03724698e+01] [ 2.34178588e-03 -6.16286619e-05 9.99997256e-01 6.77500283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01361786499999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:58.39, Y:10.38, Z:0.07 [[ 9.21777187e-01 -3.87713910e-01 -2.17751305e-03 5.83877024e+01] [ 3.87712950e-01 9.21779758e-01 -8.63972587e-04 1.03831527e+01] [ 2.34216164e-03 -4.78597873e-05 9.99997256e-01 6.65613022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.41, Y:10.39, Z:0.07 [[ 9.21903851e-01 -3.87412654e-01 -2.17386294e-03 5.84147183e+01] [ 3.87411671e-01 9.21906413e-01 -8.73351621e-04 1.03929785e+01] [ 2.34244566e-03 -3.70336524e-05 9.99997256e-01 6.79785321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:58.45, Y:10.40, Z:0.07 [[ 9.23481770e-01 -3.83636144e-01 -2.17468260e-03 5.84455660e+01] [ 3.83635156e-01 9.23484330e-01 -8.71246315e-04 1.03992287e+01] [ 2.34252688e-03 -2.97046085e-05 9.99997256e-01 6.88192180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.47, Y:10.41, Z:0.07 [[ 9.23596185e-01 -3.83360562e-01 -2.18317172e-03 5.84719486e+01] [ 3.83359625e-01 9.23598764e-01 -8.49427844e-04 1.04083089e+01] [ 2.34201184e-03 -5.24115758e-05 9.99997256e-01 6.87770751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.50, Y:10.42, Z:0.07 [[ 9.23855464e-01 -3.82735307e-01 -2.18294081e-03 5.84977937e+01] [ 3.82734367e-01 9.23858042e-01 -8.50020838e-04 1.04173773e+01] [ 2.34206041e-03 -5.01900740e-05 9.99997256e-01 6.83240787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:58.52, Y:10.43, Z:0.07 [[ 9.24197101e-01 -3.81909614e-01 -2.18284072e-03 5.85242980e+01] [ 3.81908671e-01 9.24199678e-01 -8.50277791e-04 1.04272627e+01] [ 2.34210996e-03 -4.78215296e-05 9.99997256e-01 6.83877095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.55, Y:10.44, Z:0.07 [[ 9.24701273e-01 -3.80687271e-01 -2.18131495e-03 5.85503694e+01] [ 3.80686314e-01 9.24703845e-01 -8.54191562e-04 1.04368042e+01] [ 2.34225017e-03 -4.05247242e-05 9.99997256e-01 6.85749088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.58, Y:10.45, Z:0.07 [[ 9.24792578e-01 -3.80465415e-01 -2.18082922e-03 5.85775772e+01] [ 3.80464455e-01 9.24795149e-01 -8.55436700e-04 1.04468483e+01] [ 2.34228436e-03 -3.86264895e-05 9.99997256e-01 6.85290102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.25361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.60, Y:10.46, Z:0.07 [[ 9.24856722e-01 -3.80309453e-01 -2.18236266e-03 5.86038194e+01] [ 3.80308503e-01 9.24859296e-01 -8.51506574e-04 1.04568280e+01] [ 2.34221439e-03 -4.24494972e-05 9.99997256e-01 6.92080953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.63, Y:10.47, Z:0.07 [[ 9.24866530e-01 -3.80285603e-01 -2.18212716e-03 5.86294484e+01] [ 3.80284651e-01 9.24869103e-01 -8.52109660e-04 1.04659644e+01] [ 2.34222703e-03 -4.17417611e-05 9.99997256e-01 6.88804238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.65, Y:10.48, Z:0.07 [[ 9.24698789e-01 -3.80693300e-01 -2.18202507e-03 5.86544926e+01] [ 3.80692348e-01 9.24701362e-01 -8.52371010e-04 1.04752723e+01] [ 2.34221349e-03 -4.24938065e-05 9.99997256e-01 6.87308235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.68, Y:10.48, Z:0.07 [[ 9.24417142e-01 -3.81376700e-01 -2.18192396e-03 5.86806553e+01] [ 3.81375750e-01 9.24419716e-01 -8.52629746e-04 1.04847762e+01] [ 2.34218665e-03 -4.39473341e-05 9.99997256e-01 6.95229918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.71, Y:10.49, Z:0.07 [[ 9.23573553e-01 -3.83415090e-01 -2.18169092e-03 5.87080336e+01] [ 3.83414144e-01 9.23576129e-01 -8.53225635e-04 1.04938088e+01] [ 2.34209724e-03 -4.84745252e-05 9.99997256e-01 7.07333985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:58.73, Y:10.50, Z:0.07 [[ 9.23028744e-01 -3.84724809e-01 -2.18148449e-03 5.87343140e+01] [ 3.84723865e-01 9.23031321e-01 -8.53753100e-04 1.05039461e+01] [ 2.34203851e-03 -5.12304913e-05 9.99997256e-01 7.11281218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.76, Y:10.51, Z:0.07 [[ 9.23039222e-01 -3.84699670e-01 -2.18124935e-03 5.87585703e+01] [ 3.84698725e-01 9.23041798e-01 -8.54353422e-04 1.05136691e+01] [ 2.34205380e-03 -5.05221262e-05 9.99997256e-01 7.10289058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:58.79, Y:10.52, Z:0.07 [[ 9.21832753e-01 -3.87581773e-01 -2.17812938e-03 5.87854805e+01] [ 3.87580817e-01 9.21835325e-01 -8.62310526e-04 1.05245135e+01] [ 2.34209245e-03 -4.92950780e-05 9.99997256e-01 7.11058478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:58.81, Y:10.53, Z:0.07 [[ 9.21380383e-01 -3.88655932e-01 -2.18093633e-03 5.88118863e+01] [ 3.88654996e-01 9.21382962e-01 -8.55151838e-04 1.05347230e+01] [ 2.34183741e-03 -5.97116714e-05 9.99997256e-01 7.12215816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.84, Y:10.55, Z:0.07 [[ 9.20770250e-01 -3.90099206e-01 -2.18070265e-03 5.88383684e+01] [ 3.90098272e-01 9.20772831e-01 -8.55747314e-04 1.05453588e+01] [ 2.34175810e-03 -6.27416682e-05 9.99997256e-01 7.13252411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.86, Y:10.56, Z:0.07 [[ 9.20318189e-01 -3.91164514e-01 -2.18046856e-03 5.88642350e+01] [ 3.91163582e-01 9.20320770e-01 -8.56343361e-04 1.05554692e+01] [ 2.34170164e-03 -6.48115220e-05 9.99997256e-01 7.18187479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.89, Y:10.57, Z:0.07 [[ 9.19470733e-01 -3.93152410e-01 -2.18023015e-03 5.88888925e+01] [ 3.93151482e-01 9.19473315e-01 -8.56949926e-04 1.05656379e+01] [ 2.34157537e-03 -6.92203387e-05 9.99997256e-01 7.17481453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.91, Y:10.58, Z:0.07 [[ 9.19116092e-01 -3.93980783e-01 -2.18012680e-03 5.89136374e+01] [ 3.93979857e-01 9.19118674e-01 -8.57212766e-04 1.05762548e+01] [ 2.34152061e-03 -7.10479987e-05 9.99997256e-01 7.13299779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.93, Y:10.59, Z:0.07 [[ 9.16865184e-01 -3.99191035e-01 -2.18002535e-03 5.89318528e+01] [ 3.99190123e-01 9.16867772e-01 -8.57470713e-04 1.05910019e+01] [ 2.34108960e-03 -8.40595420e-05 9.99997256e-01 6.89007386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.96, Y:10.60, Z:0.07 [[ 9.18232499e-01 -3.96035840e-01 -2.16585427e-03 5.89646405e+01] [ 3.96034834e-01 9.18235053e-01 -8.93411181e-04 1.05996912e+01] [ 2.34258616e-03 -3.73945562e-05 9.99997255e-01 7.15783800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:58.99, Y:10.61, Z:0.07 [[ 9.17936052e-01 -3.96722388e-01 -2.17970566e-03 5.89904560e+01] [ 3.96721467e-01 9.17938637e-01 -8.58231947e-04 1.06112816e+01] [ 2.34131587e-03 -7.69339807e-05 9.99997256e-01 7.17348831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:59.02, Y:10.62, Z:0.07 [[ 9.17771094e-01 -3.97103851e-01 -2.17947559e-03 5.90157135e+01] [ 3.97102930e-01 9.17773679e-01 -8.58815808e-04 1.06227197e+01] [ 2.34130440e-03 -7.72798175e-05 9.99997256e-01 7.18577548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:59.04, Y:10.63, Z:0.07 [[ 9.17407864e-01 -3.97942285e-01 -2.17924334e-03 5.90415545e+01] [ 3.97941364e-01 9.17410449e-01 -8.59404743e-04 1.06348160e+01] [ 2.34125410e-03 -7.87863983e-05 9.99997256e-01 7.21307120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.06, Y:10.65, Z:0.07 [[ 9.17236132e-01 -3.98337960e-01 -2.17901236e-03 5.90645349e+01] [ 3.98337040e-01 9.17238716e-01 -8.59989977e-04 1.06473924e+01] [ 2.34124116e-03 -7.91674553e-05 9.99997256e-01 7.30255445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.09, Y:10.66, Z:0.07 [[ 9.16913317e-01 -3.99080483e-01 -2.17659064e-03 5.90911658e+01] [ 3.99079550e-01 9.16915897e-01 -8.66121093e-04 1.06593967e+01] [ 2.34140259e-03 -7.44748509e-05 9.99997256e-01 7.36704868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.12, Y:10.67, Z:0.07 [[ 9.16809479e-01 -3.99318960e-01 -2.17867806e-03 5.91177145e+01] [ 3.99318040e-01 9.16812064e-01 -8.60838096e-04 1.06699680e+01] [ 2.34118730e-03 -8.07609274e-05 9.99997256e-01 7.37394597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:59.14, Y:10.68, Z:0.07 [[ 9.16844750e-01 -3.99237972e-01 -2.17845399e-03 5.91436768e+01] [ 3.99237051e-01 9.16847335e-01 -8.61404746e-04 1.06816820e+01] [ 2.34121522e-03 -7.99451288e-05 9.99997256e-01 7.44922528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:59.17, Y:10.69, Z:0.08 [[ 9.17291914e-01 -3.98209491e-01 -2.17822610e-03 5.91673863e+01] [ 3.98208566e-01 9.17294497e-01 -8.61980636e-04 1.06946804e+01] [ 2.34132369e-03 -7.67004235e-05 9.99997256e-01 7.50039319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94361786499998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:59.19, Y:10.71, Z:0.07 [[ 9.17707638e-01 -3.97250484e-01 -2.17807127e-03 5.91914546e+01] [ 3.97249555e-01 9.17710220e-01 -8.62371674e-04 1.07069595e+01] [ 2.34141583e-03 -7.38327728e-05 9.99997256e-01 7.46086582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:59.22, Y:10.72, Z:0.07 [[ 9.18307293e-01 -3.95862315e-01 -2.17797429e-03 5.92167080e+01] [ 3.95861382e-01 9.18309873e-01 -8.62616534e-04 1.07196568e+01] [ 2.34153268e-03 -7.00288601e-05 9.99997256e-01 7.47386861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:59.24, Y:10.73, Z:0.08 [[ 9.18716705e-01 -3.94911221e-01 -2.17775153e-03 5.92423837e+01] [ 3.94910284e-01 9.18719284e-01 -8.63178557e-04 1.07329847e+01] [ 2.34162122e-03 -6.69999142e-05 9.99997256e-01 7.62472842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.03361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.26, Y:10.75, Z:0.07 [[ 9.19041372e-01 -3.94155065e-01 -2.17753804e-03 5.92641853e+01] [ 3.94154124e-01 9.19043949e-01 -8.63716785e-04 1.07484874e+01] [ 2.34169151e-03 -6.44941408e-05 9.99997256e-01 7.44801407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.29, Y:10.76, Z:0.08 [[ 9.20723106e-01 -3.90210527e-01 -2.16974871e-03 5.92940016e+01] [ 3.90209528e-01 9.20725662e-01 -8.83332943e-04 1.07581259e+01] [ 2.34242913e-03 -3.33515702e-05 9.99997256e-01 7.57469695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09361786499998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:59.32, Y:10.77, Z:0.08 [[ 9.21134430e-01 -3.89238515e-01 -2.17730399e-03 5.93184259e+01] [ 3.89237559e-01 9.21137001e-01 -8.64300034e-04 1.07692066e+01] [ 2.34201413e-03 -5.13519731e-05 9.99997256e-01 7.60496805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.34, Y:10.78, Z:0.08 [[ 9.21371684e-01 -3.88676574e-01 -2.17714195e-03 5.93438135e+01] [ 3.88675615e-01 9.21374255e-01 -8.64708018e-04 1.07807778e+01] [ 2.34205429e-03 -4.94845055e-05 9.99997256e-01 7.66724768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15361786499999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:59.37, Y:10.79, Z:0.08 [[ 9.21960566e-01 -3.87277648e-01 -2.17690792e-03 5.93693056e+01] [ 3.87276684e-01 9.21963135e-01 -8.65296802e-04 1.07938060e+01] [ 2.34213896e-03 -4.52961500e-05 9.99997256e-01 7.75969183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18361786499999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:59.39, Y:10.81, Z:0.08 [[ 9.22020405e-01 -3.87135163e-01 -2.17667331e-03 5.93949597e+01] [ 3.87134197e-01 9.22022974e-01 -8.65886564e-04 1.08056243e+01] [ 2.34215793e-03 -4.42995919e-05 9.99997256e-01 7.81678051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21361786499999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:59.42, Y:10.82, Z:0.08 [[ 9.22071284e-01 -3.87013966e-01 -2.17643645e-03 5.94197473e+01] [ 3.87012998e-01 9.22073852e-01 -8.66481509e-04 1.08174203e+01] [ 2.34217558e-03 -4.33514776e-05 9.99997256e-01 7.74736018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24361786499999 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:59.45, Y:10.83, Z:0.08 [[ 9.21744524e-01 -3.87791562e-01 -2.17633380e-03 5.94452475e+01] [ 3.87790596e-01 9.21747092e-01 -8.66739249e-04 1.08282512e+01] [ 2.34214352e-03 -4.50496271e-05 9.99997256e-01 7.93274203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27361786499999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:59.47, Y:10.84, Z:0.08 [[ 9.21232027e-01 -3.89007476e-01 -2.17610245e-03 5.94710424e+01] [ 3.89006512e-01 9.21234596e-01 -8.67319707e-04 1.08388250e+01] [ 2.34209471e-03 -4.75153325e-05 9.99997256e-01 7.97412815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30361786499998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:59.49, Y:10.85, Z:0.08 [[ 9.19008171e-01 -3.94232479e-01 -2.17587217e-03 5.94919311e+01] [ 3.94231528e-01 9.19010745e-01 -8.67897027e-04 1.08514390e+01] [ 2.34180310e-03 -6.01929520e-05 9.99997256e-01 7.62638545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.52, Y:10.86, Z:0.08 [[ 9.18520697e-01 -3.95366970e-01 -2.16509143e-03 5.95186378e+01] [ 3.95365958e-01 9.18523249e-01 -8.94924969e-04 1.08610991e+01] [ 2.34251059e-03 -3.39963413e-05 9.99997256e-01 7.78394924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36361786499998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:59.55, Y:10.87, Z:0.08 [[ 9.18745595e-01 -3.94844071e-01 -2.16592474e-03 5.95499814e+01] [ 3.94843063e-01 9.18748147e-01 -8.92835138e-04 1.08696109e+01] [ 2.34247000e-03 -3.49120076e-05 9.99997256e-01 8.14024204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.57, Y:10.88, Z:0.08 [[ 9.17667926e-01 -3.97342223e-01 -2.17622397e-03 5.95742187e+01] [ 3.97341284e-01 9.17670503e-01 -8.66982907e-04 1.08808170e+01] [ 2.34154547e-03 -6.91012212e-05 9.99997256e-01 8.07769109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.60, Y:10.89, Z:0.08 [[ 9.16698765e-01 -3.99573090e-01 -2.17236782e-03 5.96015280e+01] [ 3.99572134e-01 9.16701337e-01 -8.76654758e-04 1.08917210e+01] [ 2.34170014e-03 -6.43893115e-05 9.99997256e-01 8.02833232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.63, Y:10.90, Z:0.08 [[ 9.15990649e-01 -4.01193715e-01 -2.17592263e-03 5.96275301e+01] [ 4.01192784e-01 9.15993230e-01 -8.67740811e-04 1.09021000e+01] [ 2.34126256e-03 -7.81219912e-05 9.99997256e-01 8.07111732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.65, Y:10.91, Z:0.08 [[ 9.14466257e-01 -4.04656312e-01 -2.17568137e-03 5.96529184e+01] [ 4.04655389e-01 9.14468841e-01 -8.68345307e-04 1.09126723e+01] [ 2.34097423e-03 -8.63287090e-05 9.99997256e-01 7.91558448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.68, Y:10.92, Z:0.08 [[ 9.14240642e-01 -4.05165801e-01 -2.17313333e-03 5.96803200e+01] [ 4.05164865e-01 9.14243221e-01 -8.74724789e-04 1.09223535e+01] [ 2.34118099e-03 -8.07683222e-05 9.99997256e-01 8.01557309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.71, Y:10.93, Z:0.08 [[ 9.13793308e-01 -4.06173679e-01 -2.17535884e-03 5.97063970e+01] [ 4.06172759e-01 9.13795893e-01 -8.69154692e-04 1.09325853e+01] [ 2.34086173e-03 -8.93437611e-05 9.99997256e-01 7.98993702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.73, Y:10.94, Z:0.08 [[ 9.13113973e-01 -4.07698591e-01 -2.17512476e-03 5.97330151e+01] [ 4.07697674e-01 9.13116559e-01 -8.69740108e-04 1.09436391e+01] [ 2.34073425e-03 -9.26214596e-05 9.99997256e-01 7.90521274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.76, Y:10.95, Z:0.08 [[ 9.12737749e-01 -4.08540173e-01 -2.17473716e-03 5.97590716e+01] [ 4.08539256e-01 9.12740335e-01 -8.70708872e-04 1.09539333e+01] [ 2.34068988e-03 -9.37366460e-05 9.99997256e-01 8.05360192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.79, Y:10.96, Z:0.08 [[ 9.12202544e-01 -4.09733803e-01 -2.17485264e-03 5.97865951e+01] [ 4.09732890e-01 9.12205131e-01 -8.70420345e-04 1.09647948e+01] [ 2.34055237e-03 -9.71090031e-05 9.99997256e-01 8.08434125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.81, Y:10.98, Z:0.08 [[ 9.12218200e-01 -4.09698929e-01 -2.17773267e-03 5.98110146e+01] [ 4.09698033e-01 9.12220794e-01 -8.63223435e-04 1.09750353e+01] [ 2.34023474e-03 -1.04764662e-04 9.99997256e-01 8.00025361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69361786499998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:59.84, Y:10.99, Z:0.08 [[ 9.11575299e-01 -4.11127409e-01 -2.17455522e-03 5.98378626e+01] [ 4.11126498e-01 9.11577887e-01 -8.71154886e-04 1.09867649e+01] [ 2.34043211e-03 -9.98939982e-05 9.99997256e-01 7.93089690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:59.86, Y:11.00, Z:0.08 [[ 9.12430091e-01 -4.09226833e-01 -2.17433810e-03 5.98637238e+01] [ 4.09225916e-01 9.12432677e-01 -8.71696464e-04 1.09959045e+01] [ 2.34065872e-03 -9.44334181e-05 9.99997256e-01 7.97751237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.75361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.89, Y:11.01, Z:0.08 [[ 9.12668808e-01 -4.08694165e-01 -2.17422180e-03 5.98895514e+01] [ 4.08693245e-01 9.12671393e-01 -8.71986464e-04 1.10064654e+01] [ 2.34072582e-03 -9.27549158e-05 9.99997256e-01 8.05103336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.92, Y:11.02, Z:0.08 [[ 9.13052755e-01 -4.07835678e-01 -2.17398339e-03 5.99151372e+01] [ 4.07834754e-01 9.13055339e-01 -8.72580454e-04 1.10169497e+01] [ 2.34083658e-03 -8.99139918e-05 9.99997256e-01 8.14146049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.94, Y:11.03, Z:0.08 [[ 9.14044330e-01 -4.05608478e-01 -2.17374287e-03 5.99403644e+01] [ 4.05607547e-01 9.14046911e-01 -8.73179208e-04 1.10281809e+01] [ 2.34107185e-03 -8.35620090e-05 9.99997256e-01 8.20389143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.97, Y:11.04, Z:0.08 [[ 9.14530938e-01 -4.04510123e-01 -2.17363034e-03 5.99665856e+01] [ 4.04509188e-01 9.14533517e-01 -8.73459232e-04 1.10393105e+01] [ 2.34118090e-03 -8.04479545e-05 9.99997256e-01 8.25070180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.99, Y:11.05, Z:0.08 [[ 9.14954706e-01 -4.03550693e-01 -2.17339521e-03 5.99922450e+01] [ 4.03549754e-01 9.14957284e-01 -8.74043908e-04 1.10503457e+01] [ 2.34128481e-03 -7.73625169e-05 9.99997256e-01 8.28506308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.02, Y:11.06, Z:0.08 [[ 9.15430757e-01 -4.02469635e-01 -2.17315607e-03 6.00176674e+01] [ 4.02468692e-01 9.15433333e-01 -8.74638098e-04 1.10610977e+01] [ 2.34139478e-03 -7.39566637e-05 9.99997256e-01 8.31216439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.04, Y:11.07, Z:0.08 [[ 9.16549936e-01 -3.99914357e-01 -2.17291662e-03 6.00441866e+01] [ 3.99913405e-01 9.16552509e-01 -8.75232572e-04 1.10714687e+01] [ 2.34161025e-03 -6.67841255e-05 9.99997256e-01 8.41165386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.07, Y:11.08, Z:0.08 [[ 9.16831504e-01 -3.99268422e-01 -2.17267652e-03 6.00700021e+01] [ 3.99267467e-01 9.16834076e-01 -8.75828186e-04 1.10823772e+01] [ 2.34167441e-03 -6.44921768e-05 9.99997256e-01 8.41015201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.09, Y:11.09, Z:0.08 [[ 9.17258183e-01 -3.98287215e-01 -2.17243600e-03 6.00946151e+01] [ 3.98286256e-01 9.17260754e-01 -8.76424372e-04 1.10933172e+01] [ 2.34175891e-03 -6.13439736e-05 9.99997256e-01 8.38123571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.12, Y:11.10, Z:0.08 [[ 9.17185817e-01 -3.98453835e-01 -2.17227246e-03 6.01204606e+01] [ 3.98452875e-01 9.17188387e-01 -8.76829525e-04 1.11039089e+01] [ 2.34175916e-03 -6.13326032e-05 9.99997256e-01 8.39741976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.15, Y:11.11, Z:0.08 [[ 9.16962755e-01 -3.98966901e-01 -2.17202970e-03 6.01454432e+01] [ 3.98965941e-01 9.16965326e-01 -8.77430468e-04 1.11138303e+01] [ 2.34174164e-03 -6.19948134e-05 9.99997256e-01 8.39557287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.17, Y:11.12, Z:0.08 [[ 9.16674892e-01 -3.99627859e-01 -2.17186461e-03 6.01713226e+01] [ 3.99626900e-01 9.16677462e-01 -8.77838912e-04 1.11240321e+01] [ 2.34170823e-03 -6.32426334e-05 9.99997256e-01 8.42622792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:60.20, Y:11.13, Z:0.08 [[ 9.16226392e-01 -4.00655066e-01 -2.17162708e-03 6.01973845e+01] [ 4.00654108e-01 9.16228964e-01 -8.78426129e-04 1.11338813e+01] [ 2.34165351e-03 -6.52341094e-05 9.99997256e-01 8.45964514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.22, Y:11.14, Z:0.08 [[ 9.16012430e-01 -4.01144007e-01 -2.17138917e-03 6.02235342e+01] [ 4.01143049e-01 9.16015001e-01 -8.79013838e-04 1.11438769e+01] [ 2.34163618e-03 -6.58500697e-05 9.99997256e-01 8.49089915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.25, Y:11.15, Z:0.08 [[ 9.16010229e-01 -4.01149033e-01 -2.17114671e-03 6.02494846e+01] [ 4.01148074e-01 9.16012799e-01 -8.79612310e-04 1.11534830e+01] [ 2.34165380e-03 -6.52174465e-05 9.99997256e-01 8.39311460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:60.28, Y:11.16, Z:0.08 [[ 9.16183185e-01 -4.00753861e-01 -2.17107173e-03 6.02765697e+01] [ 4.00752901e-01 9.16185755e-01 -8.79797319e-04 1.11644328e+01] [ 2.34168717e-03 -6.40077846e-05 9.99997256e-01 8.43726421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.30, Y:11.18, Z:0.08 [[ 9.16164489e-01 -4.00796603e-01 -2.17086382e-03 6.03037404e+01] [ 4.00795641e-01 9.16167058e-01 -8.80310040e-04 1.11750101e+01] [ 2.34169919e-03 -6.35639593e-05 9.99997256e-01 8.30554804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.33, Y:11.19, Z:0.08 [[ 9.16224053e-01 -4.00660420e-01 -2.17065547e-03 6.03302858e+01] [ 4.00659457e-01 9.16226622e-01 -8.80823482e-04 1.11854589e+01] [ 2.34172344e-03 -6.26619815e-05 9.99997256e-01 8.25839864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.36, Y:11.19, Z:0.08 [[ 9.16212442e-01 -4.00686974e-01 -2.17041971e-03 6.03568984e+01] [ 4.00686009e-01 9.16215010e-01 -8.81404039e-04 1.11949040e+01] [ 2.34173823e-03 -6.21034651e-05 9.99997256e-01 8.27191465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.38, Y:11.20, Z:0.08 [[ 9.16164032e-01 -4.00797651e-01 -2.17018434e-03 6.03830958e+01] [ 4.00796685e-01 9.16166600e-01 -8.81983189e-04 1.12046300e+01] [ 2.34174720e-03 -6.17614130e-05 9.99997256e-01 8.33450269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.41, Y:11.21, Z:0.08 [[ 9.15903214e-01 -4.01393315e-01 -2.16994796e-03 6.04082301e+01] [ 4.01392350e-01 9.15905783e-01 -8.82564361e-04 1.12144190e+01] [ 2.34172332e-03 -6.26569748e-05 9.99997256e-01 8.33606736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.43, Y:11.23, Z:0.08 [[ 9.15086934e-01 -4.03250785e-01 -2.16978725e-03 6.04339150e+01] [ 4.03249824e-01 9.15089504e-01 -8.82959284e-04 1.12253265e+01] [ 2.34160357e-03 -6.69818247e-05 9.99997256e-01 8.42439566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.46, Y:11.24, Z:0.09 [[ 9.14712773e-01 -4.04098812e-01 -2.16624057e-03 6.04619980e+01] [ 4.04097833e-01 9.14715336e-01 -8.91667570e-04 1.12366652e+01] [ 2.34181528e-03 -5.97534043e-05 9.99997256e-01 8.51134714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.49, Y:11.25, Z:0.09 [[ 9.15455964e-01 -4.02412314e-01 -2.16954086e-03 6.04889114e+01] [ 4.02411349e-01 9.15458533e-01 -8.83563890e-04 1.12455832e+01] [ 2.34168168e-03 -6.41840308e-05 9.99997256e-01 8.61600213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:60.52, Y:11.26, Z:0.09 [[ 9.15663363e-01 -4.01940170e-01 -2.16943286e-03 6.05151563e+01] [ 4.01939203e-01 9.15665930e-01 -8.83829000e-04 1.12553933e+01] [ 2.34172213e-03 -6.26902789e-05 9.99997256e-01 8.82181155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:60.54, Y:11.27, Z:0.09 [[ 9.15938853e-01 -4.01311989e-01 -2.16918751e-03 6.05411088e+01] [ 4.01311019e-01 9.15941419e-01 -8.84430747e-04 1.12661459e+01] [ 2.34178135e-03 -6.04343659e-05 9.99997256e-01 8.70450710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:60.57, Y:11.28, Z:0.09 [[ 9.15247957e-01 -4.02885185e-01 -2.16911157e-03 6.05718334e+01] [ 4.02884219e-01 9.15250525e-01 -8.84616951e-04 1.12788863e+01] [ 2.34167957e-03 -6.42569648e-05 9.99997256e-01 8.91704008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.59, Y:11.29, Z:0.09 [[ 9.16343285e-01 -4.00387627e-01 -2.17561342e-03 6.05945641e+01] [ 4.00386691e-01 9.16345864e-01 -8.68742328e-04 1.12895053e+01] [ 2.34144804e-03 -7.50204605e-05 9.99997256e-01 8.62590931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.62, Y:11.30, Z:0.09 [[ 9.16711383e-01 -3.99544179e-01 -2.16558570e-03 6.06217714e+01] [ 3.99543184e-01 9.16713939e-01 -8.93180781e-04 1.13007192e+01] [ 2.34208778e-03 -4.64560146e-05 9.99997256e-01 8.88315612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.65, Y:11.31, Z:0.09 [[ 9.17352671e-01 -3.98069562e-01 -2.16818260e-03 6.06483892e+01] [ 3.98068578e-01 9.17355232e-01 -8.86852910e-04 1.13106005e+01] [ 2.34202280e-03 -4.95284787e-05 9.99997256e-01 8.88747371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.67, Y:11.32, Z:0.09 [[ 9.17574240e-01 -3.97558556e-01 -2.16981450e-03 6.06735187e+01] [ 3.97557579e-01 9.17576804e-01 -8.82877881e-04 1.13212859e+01] [ 2.34196711e-03 -5.25202007e-05 9.99997256e-01 8.95468015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.70, Y:11.33, Z:0.09 [[ 9.17687125e-01 -3.97297932e-01 -2.16663350e-03 6.07019693e+01] [ 3.97296936e-01 9.17689681e-01 -8.90616411e-04 1.13314666e+01] [ 2.34213727e-03 -4.34896384e-05 9.99997256e-01 8.68525256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.73, Y:11.34, Z:0.09 [[ 9.17464408e-01 -3.97811966e-01 -2.16794835e-03 6.07276158e+01] [ 3.97810979e-01 9.17466968e-01 -8.87419446e-04 1.13413429e+01] [ 2.34204708e-03 -4.82578993e-05 9.99997256e-01 8.65896016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.75, Y:11.35, Z:0.09 [[ 9.16708189e-01 -3.99551491e-01 -2.16848599e-03 6.07534747e+01] [ 3.99550512e-01 9.16710752e-01 -8.86112508e-04 1.13523715e+01] [ 2.34192200e-03 -5.41130958e-05 9.99997256e-01 8.84244466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.78, Y:11.36, Z:0.09 [[ 9.16598334e-01 -3.99803453e-01 -2.16618863e-03 6.07798747e+01] [ 3.99802462e-01 9.16600893e-01 -8.91693473e-04 1.13633085e+01] [ 2.34203257e-03 -4.87227957e-05 9.99997256e-01 8.84893458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.81, Y:11.37, Z:0.09 [[ 9.15964095e-01 -4.01254389e-01 -2.16594338e-03 6.08056346e+01] [ 4.01253400e-01 9.15966655e-01 -8.92288800e-04 1.13733829e+01] [ 2.34196671e-03 -5.17876431e-05 9.99997256e-01 8.81989361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.84, Y:11.38, Z:0.08 [[ 9.15445928e-01 -4.02435165e-01 -2.16569640e-03 6.08373680e+01] [ 4.02434178e-01 9.15448489e-01 -8.92887846e-04 1.13823007e+01] [ 2.34191297e-03 -5.41597082e-05 9.99997256e-01 8.46431302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.86, Y:11.39, Z:0.09 [[ 9.13725740e-01 -4.06325673e-01 -2.17246102e-03 6.08604805e+01] [ 4.06324736e-01 9.13728319e-01 -8.76478050e-04 1.13946031e+01] [ 2.34117469e-03 -8.18640967e-05 9.99997256e-01 8.77205683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.89, Y:11.40, Z:0.09 [[ 9.14035064e-01 -4.05629402e-01 -2.16540504e-03 6.08925486e+01] [ 4.05628423e-01 9.14037627e-01 -8.93576811e-04 1.14031774e+01] [ 2.34172271e-03 -6.15892926e-05 9.99997256e-01 8.51641865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.91, Y:11.42, Z:0.09 [[ 9.11617837e-01 -4.11033082e-01 -2.17369270e-03 6.09145225e+01] [ 4.11032165e-01 9.11620423e-01 -8.73489983e-04 1.14160148e+01] [ 2.34061593e-03 -9.71685656e-05 9.99997256e-01 8.79716481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.94, Y:11.43, Z:0.09 [[ 9.11182021e-01 -4.11998345e-01 -2.16513374e-03 6.09399211e+01] [ 4.11997381e-01 9.11184591e-01 -8.94213545e-04 1.14263780e+01] [ 2.34125100e-03 -7.72381250e-05 9.99997256e-01 8.73861185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.97, Y:11.43, Z:0.09 [[ 9.12465926e-01 -4.09146975e-01 -2.16496940e-03 6.09726517e+01] [ 4.09146003e-01 9.12468491e-01 -8.94611247e-04 1.14348243e+01] [ 2.34149385e-03 -6.94862971e-05 9.99997256e-01 8.54341222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.99, Y:11.45, Z:0.09 [[ 9.11219797e-01 -4.11914747e-01 -2.17331538e-03 6.09940093e+01] [ 4.11913830e-01 9.11222383e-01 -8.74409746e-04 1.14483372e+01] [ 2.34055589e-03 -9.84391927e-05 9.99997256e-01 8.91533280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:61.03, Y:11.46, Z:0.09 [[ 9.13260360e-01 -4.07370634e-01 -2.16368428e-03 6.10263918e+01] [ 4.07369649e-01 9.13262921e-01 -8.97692950e-04 1.14566268e+01] [ 2.34170637e-03 -6.15919187e-05 9.99997256e-01 8.55249789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.05, Y:11.47, Z:0.09 [[ 9.12133381e-01 -4.09887758e-01 -2.17304028e-03 6.10477935e+01] [ 4.09886834e-01 9.12135964e-01 -8.75066389e-04 1.14708951e+01] [ 2.34078719e-03 -9.25233369e-05 9.99997256e-01 8.77968079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.08, Y:11.48, Z:0.09 [[ 9.13957559e-01 -4.05804011e-01 -2.16438687e-03 6.10806814e+01] [ 4.05803026e-01 9.13960120e-01 -8.95970357e-04 1.14792913e+01] [ 2.34175165e-03 -5.94358595e-05 9.99997256e-01 8.58513117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.10, Y:11.49, Z:0.09 [[ 9.13882148e-01 -4.05973755e-01 -2.17468454e-03 6.11015660e+01] [ 4.05972830e-01 9.13884732e-01 -8.71062155e-04 1.14931146e+01] [ 2.34103937e-03 -8.68146824e-05 9.99997256e-01 8.95440602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.13, Y:11.50, Z:0.09 [[ 9.14936810e-01 -4.03591317e-01 -2.16386465e-03 6.11301915e+01] [ 4.03590323e-01 9.14939368e-01 -8.97190058e-04 1.15024466e+01] [ 2.34190307e-03 -5.24426208e-05 9.99997256e-01 8.84921044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.15, Y:11.51, Z:0.09 [[ 9.15601226e-01 -4.02081708e-01 -2.16684683e-03 6.11549136e+01] [ 4.02080727e-01 9.15603788e-01 -8.89987955e-04 1.15148223e+01] [ 2.34182104e-03 -5.63732848e-05 9.99997256e-01 9.16760212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.18, Y:11.52, Z:0.09 [[ 9.15406071e-01 -4.02525837e-01 -2.16244864e-03 6.11819050e+01] [ 4.02524832e-01 9.15408624e-01 -9.00599416e-04 1.15249792e+01] [ 2.34203867e-03 -4.60251031e-05 9.99997256e-01 8.79757757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.21, Y:11.54, Z:0.09 [[ 9.16113788e-01 -4.00912515e-01 -2.16393729e-03 6.12094848e+01] [ 4.00911514e-01 9.16116343e-01 -8.97008211e-04 1.15364456e+01] [ 2.34204013e-03 -4.57857845e-05 9.99997256e-01 9.10500554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.24, Y:11.55, Z:0.09 [[ 9.16583667e-01 -3.99837094e-01 -2.16312632e-03 6.12356163e+01] [ 3.99836085e-01 9.16586219e-01 -8.98963917e-04 1.15462961e+01] [ 2.34213089e-03 -4.09203149e-05 9.99997256e-01 8.87366449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.27, Y:11.56, Z:0.09 [[ 9.15414445e-01 -4.02506785e-01 -2.16370345e-03 6.12653434e+01] [ 4.02505788e-01 9.15417001e-01 -8.97572680e-04 1.15572043e+01] [ 2.34197001e-03 -4.92521631e-05 9.99997256e-01 9.40274208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:61.29, Y:11.57, Z:0.09 [[ 9.15218411e-01 -4.02952308e-01 -2.16735660e-03 6.12879331e+01] [ 4.02951333e-01 9.15220975e-01 -8.88773384e-04 1.15670035e+01] [ 2.34174351e-03 -5.99174677e-05 9.99997256e-01 8.99568424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.31, Y:11.58, Z:0.09 [[ 9.14838912e-01 -4.03813206e-01 -2.15858511e-03 6.13144974e+01] [ 4.03812183e-01 9.14841458e-01 -9.09866620e-04 1.15756611e+01] [ 2.34217930e-03 -3.92815760e-05 9.99997256e-01 8.88874477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.34, Y:11.59, Z:0.09 [[ 9.14302346e-01 -4.05026614e-01 -2.15903645e-03 6.13434325e+01] [ 4.05025597e-01 9.14304894e-01 -9.08781629e-04 1.15861724e+01] [ 2.34209834e-03 -4.35638507e-05 9.99997256e-01 9.22234782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:61.37, Y:11.59, Z:0.09 [[ 9.13973034e-01 -4.05769152e-01 -2.16526042e-03 6.13683997e+01] [ 4.05768172e-01 9.13975597e-01 -8.93813302e-04 1.15949846e+01] [ 2.34167705e-03 -6.16725055e-05 9.99997256e-01 9.13355625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:61.39, Y:11.60, Z:0.09 [[ 9.12954515e-01 -4.08055603e-01 -2.16290479e-03 6.13945525e+01] [ 4.08054617e-01 9.12957075e-01 -8.99473967e-04 1.16038347e+01] [ 2.34167462e-03 -6.14044639e-05 9.99997256e-01 8.90214666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49361786499999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:61.42, Y:11.61, Z:0.09 [[ 9.13190320e-01 -4.07527622e-01 -2.16256734e-03 6.14218017e+01] [ 4.07526632e-01 9.13192879e-01 -9.00284539e-04 1.16134332e+01] [ 2.34173191e-03 -5.91726595e-05 9.99997256e-01 9.02661030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:61.45, Y:11.62, Z:0.09 [[ 9.13088705e-01 -4.07755245e-01 -2.16252457e-03 6.14475137e+01] [ 4.07754255e-01 9.13091264e-01 -9.00387255e-04 1.16203109e+01] [ 2.34171992e-03 -5.96451654e-05 9.99997256e-01 8.75589201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:61.48, Y:11.63, Z:0.09 [[ 9.12325081e-01 -4.09460973e-01 -2.15823299e-03 6.14758606e+01] [ 4.09459964e-01 9.12327632e-01 -9.10676878e-04 1.16310553e+01] [ 2.34190223e-03 -5.28766443e-05 9.99997256e-01 8.90319533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.50, Y:11.64, Z:0.09 [[ 9.12045320e-01 -4.10083726e-01 -2.16147089e-03 6.15016285e+01] [ 4.10082737e-01 9.12047879e-01 -9.02913620e-04 1.16413560e+01] [ 2.34163513e-03 -6.28837575e-05 9.99997256e-01 8.99863307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:61.53, Y:11.65, Z:0.09 [[ 9.11430129e-01 -4.11449204e-01 -2.16152581e-03 6.15303924e+01] [ 4.11448219e-01 9.11432690e-01 -9.02781988e-04 1.16510201e+01] [ 2.34153421e-03 -6.65332411e-05 9.99997256e-01 8.83639246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:61.55, Y:11.66, Z:0.09 [[ 9.11977413e-01 -4.10234702e-01 -2.16481495e-03 6.15536873e+01] [ 4.10233732e-01 9.11979980e-01 -8.94897652e-04 1.16584522e+01] [ 2.34138597e-03 -7.19536711e-05 9.99997256e-01 8.88432477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67361786499998 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:61.58, Y:11.67, Z:0.09 [[ 9.12178934e-01 -4.09786452e-01 -2.15759202e-03 6.15841457e+01] [ 4.09785440e-01 9.12181485e-01 -9.12187735e-04 1.16660795e+01] [ 2.34191766e-03 -5.20713572e-05 9.99997256e-01 8.77473641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70361786499998 meters Centerline goodness : 0.993093 Centerline is valid? [True, True] Translation: X:61.61, Y:11.68, Z:0.09 [[ 9.10564866e-01 -4.13360544e-01 -2.16470069e-03 6.16104921e+01] [ 4.13359583e-01 9.10567435e-01 -8.95153902e-04 1.16751020e+01] [ 2.34112726e-03 -7.97040805e-05 9.99997256e-01 8.86537482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73361786499999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:61.64, Y:11.68, Z:0.09 [[ 9.10747747e-01 -4.12957454e-01 -2.16374206e-03 6.16363227e+01] [ 4.12956486e-01 9.10750314e-01 -8.97449324e-04 1.16841295e+01] [ 2.34123715e-03 -7.61813676e-05 9.99997256e-01 9.02485527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76361786499999 meters Centerline goodness : 0.997689 Centerline is valid? [True, True] Translation: X:61.66, Y:11.69, Z:0.09 [[ 9.10795991e-01 -4.12851053e-01 -2.16119954e-03 6.16617802e+01] [ 4.12850070e-01 9.10798553e-01 -9.03530909e-04 1.16927024e+01] [ 2.34144110e-03 -6.93190501e-05 9.99997256e-01 8.84869465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79361786499999 meters Centerline goodness : 0.989364 Centerline is valid? [True, True] Translation: X:61.69, Y:11.70, Z:0.09 [[ 9.10446127e-01 -4.13622025e-01 -2.16091327e-03 6.16860652e+01] [ 4.13621043e-01 9.10448689e-01 -9.04215046e-04 1.17007268e+01] [ 2.34140391e-03 -7.05601112e-05 9.99997256e-01 8.63118450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82361786499999 meters Centerline goodness : 0.995009 Centerline is valid? [True, True] Translation: X:61.72, Y:11.71, Z:0.09 [[ 9.10068650e-01 -4.14451945e-01 -2.15359756e-03 6.17157276e+01] [ 4.14450924e-01 9.10071196e-01 -9.21684864e-04 1.17125972e+01] [ 2.34192119e-03 -5.37639984e-05 9.99997256e-01 8.99024501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85361786499999 meters Centerline goodness : 0.995976 Centerline is valid? [True, True] Translation: X:61.74, Y:11.72, Z:0.09 [[ 9.11437455e-01 -4.11432968e-01 -2.16293336e-03 6.17400557e+01] [ 4.11431991e-01 9.11440019e-01 -8.99422290e-04 1.17225423e+01] [ 2.34143601e-03 -7.01328153e-05 9.99997256e-01 9.24071436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:61.77, Y:11.73, Z:0.09 [[ 9.12651047e-01 -4.08733915e-01 -2.15684621e-03 6.17690140e+01] [ 4.08732896e-01 9.12653595e-01 -9.13920999e-04 1.17334931e+01] [ 2.34200395e-03 -4.74830414e-05 9.99997256e-01 9.02978253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:61.79, Y:11.74, Z:0.09 [[ 9.12615127e-01 -4.08814076e-01 -2.16362278e-03 6.17931950e+01] [ 4.08813095e-01 9.12617689e-01 -8.97818188e-04 1.17446482e+01] [ 2.34160113e-03 -6.51548645e-05 9.99997256e-01 9.33423891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94361786499998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:61.82, Y:11.76, Z:0.09 [[ 9.13596416e-01 -4.06616433e-01 -2.15996521e-03 6.18175559e+01] [ 4.06615425e-01 9.13598968e-01 -9.06503849e-04 1.17556082e+01] [ 2.34194135e-03 -5.00965042e-05 9.99997256e-01 9.21882606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:61.84, Y:11.77, Z:0.09 [[ 9.14316356e-01 -4.04994991e-01 -2.15832095e-03 6.18438398e+01] [ 4.04993970e-01 9.14318902e-01 -9.10404755e-04 1.17670924e+01] [ 2.34210301e-03 -4.17090133e-05 9.99997256e-01 9.30862144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.87, Y:11.78, Z:0.09 [[ 9.14724052e-01 -4.04073320e-01 -2.15879615e-03 6.18694767e+01] [ 4.04072299e-01 9.14726599e-01 -9.09277943e-04 1.17783590e+01] [ 2.34212322e-03 -4.05713179e-05 9.99997256e-01 9.35247187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.90, Y:11.79, Z:0.09 [[ 9.14638731e-01 -4.04266414e-01 -2.15819803e-03 6.18954857e+01] [ 4.04265390e-01 9.14641277e-01 -9.10695347e-04 1.17900674e+01] [ 2.34214054e-03 -3.95275324e-05 9.99997256e-01 9.38390961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.93, Y:11.80, Z:0.09 [[ 9.15219923e-01 -4.02948926e-01 -2.15792953e-03 6.19250439e+01] [ 4.02947897e-01 9.15222466e-01 -9.11331124e-04 1.17991046e+01] [ 2.34220548e-03 -3.54647656e-05 9.99997256e-01 9.08018843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:61.95, Y:11.81, Z:0.09 [[ 9.13961231e-01 -4.05795741e-01 -2.16438437e-03 6.19517426e+01] [ 4.05794756e-01 9.13963792e-01 -8.96078119e-04 1.18115656e+01] [ 2.34179363e-03 -5.93151690e-05 9.99997256e-01 9.28943525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.97, Y:11.82, Z:0.09 [[ 9.12663220e-01 -4.08706697e-01 -2.16379161e-03 6.19746999e+01] [ 4.08705717e-01 9.12665783e-01 -8.97477681e-04 1.18245525e+01] [ 2.34162370e-03 -6.52591289e-05 9.99997256e-01 9.43583696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.00, Y:11.84, Z:0.09 [[ 9.12121101e-01 -4.09915170e-01 -2.15668952e-03 6.20017326e+01] [ 4.09914154e-01 9.12123649e-01 -9.14231639e-04 1.18355112e+01] [ 2.34192493e-03 -5.01675902e-05 9.99997256e-01 9.43683025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:62.03, Y:11.85, Z:0.09 [[ 9.11455185e-01 -4.11393720e-01 -2.15710080e-03 6.20296012e+01] [ 4.11392710e-01 9.11457736e-01 -9.13261965e-04 1.18480385e+01] [ 2.34181645e-03 -5.50181934e-05 9.99997256e-01 9.35083304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.05, Y:11.86, Z:0.09 [[ 9.10820223e-01 -4.12797581e-01 -2.16298203e-03 6.20535237e+01] [ 4.12796608e-01 9.10822788e-01 -8.99400038e-04 1.18598268e+01] [ 2.34136348e-03 -7.36799023e-05 9.99997256e-01 9.35279736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:62.08, Y:11.87, Z:0.09 [[ 9.10027677e-01 -4.14541870e-01 -2.15986701e-03 6.20806600e+01] [ 4.14540884e-01 9.10030238e-01 -9.06737034e-04 1.18718400e+01] [ 2.34142475e-03 -7.01973815e-05 9.99997256e-01 9.26073016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.11, Y:11.88, Z:0.09 [[ 9.08134439e-01 -4.18673104e-01 -2.16169967e-03 6.21052905e+01] [ 4.18672140e-01 9.08137008e-01 -9.02420905e-04 1.18837602e+01] [ 2.34093883e-03 -8.55239243e-05 9.99997256e-01 9.11214221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.13, Y:11.89, Z:0.09 [[ 9.07425739e-01 -4.20206943e-01 -2.15728744e-03 6.21316756e+01] [ 4.20205958e-01 9.07428300e-01 -9.12804217e-04 1.18943835e+01] [ 2.34115034e-03 -7.82029938e-05 9.99997256e-01 9.13094192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.16, Y:11.91, Z:0.09 [[ 9.06674757e-01 -4.21824877e-01 -2.15836512e-03 6.21568520e+01] [ 4.21823903e-01 9.06677322e-01 -9.10268533e-04 1.19051253e+01] [ 2.34091462e-03 -8.51325001e-05 9.99997256e-01 9.12228004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:62.18, Y:11.92, Z:0.09 [[ 9.05855950e-01 -4.23580383e-01 -2.15783898e-03 6.21842404e+01] [ 4.23579411e-01 9.05858516e-01 -9.11505486e-04 1.19159845e+01] [ 2.34079266e-03 -8.83234955e-05 9.99997256e-01 9.04298772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.21, Y:11.93, Z:0.09 [[ 9.04452013e-01 -4.26569909e-01 -2.16097580e-03 6.22084529e+01] [ 4.26568963e-01 9.04454588e-01 -9.04138397e-04 1.19288765e+01] [ 2.34018271e-03 -1.04055415e-04 9.99997256e-01 8.92696577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.23, Y:11.94, Z:0.09 [[ 9.03523731e-01 -4.28532631e-01 -2.15702479e-03 6.22337839e+01] [ 4.28531669e-01 9.03526300e-01 -9.13409500e-04 1.19410970e+01] [ 2.34035440e-03 -9.90662721e-05 9.99997256e-01 9.06569553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.26, Y:11.95, Z:0.09 [[ 9.03425338e-01 -4.28740021e-01 -2.15710698e-03 6.22594627e+01] [ 4.28739060e-01 9.03427908e-01 -9.13216867e-04 1.19526815e+01] [ 2.34032327e-03 -9.98127637e-05 9.99997256e-01 9.10434358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.29, Y:11.96, Z:0.09 [[ 9.03452084e-01 -4.28683669e-01 -2.15513496e-03 6.22862373e+01] [ 4.28682697e-01 9.03454649e-01 -9.17834085e-04 1.19638270e+01] [ 2.34052719e-03 -9.46499516e-05 9.99997256e-01 9.12620207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:62.31, Y:11.98, Z:0.09 [[ 9.02864717e-01 -4.29919350e-01 -2.15774799e-03 6.23098121e+01] [ 4.29918396e-01 9.02867289e-01 -9.11717268e-04 1.19767049e+01] [ 2.34012497e-03 -1.04498200e-04 9.99997256e-01 9.37503706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:62.34, Y:11.99, Z:0.09 [[ 9.02882263e-01 -4.29882519e-01 -2.15389879e-03 6.23366908e+01] [ 4.29881544e-01 9.02884827e-01 -9.20721924e-04 1.19877860e+01] [ 2.34052480e-03 -9.46178428e-05 9.99997256e-01 9.07523307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:62.37, Y:12.00, Z:0.09 [[ 9.03096772e-01 -4.29431697e-01 -2.15335727e-03 6.23667368e+01] [ 4.29430718e-01 9.03099335e-01 -9.21988052e-04 1.19996516e+01] [ 2.34062641e-03 -9.20733228e-05 9.99997256e-01 9.28067662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.39, Y:12.01, Z:0.10 [[ 9.03291569e-01 -4.29021746e-01 -2.16372716e-03 6.23863507e+01] [ 4.29020823e-01 9.03294153e-01 -8.97739879e-04 1.20140991e+01] [ 2.33963203e-03 -1.17363144e-04 9.99997256e-01 9.54544758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.42, Y:12.03, Z:0.09 [[ 9.04248616e-01 -4.27000941e-01 -2.15322109e-03 6.24164895e+01] [ 4.26999953e-01 9.04251176e-01 -9.22268415e-04 1.20254654e+01] [ 2.34086219e-03 -8.54653677e-05 9.99997257e-01 9.38525240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.44, Y:12.04, Z:0.09 [[ 9.04157128e-01 -4.27194598e-01 -2.15965913e-03 6.24417762e+01] [ 4.27193647e-01 9.04159701e-01 -9.07239043e-04 1.20364563e+01] [ 2.34024437e-03 -1.02306010e-04 9.99997256e-01 9.39231180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.47, Y:12.05, Z:0.09 [[ 9.04904577e-01 -4.25609032e-01 -2.15837723e-03 6.24672822e+01] [ 4.25608069e-01 9.04907146e-01 -9.10224950e-04 1.20511175e+01] [ 2.34053094e-03 -9.49560444e-05 9.99997256e-01 9.45057610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.49, Y:12.06, Z:0.10 [[ 9.05312231e-01 -4.24741228e-01 -2.15709336e-03 6.24891347e+01] [ 4.24740255e-01 9.05314797e-01 -9.13215505e-04 1.20637948e+01] [ 2.34072881e-03 -8.94592185e-05 9.99997256e-01 9.61621791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.75361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.51, Y:12.07, Z:0.09 [[ 9.06995380e-01 -4.21135079e-01 -2.15058019e-03 6.25140073e+01] [ 4.21134061e-01 9.06997928e-01 -9.28363450e-04 1.20742289e+01] [ 2.34153819e-03 -6.36612076e-05 9.99997257e-01 9.29022141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.54, Y:12.09, Z:0.10 [[ 9.06731477e-01 -4.21702994e-01 -2.14809494e-03 6.25392441e+01] [ 4.21701963e-01 9.06734019e-01 -9.34137883e-04 1.20893195e+01] [ 2.34167950e-03 -5.88436324e-05 9.99997257e-01 9.56791147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.57, Y:12.10, Z:0.10 [[ 9.06850375e-01 -4.21447232e-01 -2.15140747e-03 6.25671164e+01] [ 4.21446219e-01 9.06852924e-01 -9.26441540e-04 1.21013807e+01] [ 2.34145638e-03 -6.65586861e-05 9.99997257e-01 9.56232473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.59, Y:12.11, Z:0.10 [[ 9.06879276e-01 -4.21385020e-01 -2.15486644e-03 6.25929975e+01] [ 4.21384026e-01 9.06881833e-01 -9.18414634e-04 1.21134301e+01] [ 2.34121540e-03 -7.51350988e-05 9.99997257e-01 9.50164037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.62, Y:12.13, Z:0.10 [[ 9.06111283e-01 -4.23033921e-01 -2.15512328e-03 6.26175033e+01] [ 4.23032933e-01 9.06113842e-01 -9.17818824e-04 1.21255446e+01] [ 2.34105553e-03 -8.00421309e-05 9.99997257e-01 9.59363707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:62.64, Y:12.14, Z:0.10 [[ 9.04858055e-01 -4.25707949e-01 -2.15452439e-03 6.26423467e+01] [ 4.25706965e-01 9.04860616e-01 -9.19207897e-04 1.21374477e+01] [ 2.34085838e-03 -8.54433698e-05 9.99997257e-01 9.54254619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.67, Y:12.15, Z:0.09 [[ 9.04011979e-01 -4.27501687e-01 -2.15641612e-03 6.26680335e+01] [ 4.27500719e-01 9.04014546e-01 -9.14821040e-04 1.21493539e+01] [ 2.34051907e-03 -9.48602610e-05 9.99997256e-01 9.46905775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.69, Y:12.16, Z:0.10 [[ 9.02733369e-01 -4.30195096e-01 -2.15506154e-03 6.26926214e+01] [ 4.30194128e-01 9.02735936e-01 -9.17960371e-04 1.21618659e+01] [ 2.34035355e-03 -9.84213639e-05 9.99997257e-01 9.56534411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.72, Y:12.17, Z:0.10 [[ 9.02004743e-01 -4.31720754e-01 -2.15267096e-03 6.27191179e+01] [ 4.31719777e-01 9.02007307e-01 -9.23495603e-04 1.21733276e+01] [ 2.34041715e-03 -9.63532102e-05 9.99997257e-01 9.57980515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.74, Y:12.19, Z:0.10 [[ 9.00813931e-01 -4.34199975e-01 -2.15474947e-03 6.27424361e+01] [ 4.34199017e-01 9.00816502e-01 -9.18685154e-04 1.21854945e+01] [ 2.33992695e-03 -1.08025716e-04 9.99997257e-01 9.65189362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:62.77, Y:12.20, Z:0.10 [[ 9.00350733e-01 -4.35159666e-01 -2.14996389e-03 6.27688237e+01] [ 4.35158683e-01 9.00353295e-01 -9.29751353e-04 1.21968068e+01] [ 2.34031736e-03 -9.84731450e-05 9.99997257e-01 9.64307147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.79, Y:12.21, Z:0.10 [[ 8.99680149e-01 -4.36544384e-01 -2.15176787e-03 6.27938930e+01] [ 4.36543416e-01 8.99682716e-01 -9.25580918e-04 1.22093542e+01] [ 2.33996551e-03 -1.06613315e-04 9.99997257e-01 9.57517246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.82, Y:12.22, Z:0.10 [[ 8.98949768e-01 -4.38046437e-01 -2.15251853e-03 6.28206037e+01] [ 4.38045477e-01 8.98952338e-01 -9.23845711e-04 1.22226998e+01] [ 2.33969889e-03 -1.12410119e-04 9.99997257e-01 9.70358611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.84, Y:12.24, Z:0.10 [[ 8.98452783e-01 -4.39064864e-01 -2.15451131e-03 6.28444161e+01] [ 4.39063918e-01 8.98455358e-01 -9.19240628e-04 1.22358122e+01] [ 2.33933849e-03 -1.20073878e-04 9.99997257e-01 9.74284514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.87, Y:12.25, Z:0.10 [[ 8.99485398e-01 -4.36945516e-01 -2.15260045e-03 6.28696630e+01] [ 4.36944554e-01 8.99487967e-01 -9.23651391e-04 1.22481172e+01] [ 2.33982353e-03 -1.09756102e-04 9.99997257e-01 9.71077856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.89, Y:12.26, Z:0.10 [[ 8.99169770e-01 -4.37594671e-01 -2.15156428e-03 6.28931034e+01] [ 4.37593705e-01 8.99172337e-01 -9.26041800e-04 1.22610439e+01] [ 2.33985804e-03 -1.08842194e-04 9.99997257e-01 9.63558870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.92, Y:12.27, Z:0.10 [[ 8.99332370e-01 -4.37260415e-01 -2.14884391e-03 6.29177615e+01] [ 4.37259433e-01 8.99334931e-01 -9.32313005e-04 1.22732188e+01] [ 2.34019396e-03 -1.01143004e-04 9.99997257e-01 9.71323950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.94, Y:12.29, Z:0.10 [[ 8.98698937e-01 -4.38560833e-01 -2.14881925e-03 6.29397808e+01] [ 4.38559854e-01 8.98701499e-01 -9.32369829e-04 1.22873413e+01] [ 2.34004797e-03 -1.04466083e-04 9.99997257e-01 9.50938596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.96, Y:12.30, Z:0.09 [[ 8.99517767e-01 -4.36878929e-01 -2.14204790e-03 6.29644099e+01] [ 4.36877908e-01 8.99520314e-01 -9.47954522e-04 1.23021712e+01] [ 2.34095696e-03 -8.31114729e-05 9.99997257e-01 9.41049196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.99, Y:12.31, Z:0.10 [[ 9.00768267e-01 -4.34294758e-01 -2.14306652e-03 6.29916844e+01] [ 4.34293735e-01 9.00770813e-01 -9.45612222e-04 1.23137014e+01] [ 2.34108620e-03 -7.89428822e-05 9.99997257e-01 9.70074836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.02, Y:12.33, Z:0.10 [[ 9.01607241e-01 -4.32550308e-01 -2.14808778e-03 6.30167285e+01] [ 4.32549308e-01 9.01609796e-01 -9.34064728e-04 1.23265646e+01] [ 2.34076697e-03 -8.69943610e-05 9.99997257e-01 9.73535868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.04, Y:12.34, Z:0.10 [[ 9.03760295e-01 -4.28033545e-01 -2.14783216e-03 6.30402483e+01] [ 4.28032531e-01 9.03762844e-01 -9.34652135e-04 1.23400405e+01] [ 2.34119337e-03 -7.46405494e-05 9.99997257e-01 9.82236508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.07, Y:12.35, Z:0.10 [[ 9.04825519e-01 -4.25777133e-01 -2.14772135e-03 6.30655695e+01] [ 4.25776112e-01 9.04828065e-01 -9.34906714e-04 1.23529259e+01] [ 2.34138045e-03 -6.85209926e-05 9.99997257e-01 9.83803213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.09, Y:12.37, Z:0.10 [[ 9.05875203e-01 -4.23539260e-01 -2.14746749e-03 6.30908576e+01] [ 4.23538232e-01 9.05877746e-01 -9.35489455e-04 1.23662447e+01] [ 2.34155952e-03 -6.20978841e-05 9.99997257e-01 9.84044308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.11, Y:12.38, Z:0.10 [[ 9.06733682e-01 -4.21698257e-01 -2.14721182e-03 6.31146601e+01] [ 4.21697222e-01 9.06736222e-01 -9.36075926e-04 1.23791111e+01] [ 2.34169632e-03 -5.67016878e-05 9.99997257e-01 9.82825421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.14, Y:12.39, Z:0.10 [[ 9.07899552e-01 -4.19182292e-01 -2.14703777e-03 6.31381085e+01] [ 4.19181249e-01 9.07902089e-01 -9.36474962e-04 1.23937785e+01] [ 2.34185380e-03 -4.97727745e-05 9.99997257e-01 9.85402085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.16, Y:12.41, Z:0.10 [[ 9.08085577e-01 -4.18779150e-01 -2.14686607e-03 6.31622191e+01] [ 4.18778105e-01 9.08088113e-01 -9.36868426e-04 1.24060570e+01] [ 2.34188452e-03 -4.83037975e-05 9.99997257e-01 9.90535608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.19, Y:12.42, Z:0.10 [[ 9.08030158e-01 -4.18899300e-01 -2.14675788e-03 6.31878875e+01] [ 4.18898254e-01 9.08032695e-01 -9.37116257e-04 1.24186112e+01] [ 2.34188369e-03 -4.83433060e-05 9.99997257e-01 9.97088628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59361786499998 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:63.22, Y:12.43, Z:0.10 [[ 9.08239685e-01 -4.18444820e-01 -2.14650162e-03 6.32195568e+01] [ 4.18443771e-01 9.08242220e-01 -9.37702878e-04 1.24298801e+01] [ 2.34192031e-03 -4.65312645e-05 9.99997257e-01 9.97008266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.24, Y:12.44, Z:0.10 [[ 9.06463922e-01 -4.22277735e-01 -2.16152226e-03 6.32390858e+01] [ 4.22276779e-01 9.06466494e-01 -9.03279974e-04 1.24427689e+01] [ 2.34078253e-03 -9.39699523e-05 9.99997256e-01 1.01189874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.27, Y:12.45, Z:0.10 [[ 9.05598551e-01 -4.24130472e-01 -2.14614549e-03 6.32650240e+01] [ 4.24129439e-01 9.05601092e-01 -9.38445364e-04 1.24546411e+01] [ 2.34157498e-03 -6.03887202e-05 9.99997257e-01 1.01372551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.29, Y:12.47, Z:0.10 [[ 9.03732186e-01 -4.28092899e-01 -2.14588992e-03 6.32898765e+01] [ 4.28091875e-01 9.03734731e-01 -9.39029392e-04 1.24669903e+01] [ 2.34130707e-03 -7.00069555e-05 9.99997257e-01 1.00928224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.31, Y:12.48, Z:0.10 [[ 9.02759446e-01 -4.30140419e-01 -2.14563480e-03 6.33149877e+01] [ 4.30139399e-01 9.02761992e-01 -9.39611975e-04 1.24788763e+01] [ 2.34116264e-03 -7.46784775e-05 9.99997257e-01 1.01064233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.34, Y:12.49, Z:0.10 [[ 9.01819595e-01 -4.32107412e-01 -2.14537913e-03 6.33394469e+01] [ 4.32106397e-01 9.01822143e-01 -9.40195384e-04 1.24904055e+01] [ 2.34101580e-03 -7.91454228e-05 9.99997257e-01 1.01156822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.37, Y:12.50, Z:0.10 [[ 9.02248762e-01 -4.31210586e-01 -2.14520554e-03 6.33719960e+01] [ 4.31209567e-01 9.02251309e-01 -9.40591292e-04 1.25004321e+01] [ 2.34110742e-03 -7.63858209e-05 9.99997257e-01 1.00517104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.40, Y:12.51, Z:0.10 [[ 9.01466563e-01 -4.32843361e-01 -2.15860192e-03 6.33973500e+01] [ 4.32842420e-01 9.01469141e-01 -9.10016647e-04 1.25122220e+01] [ 2.33980768e-03 -1.13984898e-04 9.99997256e-01 9.99962302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.41, Y:12.53, Z:0.10 [[ 8.99605448e-01 -4.36698263e-01 -2.15980019e-03 6.34145458e+01] [ 4.36697339e-01 8.99608032e-01 -9.07281449e-04 1.25264748e+01] [ 2.33918183e-03 -1.26983661e-04 9.99997256e-01 1.01899559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.44, Y:12.54, Z:0.10 [[ 8.99219448e-01 -4.37492611e-01 -2.14485607e-03 6.34398718e+01] [ 4.37491608e-01 8.99222001e-01 -9.41332117e-04 1.25385795e+01] [ 2.34052762e-03 -9.18923861e-05 9.99997257e-01 1.01837520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.47, Y:12.55, Z:0.10 [[ 8.99104163e-01 -4.37729488e-01 -2.14460642e-03 6.34650554e+01] [ 4.37728484e-01 8.99106716e-01 -9.41900553e-04 1.25510370e+01] [ 2.34052768e-03 -9.18886079e-05 9.99997257e-01 1.01320215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.49, Y:12.56, Z:0.10 [[ 8.99147639e-01 -4.37640177e-01 -2.14434783e-03 6.34904999e+01] [ 4.37639172e-01 8.99150192e-01 -9.42488889e-04 1.25626135e+01] [ 2.34056177e-03 -9.10139489e-05 9.99997257e-01 1.00958438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.52, Y:12.57, Z:0.10 [[ 8.99249568e-01 -4.37430701e-01 -2.14409098e-03 6.35161051e+01] [ 4.37429693e-01 8.99252119e-01 -9.43072845e-04 1.25744830e+01] [ 2.34060737e-03 -8.98312121e-05 9.99997257e-01 1.00590356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.54, Y:12.59, Z:0.10 [[ 9.00067799e-01 -4.35744606e-01 -2.14383296e-03 6.35411971e+01] [ 4.35743592e-01 9.00070348e-01 -9.43659018e-04 1.25869459e+01] [ 2.34079481e-03 -8.48043813e-05 9.99997257e-01 1.00088531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.57, Y:12.60, Z:0.10 [[ 9.00485637e-01 -4.34880468e-01 -2.14375316e-03 6.35663165e+01] [ 4.34879451e-01 9.00488185e-01 -9.43840283e-04 1.25988185e+01] [ 2.34088209e-03 -8.23595775e-05 9.99997257e-01 1.00302727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.59, Y:12.61, Z:0.10 [[ 9.01004109e-01 -4.33805258e-01 -2.14348878e-03 6.35918508e+01] [ 4.33804237e-01 9.01006655e-01 -9.44440318e-04 1.26103940e+01] [ 2.34100083e-03 -7.89099051e-05 9.99997257e-01 1.00059232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.62, Y:12.62, Z:0.10 [[ 9.02668580e-01 -4.30331083e-01 -2.14322551e-03 6.36219337e+01] [ 4.30330051e-01 9.02671122e-01 -9.45037381e-04 1.26214614e+01] [ 2.34130673e-03 -6.92387910e-05 9.99997257e-01 9.92087917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.64, Y:12.63, Z:0.10 [[ 9.02639284e-01 -4.30392489e-01 -2.15148797e-03 6.36424252e+01] [ 4.30391502e-01 9.02641843e-01 -9.26292664e-04 1.26336213e+01] [ 2.34069247e-03 -8.98739922e-05 9.99997257e-01 1.00788822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.67, Y:12.64, Z:0.10 [[ 9.03685329e-01 -4.28191819e-01 -2.14282555e-03 6.36722195e+01] [ 4.28190779e-01 9.03687868e-01 -9.45916041e-04 1.26443248e+01] [ 2.34147896e-03 -6.27276904e-05 9.99997257e-01 9.88365270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.69, Y:12.66, Z:0.10 [[ 9.04099257e-01 -4.27317106e-01 -2.15049021e-03 6.36935777e+01] [ 4.27316105e-01 9.04101811e-01 -9.28546893e-04 1.26565403e+01] [ 2.34104606e-03 -7.94405439e-05 9.99997257e-01 1.01763745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.72, Y:12.67, Z:0.10 [[ 9.04382128e-01 -4.26718145e-01 -2.14247712e-03 6.37187603e+01] [ 4.26717099e-01 9.04384664e-01 -9.46681679e-04 1.26678422e+01] [ 2.34158970e-03 -5.80696280e-05 9.99997257e-01 1.02311599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.75, Y:12.68, Z:0.10 [[ 9.05765599e-01 -4.23773632e-01 -2.14222025e-03 6.37506689e+01] [ 4.23772576e-01 9.05768131e-01 -9.47262582e-04 1.26777862e+01] [ 2.34177973e-03 -4.98163340e-05 9.99997257e-01 1.00586841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.78, Y:12.69, Z:0.10 [[ 9.07279260e-01 -4.20523132e-01 -2.15389418e-03 6.37788928e+01] [ 4.20522130e-01 9.07281814e-01 -9.20848936e-04 1.26871493e+01] [ 2.34142729e-03 -7.02930249e-05 9.99997256e-01 9.98420069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.81, Y:12.70, Z:0.10 [[ 9.07185755e-01 -4.20724792e-01 -2.15758276e-03 6.38057897e+01] [ 4.20723810e-01 9.07188317e-01 -9.12523701e-04 1.26986227e+01] [ 2.34125522e-03 -7.99179372e-05 9.99997256e-01 1.01462865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.83, Y:12.71, Z:0.10 [[ 9.06915913e-01 -4.21306145e-01 -2.15821921e-03 6.38293132e+01] [ 4.21305168e-01 9.06918478e-01 -9.11088324e-04 1.27101347e+01] [ 2.34117599e-03 -8.29884082e-05 9.99997256e-01 1.01372715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.85, Y:12.72, Z:0.10 [[ 9.05709665e-01 -4.23893096e-01 -2.15528891e-03 6.38470989e+01] [ 4.23892110e-01 9.05712226e-01 -9.17704114e-04 1.27232507e+01] [ 2.34107996e-03 -8.24364804e-05 9.99997256e-01 1.03108621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.87, Y:12.73, Z:0.10 [[ 9.06142798e-01 -4.22966483e-01 -2.14089498e-03 6.38729646e+01] [ 4.22965419e-01 9.06145326e-01 -9.50137219e-04 1.27334416e+01] [ 2.34183818e-03 -4.45645444e-05 9.99997257e-01 1.03329467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.91, Y:12.74, Z:0.10 [[ 9.07772356e-01 -4.19457706e-01 -2.14064634e-03 6.39090844e+01] [ 4.19456630e-01 9.07774880e-01 -9.50697071e-04 1.27418305e+01] [ 2.34200219e-03 -3.48917793e-05 9.99997257e-01 1.02256953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.94, Y:12.75, Z:0.10 [[ 9.07371695e-01 -4.20323637e-01 -2.15589189e-03 6.39361344e+01] [ 4.20322645e-01 9.07374253e-01 -9.16418856e-04 1.27535546e+01] [ 2.34139330e-03 -7.46376505e-05 9.99997256e-01 1.02645903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46361786499999 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:63.97, Y:12.76, Z:0.10 [[ 9.08692090e-01 -4.17461415e-01 -2.15712302e-03 6.39683528e+01] [ 4.17460421e-01 9.08694647e-01 -9.13636889e-04 1.27613158e+01] [ 2.34157429e-03 -7.02988677e-05 9.99997256e-01 9.86940567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49361786499999 meters Centerline goodness : 0.997324 Centerline is valid? [True, True] Translation: X:63.99, Y:12.77, Z:0.10 [[ 9.08268645e-01 -4.18381844e-01 -2.16832421e-03 6.39940443e+01] [ 4.18380913e-01 9.08271227e-01 -8.88278021e-04 1.27720734e+01] [ 2.34106588e-03 -1.00390387e-04 9.99997255e-01 9.88785079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.01, Y:12.78, Z:0.10 [[ 9.06559384e-01 -4.22072726e-01 -2.16726066e-03 6.40090128e+01] [ 4.22071800e-01 9.06561968e-01 -8.90684109e-04 1.27846020e+01] [ 2.34068956e-03 -1.07281572e-04 9.99997255e-01 1.03363063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.05, Y:12.79, Z:0.10 [[ 9.07833998e-01 -4.19324274e-01 -2.14119998e-03 6.40459697e+01] [ 4.19323201e-01 9.07836523e-01 -9.49455816e-04 1.27913797e+01] [ 2.34198942e-03 -3.59065608e-05 9.99997257e-01 1.02501866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.07, Y:12.80, Z:0.10 [[ 9.07658911e-01 -4.19703033e-01 -2.15996293e-03 6.40711417e+01] [ 4.19702061e-01 9.07661477e-01 -9.07094105e-04 1.28027651e+01] [ 2.34122529e-03 -8.32088475e-05 9.99997256e-01 1.02581377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.10, Y:12.81, Z:0.10 [[ 9.07515066e-01 -4.20013978e-01 -2.15950146e-03 6.40957310e+01] [ 4.20013004e-01 9.07517632e-01 -9.08135240e-04 1.28123676e+01] [ 2.34121514e-03 -8.28722823e-05 9.99997256e-01 1.02480584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.12, Y:12.82, Z:0.10 [[ 9.07278639e-01 -4.20524458e-01 -2.15669852e-03 6.41229442e+01] [ 4.20523471e-01 9.07281199e-01 -9.14455189e-04 1.28225173e+01] [ 2.34128279e-03 -7.72766876e-05 9.99997256e-01 1.02675172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67361786499998 meters Centerline goodness : 0.998057 Centerline is valid? [True, True] Translation: X:64.16, Y:12.83, Z:0.10 [[ 9.07851561e-01 -4.19286164e-01 -2.15792984e-03 6.41555432e+01] [ 4.19285180e-01 9.07854122e-01 -9.11665207e-04 1.28307799e+01] [ 2.34133411e-03 -7.71313186e-05 9.99997256e-01 9.85044048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70361786499998 meters Centerline goodness : 0.995621 Centerline is valid? [True, True] Translation: X:64.18, Y:12.84, Z:0.10 [[ 9.07232705e-01 -4.20623473e-01 -2.17098971e-03 6.41802464e+01] [ 4.20622564e-01 9.07235295e-01 -8.81977425e-04 1.28414033e+01] [ 2.34057890e-03 -1.13008491e-04 9.99997254e-01 9.88190881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.21, Y:12.85, Z:0.10 [[ 9.06244902e-01 -4.22747555e-01 -2.16374819e-03 6.42062172e+01] [ 4.22746612e-01 9.06247480e-01 -8.98422045e-04 1.28513111e+01] [ 2.34069706e-03 -1.00526816e-04 9.99997256e-01 9.99668217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.23, Y:12.86, Z:0.10 [[ 9.05289412e-01 -4.24789864e-01 -2.15667846e-03 6.42318576e+01] [ 4.24788889e-01 9.05291977e-01 -9.14260416e-04 1.28637744e+01] [ 2.34079227e-03 -8.84627749e-05 9.99997256e-01 1.03628769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79361786499999 meters Centerline goodness : 0.995287 Centerline is valid? [True, True] Translation: X:64.26, Y:12.87, Z:0.10 [[ 9.06657832e-01 -4.21861283e-01 -2.15268968e-03 6.42607224e+01] [ 4.21860279e-01 9.06660385e-01 -9.23234614e-04 1.28698959e+01] [ 2.34123539e-03 -7.10763737e-05 9.99997257e-01 9.82186938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82361786499999 meters Centerline goodness : 0.997130 Centerline is valid? [True, True] Translation: X:64.29, Y:12.88, Z:0.10 [[ 9.06081745e-01 -4.23097175e-01 -2.15686379e-03 6.42877077e+01] [ 4.23096197e-01 9.06084308e-01 -9.13840319e-04 1.28812609e+01] [ 2.34094369e-03 -8.45468364e-05 9.99997256e-01 9.77240431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85361786499999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:64.31, Y:12.89, Z:0.10 [[ 9.04863487e-01 -4.25696393e-01 -2.15658412e-03 6.43110291e+01] [ 4.25695421e-01 9.04866052e-01 -9.14468101e-04 1.28918323e+01] [ 2.34070553e-03 -9.05791910e-05 9.99997256e-01 1.01227395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88361786499999 meters Centerline goodness : 0.995202 Centerline is valid? [True, True] Translation: X:64.34, Y:12.90, Z:0.10 [[ 9.06117444e-01 -4.23020755e-01 -2.14919592e-03 6.43406641e+01] [ 4.23019736e-01 9.06119990e-01 -9.31043882e-04 1.29001675e+01] [ 2.34128027e-03 -6.55171870e-05 9.99997257e-01 9.75815694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91361786499998 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:64.37, Y:12.91, Z:0.10 [[ 9.05929839e-01 -4.23422349e-01 -2.15425864e-03 6.43665581e+01] [ 4.23421357e-01 9.05932397e-01 -9.19684806e-04 1.29078681e+01] [ 2.34102779e-03 -7.89892068e-05 9.99997257e-01 9.54144468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94361786499998 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:64.39, Y:12.92, Z:0.10 [[ 9.07294735e-01 -4.20489750e-01 -2.15282105e-03 6.43891772e+01] [ 4.20488743e-01 9.07297286e-01 -9.22911671e-04 1.29153367e+01] [ 2.34132359e-03 -6.78841178e-05 9.99997257e-01 1.03020959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97361786499998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:64.42, Y:12.92, Z:0.10 [[ 9.07306745e-01 -4.20463906e-01 -2.13867140e-03 6.44153351e+01] [ 4.20462824e-01 9.07309265e-01 -9.54611932e-04 1.29239391e+01] [ 2.34181624e-03 -3.31059725e-05 9.99997257e-01 1.02030256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00361786499998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:64.44, Y:12.93, Z:0.10 [[ 9.07359717e-01 -4.20349581e-01 -2.13856375e-03 6.44425149e+01] [ 4.20348498e-01 9.07362237e-01 -9.54853044e-04 1.29328506e+01] [ 2.34182406e-03 -3.25468712e-05 9.99997257e-01 1.04695918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03361786499998 meters Centerline goodness : 0.996925 Centerline is valid? [True, True] Translation: X:64.47, Y:12.94, Z:0.10 [[ 9.07428251e-01 -4.20201614e-01 -2.13833669e-03 6.44746890e+01] [ 4.20200529e-01 9.07430770e-01 -9.55361249e-04 1.29404681e+01] [ 2.34183685e-03 -3.16084238e-05 9.99997257e-01 9.90503017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:64.50, Y:12.95, Z:0.11 [[ 9.07794154e-01 -4.19410479e-01 -2.15053421e-03 6.44970979e+01] [ 4.19409457e-01 9.07796699e-01 -9.28034871e-04 1.29484708e+01] [ 2.34147541e-03 -5.94897544e-05 9.99997257e-01 1.05384049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.52, Y:12.96, Z:0.11 [[ 9.08458328e-01 -4.17969969e-01 -2.13793120e-03 6.45246801e+01] [ 4.17968876e-01 9.08460844e-01 -9.56213083e-04 1.29572553e+01] [ 2.34189513e-03 -2.49089616e-05 9.99997257e-01 1.07320656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.55, Y:12.97, Z:0.11 [[ 9.09402433e-01 -4.15911825e-01 -2.13769776e-03 6.45502853e+01] [ 4.15910725e-01 9.09404945e-01 -9.56734665e-04 1.29691696e+01] [ 2.34195018e-03 -1.90345938e-05 9.99997257e-01 1.06248353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15361786499999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:64.58, Y:12.98, Z:0.11 [[ 9.10044811e-01 -4.14504369e-01 -2.13757382e-03 6.45756937e+01] [ 4.14503265e-01 9.10047322e-01 -9.57011513e-04 1.29799580e+01] [ 2.34197878e-03 -1.51079642e-05 9.99997257e-01 1.06017835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:64.60, Y:12.99, Z:0.11 [[ 9.11078902e-01 -4.12226475e-01 -2.13733540e-03 6.46011238e+01] [ 4.12225363e-01 9.11081409e-01 -9.57543673e-04 1.29882398e+01] [ 2.34201140e-03 -8.66602460e-06 9.99997257e-01 1.05179048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.63, Y:13.00, Z:0.11 [[ 9.11132410e-01 -4.12108194e-01 -2.13717300e-03 6.46272311e+01] [ 4.12107081e-01 9.11134916e-01 -9.57906009e-04 1.29991358e+01] [ 2.34201386e-03 -7.96491657e-06 9.99997257e-01 1.06109907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.65, Y:13.01, Z:0.10 [[ 9.11041218e-01 -4.12309754e-01 -2.13691086e-03 6.46519365e+01] [ 4.12308640e-01 9.11043724e-01 -9.58490429e-04 1.30095223e+01] [ 2.34201418e-03 -7.84252591e-06 9.99997257e-01 1.04688348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.68, Y:13.02, Z:0.11 [[ 9.10650734e-01 -4.13171484e-01 -2.13679722e-03 6.46783593e+01] [ 4.13170371e-01 9.10653241e-01 -9.58743713e-04 1.30202343e+01] [ 2.34200688e-03 -9.78063535e-06 9.99997257e-01 1.05834547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.70, Y:13.03, Z:0.11 [[ 9.10460941e-01 -4.13589544e-01 -2.13654204e-03 6.47034063e+01] [ 4.13588431e-01 9.10463448e-01 -9.59312038e-04 1.30327127e+01] [ 2.34200486e-03 -1.02329303e-05 9.99997257e-01 1.06004940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.73, Y:13.05, Z:0.11 [[ 9.10395993e-01 -4.13732488e-01 -2.13627710e-03 6.47272234e+01] [ 4.13731375e-01 9.10398500e-01 -9.59901675e-04 1.30450170e+01] [ 2.34200597e-03 -9.95422179e-06 9.99997257e-01 1.05625920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.75, Y:13.06, Z:0.11 [[ 9.10343521e-01 -4.13847932e-01 -2.13609672e-03 6.47519711e+01] [ 4.13846818e-01 9.10346027e-01 -9.60302916e-04 1.30574045e+01] [ 2.34200653e-03 -9.81129220e-06 9.99997257e-01 1.05151856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.78, Y:13.07, Z:0.10 [[ 9.10067821e-01 -4.14453856e-01 -2.13583588e-03 6.47771617e+01] [ 4.14452742e-01 9.10070328e-01 -9.60882701e-04 1.30697274e+01] [ 2.34200240e-03 -1.07346109e-05 9.99997257e-01 1.03754705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.80, Y:13.08, Z:0.10 [[ 9.09839185e-01 -4.14955535e-01 -2.13557340e-03 6.48021281e+01] [ 4.14954421e-01 9.09841692e-01 -9.61465714e-04 1.30811924e+01] [ 2.34199923e-03 -1.13864414e-05 9.99997257e-01 1.02997178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.83, Y:13.09, Z:0.10 [[ 9.09408778e-01 -4.15897963e-01 -2.13539484e-03 6.48273310e+01] [ 4.15896851e-01 9.09411285e-01 -9.61862122e-04 1.30927677e+01] [ 2.34198866e-03 -1.33781327e-05 9.99997257e-01 1.02729377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:64.85, Y:13.10, Z:0.10 [[ 9.08545692e-01 -4.17780047e-01 -2.13513147e-03 6.48525012e+01] [ 4.17778939e-01 9.08548200e-01 -9.62446398e-04 1.31040437e+01] [ 2.34196075e-03 -1.75864303e-05 9.99997257e-01 1.03070673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.88, Y:13.12, Z:0.10 [[ 9.07899088e-01 -4.19183358e-01 -2.13504983e-03 6.48767378e+01] [ 4.19182253e-01 9.07901598e-01 -9.62627467e-04 1.31153406e+01] [ 2.34193257e-03 -2.10063985e-05 9.99997257e-01 1.03151729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.90, Y:13.13, Z:0.10 [[ 9.07091602e-01 -4.20927866e-01 -2.13493829e-03 6.49023920e+01] [ 4.20926766e-01 9.07094114e-01 -9.62874772e-04 1.31273920e+01] [ 2.34189078e-03 -2.52370518e-05 9.99997257e-01 1.03273683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:64.93, Y:13.14, Z:0.10 [[ 9.05866761e-01 -4.23557380e-01 -2.13467297e-03 6.49268672e+01] [ 4.23556286e-01 9.05869276e-01 -9.63462623e-04 1.31380110e+01] [ 2.34181636e-03 -3.13853901e-05 9.99997257e-01 1.03526495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.95, Y:13.15, Z:0.10 [[ 9.05323167e-01 -4.24718032e-01 -2.13449192e-03 6.49530548e+01] [ 4.24716939e-01 9.05325683e-01 -9.63863562e-04 1.31491139e+01] [ 2.34178059e-03 -3.39468634e-05 9.99997257e-01 1.03766425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.97, Y:13.16, Z:0.10 [[ 9.03455791e-01 -4.28675960e-01 -2.13423122e-03 6.49743847e+01] [ 4.28674877e-01 9.03458311e-01 -9.64440469e-04 1.31624670e+01] [ 2.34162138e-03 -4.35619807e-05 9.99997257e-01 9.81632508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.01, Y:13.17, Z:0.10 [[ 9.04571691e-01 -4.26316250e-01 -2.12407467e-03 6.50052226e+01] [ 4.26315107e-01 9.04574184e-01 -9.86891769e-04 1.31711229e+01] [ 2.34211111e-03 -1.28107669e-05 9.99997257e-01 1.04564346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.03, Y:13.18, Z:0.10 [[ 9.04078445e-01 -4.27361219e-01 -2.13403478e-03 6.50312190e+01] [ 4.27360131e-01 9.04080963e-01 -9.64862509e-04 1.31828569e+01] [ 2.34168503e-03 -3.96899857e-05 9.99997257e-01 1.04017378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.06, Y:13.19, Z:0.10 [[ 9.03834482e-01 -4.27876940e-01 -2.13377815e-03 6.50559204e+01] [ 4.27875853e-01 9.03837000e-01 -9.65429696e-04 1.31942227e+01] [ 2.34167275e-03 -4.04034982e-05 9.99997257e-01 1.03566848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.75361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.08, Y:13.21, Z:0.10 [[ 9.03446424e-01 -4.28695703e-01 -2.13366673e-03 6.50818497e+01] [ 4.28694617e-01 9.03448943e-01 -9.65675896e-04 1.32056272e+01] [ 2.34164006e-03 -4.22550043e-05 9.99997257e-01 1.03856457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.11, Y:13.22, Z:0.10 [[ 9.03084694e-01 -4.29457195e-01 -2.13358834e-03 6.51075208e+01] [ 4.29456112e-01 9.03087214e-01 -9.65849057e-04 1.32168675e+01] [ 2.34160717e-03 -4.40390508e-05 9.99997257e-01 1.04337471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81361786499998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:65.13, Y:13.23, Z:0.10 [[ 9.02706599e-01 -4.30251374e-01 -2.13333696e-03 6.51334522e+01] [ 4.30250291e-01 9.02709119e-01 -9.66403972e-04 1.32282773e+01] [ 2.34157936e-03 -4.54896046e-05 9.99997257e-01 1.03628824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.15, Y:13.24, Z:0.10 [[ 9.00995726e-01 -4.33822720e-01 -2.13307111e-03 6.51547871e+01] [ 4.33821646e-01 9.00998249e-01 -9.66990405e-04 1.32421462e+01] [ 2.34139574e-03 -5.41181982e-05 9.99997257e-01 1.00583587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.19, Y:13.25, Z:0.10 [[ 9.02025453e-01 -4.31677630e-01 -2.12270863e-03 6.51865044e+01] [ 4.31676496e-01 9.02027950e-01 -9.89832913e-04 1.32516725e+01] [ 2.34203124e-03 -2.34689416e-05 9.99997257e-01 1.03968033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.21, Y:13.26, Z:0.10 [[ 9.01766031e-01 -4.32219245e-01 -2.13295281e-03 6.52113556e+01] [ 4.32218165e-01 9.01768552e-01 -9.67242557e-04 1.32632171e+01] [ 2.34149062e-03 -4.96744686e-05 9.99997257e-01 1.03855649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:65.24, Y:13.27, Z:0.10 [[ 9.01284930e-01 -4.33221567e-01 -2.13287087e-03 6.52372869e+01] [ 4.33220490e-01 9.01287452e-01 -9.67423207e-04 1.32749379e+01] [ 2.34143835e-03 -5.20794070e-05 9.99997257e-01 1.02844319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.26, Y:13.29, Z:0.10 [[ 8.99789245e-01 -4.36319570e-01 -2.13261056e-03 6.52578727e+01] [ 4.36318501e-01 8.99791770e-01 -9.67996714e-04 1.32890941e+01] [ 2.34126134e-03 -5.95044078e-05 9.99997257e-01 9.92734201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:65.28, Y:13.30, Z:0.10 [[ 8.99405064e-01 -4.37110998e-01 -2.12279019e-03 6.52819179e+01] [ 4.37109880e-01 8.99407568e-01 -9.89608309e-04 1.33009859e+01] [ 2.34182224e-03 -3.78338396e-05 9.99997257e-01 9.93663221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:65.31, Y:13.31, Z:0.10 [[ 8.99510326e-01 -4.36894344e-01 -2.12275136e-03 6.53073121e+01] [ 4.36893225e-01 8.99512830e-01 -9.89693931e-04 1.33125732e+01] [ 2.34183376e-03 -3.71757786e-05 9.99997257e-01 9.69732168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.33, Y:13.32, Z:0.10 [[ 8.99328969e-01 -4.37267542e-01 -2.12185389e-03 6.53324972e+01] [ 4.37266419e-01 8.99331472e-01 -9.91672542e-04 1.33245379e+01] [ 2.34187619e-03 -3.59756046e-05 9.99997257e-01 9.80037994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:65.36, Y:13.33, Z:0.10 [[ 9.00487961e-01 -4.34875763e-01 -2.12207635e-03 6.53629007e+01] [ 4.34874635e-01 9.00490461e-01 -9.91182853e-04 1.33335041e+01] [ 2.34195091e-03 -3.02889513e-05 9.99997257e-01 1.00467058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:65.38, Y:13.35, Z:0.10 [[ 8.98802858e-01 -4.38347898e-01 -2.13136885e-03 6.53834714e+01] [ 4.38346827e-01 8.98805383e-01 -9.70713656e-04 1.33478272e+01] [ 2.34119609e-03 -6.17985659e-05 9.99997257e-01 9.78803832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.41, Y:13.36, Z:0.10 [[ 8.99224733e-01 -4.37481857e-01 -2.12244298e-03 6.54141618e+01] [ 4.37480738e-01 8.99227237e-01 -9.90365482e-04 1.33567315e+01] [ 2.34182546e-03 -3.79667831e-05 9.99997257e-01 1.02938412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.44, Y:13.37, Z:0.10 [[ 8.97635318e-01 -4.40733808e-01 -2.13251217e-03 6.54388802e+01] [ 4.40732750e-01 8.97637848e-01 -9.68187249e-04 1.33710912e+01] [ 2.34093649e-03 -7.07888860e-05 9.99997257e-01 1.00297828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.46, Y:13.38, Z:0.10 [[ 8.97237306e-01 -4.41543509e-01 -2.13223566e-03 6.54643474e+01] [ 4.41542452e-01 8.97239837e-01 -9.68795821e-04 1.33827215e+01] [ 2.34089229e-03 -7.22328101e-05 9.99997257e-01 1.01268004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23361786499999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:65.49, Y:13.39, Z:0.10 [[ 8.96708075e-01 -4.42617310e-01 -2.13215044e-03 6.54886727e+01] [ 4.42616255e-01 8.96710606e-01 -9.68983356e-04 1.33944264e+01] [ 2.34081072e-03 -7.48292431e-05 9.99997257e-01 1.01983217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.51, Y:13.41, Z:0.10 [[ 8.95966831e-01 -4.44115854e-01 -2.13203654e-03 6.55111461e+01] [ 4.44114804e-01 8.95969364e-01 -9.69233906e-04 1.34063382e+01] [ 2.34069156e-03 -7.84675554e-05 9.99997257e-01 1.00557246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.54, Y:13.42, Z:0.10 [[ 8.95513820e-01 -4.45028627e-01 -2.12597662e-03 6.55366752e+01] [ 4.45027548e-01 8.95516341e-01 -9.82552737e-04 1.34186979e+01] [ 2.34111089e-03 -6.62286059e-05 9.99997257e-01 1.00191665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32361786499999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:65.56, Y:13.43, Z:0.10 [[ 8.95379179e-01 -4.45299459e-01 -2.12538813e-03 6.55643462e+01] [ 4.45298377e-01 8.95381699e-01 -9.83845484e-04 1.34312704e+01] [ 2.34113950e-03 -6.55171235e-05 9.99997257e-01 1.02479759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.59, Y:13.44, Z:0.10 [[ 8.94949463e-01 -4.46162431e-01 -2.13162727e-03 6.55871426e+01] [ 4.46161384e-01 8.94951998e-01 -9.70136566e-04 1.34433362e+01] [ 2.34054258e-03 -8.28265746e-05 9.99997257e-01 1.02366617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:65.62, Y:13.45, Z:0.10 [[ 8.95477939e-01 -4.45100827e-01 -2.12475260e-03 6.56158425e+01] [ 4.45099742e-01 8.95480457e-01 -9.85228485e-04 1.34544393e+01] [ 2.34120044e-03 -6.34764583e-05 9.99997257e-01 1.04888983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.64, Y:13.47, Z:0.10 [[ 8.95232619e-01 -4.45594003e-01 -2.13135607e-03 6.56410681e+01] [ 4.45592953e-01 8.95235152e-01 -9.70729746e-04 1.34687665e+01] [ 2.34061623e-03 -8.06883131e-05 9.99997257e-01 1.03233534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.66, Y:13.48, Z:0.10 [[ 8.95248294e-01 -4.45562509e-01 -2.13112946e-03 6.56641552e+01] [ 4.45561458e-01 8.95250827e-01 -9.71226992e-04 1.34812008e+01] [ 2.34063775e-03 -8.00598422e-05 9.99997257e-01 1.01059007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.69, Y:13.49, Z:0.10 [[ 8.95166310e-01 -4.45727226e-01 -2.12545979e-03 6.56901221e+01] [ 4.45726146e-01 8.95168831e-01 -9.83659317e-04 1.34930650e+01] [ 2.34108909e-03 -6.68343192e-05 9.99997257e-01 1.01120994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50361786499998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:65.72, Y:13.51, Z:0.10 [[ 8.94902576e-01 -4.46256496e-01 -2.12603425e-03 6.57175003e+01] [ 4.46255420e-01 8.94905098e-01 -9.82398860e-04 1.35073113e+01] [ 2.34100076e-03 -6.96030367e-05 9.99997257e-01 1.00356911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.74, Y:13.52, Z:0.10 [[ 8.95602910e-01 -4.44849284e-01 -2.13118361e-03 6.57377474e+01] [ 4.44848231e-01 8.95605443e-01 -9.71098022e-04 1.35181353e+01] [ 2.34069190e-03 -7.83350409e-05 9.99997258e-01 9.98984022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.77, Y:13.53, Z:0.10 [[ 8.95372660e-01 -4.45312594e-01 -2.11961574e-03 6.57663308e+01] [ 4.45311482e-01 8.95375168e-01 -9.96449061e-04 1.35334364e+01] [ 2.34158262e-03 -5.16959813e-05 9.99997257e-01 9.99058109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.79, Y:13.55, Z:0.10 [[ 8.95455114e-01 -4.45146715e-01 -2.13094643e-03 6.57917775e+01] [ 4.45145661e-01 8.95457646e-01 -9.71598160e-04 1.35461689e+01] [ 2.34067601e-03 -7.85590182e-05 9.99997258e-01 9.95096992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.82, Y:13.56, Z:0.10 [[ 8.95229306e-01 -4.45600662e-01 -2.13066802e-03 6.58162169e+01] [ 4.45599609e-01 8.95231838e-01 -9.72208322e-04 1.35588357e+01] [ 2.34065852e-03 -7.90754551e-05 9.99997258e-01 9.95764559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.84, Y:13.57, Z:0.10 [[ 8.96215092e-01 -4.43614662e-01 -2.13107872e-03 6.58407406e+01] [ 4.43613605e-01 8.96217622e-01 -9.71308557e-04 1.35721979e+01] [ 2.34079702e-03 -7.48741243e-05 9.99997258e-01 1.00395796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.87, Y:13.58, Z:0.10 [[ 8.96384125e-01 -4.43273011e-01 -2.13030038e-03 6.58650874e+01] [ 4.43271949e-01 8.96386653e-01 -9.73012644e-04 1.35845012e+01] [ 2.34088307e-03 -7.21093126e-05 9.99997258e-01 1.00894726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.89, Y:13.60, Z:0.10 [[ 8.96538686e-01 -4.42960321e-01 -2.13017431e-03 6.58903535e+01] [ 4.42959257e-01 8.96541214e-01 -9.73288566e-04 1.35972970e+01] [ 2.34091727e-03 -7.09895761e-05 9.99997258e-01 1.01226861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.92, Y:13.61, Z:0.10 [[ 8.96993965e-01 -4.42037656e-01 -2.12988877e-03 6.59187802e+01] [ 4.42036589e-01 8.96996491e-01 -9.73913021e-04 1.36108709e+01] [ 2.34100898e-03 -6.78946621e-05 9.99997258e-01 1.01140234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.94, Y:13.63, Z:0.10 [[ 8.97520429e-01 -4.40967705e-01 -2.13606798e-03 6.59430541e+01] [ 4.40966667e-01 8.97522967e-01 -9.60408146e-04 1.36255845e+01] [ 2.34067905e-03 -7.99488463e-05 9.99997257e-01 1.00393301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.97, Y:13.64, Z:0.10 [[ 8.97655923e-01 -4.40691823e-01 -2.13558296e-03 6.59675286e+01] [ 4.40690781e-01 8.97658460e-01 -9.61467103e-04 1.36385697e+01] [ 2.34073480e-03 -7.80650838e-05 9.99997257e-01 1.01364809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.99, Y:13.65, Z:0.10 [[ 8.97735823e-01 -4.40529039e-01 -2.13477543e-03 6.59928452e+01] [ 4.40527993e-01 8.97738358e-01 -9.63228673e-04 1.36514519e+01] [ 2.34079999e-03 -7.57034504e-05 9.99997257e-01 1.00797009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.02, Y:13.67, Z:0.10 [[ 8.98400295e-01 -4.39172351e-01 -2.13447691e-03 6.60174414e+01] [ 4.39171299e-01 8.98402828e-01 -9.63879311e-04 1.36653780e+01] [ 2.34092923e-03 -7.14515390e-05 9.99997257e-01 1.01730404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.04, Y:13.68, Z:0.10 [[ 8.98878895e-01 -4.38191932e-01 -2.13619744e-03 6.60372391e+01] [ 4.38190887e-01 8.98881430e-01 -9.60130708e-04 1.36778588e+01] [ 2.34090974e-03 -7.30210226e-05 9.99997257e-01 1.00829828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.07, Y:13.69, Z:0.10 [[ 8.98295575e-01 -4.39386564e-01 -2.12302379e-03 6.60665119e+01] [ 4.39385453e-01 8.98298083e-01 -9.88792848e-04 1.36927076e+01] [ 2.34157050e-03 -4.45975317e-05 9.99997258e-01 1.00435180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.09, Y:13.70, Z:0.10 [[ 8.99128722e-01 -4.37679095e-01 -2.13354753e-03 6.60887162e+01] [ 4.37678034e-01 8.99131251e-01 -9.65886195e-04 1.37047034e+01] [ 2.34108745e-03 -6.53508684e-05 9.99997258e-01 1.01721455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.12, Y:13.72, Z:0.10 [[ 8.98311762e-01 -4.39353447e-01 -2.12771127e-03 6.61157856e+01] [ 4.39352361e-01 8.98314280e-01 -9.78575931e-04 1.37204908e+01] [ 2.34129413e-03 -5.57487020e-05 9.99997258e-01 1.01072479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.14, Y:13.73, Z:0.10 [[ 8.98197243e-01 -4.39587491e-01 -2.13321477e-03 6.61414304e+01] [ 4.39586434e-01 8.98199773e-01 -9.66610759e-04 1.37335067e+01] [ 2.34096302e-03 -6.95251579e-05 9.99997258e-01 1.01520605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.17, Y:13.75, Z:0.10 [[ 8.97808925e-01 -4.40380042e-01 -2.13372393e-03 6.61650640e+01] [ 4.40378990e-01 8.97811458e-01 -9.65504306e-04 1.37465435e+01] [ 2.34087062e-03 -7.28088066e-05 9.99997258e-01 1.01847694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.19, Y:13.76, Z:0.10 [[ 8.97887626e-01 -4.40219564e-01 -2.13213549e-03 6.61867521e+01] [ 4.40218503e-01 8.97890155e-01 -9.68955855e-04 1.37604264e+01] [ 2.34097679e-03 -6.85920190e-05 9.99997258e-01 1.02761562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.21, Y:13.77, Z:0.10 [[ 8.97239843e-01 -4.41538385e-01 -2.12565821e-03 6.62085935e+01] [ 4.41537294e-01 8.97242360e-01 -9.83013126e-04 1.37743014e+01] [ 2.34126862e-03 -5.65588326e-05 9.99997258e-01 1.02196720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.23, Y:13.79, Z:0.10 [[ 8.96793807e-01 -4.42443628e-01 -2.12220627e-03 6.62338303e+01] [ 4.42442523e-01 8.96796316e-01 -9.90498740e-04 1.37887093e+01] [ 2.34142662e-03 -5.06811597e-05 9.99997258e-01 1.01210114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.26, Y:13.80, Z:0.10 [[ 8.95650292e-01 -4.44753918e-01 -2.12313842e-03 6.62611482e+01] [ 4.44752823e-01 8.95652806e-01 -9.88475938e-04 1.38046282e+01] [ 2.34122343e-03 -5.89430464e-05 9.99997258e-01 1.00302154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.28, Y:13.82, Z:0.10 [[ 8.94767154e-01 -4.46527935e-01 -2.13165313e-03 6.62843377e+01] [ 4.46526889e-01 8.94769689e-01 -9.69990869e-04 1.38183461e+01] [ 2.34046663e-03 -8.39244730e-05 9.99997258e-01 1.00279363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.31, Y:13.83, Z:0.10 [[ 8.94227951e-01 -4.47606789e-01 -2.12925050e-03 6.63092084e+01] [ 4.47605734e-01 8.94230482e-01 -9.75201834e-04 1.38325151e+01] [ 2.34054766e-03 -8.10119951e-05 9.99997258e-01 1.00062305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.33, Y:13.85, Z:0.10 [[ 8.93030502e-01 -4.49991103e-01 -2.12838587e-03 6.63306344e+01] [ 4.49990050e-01 8.93033034e-01 -9.77075739e-04 1.38499238e+01] [ 2.34039428e-03 -8.51940267e-05 9.99997258e-01 9.90148070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.36, Y:13.86, Z:0.10 [[ 8.92960799e-01 -4.50129427e-01 -2.12379008e-03 6.63566419e+01] [ 4.50128351e-01 8.92963321e-01 -9.87028947e-04 1.38637386e+01] [ 2.34075741e-03 -7.45999686e-05 9.99997258e-01 9.87537468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.38, Y:13.88, Z:0.10 [[ 8.92577510e-01 -4.50888970e-01 -2.12726510e-03 6.63784504e+01] [ 4.50887915e-01 8.92580041e-01 -9.79503370e-04 1.38773287e+01] [ 2.34040164e-03 -8.48754465e-05 9.99997258e-01 9.89243482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.40, Y:13.89, Z:0.10 [[ 8.91373492e-01 -4.53264595e-01 -2.12260076e-03 6.64028801e+01] [ 4.53263521e-01 8.91376015e-01 -9.89600428e-04 1.38948274e+01] [ 2.34058625e-03 -7.99939077e-05 9.99997258e-01 9.80937519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.43, Y:13.91, Z:0.10 [[ 8.90397879e-01 -4.55178092e-01 -2.12622261e-03 6.64262284e+01] [ 4.55177043e-01 8.90400413e-01 -9.81760391e-04 1.39093770e+01] [ 2.34006532e-03 -9.36503524e-05 9.99997258e-01 9.82669918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.45, Y:13.92, Z:0.10 [[ 8.89638614e-01 -4.56660298e-01 -2.12325825e-03 6.64508059e+01] [ 4.56659238e-01 8.89641143e-01 -9.88173176e-04 1.39232032e+01] [ 2.34019736e-03 -9.04884811e-05 9.99997258e-01 9.86887499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.47, Y:13.94, Z:0.10 [[ 8.88978156e-01 -4.57944679e-01 -2.12349698e-03 6.64733929e+01] [ 4.57943623e-01 8.88980687e-01 -9.87656954e-04 1.39361307e+01] [ 2.34004005e-03 -9.44364443e-05 9.99997258e-01 1.00091335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.50, Y:13.95, Z:0.10 [[ 8.86782666e-01 -4.62181795e-01 -2.11939517e-03 6.64968860e+01] [ 4.62180731e-01 8.86785193e-01 -9.96523777e-04 1.39541853e+01] [ 2.34002341e-03 -9.58435982e-05 9.99997258e-01 9.93992879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.52, Y:13.97, Z:0.10 [[ 8.86263990e-01 -4.63175611e-01 -2.11977856e-03 6.65204861e+01] [ 4.63174551e-01 8.86266520e-01 -9.95694827e-04 1.39686119e+01] [ 2.33987033e-03 -9.93790142e-05 9.99997258e-01 9.98328359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.54, Y:13.98, Z:0.10 [[ 8.85670905e-01 -4.64308685e-01 -2.11960787e-03 6.65431165e+01] [ 4.64307628e-01 8.85673436e-01 -9.96063816e-04 1.39834465e+01] [ 2.33976147e-03 -1.01965363e-04 9.99997258e-01 1.00028510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.57, Y:14.00, Z:0.10 [[ 8.85409454e-01 -4.64807074e-01 -2.11720138e-03 6.65662069e+01] [ 4.64806006e-01 8.85411980e-01 -1.00126202e-03 1.40007566e+01] [ 2.33998914e-03 -9.75610522e-05 9.99997257e-01 1.00747441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.59, Y:14.02, Z:0.10 [[ 8.85553903e-01 -4.64531806e-01 -2.11779322e-03 6.65887397e+01] [ 4.64530740e-01 8.85556430e-01 -9.99983352e-04 1.40156927e+01] [ 2.33994948e-03 -9.82408907e-05 9.99997257e-01 9.99109905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.62, Y:14.03, Z:0.10 [[ 8.86804747e-01 -4.62139451e-01 -2.11368236e-03 6.66152598e+01] [ 4.62138358e-01 8.86807262e-01 -1.00886287e-03 1.40291633e+01] [ 2.34066420e-03 -8.21493113e-05 9.99997257e-01 1.00757037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.64, Y:14.05, Z:0.10 [[ 8.88147928e-01 -4.59552799e-01 -2.11724199e-03 6.66386957e+01] [ 4.59551716e-01 8.88150448e-01 -1.00117260e-03 1.40465339e+01] [ 2.34052109e-03 -8.37928175e-05 9.99997257e-01 1.00184576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.67, Y:14.06, Z:0.11 [[ 8.90538977e-01 -4.54902020e-01 -2.11711520e-03 6.66674419e+01] [ 4.54900923e-01 8.90541491e-01 -1.00144636e-03 1.40582381e+01] [ 2.34093890e-03 -7.12506441e-05 9.99997257e-01 1.06212213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.69, Y:14.08, Z:0.10 [[ 8.89318845e-01 -4.57282708e-01 -2.12526777e-03 6.66869649e+01] [ 4.57281660e-01 8.89321379e-01 -9.83835297e-04 1.40755002e+01] [ 2.33993693e-03 -9.69027045e-05 9.99997258e-01 9.82952096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73361786499999 meters Centerline goodness : 0.994835 Centerline is valid? [True, True] Translation: X:66.71, Y:14.09, Z:0.10 [[ 8.90320062e-01 -4.55330337e-01 -2.11472321e-03 6.67145095e+01] [ 4.55329229e-01 8.90322571e-01 -1.00646719e-03 1.40903341e+01] [ 2.34106085e-03 -6.68173567e-05 9.99997257e-01 1.00504749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76361786499999 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:66.74, Y:14.11, Z:0.10 [[ 8.91574335e-01 -4.52869417e-01 -2.12050338e-03 6.67375816e+01] [ 4.52868332e-01 8.91576854e-01 -9.94063559e-04 1.41068187e+01] [ 2.34077271e-03 -7.40272708e-05 9.99997258e-01 1.00849376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.76, Y:14.12, Z:0.11 [[ 8.92360684e-01 -4.51317976e-01 -2.11988895e-03 6.67624569e+01] [ 4.51316884e-01 8.92363199e-01 -9.95380950e-04 1.41194368e+01] [ 2.34094420e-03 -6.85028503e-05 9.99997258e-01 1.05453692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.79, Y:14.13, Z:0.11 [[ 8.92564597e-01 -4.50914556e-01 -2.12233017e-03 6.67873122e+01] [ 4.50913475e-01 8.92567117e-01 -9.90148337e-04 1.41329607e+01] [ 2.34079441e-03 -7.32159182e-05 9.99997258e-01 1.06190118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.81, Y:14.15, Z:0.11 [[ 8.92619700e-01 -4.50805465e-01 -2.12206510e-03 6.68114945e+01] [ 4.50804382e-01 8.92622220e-01 -9.90716093e-04 1.41477113e+01] [ 2.34082269e-03 -7.23035455e-05 9.99997258e-01 1.06690195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.83, Y:14.16, Z:0.10 [[ 8.90310218e-01 -4.55349551e-01 -2.12198305e-03 6.68290195e+01] [ 4.55348480e-01 8.90312743e-01 -9.90891798e-04 1.41646757e+01] [ 2.34043069e-03 -8.40406661e-05 9.99997258e-01 9.92114965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.86, Y:14.18, Z:0.11 [[ 8.92290502e-01 -4.51456779e-01 -2.10628231e-03 6.68619018e+01] [ 4.51455618e-01 8.92292987e-01 -1.02447008e-03 1.41753981e+01] [ 2.34192489e-03 -3.67680638e-05 9.99997257e-01 1.07131649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.88, Y:14.19, Z:0.10 [[ 8.89423805e-01 -4.57078540e-01 -2.12193196e-03 6.68794261e+01] [ 4.57077475e-01 8.89426332e-01 -9.90959648e-04 1.41925397e+01] [ 2.34024855e-03 -8.85041988e-05 9.99997258e-01 9.90068783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.90, Y:14.21, Z:0.10 [[ 8.89227015e-01 -4.57461342e-01 -2.10628096e-03 6.69043126e+01] [ 4.57460198e-01 8.89229508e-01 -1.02442213e-03 1.42056825e+01] [ 2.34160071e-03 -5.25958711e-05 9.99997257e-01 9.88119206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.93, Y:14.22, Z:0.10 [[ 8.90240644e-01 -4.55485630e-01 -2.10624602e-03 6.69341602e+01] [ 4.55484480e-01 8.90243135e-01 -1.02449663e-03 1.42179580e+01] [ 2.34171455e-03 -4.73138369e-05 9.99997257e-01 1.03044748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.96, Y:14.23, Z:0.10 [[ 8.89563355e-01 -4.56806920e-01 -2.11539066e-03 6.69570142e+01] [ 4.56805820e-01 8.89565867e-01 -1.00499172e-03 1.42312161e+01] [ 2.34086650e-03 -7.23189568e-05 9.99997258e-01 1.01091089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.98, Y:14.24, Z:0.10 [[ 8.88947930e-01 -4.58003401e-01 -2.11273779e-03 6.69806804e+01] [ 4.58002291e-01 8.88950437e-01 -1.01065930e-03 1.42449266e+01] [ 2.34100458e-03 -6.92152574e-05 9.99997257e-01 9.98037996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.01, Y:14.26, Z:0.10 [[ 8.89122843e-01 -4.57663772e-01 -2.10765728e-03 6.70071129e+01] [ 4.57662635e-01 8.89125339e-01 -1.02150383e-03 1.42570483e+01] [ 2.34147679e-03 -5.63535951e-05 9.99997257e-01 9.94503130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.04, Y:14.27, Z:0.11 [[ 8.90691793e-01 -4.54602761e-01 -2.11178513e-03 6.70365687e+01] [ 4.54601637e-01 8.90694294e-01 -1.01268488e-03 1.42685109e+01] [ 2.34132431e-03 -5.80308718e-05 9.99997257e-01 1.05125480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.06, Y:14.28, Z:0.10 [[ 8.89351464e-01 -4.57219284e-01 -2.12118265e-03 6.70555613e+01] [ 4.57218215e-01 8.89353990e-01 -9.92602475e-04 1.42828759e+01] [ 2.34031924e-03 -8.70708779e-05 9.99997258e-01 1.00655676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18361786499999 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:67.08, Y:14.30, Z:0.11 [[ 8.89992134e-01 -4.55970997e-01 -2.11002273e-03 6.70830653e+01] [ 4.55969868e-01 8.89994633e-01 -1.01627164e-03 1.42956082e+01] [ 2.34129930e-03 -5.76330257e-05 9.99997257e-01 1.05945610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21361786499999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:67.11, Y:14.31, Z:0.10 [[ 8.89511000e-01 -4.56908854e-01 -2.11660209e-03 6.71052766e+01] [ 4.56907761e-01 8.89513515e-01 -1.00231083e-03 1.43097387e+01] [ 2.34071086e-03 -7.55254140e-05 9.99997258e-01 9.98691689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.13, Y:14.32, Z:0.10 [[ 8.90262260e-01 -4.55443376e-01 -2.10703082e-03 6.71341564e+01] [ 4.55442230e-01 8.90264752e-01 -1.02269496e-03 1.43220795e+01] [ 2.34159491e-03 -4.91640908e-05 9.99997257e-01 1.01261492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.16, Y:14.33, Z:0.10 [[ 8.89925821e-01 -4.56100387e-01 -2.11416161e-03 6.71574262e+01] [ 4.56099280e-01 8.89928330e-01 -1.00751298e-03 1.43346387e+01] [ 2.34097937e-03 -6.76557715e-05 9.99997258e-01 9.84002993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.19, Y:14.34, Z:0.11 [[ 8.92336803e-01 -4.51365241e-01 -2.10928791e-03 6.71902775e+01] [ 4.51364096e-01 8.92339295e-01 -1.01793013e-03 1.43438693e+01] [ 2.34165877e-03 -4.37203175e-05 9.99997257e-01 1.05882318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33361786499998 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:67.21, Y:14.35, Z:0.11 [[ 8.94020952e-01 -4.48020121e-01 -2.12317180e-03 6.72135092e+01] [ 4.48019036e-01 8.94023471e-01 -9.88206680e-04 1.43543067e+01] [ 2.34090190e-03 -6.77439079e-05 9.99997258e-01 1.05918996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.24, Y:14.37, Z:0.11 [[ 8.94268671e-01 -4.47525508e-01 -2.11278083e-03 6.72409075e+01] [ 4.47524369e-01 8.94271166e-01 -1.01040429e-03 1.43683128e+01] [ 2.34158067e-03 -4.19480067e-05 9.99997258e-01 1.08058310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.27, Y:14.38, Z:0.11 [[ 8.94149087e-01 -4.47764349e-01 -2.12108025e-03 6.72667322e+01] [ 4.47763253e-01 8.94151600e-01 -9.92670569e-04 1.43804654e+01] [ 2.34104979e-03 -6.21463102e-05 9.99997258e-01 1.08129413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.29, Y:14.39, Z:0.11 [[ 8.95674884e-01 -4.44704401e-01 -2.12081491e-03 6.72939216e+01] [ 4.44703295e-01 8.95677393e-01 -9.93237133e-04 1.43921971e+01] [ 2.34126290e-03 -5.35158257e-05 9.99997258e-01 1.09926239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45361786499998 meters Centerline goodness : 0.994960 Centerline is valid? [True, True] Translation: X:67.32, Y:14.40, Z:0.11 [[ 8.98098626e-01 -4.39788969e-01 -2.12620413e-03 6.73158505e+01] [ 4.39787877e-01 8.98101141e-01 -9.81693698e-04 1.44035446e+01] [ 2.34128442e-03 -5.34210385e-05 9.99997258e-01 1.06921314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.34, Y:14.41, Z:0.11 [[ 8.99424427e-01 -4.37071176e-01 -2.11820763e-03 6.73414894e+01] [ 4.37070036e-01 8.99426921e-01 -9.98795289e-04 1.44147236e+01] [ 2.34171760e-03 -2.74642031e-05 9.99997258e-01 1.09517861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.36, Y:14.43, Z:0.11 [[ 8.99770581e-01 -4.36358113e-01 -2.12123439e-03 6.73640790e+01] [ 4.36356986e-01 8.99773080e-01 -9.92325161e-04 1.44284469e+01] [ 2.34163873e-03 -3.27504586e-05 9.99997258e-01 1.05270770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.39, Y:14.44, Z:0.11 [[ 9.03480253e-01 -4.28624501e-01 -2.11396550e-03 6.73941623e+01] [ 4.28623316e-01 9.03482726e-01 -1.00785624e-03 1.44394493e+01] [ 2.34192319e-03 4.48331067e-06 9.99997258e-01 1.11156791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.42, Y:14.45, Z:0.11 [[ 9.04801269e-01 -4.25828790e-01 -2.12261141e-03 6.74184243e+01] [ 4.25827641e-01 9.04803759e-01 -9.89374552e-04 1.44502293e+01] [ 2.34185095e-03 -8.67925904e-06 9.99997258e-01 1.10300691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.44, Y:14.46, Z:0.11 [[ 9.05668970e-01 -4.23980208e-01 -2.12104522e-03 6.74439642e+01] [ 4.23979046e-01 9.05671454e-01 -9.92720872e-04 1.44621675e+01] [ 2.34186411e-03 -2.02237820e-07 9.99997258e-01 1.11194301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.47, Y:14.47, Z:0.11 [[ 9.06908317e-01 -4.21322687e-01 -2.12076722e-03 6.74694453e+01] [ 4.21321516e-01 9.06910797e-01 -9.93314402e-04 1.44732971e+01] [ 2.34185259e-03 7.32023053e-06 9.99997258e-01 1.11740334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.49, Y:14.48, Z:0.11 [[ 9.07128908e-01 -4.20847535e-01 -2.12048997e-03 6.74939290e+01] [ 4.20846361e-01 9.07131387e-01 -9.93905918e-04 1.44839614e+01] [ 2.34184586e-03 9.20030240e-06 9.99997258e-01 1.11143534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.52, Y:14.50, Z:0.11 [[ 9.06545230e-01 -4.22103365e-01 -2.12036970e-03 6.75187658e+01] [ 4.22102194e-01 9.06547709e-01 -9.94162438e-04 1.44958438e+01] [ 2.34185560e-03 6.24051245e-06 9.99997258e-01 1.09698019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.55, Y:14.50, Z:0.11 [[ 9.06642776e-01 -4.21893816e-01 -2.11784109e-03 6.75497384e+01] [ 4.21892632e-01 9.06645249e-01 -9.99552213e-04 1.45037344e+01] [ 2.34183546e-03 1.27352415e-05 9.99997258e-01 1.09841699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.75361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.57, Y:14.51, Z:0.11 [[ 9.05315110e-01 -4.24735246e-01 -2.12658321e-03 6.75736797e+01] [ 4.24734114e-01 9.05317607e-01 -9.80910907e-04 1.45148013e+01] [ 2.34186066e-03 -1.51989671e-05 9.99997258e-01 1.11930622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.60, Y:14.52, Z:0.11 [[ 9.04434413e-01 -4.26607429e-01 -2.11980915e-03 6.75994629e+01] [ 4.26606268e-01 9.04436897e-01 -9.95337878e-04 1.45249515e+01] [ 2.34185214e-03 -4.10603949e-06 9.99997258e-01 1.11859679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.63, Y:14.54, Z:0.11 [[ 9.01707067e-01 -4.32342309e-01 -2.11953749e-03 6.76256624e+01] [ 4.32341162e-01 9.01709558e-01 -9.95916037e-04 1.45357387e+01] [ 2.34178385e-03 -1.83387710e-05 9.99997258e-01 1.08099998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.65, Y:14.55, Z:0.11 [[ 9.01046999e-01 -4.33716298e-01 -2.11645343e-03 6.76534566e+01] [ 4.33715140e-01 9.01049484e-01 -1.00247640e-03 1.45450012e+01] [ 2.34181962e-03 -1.46595374e-05 9.99997258e-01 1.10881153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.68, Y:14.55, Z:0.11 [[ 8.99716997e-01 -4.36468595e-01 -2.11922144e-03 6.76794699e+01] [ 4.36467459e-01 8.99719492e-01 -9.96590291e-04 1.45547287e+01] [ 2.34168521e-03 -2.83219747e-05 9.99997258e-01 1.10982227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.71, Y:14.56, Z:0.11 [[ 8.98286044e-01 -4.39406069e-01 -2.11895127e-03 6.77052107e+01] [ 4.39404939e-01 8.98288542e-01 -9.97164413e-04 1.45638739e+01] [ 2.34158974e-03 -3.53387763e-05 9.99997258e-01 1.10858702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.73, Y:14.57, Z:0.11 [[ 8.95549989e-01 -4.44955871e-01 -2.11876780e-03 6.77330097e+01] [ 4.44954756e-01 8.95552494e-01 -9.97554080e-04 1.45706065e+01] [ 2.34133534e-03 -4.93962656e-05 9.99997258e-01 1.11970940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.76, Y:14.58, Z:0.11 [[ 8.94438937e-01 -4.47185084e-01 -2.11848957e-03 6.77584941e+01] [ 4.47183973e-01 8.94441445e-01 -9.98144605e-04 1.45801711e+01] [ 2.34122025e-03 -5.45751845e-05 9.99997258e-01 1.11951411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99361786499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.78, Y:14.59, Z:0.11 [[ 8.93478617e-01 -4.49100740e-01 -2.11830089e-03 6.77848406e+01] [ 4.49099634e-01 8.93481126e-01 -9.98544876e-04 1.45907538e+01] [ 2.34110911e-03 -5.91496585e-05 9.99997258e-01 1.11986286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.81, Y:14.60, Z:0.11 [[ 8.92611751e-01 -4.50821224e-01 -2.11802813e-03 6.78107517e+01] [ 4.50820122e-01 8.92614261e-01 -9.99123100e-04 1.45993096e+01] [ 2.34100801e-03 -6.30206789e-05 9.99997258e-01 1.10747803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.84, Y:14.61, Z:0.11 [[ 8.92740197e-01 -4.50566815e-01 -2.11784280e-03 6.78367860e+01] [ 4.50565711e-01 8.92742707e-01 -9.99515789e-04 1.46092388e+01] [ 2.34103736e-03 -6.19194233e-05 9.99997258e-01 1.10961663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08361786499998 meters Centerline goodness : 0.994408 Centerline is valid? [True, True] Translation: X:67.86, Y:14.62, Z:0.11 [[ 8.93619898e-01 -4.48819557e-01 -2.11758383e-03 6.78625974e+01] [ 4.48818446e-01 8.93622405e-01 -1.00006413e-03 1.46187087e+01] [ 2.34116870e-03 -5.67334782e-05 9.99997258e-01 1.10075418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11361786499998 meters Centerline goodness : 0.995254 Centerline is valid? [True, True] Translation: X:67.89, Y:14.63, Z:0.11 [[ 8.95134775e-01 -4.45790625e-01 -2.11047972e-03 6.78894524e+01] [ 4.45789470e-01 8.95137262e-01 -1.01509048e-03 1.46276438e+01] [ 2.34168685e-03 -3.21868503e-05 9.99997258e-01 1.10265734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.91, Y:14.64, Z:0.11 [[ 8.95628245e-01 -4.44798372e-01 -2.11066048e-03 6.79133265e+01] [ 4.44797216e-01 8.95630731e-01 -1.01470819e-03 1.46384326e+01] [ 2.34171294e-03 -3.00145936e-05 9.99997258e-01 1.07522894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.94, Y:14.65, Z:0.11 [[ 8.97252616e-01 -4.41512505e-01 -2.10962562e-03 6.79440172e+01] [ 4.41511335e-01 8.97255096e-01 -1.01690610e-03 1.46482117e+01] [ 2.34184909e-03 -1.90019650e-05 9.99997258e-01 1.11841500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.97, Y:14.66, Z:0.11 [[ 8.99688194e-01 -4.36527964e-01 -2.11893312e-03 6.79699770e+01] [ 4.36526826e-01 8.99690689e-01 -9.97127300e-04 1.46562790e+01] [ 2.34165835e-03 -2.78674904e-05 9.99997258e-01 1.14071174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.99, Y:14.67, Z:0.11 [[ 8.99170481e-01 -4.37593384e-01 -2.11565035e-03 6.79946841e+01] [ 4.37592233e-01 8.99172970e-01 -1.00410294e-03 1.46685116e+01] [ 2.34172441e-03 -2.29324346e-05 9.99997258e-01 1.09799898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.02, Y:14.68, Z:0.11 [[ 9.01294017e-01 -4.33202764e-01 -2.11197097e-03 6.80244769e+01] [ 4.33201582e-01 9.01296491e-01 -1.01192258e-03 1.46761921e+01] [ 2.34187968e-03 -2.86940447e-06 9.99997258e-01 1.14670165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.05, Y:14.68, Z:0.12 [[ 9.02393136e-01 -4.30908503e-01 -2.11903703e-03 6.80513426e+01] [ 4.30907350e-01 9.02395624e-01 -9.96902810e-04 1.46838763e+01] [ 2.34178364e-03 -1.35103793e-05 9.99997258e-01 1.15526625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.07, Y:14.70, Z:0.11 [[ 9.02233287e-01 -4.31243094e-01 -2.11877802e-03 6.80745259e+01] [ 4.31241941e-01 9.02235775e-01 -9.97453004e-04 1.46951370e+01] [ 2.34178205e-03 -1.37706437e-05 9.99997258e-01 1.10978652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.10, Y:14.71, Z:0.11 [[ 9.02488154e-01 -4.30709497e-01 -2.11207175e-03 6.81038200e+01] [ 4.30708308e-01 9.02490626e-01 -1.01170097e-03 1.47055921e+01] [ 2.34187417e-03 3.36129323e-06 9.99997258e-01 1.12622509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38361786499998 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:68.13, Y:14.71, Z:0.12 [[ 9.03489480e-01 -4.28605032e-01 -2.11784747e-03 6.81318318e+01] [ 4.28603867e-01 9.03491962e-01 -9.99436277e-04 1.47120482e+01] [ 2.34182159e-03 -4.73745398e-06 9.99997258e-01 1.17635699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.15, Y:14.72, Z:0.11 [[ 9.03006972e-01 -4.29620671e-01 -2.11844514e-03 6.81536919e+01] [ 4.29619511e-01 9.03009457e-01 -9.98167642e-04 1.47211799e+01] [ 2.34180944e-03 -8.77302382e-06 9.99997258e-01 1.10965148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.18, Y:14.73, Z:0.11 [[ 9.03430993e-01 -4.28728361e-01 -2.10562931e-03 6.81845002e+01] [ 4.28727135e-01 9.03433446e-01 -1.02548711e-03 1.47295796e+01] [ 2.34195135e-03 2.37164152e-05 9.99997257e-01 1.12832458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.21, Y:14.74, Z:0.11 [[ 9.03071491e-01 -4.29485059e-01 -2.11355928e-03 6.82121030e+01] [ 4.29483874e-01 9.03073964e-01 -1.00857572e-03 1.47390875e+01] [ 2.34186856e-03 3.07635429e-06 9.99997258e-01 1.13719668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50361786499998 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:68.24, Y:14.75, Z:0.12 [[ 9.02804432e-01 -4.30046142e-01 -2.11504592e-03 6.82413010e+01] [ 4.30044967e-01 9.02806909e-01 -1.00541131e-03 1.47458912e+01] [ 2.34185132e-03 -1.87507050e-06 9.99997258e-01 1.19004223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.27, Y:14.75, Z:0.12 [[ 9.02601715e-01 -4.30471445e-01 -2.11629441e-03 6.82670400e+01] [ 4.30470278e-01 9.02604196e-01 -1.00275516e-03 1.47546003e+01] [ 2.34183367e-03 -5.91331659e-06 9.99997258e-01 1.19303071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56361786499998 meters Centerline goodness : 0.995417 Centerline is valid? [True, True] Translation: X:68.29, Y:14.77, Z:0.11 [[ 9.01758209e-01 -4.32235653e-01 -2.11503341e-03 6.82947250e+01] [ 4.32234483e-01 9.01760689e-01 -1.00543783e-03 1.47650864e+01] [ 2.34184006e-03 -7.52856028e-06 9.99997258e-01 1.13777248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.32, Y:14.78, Z:0.12 [[ 8.99322289e-01 -4.37281298e-01 -2.11811649e-03 6.83211997e+01] [ 4.37280158e-01 8.99324783e-01 -9.98877579e-04 1.47752171e+01] [ 2.34166513e-03 -2.78974412e-05 9.99997258e-01 1.15595912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.35, Y:14.79, Z:0.12 [[ 8.98742506e-01 -4.38471690e-01 -2.11778686e-03 6.83483117e+01] [ 4.38470552e-01 8.98745000e-01 -9.99578921e-04 1.47854017e+01] [ 2.34163741e-03 -3.02231078e-05 9.99997258e-01 1.15627118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.37, Y:14.80, Z:0.11 [[ 8.97812342e-01 -4.40373150e-01 -2.11837989e-03 6.83735207e+01] [ 4.40372020e-01 8.97814840e-01 -9.98317566e-04 1.47952838e+01] [ 2.34154515e-03 -3.65733986e-05 9.99997258e-01 1.14655786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.40, Y:14.81, Z:0.12 [[ 8.97170590e-01 -4.41679137e-01 -2.11483142e-03 6.84005527e+01] [ 4.41677993e-01 8.97173082e-01 -1.00585807e-03 1.48050214e+01] [ 2.34163635e-03 -3.16482237e-05 9.99997258e-01 1.15600312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.43, Y:14.81, Z:0.12 [[ 8.97105224e-01 -4.41811887e-01 -2.11511369e-03 6.84296073e+01] [ 4.41810744e-01 8.97107717e-01 -1.00525836e-03 1.48106751e+01] [ 2.34161991e-03 -3.26574314e-05 9.99997258e-01 1.19676462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.46, Y:14.82, Z:0.12 [[ 8.96242437e-01 -4.43559472e-01 -2.11882031e-03 6.84560254e+01] [ 4.43558353e-01 8.96244940e-01 -9.97384102e-04 1.48208996e+01] [ 2.34138115e-03 -4.59224899e-05 9.99997258e-01 1.18743983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77361786499998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:68.48, Y:14.83, Z:0.12 [[ 8.95540698e-01 -4.44974572e-01 -2.11852797e-03 6.84828354e+01] [ 4.44973455e-01 8.95543203e-01 -9.98004676e-04 1.48310318e+01] [ 2.34132003e-03 -4.89349054e-05 9.99997258e-01 1.17179129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.51, Y:14.84, Z:0.12 [[ 8.94823741e-01 -4.46414566e-01 -2.12309459e-03 6.85091888e+01] [ 4.46413477e-01 8.94826258e-01 -9.88305009e-04 1.48423033e+01] [ 2.34099454e-03 -6.34192516e-05 9.99997258e-01 1.19378186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.54, Y:14.85, Z:0.12 [[ 8.95080198e-01 -4.45900122e-01 -2.12606768e-03 6.85359493e+01] [ 4.45899046e-01 8.95082720e-01 -9.81992243e-04 1.48507476e+01] [ 2.34087690e-03 -6.90497395e-05 9.99997258e-01 1.19602790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.56, Y:14.86, Z:0.12 [[ 8.94980161e-01 -4.46100887e-01 -2.12349862e-03 6.85608279e+01] [ 4.46099799e-01 8.94982678e-01 -9.87438816e-04 1.48610526e+01] [ 2.34099181e-03 -6.35541564e-05 9.99997258e-01 1.19771721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.59, Y:14.87, Z:0.12 [[ 8.94700642e-01 -4.46661250e-01 -2.11875680e-03 6.85878664e+01] [ 4.46660139e-01 8.94703149e-01 -9.97482115e-04 1.48702438e+01] [ 2.34119498e-03 -5.39163166e-05 9.99997258e-01 1.22193923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.61, Y:14.88, Z:0.12 [[ 8.94649493e-01 -4.46763701e-01 -2.11641448e-03 6.86148540e+01] [ 4.46762579e-01 8.94651995e-01 -1.00243944e-03 1.48805964e+01] [ 2.34130799e-03 -4.87028511e-05 9.99997258e-01 1.21728219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.64, Y:14.89, Z:0.12 [[ 8.94931813e-01 -4.46197889e-01 -2.12000312e-03 6.86401377e+01] [ 4.46196784e-01 8.94934322e-01 -9.94844985e-04 1.48905076e+01] [ 2.34116128e-03 -5.56201456e-05 9.99997258e-01 1.23489493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.67, Y:14.90, Z:0.12 [[ 8.94719484e-01 -4.46623519e-01 -2.11594010e-03 6.86661646e+01] [ 4.46622394e-01 8.94721985e-01 -1.00343529e-03 1.49005867e+01] [ 2.34133592e-03 -4.72331320e-05 9.99997258e-01 1.22990792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.69, Y:14.91, Z:0.12 [[ 8.95086386e-01 -4.45887741e-01 -2.11757884e-03 6.86912177e+01] [ 4.45886623e-01 8.95088889e-01 -9.99971618e-04 1.49110802e+01] [ 2.34129638e-03 -4.91390967e-05 9.99997258e-01 1.23465501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04361786499999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:68.72, Y:14.92, Z:0.13 [[ 8.95124443e-01 -4.45811356e-01 -2.11335648e-03 6.87219960e+01] [ 4.45810216e-01 8.95126937e-01 -1.00888871e-03 1.49211560e+01] [ 2.34149636e-03 -3.90749607e-05 9.99997258e-01 1.26813839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.75, Y:14.93, Z:0.12 [[ 8.95124767e-01 -4.45810648e-01 -2.12528553e-03 6.87478250e+01] [ 4.45809568e-01 8.95127288e-01 -9.83660127e-04 1.49327856e+01] [ 2.34092723e-03 -6.69740789e-05 9.99997258e-01 1.24715340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.77, Y:14.94, Z:0.13 [[ 8.96472971e-01 -4.43093344e-01 -2.12165684e-03 6.87733490e+01] [ 4.43092238e-01 8.96475480e-01 -9.91319920e-04 1.49420449e+01] [ 2.34126060e-03 -5.13981661e-05 9.99997258e-01 1.27518015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.80, Y:14.95, Z:0.13 [[ 8.96803436e-01 -4.42424139e-01 -2.11592872e-03 6.87992666e+01] [ 4.42423003e-01 8.96805932e-01 -1.00339913e-03 1.49536610e+01] [ 2.34150543e-03 -3.62837509e-05 9.99997258e-01 1.28111825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:68.83, Y:14.96, Z:0.13 [[ 8.98035442e-01 -4.39918029e-01 -2.11501512e-03 6.88253122e+01] [ 4.39916881e-01 8.98037932e-01 -1.00532458e-03 1.49636344e+01] [ 2.34162422e-03 -2.76137496e-05 9.99997258e-01 1.28022432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:68.85, Y:14.97, Z:0.13 [[ 8.99148799e-01 -4.37637929e-01 -2.11671282e-03 6.88502475e+01] [ 4.37636783e-01 8.99151290e-01 -1.00174723e-03 1.49738432e+01] [ 2.34164765e-03 -2.56315733e-05 9.99997258e-01 1.29881760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.88, Y:14.99, Z:0.13 [[ 8.99166369e-01 -4.37601835e-01 -2.11546104e-03 6.88767543e+01] [ 4.37600683e-01 8.99168857e-01 -1.00438378e-03 1.49864589e+01] [ 2.34167686e-03 -2.26190798e-05 9.99997258e-01 1.28123674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.25361786499998 meters Centerline goodness : 0.994181 Centerline is valid? [True, True] Translation: X:68.90, Y:15.00, Z:0.13 [[ 9.00610419e-01 -4.34622127e-01 -2.11646798e-03 6.89046470e+01] [ 4.34620972e-01 9.00612906e-01 -1.00226265e-03 1.49956288e+01] [ 2.34172390e-03 -1.72131844e-05 9.99997258e-01 1.25133080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28361786499998 meters Centerline goodness : 0.994181 Centerline is valid? [True, True] Translation: X:68.93, Y:15.01, Z:0.13 [[ 9.00432682e-01 -4.34990208e-01 -2.12232084e-03 6.89303711e+01] [ 4.34989083e-01 9.00435183e-01 -9.89910207e-04 1.50081940e+01] [ 2.34161360e-03 -3.18388940e-05 9.99997258e-01 1.25204963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31361786499998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:68.96, Y:15.02, Z:0.13 [[ 9.00297305e-01 -4.35270338e-01 -2.12034910e-03 6.89569310e+01] [ 4.35269204e-01 9.00299801e-01 -9.94058710e-04 1.50211810e+01] [ 2.34163415e-03 -2.79742883e-05 9.99997258e-01 1.28142390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.98, Y:15.03, Z:0.13 [[ 9.00430771e-01 -4.34994180e-01 -2.11882458e-03 6.89835734e+01] [ 4.34993037e-01 9.00433264e-01 -9.97255222e-04 1.50333452e+01] [ 2.34166035e-03 -2.37146525e-05 9.99997258e-01 1.28378332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.01, Y:15.04, Z:0.13 [[ 9.01281494e-01 -4.33228787e-01 -2.11792813e-03 6.90116938e+01] [ 4.33227636e-01 9.01283983e-01 -9.99132684e-04 1.50442920e+01] [ 2.34170775e-03 -1.70451993e-05 9.99997258e-01 1.28972042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.03, Y:15.06, Z:0.13 [[ 9.00487415e-01 -4.34876895e-01 -2.12156099e-03 6.90347158e+01] [ 4.34875765e-01 9.00489914e-01 -9.91517491e-04 1.50567556e+01] [ 2.34163233e-03 -2.97664386e-05 9.99997258e-01 1.29961695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.07, Y:15.07, Z:0.13 [[ 9.01155890e-01 -4.33490012e-01 -2.11472954e-03 6.90654920e+01] [ 4.33488845e-01 9.01158371e-01 -1.00582600e-03 1.50678592e+01] [ 2.34172176e-03 -1.03056400e-05 9.99997258e-01 1.28206925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.09, Y:15.08, Z:0.13 [[ 9.00200826e-01 -4.35469820e-01 -2.12347134e-03 6.90922483e+01] [ 4.35468702e-01 9.00203330e-01 -9.87544625e-04 1.50779700e+01] [ 2.34160185e-03 -3.57168219e-05 9.99997258e-01 1.30429299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:69.12, Y:15.09, Z:0.13 [[ 8.99130925e-01 -4.37674607e-01 -2.12578968e-03 6.91165365e+01] [ 4.37673506e-01 8.99133436e-01 -9.82694965e-04 1.50896343e+01] [ 2.34146922e-03 -4.68303911e-05 9.99997258e-01 1.29392672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:69.14, Y:15.10, Z:0.13 [[ 8.99136145e-01 -4.37663911e-01 -2.11981349e-03 6.91445135e+01] [ 4.37662781e-01 8.99138643e-01 -9.95171089e-04 1.51006338e+01] [ 2.34155670e-03 -3.29691714e-05 9.99997258e-01 1.29638775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.17, Y:15.11, Z:0.13 [[ 8.97421069e-01 -4.41169945e-01 -2.12231629e-03 6.91656910e+01] [ 4.41168837e-01 8.97423578e-01 -9.89948244e-04 1.51123392e+01] [ 2.34135209e-03 -4.78993981e-05 9.99997258e-01 1.31125333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.20, Y:15.12, Z:0.13 [[ 8.97395018e-01 -4.41222987e-01 -2.11123085e-03 6.91960531e+01] [ 4.41221825e-01 8.97397501e-01 -1.01305067e-03 1.51227377e+01] [ 2.34159453e-03 -2.24145087e-05 9.99997258e-01 1.30888957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.22, Y:15.13, Z:0.13 [[ 8.96847901e-01 -4.42333980e-01 -2.11968205e-03 6.92229268e+01] [ 4.42332862e-01 8.96850405e-01 -9.95458273e-04 1.51349595e+01] [ 2.34136273e-03 -4.48303665e-05 9.99997258e-01 1.31207183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:69.25, Y:15.15, Z:0.13 [[ 8.96612857e-01 -4.42810215e-01 -2.12071769e-03 6.92480338e+01] [ 4.42809103e-01 8.96615364e-01 -9.93303761e-04 1.51459686e+01] [ 2.34131311e-03 -4.84641739e-05 9.99997258e-01 1.31463624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.28, Y:15.16, Z:0.13 [[ 8.95882716e-01 -4.44285575e-01 -2.11851022e-03 6.92781143e+01] [ 4.44284457e-01 8.95885219e-01 -9.97889944e-04 1.51565916e+01] [ 2.34129010e-03 -4.72288102e-05 9.99997258e-01 1.32932759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.30, Y:15.17, Z:0.13 [[ 8.94733678e-01 -4.46595038e-01 -2.12518669e-03 6.93037673e+01] [ 4.46593959e-01 8.94736200e-01 -9.84030918e-04 1.51689483e+01] [ 2.34094479e-03 -6.86499373e-05 9.99997258e-01 1.34668852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:69.33, Y:15.18, Z:0.14 [[ 8.93870649e-01 -4.48319936e-01 -2.12099996e-03 6.93303406e+01] [ 4.48318841e-01 8.93873163e-01 -9.92706978e-04 1.51810936e+01] [ 2.34095527e-03 -6.35326157e-05 9.99997258e-01 1.36017289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.36, Y:15.19, Z:0.14 [[ 8.92791034e-01 -4.50466057e-01 -2.12146146e-03 6.93550935e+01] [ 4.50464971e-01 8.92793552e-01 -9.91751279e-04 1.51931162e+01] [ 2.34077740e-03 -7.02174269e-05 9.99997258e-01 1.37018150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.38, Y:15.20, Z:0.14 [[ 8.91336541e-01 -4.53337268e-01 -2.11923791e-03 6.93799646e+01] [ 4.53336179e-01 8.91339058e-01 -9.96350801e-04 1.52045229e+01] [ 2.34064247e-03 -7.26433371e-05 9.99997258e-01 1.38098935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:69.40, Y:15.22, Z:0.14 [[ 8.90568376e-01 -4.54844459e-01 -2.11800705e-03 6.94047775e+01] [ 4.54843368e-01 8.90570891e-01 -9.98895299e-04 1.52163044e+01] [ 2.34057742e-03 -7.37768949e-05 9.99997258e-01 1.38037327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:69.43, Y:15.23, Z:0.14 [[ 8.89434845e-01 -4.57057077e-01 -2.11795311e-03 6.94293062e+01] [ 4.57055992e-01 8.89437363e-01 -9.99006746e-04 1.52290209e+01] [ 2.34038973e-03 -7.94717473e-05 9.99997258e-01 1.38536241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.46, Y:15.24, Z:0.14 [[ 8.88803852e-01 -4.58282929e-01 -2.11433780e-03 6.94567042e+01] [ 4.58281830e-01 8.88806363e-01 -1.00646767e-03 1.52396404e+01] [ 2.34048384e-03 -7.44102527e-05 9.99997258e-01 1.38722669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:69.48, Y:15.25, Z:0.14 [[ 8.88148662e-01 -4.59551379e-01 -2.11783861e-03 6.94818086e+01] [ 4.59550300e-01 8.88151183e-01 -9.99243501e-04 1.52514545e+01] [ 2.34016459e-03 -8.57765900e-05 9.99997258e-01 1.38333211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.50, Y:15.26, Z:0.14 [[ 8.87448831e-01 -4.60901384e-01 -2.11803319e-03 6.95032623e+01] [ 4.60900310e-01 8.87451354e-01 -9.98841960e-04 1.52633628e+01] [ 2.34001906e-03 -8.97810240e-05 9.99997258e-01 1.35371059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.53, Y:15.27, Z:0.14 [[ 8.88327528e-01 -4.59205558e-01 -2.11153560e-03 6.95279148e+01] [ 4.59204448e-01 8.88330035e-01 -1.01223565e-03 1.52749204e+01] [ 2.34056473e-03 -7.04297428e-05 9.99997258e-01 1.40366834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.55, Y:15.29, Z:0.14 [[ 8.88507773e-01 -4.58856732e-01 -2.10646444e-03 6.95539554e+01] [ 4.58855596e-01 8.88510268e-01 -1.02268097e-03 1.52867492e+01] [ 2.34087933e-03 -5.79030087e-05 9.99997258e-01 1.38646707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:69.58, Y:15.30, Z:0.14 [[ 8.88111528e-01 -4.59623179e-01 -2.10889966e-03 6.95803200e+01] [ 4.59622057e-01 8.88114029e-01 -1.01766831e-03 1.53002414e+01] [ 2.34068732e-03 -6.54938374e-05 9.99997258e-01 1.38338629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.60, Y:15.31, Z:0.14 [[ 8.89059857e-01 -4.57786105e-01 -2.11012162e-03 6.96040879e+01] [ 4.57784983e-01 8.89062359e-01 -1.01515361e-03 1.53115957e+01] [ 2.34075292e-03 -6.34496715e-05 9.99997258e-01 1.36353304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.64, Y:15.32, Z:0.14 [[ 8.91483734e-01 -4.53047817e-01 -2.10429221e-03 6.96350845e+01] [ 4.53046654e-01 8.91486217e-01 -1.02713331e-03 1.53228363e+01] [ 2.34128800e-03 -3.76699080e-05 9.99997258e-01 1.38444186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12361786499999 meters Centerline goodness : 0.996482 Centerline is valid? [True, True] Translation: X:69.66, Y:15.34, Z:0.14 [[ 8.91126876e-01 -4.53749285e-01 -2.11584429e-03 6.96586968e+01] [ 4.53748180e-01 8.91129386e-01 -1.00332213e-03 1.53366289e+01] [ 2.34074772e-03 -6.59731830e-05 9.99997258e-01 1.38451386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15361786499999 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:69.68, Y:15.35, Z:0.14 [[ 8.91970407e-01 -4.52088842e-01 -2.11462297e-03 6.96827303e+01] [ 4.52087727e-01 8.91972912e-01 -1.00583744e-03 1.53481018e+01] [ 2.34091429e-03 -5.88178621e-05 9.99997258e-01 1.38795944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18361786499999 meters Centerline goodness : 0.996489 Centerline is valid? [True, True] Translation: X:69.71, Y:15.36, Z:0.14 [[ 8.93861596e-01 -4.48338035e-01 -2.11029181e-03 6.97074047e+01] [ 4.48336888e-01 8.93864086e-01 -1.01474667e-03 1.53593789e+01] [ 2.34126359e-03 -3.90785821e-05 9.99997258e-01 1.39439558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21361786499999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:69.73, Y:15.37, Z:0.14 [[ 8.92940400e-01 -4.50169981e-01 -2.10469001e-03 6.97346127e+01] [ 4.50168813e-01 8.92942880e-01 -1.02626040e-03 1.53744970e+01] [ 2.34135959e-03 -3.10764304e-05 9.99997259e-01 1.41758104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24361786499999 meters Centerline goodness : 0.996396 Centerline is valid? [True, True] Translation: X:69.76, Y:15.39, Z:0.14 [[ 8.94095116e-01 -4.47872133e-01 -2.11568396e-03 6.97584888e+01] [ 4.47871011e-01 8.94097618e-01 -1.00365192e-03 1.53851317e+01] [ 2.34113571e-03 -5.01932301e-05 9.99997258e-01 1.39804270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27361786499998 meters Centerline goodness : 0.995652 Centerline is valid? [True, True] Translation: X:69.78, Y:15.40, Z:0.14 [[ 8.94955227e-01 -4.46150963e-01 -2.11200595e-03 6.97839301e+01] [ 4.46149819e-01 8.94957718e-01 -1.01120985e-03 1.53978903e+01] [ 2.34130827e-03 -3.72835308e-05 9.99997258e-01 1.40882704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30361786499998 meters Centerline goodness : 0.995195 Centerline is valid? [True, True] Translation: X:69.81, Y:15.41, Z:0.14 [[ 8.95771547e-01 -4.44509710e-01 -2.11019634e-03 6.98084857e+01] [ 4.44508553e-01 8.95774032e-01 -1.01492669e-03 1.54095201e+01] [ 2.34140386e-03 -2.88578708e-05 9.99997258e-01 1.39675163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33361786499998 meters Centerline goodness : 0.995172 Centerline is valid? [True, True] Translation: X:69.83, Y:15.42, Z:0.14 [[ 8.95821744e-01 -4.44408564e-01 -2.10501034e-03 6.98338672e+01] [ 4.44407381e-01 8.95824217e-01 -1.02556946e-03 1.54224365e+01] [ 2.34149109e-03 -1.67547110e-05 9.99997259e-01 1.40706523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36361786499998 meters Centerline goodness : 0.996166 Centerline is valid? [True, True] Translation: X:69.85, Y:15.43, Z:0.14 [[ 8.99580445e-01 -4.36750024e-01 -2.10701033e-03 6.98532584e+01] [ 4.36748829e-01 8.99582913e-01 -1.02146664e-03 1.54279499e+01] [ 2.34155607e-03 -1.34288206e-06 9.99997259e-01 1.41570316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39361786499998 meters Centerline goodness : 0.995871 Centerline is valid? [True, True] Translation: X:69.88, Y:15.44, Z:0.14 [[ 8.98562135e-01 -4.38841394e-01 -2.07841990e-03 6.98814538e+01] [ 4.38840069e-01 8.98564537e-01 -1.08001724e-03 1.54435674e+01] [ 2.34155069e-03 5.83686619e-05 9.99997257e-01 1.41853648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42361786499998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:69.91, Y:15.46, Z:0.14 [[ 8.97666719e-01 -4.40670042e-01 -2.09159919e-03 6.99090210e+01] [ 4.40668785e-01 8.97669156e-01 -1.05293930e-03 1.54583195e+01] [ 2.34156288e-03 2.34860953e-05 9.99997258e-01 1.43599824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.94, Y:15.47, Z:0.14 [[ 8.97330555e-01 -4.41354112e-01 -2.10311303e-03 6.99359327e+01] [ 4.41352912e-01 8.97333020e-01 -1.02925368e-03 1.54715908e+01] [ 2.34145811e-03 -4.63428285e-06 9.99997259e-01 1.42562229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.96, Y:15.48, Z:0.14 [[ 8.97222413e-01 -4.41573898e-01 -2.10575023e-03 6.99606458e+01] [ 4.41572712e-01 8.97224884e-01 -1.02382965e-03 1.54831928e+01] [ 2.34142795e-03 -1.12389263e-05 9.99997259e-01 1.42034690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51361786499999 meters Centerline goodness : 0.996659 Centerline is valid? [True, True] Translation: X:69.99, Y:15.50, Z:0.14 [[ 8.97099646e-01 -4.41823258e-01 -2.10555600e-03 6.99869540e+01] [ 4.41822071e-01 8.97102117e-01 -1.02422895e-03 1.54956485e+01] [ 2.34142691e-03 -1.14456845e-05 9.99997259e-01 1.42041556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54361786499999 meters Centerline goodness : 0.995551 Centerline is valid? [True, True] Translation: X:70.01, Y:15.51, Z:0.14 [[ 8.97348769e-01 -4.41317070e-01 -2.10483595e-03 7.00118466e+01] [ 4.41315878e-01 8.97351238e-01 -1.02570830e-03 1.55075086e+01] [ 2.34143973e-03 -8.47944037e-06 9.99997259e-01 1.41573096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:70.04, Y:15.52, Z:0.14 [[ 8.97427009e-01 -4.41157960e-01 -2.10191666e-03 7.00369003e+01] [ 4.41156754e-01 8.97429470e-01 -1.03170123e-03 1.55192722e+01] [ 2.34146516e-03 -1.39818455e-06 9.99997259e-01 1.41685121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:70.06, Y:15.53, Z:0.14 [[ 8.96863122e-01 -4.42303202e-01 -2.10200240e-03 7.00618008e+01] [ 4.42301999e-01 8.96865585e-01 -1.03152513e-03 1.55311870e+01] [ 2.34146048e-03 -4.58301241e-06 9.99997259e-01 1.40376588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63361786499998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:70.09, Y:15.54, Z:0.14 [[ 8.96536310e-01 -4.42965252e-01 -2.10478890e-03 7.00870927e+01] [ 4.42964064e-01 8.96538781e-01 -1.02580452e-03 1.55431949e+01] [ 2.34142063e-03 -1.26748462e-05 9.99997259e-01 1.40869167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.12, Y:15.56, Z:0.14 [[ 8.96078439e-01 -4.43890760e-01 -2.10351964e-03 7.01166641e+01] [ 4.43889569e-01 8.96080907e-01 -1.02840985e-03 1.55569863e+01] [ 2.34142542e-03 -1.21945321e-05 9.99997259e-01 1.38129003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69361786499998 meters Centerline goodness : 0.992574 Centerline is valid? [True, True] Translation: X:70.14, Y:15.57, Z:0.14 [[ 8.95473425e-01 -4.45109965e-01 -2.11306422e-03 7.01389730e+01] [ 4.45108823e-01 8.95475917e-01 -1.00875853e-03 1.55656007e+01] [ 2.34120659e-03 -3.72270711e-05 9.99997259e-01 1.38901310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72361786499998 meters Centerline goodness : 0.995877 Centerline is valid? [True, True] Translation: X:70.17, Y:15.58, Z:0.14 [[ 8.94660637e-01 -4.46741476e-01 -2.09722571e-03 7.01657559e+01] [ 4.46740262e-01 8.94663095e-01 -1.04124550e-03 1.55782151e+01] [ 2.34147799e-03 -5.35380118e-06 9.99997259e-01 1.40879518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.75361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.20, Y:15.59, Z:0.14 [[ 8.94882415e-01 -4.46297024e-01 -2.10442643e-03 7.01954342e+01] [ 4.46295844e-01 8.94884890e-01 -1.02647086e-03 1.55906306e+01] [ 2.34133030e-03 -2.06260428e-05 9.99997259e-01 1.41541764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78361786499998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:70.22, Y:15.60, Z:0.14 [[ 8.93121568e-01 -4.49810410e-01 -2.11208829e-03 7.02173677e+01] [ 4.49809276e-01 8.93124064e-01 -1.01078579e-03 1.56047118e+01] [ 2.34101884e-03 -4.72823140e-05 9.99997259e-01 1.42173349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.25, Y:15.62, Z:0.14 [[ 8.93537160e-01 -4.48984319e-01 -2.10374103e-03 7.02467823e+01] [ 4.48983143e-01 8.93539636e-01 -1.02785418e-03 1.56169540e+01] [ 2.34126641e-03 -2.61183583e-05 9.99997259e-01 1.40317243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:70.27, Y:15.63, Z:0.14 [[ 8.91713037e-01 -4.52596290e-01 -2.11145816e-03 7.02680872e+01] [ 4.52595161e-01 8.91715535e-01 -1.01208043e-03 1.56284383e+01] [ 2.34088389e-03 -5.31504343e-05 9.99997259e-01 1.42265878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87361786499999 meters Centerline goodness : 0.995574 Centerline is valid? [True, True] Translation: X:70.29, Y:15.64, Z:0.14 [[ 8.91014460e-01 -4.53970050e-01 -2.10361404e-03 7.02935716e+01] [ 4.53968888e-01 8.91016943e-01 -1.02809701e-03 1.56408444e+01] [ 2.34108100e-03 -3.89260266e-05 9.99997259e-01 1.43191814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.32, Y:15.65, Z:0.14 [[ 8.91750129e-01 -4.52523233e-01 -2.10511000e-03 7.03224872e+01] [ 4.52522074e-01 8.91752612e-01 -1.02504426e-03 1.56525918e+01] [ 2.34109369e-03 -3.85253915e-05 9.99997259e-01 1.42099997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.35, Y:15.66, Z:0.14 [[ 8.91850784e-01 -4.52324807e-01 -2.10888316e-03 7.03468865e+01] [ 4.52323665e-01 8.91853276e-01 -1.01739069e-03 1.56648421e+01] [ 2.34100541e-03 -4.65370785e-05 9.99997259e-01 1.42459054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.37, Y:15.68, Z:0.14 [[ 8.92081318e-01 -4.51869996e-01 -2.10450015e-03 7.03706084e+01] [ 4.51868832e-01 8.92083799e-01 -1.02627370e-03 1.56766154e+01] [ 2.34113278e-03 -3.54384317e-05 9.99997259e-01 1.41060237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:70.40, Y:15.69, Z:0.14 [[ 8.92669301e-01 -4.50707334e-01 -2.10205152e-03 7.03975243e+01] [ 4.50706155e-01 8.92671775e-01 -1.03123207e-03 1.56909276e+01] [ 2.34122592e-03 -2.68583514e-05 9.99997259e-01 1.41477761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.42, Y:15.70, Z:0.14 [[ 8.92906799e-01 -4.50236612e-01 -2.10736315e-03 7.04207817e+01] [ 4.50235457e-01 8.92909285e-01 -1.02047678e-03 1.57037520e+01] [ 2.34114013e-03 -3.76189566e-05 9.99997259e-01 1.40915759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.45, Y:15.72, Z:0.14 [[ 8.93028174e-01 -4.49995827e-01 -2.10636703e-03 7.04466233e+01] [ 4.49994666e-01 8.93030657e-01 -1.02249253e-03 1.57172370e+01] [ 2.34116771e-03 -3.47392913e-05 9.99997259e-01 1.40034522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:70.47, Y:15.73, Z:0.14 [[ 8.93765296e-01 -4.48529994e-01 -2.10710838e-03 7.04700858e+01] [ 4.48528833e-01 8.93767779e-01 -1.02099307e-03 1.57300586e+01] [ 2.34121159e-03 -3.25706892e-05 9.99997259e-01 1.39874555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.50, Y:15.74, Z:0.14 [[ 8.94317849e-01 -4.47427257e-01 -2.10583753e-03 7.04950043e+01] [ 4.47426088e-01 8.94320328e-01 -1.02356015e-03 1.57430370e+01] [ 2.34126202e-03 -2.68185343e-05 9.99997259e-01 1.40322763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.52, Y:15.76, Z:0.14 [[ 8.94392004e-01 -4.47279015e-01 -2.10371396e-03 7.05204215e+01] [ 4.47277835e-01 8.94394478e-01 -1.02784612e-03 1.57555735e+01] [ 2.34128415e-03 -2.16472721e-05 9.99997259e-01 1.40823571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:70.55, Y:15.77, Z:0.14 [[ 8.94476727e-01 -4.47109557e-01 -2.10432115e-03 7.05470041e+01] [ 4.47108379e-01 8.94479202e-01 -1.02662176e-03 1.57690006e+01] [ 2.34128390e-03 -2.25703507e-05 9.99997259e-01 1.41432235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:70.57, Y:15.78, Z:0.14 [[ 8.94353422e-01 -4.47356137e-01 -2.10808854e-03 7.05716534e+01] [ 4.47354978e-01 8.94355905e-01 -1.01902829e-03 1.57814202e+01] [ 2.34124999e-03 -3.16924615e-05 9.99997259e-01 1.41500129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:70.60, Y:15.79, Z:0.14 [[ 8.94237769e-01 -4.47587276e-01 -2.10774577e-03 7.05954900e+01] [ 4.47586116e-01 8.94240253e-01 -1.01971867e-03 1.57941954e+01] [ 2.34124421e-03 -3.15267950e-05 9.99997259e-01 1.41962552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.62, Y:15.81, Z:0.14 [[ 8.94286579e-01 -4.47489763e-01 -2.10376173e-03 7.06206743e+01] [ 4.47488583e-01 8.94289054e-01 -1.02773494e-03 1.58066770e+01] [ 2.34127195e-03 -2.23197941e-05 9.99997259e-01 1.42543112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.64, Y:15.82, Z:0.14 [[ 8.94099435e-01 -4.47863558e-01 -2.10541150e-03 7.06438779e+01] [ 4.47862387e-01 8.94101914e-01 -1.02441635e-03 1.58195862e+01] [ 2.34125121e-03 -2.70045382e-05 9.99997259e-01 1.43663335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.67, Y:15.83, Z:0.14 [[ 8.93879501e-01 -4.48302371e-01 -2.10274045e-03 7.06676557e+01] [ 4.48301188e-01 8.93881974e-01 -1.02978538e-03 1.58329196e+01] [ 2.34125701e-03 -2.21569979e-05 9.99997259e-01 1.44832573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:70.69, Y:15.85, Z:0.15 [[ 8.93744264e-01 -4.48571935e-01 -2.10004461e-03 7.06948515e+01] [ 4.48570741e-01 8.93746731e-01 -1.03520055e-03 1.58464237e+01] [ 2.34126992e-03 -1.68140101e-05 9.99997259e-01 1.46135529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.72, Y:15.86, Z:0.15 [[ 8.93206528e-01 -4.49641724e-01 -2.10191017e-03 7.07182817e+01] [ 4.49640542e-01 8.93209001e-01 -1.03145681e-03 1.58606955e+01] [ 2.34123110e-03 -2.38000725e-05 9.99997259e-01 1.45277299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.75, Y:15.87, Z:0.14 [[ 8.93037134e-01 -4.49978087e-01 -2.09729311e-03 7.07456338e+01] [ 4.49976884e-01 8.93039597e-01 -1.04071386e-03 1.58742582e+01] [ 2.34126422e-03 -1.43372967e-05 9.99997259e-01 1.44779489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:70.77, Y:15.88, Z:0.14 [[ 8.94110977e-01 -4.47840534e-01 -2.10157124e-03 7.07685748e+01] [ 4.47839345e-01 8.94113447e-01 -1.03213847e-03 1.58843754e+01] [ 2.34127655e-03 -1.83199510e-05 9.99997259e-01 1.35389558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.79, Y:15.90, Z:0.14 [[ 8.92983832e-01 -4.50083867e-01 -2.09471325e-03 7.07927661e+01] [ 4.50082652e-01 8.92986289e-01 -1.04587390e-03 1.59008178e+01] [ 2.34128118e-03 -8.84561471e-06 9.99997259e-01 1.44643034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50361786499998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:70.82, Y:15.92, Z:0.14 [[ 8.92091086e-01 -4.51850760e-01 -2.09431438e-03 7.08187506e+01] [ 4.51849547e-01 8.92093544e-01 -1.04667233e-03 1.59153900e+01] [ 2.34126403e-03 -1.25879538e-05 9.99997259e-01 1.42507408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.84, Y:15.93, Z:0.14 [[ 8.91549552e-01 -4.52918310e-01 -2.09781366e-03 7.08418720e+01] [ 4.52917117e-01 8.91552020e-01 -1.03966773e-03 1.59285024e+01] [ 2.34119456e-03 -2.32204200e-05 9.99997259e-01 1.41766910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.87, Y:15.94, Z:0.14 [[ 8.90684503e-01 -4.54617117e-01 -2.09612277e-03 7.08675076e+01] [ 4.54615921e-01 8.90686969e-01 -1.04305055e-03 1.59425633e+01] [ 2.34117787e-03 -2.39018252e-05 9.99997259e-01 1.40782842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.89, Y:15.96, Z:0.14 [[ 8.90076489e-01 -4.55806371e-01 -2.09663148e-03 7.08913874e+01] [ 4.55805181e-01 8.90078958e-01 -1.04203317e-03 1.59555502e+01] [ 2.34113292e-03 -2.81662625e-05 9.99997259e-01 1.41699989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.92, Y:15.97, Z:0.14 [[ 8.89219006e-01 -4.57476958e-01 -2.09549787e-03 7.09157967e+01] [ 4.57475768e-01 8.89221475e-01 -1.04429902e-03 1.59689826e+01] [ 2.34110444e-03 -3.00289545e-05 9.99997259e-01 1.40822908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.94, Y:15.98, Z:0.14 [[ 8.87458585e-01 -4.60882714e-01 -2.09396885e-03 7.09382888e+01] [ 4.60881525e-01 8.87461054e-01 -1.04735399e-03 1.59820022e+01] [ 2.34102315e-03 -3.55882733e-05 9.99997259e-01 1.41270392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.96, Y:16.00, Z:0.14 [[ 8.86571476e-01 -4.62586907e-01 -2.09082969e-03 7.09632627e+01] [ 4.62585708e-01 8.86573941e-01 -1.05362339e-03 1.59955742e+01] [ 2.34106750e-03 -3.30754895e-05 9.99997259e-01 1.40807345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.99, Y:16.01, Z:0.14 [[ 8.85217765e-01 -4.65172167e-01 -2.08884755e-03 7.09891288e+01] [ 4.65170966e-01 8.85220229e-01 -1.05757930e-03 1.60095541e+01] [ 2.34104656e-03 -3.54832538e-05 9.99997259e-01 1.41575463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.01, Y:16.02, Z:0.14 [[ 8.84813951e-01 -4.65939800e-01 -2.09151102e-03 7.10133742e+01] [ 4.65938614e-01 8.84816422e-01 -1.05226506e-03 1.60228115e+01] [ 2.34089547e-03 -4.34569344e-05 9.99997259e-01 1.42508425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.04, Y:16.04, Z:0.14 [[ 8.84378734e-01 -4.66765340e-01 -2.09077762e-03 7.10367042e+01] [ 4.66764153e-01 8.84381205e-01 -1.05372758e-03 1.60356053e+01] [ 2.34088794e-03 -4.40057833e-05 9.99997259e-01 1.40547267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80361786499998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:71.07, Y:16.05, Z:0.14 [[ 8.83910431e-01 -4.67651568e-01 -2.08813291e-03 7.10650877e+01] [ 4.67650371e-01 8.83912897e-01 -1.05899886e-03 1.60489956e+01] [ 2.34097009e-03 -4.04559965e-05 9.99997259e-01 1.41539231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.09, Y:16.06, Z:0.14 [[ 8.83178821e-01 -4.69031754e-01 -2.09354200e-03 7.10898818e+01] [ 4.69030586e-01 8.83181301e-01 -1.04821693e-03 1.60625522e+01] [ 2.34062417e-03 -5.61722362e-05 9.99997259e-01 1.41470691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.12, Y:16.07, Z:0.14 [[ 8.83889319e-01 -4.67691454e-01 -2.09181192e-03 7.11167844e+01] [ 4.67690275e-01 8.83891793e-01 -1.05166278e-03 1.60742219e+01] [ 2.34078908e-03 -4.87665972e-05 9.99997259e-01 1.40386322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.14, Y:16.09, Z:0.15 [[ 8.83381826e-01 -4.68649300e-01 -2.09344171e-03 7.11423582e+01] [ 4.68648131e-01 8.83384305e-01 -1.04841683e-03 1.60881560e+01] [ 2.34065337e-03 -5.49351700e-05 9.99997259e-01 1.46159263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.17, Y:16.10, Z:0.14 [[ 8.83375038e-01 -4.68662086e-01 -2.09578475e-03 7.11666951e+01] [ 4.68660927e-01 8.83377522e-01 -1.04375274e-03 1.61024720e+01] [ 2.34053647e-03 -6.01873090e-05 9.99997259e-01 1.42423055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:71.19, Y:16.12, Z:0.14 [[ 8.83466265e-01 -4.68490098e-01 -2.09428479e-03 7.11912390e+01] [ 4.68488932e-01 8.83468746e-01 -1.04673734e-03 1.61151185e+01] [ 2.34062123e-03 -5.63921161e-05 9.99997259e-01 1.41832432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.21, Y:16.13, Z:0.14 [[ 8.83275364e-01 -4.68849909e-01 -2.09632130e-03 7.12145055e+01] [ 4.68848754e-01 8.83277849e-01 -1.04268595e-03 1.61281019e+01] [ 2.34049738e-03 -6.18788207e-05 9.99997259e-01 1.43807505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.24, Y:16.14, Z:0.14 [[ 8.82697154e-01 -4.69937613e-01 -2.09145769e-03 7.12396255e+01] [ 4.69936438e-01 8.82699630e-01 -1.05235196e-03 1.61415081e+01] [ 2.34066869e-03 -5.39440957e-05 9.99997259e-01 1.42213861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.27, Y:16.16, Z:0.14 [[ 8.82615434e-01 -4.70091065e-01 -2.09415769e-03 7.12653139e+01] [ 4.70089903e-01 8.82617917e-01 -1.04698729e-03 1.61550859e+01] [ 2.34052047e-03 -6.03552423e-05 9.99997259e-01 1.41650699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.29, Y:16.17, Z:0.14 [[ 8.82629422e-01 -4.70064795e-01 -2.09552197e-03 7.12898905e+01] [ 4.70063640e-01 8.82631907e-01 -1.04427885e-03 1.61681019e+01] [ 2.34045328e-03 -6.33174482e-05 9.99997259e-01 1.43874009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.31, Y:16.18, Z:0.15 [[ 8.81866018e-01 -4.71495426e-01 -2.09490634e-03 7.13107803e+01] [ 4.71494272e-01 8.81868504e-01 -1.04550022e-03 1.61821779e+01] [ 2.34038049e-03 -6.57452240e-05 9.99997259e-01 1.45164288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.34, Y:16.20, Z:0.14 [[ 8.82000753e-01 -4.71243366e-01 -2.08856242e-03 7.13364992e+01] [ 4.71242181e-01 8.82003224e-01 -1.05807663e-03 1.61954622e+01] [ 2.34073038e-03 -5.09943251e-05 9.99997259e-01 1.44807398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.36, Y:16.21, Z:0.14 [[ 8.82172650e-01 -4.70921492e-01 -2.08910963e-03 7.13592880e+01] [ 4.70920308e-01 8.82175122e-01 -1.05699214e-03 1.62079067e+01] [ 2.34072085e-03 -5.13545945e-05 9.99997259e-01 1.41905352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.39, Y:16.22, Z:0.15 [[ 8.81812568e-01 -4.71595429e-01 -2.08463332e-03 7.13856712e+01] [ 4.71594227e-01 8.81815031e-01 -1.06587178e-03 1.62212412e+01] [ 2.34092126e-03 -4.32019097e-05 9.99997259e-01 1.45105163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.41, Y:16.23, Z:0.15 [[ 8.82058418e-01 -4.71135425e-01 -2.08791347e-03 7.14089424e+01] [ 4.71134236e-01 8.82060887e-01 -1.05936711e-03 1.62328724e+01] [ 2.34077219e-03 -4.92638383e-05 9.99997259e-01 1.46676943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.25361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:71.43, Y:16.25, Z:0.15 [[ 8.82482178e-01 -4.70341230e-01 -2.08161761e-03 7.14332018e+01] [ 4.70340010e-01 8.82484632e-01 -1.07182144e-03 1.62454870e+01] [ 2.34111737e-03 -3.32047274e-05 9.99997259e-01 1.46481253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.46, Y:16.26, Z:0.15 [[ 8.82198090e-01 -4.70873867e-01 -2.08131163e-03 7.14598964e+01] [ 4.70872646e-01 8.82200544e-01 -1.07242779e-03 1.62593884e+01] [ 2.34111248e-03 -3.39389706e-05 9.99997259e-01 1.46043571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31361786499998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:71.48, Y:16.27, Z:0.15 [[ 8.82816833e-01 -4.69712771e-01 -2.08601167e-03 7.14846762e+01] [ 4.69711570e-01 8.82819297e-01 -1.06311564e-03 1.62714137e+01] [ 2.34093034e-03 -4.12874333e-05 9.99997259e-01 1.45854499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34361786499998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:71.51, Y:16.29, Z:0.13 [[ 8.81459578e-01 -4.72254862e-01 -2.08756690e-03 7.15089112e+01] [ 4.72253675e-01 8.81462048e-01 -1.06003464e-03 1.62871863e+01] [ 2.34071750e-03 -5.14834551e-05 9.99997259e-01 1.33223182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37361786499999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:71.53, Y:16.30, Z:0.15 [[ 8.85544847e-01 -4.64549196e-01 -2.08999366e-03 7.15333384e+01] [ 4.64547999e-01 8.85547313e-01 -1.05522817e-03 1.62955197e+01] [ 2.34099367e-03 -3.64505073e-05 9.99997259e-01 1.46272645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.56, Y:16.31, Z:0.15 [[ 8.86146524e-01 -4.63400475e-01 -2.08271155e-03 7.15569382e+01] [ 4.63399240e-01 8.86148972e-01 -1.06963091e-03 1.63081487e+01] [ 2.34126017e-03 -1.72772341e-05 9.99997259e-01 1.46954941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43361786499999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:71.59, Y:16.32, Z:0.15 [[ 8.85960087e-01 -4.63756834e-01 -2.07916057e-03 7.15883044e+01] [ 4.63755584e-01 8.85962527e-01 -1.07666406e-03 1.63236997e+01] [ 2.34136867e-03 -1.03409418e-05 9.99997259e-01 1.48696903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.61, Y:16.33, Z:0.15 [[ 8.87144582e-01 -4.61486838e-01 -2.09490084e-03 7.16114033e+01] [ 4.61485655e-01 8.87147055e-01 -1.04546334e-03 1.63343789e+01] [ 2.34095268e-03 -3.92895459e-05 9.99997259e-01 1.48915401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.64, Y:16.35, Z:0.14 [[ 8.83427925e-01 -4.68562419e-01 -2.08822999e-03 7.16381879e+01] [ 4.68561225e-01 8.83430392e-01 -1.05867985e-03 1.63510375e+01] [ 2.34086343e-03 -4.31962605e-05 9.99997259e-01 1.38367295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.66, Y:16.36, Z:0.14 [[ 8.83870774e-01 -4.67726478e-01 -2.09670761e-03 7.16571904e+01] [ 4.67725321e-01 8.83873259e-01 -1.04188562e-03 1.63614776e+01] [ 2.34054128e-03 -5.97909938e-05 9.99997259e-01 1.40778514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.69, Y:16.38, Z:0.14 [[ 8.84280662e-01 -4.66951154e-01 -2.08091510e-03 7.16858165e+01] [ 4.66949922e-01 8.84283110e-01 -1.07310775e-03 1.63756783e+01] [ 2.34120698e-03 -2.27547053e-05 9.99997259e-01 1.41977868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.71, Y:16.39, Z:0.15 [[ 8.85725921e-01 -4.64203865e-01 -2.08937880e-03 7.17109595e+01] [ 4.64202664e-01 8.85728384e-01 -1.05636748e-03 1.63873114e+01] [ 2.34099198e-03 -3.42431413e-05 9.99997259e-01 1.48480998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.74, Y:16.40, Z:0.15 [[ 8.83491710e-01 -4.68442133e-01 -2.08968098e-03 7.17353372e+01] [ 4.68440945e-01 8.83494180e-01 -1.05576997e-03 1.64041762e+01] [ 2.34078812e-03 -4.61281197e-05 9.99997259e-01 1.46593570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64361786499998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:71.76, Y:16.42, Z:0.14 [[ 8.82364647e-01 -4.70561643e-01 -2.09065788e-03 7.17575897e+01] [ 4.70560466e-01 8.82367122e-01 -1.05383920e-03 1.64183895e+01] [ 2.34062408e-03 -5.39104939e-05 9.99997259e-01 1.44630144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.79, Y:16.43, Z:0.14 [[ 8.82277301e-01 -4.70725417e-01 -2.08463518e-03 7.17855515e+01] [ 4.70724213e-01 8.82279763e-01 -1.06573387e-03 1.64318314e+01] [ 2.34089945e-03 -4.10154524e-05 9.99997259e-01 1.44706503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.81, Y:16.45, Z:0.15 [[ 8.81618738e-01 -4.71957661e-01 -2.08973009e-03 7.18086734e+01] [ 4.71956483e-01 8.81621213e-01 -1.05567106e-03 1.64456607e+01] [ 2.34058242e-03 -5.55622753e-05 9.99997259e-01 1.47305316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.83, Y:16.46, Z:0.14 [[ 8.80119090e-01 -4.74748395e-01 -2.08538537e-03 7.18346435e+01] [ 4.74747206e-01 8.80121559e-01 -1.06424610e-03 1.64608557e+01] [ 2.34064175e-03 -5.33675673e-05 9.99997259e-01 1.42501537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.86, Y:16.47, Z:0.15 [[ 8.81566499e-01 -4.72055228e-01 -2.09033156e-03 7.18584584e+01] [ 4.72054054e-01 8.81568975e-01 -1.05448707e-03 1.64727005e+01] [ 2.34054758e-03 -5.71490096e-05 9.99997259e-01 1.46541946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.88, Y:16.49, Z:0.15 [[ 8.81167151e-01 -4.72800282e-01 -2.08474936e-03 7.18837335e+01] [ 4.72799084e-01 8.81169615e-01 -1.06548982e-03 1.64863424e+01] [ 2.34078168e-03 -4.67929562e-05 9.99997259e-01 1.47270021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.91, Y:16.50, Z:0.15 [[ 8.81793074e-01 -4.71631861e-01 -2.08838124e-03 7.19094330e+01] [ 4.71630677e-01 8.81795546e-01 -1.05833109e-03 1.64992230e+01] [ 2.34066793e-03 -5.17156326e-05 9.99997259e-01 1.47766393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.93, Y:16.51, Z:0.15 [[ 8.82491900e-01 -4.70322950e-01 -2.08999879e-03 7.19346173e+01] [ 4.70321769e-01 8.82494374e-01 -1.05514460e-03 1.65139231e+01] [ 2.34067090e-03 -5.18153640e-05 9.99997259e-01 1.47381601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.96, Y:16.53, Z:0.15 [[ 8.83355786e-01 -4.68698378e-01 -2.09435543e-03 7.19605425e+01] [ 4.68697213e-01 8.83358267e-01 -1.04656538e-03 1.65269256e+01] [ 2.34058968e-03 -5.71289660e-05 9.99997259e-01 1.48749144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.98, Y:16.54, Z:0.15 [[ 8.85224161e-01 -4.65159963e-01 -2.09596036e-03 7.19820983e+01] [ 4.65158796e-01 8.85226641e-01 -1.04340701e-03 1.65404499e+01] [ 2.34075112e-03 -5.13053067e-05 9.99997259e-01 1.48357219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.01, Y:16.56, Z:0.15 [[ 8.85416514e-01 -4.64793747e-01 -2.09063249e-03 7.20059863e+01] [ 4.64792553e-01 8.85418981e-01 -1.05388336e-03 1.65550381e+01] [ 2.34092408e-03 -3.85846851e-05 9.99997259e-01 1.48614762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.03, Y:16.57, Z:0.15 [[ 8.86239753e-01 -4.63222122e-01 -2.08972375e-03 7.20324019e+01] [ 4.63220920e-01 8.86242216e-01 -1.05566922e-03 1.65683479e+01] [ 2.34101074e-03 -3.24277265e-05 9.99997259e-01 1.51219533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.06, Y:16.58, Z:0.15 [[ 8.87152617e-01 -4.61471388e-01 -2.09566492e-03 7.20596685e+01] [ 4.61470209e-01 8.87155091e-01 -1.04399895e-03 1.65811863e+01] [ 2.34095545e-03 -4.09005311e-05 9.99997259e-01 1.49736307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.08, Y:16.59, Z:0.15 [[ 8.87144414e-01 -4.61487140e-01 -2.09959195e-03 7.20838921e+01] [ 4.61485979e-01 8.87146897e-01 -1.03628646e-03 1.65940379e+01] [ 2.34087936e-03 -4.95964979e-05 9.99997259e-01 1.50242349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.11, Y:16.61, Z:0.15 [[ 8.86694140e-01 -4.62351703e-01 -2.09898537e-03 7.21055692e+01] [ 4.62350541e-01 8.86696623e-01 -1.03747661e-03 1.66091685e+01] [ 2.34084232e-03 -5.05425892e-05 9.99997259e-01 1.49134777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.13, Y:16.62, Z:0.15 [[ 8.86601789e-01 -4.62528805e-01 -2.09122670e-03 7.21300521e+01] [ 4.62527608e-01 8.86604254e-01 -1.05268082e-03 1.66218287e+01] [ 2.34098569e-03 -3.39413842e-05 9.99997259e-01 1.49193486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.16, Y:16.64, Z:0.15 [[ 8.86644299e-01 -4.62447309e-01 -2.09112886e-03 7.21560629e+01] [ 4.62446112e-01 8.86646765e-01 -1.05287248e-03 1.66353820e+01] [ 2.34099068e-03 -3.35110308e-05 9.99997259e-01 1.49689919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.18, Y:16.65, Z:0.15 [[ 8.85854337e-01 -4.63958748e-01 -2.09147017e-03 7.21842597e+01] [ 4.63957557e-01 8.85856805e-01 -1.05220421e-03 1.66495622e+01] [ 2.34092243e-03 -3.82537298e-05 9.99997259e-01 1.50041276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.21, Y:16.66, Z:0.15 [[ 8.84891092e-01 -4.65793249e-01 -2.09844129e-03 7.22094643e+01] [ 4.65792095e-01 8.84893579e-01 -1.03855412e-03 1.66626443e+01] [ 2.34064872e-03 -5.84300780e-05 9.99997259e-01 1.51992805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.23, Y:16.67, Z:0.16 [[ 8.84892875e-01 -4.65789861e-01 -2.09876586e-03 7.22342744e+01] [ 4.65788708e-01 8.84895362e-01 -1.03791871e-03 1.66744841e+01] [ 2.34064018e-03 -5.91345683e-05 9.99997259e-01 1.55888885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.26, Y:16.69, Z:0.16 [[ 8.83975421e-01 -4.67528673e-01 -2.09634387e-03 7.22592935e+01] [ 4.67527514e-01 8.83977905e-01 -1.04265619e-03 1.66872928e+01] [ 2.34059333e-03 -5.84159953e-05 9.99997259e-01 1.55628188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.28, Y:16.70, Z:0.15 [[ 8.81174303e-01 -4.72786902e-01 -2.09606491e-03 7.22753225e+01] [ 4.72785756e-01 8.81176793e-01 -1.04320159e-03 1.67019053e+01] [ 2.34021581e-03 -7.17472041e-05 9.99997259e-01 1.51055631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.30, Y:16.71, Z:0.15 [[ 8.81145318e-01 -4.72840996e-01 -2.07859475e-03 7.23021902e+01] [ 4.72839770e-01 8.81147769e-01 -1.07730193e-03 1.67141087e+01] [ 2.34094165e-03 -3.35827092e-05 9.99997259e-01 1.52506578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.33, Y:16.73, Z:0.15 [[ 8.80459306e-01 -4.74117146e-01 -2.08372976e-03 7.23289824e+01] [ 4.74115947e-01 8.80461771e-01 -1.06727903e-03 1.67280437e+01] [ 2.34065968e-03 -4.82337511e-05 9.99997259e-01 1.54628907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36361786499998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:72.35, Y:16.74, Z:0.15 [[ 8.80434156e-01 -4.74163827e-01 -2.08878207e-03 7.23505722e+01] [ 4.74162652e-01 8.80436631e-01 -1.05742161e-03 1.67391941e+01] [ 2.34043132e-03 -5.94323434e-05 9.99997259e-01 1.48211095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.38, Y:16.75, Z:0.15 [[ 8.78370483e-01 -4.77975910e-01 -2.07926040e-03 7.23773406e+01] [ 4.77974702e-01 8.78372943e-01 -1.07597545e-03 1.67540952e+01] [ 2.34065642e-03 -4.87287955e-05 9.99997259e-01 1.46103438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.40, Y:16.77, Z:0.15 [[ 8.77803596e-01 -4.79016155e-01 -2.09045737e-03 7.24003479e+01] [ 4.79015001e-01 8.77806082e-01 -1.05412268e-03 1.67673568e+01] [ 2.33995799e-03 -7.60477570e-05 9.99997259e-01 1.51861433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.43, Y:16.78, Z:0.15 [[ 8.76999516e-01 -4.80486721e-01 -2.08818468e-03 7.24256237e+01] [ 4.80485561e-01 8.77001999e-01 -1.05855550e-03 1.67819414e+01] [ 2.33996400e-03 -7.49899277e-05 9.99997259e-01 1.50938890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.45, Y:16.80, Z:0.16 [[ 8.76467984e-01 -4.81455628e-01 -2.08596412e-03 7.24501460e+01] [ 4.81454460e-01 8.76470464e-01 -1.06287517e-03 1.67969899e+01] [ 2.34001317e-03 -7.27206751e-05 9.99997260e-01 1.57463151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.47, Y:16.81, Z:0.16 [[ 8.77580123e-01 -4.79425469e-01 -2.08510504e-03 7.24729489e+01] [ 4.79424291e-01 8.77582598e-01 -1.06454532e-03 1.68068652e+01] [ 2.34022204e-03 -6.54261945e-05 9.99997260e-01 1.55837704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.50, Y:16.82, Z:0.16 [[ 8.77817837e-01 -4.78990126e-01 -2.07493594e-03 7.25042552e+01] [ 4.78988900e-01 8.77820288e-01 -1.08428749e-03 1.68223824e+01] [ 2.34078386e-03 -4.20643844e-05 9.99997259e-01 1.59156442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57361786499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:72.53, Y:16.84, Z:0.16 [[ 8.78569899e-01 -4.77609206e-01 -2.09263364e-03 7.25270779e+01] [ 4.77608059e-01 8.78572388e-01 -1.04990435e-03 1.68354314e+01] [ 2.33997412e-03 -7.70443328e-05 9.99997259e-01 1.59305787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.55, Y:16.85, Z:0.16 [[ 8.78672960e-01 -4.77419585e-01 -2.09045147e-03 7.25516706e+01] [ 4.77418426e-01 8.78675443e-01 -1.05414775e-03 1.68491667e+01] [ 2.34009916e-03 -7.17689295e-05 9.99997259e-01 1.59197126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.58, Y:16.86, Z:0.16 [[ 8.79833626e-01 -4.75277221e-01 -2.08660647e-03 7.25793004e+01] [ 4.75276039e-01 8.79836098e-01 -1.06160650e-03 1.68618595e+01] [ 2.34042908e-03 -5.76769630e-05 9.99997260e-01 1.57745587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66361786499998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:72.60, Y:16.88, Z:0.16 [[ 8.79658342e-01 -4.75601553e-01 -2.08906522e-03 7.26036549e+01] [ 4.75600383e-01 8.79660820e-01 -1.05683931e-03 1.68781337e+01] [ 2.34030324e-03 -6.39027091e-05 9.99997259e-01 1.58929597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.63, Y:16.89, Z:0.16 [[ 8.79995795e-01 -4.74976882e-01 -2.08875323e-03 7.26264592e+01] [ 4.74975709e-01 8.79998272e-01 -1.05744375e-03 1.68920001e+01] [ 2.34036057e-03 -6.15609910e-05 9.99997259e-01 1.58515334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.65, Y:16.91, Z:0.16 [[ 8.80778094e-01 -4.73524647e-01 -2.08744577e-03 7.26517322e+01] [ 4.73523464e-01 8.80780566e-01 -1.05997620e-03 1.69054887e+01] [ 2.34050653e-03 -5.48507371e-05 9.99997260e-01 1.57685627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.75361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.67, Y:16.92, Z:0.16 [[ 8.81405778e-01 -4.72355265e-01 -2.08765949e-03 7.26742578e+01] [ 4.72354080e-01 8.81408249e-01 -1.05956240e-03 1.69191128e+01] [ 2.34057018e-03 -5.22100517e-05 9.99997259e-01 1.56725874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78361786499998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:72.70, Y:16.93, Z:0.15 [[ 8.83056469e-01 -4.69262132e-01 -2.07964906e-03 7.27006583e+01] [ 4.69260901e-01 8.83058917e-01 -1.07505635e-03 1.69324986e+01] [ 2.34093588e-03 -2.65625233e-05 9.99997260e-01 1.54120857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81361786499998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:72.73, Y:16.95, Z:0.15 [[ 8.81258902e-01 -4.72629253e-01 -2.08247317e-03 7.27279049e+01] [ 4.72628044e-01 8.81261362e-01 -1.06959548e-03 1.69493193e+01] [ 2.34072526e-03 -4.16446848e-05 9.99997260e-01 1.53384440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.75, Y:16.96, Z:0.16 [[ 8.83463671e-01 -4.68494992e-01 -2.09386356e-03 7.27491518e+01] [ 4.68493824e-01 8.83466151e-01 -1.04756995e-03 1.69621810e+01] [ 2.34063886e-03 -5.54721525e-05 9.99997259e-01 1.56445962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.77, Y:16.98, Z:0.15 [[ 8.83166379e-01 -4.69055233e-01 -2.08225335e-03 7.27714014e+01] [ 4.69054013e-01 8.83168833e-01 -1.06998990e-03 1.69758050e+01] [ 2.34086562e-03 -3.17101860e-05 9.99997260e-01 1.54736677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.80, Y:16.99, Z:0.16 [[ 8.83942983e-01 -4.67590098e-01 -2.07418295e-03 7.27983688e+01] [ 4.67588838e-01 8.83945417e-01 -1.08556426e-03 1.69908406e+01] [ 2.34106361e-03 -1.02878837e-05 9.99997260e-01 1.55388689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93361786499999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:72.82, Y:17.00, Z:0.16 [[ 8.84638902e-01 -4.66272112e-01 -2.08085086e-03 7.28231176e+01] [ 4.66270879e-01 8.84641349e-01 -1.07269886e-03 1.70039599e+01] [ 2.34097628e-03 -2.12890156e-05 9.99997260e-01 1.55796884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.85, Y:17.02, Z:0.16 [[ 8.84703396e-01 -4.66149736e-01 -2.07960751e-03 7.28499494e+01] [ 4.66148497e-01 8.84705840e-01 -1.07509654e-03 1.70174659e+01] [ 2.34099688e-03 -1.82643547e-05 9.99997260e-01 1.56311772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99361786499998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:72.88, Y:17.03, Z:0.16 [[ 8.84855537e-01 -4.65860865e-01 -2.08169989e-03 7.28755878e+01] [ 4.65859634e-01 8.84857985e-01 -1.07106546e-03 1.70306927e+01] [ 2.34097625e-03 -2.20417428e-05 9.99997260e-01 1.56958282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.90, Y:17.04, Z:0.16 [[ 8.84547363e-01 -4.66445735e-01 -2.08273162e-03 7.28990151e+01] [ 4.66444511e-01 8.84549815e-01 -1.06907878e-03 1.70442246e+01] [ 2.34094711e-03 -2.58279145e-05 9.99997260e-01 1.55672545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.92, Y:17.06, Z:0.16 [[ 8.84215722e-01 -4.67074110e-01 -2.08156363e-03 7.29243365e+01] [ 4.67072882e-01 8.84218172e-01 -1.07132783e-03 1.70577635e+01] [ 2.34094588e-03 -2.49570152e-05 9.99997260e-01 1.56501058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.95, Y:17.07, Z:0.16 [[ 8.83965910e-01 -4.67546718e-01 -2.08219332e-03 7.29488859e+01] [ 4.67545494e-01 8.83968362e-01 -1.07011578e-03 1.70706610e+01] [ 2.34092214e-03 -2.75742321e-05 9.99997260e-01 1.57474601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.97, Y:17.08, Z:0.16 [[ 8.83558414e-01 -4.68316336e-01 -2.08278859e-03 7.29726031e+01] [ 4.68315117e-01 8.83560869e-01 -1.06897038e-03 1.70841347e+01] [ 2.34088678e-03 -3.09036081e-05 9.99997260e-01 1.59003572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.00, Y:17.10, Z:0.16 [[ 8.83606578e-01 -4.68225473e-01 -2.07888417e-03 7.29974846e+01] [ 4.68224236e-01 8.83609023e-01 -1.07647632e-03 1.70973172e+01] [ 2.34095444e-03 -2.22023933e-05 9.99997260e-01 1.59560482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.02, Y:17.11, Z:0.16 [[ 8.83399670e-01 -4.68615735e-01 -2.07753202e-03 7.30234163e+01] [ 4.68614493e-01 8.83402113e-01 -1.07907442e-03 1.71108518e+01] [ 2.34096743e-03 -2.03076308e-05 9.99997260e-01 1.60205100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.05, Y:17.12, Z:0.16 [[ 8.82987868e-01 -4.69391209e-01 -2.07797057e-03 7.30488040e+01] [ 4.69389971e-01 8.82990313e-01 -1.07823203e-03 1.71242896e+01] [ 2.34094052e-03 -2.33127391e-05 9.99997260e-01 1.60391433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.07, Y:17.14, Z:0.16 [[ 8.82850220e-01 -4.69650051e-01 -2.07824786e-03 7.30738249e+01] [ 4.69648815e-01 8.82852666e-01 -1.07769959e-03 1.71381139e+01] [ 2.34092833e-03 -2.45993198e-05 9.99997260e-01 1.61353945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.10, Y:17.15, Z:0.16 [[ 8.83273828e-01 -4.68852880e-01 -2.07888899e-03 7.30990697e+01] [ 4.68851645e-01 8.83276274e-01 -1.07646897e-03 1.71507553e+01] [ 2.34093890e-03 -2.38736578e-05 9.99997260e-01 1.59806088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.13, Y:17.16, Z:0.16 [[ 8.83099461e-01 -4.69181225e-01 -2.07860542e-03 7.31250553e+01] [ 4.69179989e-01 8.83101907e-01 -1.07701306e-03 1.71643976e+01] [ 2.34093472e-03 -2.41304152e-05 9.99997260e-01 1.63127107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.15, Y:17.18, Z:0.16 [[ 8.81731701e-01 -4.71746625e-01 -2.08077017e-03 7.31486026e+01] [ 4.71745407e-01 8.81734155e-01 -1.07286060e-03 1.71773320e+01] [ 2.34080449e-03 -3.56185699e-05 9.99997260e-01 1.62400501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.17, Y:17.19, Z:0.16 [[ 8.81830229e-01 -4.71562426e-01 -2.07979441e-03 7.31723032e+01] [ 4.71561203e-01 8.81832681e-01 -1.07473154e-03 1.71906948e+01] [ 2.34083369e-03 -3.30195898e-05 9.99997260e-01 1.62122000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.20, Y:17.20, Z:0.16 [[ 8.81601302e-01 -4.71990293e-01 -2.07545712e-03 7.31981259e+01] [ 4.71989051e-01 8.81603745e-01 -1.08304178e-03 1.72038994e+01] [ 2.34091598e-03 -2.47819913e-05 9.99997260e-01 1.61990966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.22, Y:17.22, Z:0.17 [[ 8.82312790e-01 -4.70658920e-01 -2.07868210e-03 7.32249967e+01] [ 4.70657689e-01 8.82315238e-01 -1.07686596e-03 1.72167818e+01] [ 2.34088946e-03 -2.82151048e-05 9.99997260e-01 1.66022339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.25, Y:17.23, Z:0.16 [[ 8.81058848e-01 -4.73002082e-01 -2.08272980e-03 7.32467388e+01] [ 4.73000875e-01 8.81061308e-01 -1.06911609e-03 1.72290907e+01] [ 2.34070678e-03 -4.31788256e-05 9.99997260e-01 1.64682582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.27, Y:17.24, Z:0.16 [[ 8.81096110e-01 -4.72932702e-01 -2.07460649e-03 7.32734023e+01] [ 4.72931459e-01 8.81098552e-01 -1.08465347e-03 1.72424497e+01] [ 2.34090087e-03 -2.54627162e-05 9.99997260e-01 1.64811782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50361786499998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:73.29, Y:17.25, Z:0.16 [[ 8.79207813e-01 -4.76433941e-01 -2.07874475e-03 7.32918472e+01] [ 4.76432727e-01 8.79210269e-01 -1.07673934e-03 1.72539804e+01] [ 2.34064890e-03 -4.37043931e-05 9.99997260e-01 1.58517646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.32, Y:17.27, Z:0.17 [[ 8.80419731e-01 -4.74190723e-01 -2.06277282e-03 7.33212079e+01] [ 4.74189430e-01 8.80422148e-01 -1.10726135e-03 1.72678245e+01] [ 2.34116394e-03 -3.29032998e-06 9.99997259e-01 1.65166486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.35, Y:17.28, Z:0.16 [[ 8.81635796e-01 -4.71925864e-01 -2.07436505e-03 7.33465985e+01] [ 4.71924617e-01 8.81638236e-01 -1.08510074e-03 1.72796278e+01] [ 2.34092664e-03 -2.22802794e-05 9.99997260e-01 1.57883365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.37, Y:17.30, Z:0.16 [[ 8.79616358e-01 -4.75679262e-01 -2.07427208e-03 7.33674927e+01] [ 4.75678025e-01 8.79618803e-01 -1.08527842e-03 1.72956311e+01] [ 2.34081316e-03 -3.20569945e-05 9.99997260e-01 1.61609586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.39, Y:17.31, Z:0.16 [[ 8.80678419e-01 -4.73710091e-01 -2.06694422e-03 7.33946506e+01] [ 4.73708816e-01 8.80680844e-01 -1.09926953e-03 1.73078270e+01] [ 2.34105325e-03 -1.10267512e-05 9.99997260e-01 1.63111589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.42, Y:17.32, Z:0.16 [[ 8.80515353e-01 -4.74013093e-01 -2.07391306e-03 7.34186239e+01] [ 4.74011850e-01 8.80517795e-01 -1.08596079e-03 1.73194489e+01] [ 2.34087699e-03 -2.68542165e-05 9.99997260e-01 1.62523196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.44, Y:17.33, Z:0.16 [[ 8.80277045e-01 -4.74455503e-01 -2.07371186e-03 7.34435548e+01] [ 4.74454260e-01 8.80279487e-01 -1.08634485e-03 1.73328966e+01] [ 2.34086831e-03 -2.75969957e-05 9.99997260e-01 1.62264686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.47, Y:17.35, Z:0.16 [[ 8.79952663e-01 -4.75056856e-01 -2.07240587e-03 7.34697471e+01] [ 4.75055609e-01 8.79955103e-01 -1.08883704e-03 1.73455675e+01] [ 2.34088363e-03 -2.63829779e-05 9.99997260e-01 1.63011869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.50, Y:17.36, Z:0.16 [[ 8.80282996e-01 -4.74444464e-01 -2.07301303e-03 7.34960919e+01] [ 4.74443218e-01 8.80285436e-01 -1.08767878e-03 1.73571400e+01] [ 2.34088636e-03 -2.60618363e-05 9.99997260e-01 1.64836751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.52, Y:17.37, Z:0.16 [[ 8.79457000e-01 -4.75973829e-01 -2.07331982e-03 7.35211190e+01] [ 4.75972588e-01 8.79459444e-01 -1.08709367e-03 1.73706215e+01] [ 2.34082883e-03 -3.07912604e-05 9.99997260e-01 1.64824338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.55, Y:17.38, Z:0.16 [[ 8.78660086e-01 -4.77443354e-01 -2.07302186e-03 7.35486328e+01] [ 4.77442116e-01 8.78662531e-01 -1.08766156e-03 1.73818353e+01] [ 2.34078342e-03 -3.40631468e-05 9.99997260e-01 1.55350824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.57, Y:17.39, Z:0.16 [[ 8.81706127e-01 -4.71794425e-01 -2.07988173e-03 7.35721469e+01] [ 4.71793203e-01 8.81708579e-01 -1.07458545e-03 1.73920417e+01] [ 2.34083299e-03 -3.38054875e-05 9.99997260e-01 1.57630799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.60, Y:17.41, Z:0.17 [[ 8.79508211e-01 -4.75879198e-01 -2.07256549e-03 7.35969221e+01] [ 4.75877954e-01 8.79510652e-01 -1.08851578e-03 1.74060797e+01] [ 2.34084545e-03 -2.89296620e-05 9.99997260e-01 1.66833516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.62, Y:17.42, Z:0.16 [[ 8.79067749e-01 -4.76692353e-01 -2.07226629e-03 7.36225010e+01] [ 4.76691110e-01 8.79070191e-01 -1.08908508e-03 1.74176802e+01] [ 2.34082606e-03 -3.04513463e-05 9.99997260e-01 1.63485563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:73.65, Y:17.43, Z:0.17 [[ 8.80385055e-01 -4.74255052e-01 -2.07376492e-03 7.36473324e+01] [ 4.74253809e-01 8.80387497e-01 -1.08623438e-03 1.74293140e+01] [ 2.34086885e-03 -2.71863959e-05 9.99997260e-01 1.67823026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.67, Y:17.44, Z:0.17 [[ 8.79675070e-01 -4.75570686e-01 -2.07197076e-03 7.36725313e+01] [ 4.75569439e-01 8.79677510e-01 -1.08964599e-03 1.74416794e+01] [ 2.34086977e-03 -2.68315632e-05 9.99997260e-01 1.67706197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.70, Y:17.45, Z:0.17 [[ 8.79745643e-01 -4.75440124e-01 -2.07166887e-03 7.37007058e+01] [ 4.75438875e-01 8.79748082e-01 -1.09021964e-03 1.74535000e+01] [ 2.34088088e-03 -2.58359391e-05 9.99997260e-01 1.66616113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.73, Y:17.47, Z:0.17 [[ 8.79569556e-01 -4.75765772e-01 -2.07994804e-03 7.37259604e+01] [ 4.75764561e-01 8.79572014e-01 -1.07448430e-03 1.74669359e+01] [ 2.34066693e-03 -4.44818871e-05 9.99997260e-01 1.66688965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.75, Y:17.48, Z:0.16 [[ 8.79157490e-01 -4.76526794e-01 -2.07914669e-03 7.37495888e+01] [ 4.76525581e-01 8.79159947e-01 -1.07600536e-03 1.74791447e+01] [ 2.34064788e-03 -4.47884109e-05 9.99997260e-01 1.62579093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.78, Y:17.49, Z:0.17 [[ 8.80084739e-01 -4.74812121e-01 -2.07403094e-03 7.37768750e+01] [ 4.74810881e-01 8.80087183e-01 -1.08570660e-03 1.74919795e+01] [ 2.34083470e-03 -2.92586475e-05 9.99997260e-01 1.68361993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10361786499999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:73.80, Y:17.50, Z:0.16 [[ 8.79034328e-01 -4.76753950e-01 -2.07900751e-03 7.37982195e+01] [ 4.76752737e-01 8.79036785e-01 -1.07627259e-03 1.75044489e+01] [ 2.34064129e-03 -4.50919652e-05 9.99997260e-01 1.62699773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.83, Y:17.52, Z:0.17 [[ 8.81042925e-01 -4.73031795e-01 -2.07012203e-03 7.38283347e+01] [ 4.73030533e-01 8.81045357e-01 -1.09310000e-03 1.75175387e+01] [ 2.34094246e-03 -1.61628999e-05 9.99997260e-01 1.68741497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.85, Y:17.53, Z:0.17 [[ 8.81524657e-01 -4.72133403e-01 -2.08056103e-03 7.38542079e+01] [ 4.72132184e-01 8.81527112e-01 -1.07332714e-03 1.75300844e+01] [ 2.34082455e-03 -3.61354812e-05 9.99997260e-01 1.65684792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.87, Y:17.54, Z:0.17 [[ 8.82923232e-01 -4.69512749e-01 -2.08431255e-03 7.38735527e+01] [ 4.69511540e-01 8.82925692e-01 -1.06621784e-03 1.75394782e+01] [ 2.34089597e-03 -3.72202961e-05 9.99997259e-01 1.69489804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.90, Y:17.55, Z:0.17 [[ 8.82373780e-01 -4.70544612e-01 -2.06903731e-03 7.39007617e+01] [ 4.70543338e-01 8.82376206e-01 -1.09511809e-03 1.75534323e+01] [ 2.34097121e-03 -7.26823351e-06 9.99997260e-01 1.67720971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.93, Y:17.56, Z:0.17 [[ 8.82624783e-01 -4.70073590e-01 -2.07683917e-03 7.39271044e+01] [ 4.70072349e-01 8.82627226e-01 -1.08035605e-03 1.75641713e+01] [ 2.34092164e-03 -2.27156450e-05 9.99997260e-01 1.70023174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.95, Y:17.58, Z:0.17 [[ 8.82151154e-01 -4.70961810e-01 -2.07738715e-03 7.39490874e+01] [ 4.70960574e-01 8.82153599e-01 -1.07932034e-03 1.75769180e+01] [ 2.34089321e-03 -2.62437608e-05 9.99997260e-01 1.68584373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.98, Y:17.59, Z:0.17 [[ 8.82451444e-01 -4.70398953e-01 -2.06738445e-03 7.39794763e+01] [ 4.70397671e-01 8.82453866e-01 -1.09820597e-03 1.75887913e+01] [ 2.34096634e-03 -3.37939250e-06 9.99997260e-01 1.71408591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.01, Y:17.60, Z:0.17 [[ 8.82156335e-01 -4.70952101e-01 -2.07806920e-03 7.40054547e+01] [ 4.70950868e-01 8.82158783e-01 -1.07802367e-03 1.76001257e+01] [ 2.34088450e-03 -2.76830807e-05 9.99997260e-01 1.72252369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.03, Y:17.61, Z:0.17 [[ 8.81456657e-01 -4.72260360e-01 -2.07692184e-03 7.40344362e+01] [ 4.72259126e-01 8.81459104e-01 -1.08018671e-03 1.76147550e+01] [ 2.34085103e-03 -2.87075239e-05 9.99997260e-01 1.73141454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40361786499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:74.06, Y:17.63, Z:0.17 [[ 8.80790180e-01 -4.73502180e-01 -2.08449526e-03 7.40589093e+01] [ 4.73500983e-01 8.80792645e-01 -1.06592094e-03 1.76266761e+01] [ 2.34072398e-03 -4.81578568e-05 9.99997259e-01 1.72781101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43361786499999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:74.08, Y:17.64, Z:0.17 [[ 8.81980047e-01 -4.71282159e-01 -2.07917142e-03 7.40837449e+01] [ 4.71280932e-01 8.81982497e-01 -1.07593967e-03 1.76369838e+01] [ 2.34086397e-03 -3.09165211e-05 9.99997260e-01 1.68208753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46361786499999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:74.11, Y:17.65, Z:0.17 [[ 8.80924377e-01 -4.73252501e-01 -2.07667731e-03 7.41097705e+01] [ 4.73251269e-01 8.80926824e-01 -1.08063693e-03 1.76517940e+01] [ 2.34081488e-03 -3.08307587e-05 9.99997260e-01 1.74661137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:74.13, Y:17.66, Z:0.16 [[ 8.81675523e-01 -4.71851607e-01 -2.08181112e-03 7.41331774e+01] [ 4.71850393e-01 8.81677980e-01 -1.07096568e-03 1.76605181e+01] [ 2.34082390e-03 -3.80591727e-05 9.99997260e-01 1.64349271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.16, Y:17.68, Z:0.17 [[ 8.79479977e-01 -4.75931365e-01 -2.07499837e-03 7.41605892e+01] [ 4.75930132e-01 8.79482424e-01 -1.08379038e-03 1.76769756e+01] [ 2.34073443e-03 -3.43823138e-05 9.99997260e-01 1.72254818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.19, Y:17.69, Z:0.17 [[ 8.79673435e-01 -4.75573674e-01 -2.08040855e-03 7.41852460e+01] [ 4.75572464e-01 8.79675894e-01 -1.07364856e-03 1.76898525e+01] [ 2.34068424e-03 -4.49249053e-05 9.99997260e-01 1.74142035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.21, Y:17.70, Z:0.17 [[ 8.79773663e-01 -4.75388256e-01 -2.07551526e-03 7.42119934e+01] [ 4.75387024e-01 8.79776111e-01 -1.08281095e-03 1.77023391e+01] [ 2.34074436e-03 -3.40444639e-05 9.99997260e-01 1.73281772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61361786499998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:74.24, Y:17.71, Z:0.17 [[ 8.79285501e-01 -4.76290560e-01 -2.07585752e-03 7.42358835e+01] [ 4.76289333e-01 8.79287951e-01 -1.08217080e-03 1.77145862e+01] [ 2.34070424e-03 -3.71716944e-05 9.99997260e-01 1.73473720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.26, Y:17.73, Z:0.17 [[ 8.78509756e-01 -4.77719914e-01 -2.07173004e-03 7.42609584e+01] [ 4.77718672e-01 8.78512198e-01 -1.08988009e-03 1.77277855e+01] [ 2.34069754e-03 -3.22338365e-05 9.99997260e-01 1.69998903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67361786499998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:74.29, Y:17.74, Z:0.17 [[ 8.79017919e-01 -4.76784240e-01 -2.07013219e-03 7.42869851e+01] [ 4.76782989e-01 8.79020357e-01 -1.09286302e-03 1.77405917e+01] [ 2.34074821e-03 -2.63576351e-05 9.99997260e-01 1.73943465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.31, Y:17.75, Z:0.17 [[ 8.79225105e-01 -4.76402040e-01 -2.07615118e-03 7.43122681e+01] [ 4.76400813e-01 8.79227556e-01 -1.08163487e-03 1.77516586e+01] [ 2.34070238e-03 -3.80795757e-05 9.99997260e-01 1.74305635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.34, Y:17.76, Z:0.17 [[ 8.79094725e-01 -4.76642612e-01 -2.07009057e-03 7.43388575e+01] [ 4.76641360e-01 8.79097162e-01 -1.09292562e-03 1.77640859e+01] [ 2.34074566e-03 -2.59056384e-05 9.99997260e-01 1.74323753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.36, Y:17.78, Z:0.17 [[ 8.79168275e-01 -4.76506924e-01 -2.07244844e-03 7.43647045e+01] [ 4.76505682e-01 8.79170717e-01 -1.08853514e-03 1.77760852e+01] [ 2.34073051e-03 -3.05278922e-05 9.99997260e-01 1.74870132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.39, Y:17.79, Z:0.17 [[ 8.77692692e-01 -4.79219417e-01 -2.07084958e-03 7.43856387e+01] [ 4.79218175e-01 8.77695134e-01 -1.09150708e-03 1.77881902e+01] [ 2.34064599e-03 -3.43809675e-05 9.99997260e-01 1.72885038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.41, Y:17.80, Z:0.18 [[ 8.78086149e-01 -4.78498153e-01 -2.05719055e-03 7.44139523e+01] [ 4.78496850e-01 8.78088559e-01 -1.11685446e-03 1.78005075e+01] [ 2.34080828e-03 -3.66476610e-06 9.99997260e-01 1.75647126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.44, Y:17.81, Z:0.18 [[ 8.77493475e-01 -4.79584119e-01 -2.06747374e-03 7.44389577e+01] [ 4.79582863e-01 8.77495910e-01 -1.09776262e-03 1.78138437e+01] [ 2.34066927e-03 -2.82454421e-05 9.99997260e-01 1.76347077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:74.46, Y:17.83, Z:0.18 [[ 8.77514598e-01 -4.79545469e-01 -2.06702454e-03 7.44645048e+01] [ 4.79544212e-01 8.77517032e-01 -1.09859590e-03 1.78252205e+01] [ 2.34067592e-03 -2.71957142e-05 9.99997260e-01 1.75185710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.49, Y:17.84, Z:0.17 [[ 8.76936761e-01 -4.80601340e-01 -2.06614189e-03 7.44885804e+01] [ 4.80600081e-01 8.76939195e-01 -1.10023215e-03 1.78380185e+01] [ 2.34065385e-03 -2.81539454e-05 9.99997260e-01 1.74734600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.51, Y:17.85, Z:0.18 [[ 8.77349161e-01 -4.79848084e-01 -2.06559338e-03 7.45122810e+01] [ 4.79846820e-01 8.77351592e-01 -1.10124824e-03 1.78494564e+01] [ 2.34068350e-03 -2.49892014e-05 9.99997260e-01 1.78901274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97361786499998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:74.54, Y:17.86, Z:0.17 [[ 8.75610042e-01 -4.83014298e-01 -2.05936651e-03 7.45369523e+01] [ 4.83013017e-01 8.75612464e-01 -1.11277208e-03 1.78625989e+01] [ 2.34069181e-03 -2.03464213e-05 9.99997260e-01 1.73997387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00361786499998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:74.56, Y:17.88, Z:0.17 [[ 8.75617140e-01 -4.83001444e-01 -2.05660541e-03 7.45634945e+01] [ 4.83000151e-01 8.75619555e-01 -1.11787867e-03 1.78752212e+01] [ 2.34074093e-03 -1.45069959e-05 9.99997260e-01 1.73314076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.59, Y:17.89, Z:0.18 [[ 8.75299804e-01 -4.83576272e-01 -2.05949130e-03 7.45885723e+01] [ 4.83574993e-01 8.75302227e-01 -1.11254280e-03 1.78874015e+01] [ 2.34067662e-03 -2.21099952e-05 9.99997260e-01 1.75381175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06361786499998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:74.62, Y:17.90, Z:0.17 [[ 8.74937958e-01 -4.84230657e-01 -2.05904208e-03 7.46159593e+01] [ 4.84229378e-01 8.74940381e-01 -1.11337280e-03 1.78991905e+01] [ 2.34066831e-03 -2.29165387e-05 9.99997260e-01 1.74300358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:74.64, Y:17.91, Z:0.17 [[ 8.74328265e-01 -4.85330642e-01 -2.06208652e-03 7.46407678e+01] [ 4.85329379e-01 8.74330697e-01 -1.10774963e-03 1.79124311e+01] [ 2.34057039e-03 -3.22543536e-05 9.99997260e-01 1.74474572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12361786499999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:74.67, Y:17.92, Z:0.18 [[ 8.74494273e-01 -4.85031472e-01 -2.05882993e-03 7.46670938e+01] [ 4.85030193e-01 8.74496696e-01 -1.11376126e-03 1.79244443e+01] [ 2.34064924e-03 -2.46168406e-05 9.99997260e-01 1.76341887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15361786499999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:74.69, Y:17.94, Z:0.17 [[ 8.73793402e-01 -4.86292956e-01 -2.06167195e-03 7.46904779e+01] [ 4.86291694e-01 8.73795834e-01 -1.10851760e-03 1.79373215e+01] [ 2.34054466e-03 -3.39585820e-05 9.99997260e-01 1.74960240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.72, Y:17.95, Z:0.18 [[ 8.74207387e-01 -4.85548359e-01 -2.05783352e-03 7.47205013e+01] [ 4.85547078e-01 8.74209809e-01 -1.11559236e-03 1.79479254e+01] [ 2.34065229e-03 -2.39159686e-05 9.99997260e-01 1.76557557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21361786499999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:74.74, Y:17.96, Z:0.17 [[ 8.73117785e-01 -4.87504938e-01 -2.06604647e-03 7.47432714e+01] [ 4.87503698e-01 8.73120229e-01 -1.10045191e-03 1.79600323e+01] [ 2.34038271e-03 -4.63811597e-05 9.99997260e-01 1.74160999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24361786499998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:74.77, Y:17.97, Z:0.18 [[ 8.72800634e-01 -4.88072536e-01 -2.06212464e-03 7.47692757e+01] [ 4.88071281e-01 8.72803069e-01 -1.10767376e-03 1.79720316e+01] [ 2.34045386e-03 -3.96854598e-05 9.99997260e-01 1.76040864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27361786499998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:74.80, Y:17.98, Z:0.18 [[ 8.72173253e-01 -4.89192768e-01 -2.06238615e-03 7.47964373e+01] [ 4.89191516e-01 8.72175690e-01 -1.10719237e-03 1.79827655e+01] [ 2.34039356e-03 -4.32382389e-05 9.99997260e-01 1.76027493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30361786499998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:74.82, Y:18.00, Z:0.17 [[ 8.70725370e-01 -4.91765247e-01 -2.06670242e-03 7.48162518e+01] [ 4.91764022e-01 8.70727821e-01 -1.09924285e-03 1.79955909e+01] [ 2.34010472e-03 -5.91912616e-05 9.99997260e-01 1.73746613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33361786499998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:74.84, Y:18.01, Z:0.17 [[ 8.70860200e-01 -4.91526489e-01 -2.05508469e-03 7.48440802e+01] [ 4.91525213e-01 8.70862624e-01 -1.12061538e-03 1.80080860e+01] [ 2.34050859e-03 -3.42266030e-05 9.99997260e-01 1.74316375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36361786499998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:74.87, Y:18.02, Z:0.18 [[ 8.70616448e-01 -4.91958086e-01 -2.05982152e-03 7.48703051e+01] [ 4.91956832e-01 8.70618883e-01 -1.11190535e-03 1.80201541e+01] [ 2.34033034e-03 -4.53001815e-05 9.99997260e-01 1.75921853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.39361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:74.89, Y:18.03, Z:0.18 [[ 8.70286984e-01 -4.92540680e-01 -2.05998271e-03 7.48949062e+01] [ 4.92539428e-01 8.70289421e-01 -1.11160908e-03 1.80328013e+01] [ 2.34029385e-03 -4.72037896e-05 9.99997260e-01 1.76096542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:74.92, Y:18.05, Z:0.18 [[ 8.70217359e-01 -4.92663688e-01 -2.05882741e-03 7.49196538e+01] [ 4.92662431e-01 8.70219793e-01 -1.11373148e-03 1.80450354e+01] [ 2.34032742e-03 -4.51184459e-05 9.99997260e-01 1.76345737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:74.95, Y:18.06, Z:0.17 [[ 8.70219996e-01 -4.92659029e-01 -2.05889252e-03 7.49450925e+01] [ 4.92657772e-01 8.70222431e-01 -1.11361189e-03 1.80563686e+01] [ 2.34032540e-03 -4.52420683e-05 9.99997260e-01 1.74689179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.97, Y:18.07, Z:0.18 [[ 8.70249988e-01 -4.92606042e-01 -2.06043781e-03 7.49708210e+01] [ 4.92604793e-01 8.70252426e-01 -1.11077445e-03 1.80694995e+01] [ 2.34027520e-03 -4.83300876e-05 9.99997260e-01 1.75160386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51361786499999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:75.00, Y:18.08, Z:0.17 [[ 8.70545083e-01 -4.92084354e-01 -2.06081849e-03 7.49954141e+01] [ 4.92083104e-01 8.70547521e-01 -1.11007570e-03 1.80833433e+01] [ 2.34029131e-03 -4.77230130e-05 9.99997260e-01 1.71611305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:75.02, Y:18.09, Z:0.17 [[ 8.69786817e-01 -4.93423396e-01 -2.06045514e-03 7.50163658e+01] [ 4.93422148e-01 8.69789256e-01 -1.11074239e-03 1.80947643e+01] [ 2.34022803e-03 -5.05651128e-05 9.99997260e-01 1.69755171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.04, Y:18.11, Z:0.17 [[ 8.70153425e-01 -4.92776647e-01 -2.04763304e-03 7.50438511e+01] [ 4.92775342e-01 8.70155834e-01 -1.13423759e-03 1.81082098e+01] [ 2.34068563e-03 -2.20623483e-05 9.99997260e-01 1.73392020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:75.06, Y:18.12, Z:0.17 [[ 8.69030795e-01 -4.94753721e-01 -2.05713749e-03 7.50637843e+01] [ 4.94752463e-01 8.69033229e-01 -1.11681297e-03 1.81200798e+01] [ 2.34026821e-03 -4.72289770e-05 9.99997260e-01 1.71172137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.10, Y:18.13, Z:0.17 [[ 8.71118492e-01 -4.91068623e-01 -2.04474655e-03 7.50960790e+01] [ 4.91067301e-01 8.71120892e-01 -1.13950245e-03 1.81304275e+01] [ 2.34079534e-03 -1.14665131e-05 9.99997260e-01 1.72857737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.13, Y:18.15, Z:0.18 [[ 8.71058376e-01 -4.91175206e-01 -2.05489891e-03 7.51265419e+01] [ 4.91173928e-01 8.71060799e-01 -1.12090225e-03 1.81465008e+01] [ 2.34050128e-03 -3.29414774e-05 9.99997260e-01 1.78315788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.15, Y:18.16, Z:0.18 [[ 8.70528392e-01 -4.92113849e-01 -2.06846807e-03 7.51504330e+01] [ 4.92112633e-01 8.70530847e-01 -1.09605191e-03 1.81580806e+01] [ 2.34004759e-03 -6.37749656e-05 9.99997260e-01 1.77488615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:75.18, Y:18.17, Z:0.18 [[ 8.71433852e-01 -4.90508706e-01 -2.06193862e-03 7.51773787e+01] [ 4.90507456e-01 8.71436290e-01 -1.10799480e-03 1.81682125e+01] [ 2.34032924e-03 -4.58520916e-05 9.99997260e-01 1.78602446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.75361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:75.20, Y:18.18, Z:0.18 [[ 8.71249922e-01 -4.90835331e-01 -2.06174111e-03 7.52027911e+01] [ 4.90834082e-01 8.71252361e-01 -1.10835584e-03 1.81815028e+01] [ 2.34031701e-03 -4.63178637e-05 9.99997260e-01 1.79416402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.23, Y:18.20, Z:0.18 [[ 8.71064241e-01 -4.91164758e-01 -2.06616558e-03 7.52300856e+01] [ 4.91163529e-01 8.71066689e-01 -1.10026894e-03 1.81965480e+01] [ 2.34018133e-03 -5.64202499e-05 9.99997260e-01 1.83247324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:75.25, Y:18.21, Z:0.18 [[ 8.70904791e-01 -4.91447406e-01 -2.07186923e-03 7.52525158e+01] [ 4.91446202e-01 8.70907253e-01 -1.08985091e-03 1.82106364e+01] [ 2.34001034e-03 -6.90558877e-05 9.99997260e-01 1.80736365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.27, Y:18.22, Z:0.18 [[ 8.70728591e-01 -4.91759554e-01 -2.06446344e-03 7.52743809e+01] [ 4.91758320e-01 8.70731036e-01 -1.10335900e-03 1.82244757e+01] [ 2.34017972e-03 -5.44908431e-05 9.99997260e-01 1.78931892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87361786499999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:75.30, Y:18.24, Z:0.18 [[ 8.71616738e-01 -4.90183659e-01 -2.05992993e-03 7.53022031e+01] [ 4.90182400e-01 8.71619171e-01 -1.11161470e-03 1.82377203e+01] [ 2.34036978e-03 -4.08394154e-05 9.99997260e-01 1.80454815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90361786499999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:75.33, Y:18.25, Z:0.18 [[ 8.71395395e-01 -4.90577005e-01 -2.06576832e-03 7.53272429e+01] [ 4.90575773e-01 8.71397842e-01 -1.10098547e-03 1.82516775e+01] [ 2.34022421e-03 -5.40222187e-05 9.99997260e-01 1.80526824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:75.35, Y:18.27, Z:0.18 [[ 8.72001650e-01 -4.89498577e-01 -2.06541768e-03 7.53476632e+01] [ 4.89497340e-01 8.72004094e-01 -1.10162330e-03 1.82659286e+01] [ 2.34029571e-03 -5.03991202e-05 9.99997260e-01 1.79160748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.37, Y:18.28, Z:0.17 [[ 8.71098623e-01 -4.91103818e-01 -2.05653882e-03 7.53713509e+01] [ 4.91102547e-01 8.71101050e-01 -1.11775053e-03 1.82778061e+01] [ 2.34038467e-03 -3.63005010e-05 9.99997261e-01 1.72403930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.40, Y:18.29, Z:0.17 [[ 8.73261557e-01 -4.87247423e-01 -2.04998902e-03 7.53972124e+01] [ 4.87246113e-01 8.73263963e-01 -1.12963667e-03 1.82899239e+01] [ 2.34059409e-03 -1.23809030e-05 9.99997261e-01 1.72682024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.42, Y:18.31, Z:0.18 [[ 8.73665365e-01 -4.86522999e-01 -2.04967639e-03 7.54218094e+01] [ 4.86521687e-01 8.73667769e-01 -1.13020362e-03 1.83053471e+01] [ 2.34060626e-03 -9.79225385e-06 9.99997261e-01 1.78354203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:75.45, Y:18.32, Z:0.18 [[ 8.74966106e-01 -4.84179811e-01 -2.05530310e-03 7.54479615e+01] [ 4.84178516e-01 8.74968520e-01 -1.12000172e-03 1.83199383e+01] [ 2.34060773e-03 -1.51700590e-05 9.99997261e-01 1.83732861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:75.47, Y:18.34, Z:0.18 [[ 8.74708107e-01 -4.84645733e-01 -2.05946532e-03 7.54721989e+01] [ 4.84644457e-01 8.74710531e-01 -1.11245919e-03 1.83361660e+01] [ 2.34058461e-03 -2.50313821e-05 9.99997261e-01 1.81968939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.50, Y:18.35, Z:0.18 [[ 8.76228144e-01 -4.81892101e-01 -2.05972631e-03 7.54978586e+01] [ 4.81890819e-01 8.76230565e-01 -1.11198655e-03 1.83510625e+01] [ 2.34065268e-03 -1.82092874e-05 9.99997261e-01 1.83913809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.52, Y:18.36, Z:0.19 [[ 8.77006083e-01 -4.80474836e-01 -2.06458294e-03 7.55214339e+01] [ 4.80473570e-01 8.77008513e-01 -1.10319433e-03 1.83645892e+01] [ 2.34071392e-03 -2.44693954e-05 9.99997260e-01 1.85514684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.55, Y:18.38, Z:0.19 [[ 8.77014123e-01 -4.80460171e-01 -2.06228008e-03 7.55459989e+01] [ 4.80458895e-01 8.77016547e-01 -1.10735998e-03 1.83785626e+01] [ 2.34069612e-03 -1.96704643e-05 9.99997260e-01 1.85378289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.57, Y:18.39, Z:0.19 [[ 8.77246003e-01 -4.80036663e-01 -2.06210277e-03 7.55700659e+01] [ 4.80035386e-01 8.77248426e-01 -1.10768043e-03 1.83918610e+01] [ 2.34070363e-03 -1.81740701e-05 9.99997260e-01 1.86655982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:75.60, Y:18.41, Z:0.19 [[ 8.76496619e-01 -4.81403592e-01 -2.06362580e-03 7.55962327e+01] [ 4.81402325e-01 8.76499048e-01 -1.10492923e-03 1.84057612e+01] [ 2.34068295e-03 -2.49675221e-05 9.99997260e-01 1.85950829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.62, Y:18.42, Z:0.19 [[ 8.76214234e-01 -4.81917373e-01 -2.06432213e-03 7.56214799e+01] [ 4.81916110e-01 8.76216666e-01 -1.10367359e-03 1.84200576e+01] [ 2.34067294e-03 -2.77755798e-05 9.99997260e-01 1.87689748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.65, Y:18.43, Z:0.19 [[ 8.75450045e-01 -4.83304207e-01 -2.06461352e-03 7.56463738e+01] [ 4.83302949e-01 8.75452479e-01 -1.10314834e-03 1.84335138e+01] [ 2.34062726e-03 -3.20825361e-05 9.99997260e-01 1.87404769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.67, Y:18.45, Z:0.19 [[ 8.74752005e-01 -4.84566468e-01 -2.06590275e-03 7.56697729e+01] [ 4.84565219e-01 8.74754444e-01 -1.10082478e-03 1.84466512e+01] [ 2.34058039e-03 -3.81159325e-05 9.99997260e-01 1.86971451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.70, Y:18.46, Z:0.19 [[ 8.73406206e-01 -4.86988036e-01 -2.06199568e-03 7.56956825e+01] [ 4.86986777e-01 8.73408639e-01 -1.10785286e-03 1.84612070e+01] [ 2.34047593e-03 -3.65590644e-05 9.99997260e-01 1.86322867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.72, Y:18.48, Z:0.19 [[ 8.71570351e-01 -4.90266117e-01 -2.06323097e-03 7.57220868e+01] [ 4.90264873e-01 8.71572792e-01 -1.10563334e-03 1.84750591e+01] [ 2.34031054e-03 -4.78924250e-05 9.99997260e-01 1.85720767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.74, Y:18.49, Z:0.19 [[ 8.70217800e-01 -4.92662874e-01 -2.06726373e-03 7.57429661e+01] [ 4.92661653e-01 8.70220253e-01 -1.09839012e-03 1.84872659e+01] [ 2.34011080e-03 -6.26229360e-05 9.99997260e-01 1.86705231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:75.77, Y:18.50, Z:0.19 [[ 8.69128001e-01 -4.94582942e-01 -2.05687300e-03 7.57694973e+01] [ 4.94581683e-01 8.69130434e-01 -1.11703795e-03 1.85005387e+01] [ 2.34015884e-03 -4.64427471e-05 9.99997261e-01 1.86641682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:75.80, Y:18.52, Z:0.19 [[ 8.66418761e-01 -4.99313824e-01 -2.05803078e-03 7.57974934e+01] [ 4.99312583e-01 8.66421203e-01 -1.11496491e-03 1.85150191e+01] [ 2.33983890e-03 -6.15741490e-05 9.99997261e-01 1.85691616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.82, Y:18.53, Z:0.19 [[ 8.65806518e-01 -5.00374666e-01 -2.06557101e-03 7.58190813e+01] [ 5.00373460e-01 8.65808979e-01 -1.10146987e-03 1.85264968e+01] [ 2.33953754e-03 -7.98971144e-05 9.99997260e-01 1.86450927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.85, Y:18.54, Z:0.19 [[ 8.63913765e-01 -5.03635563e-01 -2.05591310e-03 7.58464592e+01] [ 5.03634325e-01 8.63916208e-01 -1.11872292e-03 1.85422235e+01] [ 2.33956530e-03 -6.89482784e-05 9.99997261e-01 1.86596957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.87, Y:18.55, Z:0.19 [[ 8.62673629e-01 -5.05756816e-01 -2.06222633e-03 7.58705762e+01] [ 5.05755611e-01 8.62676089e-01 -1.10744598e-03 1.85543742e+01] [ 2.33913170e-03 -8.76181013e-05 9.99997260e-01 1.87399140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:75.90, Y:18.57, Z:0.19 [[ 8.61919683e-01 -5.07040649e-01 -2.05938672e-03 7.58961975e+01] [ 5.07039435e-01 8.61922139e-01 -1.11251399e-03 1.85690060e+01] [ 2.33912082e-03 -8.52925710e-05 9.99997261e-01 1.87247215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.92, Y:18.58, Z:0.19 [[ 8.61136890e-01 -5.08368974e-01 -2.05978390e-03 7.59192242e+01] [ 5.08367766e-01 8.61139349e-01 -1.11180549e-03 1.85829645e+01] [ 2.33896838e-03 -8.97110126e-05 9.99997261e-01 1.87640555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.94, Y:18.60, Z:0.19 [[ 8.61150008e-01 -5.08346764e-01 -2.05724540e-03 7.59432283e+01] [ 5.08345545e-01 8.61152461e-01 -1.11632827e-03 1.85967770e+01] [ 2.33908380e-03 -8.44654355e-05 9.99997261e-01 1.87131217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:75.97, Y:18.61, Z:0.19 [[ 8.63091888e-01 -5.05042740e-01 -2.05538631e-03 7.59686002e+01] [ 5.05041504e-01 8.63094332e-01 -1.11963727e-03 1.86127704e+01] [ 2.33945695e-03 -7.17055465e-05 9.99997261e-01 1.88129976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:75.99, Y:18.62, Z:0.19 [[ 8.64471170e-01 -5.02678187e-01 -2.05812047e-03 7.59917182e+01] [ 5.02676956e-01 8.64473617e-01 -1.11477252e-03 1.86243690e+01] [ 2.33956268e-03 -7.08810277e-05 9.99997261e-01 1.86017374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.02, Y:18.64, Z:0.19 [[ 8.63966377e-01 -5.03545321e-01 -2.05151569e-03 7.60171216e+01] [ 5.03544065e-01 8.63968811e-01 -1.12650558e-03 1.86406302e+01] [ 2.33969219e-03 -5.97656021e-05 9.99997261e-01 1.88517333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:76.04, Y:18.65, Z:0.18 [[ 8.63023872e-01 -5.05158956e-01 -2.05554609e-03 7.60367867e+01] [ 5.05157721e-01 8.63026317e-01 -1.11934695e-03 1.86545101e+01] [ 2.33943851e-03 -7.23518442e-05 9.99997261e-01 1.81408294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.06, Y:18.67, Z:0.19 [[ 8.64661895e-01 -5.02350109e-01 -2.04358675e-03 7.60610269e+01] [ 5.02348815e-01 8.64664309e-01 -1.14056454e-03 1.86683575e+01] [ 2.33997924e-03 -4.03906903e-05 9.99997261e-01 1.87274439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.09, Y:18.68, Z:0.19 [[ 8.64504145e-01 -5.02621528e-01 -2.04542285e-03 7.60875413e+01] [ 5.02620243e-01 8.64506563e-01 -1.13731087e-03 1.86829232e+01] [ 2.33991840e-03 -4.48609624e-05 9.99997261e-01 1.87831369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:76.11, Y:18.70, Z:0.19 [[ 8.65580263e-01 -5.00766014e-01 -2.05104127e-03 7.61076074e+01] [ 5.00764748e-01 8.65582692e-01 -1.12735907e-03 1.86963478e+01] [ 2.33988893e-03 -5.12694052e-05 9.99997261e-01 1.87551607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.13, Y:18.71, Z:0.19 [[ 8.63943424e-01 -5.03584750e-01 -2.03959148e-03 7.61328493e+01] [ 5.03583443e-01 8.63945831e-01 -1.14761764e-03 1.87127846e+01] [ 2.34001929e-03 -3.56277829e-05 9.99997262e-01 1.87376580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.16, Y:18.73, Z:0.19 [[ 8.63893659e-01 -5.03670098e-01 -2.04414132e-03 7.61593753e+01] [ 5.03668811e-01 8.63896076e-01 -1.13957053e-03 1.87270812e+01] [ 2.33989327e-03 -4.51024702e-05 9.99997261e-01 1.87054139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.18, Y:18.74, Z:0.19 [[ 8.63816061e-01 -5.03803150e-01 -2.04903767e-03 7.61844628e+01] [ 5.03801883e-01 8.63818490e-01 -1.13091515e-03 1.87412014e+01] [ 2.33975524e-03 -5.54063679e-05 9.99997261e-01 1.87187798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.21, Y:18.75, Z:0.19 [[ 8.63902089e-01 -5.03655615e-01 -2.04993807e-03 7.62078991e+01] [ 5.03654352e-01 8.63904519e-01 -1.12932437e-03 1.87543168e+01] [ 2.33974132e-03 -5.68345426e-05 9.99997261e-01 1.86977535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.23, Y:18.77, Z:0.19 [[ 8.63769094e-01 -5.03883679e-01 -2.04716276e-03 7.62341059e+01] [ 5.03882405e-01 8.63771518e-01 -1.13422249e-03 1.87692004e+01] [ 2.33979709e-03 -5.18229627e-05 9.99997261e-01 1.87188652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:76.26, Y:18.78, Z:0.19 [[ 8.64245065e-01 -5.03066855e-01 -2.05110299e-03 7.62558468e+01] [ 5.03065595e-01 8.64247497e-01 -1.12726971e-03 1.87832266e+01] [ 2.33975265e-03 -5.76020656e-05 9.99997261e-01 1.86828230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.28, Y:18.80, Z:0.19 [[ 8.63906111e-01 -5.03648735e-01 -2.04538636e-03 7.62806809e+01] [ 5.03647453e-01 8.63908531e-01 -1.13734967e-03 1.87983822e+01] [ 2.33985145e-03 -4.75903032e-05 9.99997261e-01 1.86084103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:76.31, Y:18.81, Z:0.19 [[ 8.63794877e-01 -5.03839482e-01 -2.04620928e-03 7.63063366e+01] [ 5.03838204e-01 8.63797299e-01 -1.13589927e-03 1.88134740e+01] [ 2.33982095e-03 -4.97744396e-05 9.99997261e-01 1.86416754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:76.33, Y:18.83, Z:0.19 [[ 8.63568291e-01 -5.04227735e-01 -2.04884361e-03 7.63311138e+01] [ 5.04226470e-01 8.63570720e-01 -1.13127156e-03 1.88284914e+01] [ 2.33973985e-03 -5.61509380e-05 9.99997261e-01 1.85844637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.35, Y:18.84, Z:0.19 [[ 8.63357545e-01 -5.04588505e-01 -2.04727278e-03 7.63547727e+01] [ 5.04587233e-01 8.63359970e-01 -1.13402661e-03 1.88428416e+01] [ 2.33975016e-03 -5.39572788e-05 9.99997261e-01 1.85418643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:76.37, Y:18.86, Z:0.19 [[ 8.64092202e-01 -5.03329404e-01 -2.04368386e-03 7.63749573e+01] [ 5.03328114e-01 8.64094618e-01 -1.14031647e-03 1.88553692e+01] [ 2.33989103e-03 -4.33049752e-05 9.99997262e-01 1.85023970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:76.40, Y:18.87, Z:0.19 [[ 8.64226558e-01 -5.03098726e-01 -2.03194350e-03 7.63999889e+01] [ 5.03097387e-01 8.64228946e-01 -1.16086884e-03 1.88704604e+01] [ 2.34009602e-03 -1.90117871e-05 9.99997262e-01 1.86592685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.25361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.43, Y:18.89, Z:0.19 [[ 8.63299425e-01 -5.04687989e-01 -2.03392682e-03 7.64250976e+01] [ 5.04686663e-01 8.63301820e-01 -1.15740003e-03 1.88868288e+01] [ 2.34001862e-03 -2.73129547e-05 9.99997262e-01 1.85913271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:76.45, Y:18.90, Z:0.19 [[ 8.64110076e-01 -5.03298746e-01 -2.03706912e-03 7.64485967e+01] [ 5.03297428e-01 8.64112476e-01 -1.15190658e-03 1.89014479e+01] [ 2.34000998e-03 -2.98775637e-05 9.99997262e-01 1.85915430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.47, Y:18.92, Z:0.19 [[ 8.64252113e-01 -5.03054808e-01 -2.03595677e-03 7.64742352e+01] [ 5.03053486e-01 8.64254511e-01 -1.15384987e-03 1.89154112e+01] [ 2.34003455e-03 -2.69779572e-05 9.99997262e-01 1.87175530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:76.50, Y:18.93, Z:0.19 [[ 8.64179223e-01 -5.03180004e-01 -2.03825142e-03 7.64970002e+01] [ 5.03178691e-01 8.64181626e-01 -1.14984218e-03 1.89297275e+01] [ 2.33999702e-03 -3.19349592e-05 9.99997262e-01 1.86723354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.52, Y:18.94, Z:0.19 [[ 8.64116367e-01 -5.03287942e-01 -2.03767734e-03 7.65206908e+01] [ 5.03286627e-01 8.64118769e-01 -1.15084461e-03 1.89438984e+01] [ 2.34000145e-03 -3.10720913e-05 9.99997262e-01 1.85249878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.55, Y:18.96, Z:0.18 [[ 8.63764379e-01 -5.03891805e-01 -2.03637545e-03 7.65457204e+01] [ 5.03890486e-01 8.63766779e-01 -1.15311560e-03 1.89590585e+01] [ 2.33999896e-03 -3.00900343e-05 9.99997262e-01 1.84727375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.57, Y:18.97, Z:0.18 [[ 8.61922317e-01 -5.07036263e-01 -2.03651894e-03 7.65680760e+01] [ 5.07034954e-01 8.61924722e-01 -1.15286548e-03 1.89716615e+01] [ 2.33987062e-03 -3.89058017e-05 9.99997262e-01 1.79790797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:76.60, Y:18.99, Z:0.19 [[ 8.63375576e-01 -5.04557724e-01 -2.02937903e-03 7.65967526e+01] [ 5.04556378e-01 8.63377961e-01 -1.16529969e-03 1.89866537e+01] [ 2.34008209e-03 -1.78448472e-05 9.99997262e-01 1.86197768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.62, Y:19.00, Z:0.19 [[ 8.63125961e-01 -5.04984562e-01 -2.04152823e-03 7.66220777e+01] [ 5.04983268e-01 8.63128374e-01 -1.14413706e-03 1.90014578e+01] [ 2.33987249e-03 -4.34031992e-05 9.99997262e-01 1.87664243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.65, Y:19.01, Z:0.19 [[ 8.62958626e-01 -5.05270462e-01 -2.04221848e-03 7.66452853e+01] [ 5.05269171e-01 8.62961041e-01 -1.14293539e-03 1.90143196e+01] [ 2.33984647e-03 -4.55640855e-05 9.99997262e-01 1.85623979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.67, Y:19.03, Z:0.18 [[ 8.61102257e-01 -5.08427716e-01 -2.03955349e-03 7.66657632e+01] [ 5.08426423e-01 8.61104671e-01 -1.14757180e-03 1.90273879e+01] [ 2.33972635e-03 -4.87862157e-05 9.99997262e-01 1.81194637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.69, Y:19.04, Z:0.19 [[ 8.61509860e-01 -5.07736786e-01 -2.02916322e-03 7.66882248e+01] [ 5.07735449e-01 8.61512249e-01 -1.16562540e-03 1.90405285e+01] [ 2.33997986e-03 -2.60803211e-05 9.99997262e-01 1.86381394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.71, Y:19.06, Z:0.18 [[ 8.59837929e-01 -5.10563061e-01 -2.02416964e-03 7.67127332e+01] [ 5.10561711e-01 8.59840311e-01 -1.17429516e-03 1.90555611e+01] [ 2.34001439e-03 -2.37599930e-05 9.99997262e-01 1.82384218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:76.74, Y:19.07, Z:0.18 [[ 8.58841787e-01 -5.12236942e-01 -2.02505634e-03 7.67397854e+01] [ 5.12235600e-01 8.58844174e-01 -1.17275560e-03 1.90722071e+01] [ 2.33993658e-03 -3.00944312e-05 9.99997262e-01 1.84681488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.76, Y:19.08, Z:0.18 [[ 8.58787994e-01 -5.12327081e-01 -2.03548865e-03 7.67553357e+01] [ 5.12325782e-01 8.58790405e-01 -1.15463875e-03 1.90793099e+01] [ 2.33961082e-03 -5.12434194e-05 9.99997262e-01 1.83831203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.78, Y:19.10, Z:0.18 [[ 8.57024182e-01 -5.15272296e-01 -2.00289032e-03 7.67845250e+01] [ 5.15270873e-01 8.57026523e-01 -1.21126481e-03 1.90999715e+01] [ 2.34066132e-03 6.05219599e-06 9.99997261e-01 1.82939750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.81, Y:19.11, Z:0.18 [[ 8.56778721e-01 -5.15680236e-01 -2.02923217e-03 7.68081739e+01] [ 5.15678922e-01 8.56781122e-01 -1.16544593e-03 1.91145271e+01] [ 2.33960525e-03 -4.79029837e-05 9.99997262e-01 1.83794798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.83, Y:19.13, Z:0.18 [[ 8.56287790e-01 -5.16495007e-01 -2.03191190e-03 7.68337113e+01] [ 5.16493705e-01 8.56290199e-01 -1.16078565e-03 1.91273594e+01] [ 2.33944623e-03 -5.55031273e-05 9.99997262e-01 1.84829628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.86, Y:19.14, Z:0.18 [[ 8.56906396e-01 -5.15468027e-01 -2.03501738e-03 7.68591992e+01] [ 5.15466735e-01 8.56908811e-01 -1.15538740e-03 1.91402810e+01] [ 2.33938959e-03 -5.89249075e-05 9.99997262e-01 1.80186806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.88, Y:19.15, Z:0.18 [[ 8.56810734e-01 -5.15627032e-01 -2.03234692e-03 7.68830354e+01] [ 5.15625730e-01 8.56813142e-01 -1.16002553e-03 1.91541289e+01] [ 2.33948207e-03 -5.40080338e-05 9.99997262e-01 1.80249215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.91, Y:19.17, Z:0.18 [[ 8.55257029e-01 -5.18200043e-01 -2.03221600e-03 7.69061122e+01] [ 5.18198748e-01 8.55259441e-01 -1.16025283e-03 1.91703213e+01] [ 2.33931499e-03 -6.07773961e-05 9.99997262e-01 1.82930607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.93, Y:19.18, Z:0.18 [[ 8.55927073e-01 -5.17092559e-01 -2.03261390e-03 7.69327262e+01] [ 5.17091262e-01 8.55929484e-01 -1.15956210e-03 1.91830751e+01] [ 2.33937510e-03 -5.85462979e-05 9.99997262e-01 1.84481777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.96, Y:19.20, Z:0.18 [[ 8.54896194e-01 -5.18795089e-01 -2.03791270e-03 7.69564209e+01] [ 5.18793819e-01 8.54898620e-01 -1.15036677e-03 1.91982508e+01] [ 2.33901338e-03 -7.38123402e-05 9.99997262e-01 1.79799102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.99, Y:19.21, Z:0.18 [[ 8.58491324e-01 -5.12824051e-01 -2.03478471e-03 7.69877466e+01] [ 5.12822751e-01 8.58493733e-01 -1.15579146e-03 1.92123162e+01] [ 2.33956758e-03 -5.12469529e-05 9.99997262e-01 1.81440316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.01, Y:19.23, Z:0.19 [[ 8.57441073e-01 -5.14578069e-01 -2.05387295e-03 7.70085676e+01] [ 5.14576853e-01 8.57443527e-01 -1.12265785e-03 1.92263277e+01] [ 2.33877518e-03 -9.42625254e-05 9.99997261e-01 1.86413711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.03, Y:19.24, Z:0.19 [[ 8.59329992e-01 -5.11417438e-01 -2.04184556e-03 7.70344891e+01] [ 5.11416163e-01 8.59332415e-01 -1.14350357e-03 1.92401850e+01] [ 2.33943174e-03 -6.15859073e-05 9.99997262e-01 1.86619721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.03361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:77.06, Y:19.26, Z:0.18 [[ 8.58129595e-01 -5.13429074e-01 -2.04547497e-03 7.70604776e+01] [ 5.13427820e-01 8.58132029e-01 -1.13722268e-03 1.92552987e+01] [ 2.33917077e-03 -7.43193182e-05 9.99997261e-01 1.79820132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.08, Y:19.27, Z:0.19 [[ 8.60235805e-01 -5.09892303e-01 -2.04904250e-03 7.70832486e+01] [ 5.09891054e-01 8.60238243e-01 -1.13105295e-03 1.92692507e+01] [ 2.33937991e-03 -7.18161965e-05 9.99997261e-01 1.86686668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:77.10, Y:19.28, Z:0.18 [[ 8.59813692e-01 -5.10603786e-01 -2.04669815e-03 7.71043956e+01] [ 5.10602529e-01 8.59816125e-01 -1.13510711e-03 1.92844675e+01] [ 2.33937406e-03 -6.90686195e-05 9.99997261e-01 1.79441021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:77.13, Y:19.30, Z:0.18 [[ 8.59304922e-01 -5.11459568e-01 -2.03978108e-03 7.71318663e+01] [ 5.11458285e-01 8.59307342e-01 -1.14704645e-03 1.93008179e+01] [ 2.33946674e-03 -5.76002703e-05 9.99997262e-01 1.81847772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.16, Y:19.32, Z:0.18 [[ 8.59561439e-01 -5.11028307e-01 -2.05007310e-03 7.71557161e+01] [ 5.11027065e-01 8.59563880e-01 -1.12929126e-03 1.93163313e+01] [ 2.33926859e-03 -7.69476216e-05 9.99997261e-01 1.83435394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.17, Y:19.33, Z:0.19 [[ 8.61229643e-01 -5.08211880e-01 -2.04645047e-03 7.71695056e+01] [ 5.08210615e-01 8.61232072e-01 -1.13553490e-03 1.93314322e+01] [ 2.33956110e-03 -6.20715355e-05 9.99997261e-01 1.87697364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:77.20, Y:19.35, Z:0.18 [[ 8.59884103e-01 -5.10485300e-01 -2.02186990e-03 7.71992129e+01] [ 5.10483941e-01 8.59886480e-01 -1.17781953e-03 1.93486455e+01] [ 2.33983814e-03 -1.93438224e-05 9.99997262e-01 1.84466366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.22, Y:19.36, Z:0.19 [[ 8.61819403e-01 -5.07211157e-01 -2.03920377e-03 7.72181255e+01] [ 5.07209860e-01 8.61821815e-01 -1.14798481e-03 1.93625828e+01] [ 2.33970100e-03 -4.49486730e-05 9.99997262e-01 1.85749274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.24, Y:19.38, Z:0.19 [[ 8.62547097e-01 -5.05972718e-01 -2.02833710e-03 7.72433157e+01] [ 5.05971373e-01 8.62549482e-01 -1.16668132e-03 1.93773084e+01] [ 2.33985003e-03 -1.99629251e-05 9.99997262e-01 1.85251360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.27, Y:19.39, Z:0.19 [[ 8.63212381e-01 -5.04836860e-01 -2.03224371e-03 7.72681032e+01] [ 5.04835528e-01 8.63214773e-01 -1.15996008e-03 1.93923069e+01] [ 2.33985340e-03 -2.46569223e-05 9.99997262e-01 1.86831758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:77.29, Y:19.41, Z:0.17 [[ 8.59522589e-01 -5.11093724e-01 -2.03098928e-03 7.72878170e+01] [ 5.11092404e-01 8.59524987e-01 -1.16211662e-03 1.94079243e+01] [ 2.33963655e-03 -3.91577126e-05 9.99997262e-01 1.73419459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.31, Y:19.42, Z:0.19 [[ 8.62378826e-01 -5.06259496e-01 -2.02073821e-03 7.73130165e+01] [ 5.06258121e-01 8.62381193e-01 -1.17972112e-03 1.94228146e+01] [ 2.33989165e-03 -5.64862097e-06 9.99997262e-01 1.86050311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.34, Y:19.44, Z:0.19 [[ 8.62343054e-01 -5.06320414e-01 -2.02383583e-03 7.73381977e+01] [ 5.06319052e-01 8.62345429e-01 -1.17440281e-03 1.94372867e+01] [ 2.33986969e-03 -1.19685360e-05 9.99997262e-01 1.87460703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.36, Y:19.45, Z:0.19 [[ 8.61450957e-01 -5.07836731e-01 -2.02592112e-03 7.73641891e+01] [ 5.07835381e-01 8.61453339e-01 -1.17082499e-03 1.94525343e+01] [ 2.33982445e-03 -2.02261192e-05 9.99997262e-01 1.87391829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.39, Y:19.47, Z:0.19 [[ 8.60385639e-01 -5.09639510e-01 -2.03010975e-03 7.73887315e+01] [ 5.09638183e-01 8.60388034e-01 -1.16364086e-03 1.94677798e+01] [ 2.33971949e-03 -3.34415571e-05 9.99997262e-01 1.88860982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.41, Y:19.48, Z:0.18 [[ 8.56969908e-01 -5.15362441e-01 -2.03242225e-03 7.74106273e+01] [ 5.15361139e-01 8.56972317e-01 -1.15967662e-03 1.94838172e+01] [ 2.33938338e-03 -5.36234750e-05 9.99997262e-01 1.81991792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.44, Y:19.50, Z:0.19 [[ 8.58763685e-01 -5.12367861e-01 -2.02719686e-03 7.74367863e+01] [ 5.12366529e-01 8.58766077e-01 -1.16862328e-03 1.94990419e+01] [ 2.33965290e-03 -3.50965896e-05 9.99997262e-01 1.90193765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.46, Y:19.52, Z:0.19 [[ 8.58053611e-01 -5.13556110e-01 -2.03019200e-03 7.74610760e+01] [ 5.13554794e-01 8.58056012e-01 -1.16349888e-03 1.95160243e+01] [ 2.33954041e-03 -4.42704206e-05 9.99997262e-01 1.87417714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.48, Y:19.53, Z:0.19 [[ 8.57706315e-01 -5.14135927e-01 -2.03132445e-03 7.74842048e+01] [ 5.14134617e-01 8.57708719e-01 -1.16156244e-03 1.95307411e+01] [ 2.33948567e-03 -4.80947771e-05 9.99997262e-01 1.87064311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.51, Y:19.55, Z:0.19 [[ 8.57336420e-01 -5.14752504e-01 -2.03037712e-03 7.75098063e+01] [ 5.14751192e-01 8.57338823e-01 -1.16318086e-03 1.95461601e+01] [ 2.33947139e-03 -4.79017274e-05 9.99997262e-01 1.87032925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.53, Y:19.56, Z:0.19 [[ 8.56692361e-01 -5.15823677e-01 -2.03286326e-03 7.75324532e+01] [ 5.15822378e-01 8.56694771e-01 -1.15893515e-03 1.95619950e+01] [ 2.33934952e-03 -5.57454706e-05 9.99997262e-01 1.87472189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.56, Y:19.58, Z:0.19 [[ 8.56115065e-01 -5.16781250e-01 -2.03338629e-03 7.75572950e+01] [ 5.16779956e-01 8.56117478e-01 -1.15804285e-03 1.95772864e+01] [ 2.33927237e-03 -5.93953479e-05 9.99997262e-01 1.87820365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.58, Y:19.59, Z:0.19 [[ 8.55365455e-01 -5.18021040e-01 -2.03461623e-03 7.75798035e+01] [ 5.18019755e-01 8.55367873e-01 -1.15594582e-03 1.95917046e+01] [ 2.33914961e-03 -6.52152804e-05 9.99997262e-01 1.88561986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.60, Y:19.61, Z:0.19 [[ 8.53605749e-01 -5.20915625e-01 -2.03386215e-03 7.76021446e+01] [ 5.20914345e-01 8.53608169e-01 -1.15723240e-03 1.96072587e+01] [ 2.33894178e-03 -7.16477370e-05 9.99997262e-01 1.88513370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.75361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.63, Y:19.62, Z:0.19 [[ 8.52837086e-01 -5.22173143e-01 -2.02816858e-03 7.76262315e+01] [ 5.22171843e-01 8.52839495e-01 -1.16693029e-03 1.96218773e+01] [ 2.33904193e-03 -6.38510990e-05 9.99997262e-01 1.89071288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:77.65, Y:19.64, Z:0.19 [[ 8.51705883e-01 -5.24016199e-01 -2.02781849e-03 7.76512390e+01] [ 5.24014903e-01 8.51708294e-01 -1.16752612e-03 1.96371698e+01] [ 2.33891242e-03 -6.82182438e-05 9.99997262e-01 1.88393188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.68, Y:19.65, Z:0.19 [[ 8.51675111e-01 -5.24066209e-01 -2.02822464e-03 7.76779404e+01] [ 5.24064915e-01 8.51677523e-01 -1.16683522e-03 1.96538727e+01] [ 2.33889225e-03 -6.91568562e-05 9.99997262e-01 1.89670751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.70, Y:19.67, Z:0.19 [[ 8.50603113e-01 -5.25804341e-01 -2.03454410e-03 7.77007783e+01] [ 5.25803077e-01 8.50605542e-01 -1.15610501e-03 1.96682556e+01] [ 2.33847952e-03 -8.63830247e-05 9.99997262e-01 1.90325077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87361786499999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:77.72, Y:19.68, Z:0.20 [[ 8.49226589e-01 -5.28024696e-01 -2.02984198e-03 7.77211135e+01] [ 5.28023420e-01 8.49229011e-01 -1.16410660e-03 1.96833229e+01] [ 2.33847774e-03 -8.32138262e-05 9.99997262e-01 1.95786470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:77.75, Y:19.70, Z:0.19 [[ 8.48786584e-01 -5.28731738e-01 -2.02107129e-03 7.77476887e+01] [ 5.28730428e-01 8.48788987e-01 -1.17901388e-03 1.96980679e+01] [ 2.33884511e-03 -6.78707246e-05 9.99997263e-01 1.91188115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.77, Y:19.71, Z:0.19 [[ 8.48688354e-01 -5.28889367e-01 -2.02868010e-03 7.77741778e+01] [ 5.28888088e-01 8.48690774e-01 -1.16613051e-03 1.97137143e+01] [ 2.33847611e-03 -8.32633607e-05 9.99997262e-01 1.92008071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.80, Y:19.73, Z:0.19 [[ 8.47635334e-01 -5.30575345e-01 -2.03563386e-03 7.77976759e+01] [ 5.30574099e-01 8.47637772e-01 -1.15436115e-03 1.97287179e+01] [ 2.33795572e-03 -1.01577302e-04 9.99997262e-01 1.92758303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.82, Y:19.74, Z:0.19 [[ 8.47528142e-01 -5.30746567e-01 -2.03228933e-03 7.78208649e+01] [ 5.30745307e-01 8.47530574e-01 -1.16001742e-03 1.97445974e+01] [ 2.33810260e-03 -9.54806156e-05 9.99997262e-01 1.92297049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.84, Y:19.76, Z:0.19 [[ 8.47122588e-01 -5.31393631e-01 -2.03197498e-03 7.78449908e+01] [ 5.31392373e-01 8.47125020e-01 -1.16054844e-03 1.97599448e+01] [ 2.33804490e-03 -9.66492018e-05 9.99997262e-01 1.93872836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:77.87, Y:19.77, Z:0.18 [[ 8.49376004e-01 -5.27784313e-01 -2.03023393e-03 7.78655045e+01] [ 5.27783037e-01 8.49378427e-01 -1.16348764e-03 1.97680974e+01] [ 2.33850743e-03 -8.32845507e-05 9.99997262e-01 1.81437375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:77.89, Y:19.79, Z:0.19 [[ 8.46467235e-01 -5.32437011e-01 -2.01222909e-03 7.78919839e+01] [ 5.32435676e-01 8.46469625e-01 -1.19383511e-03 1.97892565e+01] [ 2.33893280e-03 -6.08402538e-05 9.99997263e-01 1.89250533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.92, Y:19.81, Z:0.19 [[ 8.48250974e-01 -5.29590572e-01 -2.02733005e-03 7.79152076e+01] [ 5.29589290e-01 8.48253393e-01 -1.16836628e-03 1.98065224e+01] [ 2.33844537e-03 -8.25844482e-05 9.99997262e-01 1.91944679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:77.94, Y:19.82, Z:0.19 [[ 8.49492459e-01 -5.27596862e-01 -2.02824712e-03 7.79408361e+01] [ 5.27595578e-01 8.49494876e-01 -1.16682171e-03 1.98219859e+01] [ 2.33859701e-03 -7.88879648e-05 9.99997262e-01 1.88897456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.96, Y:19.84, Z:0.19 [[ 8.49634777e-01 -5.27367641e-01 -2.02905167e-03 7.79618943e+01] [ 5.27366359e-01 8.49637196e-01 -1.16547050e-03 1.98407603e+01] [ 2.33858920e-03 -7.98293277e-05 9.99997262e-01 1.90172242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.98, Y:19.86, Z:0.19 [[ 8.50147555e-01 -5.26540627e-01 -2.02541617e-03 7.79838957e+01] [ 5.26539328e-01 8.50149965e-01 -1.17157226e-03 1.98555813e+01] [ 2.33878788e-03 -7.04519709e-05 9.99997263e-01 1.89368017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.01, Y:19.87, Z:0.19 [[ 8.49881583e-01 -5.26969833e-01 -2.02237750e-03 7.80066786e+01] [ 5.26968524e-01 8.49883986e-01 -1.17666827e-03 1.98727094e+01] [ 2.33885493e-03 -6.57005948e-05 9.99997263e-01 1.89758841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.03, Y:19.89, Z:0.19 [[ 8.50848500e-01 -5.25407225e-01 -2.01909441e-03 7.80283994e+01] [ 5.25405898e-01 8.50850894e-01 -1.18217032e-03 1.98890613e+01] [ 2.33906911e-03 -5.49962695e-05 9.99997263e-01 1.89121421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.05, Y:19.91, Z:0.19 [[ 8.51214317e-01 -5.24814362e-01 -2.01800020e-03 7.80539186e+01] [ 5.24813029e-01 8.51216707e-01 -1.18400309e-03 1.99051942e+01] [ 2.33913731e-03 -5.12324145e-05 9.99997263e-01 1.89460867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:19.92, Z:0.19 [[ 8.51366161e-01 -5.24567988e-01 -2.02122422e-03 7.80794517e+01] [ 5.24566667e-01 8.51368559e-01 -1.17860709e-03 1.99214247e+01] [ 2.33906630e-03 -5.68406562e-05 9.99997263e-01 1.90752979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.10, Y:19.94, Z:0.19 [[ 8.50765806e-01 -5.25541097e-01 -2.02452560e-03 7.80996469e+01] [ 5.25539792e-01 8.50768212e-01 -1.17308424e-03 1.99384940e+01] [ 2.33890601e-03 -6.59487977e-05 9.99997263e-01 1.92727091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.12, Y:19.96, Z:0.19 [[ 8.50087624e-01 -5.26637407e-01 -2.01831298e-03 7.81225860e+01] [ 5.26636081e-01 8.50090018e-01 -1.18346617e-03 1.99551574e+01] [ 2.33900527e-03 -5.68664903e-05 9.99997263e-01 1.91388011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.15, Y:19.97, Z:0.19 [[ 8.49416087e-01 -5.27719856e-01 -2.01619746e-03 7.81474160e+01] [ 5.27718524e-01 8.49418478e-01 -1.18699787e-03 1.99716639e+01] [ 2.33899772e-03 -5.57296601e-05 9.99997263e-01 1.92821064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.17, Y:19.99, Z:0.19 [[ 8.48413775e-01 -5.29329754e-01 -2.01917584e-03 7.81687376e+01] [ 5.29328438e-01 8.48416176e-01 -1.18202734e-03 1.99880462e+01] [ 2.33878369e-03 -6.59589182e-05 9.99997263e-01 1.92989675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.19, Y:20.00, Z:0.19 [[ 8.48318115e-01 -5.29483061e-01 -2.01567422e-03 7.81919386e+01] [ 5.29481732e-01 8.48320508e-01 -1.18786520e-03 2.00037361e+01] [ 2.33889228e-03 -5.95751122e-05 9.99997263e-01 1.94077894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.21, Y:20.02, Z:0.19 [[ 8.47748716e-01 -5.30394252e-01 -2.01301211e-03 7.82138703e+01] [ 5.30392915e-01 8.47751104e-01 -1.19229989e-03 2.00180920e+01] [ 2.33892225e-03 -5.69166605e-05 9.99997263e-01 1.88420080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.24, Y:20.03, Z:0.19 [[ 8.47524449e-01 -5.30752577e-01 -2.00258507e-03 7.82405095e+01] [ 5.30751200e-01 8.47526814e-01 -1.20965205e-03 2.00349366e+01] [ 2.33927048e-03 -3.76647446e-05 9.99997263e-01 1.93177174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.26, Y:20.05, Z:0.19 [[ 8.47588793e-01 -5.30649764e-01 -2.01636200e-03 7.82628755e+01] [ 5.30648441e-01 8.47591189e-01 -1.18671469e-03 2.00517427e+01] [ 2.33878054e-03 -6.41332818e-05 9.99997263e-01 1.88455572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:20.07, Z:0.19 [[ 8.48652607e-01 -5.28946783e-01 -2.01324674e-03 7.82902912e+01] [ 5.28945443e-01 8.48654993e-01 -1.19189723e-03 2.00689181e+01] [ 2.33900210e-03 -5.33910021e-05 9.99997263e-01 1.92153422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62361786499999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:78.31, Y:20.08, Z:0.19 [[ 8.48769588e-01 -5.28759018e-01 -2.02186285e-03 7.83130679e+01] [ 5.28757711e-01 8.48771993e-01 -1.17756640e-03 2.00848128e+01] [ 2.33874941e-03 -6.95930223e-05 9.99997263e-01 1.92513723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.34, Y:20.10, Z:0.19 [[ 8.48806253e-01 -5.28700174e-01 -2.01751642e-03 7.83376930e+01] [ 5.28698851e-01 8.48808648e-01 -1.18478309e-03 2.01030506e+01] [ 2.33888041e-03 -6.10073135e-05 9.99997263e-01 1.93752696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.36, Y:20.12, Z:0.19 [[ 8.48422899e-01 -5.29315126e-01 -2.02039449e-03 7.83589824e+01] [ 5.29313815e-01 8.48425302e-01 -1.18000717e-03 2.01187101e+01] [ 2.33874944e-03 -6.82776141e-05 9.99997263e-01 1.90920119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.38, Y:20.13, Z:0.19 [[ 8.48237754e-01 -5.29611812e-01 -2.01003262e-03 7.83834008e+01] [ 5.29610461e-01 8.48240135e-01 -1.19717797e-03 2.01335912e+01] [ 2.33902994e-03 -4.90427490e-05 9.99997263e-01 1.90980628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.41, Y:20.15, Z:0.19 [[ 8.48198600e-01 -5.29674519e-01 -2.00969101e-03 7.84079092e+01] [ 5.29673167e-01 8.48200979e-01 -1.19774364e-03 2.01514359e+01] [ 2.33903617e-03 -4.85549226e-05 9.99997263e-01 1.93739638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.43, Y:20.17, Z:0.19 [[ 8.47217648e-01 -5.31242128e-01 -2.01463389e-03 7.84279231e+01] [ 5.31240799e-01 8.47220041e-01 -1.18956613e-03 2.01670707e+01] [ 2.33878585e-03 -6.24343043e-05 9.99997263e-01 1.90869478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.45, Y:20.18, Z:0.20 [[ 8.47450495e-01 -5.30870656e-01 -2.00153684e-03 7.84530166e+01] [ 5.30869275e-01 8.47452858e-01 -1.21120916e-03 2.01833751e+01] [ 2.33920351e-03 -3.61146099e-05 9.99997263e-01 1.95091876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.48, Y:20.20, Z:0.18 [[ 8.46793559e-01 -5.31917876e-01 -2.01050287e-03 7.84767053e+01] [ 5.31916533e-01 8.46795944e-01 -1.19639944e-03 2.02017344e+01] [ 2.33887192e-03 -5.63163805e-05 9.99997263e-01 1.80803281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.49, Y:20.22, Z:0.18 [[ 8.45056358e-01 -5.34673444e-01 -2.01489256e-03 7.84917471e+01] [ 5.34672126e-01 8.45058757e-01 -1.18915027e-03 2.02164009e+01] [ 2.33850967e-03 -7.24078918e-05 9.99997263e-01 1.84447876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.52, Y:20.23, Z:0.19 [[ 8.45372546e-01 -5.34173455e-01 -1.99465556e-03 7.85175579e+01] [ 5.34172057e-01 8.45374898e-01 -1.22251953e-03 2.02329125e+01] [ 2.33926922e-03 -3.20048147e-05 9.99997263e-01 1.89517196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.54, Y:20.25, Z:0.19 [[ 8.48124930e-01 -5.29792508e-01 -2.00045948e-03 7.85412119e+01] [ 5.29791121e-01 8.48127288e-01 -1.21294739e-03 2.02484439e+01] [ 2.33925471e-03 -3.10947468e-05 9.99997263e-01 1.94861322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.57, Y:20.26, Z:0.20 [[ 8.48604449e-01 -5.29024091e-01 -2.00035543e-03 7.85657148e+01] [ 5.29022700e-01 8.48606806e-01 -1.21311895e-03 2.02637967e+01] [ 2.33928438e-03 -2.87752921e-05 9.99997263e-01 1.95662325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.59, Y:20.28, Z:0.20 [[ 8.49688101e-01 -5.27281815e-01 -2.00453928e-03 7.85881004e+01] [ 5.27280436e-01 8.49690465e-01 -1.20622193e-03 2.02790397e+01] [ 2.33925681e-03 -3.20419243e-05 9.99997263e-01 1.96598305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.61, Y:20.30, Z:0.20 [[ 8.50314055e-01 -5.26271801e-01 -1.99980213e-03 7.86128061e+01] [ 5.26270401e-01 8.50316406e-01 -1.21402521e-03 2.02960221e+01] [ 2.33937179e-03 -2.01339727e-05 9.99997263e-01 1.96452920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04361786499999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:78.64, Y:20.31, Z:0.20 [[ 8.51290915e-01 -5.24690153e-01 -2.00543595e-03 7.86350095e+01] [ 5.24688771e-01 8.51293276e-01 -1.20474788e-03 2.03104914e+01] [ 2.33933349e-03 -2.66388034e-05 9.99997263e-01 1.97375233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.66, Y:20.33, Z:0.20 [[ 8.52411588e-01 -5.22867550e-01 -2.00268193e-03 7.86580483e+01] [ 5.22866152e-01 8.52413940e-01 -1.20927994e-03 2.03250301e+01] [ 2.33940724e-03 -1.63303624e-05 9.99997263e-01 1.96632215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.68, Y:20.34, Z:0.19 [[ 8.53674102e-01 -5.20803746e-01 -1.99631180e-03 7.86847503e+01] [ 5.20802317e-01 8.53676437e-01 -1.21975341e-03 2.03404154e+01] [ 2.33945648e-03 1.58808773e-06 9.99997263e-01 1.94106561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.70, Y:20.35, Z:0.19 [[ 8.52218695e-01 -5.23181875e-01 -2.00535950e-03 7.87040291e+01] [ 5.23180488e-01 8.52221054e-01 -1.20487087e-03 2.03546653e+01] [ 2.33937618e-03 -2.23514839e-05 9.99997263e-01 1.93357139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.73, Y:20.37, Z:0.20 [[ 8.54512152e-01 -5.19427579e-01 -1.99301530e-03 7.87288811e+01] [ 5.19426134e-01 8.54514476e-01 -1.22517271e-03 2.03703613e+01] [ 2.33944892e-03 1.17007422e-05 9.99997263e-01 1.97360803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.75, Y:20.38, Z:0.20 [[ 8.55189476e-01 -5.18311650e-01 -1.99831999e-03 7.87534552e+01] [ 5.18310223e-01 8.55191811e-01 -1.21644962e-03 2.03849934e+01] [ 2.33944690e-03 4.54523228e-06 9.99997263e-01 1.98775634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.78, Y:20.40, Z:0.20 [[ 8.55623816e-01 -5.17594329e-01 -1.99904245e-03 7.87771661e+01] [ 5.17592902e-01 8.55626151e-01 -1.21526197e-03 2.04012865e+01] [ 2.33944570e-03 5.11689556e-06 9.99997263e-01 1.96088448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.80, Y:20.42, Z:0.20 [[ 8.56935262e-01 -5.15420167e-01 -2.00207133e-03 7.87994509e+01] [ 5.15418746e-01 8.56937601e-01 -1.21028564e-03 2.04152756e+01] [ 2.33945583e-03 5.23134657e-06 9.99997263e-01 1.97413873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.82, Y:20.43, Z:0.19 [[ 8.54520220e-01 -5.19414301e-01 -1.99454894e-03 7.88241633e+01] [ 5.19412862e-01 8.54522547e-01 -1.22263346e-03 2.04303470e+01] [ 2.33944035e-03 8.77063428e-06 9.99997263e-01 1.93583626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.85, Y:20.45, Z:0.19 [[ 8.54813753e-01 -5.18931071e-01 -1.99775429e-03 7.88461722e+01] [ 5.18929643e-01 8.54816087e-01 -1.21737336e-03 2.04484047e+01] [ 2.33944537e-03 3.93356832e-06 9.99997263e-01 1.87310816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.87, Y:20.46, Z:0.19 [[ 8.58015720e-01 -5.13619542e-01 -1.99739528e-03 7.88689091e+01] [ 5.13618098e-01 8.58018045e-01 -1.21796212e-03 2.04599447e+01] [ 2.33937034e-03 1.91322753e-05 9.99997263e-01 1.93253081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.90, Y:20.47, Z:0.19 [[ 8.59424723e-01 -5.11258442e-01 -1.98763403e-03 7.88967078e+01] [ 5.11256955e-01 8.59427020e-01 -1.23395458e-03 2.04728976e+01] [ 2.33909609e-03 4.42993478e-05 9.99997263e-01 1.94427286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.92, Y:20.49, Z:0.19 [[ 8.59700731e-01 -5.10794152e-01 -1.99704073e-03 7.89198546e+01] [ 5.10792699e-01 8.59703050e-01 -1.21853810e-03 2.04864191e+01] [ 2.33928414e-03 2.75042693e-05 9.99997263e-01 1.94317750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43361786499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.94, Y:20.50, Z:0.19 [[ 8.58068888e-01 -5.13530716e-01 -1.99689627e-03 7.89380662e+01] [ 5.13529270e-01 8.58071211e-01 -1.21877480e-03 2.05027049e+01] [ 2.33935749e-03 2.03280554e-05 9.99997263e-01 1.91424425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.97, Y:20.52, Z:0.19 [[ 8.59553290e-01 -5.11042286e-01 -1.98068959e-03 7.89684396e+01] [ 5.11040772e-01 8.59555570e-01 -1.24530226e-03 2.05151438e+01] [ 2.33891489e-03 5.81905145e-05 9.99997263e-01 1.93595150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.99, Y:20.53, Z:0.19 [[ 8.58395732e-01 -5.12984191e-01 -1.99670980e-03 7.89888600e+01] [ 5.12982743e-01 8.58398054e-01 -1.21906267e-03 2.05287333e+01] [ 2.33933169e-03 2.21605216e-05 9.99997264e-01 1.92977104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.01, Y:20.54, Z:0.19 [[ 8.56491338e-01 -5.16157582e-01 -1.98485050e-03 7.90127478e+01] [ 5.16156097e-01 8.56493637e-01 -1.23847233e-03 2.05428159e+01] [ 2.33925870e-03 3.62481376e-05 9.99997263e-01 1.94277126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.04, Y:20.56, Z:0.19 [[ 8.57614363e-01 -5.14289476e-01 -1.98449283e-03 7.90384354e+01] [ 5.14287986e-01 8.57616658e-01 -1.23905752e-03 2.05553247e+01] [ 2.33916835e-03 4.20327124e-05 9.99997263e-01 1.93831577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.06, Y:20.57, Z:0.20 [[ 8.55657429e-01 -5.17538809e-01 -1.98623538e-03 7.90582605e+01] [ 5.17537334e-01 8.55659734e-01 -1.23620300e-03 2.05698320e+01] [ 2.33932466e-03 2.98153151e-05 9.99997263e-01 1.95115770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.09, Y:20.58, Z:0.19 [[ 8.55020752e-01 -5.18590030e-01 -1.97342833e-03 7.90855440e+01] [ 5.18588509e-01 8.55023028e-01 -1.25716138e-03 2.05831939e+01] [ 2.33927803e-03 5.15018123e-05 9.99997263e-01 1.92633539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.12, Y:20.60, Z:0.19 [[ 8.56633807e-01 -5.15921121e-01 -1.97939003e-03 7.91166373e+01] [ 5.15919615e-01 8.56636093e-01 -1.24740559e-03 2.05953538e+01] [ 2.33917983e-03 4.73636561e-05 9.99997263e-01 1.93282303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.14, Y:20.61, Z:0.20 [[ 8.57031909e-01 -5.15259469e-01 -1.99658421e-03 7.91380379e+01] [ 5.15258027e-01 8.57034235e-01 -1.21924923e-03 2.06076833e+01] [ 2.33937073e-03 1.61794549e-05 9.99997264e-01 1.97293871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.16, Y:20.62, Z:0.19 [[ 8.53036084e-01 -5.21848147e-01 -1.98749955e-03 7.91596132e+01] [ 5.21846688e-01 8.53038399e-01 -1.23411758e-03 2.06233520e+01] [ 2.33943540e-03 1.55767740e-05 9.99997263e-01 1.93619826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.18, Y:20.64, Z:0.19 [[ 8.53544030e-01 -5.21016956e-01 -1.98008394e-03 7.91810758e+01] [ 5.21015466e-01 8.53546326e-01 -1.24625366e-03 2.06351281e+01] [ 2.33941266e-03 3.20780111e-05 9.99997263e-01 1.94270577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.20, Y:20.65, Z:0.19 [[ 8.52703751e-01 -5.22391084e-01 -1.96700330e-03 7.92044855e+01] [ 5.22389548e-01 8.52706018e-01 -1.26764676e-03 2.06490947e+01] [ 2.33948291e-03 5.33851841e-05 9.99997262e-01 1.93197479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79361786499999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:79.24, Y:20.66, Z:0.19 [[ 8.52575268e-01 -5.22600739e-01 -1.96989193e-03 7.92356997e+01] [ 5.22599215e-01 8.52577542e-01 -1.26289132e-03 2.06606081e+01] [ 2.33947356e-03 4.72459222e-05 9.99997262e-01 1.92487616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.26, Y:20.67, Z:0.19 [[ 8.53006746e-01 -5.21896101e-01 -1.98773219e-03 7.92617557e+01] [ 5.21894643e-01 8.53009062e-01 -1.23351132e-03 2.06717142e+01] [ 2.33931832e-03 1.48066928e-05 9.99997264e-01 1.92955688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.28, Y:20.69, Z:0.19 [[ 8.50182363e-01 -5.26484559e-01 -1.98969376e-03 7.92837158e+01] [ 5.26483122e-01 8.50184691e-01 -1.23028445e-03 2.06870174e+01] [ 2.33933294e-03 -1.57404032e-06 9.99997264e-01 1.93694016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.31, Y:20.70, Z:0.19 [[ 8.48288364e-01 -5.29530836e-01 -1.98628337e-03 7.93124509e+01] [ 5.29529393e-01 8.48290690e-01 -1.23590082e-03 2.06994814e+01] [ 2.33939329e-03 -3.39514202e-06 9.99997264e-01 1.91508631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91361786499998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:79.34, Y:20.71, Z:0.19 [[ 8.47805402e-01 -5.30303707e-01 -1.99487697e-03 7.93365206e+01] [ 5.30302300e-01 8.47807748e-01 -1.22174274e-03 2.07122844e+01] [ 2.33916686e-03 -2.20877556e-05 9.99997264e-01 1.93867393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94361786499998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:79.36, Y:20.73, Z:0.19 [[ 8.46250175e-01 -5.32782016e-01 -1.99143500e-03 7.93626185e+01] [ 5.32780602e-01 8.46252517e-01 -1.22741135e-03 2.07268495e+01] [ 2.33919957e-03 -2.23008697e-05 9.99997264e-01 1.92593329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.38, Y:20.74, Z:0.19 [[ 8.45768818e-01 -5.33545806e-01 -1.99474418e-03 7.93844124e+01] [ 5.33544408e-01 8.45771170e-01 -1.22196238e-03 2.07371912e+01] [ 2.33907002e-03 -3.07869259e-05 9.99997264e-01 1.91399825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.41, Y:20.75, Z:0.19 [[ 8.45875085e-01 -5.33377382e-01 -1.97736793e-03 7.94101787e+01] [ 5.33375916e-01 8.45877396e-01 -1.25042698e-03 2.07497478e+01] [ 2.33956030e-03 3.02459844e-06 9.99997263e-01 1.93428977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03361786499998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:79.43, Y:20.77, Z:0.19 [[ 8.43670383e-01 -5.36857854e-01 -1.98217678e-03 7.94347693e+01] [ 5.36856416e-01 8.43672712e-01 -1.24251794e-03 2.07665290e+01] [ 2.33936398e-03 -1.58687349e-05 9.99997264e-01 1.92951969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06361786499998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:79.46, Y:20.78, Z:0.19 [[ 8.41778646e-01 -5.39819189e-01 -1.98873401e-03 7.94598791e+01] [ 5.39817785e-01 8.41780994e-01 -1.23172497e-03 2.07792288e+01] [ 2.33898727e-03 -3.67142157e-05 9.99997264e-01 1.89995983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09361786499998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:79.48, Y:20.79, Z:0.19 [[ 8.41515512e-01 -5.40229285e-01 -1.99059581e-03 7.94846541e+01] [ 5.40227889e-01 8.41517865e-01 -1.22866056e-03 2.07927259e+01] [ 2.33888035e-03 -4.14384506e-05 9.99997264e-01 1.90110603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12361786499999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:79.51, Y:20.81, Z:0.19 [[ 8.41390767e-01 -5.40423553e-01 -1.99026033e-03 7.95089308e+01] [ 5.40422156e-01 8.41393120e-01 -1.22921249e-03 2.08065782e+01] [ 2.33888673e-03 -4.13327410e-05 9.99997264e-01 1.89848905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15361786499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.54, Y:20.82, Z:0.19 [[ 8.42602236e-01 -5.38532740e-01 -1.99003912e-03 7.95358343e+01] [ 5.38531337e-01 8.42604585e-01 -1.22957634e-03 2.08195736e+01] [ 2.33898321e-03 -3.56546543e-05 9.99997264e-01 1.90916883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.56, Y:20.83, Z:0.19 [[ 8.43536814e-01 -5.37067651e-01 -1.99528123e-03 7.95602034e+01] [ 5.37066265e-01 8.43539173e-01 -1.22095505e-03 2.08325545e+01] [ 2.33883334e-03 -4.16777035e-05 9.99997264e-01 1.89875548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.59, Y:20.85, Z:0.19 [[ 8.45015124e-01 -5.34738682e-01 -1.99542341e-03 7.95858813e+01] [ 5.34737290e-01 8.45017479e-01 -1.22072129e-03 2.08450025e+01] [ 2.33893455e-03 -3.54993571e-05 9.99997264e-01 1.92056959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.61, Y:20.86, Z:0.19 [[ 8.44606823e-01 -5.35383340e-01 -1.99839883e-03 7.96088011e+01] [ 5.35381961e-01 8.44609186e-01 -1.21583074e-03 2.08600272e+01] [ 2.33880153e-03 -4.30077518e-05 9.99997264e-01 1.88393576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.63, Y:20.87, Z:0.19 [[ 8.45270528e-01 -5.34334868e-01 -1.99578760e-03 7.96334580e+01] [ 5.34333476e-01 8.45272884e-01 -1.22012220e-03 2.08733016e+01] [ 2.33893897e-03 -3.50827923e-05 9.99997264e-01 1.89937127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.66, Y:20.89, Z:0.19 [[ 8.46376152e-01 -5.32581849e-01 -1.99580452e-03 7.96599235e+01] [ 5.32580452e-01 8.46378505e-01 -1.22009441e-03 2.08864679e+01] [ 2.33900618e-03 -3.02676570e-05 9.99997264e-01 1.91194764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.68, Y:20.90, Z:0.19 [[ 8.46693791e-01 -5.32076717e-01 -1.99773990e-03 7.96831071e+01] [ 5.32075327e-01 8.46696147e-01 -1.21691685e-03 2.08994823e+01] [ 2.33897180e-03 -3.25921743e-05 9.99997264e-01 1.91924212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36361786499998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:79.71, Y:20.91, Z:0.19 [[ 8.47086235e-01 -5.31451714e-01 -1.99635815e-03 7.97069681e+01] [ 5.31450316e-01 8.47088587e-01 -1.21918406e-03 2.09128537e+01] [ 2.33902966e-03 -2.82111358e-05 9.99997264e-01 1.92616948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39361786499998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:79.73, Y:20.93, Z:0.19 [[ 8.47883734e-01 -5.30178459e-01 -1.99370505e-03 7.97320033e+01] [ 5.30177048e-01 8.47886078e-01 -1.22353740e-03 2.09267060e+01] [ 2.33912793e-03 -1.95991995e-05 9.99997264e-01 1.93057409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42361786499998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:79.76, Y:20.94, Z:0.19 [[ 8.48287041e-01 -5.29532926e-01 -1.99400319e-03 7.97566063e+01] [ 5.29531514e-01 8.48289385e-01 -1.22304825e-03 2.09409406e+01] [ 2.33913606e-03 -1.83915447e-05 9.99997264e-01 1.93255203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.79, Y:20.95, Z:0.20 [[ 8.49851223e-01 -5.27018906e-01 -1.99272043e-03 7.97869527e+01] [ 5.27017482e-01 8.49853560e-01 -1.22515075e-03 2.09537592e+01] [ 2.33919816e-03 -9.00263687e-06 9.99997264e-01 1.95339759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.81, Y:20.97, Z:0.20 [[ 8.51843938e-01 -5.23791811e-01 -2.01116747e-03 7.98083344e+01] [ 5.23790449e-01 8.51846311e-01 -1.19485980e-03 2.09657801e+01] [ 2.33906337e-03 -3.55962338e-05 9.99997264e-01 1.96045441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:79.83, Y:20.98, Z:0.20 [[ 8.52364665e-01 -5.22944059e-01 -1.99717355e-03 7.98327215e+01] [ 5.22942641e-01 8.52367005e-01 -1.21780945e-03 2.09800212e+01] [ 2.33917105e-03 -6.38946363e-06 9.99997264e-01 1.95652642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54361786499999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:79.85, Y:21.00, Z:0.19 [[ 8.51743963e-01 -5.23954420e-01 -1.99683698e-03 7.98537155e+01] [ 5.23953003e-01 8.51746304e-01 -1.21836106e-03 2.09956869e+01] [ 2.33916418e-03 -8.51705694e-06 9.99997264e-01 1.90078781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.88, Y:21.01, Z:0.19 [[ 8.53046762e-01 -5.21830694e-01 -1.98715425e-03 7.98816319e+01] [ 5.21829235e-01 8.53049076e-01 -1.23422348e-03 2.10095992e+01] [ 2.33919579e-03 1.58951586e-05 9.99997264e-01 1.90383913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.91, Y:21.02, Z:0.19 [[ 8.53299391e-01 -5.21417474e-01 -1.99180136e-03 7.99056479e+01] [ 5.21416031e-01 8.53301716e-01 -1.22660943e-03 2.10232646e+01] [ 2.33918310e-03 8.10791816e-06 9.99997264e-01 1.89489091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.93, Y:21.04, Z:0.19 [[ 8.53273553e-01 -5.21459760e-01 -1.99060399e-03 7.99291068e+01] [ 5.21458313e-01 8.53275875e-01 -1.22857061e-03 2.10376354e+01] [ 2.33918449e-03 1.02898093e-05 9.99997264e-01 1.89552637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.96, Y:21.05, Z:0.19 [[ 8.53369631e-01 -5.21302513e-01 -1.99063258e-03 7.99551477e+01] [ 5.21301066e-01 8.53371953e-01 -1.22852377e-03 2.10503997e+01] [ 2.33918255e-03 1.06659896e-05 9.99997264e-01 1.88682251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.98, Y:21.06, Z:0.19 [[ 8.53305986e-01 -5.21406683e-01 -1.99133970e-03 7.99802932e+01] [ 5.21405239e-01 8.53308309e-01 -1.22736587e-03 2.10630544e+01] [ 2.33918348e-03 9.02369389e-06 9.99997264e-01 1.88649296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.00, Y:21.08, Z:0.19 [[ 8.52367373e-01 -5.22939662e-01 -1.99287627e-03 8.00048616e+01] [ 5.22938228e-01 8.52369703e-01 -1.22485000e-03 2.10764484e+01] [ 2.33918999e-03 1.87099197e-06 9.99997264e-01 1.88785977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:80.03, Y:21.09, Z:0.19 [[ 8.52126118e-01 -5.23332703e-01 -1.98995572e-03 8.00314203e+01] [ 5.23331259e-01 8.52128442e-01 -1.22962925e-03 2.10878369e+01] [ 2.33920306e-03 6.39316981e-06 9.99997264e-01 1.89588275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.06, Y:21.10, Z:0.19 [[ 8.49849835e-01 -5.27021135e-01 -1.99559486e-03 8.00588397e+01] [ 5.27019722e-01 8.49852177e-01 -1.22040151e-03 2.10971759e+01] [ 2.33913802e-03 -1.45598269e-05 9.99997264e-01 1.91087395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:80.08, Y:21.11, Z:0.19 [[ 8.48342033e-01 -5.29444811e-01 -1.99697200e-03 8.00840505e+01] [ 5.29443410e-01 8.48344383e-01 -1.21814918e-03 2.11095623e+01] [ 2.33906274e-03 -2.38765155e-05 9.99997264e-01 1.91699382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.11, Y:21.12, Z:0.19 [[ 8.46589700e-01 -5.32242326e-01 -1.99644708e-03 8.01093459e+01] [ 5.32240931e-01 8.46592054e-01 -1.21900714e-03 2.11225246e+01] [ 2.33898342e-03 -3.05919624e-05 9.99997264e-01 1.92122888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.13, Y:21.13, Z:0.19 [[ 8.43808884e-01 -5.36640094e-01 -1.99417961e-03 8.01349887e+01] [ 5.36638702e-01 8.43811240e-01 -1.22271046e-03 2.11330190e+01] [ 2.33886663e-03 -3.84200109e-05 9.99997264e-01 1.92964811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.16, Y:21.14, Z:0.20 [[ 8.44154192e-01 -5.36096752e-01 -1.99307173e-03 8.01614325e+01] [ 5.36095355e-01 8.44156544e-01 -1.22451891e-03 2.11438607e+01] [ 2.33892516e-03 -3.47937229e-05 9.99997264e-01 1.97431038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.19, Y:21.16, Z:0.20 [[ 8.43200408e-01 -5.37595661e-01 -1.99440270e-03 8.01863653e+01] [ 5.37594273e-01 8.43202765e-01 -1.22234729e-03 2.11564685e+01] [ 2.33881447e-03 -4.14957389e-05 9.99997264e-01 1.98059781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.21, Y:21.17, Z:0.20 [[ 8.42025925e-01 -5.39433375e-01 -1.99406944e-03 8.02130006e+01] [ 5.39431990e-01 8.42028285e-01 -1.22289070e-03 2.11676861e+01] [ 2.33873093e-03 -4.59591738e-05 9.99997264e-01 1.98560469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:80.24, Y:21.18, Z:0.20 [[ 8.40371601e-01 -5.42007009e-01 -1.99373501e-03 8.02375618e+01] [ 5.42005631e-01 8.40373964e-01 -1.22343570e-03 2.11824423e+01] [ 2.33859372e-03 -5.24749793e-05 9.99997264e-01 1.95756749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.26, Y:21.19, Z:0.20 [[ 8.40568432e-01 -5.41701706e-01 -1.99335044e-03 8.02622512e+01] [ 5.41700325e-01 8.40570794e-01 -1.22406206e-03 2.11949055e+01] [ 2.33862866e-03 -5.08906576e-05 9.99997264e-01 1.96688970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:80.29, Y:21.21, Z:0.19 [[ 8.40572664e-01 -5.41695134e-01 -1.99475037e-03 8.02878865e+01] [ 5.41693758e-01 8.40575029e-01 -1.22178232e-03 2.12075100e+01] [ 2.33857088e-03 -5.35470044e-05 9.99997264e-01 1.94524010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.31, Y:21.22, Z:0.19 [[ 8.41179199e-01 -5.40752788e-01 -1.99423231e-03 8.03143243e+01] [ 5.40751409e-01 8.41181561e-01 -1.22262544e-03 2.12209587e+01] [ 2.33864957e-03 -4.99368425e-05 9.99997264e-01 1.94175044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11361786499998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:80.34, Y:21.23, Z:0.19 [[ 8.41737254e-01 -5.39883704e-01 -1.99550351e-03 8.03400495e+01] [ 5.39882327e-01 8.41739617e-01 -1.22055864e-03 2.12348246e+01] [ 2.33865408e-03 -4.99474043e-05 9.99997264e-01 1.94188444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.37, Y:21.25, Z:0.20 [[ 8.42891700e-01 -5.38079546e-01 -1.99635697e-03 8.03660602e+01] [ 5.38078166e-01 8.42894062e-01 -1.21917169e-03 2.12469320e+01] [ 2.33872878e-03 -4.65664004e-05 9.99997264e-01 1.95120327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.39, Y:21.26, Z:0.20 [[ 8.42949649e-01 -5.37988758e-01 -1.99642895e-03 8.03898448e+01] [ 5.37987379e-01 8.42952012e-01 -1.21905475e-03 2.12608125e+01] [ 2.33873155e-03 -4.64518038e-05 9.99997264e-01 1.95362204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.41, Y:21.27, Z:0.20 [[ 8.42767454e-01 -5.38274135e-01 -1.99366191e-03 8.04120542e+01] [ 5.38272746e-01 8.42769811e-01 -1.22354668e-03 2.12742436e+01] [ 2.33880160e-03 -4.19685526e-05 9.99997264e-01 1.95941019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.44, Y:21.29, Z:0.20 [[ 8.44761558e-01 -5.35139192e-01 -1.98889168e-03 8.04385601e+01] [ 5.35137776e-01 8.44763899e-01 -1.23128380e-03 2.12852944e+01] [ 2.33905211e-03 -2.41898460e-05 9.99997264e-01 1.99033069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:80.46, Y:21.30, Z:0.20 [[ 8.43758316e-01 -5.36719610e-01 -1.99102348e-03 8.04633765e+01] [ 5.36718206e-01 8.43760665e-01 -1.22782691e-03 2.12999945e+01] [ 2.33894607e-03 -3.26293887e-05 9.99997264e-01 1.97852739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.49, Y:21.31, Z:0.20 [[ 8.43812107e-01 -5.36635033e-01 -1.99248202e-03 8.04876224e+01] [ 5.36633635e-01 8.43814458e-01 -1.22546294e-03 2.13135386e+01] [ 2.33891148e-03 -3.51724017e-05 9.99997264e-01 1.97991035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.51, Y:21.33, Z:0.20 [[ 8.44042526e-01 -5.36272547e-01 -1.99231241e-03 8.05119504e+01] [ 5.36271147e-01 8.44044877e-01 -1.22573763e-03 2.13273150e+01] [ 2.33893053e-03 -3.38449752e-05 9.99997264e-01 1.98147561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.54, Y:21.34, Z:0.20 [[ 8.45052757e-01 -5.34679224e-01 -1.99129386e-03 8.05361853e+01] [ 5.34677816e-01 8.45055103e-01 -1.22738631e-03 2.13388910e+01] [ 2.33901100e-03 -2.74944671e-05 9.99997264e-01 1.98566019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.56, Y:21.35, Z:0.20 [[ 8.46001277e-01 -5.33177158e-01 -1.98930067e-03 8.05588441e+01] [ 5.33175738e-01 8.46003616e-01 -1.23061106e-03 2.13516638e+01] [ 2.33908926e-03 -1.95483222e-05 9.99997264e-01 1.98375408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.58, Y:21.37, Z:0.20 [[ 8.46711437e-01 -5.32048699e-01 -1.98124523e-03 8.05836973e+01] [ 5.32047245e-01 8.46713755e-01 -1.24363237e-03 2.13651789e+01] [ 2.33922057e-03 -1.11831973e-06 9.99997264e-01 1.98490398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:80.61, Y:21.38, Z:0.20 [[ 8.46228352e-01 -5.32816706e-01 -1.98366861e-03 8.06118678e+01] [ 5.32815264e-01 8.46230676e-01 -1.23971691e-03 2.13811860e+01] [ 2.33918311e-03 -7.84531504e-06 9.99997264e-01 2.00414108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.63, Y:21.39, Z:0.20 [[ 8.46338193e-01 -5.32642171e-01 -1.99519088e-03 8.06328540e+01] [ 5.32640772e-01 8.46340544e-01 -1.22109495e-03 2.13946163e+01] [ 2.33901760e-03 -2.92607113e-05 9.99997264e-01 1.95315546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.66, Y:21.41, Z:0.20 [[ 8.47395875e-01 -5.30957890e-01 -1.98752363e-03 8.06576455e+01] [ 5.30956457e-01 8.47398206e-01 -1.23347887e-03 2.14075384e+01] [ 2.33914930e-03 -1.00435972e-05 9.99997264e-01 1.97833791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.68, Y:21.42, Z:0.20 [[ 8.47758339e-01 -5.30378973e-01 -1.98568531e-03 8.06817041e+01] [ 5.30377532e-01 8.47760665e-01 -1.23644683e-03 2.14221021e+01] [ 2.33917130e-03 -4.95476505e-06 9.99997264e-01 1.98292289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.71, Y:21.44, Z:0.20 [[ 8.48425270e-01 -5.29311460e-01 -1.98499905e-03 8.07052245e+01] [ 5.29310013e-01 8.48427592e-01 -1.23755422e-03 2.14364296e+01] [ 2.33917959e-03 -7.07605954e-07 9.99997264e-01 1.98315667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59361786499998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:80.73, Y:21.45, Z:0.20 [[ 8.48835310e-01 -5.28653649e-01 -1.98399048e-03 8.07307237e+01] [ 5.28652197e-01 8.48837628e-01 -1.23918082e-03 2.14525883e+01] [ 2.33918324e-03 3.01950879e-06 9.99997264e-01 1.96443615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.75, Y:21.47, Z:0.20 [[ 8.49115504e-01 -5.28203474e-01 -1.98761341e-03 8.07539342e+01] [ 5.28202034e-01 8.49117830e-01 -1.23333959e-03 2.14677153e+01] [ 2.33917224e-03 -2.61367692e-06 9.99997264e-01 1.97173396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:80.78, Y:21.48, Z:0.20 [[ 8.50181139e-01 -5.26486552e-01 -1.98500885e-03 8.07796909e+01] [ 5.26485098e-01 8.50183457e-01 -1.23753520e-03 2.14819363e+01] [ 2.33916732e-03 7.05150349e-06 9.99997264e-01 2.00373619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.80, Y:21.50, Z:0.20 [[ 8.49132899e-01 -5.28175517e-01 -1.98595620e-03 8.08030642e+01] [ 5.28174070e-01 8.49135221e-01 -1.23600959e-03 2.14971324e+01] [ 2.33917536e-03 6.05835388e-07 9.99997264e-01 1.97626535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:80.83, Y:21.51, Z:0.20 [[ 8.48614536e-01 -5.29007956e-01 -1.98767740e-03 8.08273485e+01] [ 5.29006519e-01 8.48616864e-01 -1.23323877e-03 2.15120757e+01] [ 2.33916968e-03 -4.94995560e-06 9.99997264e-01 2.00452991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.85, Y:21.53, Z:0.20 [[ 8.48470804e-01 -5.29238460e-01 -1.98673771e-03 8.08503085e+01] [ 5.29237020e-01 8.48473130e-01 -1.23475066e-03 2.15270299e+01] [ 2.33917110e-03 -3.80526343e-06 9.99997264e-01 1.99101006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.88, Y:21.54, Z:0.20 [[ 8.49227925e-01 -5.28022715e-01 -1.98582911e-03 8.08756136e+01] [ 5.28021268e-01 8.49230247e-01 -1.23621178e-03 2.15408095e+01] [ 2.33917405e-03 1.26555920e-06 9.99997264e-01 2.02259157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.90, Y:21.56, Z:0.20 [[ 8.47916857e-01 -5.30125498e-01 -1.98969389e-03 8.08977754e+01] [ 5.30124072e-01 8.47919192e-01 -1.22999759e-03 2.15570020e+01] [ 2.33915272e-03 -1.18489293e-05 9.99997264e-01 1.98840283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.92, Y:21.57, Z:0.20 [[ 8.47498107e-01 -5.30794704e-01 -1.98499983e-03 8.09218740e+01] [ 5.30793261e-01 8.47500432e-01 -1.23753996e-03 2.15724335e+01] [ 2.33916787e-03 -4.81175924e-06 9.99997264e-01 1.98948885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.95, Y:21.59, Z:0.20 [[ 8.47211210e-01 -5.31252502e-01 -1.98604904e-03 8.09453059e+01] [ 5.31251065e-01 8.47213538e-01 -1.23585487e-03 2.15871857e+01] [ 2.33915863e-03 -8.06056717e-06 9.99997264e-01 2.01695966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.97, Y:21.60, Z:0.20 [[ 8.46059563e-01 -5.33084677e-01 -1.98554987e-03 8.09684961e+01] [ 5.33083243e-01 8.46061893e-01 -1.23665605e-03 2.16022628e+01] [ 2.33914047e-03 -1.21786879e-05 9.99997264e-01 2.02303056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.99, Y:21.62, Z:0.20 [[ 8.43952112e-01 -5.36414844e-01 -1.98698842e-03 8.09870636e+01] [ 5.36413424e-01 8.43954451e-01 -1.23434750e-03 2.16171272e+01] [ 2.33905004e-03 -2.41170846e-05 9.99997264e-01 1.99714177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.01, Y:21.63, Z:0.20 [[ 8.44124831e-01 -5.36143043e-01 -1.97642122e-03 8.10122477e+01] [ 5.36141583e-01 8.44127145e-01 -1.25129196e-03 2.16323477e+01] [ 2.33922228e-03 -3.39498865e-06 9.99997264e-01 1.98133270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.04, Y:21.65, Z:0.20 [[ 8.44301116e-01 -5.35865382e-01 -1.97955756e-03 8.10416926e+01] [ 5.35863933e-01 8.44303436e-01 -1.24626742e-03 2.16473431e+01] [ 2.33917882e-03 -8.54853212e-06 9.99997264e-01 2.02097377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:81.06, Y:21.66, Z:0.20 [[ 8.42616623e-01 -5.38510223e-01 -1.99158576e-03 8.10612516e+01] [ 5.38508827e-01 8.42618976e-01 -1.22701416e-03 2.16628090e+01] [ 2.33890762e-03 -3.85839882e-05 9.99997264e-01 1.97403081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.08, Y:21.68, Z:0.20 [[ 8.41283579e-01 -5.40590448e-01 -1.97680299e-03 8.10821637e+01] [ 5.40589001e-01 8.41285901e-01 -1.25067552e-03 2.16797214e+01] [ 2.33915972e-03 -1.64651779e-05 9.99997264e-01 1.97137313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.11, Y:21.70, Z:0.20 [[ 8.40710971e-01 -5.41480548e-01 -1.96965648e-03 8.11077306e+01] [ 5.41479078e-01 8.40713278e-01 -1.26208995e-03 2.16952690e+01] [ 2.33931351e-03 -5.47490914e-06 9.99997264e-01 1.96202565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.13, Y:21.71, Z:0.20 [[ 8.40102028e-01 -5.42424809e-01 -1.97689929e-03 8.11323270e+01] [ 5.42423368e-01 8.40104354e-01 -1.25051699e-03 2.17110134e+01] [ 2.33911315e-03 -2.17545115e-05 9.99997264e-01 1.96519106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.15, Y:21.73, Z:0.20 [[ 8.40142170e-01 -5.42362626e-01 -1.97918555e-03 8.11535163e+01] [ 5.42361193e-01 8.40144501e-01 -1.24686428e-03 2.17252565e+01] [ 2.33905444e-03 -2.58901791e-05 9.99997264e-01 1.96689493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.18, Y:21.74, Z:0.20 [[ 8.38632714e-01 -5.44693750e-01 -1.97240701e-03 8.11768689e+01] [ 5.44692298e-01 8.38635033e-01 -1.25769880e-03 2.17416969e+01] [ 2.33919030e-03 -1.96075498e-05 9.99997264e-01 1.96578750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.21, Y:21.76, Z:0.20 [[ 8.40134861e-01 -5.42373966e-01 -1.97366927e-03 8.12059736e+01] [ 5.42372513e-01 8.40137179e-01 -1.25568408e-03 2.17553730e+01] [ 2.33920329e-03 -1.55199947e-05 9.99997264e-01 2.02971026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.23, Y:21.77, Z:0.19 [[ 8.37421690e-01 -5.46553735e-01 -1.98185588e-03 8.12257615e+01] [ 5.46552324e-01 8.37424034e-01 -1.24261396e-03 2.17732819e+01] [ 2.33880905e-03 -4.25960584e-05 9.99997264e-01 1.94801607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25361786499998 meters Centerline goodness : 0.994913 Centerline is valid? [True, True] Translation: X:81.25, Y:21.79, Z:0.20 [[ 8.39073804e-01 -5.44014011e-01 -1.97676292e-03 8.12520391e+01] [ 5.44012574e-01 8.39076132e-01 -1.25072878e-03 2.17864250e+01] [ 2.33906856e-03 -2.59301291e-05 9.99997264e-01 2.04306789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.27, Y:21.81, Z:0.20 [[ 8.37160341e-01 -5.46953975e-01 -1.97806702e-03 8.12736772e+01] [ 5.46952551e-01 8.37162677e-01 -1.24865097e-03 2.18053157e+01] [ 2.33891849e-03 -3.65877261e-05 9.99997264e-01 2.01431623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:81.30, Y:21.82, Z:0.20 [[ 8.36882441e-01 -5.47379086e-01 -1.97911032e-03 8.12963300e+01] [ 5.47377667e-01 8.36884780e-01 -1.24698783e-03 2.18206682e+01] [ 2.33886236e-03 -3.97385675e-05 9.99997264e-01 2.00450255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.32, Y:21.84, Z:0.20 [[ 8.36793515e-01 -5.47515022e-01 -1.97843071e-03 8.13196617e+01] [ 5.47513601e-01 8.36795853e-01 -1.24807057e-03 2.18364111e+01] [ 2.33888000e-03 -3.88403625e-05 9.99997264e-01 1.96703148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.34, Y:21.85, Z:0.20 [[ 8.37363641e-01 -5.46642681e-01 -1.97774935e-03 8.13438887e+01] [ 5.46641255e-01 8.37365976e-01 -1.24915556e-03 2.18527384e+01] [ 2.33894176e-03 -3.51219402e-05 9.99997264e-01 2.01867543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.37, Y:21.87, Z:0.20 [[ 8.38234752e-01 -5.45305941e-01 -1.98269167e-03 8.13675377e+01] [ 5.45304530e-01 8.38237096e-01 -1.24128790e-03 2.18676005e+01] [ 2.33884737e-03 -4.06800932e-05 9.99997264e-01 1.99221728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:81.39, Y:21.88, Z:0.20 [[ 8.38701213e-01 -5.44588250e-01 -1.97812035e-03 8.13921332e+01] [ 5.44586820e-01 8.38703545e-01 -1.24856044e-03 2.18836153e+01] [ 2.33900789e-03 -3.00891162e-05 9.99997264e-01 2.03877817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46361786499997 meters Centerline goodness : 0.995875 Centerline is valid? [True, True] Translation: X:81.41, Y:21.90, Z:0.21 [[ 8.40296122e-01 -5.42124068e-01 -1.98038639e-03 8.14137151e+01] [ 5.42122639e-01 8.40298455e-01 -1.24495579e-03 2.18971206e+01] [ 2.33903612e-03 -2.74807760e-05 9.99997264e-01 2.05644400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.44, Y:21.92, Z:0.20 [[ 8.39156499e-01 -5.43886470e-01 -1.96917822e-03 8.14393235e+01] [ 5.43885004e-01 8.39158810e-01 -1.26277995e-03 2.19165421e+01] [ 2.33926218e-03 -1.13365056e-05 9.99997264e-01 2.02225725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.46, Y:21.93, Z:0.20 [[ 8.39084472e-01 -5.43997541e-01 -1.98110104e-03 8.14625973e+01] [ 5.43996120e-01 8.39086810e-01 -1.24382517e-03 2.19312791e+01] [ 2.33895359e-03 -3.40368938e-05 9.99997264e-01 2.02299218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.48, Y:21.95, Z:0.20 [[ 8.40028248e-01 -5.42539049e-01 -1.98094220e-03 8.14846631e+01] [ 5.42537623e-01 8.40030583e-01 -1.24407763e-03 2.19465720e+01] [ 2.33901272e-03 -2.96753179e-05 9.99997264e-01 2.01752690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58361786499998 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:81.51, Y:21.96, Z:0.20 [[ 8.39847619e-01 -5.42818632e-01 -1.97735761e-03 8.15089045e+01] [ 5.42817194e-01 8.39849946e-01 -1.24976918e-03 2.19621740e+01] [ 2.33908167e-03 -2.37280396e-05 9.99997264e-01 2.04809961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.53, Y:21.98, Z:0.20 [[ 8.39179670e-01 -5.43850677e-01 -1.98068925e-03 8.15310463e+01] [ 5.43849254e-01 8.39182006e-01 -1.24448030e-03 2.19787444e+01] [ 2.33897023e-03 -3.28538058e-05 9.99997264e-01 1.99067023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:81.56, Y:21.99, Z:0.20 [[ 8.39006628e-01 -5.44117606e-01 -1.97705999e-03 8.15558097e+01] [ 5.44116171e-01 8.39008957e-01 -1.25024341e-03 2.19943846e+01] [ 2.33905049e-03 -2.67878034e-05 9.99997264e-01 1.99865011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.58, Y:22.01, Z:0.20 [[ 8.39205704e-01 -5.43810507e-01 -1.97949753e-03 8.15779273e+01] [ 5.43809079e-01 8.39208038e-01 -1.24637339e-03 2.20080111e+01] [ 2.33900119e-03 -3.05050745e-05 9.99997264e-01 2.00704021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.60, Y:22.02, Z:0.20 [[ 8.38554819e-01 -5.44813663e-01 -1.97201886e-03 8.16013413e+01] [ 5.44812210e-01 8.38557137e-01 -1.25823360e-03 2.20226643e+01] [ 2.33915335e-03 -1.92821069e-05 9.99997264e-01 1.98816738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.63, Y:22.04, Z:0.20 [[ 8.38694124e-01 -5.44599186e-01 -1.97298850e-03 8.16250570e+01] [ 5.44597736e-01 8.38696445e-01 -1.25669507e-03 2.20367081e+01] [ 2.33913355e-03 -2.05023017e-05 9.99997264e-01 2.00649771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76361786499999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:81.65, Y:22.05, Z:0.20 [[ 8.36595590e-01 -5.47817431e-01 -1.96992054e-03 8.16499195e+01] [ 5.47815979e-01 8.36597909e-01 -1.26156116e-03 2.20528889e+01] [ 2.33913660e-03 -2.37374418e-05 9.99997264e-01 1.99325822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79361786499999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:81.67, Y:22.07, Z:0.20 [[ 8.35635774e-01 -5.49280397e-01 -1.97443402e-03 8.16699701e+01] [ 5.49278966e-01 8.35638106e-01 -1.25440027e-03 2.20669990e+01] [ 2.33892978e-03 -3.62933372e-05 9.99997264e-01 1.98841267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.69, Y:22.08, Z:0.20 [[ 8.36790133e-01 -5.47520240e-01 -1.96462147e-03 8.16940724e+01] [ 5.47518767e-01 8.36792439e-01 -1.26996157e-03 2.20805556e+01] [ 2.33931006e-03 -1.29758144e-05 9.99997264e-01 2.04998949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.72, Y:22.10, Z:0.20 [[ 8.35445793e-01 -5.49569346e-01 -1.96498103e-03 8.17209071e+01] [ 5.49567881e-01 8.35448103e-01 -1.26939030e-03 2.20974007e+01] [ 2.33925767e-03 -1.93836789e-05 9.99997264e-01 2.04500765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:81.74, Y:22.11, Z:0.20 [[ 8.35646910e-01 -5.49263451e-01 -1.97571380e-03 8.17435071e+01] [ 5.49262025e-01 8.35649244e-01 -1.25232925e-03 2.21109604e+01] [ 2.33886243e-03 -3.86794960e-05 9.99997264e-01 2.03982924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.77, Y:22.13, Z:0.20 [[ 8.34794636e-01 -5.50557938e-01 -1.96768265e-03 8.17675268e+01] [ 5.50556486e-01 8.34796955e-01 -1.26508751e-03 2.21267900e+01] [ 2.33911946e-03 -2.72321797e-05 9.99997264e-01 2.01813911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94361786499998 meters Centerline goodness : 0.994172 Centerline is valid? [True, True] Translation: X:81.80, Y:22.14, Z:0.21 [[ 8.36137209e-01 -5.48516809e-01 -1.96938639e-03 8.17950919e+01] [ 5.48515356e-01 8.36139528e-01 -1.26239393e-03 2.21411468e+01] [ 2.33912609e-03 -2.47041433e-05 9.99997264e-01 2.07448873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97361786499998 meters Centerline goodness : 0.995755 Centerline is valid? [True, True] Translation: X:81.82, Y:22.16, Z:0.21 [[ 8.35762102e-01 -5.49088162e-01 -1.97455082e-03 8.18203188e+01] [ 5.49086731e-01 8.35764434e-01 -1.25422889e-03 2.21576141e+01] [ 2.33894158e-03 -3.59626753e-05 9.99997264e-01 2.08149260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:81.84, Y:22.17, Z:0.20 [[ 8.35149488e-01 -5.50019466e-01 -1.97995539e-03 8.18401646e+01] [ 5.50018058e-01 8.35151833e-01 -1.24568611e-03 2.21723872e+01] [ 2.33871499e-03 -4.86771028e-05 9.99997264e-01 2.03368535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.03361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.86, Y:22.19, Z:0.20 [[ 8.35591205e-01 -5.49348212e-01 -1.97012487e-03 8.18630058e+01] [ 5.49346764e-01 8.35593527e-01 -1.26124807e-03 2.21868212e+01] [ 2.33908796e-03 -2.83939303e-05 9.99997264e-01 2.02569440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.89, Y:22.20, Z:0.21 [[ 8.37121797e-01 -5.47013007e-01 -1.96661083e-03 8.18882879e+01] [ 5.47011541e-01 8.37124106e-01 -1.26681006e-03 2.22001036e+01] [ 2.33925891e-03 -1.52845115e-05 9.99997264e-01 2.06447649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.91, Y:22.22, Z:0.20 [[ 8.36232796e-01 -5.48371085e-01 -1.96590800e-03 8.19096473e+01] [ 5.48369619e-01 8.36235107e-01 -1.26792221e-03 2.22159176e+01] [ 2.33925316e-03 -1.77660876e-05 9.99997264e-01 2.02483874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.94, Y:22.23, Z:0.20 [[ 8.35707755e-01 -5.49170903e-01 -1.96650998e-03 8.19353947e+01] [ 5.49169442e-01 8.35710069e-01 -1.26696726e-03 2.22322146e+01] [ 2.33921375e-03 -2.11328236e-05 9.99997264e-01 2.03864358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15361786499999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:81.95, Y:22.24, Z:0.20 [[ 8.36539229e-01 -5.47903473e-01 -1.97527729e-03 8.19549149e+01] [ 5.47902042e-01 8.36541561e-01 -1.25305479e-03 2.22446414e+01] [ 2.33895462e-03 -3.40289679e-05 9.99997264e-01 2.02008718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18361786499999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:81.99, Y:22.26, Z:0.20 [[ 8.35729104e-01 -5.49138464e-01 -1.95263993e-03 8.19862324e+01] [ 5.49136951e-01 8.35731385e-01 -1.28884055e-03 2.22639585e+01] [ 2.33963439e-03 4.85481692e-06 9.99997263e-01 1.99846828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:82.01, Y:22.28, Z:0.20 [[ 8.35819642e-01 -5.49000559e-01 -1.97791318e-03 8.20071559e+01] [ 5.48999141e-01 8.35821981e-01 -1.24883043e-03 2.22760671e+01] [ 2.33879192e-03 -4.20756291e-05 9.99997264e-01 2.02987883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.03, Y:22.29, Z:0.21 [[ 8.35903764e-01 -5.48872514e-01 -1.96485727e-03 8.20334230e+01] [ 5.48871046e-01 8.35906073e-01 -1.26948213e-03 2.22902159e+01] [ 2.33921997e-03 -1.72883773e-05 9.99997264e-01 2.06233301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:82.06, Y:22.30, Z:0.21 [[ 8.35906064e-01 -5.48869000e-01 -1.96812392e-03 8.20569961e+01] [ 5.48867544e-01 8.35908380e-01 -1.26431485e-03 2.23049410e+01] [ 2.33911451e-03 -2.33908921e-05 9.99997264e-01 2.07590521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:82.08, Y:22.32, Z:0.21 [[ 8.36132250e-01 -5.48524380e-01 -1.96577490e-03 8.20806911e+01] [ 5.48522915e-01 8.36134561e-01 -1.26802863e-03 2.23191587e+01] [ 2.33919695e-03 -1.80329459e-05 9.99997264e-01 2.06695428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.10, Y:22.33, Z:0.21 [[ 8.35397846e-01 -5.49642216e-01 -1.96814841e-03 8.21049337e+01] [ 5.49640762e-01 8.35400164e-01 -1.26427388e-03 2.23346047e+01] [ 2.33908980e-03 -2.56029161e-05 9.99997264e-01 2.05298108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36361786499998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:82.13, Y:22.35, Z:0.21 [[ 8.35921742e-01 -5.48845113e-01 -1.97076155e-03 8.21273338e+01] [ 5.48843667e-01 8.35924064e-01 -1.26014057e-03 2.23485334e+01] [ 2.33902900e-03 -2.82610935e-05 9.99997264e-01 2.06578458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:82.15, Y:22.36, Z:0.20 [[ 8.38086111e-01 -5.45534426e-01 -1.96505968e-03 8.21511268e+01] [ 5.45532949e-01 8.38088414e-01 -1.26914612e-03 2.23614450e+01] [ 2.33925665e-03 -8.35106751e-06 9.99997264e-01 1.98395208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.18, Y:22.38, Z:0.21 [[ 8.35525333e-01 -5.49448433e-01 -1.95887202e-03 8.21751336e+01] [ 5.49446945e-01 8.35527629e-01 -1.27891303e-03 2.23779880e+01] [ 2.33938846e-03 -7.73201162e-06 9.99997264e-01 2.06892914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.20, Y:22.39, Z:0.21 [[ 8.35388136e-01 -5.49656990e-01 -1.96333050e-03 8.21981178e+01] [ 5.49655519e-01 8.35390443e-01 -1.27186514e-03 2.23932375e+01] [ 2.33923710e-03 -1.66543959e-05 9.99997264e-01 2.06949428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.22, Y:22.41, Z:0.21 [[ 8.35976791e-01 -5.48761301e-01 -1.95951823e-03 8.22221473e+01] [ 5.48759813e-01 8.35979087e-01 -1.27789045e-03 2.24076865e+01] [ 2.33937309e-03 -7.01809879e-06 9.99997264e-01 2.06129452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.25, Y:22.42, Z:0.21 [[ 8.35437730e-01 -5.49581625e-01 -1.95873880e-03 8.22467996e+01] [ 5.49580137e-01 8.35440026e-01 -1.27912193e-03 2.24236036e+01] [ 2.33939071e-03 -7.85721663e-06 9.99997264e-01 2.05242008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.27, Y:22.44, Z:0.20 [[ 8.36496225e-01 -5.47969168e-01 -1.96372550e-03 8.22699839e+01] [ 5.47967693e-01 8.36498530e-01 -1.27124127e-03 2.24388146e+01] [ 2.33925452e-03 -1.26696129e-05 9.99997264e-01 2.03739189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:82.29, Y:22.45, Z:0.20 [[ 8.36405594e-01 -5.48107504e-01 -1.96113015e-03 8.22936000e+01] [ 5.48106020e-01 8.36407893e-01 -1.27534134e-03 2.24541679e+01] [ 2.33932889e-03 -8.20461163e-06 9.99997264e-01 2.04210900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60361786499998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:82.32, Y:22.47, Z:0.19 [[ 8.39603365e-01 -5.43196416e-01 -1.96065418e-03 8.23174330e+01] [ 5.43194917e-01 8.39605654e-01 -1.27609304e-03 2.24653511e+01] [ 2.33934550e-03 6.39462116e-06 9.99997264e-01 1.90321116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.34, Y:22.48, Z:0.20 [[ 8.37819694e-01 -5.45943539e-01 -1.95263220e-03 8.23411280e+01] [ 5.45942018e-01 8.37821969e-01 -1.28877022e-03 2.24839216e+01] [ 2.33955392e-03 1.37331056e-05 9.99997263e-01 2.04761164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:82.37, Y:22.50, Z:0.21 [[ 8.38594798e-01 -5.44752183e-01 -1.95519239e-03 8.23656725e+01] [ 5.44750668e-01 8.38597078e-01 -1.28472358e-03 2.24982791e+01] [ 2.33947460e-03 1.22701526e-05 9.99997263e-01 2.05139949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:82.39, Y:22.51, Z:0.20 [[ 8.40523064e-01 -5.41772231e-01 -1.95653566e-03 8.23867832e+01] [ 5.41770713e-01 8.40525341e-01 -1.28259626e-03 2.25097319e+01] [ 2.33939284e-03 1.80580176e-05 9.99997263e-01 1.95206540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72361786499998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:82.42, Y:22.53, Z:0.21 [[ 8.38200712e-01 -5.45358411e-01 -1.94177615e-03 8.24159642e+01] [ 5.45356848e-01 8.38202960e-01 -1.30595287e-03 2.25294774e+01] [ 2.33981490e-03 3.56897086e-05 9.99997262e-01 2.05312807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:82.44, Y:22.55, Z:0.21 [[ 8.37454793e-01 -5.46503074e-01 -1.96459041e-03 8.24379613e+01] [ 5.46501599e-01 8.37457098e-01 -1.26980600e-03 2.25458015e+01] [ 2.33921306e-03 -1.02466741e-05 9.99997264e-01 2.07196762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.46, Y:22.56, Z:0.21 [[ 8.37830195e-01 -5.45927394e-01 -1.96077613e-03 8.24640415e+01] [ 5.45925903e-01 8.37832489e-01 -1.27584604e-03 2.25610895e+01] [ 2.33932125e-03 -1.49614124e-06 9.99997264e-01 2.09394257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.49, Y:22.58, Z:0.21 [[ 8.37073803e-01 -5.47086447e-01 -1.96668137e-03 8.24877288e+01] [ 5.47084981e-01 8.37076113e-01 -1.26649013e-03 2.25777006e+01] [ 2.33914158e-03 -1.57961249e-05 9.99997264e-01 2.08198623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.51, Y:22.59, Z:0.19 [[ 8.40082705e-01 -5.42454770e-01 -1.96735298e-03 8.25119215e+01] [ 5.42453294e-01 8.40085009e-01 -1.26542613e-03 2.25893035e+01] [ 2.33918018e-03 -4.13449439e-06 9.99997264e-01 1.94951798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87361786499999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:82.54, Y:22.61, Z:0.19 [[ 8.33656765e-01 -5.52279415e-01 -1.96118361e-03 8.25377655e+01] [ 5.52277943e-01 8.33659072e-01 -1.27519539e-03 2.26119612e+01] [ 2.33922267e-03 -2.00431815e-05 9.99997264e-01 1.91322277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:82.56, Y:22.62, Z:0.21 [[ 8.35844662e-01 -5.48962465e-01 -1.97807100e-03 8.25603561e+01] [ 5.48961047e-01 8.35847002e-01 -1.24843840e-03 2.26231076e+01] [ 2.33871053e-03 -4.23833529e-05 9.99997264e-01 2.06273078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.59, Y:22.64, Z:0.20 [[ 8.34977597e-01 -5.50280423e-01 -1.96680381e-03 8.25856230e+01] [ 5.50278967e-01 8.34979913e-01 -1.26627507e-03 2.26395223e+01] [ 2.33904805e-03 -2.49794510e-05 9.99997264e-01 2.03896922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.61, Y:22.65, Z:0.20 [[ 8.34143990e-01 -5.51543219e-01 -1.97015513e-03 8.26071868e+01] [ 5.51541779e-01 8.34146316e-01 -1.26097070e-03 2.26547452e+01] [ 2.33887749e-03 -3.47917345e-05 9.99997264e-01 2.03769168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.63, Y:22.67, Z:0.21 [[ 8.34834954e-01 -5.50496811e-01 -1.96496692e-03 8.26313110e+01] [ 5.50495348e-01 8.34837266e-01 -1.26918507e-03 2.26702237e+01] [ 2.33910994e-03 -2.21450846e-05 9.99997264e-01 2.07039024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.65, Y:22.69, Z:0.21 [[ 8.34959365e-01 -5.50308090e-01 -1.96583274e-03 8.26547845e+01] [ 5.50306630e-01 8.34961679e-01 -1.26781444e-03 2.26857441e+01] [ 2.33908354e-03 -2.32372510e-05 9.99997264e-01 2.06239972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.68, Y:22.70, Z:0.21 [[ 8.34324478e-01 -5.51270165e-01 -1.96755604e-03 8.26790373e+01] [ 5.51268714e-01 8.34326797e-01 -1.26508637e-03 2.27022716e+01] [ 2.33898910e-03 -2.91595649e-05 9.99997264e-01 2.07399961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.70, Y:22.72, Z:0.21 [[ 8.34328363e-01 -5.51264285e-01 -1.96728214e-03 8.27027054e+01] [ 5.51262833e-01 8.34330682e-01 -1.26551981e-03 2.27167969e+01] [ 2.33899972e-03 -2.86304498e-05 9.99997264e-01 2.07459426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11361786499998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:82.73, Y:22.73, Z:0.21 [[ 8.34228225e-01 -5.51415810e-01 -1.96784619e-03 8.27255171e+01] [ 5.51414361e-01 8.34230546e-01 -1.26462740e-03 2.27323594e+01] [ 2.33897294e-03 -3.01107774e-05 9.99997264e-01 2.09647864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.75, Y:22.75, Z:0.21 [[ 8.33946479e-01 -5.51841830e-01 -1.96609357e-03 8.27497632e+01] [ 5.51840375e-01 8.33948796e-01 -1.26739963e-03 2.27478700e+01] [ 2.33902549e-03 -2.80263566e-05 9.99997264e-01 2.07735281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:82.77, Y:22.76, Z:0.21 [[ 8.33893940e-01 -5.51921211e-01 -1.96809857e-03 8.27734342e+01] [ 5.51919764e-01 8.33896262e-01 -1.26422836e-03 2.27635468e+01] [ 2.33894449e-03 -3.20001268e-05 9.99997264e-01 2.06612812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.79, Y:22.77, Z:0.19 [[ 8.37154569e-01 -5.46962836e-01 -1.97053961e-03 8.27899182e+01] [ 5.46961385e-01 8.37156888e-01 -1.26036624e-03 2.27733669e+01] [ 2.33902430e-03 -2.26877124e-05 9.99997264e-01 1.94544467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:82.82, Y:22.80, Z:0.21 [[ 8.34521603e-01 -5.50971806e-01 -1.93986677e-03 8.28199289e+01] [ 5.50970251e-01 8.34523858e-01 -1.30881400e-03 2.27952087e+01] [ 2.33998472e-03 2.34246734e-05 9.99997262e-01 2.08399275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.85, Y:22.81, Z:0.20 [[ 8.36975388e-01 -5.47236994e-01 -1.96787932e-03 8.28484698e+01] [ 5.47235533e-01 8.36977701e-01 -1.26451163e-03 2.28090910e+01] [ 2.33905866e-03 -1.85283769e-05 9.99997264e-01 1.95244739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.86, Y:22.82, Z:0.20 [[ 8.36104187e-01 -5.48567115e-01 -1.97724250e-03 8.28629285e+01] [ 5.48565693e-01 8.36106524e-01 -1.24969743e-03 2.28200996e+01] [ 2.33872827e-03 -3.97701429e-05 9.99997264e-01 2.00096804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:82.89, Y:22.84, Z:0.21 [[ 8.34658207e-01 -5.50764805e-01 -1.95122909e-03 8.28905039e+01] [ 5.50763293e-01 8.34660487e-01 -1.29088174e-03 2.28425097e+01] [ 2.33958605e-03 2.77967569e-06 9.99997263e-01 2.11601183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.91, Y:22.85, Z:0.20 [[ 8.37080563e-01 -5.47076083e-01 -1.97260194e-03 8.29050188e+01] [ 5.47074639e-01 8.37082886e-01 -1.25699245e-03 2.28515190e+01] [ 2.33890183e-03 -2.69565488e-05 9.99997264e-01 1.98900841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:82.94, Y:22.88, Z:0.21 [[ 8.35963977e-01 -5.48780903e-01 -1.93623670e-03 8.29376960e+01] [ 5.48779329e-01 8.35966219e-01 -1.31464178e-03 2.28751412e+01] [ 2.34007878e-03 3.64264977e-05 9.99997261e-01 2.11513216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.96, Y:22.89, Z:0.21 [[ 8.34564942e-01 -5.50906038e-01 -1.97363717e-03 8.29557224e+01] [ 5.50904609e-01 8.34567275e-01 -1.25522317e-03 2.28914666e+01] [ 2.33864302e-03 -3.97205630e-05 9.99997265e-01 2.07826144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.98, Y:22.91, Z:0.21 [[ 8.34631513e-01 -5.50805232e-01 -1.95812281e-03 8.29789579e+01] [ 5.50803745e-01 8.34633810e-01 -1.27981548e-03 2.29060711e+01] [ 2.33924457e-03 -1.03670457e-05 9.99997264e-01 2.07879044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.01, Y:22.92, Z:0.21 [[ 8.36808997e-01 -5.47491426e-01 -1.95981165e-03 8.30056834e+01] [ 5.47489936e-01 8.36811292e-01 -1.27713319e-03 2.29220819e+01] [ 2.33921199e-03 -4.26060865e-06 9.99997264e-01 2.13840391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.03, Y:22.94, Z:0.21 [[ 8.37784195e-01 -5.45997951e-01 -1.96995982e-03 8.30282348e+01] [ 5.45996495e-01 8.37786510e-01 -1.26100509e-03 2.29370578e+01] [ 2.33891196e-03 -1.91410205e-05 9.99997265e-01 2.12150208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.05, Y:22.95, Z:0.21 [[ 8.37130184e-01 -5.47000185e-01 -1.96279683e-03 8.30543232e+01] [ 5.46998706e-01 8.37132485e-01 -1.27238986e-03 2.29542087e+01] [ 2.33911848e-03 -8.49137062e-06 9.99997264e-01 2.12893735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.07, Y:22.97, Z:0.20 [[ 8.40034042e-01 -5.42530116e-01 -1.97024053e-03 8.30738065e+01] [ 5.42528652e-01 8.40036352e-01 -1.26055815e-03 2.29663041e+01] [ 2.33896443e-03 -1.00001807e-05 9.99997265e-01 1.98589816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.10, Y:22.99, Z:0.21 [[ 8.37813074e-01 -5.45953695e-01 -1.95357808e-03 8.30990235e+01] [ 5.45952178e-01 8.37815351e-01 -1.28701658e-03 2.29862281e+01] [ 2.33938916e-03 1.17191084e-05 9.99997264e-01 2.12927158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.12, Y:23.00, Z:0.21 [[ 8.37837433e-01 -5.45916274e-01 -1.96427010e-03 8.31228930e+01] [ 5.45914797e-01 8.37839735e-01 -1.27003219e-03 2.30018405e+01] [ 2.33907479e-03 -8.24360148e-06 9.99997264e-01 2.12207237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:83.15, Y:23.02, Z:0.21 [[ 8.37880549e-01 -5.45850081e-01 -1.96842449e-03 8.31456662e+01] [ 5.45848619e-01 8.37882861e-01 -1.26343067e-03 2.30178624e+01] [ 2.33895288e-03 -1.58578103e-05 9.99997265e-01 2.11417393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.17, Y:23.03, Z:0.21 [[ 8.37893939e-01 -5.45829529e-01 -1.96756577e-03 8.31688164e+01] [ 5.45828064e-01 8.37896249e-01 -1.26479469e-03 2.30334089e+01] [ 2.33897828e-03 -1.41888102e-05 9.99997264e-01 2.14883529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.19, Y:23.05, Z:0.21 [[ 8.38192510e-01 -5.45370924e-01 -1.96778937e-03 8.31945586e+01] [ 5.45369458e-01 8.38194820e-01 -1.26443952e-03 2.30491394e+01] [ 2.33897940e-03 -1.33284889e-05 9.99997264e-01 2.12194577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.21, Y:23.06, Z:0.22 [[ 8.38035190e-01 -5.45612626e-01 -1.97026576e-03 8.32146506e+01] [ 5.45611170e-01 8.38037506e-01 -1.26050582e-03 2.30642468e+01] [ 2.33890450e-03 -1.86507746e-05 9.99997265e-01 2.15330395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:83.23, Y:23.08, Z:0.21 [[ 8.38752943e-01 -5.44508630e-01 -1.96261610e-03 8.32305812e+01] [ 5.44507143e-01 8.38755239e-01 -1.27265089e-03 2.30753264e+01] [ 2.33912393e-03 -1.21880602e-06 9.99997264e-01 2.05155959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.25, Y:23.09, Z:0.20 [[ 8.38992469e-01 -5.44139591e-01 -1.93439168e-03 8.32536699e+01] [ 5.44137999e-01 8.38994697e-01 -1.31740949e-03 2.30884339e+01] [ 2.33979903e-03 5.27206183e-05 9.99997261e-01 2.02583096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.27, Y:23.10, Z:0.20 [[ 8.39953961e-01 -5.42654244e-01 -1.92742283e-03 8.32738912e+01] [ 5.42652623e-01 8.39956169e-01 -1.32846157e-03 2.31024521e+01] [ 2.33984601e-03 6.99255097e-05 9.99997260e-01 2.04179350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.31, Y:23.13, Z:0.21 [[ 8.36520879e-01 -5.47931697e-01 -1.91690082e-03 8.33124590e+01] [ 5.47930051e-01 8.36523072e-01 -1.34515966e-03 2.31299668e+01] [ 2.34058737e-03 7.49265734e-05 9.99997258e-01 2.09342696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.33, Y:23.14, Z:0.21 [[ 8.38179905e-01 -5.45390263e-01 -1.97695197e-03 8.33293357e+01] [ 5.45388833e-01 8.38182235e-01 -1.24951642e-03 2.31416717e+01] [ 2.33852011e-03 -3.08879769e-05 9.99997265e-01 2.08612675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92361786499998 meters Centerline goodness : 0.996279 Centerline is valid? [True, True] Translation: X:83.36, Y:23.17, Z:0.21 [[ 8.34200844e-01 -5.51457274e-01 -1.95636661e-03 8.33635379e+01] [ 5.51455784e-01 8.34203138e-01 -1.28202375e-03 2.31657018e+01] [ 2.33898849e-03 -9.38439170e-06 9.99997265e-01 2.12093586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.38, Y:23.18, Z:0.21 [[ 8.32696864e-01 -5.53725514e-01 -1.99677786e-03 8.33822071e+01] [ 5.53724181e-01 8.32699254e-01 -1.21826053e-03 2.31814582e+01] [ 2.33729738e-03 -9.12224625e-05 9.99997264e-01 2.09158332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98361786499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.40, Y:23.19, Z:0.21 [[ 8.32055422e-01 -5.54688992e-01 -1.97409996e-03 8.34030346e+01] [ 5.54687577e-01 8.32057762e-01 -1.25397393e-03 2.31943488e+01] [ 2.33813073e-03 -5.16329166e-05 9.99997265e-01 2.10503415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01361786499999 meters Centerline goodness : 0.996156 Centerline is valid? [True, True] Translation: X:83.43, Y:23.21, Z:0.21 [[ 8.31845796e-01 -5.55003361e-01 -1.95977989e-03 8.34265708e+01] [ 5.55001894e-01 8.31848104e-01 -1.27640010e-03 2.32083884e+01] [ 2.33864553e-03 -2.59134910e-05 9.99997265e-01 2.13567938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04361786499999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:83.45, Y:23.22, Z:0.21 [[ 8.30113244e-01 -5.57591409e-01 -1.95518138e-03 8.34528987e+01] [ 5.57589932e-01 8.30115546e-01 -1.28359650e-03 2.32247694e+01] [ 2.33874884e-03 -2.46589911e-05 9.99997265e-01 2.14603308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07361786499997 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:83.48, Y:23.24, Z:0.21 [[ 8.27867673e-01 -5.60919993e-01 -1.96933105e-03 8.34800105e+01] [ 5.60918577e-01 8.27870013e-01 -1.26143356e-03 2.32440508e+01] [ 2.33791342e-03 -6.03343095e-05 9.99997265e-01 2.13585203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.50, Y:23.26, Z:0.22 [[ 8.26347179e-01 -5.63157524e-01 -1.98554997e-03 8.34991624e+01] [ 5.63156176e-01 8.26349559e-01 -1.23602148e-03 2.32584388e+01] [ 2.33683314e-03 -9.67918673e-05 9.99997265e-01 2.20770668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13361786499998 meters Centerline goodness : 0.996001 Centerline is valid? [True, True] Translation: X:83.52, Y:23.27, Z:0.22 [[ 8.25296439e-01 -5.64696302e-01 -1.96843586e-03 8.35196168e+01] [ 5.64694894e-01 8.25298784e-01 -1.26279009e-03 2.32723798e+01] [ 2.33764061e-03 -6.93895115e-05 9.99997265e-01 2.19944489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.55, Y:23.29, Z:0.22 [[ 8.24747881e-01 -5.65497217e-01 -1.95700332e-03 8.35450740e+01] [ 5.65495769e-01 8.24750202e-01 -1.28065220e-03 2.32896282e+01] [ 2.33824414e-03 -5.04619048e-05 9.99997265e-01 2.20116557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.57, Y:23.31, Z:0.22 [[ 8.24657556e-01 -5.65628896e-01 -1.96647632e-03 8.35700207e+01] [ 5.65627484e-01 8.24659898e-01 -1.26584256e-03 2.33069308e+01] [ 2.33767129e-03 -6.84064215e-05 9.99997265e-01 2.20096455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.59, Y:23.32, Z:0.22 [[ 8.24819179e-01 -5.65393174e-01 -1.97021855e-03 8.35939558e+01] [ 5.65391775e-01 8.24821528e-01 -1.25999367e-03 2.33233078e+01] [ 2.33747050e-03 -7.46784200e-05 9.99997265e-01 2.18491413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.62, Y:23.34, Z:0.22 [[ 8.26811120e-01 -5.62476215e-01 -1.96983267e-03 8.36158284e+01] [ 5.62474806e-01 8.26813464e-01 -1.26059642e-03 2.33396073e+01] [ 2.33773968e-03 -6.57061150e-05 9.99997265e-01 2.17682071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.64, Y:23.36, Z:0.22 [[ 8.26705855e-01 -5.62630920e-01 -1.96921887e-03 8.36374231e+01] [ 5.62629509e-01 8.26708197e-01 -1.26155453e-03 2.33553201e+01] [ 2.33775897e-03 -6.50061308e-05 9.99997265e-01 2.19045766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.66, Y:23.37, Z:0.21 [[ 8.26361832e-01 -5.63136081e-01 -1.96905277e-03 8.36622929e+01] [ 5.63134671e-01 8.26364175e-01 -1.26181373e-03 2.33736280e+01] [ 2.33772751e-03 -6.61271826e-05 9.99997265e-01 2.11133867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.68, Y:23.39, Z:0.21 [[ 8.28414293e-01 -5.60112370e-01 -1.97293168e-03 8.36845471e+01] [ 5.60110966e-01 8.28416640e-01 -1.25576230e-03 2.33901509e+01] [ 2.33777743e-03 -6.47692291e-05 9.99997265e-01 2.10523670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37361786499999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:83.71, Y:23.41, Z:0.21 [[ 8.29099404e-01 -5.59097742e-01 -1.97315665e-03 8.37089378e+01] [ 5.59096336e-01 8.29101749e-01 -1.25541150e-03 2.34066238e+01] [ 2.33784536e-03 -6.23237309e-05 9.99997265e-01 2.11200062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.73, Y:23.42, Z:0.21 [[ 8.30138063e-01 -5.57554389e-01 -1.97482073e-03 8.37311854e+01] [ 5.57552985e-01 8.30140410e-01 -1.25281848e-03 2.34223362e+01] [ 2.33789293e-03 -6.10548891e-05 9.99997265e-01 2.14975873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43361786499997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:83.76, Y:23.44, Z:0.21 [[ 8.31059695e-01 -5.56179739e-01 -1.96988090e-03 8.37559699e+01] [ 5.56178313e-01 8.31062028e-01 -1.26050906e-03 2.34400405e+01] [ 2.33816281e-03 -4.80467554e-05 9.99997265e-01 2.10593184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.78, Y:23.46, Z:0.21 [[ 8.31439135e-01 -5.55612332e-01 -1.97533476e-03 8.37771120e+01] [ 5.55610924e-01 8.31441479e-01 -1.25202132e-03 2.34560815e+01] [ 2.33801374e-03 -5.65380465e-05 9.99997265e-01 2.13250263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.80, Y:23.47, Z:0.21 [[ 8.32158315e-01 -5.54534640e-01 -1.96782643e-03 8.38027617e+01] [ 5.54533201e-01 8.32160641e-01 -1.26369613e-03 2.34721041e+01] [ 2.33831099e-03 -3.96298465e-05 9.99997265e-01 2.13808495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.83, Y:23.49, Z:0.21 [[ 8.32105312e-01 -5.54614163e-01 -1.96948296e-03 8.38260978e+01] [ 5.54612731e-01 8.32107642e-01 -1.26112139e-03 2.34898145e+01] [ 2.33825761e-03 -4.29145130e-05 9.99997265e-01 2.11963861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.85, Y:23.50, Z:0.21 [[ 8.33465416e-01 -5.52568099e-01 -1.97413187e-03 8.38455708e+01] [ 5.52566678e-01 8.33467752e-01 -1.25388890e-03 2.35029129e+01] [ 2.33823426e-03 -4.57664526e-05 9.99997265e-01 2.09757683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.87, Y:23.52, Z:0.21 [[ 8.32848801e-01 -5.53497082e-01 -1.96329445e-03 8.38708197e+01] [ 5.53495624e-01 8.32851115e-01 -1.27074642e-03 2.35215250e+01] [ 2.33848641e-03 -2.83352503e-05 9.99997265e-01 2.13014611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61361786499998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:83.89, Y:23.54, Z:0.22 [[ 8.33118720e-01 -5.53090689e-01 -1.97179894e-03 8.38926214e+01] [ 5.53089261e-01 8.33121053e-01 -1.25752016e-03 2.35372774e+01] [ 2.33826990e-03 -4.29172371e-05 9.99997265e-01 2.16789936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64361786499998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:83.92, Y:23.55, Z:0.22 [[ 8.33060740e-01 -5.53178033e-01 -1.96651574e-03 8.39154196e+01] [ 5.53176586e-01 8.33063060e-01 -1.26573020e-03 2.35528129e+01] [ 2.33840577e-03 -3.34003259e-05 9.99997265e-01 2.15676105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67361786499998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:83.94, Y:23.57, Z:0.22 [[ 8.32487376e-01 -5.54040527e-01 -1.96538651e-03 8.39360166e+01] [ 5.54039078e-01 8.32489696e-01 -1.26748414e-03 2.35682688e+01] [ 2.33840160e-03 -3.37363813e-05 9.99997265e-01 2.16112658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.96, Y:23.58, Z:0.21 [[ 8.32080523e-01 -5.54651385e-01 -1.96082438e-03 8.39606417e+01] [ 5.54649921e-01 8.32082833e-01 -1.27456580e-03 2.35844371e+01] [ 2.33850799e-03 -2.70297134e-05 9.99997265e-01 2.12599127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.98, Y:23.60, Z:0.22 [[ 8.31862889e-01 -5.54977719e-01 -1.96595920e-03 8.39823852e+01] [ 5.54976275e-01 8.31865211e-01 -1.26659648e-03 2.36013041e+01] [ 2.33834589e-03 -3.74261035e-05 9.99997265e-01 2.15429033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.01, Y:23.62, Z:0.21 [[ 8.32194434e-01 -5.54480458e-01 -1.96130686e-03 8.40064080e+01] [ 5.54478995e-01 8.32196744e-01 -1.27381187e-03 2.36175015e+01] [ 2.33849697e-03 -2.74443133e-05 9.99997265e-01 2.14195263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79361786499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:84.03, Y:23.63, Z:0.21 [[ 8.31988746e-01 -5.54789040e-01 -1.96177252e-03 8.40293682e+01] [ 5.54787580e-01 8.31991058e-01 -1.27308979e-03 2.36332594e+01] [ 2.33847345e-03 -2.91706528e-05 9.99997265e-01 2.09310296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.05, Y:23.65, Z:0.21 [[ 8.31681513e-01 -5.55249506e-01 -1.96127173e-03 8.40497949e+01] [ 5.55248046e-01 8.31683825e-01 -1.27386590e-03 2.36464119e+01] [ 2.33847138e-03 -2.95415764e-05 9.99997265e-01 2.07219785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.08, Y:23.67, Z:0.21 [[ 8.30093946e-01 -5.57620156e-01 -1.94979654e-03 8.40796872e+01] [ 5.57618660e-01 8.30096236e-01 -1.29163887e-03 2.36683646e+01] [ 2.33876264e-03 -1.50613318e-05 9.99997265e-01 2.06631513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88361786499998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:84.10, Y:23.68, Z:0.21 [[ 8.31125790e-01 -5.56080943e-01 -1.97625788e-03 8.40982120e+01] [ 5.56079540e-01 8.31128137e-01 -1.25062951e-03 2.36819758e+01] [ 2.33797477e-03 -5.95261337e-05 9.99997265e-01 2.06434668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.12, Y:23.70, Z:0.21 [[ 8.31549438e-01 -5.55447297e-01 -1.95779410e-03 8.41217294e+01] [ 5.55445825e-01 8.31551742e-01 -1.27919964e-03 2.36994855e+01] [ 2.33853507e-03 -2.37308173e-05 9.99997265e-01 2.07836906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.13, Y:23.70, Z:0.20 [[ 8.33361027e-01 -5.52725579e-01 -1.95808849e-03 8.41318056e+01] [ 5.52724100e-01 8.33363327e-01 -1.27874415e-03 2.37017910e+01] [ 2.33859374e-03 -1.66271606e-05 9.99997265e-01 1.97457509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.16, Y:23.73, Z:0.20 [[ 8.32535692e-01 -5.53968134e-01 -1.90482319e-03 8.41637313e+01] [ 5.53966467e-01 8.32537867e-01 -1.36122078e-03 2.37298003e+01] [ 2.33991037e-03 7.80567086e-05 9.99997259e-01 2.03036444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.18, Y:23.74, Z:0.20 [[ 8.35810051e-01 -5.49015257e-01 -1.95097374e-03 8.41804162e+01] [ 5.49013743e-01 8.35812328e-01 -1.28955684e-03 2.37374263e+01] [ 2.33863429e-03 6.71316946e-06 9.99997265e-01 1.99107755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03361786499998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:84.21, Y:23.76, Z:0.21 [[ 8.35820763e-01 -5.48999036e-01 -1.92635147e-03 8.42100200e+01] [ 5.48997432e-01 8.35822981e-01 -1.32798991e-03 2.37625837e+01] [ 2.33915401e-03 5.23995304e-05 9.99997263e-01 2.08569340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.24, Y:23.78, Z:0.20 [[ 8.35442712e-01 -5.49574039e-01 -1.96244596e-03 8.42387846e+01] [ 5.49572568e-01 8.35445016e-01 -1.27153596e-03 2.37812278e+01] [ 2.33831885e-03 -1.62110149e-05 9.99997266e-01 2.04064551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09361786499998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:84.24, Y:23.78, Z:0.20 [[ 8.38920211e-01 -5.44250799e-01 -1.98692955e-03 8.42440021e+01] [ 5.44249404e-01 8.38922562e-01 -1.23313840e-03 2.37836978e+01] [ 2.33801659e-03 -4.68804928e-05 9.99997266e-01 1.99524624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.28, Y:23.81, Z:0.21 [[ 8.36881267e-01 -5.47381095e-01 -1.91895190e-03 8.42788511e+01] [ 5.47379461e-01 8.36883464e-01 -1.33951664e-03 2.38084883e+01] [ 2.33916520e-03 7.06215237e-05 9.99997262e-01 2.10418985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15361786499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:84.30, Y:23.82, Z:0.21 [[ 8.37052395e-01 -5.47119222e-01 -1.96084070e-03 8.42991390e+01] [ 5.47117740e-01 8.37054691e-01 -1.27378692e-03 2.38220182e+01] [ 2.33824421e-03 -6.58433769e-06 9.99997266e-01 2.09747397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.32, Y:23.84, Z:0.21 [[ 8.36459253e-01 -5.48025649e-01 -1.95107140e-03 8.43246653e+01] [ 5.48024133e-01 8.36461528e-01 -1.28910621e-03 2.38378158e+01] [ 2.33845943e-03 9.05060729e-06 9.99997266e-01 2.10565705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.34, Y:23.85, Z:0.20 [[ 8.35744173e-01 -5.49115520e-01 -1.95540566e-03 8.43439539e+01] [ 5.49114023e-01 8.35746460e-01 -1.28231292e-03 2.38491233e+01] [ 2.33836129e-03 -2.05511546e-06 9.99997266e-01 2.04647886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.37, Y:23.87, Z:0.20 [[ 8.33634177e-01 -5.52313574e-01 -1.94318994e-03 8.43729536e+01] [ 5.52312040e-01 8.33636441e-01 -1.30158119e-03 2.38698210e+01] [ 2.33879490e-03 1.17953642e-05 9.99997265e-01 1.99603330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.40, Y:23.88, Z:0.21 [[ 8.35040041e-01 -5.50185652e-01 -1.96923251e-03 8.43962037e+01] [ 5.50184209e-01 8.35042363e-01 -1.26044935e-03 2.38832391e+01] [ 2.33787371e-03 -3.09149560e-05 9.99997267e-01 2.08555508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.42, Y:23.90, Z:0.21 [[ 8.35727376e-01 -5.49141054e-01 -1.96372534e-03 8.44225616e+01] [ 5.49139588e-01 8.35729683e-01 -1.26913461e-03 2.38974361e+01] [ 2.33807748e-03 -1.77087869e-05 9.99997267e-01 2.09377471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.45, Y:23.91, Z:0.21 [[ 8.35750421e-01 -5.49105978e-01 -1.96431303e-03 8.44464830e+01] [ 5.49104514e-01 8.35752729e-01 -1.26820767e-03 2.39125819e+01] [ 2.33806039e-03 -1.87080540e-05 9.99997267e-01 2.09444037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.47, Y:23.93, Z:0.21 [[ 8.36129999e-01 -5.48527817e-01 -1.96425450e-03 8.44713492e+01] [ 5.48526351e-01 8.36132306e-01 -1.26829998e-03 2.39269229e+01] [ 2.33807447e-03 -1.69816957e-05 9.99997267e-01 2.09111263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.39361786499998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:84.50, Y:23.94, Z:0.21 [[ 8.35424412e-01 -5.49601853e-01 -1.96327939e-03 8.44962380e+01] [ 5.49600386e-01 8.35426719e-01 -1.26983757e-03 2.39424866e+01] [ 2.33808114e-03 -1.81658064e-05 9.99997267e-01 2.08282273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.52, Y:23.96, Z:0.21 [[ 8.35409192e-01 -5.49624971e-01 -1.96792587e-03 8.45215783e+01] [ 5.49623521e-01 8.35411510e-01 -1.26251031e-03 2.39566828e+01] [ 2.33793512e-03 -2.69056294e-05 9.99997267e-01 2.07373142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45361786499998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:84.54, Y:23.97, Z:0.21 [[ 8.34703270e-01 -5.50696441e-01 -1.97018898e-03 8.45445335e+01] [ 5.50695003e-01 8.34705594e-01 -1.25894178e-03 2.39709679e+01] [ 2.33782252e-03 -3.41304051e-05 9.99997267e-01 2.08135676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.57, Y:23.99, Z:0.21 [[ 8.34350013e-01 -5.51231509e-01 -1.96938885e-03 8.45696021e+01] [ 5.51230070e-01 8.34352337e-01 -1.26020342e-03 2.39856411e+01] [ 2.33782802e-03 -3.41356148e-05 9.99997267e-01 2.08278568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.60, Y:24.00, Z:0.21 [[ 8.33773547e-01 -5.52103066e-01 -1.96888670e-03 8.45951068e+01] [ 5.52101627e-01 8.33775871e-01 -1.26099506e-03 2.39993765e+01] [ 2.33780947e-03 -3.56412250e-05 9.99997267e-01 2.07600841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.62, Y:24.01, Z:0.21 [[ 8.34342374e-01 -5.51243073e-01 -1.96906404e-03 8.46206355e+01] [ 5.51241632e-01 8.34344697e-01 -1.26071550e-03 2.40129932e+01] [ 2.33783882e-03 -3.35617135e-05 9.99997267e-01 2.05740307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.65, Y:24.03, Z:0.21 [[ 8.34656197e-01 -5.50767785e-01 -1.96972273e-03 8.46456668e+01] [ 5.50766345e-01 8.34658521e-01 -1.25967712e-03 2.40273213e+01] [ 2.33783544e-03 -3.34596787e-05 9.99997267e-01 2.06866904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.67, Y:24.04, Z:0.21 [[ 8.33717548e-01 -5.52187627e-01 -1.96839066e-03 8.46695626e+01] [ 5.52186186e-01 8.33719871e-01 -1.26177648e-03 2.40430787e+01] [ 2.33782377e-03 -3.49529359e-05 9.99997267e-01 2.08789414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.69, Y:24.06, Z:0.20 [[ 8.31286945e-01 -5.55840033e-01 -1.96818123e-03 8.46902966e+01] [ 5.55838602e-01 8.31289273e-01 -1.26210652e-03 2.40564421e+01] [ 2.33765727e-03 -4.48184310e-05 9.99997267e-01 1.97227120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.72, Y:24.07, Z:0.21 [[ 8.33912676e-01 -5.51892949e-01 -1.95503155e-03 8.47177603e+01] [ 5.51891458e-01 8.33914967e-01 -1.28281063e-03 2.40712623e+01] [ 2.33830421e-03 -9.21316290e-06 9.99997266e-01 2.11897866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.74, Y:24.09, Z:0.21 [[ 8.34014232e-01 -5.51739433e-01 -1.96463542e-03 8.47427484e+01] [ 5.51737977e-01 8.34016545e-01 -1.26768418e-03 2.40858967e+01] [ 2.33796980e-03 -2.66973285e-05 9.99997267e-01 2.09444208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.77, Y:24.10, Z:0.21 [[ 8.34560607e-01 -5.50912636e-01 -1.96480639e-03 8.47672028e+01] [ 5.50911178e-01 8.34562920e-01 -1.26741486e-03 2.40992568e+01] [ 2.33798942e-03 -2.46992847e-05 9.99997267e-01 2.10961119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75361786499998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:84.79, Y:24.11, Z:0.21 [[ 8.35395188e-01 -5.49646271e-01 -1.96366370e-03 8.47917591e+01] [ 5.49644806e-01 8.35397496e-01 -1.26921425e-03 2.41128635e+01] [ 2.33805862e-03 -1.90220800e-05 9.99997267e-01 2.10917358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.82, Y:24.13, Z:0.21 [[ 8.36318994e-01 -5.48239627e-01 -1.96280898e-03 8.48162025e+01] [ 5.48238155e-01 8.36321297e-01 -1.27056048e-03 2.41270711e+01] [ 2.33811056e-03 -1.34929126e-05 9.99997267e-01 2.10938942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81361786499998 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:84.84, Y:24.14, Z:0.20 [[ 8.39813902e-01 -5.42870852e-01 -1.96179585e-03 8.48420602e+01] [ 5.42869361e-01 8.39816193e-01 -1.27215573e-03 2.41381021e+01] [ 2.33816419e-03 3.37521194e-06 9.99997266e-01 1.97067457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.87, Y:24.15, Z:0.21 [[ 8.38635160e-01 -5.44690033e-01 -1.95888586e-03 8.48683959e+01] [ 5.44688536e-01 8.38637447e-01 -1.27673768e-03 2.41549641e+01] [ 2.33822132e-03 3.73443408e-06 9.99997266e-01 2.10650199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.89, Y:24.17, Z:0.21 [[ 8.39023364e-01 -5.44091837e-01 -1.96630399e-03 8.48918098e+01] [ 5.44090367e-01 8.39025669e-01 -1.26505656e-03 2.41683962e+01] [ 2.33808647e-03 -8.43504602e-06 9.99997267e-01 2.08067544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.92, Y:24.18, Z:0.21 [[ 8.40202580e-01 -5.42269083e-01 -1.96615047e-03 8.49177347e+01] [ 5.42267607e-01 8.40204881e-01 -1.26529832e-03 2.41805153e+01] [ 2.33810138e-03 -3.07279983e-06 9.99997267e-01 2.10966411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.94, Y:24.19, Z:0.21 [[ 8.40805997e-01 -5.41332999e-01 -1.96454473e-03 8.49423368e+01] [ 5.41331514e-01 8.40808292e-01 -1.26782647e-03 2.41939684e+01] [ 2.33812180e-03 2.52612168e-06 9.99997267e-01 2.11813206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96361786499997 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:84.97, Y:24.20, Z:0.20 [[ 8.43649963e-01 -5.36890005e-01 -1.96511065e-03 8.49669374e+01] [ 5.36888511e-01 8.43652252e-01 -1.26693549e-03 2.42046607e+01] [ 2.33807503e-03 1.38047488e-05 9.99997267e-01 1.98394322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.99, Y:24.22, Z:0.21 [[ 8.42416279e-01 -5.38823711e-01 -1.95499007e-03 8.49940443e+01] [ 5.38822185e-01 8.42418547e-01 -1.28285541e-03 2.42202592e+01] [ 2.33815281e-03 2.73062634e-05 9.99997266e-01 2.11680878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.02, Y:24.23, Z:0.21 [[ 8.42612274e-01 -5.38517119e-01 -1.96668452e-03 8.50199737e+01] [ 5.38515635e-01 8.42614569e-01 -1.26445233e-03 2.42341351e+01] [ 2.33808626e-03 6.35268478e-06 9.99997267e-01 2.11650161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05361786499998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:85.04, Y:24.25, Z:0.21 [[ 8.42561483e-01 -5.38596578e-01 -1.96830434e-03 8.50441318e+01] [ 5.38595099e-01 8.42563782e-01 -1.26190358e-03 2.42474943e+01] [ 2.33807890e-03 3.11228052e-06 9.99997267e-01 2.11828775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.07, Y:24.26, Z:0.21 [[ 8.42583550e-01 -5.38562064e-01 -1.96575614e-03 8.50704679e+01] [ 5.38560576e-01 8.42585843e-01 -1.26591142e-03 2.42609431e+01] [ 2.33809016e-03 7.95738109e-06 9.99997267e-01 2.10632377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.10, Y:24.27, Z:0.21 [[ 8.42193979e-01 -5.39171051e-01 -1.96976557e-03 8.50967521e+01] [ 5.39169580e-01 8.42196282e-01 -1.25960516e-03 2.42716824e+01] [ 2.33807188e-03 -1.20579572e-06 9.99997267e-01 2.12099427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.12, Y:24.29, Z:0.21 [[ 8.41551676e-01 -5.40173017e-01 -1.97181654e-03 8.51214670e+01] [ 5.40171556e-01 8.41553986e-01 -1.25637967e-03 2.42854670e+01] [ 2.33805247e-03 -7.81079493e-06 9.99997267e-01 2.12458346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.17361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:85.15, Y:24.30, Z:0.21 [[ 8.41160113e-01 -5.40782564e-01 -1.97025843e-03 8.51472252e+01] [ 5.40781099e-01 8.41162421e-01 -1.25882995e-03 2.42994438e+01] [ 2.33806064e-03 -6.60097278e-06 9.99997267e-01 2.12513644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20361786499998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:85.17, Y:24.32, Z:0.20 [[ 8.38404006e-01 -5.45045720e-01 -1.97147231e-03 8.51729885e+01] [ 5.45044271e-01 8.38406323e-01 -1.25692170e-03 2.43166525e+01] [ 2.33797465e-03 -2.07315048e-05 9.99997267e-01 1.95691591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23361786499999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:85.20, Y:24.33, Z:0.21 [[ 8.40089361e-01 -5.42444404e-01 -1.98316921e-03 8.51950806e+01] [ 5.42442992e-01 8.40091702e-01 -1.23851286e-03 2.43257632e+01] [ 2.33786837e-03 -3.52947617e-05 9.99997267e-01 2.10797473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.22, Y:24.34, Z:0.21 [[ 8.39650997e-01 -5.43122752e-01 -1.96944383e-03 8.52199948e+01] [ 5.43121291e-01 8.39653307e-01 -1.26009677e-03 2.43396548e+01] [ 2.33803725e-03 -1.16053614e-05 9.99997267e-01 2.10484868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.25, Y:24.35, Z:0.21 [[ 8.39044394e-01 -5.44059397e-01 -1.96916837e-03 8.52455505e+01] [ 5.44057937e-01 8.39046705e-01 -1.26052974e-03 2.43512434e+01] [ 2.33802728e-03 -1.37012702e-05 9.99997267e-01 2.09352954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.27, Y:24.36, Z:0.21 [[ 8.38375656e-01 -5.45089336e-01 -1.96856864e-03 8.52710397e+01] [ 5.45087876e-01 8.38377967e-01 -1.26147196e-03 2.43649358e+01] [ 2.33801949e-03 -1.54555133e-05 9.99997267e-01 2.09377151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.30, Y:24.38, Z:0.21 [[ 8.37574199e-01 -5.46320031e-01 -1.97110301e-03 8.52952159e+01] [ 5.46318584e-01 8.37576518e-01 -1.25749028e-03 2.43791350e+01] [ 2.33794172e-03 -2.36087915e-05 9.99997267e-01 2.09858401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.32, Y:24.39, Z:0.21 [[ 8.37097280e-01 -5.47050517e-01 -1.96851464e-03 8.53205562e+01] [ 5.47049063e-01 8.37099595e-01 -1.26155467e-03 2.43929476e+01] [ 2.33797695e-03 -2.08301063e-05 9.99997267e-01 2.10507767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.35, Y:24.41, Z:0.21 [[ 8.35621111e-01 -5.49302723e-01 -1.96896764e-03 8.53455706e+01] [ 5.49301277e-01 8.35623431e-01 -1.26084342e-03 2.44056372e+01] [ 2.33790022e-03 -2.79690559e-05 9.99997267e-01 2.09219267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.37, Y:24.42, Z:0.21 [[ 8.35169588e-01 -5.49988991e-01 -1.96698354e-03 8.53717353e+01] [ 5.49987539e-01 8.35171904e-01 -1.26395752e-03 2.44193661e+01] [ 2.33793211e-03 -2.61975534e-05 9.99997267e-01 2.10411757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.40, Y:24.43, Z:0.21 [[ 8.34123129e-01 -5.51574768e-01 -1.97006404e-03 8.53972541e+01] [ 5.51573332e-01 8.34125454e-01 -1.25912364e-03 2.44309338e+01] [ 2.33778139e-03 -3.63706399e-05 9.99997267e-01 2.11184478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50361786499998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:85.42, Y:24.45, Z:0.21 [[ 8.33265301e-01 -5.52869835e-01 -1.97090707e-03 8.54227869e+01] [ 5.52868406e-01 8.33267630e-01 -1.25780124e-03 2.44452743e+01] [ 2.33769343e-03 -4.15701159e-05 9.99997267e-01 2.13226661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53361786499998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:85.45, Y:24.46, Z:0.22 [[ 8.33384980e-01 -5.52689417e-01 -1.97067494e-03 8.54468366e+01] [ 5.52687986e-01 8.33387309e-01 -1.25816518e-03 2.44594297e+01] [ 2.33771007e-03 -4.06324058e-05 9.99997267e-01 2.15454748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.47, Y:24.47, Z:0.22 [[ 8.34850807e-01 -5.50472750e-01 -1.97007919e-03 8.54717752e+01] [ 5.50471311e-01 8.34853131e-01 -1.25909871e-03 2.44747857e+01] [ 2.33782631e-03 -3.33125036e-05 9.99997267e-01 2.15495563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.50, Y:24.49, Z:0.22 [[ 8.35300243e-01 -5.49790517e-01 -1.97278216e-03 8.54953801e+01] [ 5.49789086e-01 8.35302571e-01 -1.25486452e-03 2.44903802e+01] [ 2.33778262e-03 -3.64254674e-05 9.99997267e-01 2.15621898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.52, Y:24.51, Z:0.21 [[ 8.36242107e-01 -5.48356871e-01 -1.97007123e-03 8.55191724e+01] [ 5.48355426e-01 8.36244427e-01 -1.25910851e-03 2.45053779e+01] [ 2.33790189e-03 -2.73796888e-05 9.99997267e-01 2.14143455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.54, Y:24.52, Z:0.21 [[ 8.37105953e-01 -5.47037243e-01 -1.96941428e-03 8.55427261e+01] [ 5.47035792e-01 8.37108269e-01 -1.26013670e-03 2.45218021e+01] [ 2.33795469e-03 -2.24721627e-05 9.99997267e-01 2.13347366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68361786499997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:85.57, Y:24.54, Z:0.21 [[ 8.38946873e-01 -5.44209764e-01 -1.96888587e-03 8.55658145e+01] [ 5.44208303e-01 8.38949184e-01 -1.26096330e-03 2.45370750e+01] [ 2.33802374e-03 -1.36028213e-05 9.99997267e-01 2.11069932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.59, Y:24.55, Z:0.21 [[ 8.39049510e-01 -5.44051513e-01 -1.96732950e-03 8.55891771e+01] [ 5.44050046e-01 8.39051817e-01 -1.26339721e-03 2.45534794e+01] [ 2.33804455e-03 -1.02728974e-05 9.99997267e-01 2.11015748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.61, Y:24.57, Z:0.21 [[ 8.39006297e-01 -5.44118156e-01 -1.96598114e-03 8.56122900e+01] [ 5.44116685e-01 8.39008601e-01 -1.26550527e-03 2.45692897e+01] [ 2.33805948e-03 -7.95625045e-06 9.99997267e-01 2.11025882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.63, Y:24.59, Z:0.21 [[ 8.39015072e-01 -5.44104629e-01 -1.96511205e-03 8.56346576e+01] [ 5.44103155e-01 8.39017373e-01 -1.26686337e-03 2.45855719e+01] [ 2.33806938e-03 -6.30620878e-06 9.99997267e-01 2.09669669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:85.66, Y:24.60, Z:0.21 [[ 8.39746074e-01 -5.42975758e-01 -1.96422910e-03 8.56628577e+01] [ 5.42974277e-01 8.39748371e-01 -1.26824292e-03 2.46026439e+01] [ 2.33808335e-03 -1.52386151e-06 9.99997267e-01 2.07094575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.68, Y:24.62, Z:0.21 [[ 8.37938604e-01 -5.45760926e-01 -1.97665586e-03 8.56809163e+01] [ 5.45759498e-01 8.37940935e-01 -1.24881876e-03 2.46167405e+01] [ 2.33787734e-03 -3.23452609e-05 9.99997267e-01 2.09656318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.71, Y:24.63, Z:0.21 [[ 8.37591898e-01 -5.46292925e-01 -1.96256706e-03 8.57050501e+01] [ 5.46291447e-01 8.37594197e-01 -1.27081383e-03 2.46325255e+01] [ 2.33807139e-03 -7.71023647e-06 9.99997267e-01 2.10214898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.73, Y:24.65, Z:0.21 [[ 8.36415863e-01 -5.48091824e-01 -1.96379360e-03 8.57280387e+01] [ 5.48090355e-01 8.36418168e-01 -1.26889962e-03 2.46478223e+01] [ 2.33802615e-03 -1.50085659e-05 9.99997267e-01 2.09761143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.75, Y:24.66, Z:0.20 [[ 8.37040964e-01 -5.47136698e-01 -1.96444515e-03 8.57471863e+01] [ 5.47135229e-01 8.37043269e-01 -1.26788301e-03 2.46595884e+01] [ 2.33803091e-03 -1.35471258e-05 9.99997267e-01 2.02831409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.77, Y:24.68, Z:0.21 [[ 8.34275681e-01 -5.51344087e-01 -1.94547076e-03 8.57739564e+01] [ 5.51342561e-01 8.34277950e-01 -1.29748942e-03 2.46797305e+01] [ 2.33842647e-03 9.84303978e-06 9.99997266e-01 2.09629808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.80, Y:24.70, Z:0.21 [[ 8.33579847e-01 -5.52395509e-01 -1.95973615e-03 8.57981628e+01] [ 5.52394037e-01 8.33582151e-01 -1.27521244e-03 2.46953444e+01] [ 2.33802270e-03 -1.95551716e-05 9.99997267e-01 2.07601654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.82, Y:24.71, Z:0.21 [[ 8.32713231e-01 -5.53701031e-01 -1.96056427e-03 8.58215416e+01] [ 5.53699566e-01 8.32715538e-01 -1.27391946e-03 2.47108856e+01] [ 2.33796285e-03 -2.47539957e-05 9.99997267e-01 2.07324289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.85, Y:24.73, Z:0.21 [[ 8.31788353e-01 -5.55089445e-01 -1.96064419e-03 8.58463277e+01] [ 5.55087984e-01 8.31790663e-01 -1.27379470e-03 2.47270710e+01] [ 2.33791553e-03 -2.88024368e-05 9.99997267e-01 2.07989126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.87, Y:24.74, Z:0.21 [[ 8.31658698e-01 -5.55283670e-01 -1.96377740e-03 8.58686356e+01] [ 5.55282221e-01 8.31661016e-01 -1.26890113e-03 2.47415899e+01] [ 2.33779719e-03 -3.51580153e-05 9.99997267e-01 2.06984631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.89, Y:24.76, Z:0.21 [[ 8.31479047e-01 -5.55552658e-01 -1.95918253e-03 8.58933472e+01] [ 5.55551193e-01 8.31481355e-01 -1.27607263e-03 2.47577813e+01] [ 2.33794929e-03 -2.73985391e-05 9.99997267e-01 2.06931039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:85.92, Y:24.77, Z:0.21 [[ 8.31423684e-01 -5.55635491e-01 -1.96409313e-03 8.59174982e+01] [ 5.55634045e-01 8.31426004e-01 -1.26840773e-03 2.47736899e+01] [ 2.33777045e-03 -3.67327794e-05 9.99997267e-01 2.06191105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.94, Y:24.79, Z:0.21 [[ 8.31355706e-01 -5.55737192e-01 -1.96536276e-03 8.59405822e+01] [ 5.55735751e-01 8.31358028e-01 -1.26642666e-03 2.47885902e+01] [ 2.33772051e-03 -3.93713169e-05 9.99997267e-01 2.06730588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.97, Y:24.80, Z:0.21 [[ 8.31211184e-01 -5.55953339e-01 -1.96267953e-03 8.59654862e+01] [ 5.55951889e-01 8.31213500e-01 -1.27061130e-03 2.48044227e+01] [ 2.33780632e-03 -3.50090704e-05 9.99997267e-01 2.05937674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.00, Y:24.83, Z:0.19 [[ 8.28576374e-01 -5.59872601e-01 -1.96543756e-03 8.60029863e+01] [ 5.59871172e-01 8.28578703e-01 -1.26630975e-03 2.48338106e+01] [ 2.33749184e-03 -5.11574923e-05 9.99997267e-01 1.92766990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.03, Y:24.85, Z:0.19 [[ 8.28124142e-01 -5.60541082e-01 -2.02495639e-03 8.60269256e+01] [ 5.60539878e-01 8.28126602e-01 -1.17322347e-03 2.48495482e+01] [ 2.33456021e-03 -1.63494126e-04 9.99997262e-01 1.92877736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28361786499998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:86.03, Y:24.85, Z:0.21 [[ 8.29853942e-01 -5.57977011e-01 -2.02243451e-03 8.60347323e+01] [ 5.57975790e-01 8.29856392e-01 -1.17716138e-03 2.48505257e+01] [ 2.33515919e-03 -1.51597488e-04 9.99997262e-01 2.05659248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:86.06, Y:24.87, Z:0.20 [[ 8.29635540e-01 -5.58301915e-01 -1.96012763e-03 8.60581572e+01] [ 5.58300463e-01 8.29637855e-01 -1.27402334e-03 2.48655131e+01] [ 2.33748575e-03 -3.73651167e-05 9.99997267e-01 2.04779601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34361786499998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:86.08, Y:24.88, Z:0.21 [[ 8.29080709e-01 -5.59125504e-01 -1.96179511e-03 8.60815563e+01] [ 5.59124060e-01 8.29083029e-01 -1.27143063e-03 2.48812731e+01] [ 2.33738033e-03 -4.27682436e-05 9.99997267e-01 2.07027791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:86.11, Y:24.90, Z:0.20 [[ 8.28268120e-01 -5.60328548e-01 -1.95942130e-03 8.61059225e+01] [ 5.60327098e-01 8.28270437e-01 -1.27511934e-03 2.48959398e+01] [ 2.33741650e-03 -4.17761499e-05 9.99997267e-01 2.03464245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.13, Y:24.91, Z:0.20 [[ 8.29485012e-01 -5.58525522e-01 -1.96339611e-03 8.61305642e+01] [ 5.58524083e-01 8.29487335e-01 -1.26894280e-03 2.49113689e+01] [ 2.33734915e-03 -4.40349726e-05 9.99997267e-01 2.03411341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:86.15, Y:24.93, Z:0.20 [[ 8.29206809e-01 -5.58938455e-01 -1.96743745e-03 8.61546958e+01] [ 5.58937031e-01 8.29209142e-01 -1.26266328e-03 2.49270107e+01] [ 2.33716818e-03 -5.26646595e-05 9.99997267e-01 2.02917879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.17, Y:24.94, Z:0.21 [[ 8.28532415e-01 -5.59937641e-01 -1.96885882e-03 8.61747699e+01] [ 5.59936225e-01 8.28534752e-01 -1.26045569e-03 2.49412550e+01] [ 2.33704454e-03 -5.81069829e-05 9.99997267e-01 2.07985170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49361786499998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:86.20, Y:24.96, Z:0.21 [[ 8.28877467e-01 -5.59426765e-01 -1.95959112e-03 8.61989086e+01] [ 5.59425314e-01 8.28879782e-01 -1.27484160e-03 2.49563938e+01] [ 2.33744597e-03 -3.95574067e-05 9.99997267e-01 2.07572862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.22, Y:24.97, Z:0.21 [[ 8.28629005e-01 -5.59794722e-01 -1.96006664e-03 8.62216899e+01] [ 5.59793273e-01 8.28631322e-01 -1.27410360e-03 2.49719552e+01] [ 2.33740907e-03 -4.14729239e-05 9.99997267e-01 2.08127049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.25, Y:24.99, Z:0.21 [[ 8.28605274e-01 -5.59829858e-01 -1.95713514e-03 8.62458836e+01] [ 5.59828399e-01 8.28607584e-01 -1.27865111e-03 2.49868986e+01] [ 2.33752409e-03 -3.61627777e-05 9.99997267e-01 2.07173866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:86.27, Y:25.00, Z:0.20 [[ 8.28204407e-01 -5.60422716e-01 -1.95934191e-03 8.62689715e+01] [ 5.60421267e-01 8.28206724e-01 -1.27522818e-03 2.50017998e+01] [ 2.33740699e-03 -4.19072728e-05 9.99997267e-01 2.04492225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61361786499998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:86.29, Y:25.02, Z:0.21 [[ 8.28547246e-01 -5.59915718e-01 -1.96182923e-03 8.62913346e+01] [ 5.59914277e-01 8.28549568e-01 -1.27137018e-03 2.50167246e+01] [ 2.33733291e-03 -4.50659268e-05 9.99997267e-01 2.06060101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.32, Y:25.03, Z:0.21 [[ 8.27745115e-01 -5.61100881e-01 -1.95607767e-03 8.63155934e+01] [ 5.61099422e-01 8.27747425e-01 -1.28028716e-03 2.50320639e+01] [ 2.33750851e-03 -3.78026135e-05 9.99997267e-01 2.06990144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.34, Y:25.05, Z:0.21 [[ 8.27400088e-01 -5.61609516e-01 -1.96119884e-03 8.63385224e+01] [ 5.61608076e-01 8.27402411e-01 -1.27234663e-03 2.50470937e+01] [ 2.33726262e-03 -4.86853899e-05 9.99997267e-01 2.06116390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70361786499998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:86.36, Y:25.06, Z:0.20 [[ 8.26505836e-01 -5.62924743e-01 -1.95888245e-03 8.63630869e+01] [ 5.62923299e-01 8.26508155e-01 -1.27593609e-03 2.50627637e+01] [ 2.33728832e-03 -4.81319448e-05 9.99997267e-01 1.97078487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.39, Y:25.08, Z:0.21 [[ 8.27331875e-01 -5.61710002e-01 -1.96020989e-03 8.63877664e+01] [ 5.61708559e-01 8.27334196e-01 -1.27387929e-03 2.50754963e+01] [ 2.33729942e-03 -4.71457294e-05 9.99997267e-01 2.06528063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.41, Y:25.09, Z:0.21 [[ 8.27249329e-01 -5.61831568e-01 -1.95892688e-03 8.64112131e+01] [ 5.61830121e-01 8.27251647e-01 -1.27586644e-03 2.50903155e+01] [ 2.33734753e-03 -4.51244713e-05 9.99997267e-01 2.05541925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79361786499997 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:86.43, Y:25.10, Z:0.18 [[ 8.28513686e-01 -5.59965386e-01 -1.95915384e-03 8.64301498e+01] [ 5.59963934e-01 8.28516002e-01 -1.27551498e-03 2.51026254e+01] [ 2.33743455e-03 -4.02738748e-05 9.99997267e-01 1.79173169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.47, Y:25.13, Z:0.19 [[ 8.26600561e-01 -5.62785704e-01 -1.94012824e-03 8.64723802e+01] [ 5.62784192e-01 8.26602837e-01 -1.30495691e-03 2.51349472e+01] [ 2.33812660e-03 -1.31953893e-05 9.99997266e-01 1.94164420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.48, Y:25.14, Z:0.20 [[ 8.28566200e-01 -5.59887461e-01 -2.02078626e-03 8.64838475e+01] [ 5.59886239e-01 8.28568650e-01 -1.17956046e-03 2.51384726e+01] [ 2.33478126e-03 -1.54066490e-04 9.99997263e-01 2.00990486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88361786499998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:86.50, Y:25.15, Z:0.20 [[ 8.32020816e-01 -5.54740922e-01 -1.96743642e-03 8.64956159e+01] [ 5.54739488e-01 8.32023141e-01 -1.26220036e-03 2.51482702e+01] [ 2.33714682e-03 -4.12376973e-05 9.99997268e-01 1.98085182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91361786499998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:86.53, Y:25.17, Z:0.20 [[ 8.31377219e-01 -5.55705135e-01 -1.92950525e-03 8.65278854e+01] [ 5.55703566e-01 8.31379457e-01 -1.32097275e-03 2.51680776e+01] [ 2.33822237e-03 2.59937001e-05 9.99997266e-01 2.03763906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.55, Y:25.18, Z:0.21 [[ 8.32621085e-01 -5.53839582e-01 -1.96119229e-03 8.65497852e+01] [ 5.53838123e-01 8.32623394e-01 -1.27179329e-03 2.51834553e+01] [ 2.33730405e-03 -2.72611448e-05 9.99997268e-01 2.05884718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:86.57, Y:25.20, Z:0.21 [[ 8.33224648e-01 -5.52931141e-01 -1.95932814e-03 8.65732396e+01] [ 5.52929672e-01 8.33226952e-01 -1.27468559e-03 2.51991999e+01] [ 2.33737837e-03 -2.12712134e-05 9.99997268e-01 2.05265068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.60, Y:25.22, Z:0.20 [[ 8.34130254e-01 -5.51564030e-01 -1.95958550e-03 8.65966857e+01] [ 5.51562558e-01 8.34132556e-01 -1.27428625e-03 2.52153402e+01] [ 2.33740452e-03 -1.79132780e-05 9.99997268e-01 2.00560448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:86.62, Y:25.23, Z:0.20 [[ 8.34746024e-01 -5.50631670e-01 -1.95942294e-03 8.66208470e+01] [ 5.50630195e-01 8.34748324e-01 -1.27453860e-03 2.52332264e+01] [ 2.33742633e-03 -1.50014035e-05 9.99997268e-01 1.98351401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06361786499998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:86.64, Y:25.25, Z:0.20 [[ 8.34106979e-01 -5.51599216e-01 -1.96290554e-03 8.66424091e+01] [ 5.51597756e-01 8.34109288e-01 -1.26913338e-03 2.52487083e+01] [ 2.33733072e-03 -2.41412875e-05 9.99997268e-01 2.00970412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.66, Y:25.26, Z:0.20 [[ 8.34513967e-01 -5.50983307e-01 -1.95830915e-03 8.66611272e+01] [ 5.50981829e-01 8.34516264e-01 -1.27626174e-03 2.52596732e+01] [ 2.33743975e-03 -1.39345096e-05 9.99997268e-01 2.01008074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.69, Y:25.28, Z:0.20 [[ 8.33648385e-01 -5.52292177e-01 -1.92904326e-03 8.66861722e+01] [ 5.52290597e-01 8.33650616e-01 -1.32141489e-03 2.52764146e+01] [ 2.33795520e-03 3.62029323e-05 9.99997266e-01 2.02233993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.71, Y:25.30, Z:0.20 [[ 8.33236686e-01 -5.52913077e-01 -1.93738575e-03 8.67132204e+01] [ 5.52911529e-01 8.33238939e-01 -1.30848018e-03 2.52958268e+01] [ 2.33778105e-03 1.90707707e-05 9.99997267e-01 2.01893751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:86.74, Y:25.31, Z:0.19 [[ 8.29840078e-01 -5.57997865e-01 -1.95643551e-03 8.67360293e+01] [ 5.57996400e-01 8.29842384e-01 -1.27892093e-03 2.53139211e+01] [ 2.33716825e-03 -3.03841301e-05 9.99997268e-01 1.85296493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.76, Y:25.33, Z:0.20 [[ 8.32163202e-01 -5.54527349e-01 -1.95558207e-03 8.67612034e+01] [ 5.54525871e-01 8.32165500e-01 -1.28024504e-03 2.53293056e+01] [ 2.33729882e-03 -1.90480378e-05 9.99997268e-01 2.00959795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.78, Y:25.34, Z:0.20 [[ 8.31795708e-01 -5.55078433e-01 -1.95776181e-03 8.67800273e+01] [ 5.55076965e-01 8.31798012e-01 -1.27686289e-03 2.53422848e+01] [ 2.33722144e-03 -2.46194128e-05 9.99997268e-01 2.01318648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.81, Y:25.36, Z:0.20 [[ 8.31732606e-01 -5.55173046e-01 -1.93938475e-03 8.68086437e+01] [ 5.55171511e-01 8.31734867e-01 -1.30535719e-03 2.53613173e+01] [ 2.33775305e-03 9.01697612e-06 9.99997267e-01 2.00850260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.83, Y:25.38, Z:0.20 [[ 8.31512495e-01 -5.55502594e-01 -1.95938697e-03 8.68338508e+01] [ 5.55501133e-01 8.31514803e-01 -1.27431355e-03 2.53768162e+01] [ 2.33714375e-03 -2.88340402e-05 9.99997268e-01 2.00424385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:86.86, Y:25.39, Z:0.20 [[ 8.30838072e-01 -5.56510779e-01 -1.96246795e-03 8.68576654e+01] [ 5.56509333e-01 8.30840388e-01 -1.26953220e-03 2.53925030e+01] [ 2.33700599e-03 -3.73560432e-05 9.99997268e-01 2.01174617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.88, Y:25.41, Z:0.20 [[ 8.30414445e-01 -5.57142706e-01 -1.96305806e-03 8.68818079e+01] [ 5.57141264e-01 8.30416765e-01 -1.26861663e-03 2.54082996e+01] [ 2.33695683e-03 -4.02230744e-05 9.99997269e-01 2.01165286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.91, Y:25.42, Z:0.20 [[ 8.30113027e-01 -5.57591701e-01 -1.96386906e-03 8.69058431e+01] [ 5.57590262e-01 8.30115349e-01 -1.26735872e-03 2.54241909e+01] [ 2.33690655e-03 -4.29832790e-05 9.99997269e-01 2.02436056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:86.93, Y:25.44, Z:0.20 [[ 8.29626338e-01 -5.58315573e-01 -1.96452936e-03 8.69301870e+01] [ 5.58314139e-01 8.29628663e-01 -1.26633485e-03 2.54404183e+01] [ 2.33684433e-03 -4.62397774e-05 9.99997269e-01 2.01703053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.95, Y:25.46, Z:0.20 [[ 8.29160625e-01 -5.59006973e-01 -1.96519926e-03 8.69538154e+01] [ 5.59005543e-01 8.29162953e-01 -1.26529652e-03 2.54559844e+01] [ 2.33678000e-03 -4.94232200e-05 9.99997269e-01 2.00706481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.98, Y:25.47, Z:0.20 [[ 8.28644752e-01 -5.59771399e-01 -1.96374161e-03 8.69773052e+01] [ 5.59769966e-01 8.28647077e-01 -1.26755477e-03 2.54715390e+01] [ 2.33678965e-03 -4.88909634e-05 9.99997269e-01 2.01819916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:87.00, Y:25.49, Z:0.20 [[ 8.27888004e-01 -5.60890005e-01 -1.96362377e-03 8.70016006e+01] [ 5.60888574e-01 8.27890331e-01 -1.26773729e-03 2.54874195e+01] [ 2.33672631e-03 -5.18296370e-05 9.99997269e-01 1.99651843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.03, Y:25.50, Z:0.20 [[ 8.27023823e-01 -5.62163433e-01 -1.96742000e-03 8.70262299e+01] [ 5.62162020e-01 8.27026161e-01 -1.26185787e-03 2.55033971e+01] [ 2.33647816e-03 -6.24222789e-05 9.99997268e-01 2.01740792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:87.06, Y:25.53, Z:0.19 [[ 8.23117573e-01 -5.67867574e-01 -1.96950630e-03 8.70557139e+01] [ 5.67866185e-01 8.23119925e-01 -1.25862746e-03 2.55251176e+01] [ 2.33587360e-03 -8.24176472e-05 9.99997268e-01 1.90152655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:87.07, Y:25.54, Z:0.20 [[ 8.24277234e-01 -5.66182885e-01 -1.99554324e-03 8.70725854e+01] [ 5.66181588e-01 8.24279640e-01 -1.21829494e-03 2.55362699e+01] [ 2.33466341e-03 -1.25627055e-04 9.99997267e-01 2.00428606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.09, Y:25.55, Z:0.20 [[ 8.23111463e-01 -5.67876457e-01 -1.96194102e-03 8.70941954e+01] [ 5.67875040e-01 8.23113798e-01 -1.27022093e-03 2.55515222e+01] [ 2.33622929e-03 -6.86039284e-05 9.99997269e-01 2.00694891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.12, Y:25.57, Z:0.20 [[ 8.22292391e-01 -5.69061850e-01 -1.95813112e-03 8.71179812e+01] [ 5.69060423e-01 8.22294720e-01 -1.27610586e-03 2.55670609e+01] [ 2.33634404e-03 -6.49627786e-05 9.99997269e-01 2.01262413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:87.14, Y:25.58, Z:0.20 [[ 8.21318331e-01 -5.70466796e-01 -1.95802747e-03 8.71426100e+01] [ 5.70465373e-01 8.21320662e-01 -1.27626590e-03 2.55828666e+01] [ 2.33623573e-03 -6.87662870e-05 9.99997269e-01 2.01602494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:87.17, Y:25.60, Z:0.20 [[ 8.20716909e-01 -5.71331709e-01 -1.95793865e-03 8.71655317e+01] [ 5.71330288e-01 8.20719242e-01 -1.27640297e-03 2.55993414e+01] [ 2.33616742e-03 -7.10641559e-05 9.99997269e-01 2.02250983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:87.19, Y:25.62, Z:0.20 [[ 8.20546037e-01 -5.71577095e-01 -1.95590822e-03 8.71909163e+01] [ 5.71575667e-01 8.20548365e-01 -1.27953563e-03 2.56151873e+01] [ 2.33627055e-03 -6.80316542e-05 9.99997269e-01 1.99245234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:87.21, Y:25.63, Z:0.20 [[ 8.19958737e-01 -5.72419279e-01 -1.95943889e-03 8.72149067e+01] [ 5.72417866e-01 8.19961074e-01 -1.27408937e-03 2.56320482e+01] [ 2.33597694e-03 -7.69171188e-05 9.99997269e-01 1.99819654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81361786499998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:87.24, Y:25.65, Z:0.20 [[ 8.20602930e-01 -5.71495394e-01 -1.96096293e-03 8.72391429e+01] [ 5.71493984e-01 8.20605270e-01 -1.27173938e-03 2.56472640e+01] [ 2.33596971e-03 -7.70854523e-05 9.99997269e-01 2.02641274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.26, Y:25.66, Z:0.20 [[ 8.20237161e-01 -5.72020241e-01 -1.96064380e-03 8.72626391e+01] [ 5.72018832e-01 8.20239500e-01 -1.27223119e-03 2.56628972e+01] [ 2.33593948e-03 -7.79938819e-05 9.99997269e-01 2.02730559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87361786499999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:87.28, Y:25.68, Z:0.20 [[ 8.19415801e-01 -5.73196216e-01 -1.96027990e-03 8.72837265e+01] [ 5.73194809e-01 8.19418142e-01 -1.27279165e-03 2.56794126e+01] [ 2.33584827e-03 -8.06766751e-05 9.99997269e-01 2.02808248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90361786499999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:87.31, Y:25.70, Z:0.20 [[ 8.19564074e-01 -5.72984204e-01 -1.95720349e-03 8.73076411e+01] [ 5.72982785e-01 8.19566407e-01 -1.27752778e-03 2.56951764e+01] [ 2.33606147e-03 -7.44280359e-05 9.99997269e-01 2.02665987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.33, Y:25.71, Z:0.20 [[ 8.19386341e-01 -5.73238330e-01 -1.95992214e-03 8.73302925e+01] [ 5.73236921e-01 8.19388681e-01 -1.27334325e-03 2.57120283e+01] [ 2.33586718e-03 -8.01396720e-05 9.99997269e-01 2.02759680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.35, Y:25.73, Z:0.20 [[ 8.20566941e-01 -5.71547082e-01 -1.95662760e-03 8.73535576e+01] [ 5.71545656e-01 8.20569271e-01 -1.27841145e-03 2.57296127e+01] [ 2.33622082e-03 -6.92798319e-05 9.99997269e-01 2.04053461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99361786499998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:87.38, Y:25.75, Z:0.21 [[ 8.20822916e-01 -5.71179394e-01 -1.95950254e-03 8.73752009e+01] [ 5.71177978e-01 8.20825252e-01 -1.27398956e-03 2.57452826e+01] [ 2.33608575e-03 -7.35048727e-05 9.99997269e-01 2.05247590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.40, Y:25.76, Z:0.20 [[ 8.20653082e-01 -5.71423386e-01 -1.95792787e-03 8.73989456e+01] [ 5.71421965e-01 8.20655414e-01 -1.27641073e-03 2.57624198e+01] [ 2.33615505e-03 -7.13125946e-05 9.99997269e-01 2.00540062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.42, Y:25.78, Z:0.20 [[ 8.20598763e-01 -5.71501384e-01 -1.95909541e-03 8.74190627e+01] [ 5.71499967e-01 8.20601099e-01 -1.27461622e-03 2.57784176e+01] [ 2.33608078e-03 -7.36744703e-05 9.99997269e-01 2.02422118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:87.44, Y:25.79, Z:0.20 [[ 8.22726882e-01 -5.68433519e-01 -1.95233702e-03 8.74444935e+01] [ 5.68432069e-01 8.22729197e-01 -1.28499440e-03 2.57938746e+01] [ 2.33667856e-03 -5.25715403e-05 9.99997269e-01 2.02378492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.47, Y:25.81, Z:0.20 [[ 8.21844325e-01 -5.69708758e-01 -1.95864474e-03 8.74659142e+01] [ 5.69707335e-01 8.21846656e-01 -1.27530687e-03 2.58112949e+01] [ 2.33625912e-03 -6.77505604e-05 9.99997269e-01 2.03754033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.49, Y:25.83, Z:0.20 [[ 8.21793122e-01 -5.69782626e-01 -1.95539451e-03 8.74889461e+01] [ 5.69781191e-01 8.21795446e-01 -1.28029617e-03 2.58263686e+01] [ 2.33642482e-03 -6.20084301e-05 9.99997269e-01 2.03816170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.51, Y:25.84, Z:0.20 [[ 8.21610493e-01 -5.70045941e-01 -1.95522036e-03 8.75105145e+01] [ 5.70044506e-01 8.21612817e-01 -1.28056344e-03 2.58428742e+01] [ 2.33641410e-03 -6.24382654e-05 9.99997269e-01 2.01048862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.53, Y:25.86, Z:0.20 [[ 8.22264323e-01 -5.69102426e-01 -1.95221938e-03 8.75331596e+01] [ 5.69100978e-01 8.22266639e-01 -1.28516682e-03 2.58600068e+01] [ 2.33663642e-03 -5.42631268e-05 9.99997269e-01 2.01377589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:87.56, Y:25.88, Z:0.20 [[ 8.22644799e-01 -5.68552303e-01 -1.95274230e-03 8.75563879e+01] [ 5.68550855e-01 8.22647115e-01 -1.28436488e-03 2.58756445e+01] [ 2.33664643e-03 -5.36572155e-05 9.99997269e-01 2.01518957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.58, Y:25.89, Z:0.20 [[ 8.22527076e-01 -5.68722595e-01 -1.95412665e-03 8.75786963e+01] [ 5.68721153e-01 8.22529395e-01 -1.28224249e-03 2.58918197e+01] [ 2.33656689e-03 -5.66739932e-05 9.99997269e-01 1.97499901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:87.60, Y:25.91, Z:0.20 [[ 8.22626426e-01 -5.68578885e-01 -1.95323497e-03 8.76029624e+01] [ 5.68577438e-01 8.22628743e-01 -1.28360918e-03 2.59078828e+01] [ 2.33662030e-03 -5.46345034e-05 9.99997269e-01 2.00270852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32361786499997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:87.63, Y:25.92, Z:0.20 [[ 8.22383395e-01 -5.68930338e-01 -1.95481752e-03 8.76259292e+01] [ 5.68928898e-01 8.22385717e-01 -1.28118463e-03 2.59237861e+01] [ 2.33651881e-03 -5.85272089e-05 9.99997269e-01 1.99789610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:87.65, Y:25.94, Z:0.20 [[ 8.21758481e-01 -5.69832588e-01 -1.95486050e-03 8.76481759e+01] [ 5.69831151e-01 8.21760804e-01 -1.28111880e-03 2.59406580e+01] [ 2.33645097e-03 -6.11701650e-05 9.99997269e-01 2.03463469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.67, Y:25.96, Z:0.20 [[ 8.20350705e-01 -5.71857417e-01 -1.95306326e-03 8.76686703e+01] [ 5.71855980e-01 8.20353028e-01 -1.28387084e-03 2.59579982e+01] [ 2.33639242e-03 -6.36465561e-05 9.99997269e-01 2.00194143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.69, Y:25.97, Z:0.20 [[ 8.19756727e-01 -5.72708579e-01 -1.94728562e-03 8.76914656e+01] [ 5.72707123e-01 8.19759038e-01 -1.29271295e-03 2.59746374e+01] [ 2.33665278e-03 -5.55142117e-05 9.99997268e-01 2.03383697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44361786499998 meters Centerline goodness : 0.994190 Centerline is valid? [True, True] Translation: X:87.72, Y:25.99, Z:0.20 [[ 8.20390891e-01 -5.71799783e-01 -1.94773888e-03 8.77196774e+01] [ 5.71798326e-01 8.20393202e-01 -1.29202140e-03 2.59916049e+01] [ 2.33668929e-03 -5.37512423e-05 9.99997268e-01 1.99831714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47361786499998 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:87.74, Y:26.01, Z:0.20 [[ 8.19089883e-01 -5.73661846e-01 -1.96200030e-03 8.77417492e+01] [ 5.73660446e-01 8.19092229e-01 -1.27025248e-03 2.60097805e+01] [ 2.33575458e-03 -8.50710126e-05 9.99997269e-01 1.99098487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.76, Y:26.03, Z:0.20 [[ 8.17726659e-01 -5.75603393e-01 -1.96090955e-03 8.77618618e+01] [ 5.75601995e-01 8.17729005e-01 -1.27191569e-03 2.60269412e+01] [ 2.33561160e-03 -8.86240818e-05 9.99997269e-01 1.97282323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53361786499998 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:87.79, Y:26.04, Z:0.20 [[ 8.17621545e-01 -5.75752714e-01 -1.95481771e-03 8.77863007e+01] [ 5.75751293e-01 8.17623878e-01 -1.28119442e-03 2.60432570e+01] [ 2.33595681e-03 -7.79566629e-05 9.99997269e-01 1.98127830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:87.81, Y:26.06, Z:0.20 [[ 8.15978462e-01 -5.78078982e-01 -1.95950553e-03 8.78076143e+01] [ 5.78077586e-01 8.15980809e-01 -1.27405618e-03 2.60609785e+01] [ 2.33542401e-03 -9.31438216e-05 9.99997269e-01 2.02341278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.83, Y:26.08, Z:0.20 [[ 8.16000504e-01 -5.78047876e-01 -1.95723608e-03 8.78291530e+01] [ 5.78046471e-01 8.16002846e-01 -1.27750502e-03 2.60769152e+01] [ 2.33556927e-03 -8.89286727e-05 9.99997269e-01 2.00528623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.85, Y:26.09, Z:0.20 [[ 8.15312231e-01 -5.79018269e-01 -1.95202291e-03 8.78517189e+01] [ 5.79016848e-01 8.15314563e-01 -1.28542166e-03 2.60934255e+01] [ 2.33579533e-03 -8.22341557e-05 9.99997269e-01 2.00348006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.88, Y:26.11, Z:0.20 [[ 8.15560236e-01 -5.78668897e-01 -1.95166878e-03 8.78777731e+01] [ 5.78667473e-01 8.15562568e-01 -1.28595911e-03 2.61112193e+01] [ 2.33585254e-03 -8.05901261e-05 9.99997269e-01 1.96821541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.90, Y:26.13, Z:0.20 [[ 8.14729438e-01 -5.79837991e-01 -1.96134460e-03 8.78999452e+01] [ 5.79836607e-01 8.14731792e-01 -1.27128523e-03 2.61284815e+01] [ 2.33510927e-03 -1.01505892e-04 9.99997268e-01 1.95975718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.92, Y:26.14, Z:0.20 [[ 8.15248226e-01 -5.79108357e-01 -1.95971575e-03 8.79198206e+01] [ 5.79106964e-01 8.15250576e-01 -1.27375401e-03 2.61442435e+01] [ 2.33530099e-03 -9.64593446e-05 9.99997269e-01 1.95176626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.94, Y:26.16, Z:0.19 [[ 8.14354637e-01 -5.80364297e-01 -1.95150117e-03 8.79438846e+01] [ 5.80362878e-01 8.14356970e-01 -1.28619395e-03 2.61617646e+01] [ 2.33567962e-03 -8.51608313e-05 9.99997269e-01 1.94523017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.96, Y:26.18, Z:0.19 [[ 8.15267629e-01 -5.79081052e-01 -1.95637909e-03 8.79624563e+01] [ 5.79079647e-01 8.15269972e-01 -1.27880788e-03 2.61750740e+01] [ 2.33551054e-03 -9.03286415e-05 9.99997269e-01 1.93784994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.99, Y:26.19, Z:0.20 [[ 8.15052857e-01 -5.79383353e-01 -1.94173270e-03 8.79901247e+01] [ 5.79381896e-01 8.15055168e-01 -1.30097335e-03 2.61934477e+01] [ 2.33638158e-03 -6.46427272e-05 9.99997269e-01 1.95911288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.01, Y:26.21, Z:0.20 [[ 8.14683428e-01 -5.79902639e-01 -1.95979364e-03 8.80098531e+01] [ 5.79901249e-01 8.14685780e-01 -1.27361941e-03 2.62107659e+01] [ 2.33519127e-03 -9.88901535e-05 9.99997269e-01 1.95291351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.03, Y:26.23, Z:0.20 [[ 8.15401128e-01 -5.78893069e-01 -1.95320896e-03 8.80336547e+01] [ 5.78891652e-01 8.15403463e-01 -1.28358587e-03 2.62270277e+01] [ 2.33571231e-03 -8.40589973e-05 9.99997269e-01 1.95983307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.05, Y:26.24, Z:0.20 [[ 8.16434716e-01 -5.77434442e-01 -1.95435134e-03 8.80518362e+01] [ 5.77433025e-01 8.16437051e-01 -1.28185748e-03 2.62412196e+01] [ 2.33579350e-03 -8.19540590e-05 9.99997269e-01 1.97117683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.08, Y:26.26, Z:0.20 [[ 8.16590176e-01 -5.77214623e-01 -1.94011156e-03 8.80792598e+01] [ 5.77213154e-01 8.16592478e-01 -1.30338447e-03 2.62592716e+01] [ 2.33661309e-03 -5.55269593e-05 9.99997269e-01 1.96869114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.10, Y:26.28, Z:0.20 [[ 8.17817722e-01 -5.75474026e-01 -1.95426543e-03 8.81011768e+01] [ 5.75472603e-01 8.17820053e-01 -1.28197939e-03 2.62752882e+01] [ 2.33598330e-03 -7.62007555e-05 9.99997269e-01 1.97592848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.12, Y:26.29, Z:0.20 [[ 8.18108270e-01 -5.75060906e-01 -1.95285515e-03 8.81235993e+01] [ 5.75059477e-01 8.18110597e-01 -1.28411109e-03 2.62913778e+01] [ 2.33609358e-03 -7.24659542e-05 9.99997269e-01 1.98137626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.15, Y:26.31, Z:0.20 [[ 8.18554929e-01 -5.74424945e-01 -1.95205056e-03 8.81450884e+01] [ 5.74423511e-01 8.18557254e-01 -1.28532655e-03 2.63076815e+01] [ 2.33618878e-03 -6.91933563e-05 9.99997269e-01 1.98470565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.17, Y:26.32, Z:0.20 [[ 8.18381470e-01 -5.74672048e-01 -1.95099373e-03 8.81680492e+01] [ 5.74670611e-01 8.18383793e-01 -1.28692213e-03 2.63242499e+01] [ 2.33621983e-03 -6.79855380e-05 9.99997269e-01 1.97987381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.19, Y:26.34, Z:0.20 [[ 8.18075057e-01 -5.75108166e-01 -1.94906226e-03 8.81911554e+01] [ 5.75106724e-01 8.18077376e-01 -1.28983687e-03 2.63404273e+01] [ 2.33627945e-03 -6.57354418e-05 9.99997269e-01 1.98157968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10361786499998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:88.21, Y:26.36, Z:0.20 [[ 8.17373911e-01 -5.76104242e-01 -1.94727360e-03 8.82130766e+01] [ 5.76102796e-01 8.17376228e-01 -1.29253500e-03 2.63557461e+01] [ 2.33629005e-03 -6.53453818e-05 9.99997269e-01 1.96974259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.24, Y:26.37, Z:0.20 [[ 8.17380579e-01 -5.76094783e-01 -1.94669478e-03 8.82363566e+01] [ 5.76093335e-01 8.17382895e-01 -1.29340755e-03 2.63707823e+01] [ 2.33632036e-03 -6.42716757e-05 9.99997269e-01 1.99390255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.26, Y:26.39, Z:0.20 [[ 8.16954066e-01 -5.76699455e-01 -1.94743617e-03 8.82593363e+01] [ 5.76698011e-01 8.16956384e-01 -1.29229031e-03 2.63863531e+01] [ 2.33623353e-03 -6.73407455e-05 9.99997269e-01 1.99145546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.28, Y:26.40, Z:0.20 [[ 8.15158949e-01 -5.79234060e-01 -1.94707865e-03 8.82817214e+01] [ 5.79232622e-01 8.15161271e-01 -1.29282875e-03 2.64026589e+01] [ 2.33603356e-03 -7.39505461e-05 9.99997269e-01 1.95444646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.30, Y:26.42, Z:0.19 [[ 8.14416690e-01 -5.80277234e-01 -1.94577411e-03 8.83048401e+01] [ 5.80275794e-01 8.14419011e-01 -1.29479260e-03 2.64188095e+01] [ 2.33601410e-03 -7.45849121e-05 9.99997269e-01 1.94550212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.33, Y:26.43, Z:0.20 [[ 8.15251181e-01 -5.79104248e-01 -1.94450999e-03 8.83286311e+01] [ 5.79102801e-01 8.15253497e-01 -1.29669473e-03 2.64328328e+01] [ 2.33619000e-03 -6.89392719e-05 9.99997269e-01 1.99230726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.35, Y:26.45, Z:0.20 [[ 8.13563499e-01 -5.81472824e-01 -1.94647738e-03 8.83508675e+01] [ 5.81471390e-01 8.13565824e-01 -1.29373472e-03 2.64494523e+01] [ 2.33585905e-03 -7.92855641e-05 9.99997269e-01 1.96004843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.38, Y:26.47, Z:0.20 [[ 8.13101473e-01 -5.82118725e-01 -1.94540263e-03 8.83754040e+01] [ 5.82117289e-01 8.13103797e-01 -1.29535101e-03 2.64654822e+01] [ 2.33586234e-03 -7.92006870e-05 9.99997269e-01 1.96652309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.40, Y:26.48, Z:0.20 [[ 8.12216046e-01 -5.83353500e-01 -1.94645250e-03 8.83989743e+01] [ 5.83352071e-01 8.12218374e-01 -1.29377269e-03 2.64814886e+01] [ 2.33567131e-03 -8.46441643e-05 9.99997269e-01 1.96949518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.42, Y:26.50, Z:0.20 [[ 8.12679044e-01 -5.82708320e-01 -1.94555075e-03 8.84226375e+01] [ 5.82706887e-01 8.12681369e-01 -1.29512760e-03 2.64963455e+01] [ 2.33579447e-03 -8.11627610e-05 9.99997269e-01 2.00661115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.45, Y:26.51, Z:0.20 [[ 8.11874040e-01 -5.83829391e-01 -1.94551714e-03 8.84450104e+01] [ 5.83827961e-01 8.11876367e-01 -1.29517808e-03 2.65139596e+01] [ 2.33568242e-03 -8.43258440e-05 9.99997269e-01 1.97920721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.47, Y:26.53, Z:0.20 [[ 8.13287207e-01 -5.81859205e-01 -1.94513587e-03 8.84687607e+01] [ 5.81857768e-01 8.13289530e-01 -1.29575049e-03 2.65291756e+01] [ 2.33590299e-03 -7.79751148e-05 9.99997269e-01 2.00963231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.49, Y:26.55, Z:0.20 [[ 8.13363901e-01 -5.81751992e-01 -1.94508090e-03 8.84925353e+01] [ 5.81750554e-01 8.13366223e-01 -1.29583301e-03 2.65461430e+01] [ 2.33591654e-03 -7.75681042e-05 9.99997269e-01 1.98403801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.51, Y:26.56, Z:0.20 [[ 8.14745245e-01 -5.79815831e-01 -1.94625986e-03 8.85135590e+01] [ 5.79814392e-01 8.14747566e-01 -1.29406412e-03 2.65627855e+01] [ 2.33602935e-03 -7.41368935e-05 9.99997269e-01 1.97585812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.54, Y:26.58, Z:0.20 [[ 8.15834338e-01 -5.78282426e-01 -1.94129534e-03 8.85373601e+01] [ 5.78280965e-01 8.15836645e-01 -1.30150722e-03 2.65793328e+01] [ 2.33641863e-03 -6.07998657e-05 9.99997269e-01 1.97195526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.56, Y:26.60, Z:0.20 [[ 8.16254173e-01 -5.77689670e-01 -1.94186607e-03 8.85586632e+01] [ 5.77688209e-01 8.16256480e-01 -1.30065177e-03 2.65956697e+01] [ 2.33643385e-03 -6.01306990e-05 9.99997269e-01 1.97188194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.58, Y:26.61, Z:0.20 [[ 8.17577575e-01 -5.75815206e-01 -1.93844156e-03 8.85797941e+01] [ 5.75813728e-01 8.17579871e-01 -1.30578322e-03 2.66130927e+01] [ 2.33672064e-03 -4.86021833e-05 9.99997269e-01 1.97132402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.60, Y:26.63, Z:0.20 [[ 8.18557193e-01 -5.74421785e-01 -1.93252340e-03 8.86036672e+01] [ 5.74420282e-01 8.18559473e-01 -1.31464888e-03 2.66298941e+01] [ 2.33704829e-03 -3.39653354e-05 9.99997269e-01 1.97254592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.63, Y:26.64, Z:0.20 [[ 8.22468031e-01 -5.68808053e-01 -1.93291050e-03 8.86316340e+01] [ 5.68806536e-01 8.22470302e-01 -1.31406908e-03 2.66448999e+01] [ 2.33721456e-03 -1.86723140e-05 9.99997269e-01 2.01777683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.65, Y:26.66, Z:0.20 [[ 8.23039525e-01 -5.67980775e-01 -1.94406838e-03 8.86546844e+01] [ 5.67979294e-01 8.23041820e-01 -1.29734908e-03 2.66606974e+01] [ 2.33691891e-03 -3.64210166e-05 9.99997269e-01 2.02037296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.68, Y:26.68, Z:0.20 [[ 8.23263762e-01 -5.67655706e-01 -1.94371907e-03 8.86773526e+01] [ 5.67654223e-01 8.23266056e-01 -1.29787221e-03 2.66765789e+01] [ 2.33694250e-03 -3.48691763e-05 9.99997269e-01 2.02142865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.70, Y:26.69, Z:0.20 [[ 8.23524246e-01 -5.67277745e-01 -1.94336359e-03 8.86994463e+01] [ 5.67276260e-01 8.23526538e-01 -1.29840427e-03 2.66917334e+01] [ 2.33696733e-03 -3.31566322e-05 9.99997269e-01 2.01780833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.72, Y:26.71, Z:0.20 [[ 8.23154450e-01 -5.67814209e-01 -1.94312192e-03 8.87211048e+01] [ 5.67812725e-01 8.23156742e-01 -1.29876583e-03 2.67073067e+01] [ 2.33695160e-03 -3.42444830e-05 9.99997269e-01 2.01315353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.74, Y:26.72, Z:0.20 [[ 8.22561735e-01 -5.68672505e-01 -1.94296972e-03 8.87443333e+01] [ 5.68671022e-01 8.22564029e-01 -1.29899349e-03 2.67229987e+01] [ 2.33691888e-03 -3.64082409e-05 9.99997269e-01 2.00946449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.77, Y:26.74, Z:0.20 [[ 8.21689704e-01 -5.69931799e-01 -1.94261338e-03 8.87670050e+01] [ 5.69930319e-01 8.21692000e-01 -1.29952616e-03 2.67384166e+01] [ 2.33687116e-03 -3.93469996e-05 9.99997269e-01 2.00858624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.79, Y:26.75, Z:0.20 [[ 8.20649147e-01 -5.71429090e-01 -1.94245900e-03 8.87904191e+01] [ 5.71427613e-01 8.20651445e-01 -1.29975689e-03 2.67540610e+01] [ 2.33680068e-03 -4.33303236e-05 9.99997269e-01 2.00712967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.81, Y:26.77, Z:0.20 [[ 8.18809832e-01 -5.74061571e-01 -1.94209588e-03 8.88129059e+01] [ 5.74060100e-01 8.18812134e-01 -1.30029923e-03 2.67685263e+01] [ 2.33666349e-03 -5.01819580e-05 9.99997269e-01 2.00932509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.84, Y:26.78, Z:0.20 [[ 8.17853693e-01 -5.75422945e-01 -1.94193867e-03 8.88362845e+01] [ 5.75421478e-01 8.17855997e-01 -1.30053398e-03 2.67839951e+01] [ 2.33658328e-03 -5.37867048e-05 9.99997269e-01 2.01048184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.86, Y:26.80, Z:0.20 [[ 8.16583949e-01 -5.77223427e-01 -1.94157926e-03 8.88589715e+01] [ 5.77221964e-01 8.16586255e-01 -1.30107032e-03 2.67990692e+01] [ 2.33647521e-03 -5.82890535e-05 9.99997269e-01 2.00735083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.89, Y:26.82, Z:0.20 [[ 8.16638879e-01 -5.77145712e-01 -1.94142360e-03 8.88858122e+01] [ 5.77144248e-01 8.16641184e-01 -1.30130255e-03 2.68154628e+01] [ 2.33648766e-03 -5.77872098e-05 9.99997269e-01 1.98981616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.91, Y:26.83, Z:0.20 [[ 8.16165245e-01 -5.77815277e-01 -1.94897939e-03 8.89056609e+01] [ 5.77813841e-01 8.16167569e-01 -1.29002524e-03 2.68306225e+01] [ 2.33609006e-03 -7.32734957e-05 9.99997269e-01 1.99556673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.93, Y:26.85, Z:0.20 [[ 8.15469322e-01 -5.78797052e-01 -1.93846465e-03 8.89296868e+01] [ 5.78795582e-01 8.15471624e-01 -1.30570237e-03 2.68465304e+01] [ 2.33649960e-03 -5.72145472e-05 9.99997269e-01 1.99861743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.95, Y:26.86, Z:0.20 [[ 8.15310375e-01 -5.79020919e-01 -1.94094472e-03 8.89533824e+01] [ 5.79019459e-01 8.15312683e-01 -1.30200525e-03 2.68624947e+01] [ 2.33636512e-03 -6.23063743e-05 9.99997269e-01 1.99929946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.98, Y:26.88, Z:0.20 [[ 8.15235370e-01 -5.79126519e-01 -1.94058709e-03 8.89758109e+01] [ 5.79125058e-01 8.15237677e-01 -1.30253806e-03 2.68774641e+01] [ 2.33637404e-03 -6.19675115e-05 9.99997269e-01 2.00008336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.00, Y:26.89, Z:0.20 [[ 8.15065057e-01 -5.79366194e-01 -1.94043208e-03 8.89987507e+01] [ 5.79364733e-01 8.15067365e-01 -1.30276894e-03 2.68930085e+01] [ 2.33636314e-03 -6.23764704e-05 9.99997269e-01 2.00158788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.02, Y:26.91, Z:0.20 [[ 8.15395778e-01 -5.78900649e-01 -1.94007682e-03 8.90211540e+01] [ 5.78899185e-01 8.15398084e-01 -1.30329777e-03 2.69078464e+01] [ 2.33641485e-03 -6.04053938e-05 9.99997269e-01 1.99909839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.05, Y:26.92, Z:0.20 [[ 8.14937358e-01 -5.79545804e-01 -1.93992291e-03 8.90455978e+01] [ 5.79544341e-01 8.14939665e-01 -1.30352683e-03 2.69241624e+01] [ 2.33637363e-03 -6.19786353e-05 9.99997269e-01 1.96916768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.07, Y:26.94, Z:0.20 [[ 8.15514178e-01 -5.78733837e-01 -1.94190572e-03 8.90679596e+01] [ 5.78732379e-01 8.15516488e-01 -1.30057751e-03 2.69389625e+01] [ 2.33634434e-03 -6.32043180e-05 9.99997269e-01 2.00731342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24361786499998 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:89.09, Y:26.95, Z:0.20 [[ 8.17413037e-01 -5.76048753e-01 -1.93942681e-03 8.90909251e+01] [ 5.76047279e-01 8.17415336e-01 -1.30426362e-03 2.69533316e+01] [ 2.33663665e-03 -5.10794537e-05 9.99997269e-01 2.00290243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.11, Y:26.97, Z:0.20 [[ 8.15880286e-01 -5.78217606e-01 -1.93898372e-03 8.91132184e+01] [ 5.78216136e-01 8.15882588e-01 -1.30492202e-03 2.69699381e+01] [ 2.33651193e-03 -5.64915251e-05 9.99997269e-01 2.00311258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.14, Y:26.99, Z:0.20 [[ 8.16145208e-01 -5.77843614e-01 -1.93854325e-03 8.91363558e+01] [ 5.77842142e-01 8.16147508e-01 -1.30557602e-03 2.69852299e+01] [ 2.33655601e-03 -5.46323712e-05 9.99997269e-01 2.00198725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.16, Y:27.00, Z:0.20 [[ 8.16458961e-01 -5.77400215e-01 -1.93818370e-03 8.91585868e+01] [ 5.77398740e-01 8.16461260e-01 -1.30610958e-03 2.70001092e+01] [ 2.33659986e-03 -5.27199579e-05 9.99997269e-01 2.00479413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.18, Y:27.02, Z:0.20 [[ 8.16904720e-01 -5.76769384e-01 -1.93802785e-03 8.91817748e+01] [ 5.76767907e-01 8.16907017e-01 -1.30634079e-03 2.70154442e+01] [ 2.33664592e-03 -5.06363035e-05 9.99997269e-01 2.01103999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.21, Y:27.03, Z:0.20 [[ 8.16862211e-01 -5.76829589e-01 -1.93767069e-03 8.92051271e+01] [ 5.76828110e-01 8.16864507e-01 -1.30687034e-03 2.70309447e+01] [ 2.33665590e-03 -5.01699234e-05 9.99997269e-01 2.01220267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.23, Y:27.05, Z:0.20 [[ 8.16799076e-01 -5.76918986e-01 -1.93731487e-03 8.92285460e+01] [ 5.76917507e-01 8.16801372e-01 -1.30739761e-03 2.70460425e+01] [ 2.33666394e-03 -4.97897058e-05 9.99997269e-01 2.01394470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.25, Y:27.06, Z:0.20 [[ 8.15657945e-01 -5.78531214e-01 -1.93695593e-03 8.92526656e+01] [ 5.78529738e-01 8.15660243e-01 -1.30792917e-03 2.70624110e+01] [ 2.33657579e-03 -5.37637873e-05 9.99997269e-01 1.97306014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.28, Y:27.08, Z:0.20 [[ 8.15119968e-01 -5.79288942e-01 -1.93882555e-03 8.92758079e+01] [ 5.79287475e-01 8.15122272e-01 -1.30516176e-03 2.70753665e+01] [ 2.33644567e-03 -5.92739479e-05 9.99997269e-01 2.01348486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.30, Y:27.09, Z:0.20 [[ 8.13596950e-01 -5.81426051e-01 -1.93645062e-03 8.93004175e+01] [ 5.81424581e-01 8.13599252e-01 -1.30867595e-03 2.70907071e+01] [ 2.33639307e-03 -6.11652303e-05 9.99997269e-01 1.96990173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.32, Y:27.10, Z:0.20 [[ 8.12937348e-01 -5.82347925e-01 -1.93969142e-03 8.93232994e+01] [ 5.82346470e-01 8.12939659e-01 -1.30388200e-03 2.71049938e+01] [ 2.33616506e-03 -6.95980762e-05 9.99997269e-01 2.01949742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.35, Y:27.12, Z:0.20 [[ 8.10528937e-01 -5.85695394e-01 -1.93595006e-03 8.93470585e+01] [ 5.85693935e-01 8.10531245e-01 -1.30941354e-03 2.71192122e+01] [ 2.33606550e-03 -7.25566445e-05 9.99997269e-01 2.02851665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.37, Y:27.13, Z:0.20 [[ 8.09377535e-01 -5.87285500e-01 -1.93558803e-03 8.93705551e+01] [ 5.87284044e-01 8.09379846e-01 -1.30994849e-03 2.71337807e+01] [ 2.33593969e-03 -7.64970823e-05 9.99997269e-01 2.03233894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.39, Y:27.15, Z:0.20 [[ 8.07297986e-01 -5.90140845e-01 -1.93522593e-03 8.93942959e+01] [ 5.90139396e-01 8.07300301e-01 -1.31048321e-03 2.71479242e+01] [ 2.33567814e-03 -8.41026040e-05 9.99997269e-01 2.03573515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66361786499998 meters Centerline goodness : 0.995406 Centerline is valid? [True, True] Translation: X:89.42, Y:27.16, Z:0.20 [[ 8.05963096e-01 -5.91962620e-01 -1.93486537e-03 8.94209845e+01] [ 5.91961175e-01 8.05965414e-01 -1.31101534e-03 2.71645859e+01] [ 2.33550665e-03 -8.87351984e-05 9.99997269e-01 2.00205032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.44, Y:27.18, Z:0.20 [[ 8.05430497e-01 -5.92687037e-01 -1.94682344e-03 8.94411962e+01] [ 5.92685637e-01 8.05432842e-01 -1.29336263e-03 2.71785554e+01] [ 2.33459481e-03 -1.12140581e-04 9.99997269e-01 2.03841210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.46, Y:27.19, Z:0.20 [[ 8.04379156e-01 -5.94113147e-01 -1.93429773e-03 8.94644971e+01] [ 5.94111706e-01 8.04381476e-01 -1.31183182e-03 2.71931526e+01] [ 2.33528979e-03 -9.39787545e-05 9.99997269e-01 2.03401000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.49, Y:27.21, Z:0.20 [[ 8.03972047e-01 -5.94663945e-01 -1.93414037e-03 8.94871668e+01] [ 5.94662505e-01 8.03974368e-01 -1.31206378e-03 2.72082014e+01] [ 2.33523630e-03 -9.52981561e-05 9.99997269e-01 2.03229616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78361786499998 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:89.51, Y:27.22, Z:0.20 [[ 8.04708790e-01 -5.93666593e-01 -1.93389702e-03 8.95092591e+01] [ 5.93665150e-01 8.04711108e-01 -1.31242236e-03 2.72222507e+01] [ 2.33536973e-03 -9.19694557e-05 9.99997269e-01 2.02742252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.53, Y:27.24, Z:0.20 [[ 8.04064030e-01 -5.94539592e-01 -1.92581924e-03 8.95334269e+01] [ 5.94538123e-01 8.04066332e-01 -1.32433388e-03 2.72396895e+01] [ 2.33585534e-03 -8.01237168e-05 9.99997269e-01 1.97482529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.55, Y:27.26, Z:0.20 [[ 8.02854843e-01 -5.96171425e-01 -1.93240490e-03 8.95535457e+01] [ 5.96169983e-01 8.02857162e-01 -1.31461345e-03 2.72575941e+01] [ 2.33518009e-03 -9.65980274e-05 9.99997269e-01 1.95898073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.58, Y:27.27, Z:0.20 [[ 8.04443344e-01 -5.94026264e-01 -1.92444267e-03 8.95795170e+01] [ 5.94024788e-01 8.04445643e-01 -1.32635765e-03 2.72737525e+01] [ 2.33600080e-03 -7.61870635e-05 9.99997269e-01 1.96851881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.61, Y:27.29, Z:0.20 [[ 8.07594460e-01 -5.89735085e-01 -1.92824386e-03 8.96058782e+01] [ 5.89733610e-01 8.07596759e-01 -1.32075172e-03 2.72879527e+01] [ 2.33613712e-03 -7.05184433e-05 9.99997269e-01 2.04235165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.63, Y:27.30, Z:0.20 [[ 8.09784962e-01 -5.86723592e-01 -1.93437723e-03 8.96271910e+01] [ 5.86722131e-01 8.09787269e-01 -1.31170683e-03 2.73040026e+01] [ 2.33604339e-03 -7.27414658e-05 9.99997269e-01 2.04232605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.65, Y:27.32, Z:0.20 [[ 8.10790510e-01 -5.85333246e-01 -1.93422186e-03 8.96495719e+01] [ 5.85331779e-01 8.10792814e-01 -1.31193589e-03 2.73195727e+01] [ 2.33617287e-03 -6.84563495e-05 9.99997269e-01 2.04593379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.67, Y:27.34, Z:0.20 [[ 8.11830322e-01 -5.83890218e-01 -1.93407220e-03 8.96729132e+01] [ 5.83888748e-01 8.11832624e-01 -1.31215648e-03 2.73355995e+01] [ 2.33629824e-03 -6.40345811e-05 9.99997269e-01 2.04640252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.70, Y:27.35, Z:0.20 [[ 8.14332545e-01 -5.80395353e-01 -1.93371213e-03 8.96952986e+01] [ 5.80393871e-01 8.14334840e-01 -1.31268689e-03 2.73512390e+01] [ 2.33656653e-03 -5.33510110e-05 9.99997269e-01 2.04601800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.71, Y:27.37, Z:0.20 [[ 8.14157897e-01 -5.80640319e-01 -1.93355612e-03 8.97108356e+01] [ 5.80638838e-01 8.14160191e-01 -1.31291666e-03 2.73672907e+01] [ 2.33655677e-03 -5.37763111e-05 9.99997269e-01 1.97835783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.74, Y:27.38, Z:0.20 [[ 8.15456361e-01 -5.78815396e-01 -1.91328532e-03 8.97377576e+01] [ 5.78813839e-01 8.15458605e-01 -1.34276048e-03 2.73840462e+01] [ 2.33741542e-03 -1.24734483e-05 9.99997268e-01 1.97940756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.77, Y:27.40, Z:0.20 [[ 8.19738458e-01 -5.72734810e-01 -1.92307909e-03 8.97661442e+01] [ 5.72733270e-01 8.19740714e-01 -1.32833320e-03 2.73994032e+01] [ 2.33720889e-03 -1.25255617e-05 9.99997269e-01 2.03850052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.79, Y:27.42, Z:0.20 [[ 8.19125816e-01 -5.73610632e-01 -1.93395292e-03 8.97881624e+01] [ 5.73609131e-01 8.19128099e-01 -1.31230840e-03 2.74175028e+01] [ 2.33690923e-03 -3.43873627e-05 9.99997269e-01 2.01199122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.81, Y:27.43, Z:0.21 [[ 8.21493720e-01 -5.70214291e-01 -1.93124725e-03 8.98134827e+01] [ 5.70212772e-01 8.21495990e-01 -1.31629359e-03 2.74311957e+01] [ 2.33708128e-03 -1.98949307e-05 9.99997269e-01 2.05240701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20361786499998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:89.84, Y:27.45, Z:0.20 [[ 8.20689651e-01 -5.71370946e-01 -1.93355532e-03 8.98350795e+01] [ 5.71369438e-01 8.20691929e-01 -1.31289439e-03 2.74489508e+01] [ 2.33700295e-03 -2.72955814e-05 9.99997269e-01 2.02210044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.86, Y:27.46, Z:0.20 [[ 8.20614648e-01 -5.71478676e-01 -1.92946856e-03 8.98577345e+01] [ 5.71477154e-01 8.20616916e-01 -1.31891087e-03 2.74641863e+01] [ 2.33708398e-03 -2.03296232e-05 9.99997269e-01 2.01733106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26361786499999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:89.88, Y:27.48, Z:0.20 [[ 8.20365484e-01 -5.71836304e-01 -1.92732056e-03 8.98814053e+01] [ 5.71834776e-01 8.20367748e-01 -1.32207202e-03 2.74799776e+01] [ 2.33712041e-03 -1.75266689e-05 9.99997269e-01 2.00881596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.90, Y:27.49, Z:0.20 [[ 8.19456002e-01 -5.73138857e-01 -1.92658252e-03 8.99047977e+01] [ 5.73137330e-01 8.19458267e-01 -1.32315770e-03 2.74948902e+01] [ 2.33710706e-03 -1.99268462e-05 9.99997269e-01 2.00373194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.93, Y:27.51, Z:0.20 [[ 8.19215708e-01 -5.73482269e-01 -1.92656690e-03 8.99289850e+01] [ 5.73480743e-01 8.19217973e-01 -1.32318070e-03 2.75096088e+01] [ 2.33709890e-03 -2.08786011e-05 9.99997269e-01 2.00259498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.95, Y:27.53, Z:0.20 [[ 8.18360294e-01 -5.74702282e-01 -1.92779925e-03 8.99519098e+01] [ 5.74700764e-01 8.18362564e-01 -1.32136697e-03 2.75251049e+01] [ 2.33703135e-03 -2.65534378e-05 9.99997269e-01 1.98816233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.98, Y:27.54, Z:0.20 [[ 8.17313785e-01 -5.76189617e-01 -1.92418927e-03 8.99754238e+01] [ 5.76188090e-01 8.17316049e-01 -1.32667777e-03 2.75409845e+01] [ 2.33708873e-03 -2.43829108e-05 9.99997269e-01 2.00215108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.00, Y:27.55, Z:0.20 [[ 8.16453816e-01 -5.77407534e-01 -1.92501776e-03 8.99980100e+01] [ 5.77406014e-01 8.16456085e-01 -1.32545921e-03 2.75547878e+01] [ 2.33702259e-03 -2.93406003e-05 9.99997269e-01 2.03971941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.02, Y:27.57, Z:0.20 [[ 8.14928778e-01 -5.79557961e-01 -1.91227934e-03 9.00242970e+01] [ 5.79556403e-01 8.14931021e-01 -1.34412225e-03 2.75711530e+01] [ 2.33737250e-03 -1.29098324e-05 9.99997268e-01 2.00090193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.05, Y:27.59, Z:0.20 [[ 8.13928381e-01 -5.80962045e-01 -1.92142908e-03 9.00492815e+01] [ 5.80960522e-01 8.13930649e-01 -1.33068849e-03 2.75872956e+01] [ 2.33698952e-03 -3.31893167e-05 9.99997269e-01 1.97262916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.08, Y:27.60, Z:0.20 [[ 8.13778365e-01 -5.81172157e-01 -1.92273341e-03 9.00757346e+01] [ 5.81170639e-01 8.13780635e-01 -1.32877387e-03 2.76003836e+01] [ 2.33692959e-03 -3.61087739e-05 9.99997269e-01 1.97604499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53361786499998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:90.10, Y:27.62, Z:0.19 [[ 8.13433420e-01 -5.81654846e-01 -1.92623087e-03 9.00991004e+01] [ 5.81653342e-01 8.13435700e-01 -1.32364157e-03 2.76150514e+01] [ 2.33676749e-03 -4.37043287e-05 9.99997269e-01 1.93250514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.13, Y:27.63, Z:0.20 [[ 8.12109463e-01 -5.83501946e-01 -1.92341312e-03 9.01259776e+01] [ 5.83500436e-01 8.12111740e-01 -1.32777834e-03 2.76309204e+01] [ 2.33678762e-03 -4.40110412e-05 9.99997269e-01 1.98260061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.15, Y:27.65, Z:0.20 [[ 8.11295870e-01 -5.84632605e-01 -1.93085350e-03 9.01506604e+01] [ 5.84631125e-01 8.11298165e-01 -1.31685416e-03 2.76468606e+01] [ 2.33637378e-03 -6.04787114e-05 9.99997269e-01 1.98757651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.18, Y:27.66, Z:0.20 [[ 8.11037421e-01 -5.84991087e-01 -1.93126284e-03 9.01754881e+01] [ 5.84989609e-01 8.11039718e-01 -1.31625329e-03 2.76623102e+01] [ 2.33632731e-03 -6.22380215e-05 9.99997269e-01 1.98390557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:90.20, Y:27.68, Z:0.20 [[ 8.10768393e-01 -5.85363886e-01 -1.93217603e-03 9.01993740e+01] [ 5.85362413e-01 8.10770693e-01 -1.31491323e-03 2.76761686e+01] [ 2.33625442e-03 -6.49331408e-05 9.99997269e-01 1.98861079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:27.69, Z:0.20 [[ 8.11086880e-01 -5.84922507e-01 -1.93216736e-03 9.02218937e+01] [ 5.84921033e-01 8.11089179e-01 -1.31492595e-03 2.76904246e+01] [ 2.33628982e-03 -6.36461410e-05 9.99997269e-01 1.98984612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.24, Y:27.71, Z:0.20 [[ 8.11239548e-01 -5.84710755e-01 -1.93102419e-03 9.02448433e+01] [ 5.84709275e-01 8.11241844e-01 -1.31660230e-03 2.77056325e+01] [ 2.33635914e-03 -6.10078994e-05 9.99997269e-01 1.99581149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:27.72, Z:0.20 [[ 8.11509401e-01 -5.84336177e-01 -1.93002392e-03 9.02652127e+01] [ 5.84334693e-01 8.11511694e-01 -1.31806837e-03 2.77208802e+01] [ 2.33643201e-03 -5.81550589e-05 9.99997269e-01 2.01254100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:27.74, Z:0.20 [[ 8.12080063e-01 -5.83542866e-01 -1.92225294e-03 9.02904365e+01] [ 5.83541353e-01 8.12082337e-01 -1.32944999e-03 2.77375505e+01] [ 2.33681872e-03 -4.20942431e-05 9.99997269e-01 1.99937248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80361786499998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:90.31, Y:27.75, Z:0.20 [[ 8.12798478e-01 -5.82541775e-01 -1.92719209e-03 9.03127296e+01] [ 5.82540276e-01 8.12800762e-01 -1.32221606e-03 2.77531171e+01] [ 2.33666929e-03 -4.79718077e-05 9.99997269e-01 1.99499246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.34, Y:27.77, Z:0.20 [[ 8.13504556e-01 -5.81555363e-01 -1.92285801e-03 9.03358698e+01] [ 5.81553847e-01 8.13506827e-01 -1.32856073e-03 2.77686378e+01] [ 2.33688974e-03 -3.74552617e-05 9.99997269e-01 1.99576838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.36, Y:27.78, Z:0.20 [[ 8.15889716e-01 -5.78204358e-01 -1.92131523e-03 9.03627430e+01] [ 5.78202827e-01 8.15891978e-01 -1.33081846e-03 2.77830864e+01] [ 2.33707072e-03 -2.51088064e-05 9.99997269e-01 1.98911942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:90.39, Y:27.80, Z:0.20 [[ 8.16202997e-01 -5.77762018e-01 -1.92826293e-03 9.03853519e+01] [ 5.77760509e-01 8.16205274e-01 -1.32065053e-03 2.77988915e+01] [ 2.33688009e-03 -3.61552486e-05 9.99997269e-01 1.97491745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.41, Y:27.81, Z:0.20 [[ 8.17484840e-01 -5.75946894e-01 -1.92639625e-03 9.04087968e+01] [ 5.75945374e-01 8.17487110e-01 -1.32338119e-03 2.78136349e+01] [ 2.33700139e-03 -2.76549526e-05 9.99997269e-01 2.00245745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.43, Y:27.83, Z:0.20 [[ 8.17433665e-01 -5.76019526e-01 -1.92591600e-03 9.04321872e+01] [ 5.76018005e-01 8.17435933e-01 -1.32408337e-03 2.78296667e+01] [ 2.33701082e-03 -2.70119711e-05 9.99997269e-01 2.00311721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98361786499999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:90.46, Y:27.85, Z:0.20 [[ 8.17545481e-01 -5.75860815e-01 -1.92574449e-03 9.04551140e+01] [ 5.75859293e-01 8.17547748e-01 -1.32433408e-03 2.78453629e+01] [ 2.33702018e-03 -2.62545174e-05 9.99997269e-01 1.99627213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.48, Y:27.86, Z:0.20 [[ 8.17834361e-01 -5.75450470e-01 -1.92737410e-03 9.04791639e+01] [ 5.75448953e-01 8.17836631e-01 -1.32195255e-03 2.78613130e+01] [ 2.33699536e-03 -2.79671840e-05 9.99997269e-01 1.97112446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:27.88, Z:0.20 [[ 8.18931445e-01 -5.73888112e-01 -1.92965022e-03 9.05035467e+01] [ 5.73886598e-01 8.18933718e-01 -1.31862668e-03 2.78760219e+01] [ 2.33699980e-03 -2.75355453e-05 9.99997269e-01 1.99140847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:27.89, Z:0.20 [[ 8.18377888e-01 -5.74677229e-01 -1.92710331e-03 9.05290339e+01] [ 5.74675709e-01 8.18380157e-01 -1.32234591e-03 2.78921172e+01] [ 2.33702519e-03 -2.52808054e-05 9.99997269e-01 1.98482656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.55, Y:27.91, Z:0.20 [[ 8.17387657e-01 -5.76084780e-01 -1.93514937e-03 9.05495778e+01] [ 5.76083290e-01 8.17389947e-01 -1.31059478e-03 2.79053794e+01] [ 2.33678535e-03 -4.35432153e-05 9.99997269e-01 1.97181578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:27.92, Z:0.20 [[ 8.16362375e-01 -5.77536805e-01 -1.92670241e-03 9.05730924e+01] [ 5.77535290e-01 8.16364648e-01 -1.32292335e-03 2.79217327e+01] [ 2.33692865e-03 -3.27537881e-05 9.99997269e-01 1.95454980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.60, Y:27.94, Z:0.20 [[ 8.15352672e-01 -5.78961406e-01 -1.92642212e-03 9.05977841e+01] [ 5.78959895e-01 8.15354947e-01 -1.32333236e-03 2.79360254e+01] [ 2.33687617e-03 -3.63385720e-05 9.99997269e-01 1.99059214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.62, Y:27.95, Z:0.20 [[ 8.15490734e-01 -5.78766927e-01 -1.92532133e-03 9.06237625e+01] [ 5.78765412e-01 8.15493006e-01 -1.32493812e-03 2.79506940e+01] [ 2.33691644e-03 -3.38346308e-05 9.99997269e-01 2.00039797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:90.65, Y:27.97, Z:0.20 [[ 8.14558020e-01 -5.80078881e-01 -1.92952406e-03 9.06484766e+01] [ 5.80077384e-01 8.14560304e-01 -1.31880721e-03 2.79661847e+01] [ 2.33672592e-03 -4.50282787e-05 9.99997269e-01 1.96340705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:27.98, Z:0.20 [[ 8.14220764e-01 -5.80552176e-01 -1.92849844e-03 9.06731713e+01] [ 5.80550676e-01 8.14223046e-01 -1.32030271e-03 2.79796085e+01] [ 2.33673248e-03 -4.45731907e-05 9.99997269e-01 2.00150160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.70, Y:28.00, Z:0.20 [[ 8.13996872e-01 -5.80866057e-01 -1.92779755e-03 9.07003704e+01] [ 5.80864556e-01 8.13999153e-01 -1.32132417e-03 2.79954085e+01] [ 2.33673794e-03 -4.42355282e-05 9.99997269e-01 2.00611212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:90.72, Y:28.01, Z:0.20 [[ 8.13766587e-01 -5.81188610e-01 -1.93432640e-03 9.07246478e+01] [ 5.81187133e-01 8.13768884e-01 -1.31181149e-03 2.80101072e+01] [ 2.33650453e-03 -5.66972527e-05 9.99997269e-01 1.99780573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:90.75, Y:28.02, Z:0.20 [[ 8.13484661e-01 -5.81583149e-01 -1.93588789e-03 9.07490461e+01] [ 5.81581678e-01 8.13486962e-01 -1.30953755e-03 2.80241163e+01] [ 2.33642453e-03 -6.05882158e-05 9.99997269e-01 1.96768723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.77, Y:28.04, Z:0.20 [[ 8.13559813e-01 -5.81478017e-01 -1.93558632e-03 9.07728615e+01] [ 5.81476544e-01 8.13562113e-01 -1.30997659e-03 2.80396404e+01] [ 2.33644228e-03 -5.97537349e-05 9.99997269e-01 1.96028131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:90.80, Y:28.05, Z:0.20 [[ 8.13500580e-01 -5.81560890e-01 -1.93298284e-03 9.07967866e+01] [ 5.81559409e-01 8.13502875e-01 -1.31376416e-03 2.80543302e+01] [ 2.33652095e-03 -5.53964532e-05 9.99997269e-01 1.96200448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:90.82, Y:28.07, Z:0.19 [[ 8.11640547e-01 -5.84153992e-01 -1.93294921e-03 9.08182015e+01] [ 5.84152517e-01 8.11642846e-01 -1.31381300e-03 2.80707675e+01] [ 2.33633351e-03 -6.27932383e-05 9.99997269e-01 1.93745314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:90.84, Y:28.08, Z:0.19 [[ 8.12032192e-01 -5.83609468e-01 -1.92567538e-03 9.08437103e+01] [ 5.83607967e-01 8.12034474e-01 -1.32436822e-03 2.80841974e+01] [ 2.33662862e-03 -4.84098680e-05 9.99997269e-01 1.93600623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:90.87, Y:28.10, Z:0.20 [[ 8.12586758e-01 -5.82837060e-01 -1.92915582e-03 9.08689408e+01] [ 5.82835569e-01 8.12589046e-01 -1.31932084e-03 2.80988752e+01] [ 2.33655997e-03 -5.23179816e-05 9.99997269e-01 1.97402771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.89, Y:28.11, Z:0.20 [[ 8.13149390e-01 -5.82051831e-01 -1.93246681e-03 9.08923379e+01] [ 5.82050350e-01 8.13151685e-01 -1.31452109e-03 2.81118943e+01] [ 2.33650805e-03 -5.58909628e-05 9.99997269e-01 1.96118152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.92, Y:28.13, Z:0.20 [[ 8.13661497e-01 -5.81335742e-01 -1.92964948e-03 9.09162893e+01] [ 5.81334248e-01 8.13663784e-01 -1.31860514e-03 2.81267620e+01] [ 2.33663819e-03 -4.88730980e-05 9.99997269e-01 1.96857175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:90.94, Y:28.14, Z:0.20 [[ 8.14552802e-01 -5.80086215e-01 -1.92790606e-03 9.09392609e+01] [ 5.80084712e-01 8.14555082e-01 -1.32113139e-03 2.81406291e+01] [ 2.33675579e-03 -4.22175571e-05 9.99997269e-01 1.98756986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.97, Y:28.16, Z:0.20 [[ 8.14046408e-01 -5.80796639e-01 -1.92634435e-03 9.09656620e+01] [ 5.80795132e-01 8.14048686e-01 -1.32339147e-03 2.81568945e+01] [ 2.33675940e-03 -4.15093449e-05 9.99997269e-01 2.00553033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.99, Y:28.17, Z:0.20 [[ 8.14654059e-01 -5.79943977e-01 -1.93608268e-03 9.09866384e+01] [ 5.79942502e-01 8.14656357e-01 -1.30929667e-03 2.81703012e+01] [ 2.33656079e-03 -5.61927878e-05 9.99997269e-01 1.99937985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.01, Y:28.19, Z:0.20 [[ 8.14641460e-01 -5.79961699e-01 -1.92871941e-03 9.10099838e+01] [ 5.79960198e-01 8.14643742e-01 -1.31995409e-03 2.81857322e+01] [ 2.33674201e-03 -4.32911634e-05 9.99997269e-01 2.00259935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.03, Y:28.20, Z:0.20 [[ 8.15988102e-01 -5.78065481e-01 -1.92800706e-03 9.10324663e+01] [ 5.78063973e-01 8.15990379e-01 -1.32098433e-03 2.82001713e+01] [ 2.33685065e-03 -3.66039240e-05 9.99997269e-01 2.01540012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:91.06, Y:28.22, Z:0.20 [[ 8.15362210e-01 -5.78947987e-01 -1.92222047e-03 9.10590145e+01] [ 5.78946461e-01 8.15364476e-01 -1.32934795e-03 2.82180843e+01] [ 2.33693360e-03 -2.89626545e-05 9.99997269e-01 2.00781277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:91.08, Y:28.23, Z:0.20 [[ 8.17577750e-01 -5.75814969e-01 -1.93502237e-03 9.10791662e+01] [ 5.75813478e-01 8.17580039e-01 -1.31084390e-03 2.82315411e+01] [ 2.33683920e-03 -4.24951504e-05 9.99997269e-01 2.02613304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:91.11, Y:28.25, Z:0.20 [[ 8.17014196e-01 -5.76614352e-01 -1.92137223e-03 9.11057530e+01] [ 5.76612818e-01 8.17016455e-01 -1.33055523e-03 2.82502086e+01] [ 2.33700997e-03 -2.08053418e-05 9.99997269e-01 2.00801148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.13, Y:28.26, Z:0.20 [[ 8.19426198e-01 -5.73181443e-01 -1.93352857e-03 9.11289682e+01] [ 5.73179940e-01 8.19428479e-01 -1.31299755e-03 2.82645261e+01] [ 2.33697420e-03 -3.23551988e-05 9.99997269e-01 2.02249612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.15, Y:28.28, Z:0.20 [[ 8.18968710e-01 -5.73834925e-01 -1.93162869e-03 9.11528304e+01] [ 5.73833417e-01 8.18970987e-01 -1.31573994e-03 2.82823027e+01] [ 2.33696539e-03 -3.08832492e-05 9.99997269e-01 2.00932209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.18, Y:28.30, Z:0.20 [[ 8.20407964e-01 -5.71775325e-01 -1.93656702e-03 9.11753347e+01] [ 5.71773829e-01 8.20410249e-01 -1.30861248e-03 2.82982480e+01] [ 2.33701176e-03 -3.36822349e-05 9.99997269e-01 2.00967667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.20, Y:28.31, Z:0.20 [[ 8.20664107e-01 -5.71407619e-01 -1.93812449e-03 9.11956286e+01] [ 5.71406126e-01 8.20666395e-01 -1.30636374e-03 2.83140378e+01] [ 2.33701983e-03 -3.53703728e-05 9.99997269e-01 2.00258358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:91.22, Y:28.33, Z:0.20 [[ 8.20663807e-01 -5.71408085e-01 -1.92774219e-03 9.12226776e+01] [ 5.71406557e-01 8.20666071e-01 -1.32132380e-03 2.83321789e+01] [ 2.33704771e-03 -1.71619060e-05 9.99997269e-01 2.01860630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:91.24, Y:28.35, Z:0.20 [[ 8.19050433e-01 -5.73718249e-01 -1.93877144e-03 9.12432284e+01] [ 5.73716766e-01 8.19052726e-01 -1.30543253e-03 2.83487270e+01] [ 2.33690650e-03 -4.30906028e-05 9.99997269e-01 2.01303879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:91.27, Y:28.37, Z:0.20 [[ 8.18791905e-01 -5.74087161e-01 -1.93574428e-03 9.12660310e+01] [ 5.74085669e-01 8.18794192e-01 -1.30978917e-03 2.83654345e+01] [ 2.33690932e-03 -3.88382845e-05 9.99997269e-01 2.00302712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:91.29, Y:28.38, Z:0.20 [[ 8.18501789e-01 -5.74500726e-01 -1.93330600e-03 9.12870788e+01] [ 5.74499226e-01 8.18504071e-01 -1.31329523e-03 2.83804391e+01] [ 2.33690789e-03 -3.57483067e-05 9.99997269e-01 1.99700196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:91.31, Y:28.40, Z:0.20 [[ 8.15906463e-01 -5.78180703e-01 -1.92837718e-03 9.13105789e+01] [ 5.78179196e-01 8.15908741e-01 -1.32037621e-03 2.83991623e+01] [ 2.33679585e-03 -3.76440840e-05 9.99997269e-01 1.99915037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09361786499998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:91.33, Y:28.41, Z:0.20 [[ 8.14883614e-01 -5.79621396e-01 -1.93211602e-03 9.13326794e+01] [ 5.79619907e-01 8.14885903e-01 -1.31500688e-03 2.84148825e+01] [ 2.33666023e-03 -4.83153521e-05 9.99997269e-01 1.99416607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:91.36, Y:28.43, Z:0.20 [[ 8.14493092e-01 -5.80170039e-01 -1.93103931e-03 9.13560537e+01] [ 5.80168547e-01 8.14495380e-01 -1.31655145e-03 2.84315507e+01] [ 2.33664630e-03 -4.80062116e-05 9.99997269e-01 1.96815563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15361786499997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:91.38, Y:28.45, Z:0.20 [[ 8.13359437e-01 -5.81758286e-01 -1.92937859e-03 9.13790793e+01] [ 5.81756793e-01 8.13361724e-01 -1.31893234e-03 2.84478145e+01] [ 2.33658251e-03 -4.96630361e-05 9.99997269e-01 1.95512933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:91.40, Y:28.46, Z:0.20 [[ 8.12042160e-01 -5.83595580e-01 -1.93095219e-03 9.14008623e+01] [ 5.83594098e-01 8.12044454e-01 -1.31667727e-03 2.84649538e+01] [ 2.33642605e-03 -5.76948514e-05 9.99997269e-01 2.00118831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.42, Y:28.48, Z:0.20 [[ 8.10813026e-01 -5.85302072e-01 -1.92919883e-03 9.14242802e+01] [ 5.85300588e-01 8.10815319e-01 -1.31918871e-03 2.84813699e+01] [ 2.33634785e-03 -5.95458202e-05 9.99997269e-01 1.99335269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:91.45, Y:28.50, Z:0.20 [[ 8.10814490e-01 -5.85300033e-01 -1.93228044e-03 9.14480447e+01] [ 5.85298560e-01 8.10816790e-01 -1.31477946e-03 2.84972149e+01] [ 2.33626588e-03 -6.49187191e-05 9.99997269e-01 1.99976300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.47, Y:28.51, Z:0.20 [[ 8.09382124e-01 -5.87279192e-01 -1.93060145e-03 9.14681574e+01] [ 5.87277719e-01 8.09384424e-01 -1.31718021e-03 2.85117367e+01] [ 2.33615127e-03 -6.76971002e-05 9.99997269e-01 2.00039582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30361786499998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:91.49, Y:28.53, Z:0.20 [[ 8.08995807e-01 -5.87811273e-01 -1.92141194e-03 9.14944500e+01] [ 5.87809770e-01 8.08998087e-01 -1.33030071e-03 2.85295038e+01] [ 2.33638434e-03 -5.32170178e-05 9.99997269e-01 1.98395956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.51, Y:28.55, Z:0.20 [[ 8.07483379e-01 -5.89887165e-01 -1.93034913e-03 9.15145844e+01] [ 5.89885698e-01 8.07485683e-01 -1.31754369e-03 2.85450734e+01] [ 2.33593139e-03 -7.47907150e-05 9.99997269e-01 2.00876942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.54, Y:28.56, Z:0.20 [[ 8.06624496e-01 -5.91061103e-01 -1.92233540e-03 9.15379348e+01] [ 5.91059612e-01 8.06626784e-01 -1.32897413e-03 2.85616672e+01] [ 2.33611214e-03 -6.42317291e-05 9.99997269e-01 2.00824551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.56, Y:28.58, Z:0.20 [[ 8.06997522e-01 -5.90551695e-01 -1.92217849e-03 9.15585954e+01] [ 5.90550202e-01 8.06999809e-01 -1.32919778e-03 2.85766215e+01] [ 2.33615767e-03 -6.24835782e-05 9.99997269e-01 2.01354492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.58, Y:28.59, Z:0.20 [[ 8.05711535e-01 -5.92305035e-01 -1.91512167e-03 9.15829070e+01] [ 5.92303524e-01 8.05713809e-01 -1.33924900e-03 2.85939490e+01] [ 2.33628390e-03 -5.52849448e-05 9.99997269e-01 2.01783731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.61, Y:28.61, Z:0.20 [[ 8.05828155e-01 -5.92146346e-01 -1.92097311e-03 9.16061202e+01] [ 5.92144854e-01 8.05830442e-01 -1.33091678e-03 2.86097918e+01] [ 2.33607612e-03 -6.50041299e-05 9.99997269e-01 2.02202486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.63, Y:28.63, Z:0.20 [[ 8.05533014e-01 -5.92547785e-01 -1.91965993e-03 9.16289278e+01] [ 5.92546290e-01 8.05535299e-01 -1.33278329e-03 2.86265804e+01] [ 2.33609162e-03 -6.38864277e-05 9.99997269e-01 2.02105802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.65, Y:28.64, Z:0.20 [[ 8.05376007e-01 -5.92761173e-01 -1.91839254e-03 9.16511135e+01] [ 5.92759674e-01 8.05378289e-01 -1.33458347e-03 2.86433225e+01] [ 2.33612096e-03 -6.23042291e-05 9.99997269e-01 2.01438447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.67, Y:28.66, Z:0.20 [[ 8.04073499e-01 -5.94526819e-01 -1.91596613e-03 9.16722054e+01] [ 5.94525316e-01 8.04075779e-01 -1.33802714e-03 2.86593153e+01] [ 2.33607498e-03 -6.32182085e-05 9.99997269e-01 1.95118716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.70, Y:28.68, Z:0.20 [[ 8.06144462e-01 -5.91715684e-01 -1.91214403e-03 9.16978392e+01] [ 5.91714161e-01 8.06146728e-01 -1.34344878e-03 2.86757742e+01] [ 2.33640837e-03 -4.84289123e-05 9.99997269e-01 1.98870198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.72, Y:28.69, Z:0.20 [[ 8.06700338e-01 -5.90957602e-01 -1.91751116e-03 9.17219169e+01] [ 5.90956095e-01 8.06702615e-01 -1.33584175e-03 2.86923666e+01] [ 2.33628711e-03 -5.55409138e-05 9.99997269e-01 1.98706591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.75, Y:28.71, Z:0.20 [[ 8.07953945e-01 -5.89242511e-01 -1.92011441e-03 9.17452189e+01] [ 5.89241008e-01 8.07956224e-01 -1.33215375e-03 2.87097391e+01] [ 2.33633000e-03 -5.50912710e-05 9.99997269e-01 1.98754557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.77, Y:28.73, Z:0.20 [[ 8.08906898e-01 -5.87933619e-01 -1.92100987e-03 9.17686939e+01] [ 5.87932115e-01 8.08909177e-01 -1.33088596e-03 2.87260579e+01] [ 2.33639511e-03 -5.28605641e-05 9.99997269e-01 1.99659530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.79, Y:28.74, Z:0.20 [[ 8.09912133e-01 -5.86548068e-01 -1.92379221e-03 9.17918286e+01] [ 5.86546570e-01 8.09914416e-01 -1.32694823e-03 2.87421654e+01] [ 2.33642596e-03 -5.36822481e-05 9.99997269e-01 1.99629505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.81, Y:28.76, Z:0.20 [[ 8.11303967e-01 -5.84621380e-01 -1.92722321e-03 9.18138845e+01] [ 5.84619888e-01 8.11306255e-01 -1.32208827e-03 2.87588811e+01] [ 2.33648931e-03 -5.40775592e-05 9.99997269e-01 1.98838816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:91.84, Y:28.78, Z:0.20 [[ 8.12398234e-01 -5.83099819e-01 -1.92610294e-03 9.18365286e+01] [ 5.83098319e-01 8.12400516e-01 -1.32367512e-03 2.87758059e+01] [ 2.33660175e-03 -4.77560607e-05 9.99997269e-01 2.00373690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.86, Y:28.79, Z:0.20 [[ 8.11496931e-01 -5.84353529e-01 -1.91920739e-03 9.18616958e+01] [ 5.84352009e-01 8.11499200e-01 -1.33342351e-03 2.87948431e+01] [ 2.33662600e-03 -3.94236067e-05 9.99997269e-01 1.98960596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:91.89, Y:28.81, Z:0.20 [[ 8.12815905e-01 -5.82517457e-01 -1.92782800e-03 9.18877045e+01] [ 5.82515961e-01 8.12818190e-01 -1.32124340e-03 2.88113715e+01] [ 2.33662101e-03 -4.90629265e-05 9.99997269e-01 2.00210059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:91.91, Y:28.83, Z:0.20 [[ 8.11315209e-01 -5.84605756e-01 -1.93419799e-03 9.19093393e+01] [ 5.84604287e-01 8.11317512e-01 -1.31224761e-03 2.88291906e+01] [ 2.33639621e-03 -6.60939913e-05 9.99997268e-01 1.99824853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:91.93, Y:28.85, Z:0.20 [[ 8.11105674e-01 -5.84896459e-01 -1.92816520e-03 9.19324554e+01] [ 5.84894971e-01 8.11107964e-01 -1.32075659e-03 2.88458031e+01] [ 2.33645601e-03 -5.65009665e-05 9.99997269e-01 1.99887396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:91.95, Y:28.86, Z:0.20 [[ 8.07527211e-01 -5.89827166e-01 -1.92816206e-03 9.19463501e+01] [ 5.89825692e-01 8.07529510e-01 -1.32076102e-03 2.88635581e+01] [ 2.33606849e-03 -7.07290576e-05 9.99997269e-01 1.96971501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.98, Y:28.88, Z:0.20 [[ 8.08954478e-01 -5.87868203e-01 -1.90483953e-03 9.19779431e+01] [ 5.87866645e-01 8.08956720e-01 -1.35358185e-03 2.88792581e+01] [ 2.33666047e-03 -2.48055218e-05 9.99997270e-01 1.99782215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:92.00, Y:28.90, Z:0.20 [[ 8.07687471e-01 -5.89607700e-01 -1.92604768e-03 9.20003133e+01] [ 5.89606218e-01 8.07689764e-01 -1.32374051e-03 2.88968150e+01] [ 2.33613659e-03 -6.64410644e-05 9.99997269e-01 1.99438570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.02, Y:28.91, Z:0.20 [[ 8.04873662e-01 -5.93443083e-01 -1.92231850e-03 9.20163108e+01] [ 5.93441599e-01 8.04875955e-01 -1.32898286e-03 2.89141853e+01] [ 2.33590362e-03 -7.11204637e-05 9.99997269e-01 1.96909245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:92.04, Y:28.93, Z:0.20 [[ 8.03884028e-01 -5.94783026e-01 -1.90320176e-03 9.20388905e+01] [ 5.94781482e-01 8.03886279e-01 -1.35581760e-03 2.89305080e+01] [ 2.33637508e-03 -4.20690495e-05 9.99997270e-01 1.96807392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.07, Y:28.94, Z:0.20 [[ 8.06044380e-01 -5.91852040e-01 -1.90282518e-03 9.20656184e+01] [ 5.91850486e-01 8.06046625e-01 -1.35634590e-03 2.89446387e+01] [ 2.33652190e-03 -3.29130200e-05 9.99997270e-01 2.00975403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.08, Y:28.96, Z:0.20 [[ 8.03773505e-01 -5.94932353e-01 -1.90992663e-03 9.20847518e+01] [ 5.94930832e-01 8.03775772e-01 -1.34636938e-03 2.89627551e+01] [ 2.33615146e-03 -5.40982082e-05 9.99997270e-01 1.98233662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.11, Y:28.98, Z:0.20 [[ 8.03537095e-01 -5.95251655e-01 -1.89875449e-03 9.21112243e+01] [ 5.95250097e-01 8.03539337e-01 -1.36205859e-03 2.89797302e+01] [ 2.33649156e-03 -3.57691960e-05 9.99997270e-01 1.97082643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.14, Y:29.00, Z:0.20 [[ 8.04133359e-01 -5.94445867e-01 -1.91136072e-03 9.21359611e+01] [ 5.94444349e-01 8.04135628e-01 -1.34438707e-03 2.89952750e+01] [ 2.33615859e-03 -5.51310897e-05 9.99997270e-01 1.97815830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.17361786499998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:92.15, Y:29.01, Z:0.20 [[ 8.01183644e-01 -5.98415490e-01 -1.91561882e-03 9.21530789e+01] [ 5.98413998e-01 8.01185931e-01 -1.33841842e-03 2.90138550e+01] [ 2.33569716e-03 -7.40141735e-05 9.99997270e-01 1.95155866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.18, Y:29.03, Z:0.20 [[ 8.00700475e-01 -5.99061878e-01 -1.90150627e-03 9.21758961e+01] [ 5.99060340e-01 8.00702731e-01 -1.35817661e-03 2.90302800e+01] [ 2.33617309e-03 -5.16243335e-05 9.99997270e-01 1.96291964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:92.21, Y:29.05, Z:0.20 [[ 8.03619436e-01 -5.95140482e-01 -1.89973648e-03 9.22083664e+01] [ 5.95138928e-01 8.03621680e-01 -1.36065337e-03 2.90456325e+01] [ 2.33644932e-03 -3.71596434e-05 9.99997270e-01 1.99413549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.23, Y:29.06, Z:0.20 [[ 8.02751481e-01 -5.96310606e-01 -1.92869284e-03 9.22283857e+01] [ 5.96309152e-01 8.02753793e-01 -1.32006989e-03 2.90617110e+01] [ 2.33543717e-03 -9.04091323e-05 9.99997269e-01 1.99178871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29361786499997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:92.25, Y:29.08, Z:0.20 [[ 8.03190032e-01 -5.95719800e-01 -1.92136729e-03 9.22509018e+01] [ 5.95718319e-01 8.03192327e-01 -1.33032631e-03 2.90774848e+01] [ 2.33572919e-03 -7.60888629e-05 9.99997269e-01 1.99977142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.28, Y:29.09, Z:0.20 [[ 8.04331018e-01 -5.94178370e-01 -1.91780125e-03 9.22770512e+01] [ 5.94176873e-01 8.04333302e-01 -1.33531435e-03 2.90938691e+01] [ 2.33596632e-03 -6.54783967e-05 9.99997269e-01 2.00719530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35361786499998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:92.30, Y:29.11, Z:0.20 [[ 8.02381846e-01 -5.96807897e-01 -1.92530037e-03 9.22973489e+01] [ 5.96806433e-01 8.02384151e-01 -1.32482579e-03 2.91114127e+01] [ 2.33549700e-03 -8.60154808e-05 9.99997269e-01 1.98206133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.32, Y:29.13, Z:0.20 [[ 8.01646517e-01 -5.97795271e-01 -1.91748507e-03 9.23196650e+01] [ 5.97793783e-01 8.01648806e-01 -1.33573050e-03 2.91287683e+01] [ 2.33564299e-03 -7.54769489e-05 9.99997270e-01 1.97058359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:92.34, Y:29.14, Z:0.20 [[ 8.03501753e-01 -5.95299305e-01 -1.91587022e-03 9.23431688e+01] [ 5.95297805e-01 8.03504034e-01 -1.33798242e-03 2.91430616e+01] [ 2.33590945e-03 -6.54421146e-05 9.99997270e-01 1.97416055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44361786499998 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:92.37, Y:29.16, Z:0.20 [[ 8.05652293e-01 -5.92385597e-01 -1.92031979e-03 9.23659183e+01] [ 5.92384104e-01 8.05654579e-01 -1.33174299e-03 2.91559229e+01] [ 2.33601980e-03 -6.46451245e-05 9.99997269e-01 1.96228916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47361786499998 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:92.39, Y:29.18, Z:0.20 [[ 8.04224109e-01 -5.94323090e-01 -1.90986041e-03 9.23942928e+01] [ 5.94321567e-01 8.04226375e-01 -1.34638540e-03 2.91769359e+01] [ 2.33614804e-03 -5.22756316e-05 9.99997270e-01 1.96871770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.41, Y:29.19, Z:0.20 [[ 8.05553469e-01 -5.92519926e-01 -1.93552322e-03 9.24129221e+01] [ 5.92518484e-01 8.05555789e-01 -1.31043853e-03 2.91914002e+01] [ 2.33563287e-03 -9.12049781e-05 9.99997268e-01 1.96141430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53361786499998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:92.44, Y:29.21, Z:0.20 [[ 8.06935781e-01 -5.90636068e-01 -1.91864609e-03 9.24357375e+01] [ 5.90634564e-01 8.06938060e-01 -1.33406827e-03 2.92069226e+01] [ 2.33617739e-03 -5.67112730e-05 9.99997270e-01 1.98280337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56361786499998 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:92.46, Y:29.23, Z:0.20 [[ 8.05574644e-01 -5.92491212e-01 -1.91227444e-03 9.24631537e+01] [ 5.92489693e-01 8.05576912e-01 -1.34296951e-03 2.92279262e+01] [ 2.33618178e-03 -5.11407094e-05 9.99997270e-01 1.96515233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59361786499998 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:92.48, Y:29.25, Z:0.20 [[ 8.05397472e-01 -5.92731955e-01 -1.93431961e-03 9.24842636e+01] [ 5.92730509e-01 8.05399790e-01 -1.31215200e-03 2.92462437e+01] [ 2.33565502e-03 -8.97263440e-05 9.99997268e-01 1.96312700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62361786499999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:92.50, Y:29.26, Z:0.19 [[ 8.03342945e-01 -5.95513551e-01 -1.92938912e-03 9.24963747e+01] [ 5.95512097e-01 8.03345257e-01 -1.31903458e-03 2.92634432e+01] [ 2.33546856e-03 -8.93374353e-05 9.99997269e-01 1.93948681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65361786499997 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:92.53, Y:29.28, Z:0.20 [[ 8.07366148e-01 -5.90047710e-01 -1.89816491e-03 9.25289368e+01] [ 5.90046137e-01 8.07368379e-01 -1.36253347e-03 2.92774221e+01] [ 2.33647808e-03 -1.99414708e-05 9.99997270e-01 1.96431517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68361786499997 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:92.54, Y:29.30, Z:0.19 [[ 8.03802981e-01 -5.94892473e-01 -1.92717836e-03 9.25432980e+01] [ 5.94891010e-01 8.03805287e-01 -1.32191386e-03 2.92964279e+01] [ 2.33547276e-03 -8.39027742e-05 9.99997269e-01 1.94212305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71361786499997 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:92.56, Y:29.31, Z:0.19 [[ 8.04802326e-01 -5.93539859e-01 -1.91092642e-03 9.25635403e+01] [ 5.93538338e-01 8.04804593e-01 -1.34467169e-03 2.93105828e+01] [ 2.33603860e-03 -5.20131880e-05 9.99997270e-01 1.94078482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:92.59, Y:29.33, Z:0.20 [[ 8.06977517e-01 -5.90579100e-01 -1.90083823e-03 9.25939812e+01] [ 5.90577537e-01 8.06979756e-01 -1.35878431e-03 2.93268698e+01] [ 2.33640758e-03 -2.60839695e-05 9.99997270e-01 1.97026773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77361786499998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:92.61, Y:29.35, Z:0.19 [[ 8.04142522e-01 -5.94433446e-01 -1.91876288e-03 9.26123896e+01] [ 5.94431954e-01 8.04144809e-01 -1.33362418e-03 2.93450657e+01] [ 2.33571402e-03 -6.81500517e-05 9.99997270e-01 1.94074273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:92.63, Y:29.36, Z:0.19 [[ 8.04243089e-01 -5.94297395e-01 -1.91316371e-03 9.26337538e+01] [ 5.94295883e-01 8.04245363e-01 -1.34148251e-03 2.93605516e+01] [ 2.33589261e-03 -5.81072750e-05 9.99997270e-01 1.93948600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83361786499998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:92.66, Y:29.38, Z:0.19 [[ 8.03986843e-01 -5.94644043e-01 -1.90225036e-03 9.26554426e+01] [ 5.94642496e-01 8.03989092e-01 -1.35678336e-03 2.93763115e+01] [ 2.33619168e-03 -4.03229357e-05 9.99997270e-01 1.93801743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:92.68, Y:29.39, Z:0.19 [[ 8.03622366e-01 -5.95136519e-01 -1.90208917e-03 9.26778342e+01] [ 5.95134973e-01 8.03624615e-01 -1.35700929e-03 2.93929823e+01] [ 2.33617146e-03 -4.14767700e-05 9.99997270e-01 1.93834901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.70, Y:29.41, Z:0.19 [[ 8.03426018e-01 -5.95401560e-01 -1.90171970e-03 9.27004646e+01] [ 5.95400014e-01 8.03428267e-01 -1.35752687e-03 2.94100389e+01] [ 2.33616898e-03 -4.16115350e-05 9.99997270e-01 1.94211452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.72, Y:29.43, Z:0.19 [[ 8.03516003e-01 -5.95280117e-01 -1.90135058e-03 9.27234520e+01] [ 5.95278569e-01 8.03518252e-01 -1.35804367e-03 2.94268663e+01] [ 2.33618628e-03 -4.06234310e-05 9.99997270e-01 1.94597690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95361786499998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:92.75, Y:29.44, Z:0.20 [[ 8.03762461e-01 -5.94947302e-01 -1.90097960e-03 9.27451694e+01] [ 5.94945752e-01 8.03764709e-01 -1.35856276e-03 2.94435790e+01] [ 2.33621356e-03 -3.90179879e-05 9.99997270e-01 1.95290741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.77, Y:29.46, Z:0.20 [[ 8.04008273e-01 -5.94615071e-01 -1.90081895e-03 9.27664388e+01] [ 5.94613520e-01 8.04010519e-01 -1.35878749e-03 2.94595283e+01] [ 2.33623395e-03 -3.77762626e-05 9.99997270e-01 1.95622301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.79, Y:29.48, Z:0.20 [[ 8.04041320e-01 -5.94570385e-01 -1.90066032e-03 9.27886515e+01] [ 5.94568833e-01 8.04043566e-01 -1.35900934e-03 2.94764717e+01] [ 2.33624041e-03 -3.73737256e-05 9.99997270e-01 1.95647140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:92.81, Y:29.49, Z:0.20 [[ 8.04574700e-01 -5.93848416e-01 -1.90029044e-03 9.28098482e+01] [ 5.93846861e-01 8.04576943e-01 -1.35952635e-03 2.94934342e+01] [ 2.33628244e-03 -3.46410108e-05 9.99997270e-01 1.95229294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.83, Y:29.51, Z:0.20 [[ 8.04480021e-01 -5.93976671e-01 -1.90013017e-03 9.28323323e+01] [ 5.93975116e-01 8.04482264e-01 -1.35975031e-03 2.95107290e+01] [ 2.33628099e-03 -3.47380832e-05 9.99997270e-01 1.95352820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.85, Y:29.53, Z:0.20 [[ 8.04290805e-01 -5.94232860e-01 -1.89976817e-03 9.28547723e+01] [ 5.94231304e-01 8.04293048e-01 -1.36025589e-03 2.95276939e+01] [ 2.33627908e-03 -3.48604178e-05 9.99997270e-01 1.95080869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.88, Y:29.54, Z:0.19 [[ 8.03911438e-01 -5.94745989e-01 -1.89940812e-03 9.28774122e+01] [ 5.94744434e-01 8.03913681e-01 -1.36075846e-03 2.95448772e+01] [ 2.33626581e-03 -3.57331148e-05 9.99997270e-01 1.94691485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:92.90, Y:29.56, Z:0.19 [[ 8.01822664e-01 -5.97559043e-01 -1.89904897e-03 9.28986466e+01] [ 5.97557494e-01 8.01824911e-01 -1.36125951e-03 2.95635233e+01] [ 2.33613770e-03 -4.33022157e-05 9.99997270e-01 1.91848424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.92, Y:29.58, Z:0.19 [[ 8.00376141e-01 -5.99495154e-01 -1.89553105e-03 9.29196067e+01] [ 5.99493599e-01 8.00378384e-01 -1.36616495e-03 2.95802388e+01] [ 2.33615135e-03 -4.29129011e-05 9.99997270e-01 1.91257369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.95, Y:29.60, Z:0.19 [[ 8.00950116e-01 -5.98728101e-01 -1.89013184e-03 9.29457722e+01] [ 5.98726526e-01 8.00952346e-01 -1.37369735e-03 2.95955872e+01] [ 2.33637674e-03 -3.14090245e-05 9.99997270e-01 1.94028018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.97, Y:29.61, Z:0.19 [[ 7.98332449e-01 -6.02213994e-01 -1.89920365e-03 9.29659294e+01] [ 6.02212458e-01 7.98334706e-01 -1.36103848e-03 2.96138348e+01] [ 2.33583661e-03 -5.71629193e-05 9.99997270e-01 1.90923402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:92.99, Y:29.63, Z:0.19 [[ 7.97509477e-01 -6.03303453e-01 -1.89141586e-03 9.29915313e+01] [ 6.03301895e-01 7.97511718e-01 -1.37189838e-03 2.96297396e+01] [ 2.33609735e-03 -4.69928157e-05 9.99997270e-01 1.94513931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.01, Y:29.65, Z:0.19 [[ 7.96275863e-01 -6.04930694e-01 -1.89880490e-03 9.30138998e+01] [ 6.04929165e-01 7.96278124e-01 -1.36159404e-03 2.96465325e+01] [ 2.33564683e-03 -6.44379942e-05 9.99997270e-01 1.94385400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.03, Y:29.66, Z:0.19 [[ 7.93581487e-01 -6.08461025e-01 -1.89842553e-03 9.30332112e+01] [ 6.08459505e-01 7.93583755e-01 -1.36212277e-03 2.96649123e+01] [ 2.33535828e-03 -7.41596384e-05 9.99997270e-01 1.90445532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37361786499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:93.06, Y:29.68, Z:0.19 [[ 7.93246369e-01 -6.08897881e-01 -1.88908181e-03 9.30584520e+01] [ 6.08896331e-01 7.93248616e-01 -1.37513349e-03 2.96803551e+01] [ 2.33582740e-03 -5.94353339e-05 9.99997270e-01 1.94185806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:93.08, Y:29.70, Z:0.19 [[ 7.91352420e-01 -6.11357298e-01 -1.89797885e-03 9.30789534e+01] [ 6.11355785e-01 7.91354691e-01 -1.36274201e-03 2.96985551e+01] [ 2.33509674e-03 -8.19311599e-05 9.99997270e-01 1.91050112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.10, Y:29.72, Z:0.19 [[ 7.90434851e-01 -6.12543193e-01 -1.89264832e-03 9.31009247e+01] [ 6.12541666e-01 7.90437113e-01 -1.37016359e-03 2.97153155e+01] [ 2.33530386e-03 -7.63009013e-05 9.99997270e-01 1.91759009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.13, Y:29.73, Z:0.19 [[ 7.91672823e-01 -6.10942358e-01 -1.89089944e-03 9.31253981e+01] [ 6.10940820e-01 7.91675079e-01 -1.37259774e-03 2.97305872e+01] [ 2.33555606e-03 -6.85793335e-05 9.99997270e-01 1.94818105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.15, Y:29.75, Z:0.19 [[ 7.90978929e-01 -6.11840447e-01 -1.89760922e-03 9.31466677e+01] [ 6.11838934e-01 7.90981201e-01 -1.36325796e-03 2.97481760e+01] [ 2.33506958e-03 -8.27228803e-05 9.99997270e-01 1.92545444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.17, Y:29.77, Z:0.19 [[ 7.91744123e-01 -6.10849941e-01 -1.89585012e-03 9.31687106e+01] [ 6.10848419e-01 7.91746389e-01 -1.36570562e-03 2.97657575e+01] [ 2.33527369e-03 -7.67876496e-05 9.99997270e-01 1.91468215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:93.19, Y:29.78, Z:0.19 [[ 7.92076839e-01 -6.10418445e-01 -1.89818099e-03 9.31914159e+01] [ 6.10416930e-01 7.92079109e-01 -1.36246287e-03 2.97830179e+01] [ 2.33518197e-03 -7.95065264e-05 9.99997270e-01 1.90963540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:93.21, Y:29.80, Z:0.19 [[ 7.91700651e-01 -6.10906275e-01 -1.89795575e-03 9.32122461e+01] [ 6.10904761e-01 7.91702922e-01 -1.36277602e-03 2.98005039e+01] [ 2.33514553e-03 -8.05595397e-05 9.99997270e-01 1.89656706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.24, Y:29.82, Z:0.19 [[ 7.92502124e-01 -6.09866215e-01 -1.89293852e-03 9.32364295e+01] [ 6.09864681e-01 7.92504382e-01 -1.36974593e-03 2.98172285e+01] [ 2.33552384e-03 -6.89097859e-05 9.99997270e-01 1.90279327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.26, Y:29.84, Z:0.19 [[ 7.92748654e-01 -6.09545712e-01 -1.89645282e-03 9.32565989e+01] [ 6.09544188e-01 7.92750919e-01 -1.36486514e-03 2.98354964e+01] [ 2.33536241e-03 -7.39767916e-05 9.99997270e-01 1.89104861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.67361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.28, Y:29.85, Z:0.19 [[ 7.94265066e-01 -6.07568454e-01 -1.89160064e-03 9.32808240e+01] [ 6.07566909e-01 7.94267316e-01 -1.37159868e-03 2.98519246e+01] [ 2.33577666e-03 -5.98610382e-05 9.99997270e-01 1.92172108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.30, Y:29.87, Z:0.19 [[ 7.93277057e-01 -6.08857879e-01 -1.89559724e-03 9.33010427e+01] [ 6.08856351e-01 7.93279319e-01 -1.36605283e-03 2.98706521e+01] [ 2.33547011e-03 -7.04880507e-05 9.99997270e-01 1.89335982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:93.32, Y:29.89, Z:0.19 [[ 7.93640291e-01 -6.08384349e-01 -1.89029573e-03 9.33212541e+01] [ 6.08382801e-01 7.93642540e-01 -1.37340432e-03 2.98881601e+01] [ 2.33577680e-03 -6.00344044e-05 9.99997270e-01 1.89575331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:93.34, Y:29.90, Z:0.19 [[ 7.93610827e-01 -6.08422788e-01 -1.88839688e-03 9.33435404e+01] [ 6.08421234e-01 7.93613072e-01 -1.37603673e-03 2.99042879e+01] [ 2.33586855e-03 -5.69031142e-05 9.99997270e-01 1.89638506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79361786499997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:93.37, Y:29.92, Z:0.19 [[ 7.93745543e-01 -6.08247028e-01 -1.88829153e-03 9.33656076e+01] [ 6.08245474e-01 7.93747787e-01 -1.37618275e-03 2.99213707e+01] [ 2.33588629e-03 -5.62058540e-05 9.99997270e-01 1.90181009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.39, Y:29.94, Z:0.19 [[ 7.94093232e-01 -6.07793035e-01 -1.88826078e-03 9.33880234e+01] [ 6.07791479e-01 7.94095475e-01 -1.37622536e-03 2.99383404e+01] [ 2.33591953e-03 -5.48175697e-05 9.99997270e-01 1.90221383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.41, Y:29.95, Z:0.19 [[ 7.96033344e-01 -6.05249824e-01 -1.88805609e-03 9.34118227e+01] [ 6.05248261e-01 7.96035582e-01 -1.37650880e-03 2.99546610e+01] [ 2.33609153e-03 -4.69957608e-05 9.99997270e-01 1.93679452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.43, Y:29.97, Z:0.19 [[ 7.96253578e-01 -6.04960041e-01 -1.89409284e-03 9.34332128e+01] [ 6.04958497e-01 7.96255829e-01 -1.36815141e-03 2.99714428e+01] [ 2.33585940e-03 -5.64521044e-05 9.99997270e-01 1.93400047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:93.45, Y:29.99, Z:0.19 [[ 7.96322542e-01 -6.04869260e-01 -1.89393024e-03 9.34545158e+01] [ 6.04867715e-01 7.96324792e-01 -1.36837646e-03 2.99895894e+01] [ 2.33587246e-03 -5.59082298e-05 9.99997270e-01 1.93468744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.48, Y:30.01, Z:0.19 [[ 7.95938491e-01 -6.05374539e-01 -1.89354299e-03 9.34757670e+01] [ 6.05372994e-01 7.95940742e-01 -1.36891213e-03 3.00076597e+01] [ 2.33585256e-03 -5.67299319e-05 9.99997270e-01 1.91342509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97361786499998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:93.50, Y:30.02, Z:0.19 [[ 7.96786090e-01 -6.04258506e-01 -1.89315232e-03 9.34975260e+01] [ 6.04256957e-01 7.96788337e-01 -1.36945219e-03 3.00230789e+01] [ 2.33594483e-03 -5.27900002e-05 9.99997270e-01 1.91380070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.52, Y:30.04, Z:0.19 [[ 7.97010277e-01 -6.03962776e-01 -1.89298288e-03 9.35194567e+01] [ 6.03961225e-01 7.97012524e-01 -1.36968637e-03 3.00404647e+01] [ 2.33597064e-03 -5.16341502e-05 9.99997270e-01 1.92850852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03361786499998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:93.54, Y:30.06, Z:0.19 [[ 7.97164051e-01 -6.03759799e-01 -1.89261411e-03 9.35413040e+01] [ 6.03758246e-01 7.97166296e-01 -1.37019575e-03 3.00577307e+01] [ 2.33599728e-03 -5.04105806e-05 9.99997270e-01 1.93094987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.56, Y:30.08, Z:0.19 [[ 7.97350237e-01 -6.03513893e-01 -1.89222103e-03 9.35633610e+01] [ 6.03512338e-01 7.97352481e-01 -1.37073837e-03 3.00750198e+01] [ 2.33602678e-03 -4.90201743e-05 9.99997270e-01 1.92782325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:93.58, Y:30.09, Z:0.19 [[ 7.97494112e-01 -6.03323762e-01 -1.89209995e-03 9.35848862e+01] [ 6.03322207e-01 7.97496355e-01 -1.37090548e-03 3.00926947e+01] [ 2.33604266e-03 -4.82568700e-05 9.99997270e-01 1.91858086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.61, Y:30.11, Z:0.19 [[ 7.97903166e-01 -6.02782680e-01 -1.89170774e-03 9.36056558e+01] [ 6.02781121e-01 7.97905407e-01 -1.37144647e-03 3.01094693e+01] [ 2.33608801e-03 -4.60042343e-05 9.99997270e-01 1.92946391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.63, Y:30.13, Z:0.19 [[ 7.97749652e-01 -6.02985833e-01 -1.89153813e-03 9.36274957e+01] [ 6.02984275e-01 7.97751893e-01 -1.37168036e-03 3.01272348e+01] [ 2.33608195e-03 -4.63102133e-05 9.99997270e-01 1.93014739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18361786499997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:93.65, Y:30.14, Z:0.19 [[ 7.98039785e-01 -6.02601796e-01 -1.89116577e-03 9.36485873e+01] [ 6.02600235e-01 7.98042025e-01 -1.37219355e-03 3.01437058e+01] [ 2.33611606e-03 -4.45518866e-05 9.99997270e-01 1.92825878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.67, Y:30.16, Z:0.19 [[ 7.98029312e-01 -6.02615666e-01 -1.89100455e-03 9.36702869e+01] [ 6.02614105e-01 7.98031552e-01 -1.37241569e-03 3.01615487e+01] [ 2.33612049e-03 -4.43180618e-05 9.99997270e-01 1.92585603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.69, Y:30.18, Z:0.19 [[ 7.98036702e-01 -6.02605881e-01 -1.89062359e-03 9.36921601e+01] [ 6.02604318e-01 7.98038940e-01 -1.37294029e-03 3.01780601e+01] [ 2.33613314e-03 -4.36412001e-05 9.99997270e-01 1.92503271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27361786499998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:93.72, Y:30.20, Z:0.19 [[ 7.97418318e-01 -6.03423944e-01 -1.88938407e-03 9.37153298e+01] [ 6.03422379e-01 7.97420556e-01 -1.37464639e-03 3.01956673e+01] [ 2.33612824e-03 -4.39284149e-05 9.99997270e-01 1.92509906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.74, Y:30.21, Z:0.19 [[ 7.97037706e-01 -6.03926587e-01 -1.89013829e-03 9.37378631e+01] [ 6.03925026e-01 7.97039946e-01 -1.37360856e-03 3.02128125e+01] [ 2.33607445e-03 -4.66840007e-05 9.99997270e-01 1.92582383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.76, Y:30.23, Z:0.19 [[ 7.96180120e-01 -6.05056729e-01 -1.88976382e-03 9.37589382e+01] [ 6.05055171e-01 7.96182361e-01 -1.37412355e-03 3.02299742e+01] [ 2.33601932e-03 -4.93615183e-05 9.99997270e-01 1.92221007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.78, Y:30.25, Z:0.19 [[ 7.95775227e-01 -6.05589149e-01 -1.88950956e-03 9.37814390e+01] [ 6.05587592e-01 7.95777469e-01 -1.37447308e-03 3.02467594e+01] [ 2.33599512e-03 -5.04919164e-05 9.99997270e-01 1.91563604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39361786499998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.80, Y:30.26, Z:0.19 [[ 7.95280191e-01 -6.06239102e-01 -1.88913662e-03 9.38037929e+01] [ 6.06237545e-01 7.95282433e-01 -1.37498548e-03 3.02633929e+01] [ 2.33596713e-03 -5.17668322e-05 9.99997270e-01 1.91209639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.83, Y:30.28, Z:0.19 [[ 7.94779952e-01 -6.06894769e-01 -1.88874688e-03 9.38254005e+01] [ 6.06893213e-01 7.94782194e-01 -1.37552064e-03 3.02798760e+01] [ 2.33593867e-03 -5.30314318e-05 9.99997270e-01 1.91039478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.85, Y:30.30, Z:0.19 [[ 7.94934199e-01 -6.06692716e-01 -1.88857813e-03 9.38483559e+01] [ 6.06691159e-01 7.94936441e-01 -1.37575229e-03 3.02966717e+01] [ 2.33595847e-03 -5.21511034e-05 9.99997270e-01 1.90981281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.87, Y:30.31, Z:0.19 [[ 7.95297513e-01 -6.06216381e-01 -1.88820514e-03 9.38707087e+01] [ 6.06214821e-01 7.95299753e-01 -1.37626402e-03 3.03129959e+01] [ 2.33600288e-03 -5.01185921e-05 9.99997270e-01 1.91274144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51361786499997 meters Centerline goodness : 0.993863 Centerline is valid? [True, True] Translation: X:93.89, Y:30.33, Z:0.19 [[ 7.94510411e-01 -6.07247597e-01 -1.88782340e-03 9.38935492e+01] [ 6.07246038e-01 7.94512652e-01 -1.37678746e-03 3.03309209e+01] [ 2.33595045e-03 -5.25013111e-05 9.99997270e-01 1.91048088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.92, Y:30.35, Z:0.19 [[ 7.95449460e-01 -6.06016968e-01 -1.89497338e-03 9.39152084e+01] [ 6.06015429e-01 7.95451715e-01 -1.36698709e-03 3.03461781e+01] [ 2.33577719e-03 -6.10139632e-05 9.99997270e-01 1.90984016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57361786499997 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:93.94, Y:30.36, Z:0.19 [[ 7.95246586e-01 -6.06283190e-01 -1.88708254e-03 9.39374846e+01] [ 6.06281626e-01 7.95248823e-01 -1.37779470e-03 3.03628713e+01] [ 2.33603393e-03 -4.84169388e-05 9.99997270e-01 1.90568098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.96, Y:30.38, Z:0.19 [[ 7.96216398e-01 -6.05008990e-01 -1.88926024e-03 9.39597358e+01] [ 6.05007430e-01 7.96218638e-01 -1.37481352e-03 3.03781400e+01] [ 2.33603876e-03 -4.83674158e-05 9.99997270e-01 1.91056068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:30.39, Z:0.19 [[ 7.96535165e-01 -6.04589259e-01 -1.88647525e-03 9.39850825e+01] [ 6.04587689e-01 7.96537397e-01 -1.37862444e-03 3.03946496e+01] [ 2.33614961e-03 -4.24168664e-05 9.99997270e-01 1.88291520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66361786499998 meters Centerline goodness : 0.997158 Centerline is valid? [True, True] Translation: X:94.01, Y:30.41, Z:0.19 [[ 7.97516497e-01 -6.03294167e-01 -1.89332224e-03 9.40061830e+01] [ 6.03292616e-01 7.97518743e-01 -1.36923927e-03 3.04089645e+01] [ 2.33601404e-03 -5.02364158e-05 9.99997270e-01 1.91091075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.03, Y:30.43, Z:0.19 [[ 7.97796262e-01 -6.02924188e-01 -1.88347517e-03 9.40302688e+01] [ 6.02922604e-01 7.97798485e-01 -1.38271584e-03 3.04250563e+01] [ 2.33630646e-03 -3.24642265e-05 9.99997270e-01 1.91088130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.05, Y:30.44, Z:0.19 [[ 7.97990488e-01 -6.02667090e-01 -1.88646364e-03 9.40534529e+01] [ 6.02665515e-01 7.97992717e-01 -1.37862653e-03 3.04404647e+01] [ 2.33623708e-03 -3.67757215e-05 9.99997270e-01 1.91144306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75361786499998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:94.08, Y:30.46, Z:0.19 [[ 7.96660227e-01 -6.04424457e-01 -1.88608596e-03 9.40758851e+01] [ 6.04422885e-01 7.96662459e-01 -1.37914302e-03 3.04576996e+01] [ 2.33616166e-03 -4.12851243e-05 9.99997270e-01 1.88968312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78361786499998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:94.10, Y:30.47, Z:0.19 [[ 7.97350159e-01 -6.03514023e-01 -1.88340080e-03 9.40978910e+01] [ 6.03512440e-01 7.97352383e-01 -1.38281269e-03 3.04725344e+01] [ 2.33628097e-03 -3.40698934e-05 9.99997270e-01 1.89035500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81361786499998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:94.12, Y:30.49, Z:0.19 [[ 7.97220963e-01 -6.03684694e-01 -1.87781455e-03 9.41216632e+01] [ 6.03683093e-01 7.97223174e-01 -1.39043733e-03 3.04875520e+01] [ 2.33642301e-03 -2.51191145e-05 9.99997270e-01 1.87074314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:94.15, Y:30.50, Z:0.19 [[ 7.97799843e-01 -6.02919471e-01 -1.87672935e-03 9.41488098e+01] [ 6.02917864e-01 7.97802050e-01 -1.39191811e-03 3.05032875e+01] [ 2.33647306e-03 -2.10416036e-05 9.99997270e-01 1.90064575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87361786499999 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:94.17, Y:30.52, Z:0.19 [[ 7.97520067e-01 -6.03289475e-01 -1.88461726e-03 9.41727375e+01] [ 6.03287896e-01 7.97522293e-01 -1.38115488e-03 3.05162796e+01] [ 2.33626048e-03 -3.54680463e-05 9.99997270e-01 1.89551629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.20, Y:30.53, Z:0.19 [[ 7.96626808e-01 -6.04468514e-01 -1.88274555e-03 9.41972683e+01] [ 6.04466931e-01 7.96629032e-01 -1.38370790e-03 3.05323525e+01] [ 2.33625763e-03 -3.57586192e-05 9.99997270e-01 1.89276037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:94.22, Y:30.55, Z:0.19 [[ 7.94589546e-01 -6.07144055e-01 -1.88410343e-03 9.42172697e+01] [ 6.07142485e-01 7.94591778e-01 -1.38185649e-03 3.05487152e+01] [ 2.33607905e-03 -4.59105182e-05 9.99997270e-01 1.85225951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96361786499997 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:94.24, Y:30.56, Z:0.19 [[ 7.94994094e-01 -6.06614272e-01 -1.87476213e-03 9.42446426e+01] [ 6.06612670e-01 7.94996304e-01 -1.39456047e-03 3.05640698e+01] [ 2.33638925e-03 -2.85871222e-05 9.99997270e-01 1.88974795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.27, Y:30.58, Z:0.19 [[ 7.93404919e-01 -6.08691287e-01 -1.88430133e-03 9.42688603e+01] [ 6.08689721e-01 7.93407155e-01 -1.38158769e-03 3.05781886e+01] [ 2.33597855e-03 -5.07963795e-05 9.99997270e-01 1.89052476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.29, Y:30.59, Z:0.19 [[ 7.93175507e-01 -6.08990197e-01 -1.88545448e-03 9.42911278e+01] [ 6.08988636e-01 7.93177746e-01 -1.38002108e-03 3.05928540e+01] [ 2.33591984e-03 -5.36214373e-05 9.99997270e-01 1.89565311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.32, Y:30.61, Z:0.19 [[ 7.92539125e-01 -6.09818166e-01 -1.88137948e-03 9.43154995e+01] [ 6.09816593e-01 7.92541357e-01 -1.38555433e-03 3.06055979e+01] [ 2.33600725e-03 -4.91904101e-05 9.99997270e-01 1.89411741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.34, Y:30.62, Z:0.19 [[ 7.92075573e-01 -6.10420141e-01 -1.88100981e-03 9.43389005e+01] [ 6.10418569e-01 7.92077805e-01 -1.38605599e-03 3.06208477e+01] [ 2.33598262e-03 -5.03422251e-05 9.99997270e-01 1.90185895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:94.36, Y:30.64, Z:0.19 [[ 7.92853295e-01 -6.09409645e-01 -1.88060695e-03 9.43649080e+01] [ 6.09408069e-01 7.92855524e-01 -1.38660238e-03 3.06355612e+01] [ 2.33605847e-03 -4.66847816e-05 9.99997270e-01 1.88335527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.39, Y:30.65, Z:0.19 [[ 7.91949508e-01 -6.10583666e-01 -1.88767389e-03 9.43857816e+01] [ 6.10582116e-01 7.91951755e-01 -1.37701765e-03 3.06493819e+01] [ 2.33573114e-03 -6.20514685e-05 9.99997270e-01 1.90286504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.42, Y:30.67, Z:0.19 [[ 7.93598908e-01 -6.08438360e-01 -1.88014075e-03 9.44154705e+01] [ 6.08436780e-01 7.93601134e-01 -1.38722749e-03 3.06651024e+01] [ 2.33612425e-03 -4.30445578e-05 9.99997270e-01 1.90376461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.44, Y:30.68, Z:0.19 [[ 7.93904243e-01 -6.08039847e-01 -1.89667794e-03 9.44379303e+01] [ 6.08038319e-01 7.93906506e-01 -1.36480257e-03 3.06797121e+01] [ 2.33563931e-03 -6.97303162e-05 9.99997270e-01 1.89296309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23361786499999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:94.46, Y:30.70, Z:0.19 [[ 7.93759190e-01 -6.08229193e-01 -1.89645998e-03 9.44578148e+01] [ 6.08227665e-01 7.93761453e-01 -1.36509891e-03 3.06950789e+01] [ 2.33562984e-03 -6.99196155e-05 9.99997270e-01 1.91162880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26361786499997 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:94.48, Y:30.71, Z:0.19 [[ 7.94375130e-01 -6.07424568e-01 -1.88338478e-03 9.44827739e+01] [ 6.07422995e-01 7.94377361e-01 -1.38285841e-03 3.07099606e+01] [ 2.33610041e-03 -4.55028925e-05 9.99997270e-01 1.91762084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.51, Y:30.73, Z:0.19 [[ 7.95854974e-01 -6.05484350e-01 -1.88743561e-03 9.45101670e+01] [ 6.05482785e-01 7.95857211e-01 -1.37736293e-03 3.07258862e+01] [ 2.33610094e-03 -4.66286301e-05 9.99997270e-01 1.93116513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.53, Y:30.74, Z:0.19 [[ 7.97676839e-01 -6.03082141e-01 -1.89543079e-03 9.45328048e+01] [ 6.03080595e-01 7.97679089e-01 -1.36655665e-03 3.07398891e+01] [ 2.33609141e-03 -5.30269377e-05 9.99997270e-01 1.91602465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.56, Y:30.76, Z:0.19 [[ 7.98283272e-01 -6.02279189e-01 -1.89606812e-03 9.45560675e+01] [ 6.02277643e-01 7.98285523e-01 -1.36569384e-03 3.07560304e+01] [ 2.33613270e-03 -5.17488916e-05 9.99997270e-01 1.91988693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.58, Y:30.77, Z:0.19 [[ 7.98938508e-01 -6.01409735e-01 -1.89485605e-03 9.45799516e+01] [ 6.01408183e-01 7.98940754e-01 -1.36733374e-03 3.07719348e+01] [ 2.33620554e-03 -4.71663593e-05 9.99997270e-01 1.90615957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.60, Y:30.79, Z:0.19 [[ 7.99231546e-01 -6.01020253e-01 -1.89509338e-03 9.46047024e+01] [ 6.01018700e-01 7.99233791e-01 -1.36701360e-03 3.07878864e+01] [ 2.33622553e-03 -4.64261675e-05 9.99997270e-01 1.93287628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.63, Y:30.80, Z:0.19 [[ 7.99633286e-01 -6.00485657e-01 -1.89282405e-03 9.46297822e+01] [ 6.00484096e-01 7.99635526e-01 -1.37006897e-03 3.08038019e+01] [ 2.33627612e-03 -4.10579889e-05 9.99997270e-01 1.94046487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.65, Y:30.82, Z:0.19 [[ 7.99318654e-01 -6.00904395e-01 -1.89651740e-03 9.46511835e+01] [ 6.00902847e-01 7.99320903e-01 -1.36509855e-03 3.08190276e+01] [ 2.33621972e-03 -4.84739657e-05 9.99997270e-01 1.91052024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.68, Y:30.83, Z:0.19 [[ 7.99220148e-01 -6.01035418e-01 -1.89229117e-03 9.46763145e+01] [ 6.01033856e-01 7.99222387e-01 -1.37078450e-03 3.08343646e+01] [ 2.33625150e-03 -4.17724668e-05 9.99997270e-01 1.94463085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53361786499998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:94.70, Y:30.85, Z:0.19 [[ 7.98520594e-01 -6.01964518e-01 -1.89237098e-03 9.46992923e+01] [ 6.01962959e-01 7.98522835e-01 -1.37067720e-03 3.08508564e+01] [ 2.33620047e-03 -4.46232622e-05 9.99997270e-01 1.94590396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:94.72, Y:30.87, Z:0.19 [[ 7.98204878e-01 -6.02383104e-01 -1.88931923e-03 9.47231930e+01] [ 6.02381536e-01 7.98207113e-01 -1.37477610e-03 3.08670848e+01] [ 2.33620994e-03 -4.07380295e-05 9.99997270e-01 1.94986396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.74, Y:30.88, Z:0.19 [[ 7.95582872e-01 -6.05841826e-01 -1.89078133e-03 9.47403891e+01] [ 6.05840273e-01 7.95585117e-01 -1.37281350e-03 3.08825893e+01] [ 2.33598533e-03 -5.33245682e-05 9.99997270e-01 1.93177760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62361786499999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:94.76, Y:30.90, Z:0.19 [[ 7.95208895e-01 -6.06332669e-01 -1.87278498e-03 9.47633596e+01] [ 6.06331060e-01 7.95211100e-01 -1.39694002e-03 3.08983072e+01] [ 2.33626978e-03 -2.46685743e-05 9.99997271e-01 1.93477466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.79, Y:30.91, Z:0.20 [[ 7.97269050e-01 -6.03621203e-01 -1.87240918e-03 9.47945512e+01] [ 6.03619585e-01 7.97271248e-01 -1.39744355e-03 3.09144292e+01] [ 2.33634456e-03 -1.60843583e-05 9.99997271e-01 1.95792721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.82, Y:30.93, Z:0.20 [[ 7.97042646e-01 -6.03920059e-01 -1.89290822e-03 9.48172881e+01] [ 6.03918507e-01 7.97044892e-01 -1.36997109e-03 3.09315659e+01] [ 2.33608585e-03 -5.12369192e-05 9.99997270e-01 1.95872564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71361786499997 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:94.84, Y:30.95, Z:0.19 [[ 7.96565227e-01 -6.04549633e-01 -1.89201192e-03 9.48385149e+01] [ 6.04548081e-01 7.96567472e-01 -1.37117314e-03 3.09485680e+01] [ 2.33605737e-03 -5.15833350e-05 9.99997270e-01 1.94630639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:94.86, Y:30.97, Z:0.19 [[ 7.95390481e-01 -6.06094404e-01 -1.88575221e-03 9.48556930e+01] [ 6.06092835e-01 7.95392716e-01 -1.37956266e-03 3.09663637e+01] [ 2.33605878e-03 -4.56498943e-05 9.99997270e-01 1.93847416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77361786499998 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:94.89, Y:30.98, Z:0.19 [[ 7.98037627e-01 -6.02604714e-01 -1.87181399e-03 9.48877200e+01] [ 6.02603092e-01 7.98039823e-01 -1.39822189e-03 3.09831123e+01] [ 2.33635721e-03 -1.21272196e-05 9.99997271e-01 1.92508785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.90, Y:31.00, Z:0.19 [[ 7.95892979e-01 -6.05434347e-01 -1.90188338e-03 9.48997286e+01] [ 6.05432829e-01 7.95895248e-01 -1.35791724e-03 3.09998168e+01] [ 2.33582968e-03 -7.07058313e-05 9.99997269e-01 1.92779222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:94.92, Y:31.02, Z:0.19 [[ 7.95533876e-01 -6.05906222e-01 -1.87128961e-03 9.49218789e+01] [ 6.05904608e-01 7.95536077e-01 -1.39884376e-03 3.10161084e+01] [ 2.33624653e-03 -2.09953988e-05 9.99997271e-01 1.92738683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.94, Y:31.03, Z:0.19 [[ 7.94347387e-01 -6.07460885e-01 -1.87112653e-03 9.49431840e+01] [ 6.07459275e-01 7.94349591e-01 -1.39906186e-03 3.10321761e+01] [ 2.33620395e-03 -2.52920296e-05 9.99997271e-01 1.93252439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.97, Y:31.05, Z:0.19 [[ 7.94120477e-01 -6.07757491e-01 -1.87088004e-03 9.49732068e+01] [ 6.07755880e-01 7.94122681e-01 -1.39939140e-03 3.10499674e+01] [ 2.33619888e-03 -2.57529814e-05 9.99997271e-01 1.91072887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.99, Y:31.07, Z:0.19 [[ 7.91317534e-01 -6.11402481e-01 -1.88836028e-03 9.49884702e+01] [ 6.11400936e-01 7.91319785e-01 -1.37603335e-03 3.10688393e+01] [ 2.33560705e-03 -6.56659245e-05 9.99997270e-01 1.93658337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95361786499998 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:95.01, Y:31.09, Z:0.19 [[ 7.89894694e-01 -6.13239656e-01 -1.86973418e-03 9.50108410e+01] [ 6.13238058e-01 7.89896906e-01 -1.40089311e-03 3.10866803e+01] [ 2.33598045e-03 -4.00341195e-05 9.99997271e-01 1.92315904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98361786499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:95.03, Y:31.10, Z:0.19 [[ 7.88984909e-01 -6.14409716e-01 -1.87433184e-03 9.50316356e+01] [ 6.14408135e-01 7.88987134e-01 -1.39475884e-03 3.11035734e+01] [ 2.33577709e-03 -5.11610517e-05 9.99997271e-01 1.93186376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01361786499997 meters Centerline goodness : 0.995076 Centerline is valid? [True, True] Translation: X:95.05, Y:31.12, Z:0.19 [[ 7.86750424e-01 -6.17268400e-01 -1.86894790e-03 9.50544938e+01] [ 6.17266810e-01 7.86752642e-01 -1.40193627e-03 3.11226767e+01] [ 2.33577066e-03 -5.06655579e-05 9.99997271e-01 1.92239596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:95.07, Y:31.14, Z:0.19 [[ 7.86360662e-01 -6.17764838e-01 -1.87467144e-03 9.50745555e+01] [ 6.17763267e-01 7.86362894e-01 -1.39430589e-03 3.11386246e+01] [ 2.33552521e-03 -6.16758577e-05 9.99997271e-01 1.93954182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07361786499997 meters Centerline goodness : 0.993888 Centerline is valid? [True, True] Translation: X:95.10, Y:31.16, Z:0.19 [[ 7.85495899e-01 -6.18864041e-01 -1.86840746e-03 9.50967405e+01] [ 6.18862454e-01 7.85498119e-01 -1.40264986e-03 3.11565233e+01] [ 2.33568011e-03 -5.45115184e-05 9.99997271e-01 1.94222845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10361786499998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:95.12, Y:31.18, Z:0.19 [[ 7.83844513e-01 -6.20954338e-01 -1.86813607e-03 9.51175694e+01] [ 6.20952756e-01 7.83846737e-01 -1.40301123e-03 3.11752414e+01] [ 2.33553827e-03 -6.02815864e-05 9.99997271e-01 1.92746034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.14, Y:31.19, Z:0.19 [[ 7.85895700e-01 -6.18356257e-01 -1.86764918e-03 9.51448920e+01] [ 6.18354666e-01 7.85897918e-01 -1.40365906e-03 3.11917482e+01] [ 2.33574296e-03 -5.17399672e-05 9.99997271e-01 1.93173464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16361786499998 meters Centerline goodness : 0.994576 Centerline is valid? [True, True] Translation: X:95.16, Y:31.21, Z:0.19 [[ 7.84255009e-01 -6.20435783e-01 -1.87632961e-03 9.51645978e+01] [ 6.20434226e-01 7.84257250e-01 -1.39208806e-03 3.12104226e+01] [ 2.33522634e-03 -7.23870715e-05 9.99997271e-01 1.92191835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.19, Y:31.23, Z:0.19 [[ 7.86163079e-01 -6.18016276e-01 -1.86955187e-03 9.51889115e+01] [ 6.18014690e-01 7.86165300e-01 -1.40111438e-03 3.12271462e+01] [ 2.33568830e-03 -5.39061276e-05 9.99997271e-01 1.93451354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.21, Y:31.25, Z:0.19 [[ 7.86789629e-01 -6.17218399e-01 -1.87818363e-03 9.52129965e+01] [ 6.17216839e-01 7.86791868e-01 -1.38965426e-03 3.12472153e+01] [ 2.33545979e-03 -6.58810026e-05 9.99997271e-01 1.93392476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.24, Y:31.27, Z:0.19 [[ 7.87015643e-01 -6.16930165e-01 -1.88384381e-03 9.52355443e+01] [ 6.16928621e-01 7.87017894e-01 -1.38214936e-03 3.12653434e+01] [ 2.33530842e-03 -7.44239933e-05 9.99997270e-01 1.93191955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.25, Y:31.28, Z:0.19 [[ 7.88045143e-01 -6.15614570e-01 -1.88518601e-03 9.52543319e+01] [ 6.15613027e-01 7.88047395e-01 -1.38037065e-03 3.12812355e+01] [ 2.33539221e-03 -7.27506805e-05 9.99997270e-01 1.91999479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.28, Y:31.30, Z:0.19 [[ 7.87205320e-01 -6.16688148e-01 -1.87423911e-03 9.52773912e+01] [ 6.16686573e-01 7.87207549e-01 -1.39485761e-03 3.13028172e+01] [ 2.33560733e-03 -5.77787682e-05 9.99997271e-01 1.92434782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.30, Y:31.32, Z:0.19 [[ 7.87412816e-01 -6.16423166e-01 -1.88085020e-03 9.52987257e+01] [ 6.16421612e-01 7.87415059e-01 -1.38611278e-03 3.13205638e+01] [ 2.33544179e-03 -6.79537453e-05 9.99997271e-01 1.93477542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.32, Y:31.34, Z:0.19 [[ 7.86926302e-01 -6.17044140e-01 -1.87737637e-03 9.53221876e+01] [ 6.17042576e-01 7.86928539e-01 -1.39070343e-03 3.13394180e+01] [ 2.33548645e-03 -6.40400424e-05 9.99997271e-01 1.93354556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.34, Y:31.36, Z:0.19 [[ 7.86372035e-01 -6.17750344e-01 -1.88007767e-03 9.53443287e+01] [ 6.17748791e-01 7.86374279e-01 -1.38713541e-03 3.13582506e+01] [ 2.33534810e-03 -7.06112091e-05 9.99997271e-01 1.93717058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:95.37, Y:31.38, Z:0.19 [[ 7.85944486e-01 -6.18294212e-01 -1.87925425e-03 9.53675002e+01] [ 6.18292658e-01 7.85946730e-01 -1.38822194e-03 3.13764503e+01] [ 2.33532332e-03 -7.08637222e-05 9.99997271e-01 1.94151694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.39, Y:31.39, Z:0.19 [[ 7.85597022e-01 -6.18735638e-01 -1.87858416e-03 9.53901676e+01] [ 6.18734083e-01 7.85599265e-01 -1.38910544e-03 3.13938513e+01] [ 2.33530337e-03 -7.10669499e-05 9.99997271e-01 1.94352373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.41, Y:31.41, Z:0.19 [[ 7.84949503e-01 -6.19556892e-01 -1.88007147e-03 9.54129129e+01] [ 6.19555344e-01 7.84951751e-01 -1.38714627e-03 3.14117073e+01] [ 2.33518143e-03 -7.59685508e-05 9.99997271e-01 1.94852541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.43, Y:31.43, Z:0.20 [[ 7.84090381e-01 -6.20643808e-01 -1.88062998e-03 9.54342992e+01] [ 6.20642265e-01 7.84092633e-01 -1.38641094e-03 3.14288304e+01] [ 2.33505548e-03 -8.01269618e-05 9.99997271e-01 1.95182997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.46, Y:31.45, Z:0.19 [[ 7.83259182e-01 -6.21692470e-01 -1.87774220e-03 9.54567611e+01] [ 6.21690921e-01 7.83261429e-01 -1.39021057e-03 3.14458622e+01] [ 2.33504648e-03 -7.84800875e-05 9.99997271e-01 1.92644120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:31.46, Z:0.19 [[ 7.80504684e-01 -6.25147106e-01 -1.87993428e-03 9.54701781e+01] [ 6.25145573e-01 7.80506943e-01 -1.38731784e-03 3.14631572e+01] [ 2.33457949e-03 -9.24245198e-05 9.99997271e-01 1.93694487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.50, Y:31.48, Z:0.19 [[ 7.81724420e-01 -6.23621279e-01 -1.85259631e-03 9.54991618e+01] [ 6.23619656e-01 7.81726614e-01 -1.42332293e-03 3.14802165e+01] [ 2.33583831e-03 -4.26691804e-05 9.99997271e-01 1.92628533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64361786499998 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:95.51, Y:31.50, Z:0.19 [[ 7.79073195e-01 -6.26930170e-01 -1.87577210e-03 9.55143169e+01] [ 6.26928630e-01 7.79075448e-01 -1.39278581e-03 3.14980207e+01] [ 2.33454743e-03 -9.08931414e-05 9.99997271e-01 1.94095342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:31.52, Z:0.19 [[ 7.79868476e-01 -6.25940673e-01 -1.85301382e-03 9.55426462e+01] [ 6.25939058e-01 7.79870676e-01 -1.42271944e-03 3.15153794e+01] [ 2.33564911e-03 -5.03396837e-05 9.99997271e-01 1.93617143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:31.54, Z:0.19 [[ 7.78505717e-01 -6.27634718e-01 -1.87333818e-03 9.55673863e+01] [ 6.27633171e-01 7.78507966e-01 -1.39609773e-03 3.15354118e+01] [ 2.33464810e-03 -8.88991171e-05 9.99997271e-01 1.94579330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.59, Y:31.55, Z:0.20 [[ 7.78549338e-01 -6.27580580e-01 -1.88269258e-03 9.55913937e+01] [ 6.27579063e-01 7.78551607e-01 -1.38384920e-03 3.15530838e+01] [ 2.33425021e-03 -1.04143567e-04 9.99997270e-01 1.95062904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.61, Y:31.57, Z:0.20 [[ 7.78573975e-01 -6.27550003e-01 -1.88659657e-03 9.56120946e+01] [ 6.27548498e-01 7.78576253e-01 -1.37874108e-03 3.15708153e+01] [ 2.33408825e-03 -1.10478922e-04 9.99997270e-01 1.95901068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.63, Y:31.59, Z:0.20 [[ 7.78949619e-01 -6.27083689e-01 -1.88106087e-03 9.56319829e+01] [ 6.27082166e-01 7.78951883e-01 -1.38597665e-03 3.15872295e+01] [ 2.33437926e-03 -9.99737439e-05 9.99997270e-01 1.95306420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:31.61, Z:0.20 [[ 7.79178550e-01 -6.26799238e-01 -1.87162092e-03 9.56571154e+01] [ 6.26797683e-01 7.79180793e-01 -1.39830224e-03 3.16060938e+01] [ 2.33478586e-03 -8.36005428e-05 9.99997271e-01 1.97332328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.68, Y:31.63, Z:0.20 [[ 7.78849938e-01 -6.27207496e-01 -1.87888160e-03 9.56776595e+01] [ 6.27205966e-01 7.78852199e-01 -1.38882616e-03 3.16254302e+01] [ 2.33445325e-03 -9.67585801e-05 9.99997270e-01 1.96838753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.70, Y:31.64, Z:0.20 [[ 7.79119640e-01 -6.26872455e-01 -1.87403907e-03 9.57000990e+01] [ 6.26870909e-01 7.79121888e-01 -1.39513662e-03 3.16438233e+01] [ 2.33467758e-03 -8.78022357e-05 9.99997271e-01 1.97955755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:31.66, Z:0.20 [[ 7.79264250e-01 -6.26692682e-01 -1.87362625e-03 9.57193107e+01] [ 6.26691134e-01 7.79266498e-01 -1.39567421e-03 3.16610384e+01] [ 2.33471298e-03 -8.65859455e-05 9.99997271e-01 1.96938303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:31.68, Z:0.20 [[ 7.80345051e-01 -6.25346392e-01 -1.86864908e-03 9.57387366e+01] [ 6.25344824e-01 7.80347285e-01 -1.40216114e-03 3.16803675e+01] [ 2.33503164e-03 -7.43805298e-05 9.99997271e-01 1.95336528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:31.70, Z:0.20 [[ 7.80213355e-01 -6.25510722e-01 -1.85941446e-03 9.57627334e+01] [ 6.25509126e-01 7.80215569e-01 -1.41417108e-03 3.17000428e+01] [ 2.33532328e-03 -5.97255477e-05 9.99997271e-01 1.96169272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:95.78, Y:31.72, Z:0.20 [[ 7.81818653e-01 -6.23503088e-01 -1.86903990e-03 9.57825965e+01] [ 6.23501517e-01 7.81820884e-01 -1.40165617e-03 3.17163195e+01] [ 2.33519138e-03 -6.95082680e-05 9.99997271e-01 1.96237249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:95.81, Y:31.74, Z:0.20 [[ 7.82910560e-01 -6.22131490e-01 -1.86121472e-03 9.58057876e+01] [ 6.22129890e-01 7.82912771e-01 -1.41183428e-03 3.17353998e+01] [ 2.33551534e-03 -5.25773442e-05 9.99997271e-01 1.96267021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:31.75, Z:0.20 [[ 7.84067520e-01 -6.20672735e-01 -1.86527601e-03 9.58278613e+01] [ 6.20671144e-01 7.84069737e-01 -1.40655535e-03 3.17525627e+01] [ 2.33551703e-03 -5.48886261e-05 9.99997271e-01 1.96126374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:31.77, Z:0.20 [[ 7.84258495e-01 -6.20431415e-01 -1.86320674e-03 9.58515106e+01] [ 6.20429817e-01 7.84260707e-01 -1.40924215e-03 3.17714355e+01] [ 2.33557794e-03 -5.07788851e-05 9.99997271e-01 1.97715756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.87, Y:31.79, Z:0.20 [[ 7.84113238e-01 -6.20614983e-01 -1.86345279e-03 9.58748308e+01] [ 6.20613386e-01 7.84115451e-01 -1.40892342e-03 3.17899658e+01] [ 2.33556111e-03 -5.17282405e-05 9.99997271e-01 1.96375795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.90, Y:31.81, Z:0.20 [[ 7.84889764e-01 -6.19632611e-01 -1.86676583e-03 9.58973380e+01] [ 6.19631021e-01 7.84891983e-01 -1.40463674e-03 3.18073378e+01] [ 2.33556826e-03 -5.42210125e-05 9.99997271e-01 1.95231501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:95.92, Y:31.83, Z:0.19 [[ 7.84043240e-01 -6.20703411e-01 -1.86351725e-03 9.59206723e+01] [ 6.20701815e-01 7.84045453e-01 -1.40883548e-03 3.18250236e+01] [ 2.33555121e-03 -5.21005994e-05 9.99997271e-01 1.93635705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:95.94, Y:31.84, Z:0.20 [[ 7.83998292e-01 -6.20760177e-01 -1.86553178e-03 9.59415360e+01] [ 6.20758587e-01 7.84000510e-01 -1.40623350e-03 3.18421210e+01] [ 2.33551162e-03 -5.55602128e-05 9.99997271e-01 1.95394992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.96, Y:31.86, Z:0.19 [[ 7.83343757e-01 -6.21585940e-01 -1.86487376e-03 9.59622762e+01] [ 6.21584350e-01 7.83345974e-01 -1.40708312e-03 3.18581242e+01] [ 2.33546444e-03 -5.69465723e-05 9.99997271e-01 1.94163386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.99, Y:31.88, Z:0.19 [[ 7.81574414e-01 -6.23809253e-01 -1.85775543e-03 9.59864241e+01] [ 6.23807647e-01 7.81576620e-01 -1.41627027e-03 3.18763572e+01] [ 2.33546071e-03 -5.19614357e-05 9.99997271e-01 1.93892419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.01, Y:31.89, Z:0.19 [[ 7.79649793e-01 -6.26213004e-01 -1.86405591e-03 9.60081524e+01] [ 6.26211424e-01 7.79652018e-01 -1.40814126e-03 3.18918777e+01] [ 2.33511132e-03 -6.94360672e-05 9.99997271e-01 1.94880917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.03, Y:31.91, Z:0.19 [[ 7.78803407e-01 -6.27265326e-01 -1.86124548e-03 9.60305597e+01] [ 6.27263741e-01 7.78805628e-01 -1.41176737e-03 3.19076002e+01] [ 2.33510118e-03 -6.80025634e-05 9.99997271e-01 1.94856310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36361786499998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:96.05, Y:31.92, Z:0.20 [[ 7.76629904e-01 -6.29954384e-01 -1.86160072e-03 9.60471182e+01] [ 6.29952808e-01 7.76632132e-01 -1.41130768e-03 3.19229830e+01] [ 2.33483839e-03 -7.66568489e-05 9.99997271e-01 1.95604038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.08, Y:31.94, Z:0.20 [[ 7.74532385e-01 -6.32531569e-01 -1.84332755e-03 9.60750616e+01] [ 6.32529944e-01 7.74534577e-01 -1.43493961e-03 3.19416152e+01] [ 2.33536553e-03 -5.45526726e-05 9.99997272e-01 1.95067407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.10, Y:31.96, Z:0.19 [[ 7.73286619e-01 -6.34053901e-01 -1.85920917e-03 9.60991162e+01] [ 6.34052329e-01 7.73288849e-01 -1.41447578e-03 3.19596506e+01] [ 2.33455961e-03 -8.50407103e-05 9.99997271e-01 1.94614500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.11, Y:31.98, Z:0.20 [[ 7.70762604e-01 -6.37119718e-01 -1.86374261e-03 9.61148787e+01] [ 6.37118168e-01 7.70764851e-01 -1.40863774e-03 3.19762510e+01] [ 2.33397817e-03 -1.01698980e-04 9.99997271e-01 1.95882296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.14, Y:31.99, Z:0.20 [[ 7.69915809e-01 -6.38142811e-01 -1.84402001e-03 9.61365003e+01] [ 6.38141204e-01 7.69918014e-01 -1.43399959e-03 3.19932391e+01] [ 2.33484075e-03 -7.26861927e-05 9.99997272e-01 1.95353922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.16, Y:32.01, Z:0.19 [[ 7.68797526e-01 -6.39489612e-01 -1.84375774e-03 9.61593093e+01] [ 6.39488008e-01 7.68799733e-01 -1.43433672e-03 3.20103036e+01] [ 2.33472389e-03 -7.63464397e-05 9.99997272e-01 1.94126858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54361786499997 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:96.18, Y:32.03, Z:0.19 [[ 7.67738512e-01 -6.40760626e-01 -1.84336865e-03 9.61818017e+01] [ 6.40759025e-01 7.67740720e-01 -1.43483658e-03 3.20281480e+01] [ 2.33461597e-03 -7.95757965e-05 9.99997272e-01 1.94025249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57361786499997 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:96.20, Y:32.05, Z:0.19 [[ 7.67526156e-01 -6.41014968e-01 -1.84652516e-03 9.62042507e+01] [ 6.41013377e-01 7.67528373e-01 -1.43078210e-03 3.20458698e+01] [ 2.33441320e-03 -8.54846403e-05 9.99997272e-01 1.94093860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.23, Y:32.06, Z:0.19 [[ 7.66373383e-01 -6.42392737e-01 -1.84610355e-03 9.62271114e+01] [ 6.42391149e-01 7.66375602e-01 -1.43132331e-03 3.20646295e+01] [ 2.33428042e-03 -8.89924888e-05 9.99997272e-01 1.94551639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.25, Y:32.08, Z:0.19 [[ 7.67146029e-01 -6.41469833e-01 -1.85054525e-03 9.62480875e+01] [ 6.41468255e-01 7.67148255e-01 -1.42562790e-03 3.20811704e+01] [ 2.33413985e-03 -9.34012485e-05 9.99997272e-01 1.93762252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66361786499998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:96.27, Y:32.10, Z:0.19 [[ 7.67312419e-01 -6.41270807e-01 -1.84480879e-03 9.62700360e+01] [ 6.41269212e-01 7.67314632e-01 -1.43297939e-03 3.20990218e+01] [ 2.33447663e-03 -8.34761929e-05 9.99997272e-01 1.92972509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69361786499998 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:96.29, Y:32.12, Z:0.19 [[ 7.67523513e-01 -6.41018138e-01 -1.84515249e-03 9.62928586e+01] [ 6.41016542e-01 7.67525726e-01 -1.43253901e-03 3.21171308e+01] [ 2.33448549e-03 -8.32658912e-05 9.99997272e-01 1.92751381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:96.32, Y:32.14, Z:0.19 [[ 7.69068059e-01 -6.39164230e-01 -1.84600849e-03 9.63207369e+01] [ 6.39162632e-01 7.69070271e-01 -1.43144271e-03 3.21353188e+01] [ 2.33463723e-03 -7.90227721e-05 9.99997272e-01 1.90395656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:32.15, Z:0.19 [[ 7.69001104e-01 -6.39244741e-01 -1.86084839e-03 9.63372655e+01] [ 6.39243189e-01 7.69003349e-01 -1.41246457e-03 3.21517341e+01] [ 2.33390919e-03 -1.03347839e-04 9.99997271e-01 1.93384918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78361786499998 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:96.36, Y:32.17, Z:0.19 [[ 7.69320469e-01 -6.38860410e-01 -1.84169773e-03 9.63588569e+01] [ 6.38858798e-01 7.69322671e-01 -1.43693384e-03 3.21687118e+01] [ 2.33485996e-03 -7.11221815e-05 9.99997272e-01 1.92544451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.38, Y:32.18, Z:0.19 [[ 7.72453053e-01 -6.35069195e-01 -1.84372618e-03 9.63795349e+01] [ 6.35067578e-01 7.72455250e-01 -1.43434303e-03 3.21845359e+01] [ 2.33510305e-03 -6.29280675e-05 9.99997272e-01 1.93302596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84361786499998 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:96.40, Y:32.20, Z:0.19 [[ 7.73316562e-01 -6.34017440e-01 -1.83883079e-03 9.64015585e+01] [ 6.34015805e-01 7.73318746e-01 -1.44059172e-03 3.22028823e+01] [ 2.33536259e-03 -5.18143465e-05 9.99997272e-01 1.93075852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.43, Y:32.22, Z:0.19 [[ 7.74559646e-01 -6.32498195e-01 -1.84081279e-03 9.64270917e+01] [ 6.32496562e-01 7.74561832e-01 -1.43806292e-03 3.22224029e+01] [ 2.33539553e-03 -5.04422521e-05 9.99997272e-01 1.91522102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.45, Y:32.24, Z:0.19 [[ 7.76687917e-01 -6.29882892e-01 -1.84978982e-03 9.64483971e+01] [ 6.29881279e-01 7.76690118e-01 -1.42668135e-03 3.22406477e+01] [ 2.33535565e-03 -5.70618076e-05 9.99997271e-01 1.93109359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.47, Y:32.26, Z:0.19 [[ 7.77067934e-01 -6.29414032e-01 -1.84441058e-03 9.64719945e+01] [ 6.29412401e-01 7.77070122e-01 -1.43349018e-03 3.22590597e+01] [ 2.33549519e-03 -4.69756386e-05 9.99997272e-01 1.93948060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:96.49, Y:32.28, Z:0.19 [[ 7.76714487e-01 -6.29850123e-01 -1.85160936e-03 9.64894530e+01] [ 6.29848515e-01 7.76716692e-01 -1.42435250e-03 3.22760968e+01] [ 2.33530450e-03 -5.99181826e-05 9.99997271e-01 1.91711323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:96.51, Y:32.29, Z:0.19 [[ 7.77681857e-01 -6.28655353e-01 -1.83735426e-03 9.65107273e+01] [ 6.28653699e-01 7.77684027e-01 -1.44243667e-03 3.22924014e+01] [ 2.33567659e-03 -3.33027285e-05 9.99997272e-01 1.93038087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.53, Y:32.31, Z:0.19 [[ 7.78043859e-01 -6.28207283e-01 -1.83405422e-03 9.65326422e+01] [ 6.28205618e-01 7.78046020e-01 -1.44662052e-03 3.23093395e+01] [ 2.33575614e-03 -2.66289564e-05 9.99997272e-01 1.91990366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.55, Y:32.33, Z:0.19 [[ 7.77756435e-01 -6.28563096e-01 -1.83366204e-03 9.65540539e+01] [ 6.28561430e-01 7.77758596e-01 -1.44711746e-03 3.23260975e+01] [ 2.33575105e-03 -2.70643168e-05 9.99997272e-01 1.91568977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.58, Y:32.34, Z:0.19 [[ 7.78393370e-01 -6.27774164e-01 -1.83349217e-03 9.65794949e+01] [ 6.27772496e-01 7.78395529e-01 -1.44733265e-03 3.23427215e+01] [ 2.33578015e-03 -2.44218165e-05 9.99997272e-01 1.89800762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.60, Y:32.36, Z:0.19 [[ 7.76647654e-01 -6.29932569e-01 -1.83846820e-03 9.66038314e+01] [ 6.29930922e-01 7.76649829e-01 -1.44103281e-03 3.23614298e+01] [ 2.33559951e-03 -3.89332169e-05 9.99997272e-01 1.90673048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14361786499998 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:96.62, Y:32.38, Z:0.19 [[ 7.75245308e-01 -6.31657582e-01 -1.84690127e-03 9.66226691e+01] [ 6.31655966e-01 7.75247506e-01 -1.43032914e-03 3.23772285e+01] [ 2.33528385e-03 -5.77502528e-05 9.99997272e-01 1.90651794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17361786499998 meters Centerline goodness : 0.996837 Centerline is valid? [True, True] Translation: X:96.64, Y:32.39, Z:0.19 [[ 7.74385883e-01 -6.32710945e-01 -1.83413323e-03 9.66443513e+01] [ 6.32709292e-01 7.74388055e-01 -1.44651856e-03 3.23930979e+01] [ 2.33555899e-03 -4.03095841e-05 9.99997272e-01 1.91450608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.67, Y:32.41, Z:0.19 [[ 7.70971136e-01 -6.36867463e-01 -1.82793187e-03 9.66709669e+01] [ 6.36865804e-01 7.70973302e-01 -1.45438501e-03 3.24118943e+01] [ 2.33553715e-03 -4.28584373e-05 9.99997272e-01 1.91955140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.69, Y:32.43, Z:0.19 [[ 7.68286318e-01 -6.40103688e-01 -1.84451927e-03 9.66886368e+01] [ 6.40102088e-01 7.68288528e-01 -1.43341120e-03 3.24286298e+01] [ 2.33465479e-03 -7.94104268e-05 9.99997272e-01 1.91903699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:96.71, Y:32.45, Z:0.19 [[ 7.67069112e-01 -6.41561863e-01 -1.83136001e-03 9.67111804e+01] [ 6.41560227e-01 7.67071295e-01 -1.45003108e-03 3.24454217e+01] [ 2.33506833e-03 -6.26536907e-05 9.99997272e-01 1.90401255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.73, Y:32.46, Z:0.19 [[ 7.65601325e-01 -6.43312723e-01 -1.83084564e-03 9.67328652e+01] [ 6.43311091e-01 7.65603511e-01 -1.45068037e-03 3.24623492e+01] [ 2.33494299e-03 -6.71604944e-05 9.99997272e-01 1.90451586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32361786499997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:96.76, Y:32.48, Z:0.19 [[ 7.66570704e-01 -6.42157305e-01 -1.83084843e-03 9.67599066e+01] [ 6.42155669e-01 7.66572888e-01 -1.45067686e-03 3.24801268e+01] [ 2.33504151e-03 -6.36433161e-05 9.99997272e-01 1.90236777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.78, Y:32.50, Z:0.19 [[ 7.66584225e-01 -6.42141127e-01 -1.84373737e-03 9.67780374e+01] [ 6.42139531e-01 7.66586437e-01 -1.43440764e-03 3.24955519e+01] [ 2.33447620e-03 -8.43423772e-05 9.99997272e-01 1.89693803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:96.80, Y:32.52, Z:0.19 [[ 7.66569392e-01 -6.42158872e-01 -1.83019963e-03 9.68020867e+01] [ 6.42157235e-01 7.66571575e-01 -1.45147768e-03 3.25150192e+01] [ 2.33505828e-03 -6.26175697e-05 9.99997272e-01 1.87140023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.82, Y:32.53, Z:0.19 [[ 7.66237378e-01 -6.42554975e-01 -1.83959926e-03 9.68222093e+01] [ 6.42553367e-01 7.66239582e-01 -1.43962802e-03 3.25321295e+01] [ 2.33461392e-03 -7.89438980e-05 9.99997272e-01 1.86443655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:96.84, Y:32.55, Z:0.19 [[ 7.66428983e-01 -6.42326449e-01 -1.82930042e-03 9.68428896e+01] [ 6.42324810e-01 7.66431164e-01 -1.45259766e-03 3.25497263e+01] [ 2.33507475e-03 -6.16920948e-05 9.99997272e-01 1.86108650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:96.86, Y:32.57, Z:0.18 [[ 7.66626022e-01 -6.42091268e-01 -1.82911749e-03 9.68645228e+01] [ 6.42089628e-01 7.66628202e-01 -1.45282798e-03 3.25671946e+01] [ 2.33510121e-03 -6.06816348e-05 9.99997272e-01 1.84633328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.89, Y:32.58, Z:0.19 [[ 7.67078066e-01 -6.41551164e-01 -1.82870098e-03 9.68858566e+01] [ 6.41549521e-01 7.67080244e-01 -1.45335206e-03 3.25837307e+01] [ 2.33516010e-03 -5.83677493e-05 9.99997272e-01 1.85293667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.91, Y:32.60, Z:0.19 [[ 7.67056202e-01 -6.41577306e-01 -1.82841854e-03 9.69073629e+01] [ 6.41575662e-01 7.67058379e-01 -1.45370730e-03 3.26016910e+01] [ 2.33516937e-03 -5.79936311e-05 9.99997272e-01 1.85609539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.93, Y:32.62, Z:0.19 [[ 7.67150800e-01 -6.41464189e-01 -1.82863381e-03 9.69287476e+01] [ 6.41462546e-01 7.67152977e-01 -1.45343660e-03 3.26194340e+01] [ 2.33516940e-03 -5.79950440e-05 9.99997272e-01 1.85447907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.95, Y:32.64, Z:0.19 [[ 7.67649178e-01 -6.40867692e-01 -1.82773839e-03 9.69506450e+01] [ 6.40866044e-01 7.67651352e-01 -1.45456200e-03 3.26360486e+01] [ 2.33524764e-03 -5.47421484e-05 9.99997272e-01 1.87507113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.97, Y:32.65, Z:0.19 [[ 7.67138151e-01 -6.41479319e-01 -1.82775665e-03 9.69728163e+01] [ 6.41477672e-01 7.67140326e-01 -1.45453905e-03 3.26538741e+01] [ 2.33520255e-03 -5.66326805e-05 9.99997272e-01 1.86209152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.99, Y:32.67, Z:0.19 [[ 7.66872435e-01 -6.41796954e-01 -1.82735461e-03 9.69938122e+01] [ 6.41795307e-01 7.66874610e-01 -1.45504397e-03 3.26708478e+01] [ 2.33519464e-03 -5.69545014e-05 9.99997272e-01 1.87744600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.02, Y:32.69, Z:0.19 [[ 7.66379882e-01 -6.42385039e-01 -1.82708155e-03 9.70151973e+01] [ 6.42383393e-01 7.66382058e-01 -1.45538676e-03 3.26876948e+01] [ 2.33516120e-03 -5.83077165e-05 9.99997272e-01 1.88264892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.04, Y:32.71, Z:0.19 [[ 7.65696181e-01 -6.43199830e-01 -1.82690865e-03 9.70372227e+01] [ 6.43198186e-01 7.65698358e-01 -1.45560376e-03 3.27053034e+01] [ 2.33510505e-03 -6.05140889e-05 9.99997272e-01 1.88433234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.06, Y:32.72, Z:0.19 [[ 7.65061698e-01 -6.43954394e-01 -1.82651625e-03 9.70595136e+01] [ 6.43952751e-01 7.65063876e-01 -1.45609599e-03 3.27231035e+01] [ 2.33506101e-03 -6.21868975e-05 9.99997272e-01 1.88663682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.09, Y:32.74, Z:0.19 [[ 7.64687845e-01 -6.44398297e-01 -1.82612541e-03 9.70855384e+01] [ 6.44396654e-01 7.64690023e-01 -1.45658598e-03 3.27405908e+01] [ 2.33504141e-03 -6.29155091e-05 9.99997272e-01 1.90258526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.10, Y:32.76, Z:0.19 [[ 7.62576455e-01 -6.46895492e-01 -1.83664229e-03 9.71031423e+01] [ 6.46893888e-01 7.62578661e-01 -1.44340024e-03 3.27584929e+01] [ 2.33431333e-03 -8.74096313e-05 9.99997272e-01 1.87433271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.13, Y:32.78, Z:0.19 [[ 7.61652054e-01 -6.47983654e-01 -1.82562750e-03 9.71251719e+01] [ 6.47982020e-01 7.61654238e-01 -1.45719993e-03 3.27764654e+01] [ 2.33473866e-03 -7.30944778e-05 9.99997272e-01 1.86888525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.15, Y:32.79, Z:0.19 [[ 7.62417704e-01 -6.47082617e-01 -1.82524709e-03 9.71528587e+01] [ 6.47080979e-01 7.62419886e-01 -1.45767626e-03 3.27940460e+01] [ 2.33484165e-03 -6.97244862e-05 9.99997272e-01 1.89027010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.17, Y:32.81, Z:0.19 [[ 7.60645876e-01 -6.49164439e-01 -1.83909195e-03 9.71732340e+01] [ 6.49162849e-01 7.60648093e-01 -1.44033496e-03 3.28115220e+01] [ 2.33391602e-03 -9.82853156e-05 9.99997272e-01 1.89060050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.20, Y:32.83, Z:0.19 [[ 7.59793494e-01 -6.50161879e-01 -1.83788852e-03 9.71959331e+01] [ 6.50160287e-01 7.59795711e-01 -1.44184162e-03 3.28301363e+01] [ 2.33385027e-03 -9.94202501e-05 9.99997272e-01 1.89145595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:32.85, Z:0.19 [[ 7.57194324e-01 -6.53187091e-01 -1.83831928e-03 9.72184890e+01] [ 6.53185510e-01 7.57196548e-01 -1.44130253e-03 3.28500217e+01] [ 2.33340922e-03 -1.09417425e-04 9.99997272e-01 1.85163690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.24, Y:32.87, Z:0.19 [[ 7.56838748e-01 -6.53599061e-01 -1.83778160e-03 9.72403802e+01] [ 6.53597479e-01 7.56840971e-01 -1.44197283e-03 3.28675838e+01] [ 2.33338050e-03 -1.09828508e-04 9.99997272e-01 1.88291551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.26, Y:32.89, Z:0.19 [[ 7.54810526e-01 -6.55940321e-01 -1.83448981e-03 9.72568367e+01] [ 6.55938737e-01 7.54812747e-01 -1.44607358e-03 3.28858833e+01] [ 2.33323426e-03 -1.11801368e-04 9.99997272e-01 1.86414544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.28, Y:32.90, Z:0.19 [[ 7.56769477e-01 -6.53679312e-01 -1.82079377e-03 9.72821699e+01] [ 6.53677680e-01 7.56771663e-01 -1.46311778e-03 3.29037680e+01] [ 2.33433495e-03 -8.29693714e-05 9.99997272e-01 1.90015616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:97.30, Y:32.92, Z:0.19 [[ 7.56573394e-01 -6.53906218e-01 -1.83256113e-03 9.72992069e+01] [ 6.53904622e-01 7.56575606e-01 -1.44847212e-03 3.29231765e+01] [ 2.33363597e-03 -1.02444724e-04 9.99997272e-01 1.86703576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10361786499998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:97.32, Y:32.94, Z:0.19 [[ 7.57777542e-01 -6.52510447e-01 -1.82024099e-03 9.73217535e+01] [ 6.52508810e-01 7.57779724e-01 -1.46379234e-03 3.29421532e+01] [ 2.33448151e-03 -7.84943200e-05 9.99997272e-01 1.86118497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:97.34, Y:32.96, Z:0.19 [[ 7.60703713e-01 -6.49096712e-01 -1.82197979e-03 9.73431979e+01] [ 6.49095070e-01 7.60705892e-01 -1.46163106e-03 3.29616667e+01] [ 2.33473067e-03 -7.07699261e-05 9.99997272e-01 1.86468171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:97.37, Y:32.98, Z:0.19 [[ 7.61944965e-01 -6.47639211e-01 -1.82310453e-03 9.73650363e+01] [ 6.47637568e-01 7.61947143e-01 -1.46023363e-03 3.29807921e+01] [ 2.33481384e-03 -6.80933232e-05 9.99997272e-01 1.85741158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.38, Y:33.00, Z:0.19 [[ 7.63319237e-01 -6.46018899e-01 -1.82351669e-03 9.73840013e+01] [ 6.46017253e-01 7.63321412e-01 -1.45972166e-03 3.29978894e+01] [ 2.33493712e-03 -6.37896144e-05 9.99997272e-01 1.85616925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.40, Y:33.02, Z:0.18 [[ 7.62690357e-01 -6.46761255e-01 -1.81623496e-03 9.74031030e+01] [ 6.46759589e-01 7.62692518e-01 -1.46876257e-03 3.30178144e+01] [ 2.33516754e-03 -5.44563317e-05 9.99997272e-01 1.84479377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:97.43, Y:33.03, Z:0.19 [[ 7.64242186e-01 -6.44926815e-01 -1.81233606e-03 9.74268890e+01] [ 6.44925133e-01 7.64244334e-01 -1.47360126e-03 3.30348988e+01] [ 2.33543253e-03 -4.26328270e-05 9.99997272e-01 1.85755053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:97.44, Y:33.05, Z:0.18 [[ 7.63291888e-01 -6.46051226e-01 -1.81867057e-03 9.74436931e+01] [ 6.46049566e-01 7.63294052e-01 -1.46574150e-03 3.30533815e+01] [ 2.33512452e-03 -5.61627330e-05 9.99997272e-01 1.83744463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:33.07, Z:0.19 [[ 7.64478350e-01 -6.44646873e-01 -1.80592821e-03 9.74694905e+01] [ 6.44645171e-01 7.64480483e-01 -1.48153947e-03 3.30708664e+01] [ 2.33566665e-03 -3.15780498e-05 9.99997272e-01 1.85899609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.49, Y:33.09, Z:0.18 [[ 7.62779014e-01 -6.46656686e-01 -1.81823639e-03 9.74869555e+01] [ 6.46655026e-01 7.62781179e-01 -1.46627688e-03 3.30897764e+01] [ 2.33509425e-03 -5.73264653e-05 9.99997272e-01 1.83576924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:33.11, Z:0.19 [[ 7.64586728e-01 -6.44518325e-01 -1.80642315e-03 9.75130764e+01] [ 6.44516625e-01 7.64588862e-01 -1.48091672e-03 3.31071022e+01] [ 2.33564899e-03 -3.19804846e-05 9.99997272e-01 1.85236234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.53, Y:33.12, Z:0.19 [[ 7.64284959e-01 -6.44876108e-01 -1.81808886e-03 9.75344230e+01] [ 6.44874443e-01 7.64287120e-01 -1.46645375e-03 3.31244477e+01] [ 2.33522288e-03 -5.16504970e-05 9.99997272e-01 1.85585199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:33.14, Z:0.19 [[ 7.63753641e-01 -6.45505284e-01 -1.81791746e-03 9.75556874e+01] [ 6.45503620e-01 7.63755802e-01 -1.46666619e-03 3.31417889e+01] [ 2.33518578e-03 -5.33006613e-05 9.99997272e-01 1.85936544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.58, Y:33.16, Z:0.19 [[ 7.63315543e-01 -6.46023280e-01 -1.81765107e-03 9.75770182e+01] [ 6.46021617e-01 7.63317705e-01 -1.46699626e-03 3.31593950e+01] [ 2.33515898e-03 -5.44608337e-05 9.99997272e-01 1.86134409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:33.18, Z:0.19 [[ 7.63145284e-01 -6.46224398e-01 -1.81726464e-03 9.75991999e+01] [ 6.46222735e-01 7.63147446e-01 -1.46747479e-03 3.31774064e+01] [ 2.33515888e-03 -5.44612574e-05 9.99997272e-01 1.86200940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:97.62, Y:33.20, Z:0.19 [[ 7.62505740e-01 -6.46978898e-01 -1.81687782e-03 9.76209678e+01] [ 6.46977235e-01 7.62507903e-01 -1.46795356e-03 3.31957246e+01] [ 2.33511867e-03 -5.61555762e-05 9.99997272e-01 1.86116704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:33.21, Z:0.19 [[ 7.61844029e-01 -6.47757961e-01 -1.81649308e-03 9.76439711e+01] [ 6.47756299e-01 7.61846192e-01 -1.46842949e-03 3.32143199e+01] [ 2.33507523e-03 -5.79305938e-05 9.99997272e-01 1.85965579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.66, Y:33.23, Z:0.19 [[ 7.60961900e-01 -6.48794012e-01 -1.82105134e-03 9.76638415e+01] [ 6.48792366e-01 7.60964076e-01 -1.46279283e-03 3.32316925e+01] [ 2.33480588e-03 -6.83545967e-05 9.99997272e-01 1.85376223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61361786499998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:97.69, Y:33.25, Z:0.19 [[ 7.60405283e-01 -6.49446310e-01 -1.81567669e-03 9.76881545e+01] [ 6.49444651e-01 7.60407448e-01 -1.46943391e-03 3.32498674e+01] [ 2.33497251e-03 -6.18162101e-05 9.99997272e-01 1.85152565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.71, Y:33.27, Z:0.19 [[ 7.60024622e-01 -6.49891725e-01 -1.82236935e-03 9.77104673e+01] [ 6.49890086e-01 7.60026803e-01 -1.46116655e-03 3.32671033e+01] [ 2.33464960e-03 -7.38172231e-05 9.99997272e-01 1.85483184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.73, Y:33.29, Z:0.18 [[ 7.58940557e-01 -6.51157359e-01 -1.82348664e-03 9.77316714e+01] [ 6.51155727e-01 7.58942743e-01 -1.45978697e-03 3.32853333e+01] [ 2.33447298e-03 -7.94822312e-05 9.99997272e-01 1.84216953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.75, Y:33.30, Z:0.18 [[ 7.57661441e-01 -6.52645251e-01 -1.82125339e-03 9.77532050e+01] [ 6.52643617e-01 7.57663626e-01 -1.46254310e-03 3.33036931e+01] [ 2.33441926e-03 -8.05168875e-05 9.99997272e-01 1.83164999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.77, Y:33.32, Z:0.18 [[ 7.56169071e-01 -6.54373769e-01 -1.81841737e-03 9.77742261e+01] [ 6.54372132e-01 7.56171253e-01 -1.46604069e-03 3.33220243e+01] [ 2.33437351e-03 -8.13470237e-05 9.99997272e-01 1.82439795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:33.34, Z:0.18 [[ 7.55850153e-01 -6.54742125e-01 -1.81560062e-03 9.77947884e+01] [ 6.54740480e-01 7.55852330e-01 -1.46951216e-03 3.33398273e+01] [ 2.33447747e-03 -7.80162320e-05 9.99997272e-01 1.82049769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.82, Y:33.36, Z:0.18 [[ 7.55771854e-01 -6.54832510e-01 -1.81353624e-03 9.78159756e+01] [ 6.54830860e-01 7.55774026e-01 -1.47205542e-03 3.33575629e+01] [ 2.33457334e-03 -7.50214397e-05 9.99997272e-01 1.81903218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.84, Y:33.38, Z:0.18 [[ 7.55651356e-01 -6.54971558e-01 -1.81314001e-03 9.78376367e+01] [ 6.54969907e-01 7.55653527e-01 -1.47254330e-03 3.33750470e+01] [ 2.33457963e-03 -7.48228032e-05 9.99997272e-01 1.81603604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.86, Y:33.39, Z:0.18 [[ 7.56541805e-01 -6.53942820e-01 -1.81273543e-03 9.78587836e+01] [ 6.53941164e-01 7.56543973e-01 -1.47304119e-03 3.33915363e+01] [ 2.33469877e-03 -7.10050783e-05 9.99997272e-01 1.81877326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.88, Y:33.41, Z:0.18 [[ 7.57044862e-01 -6.53360384e-01 -1.81256005e-03 9.78805965e+01] [ 6.53358727e-01 7.57047029e-01 -1.47325696e-03 3.34091328e+01] [ 2.33476093e-03 -6.89303109e-05 9.99997272e-01 1.83128964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:33.43, Z:0.18 [[ 7.58326277e-01 -6.51872667e-01 -1.81213710e-03 9.79011810e+01] [ 6.51871004e-01 7.58328440e-01 -1.47377701e-03 3.34260253e+01] [ 2.33491005e-03 -6.36758001e-05 9.99997272e-01 1.82470356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.93, Y:33.45, Z:0.18 [[ 7.60272048e-01 -6.49602296e-01 -1.80826369e-03 9.79253308e+01] [ 6.49600616e-01 7.60274197e-01 -1.47853732e-03 3.34459535e+01] [ 2.33523746e-03 -5.05586103e-05 9.99997272e-01 1.82026693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.94, Y:33.46, Z:0.18 [[ 7.60925391e-01 -6.48836843e-01 -1.81666625e-03 9.79447755e+01] [ 6.48835185e-01 7.60927557e-01 -1.46821108e-03 3.34635125e+01] [ 2.33498085e-03 -6.15178932e-05 9.99997272e-01 1.83303535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00361786499998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:97.97, Y:33.48, Z:0.18 [[ 7.61544567e-01 -6.48110015e-01 -1.81132054e-03 9.79664314e+01] [ 6.48108339e-01 7.61546720e-01 -1.47477668e-03 3.34814016e+01] [ 2.33522275e-03 -5.08237768e-05 9.99997272e-01 1.84086819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:33.50, Z:0.18 [[ 7.61886112e-01 -6.47708478e-01 -1.81092380e-03 9.79892940e+01] [ 6.47706800e-01 7.61888263e-01 -1.47526368e-03 3.34996225e+01] [ 2.33526238e-03 -4.89647567e-05 9.99997272e-01 1.84692048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:33.52, Z:0.19 [[ 7.62000996e-01 -6.47573312e-01 -1.81284118e-03 9.80110579e+01] [ 6.47571639e-01 7.62003151e-01 -1.47291116e-03 3.35165364e+01] [ 2.33520865e-03 -5.15847626e-05 9.99997272e-01 1.85849749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.03, Y:33.53, Z:0.19 [[ 7.61802062e-01 -6.47807334e-01 -1.81010587e-03 9.80341743e+01] [ 6.47805654e-01 7.61804210e-01 -1.47626504e-03 3.35341545e+01] [ 2.33528159e-03 -4.79750617e-05 9.99997272e-01 1.86124434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:33.55, Z:0.19 [[ 7.60456489e-01 -6.49386356e-01 -1.81333499e-03 9.80543746e+01] [ 6.49384690e-01 7.60458649e-01 -1.47230663e-03 3.35514242e+01] [ 2.33506211e-03 -5.79268488e-05 9.99997272e-01 1.86640213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.08, Y:33.57, Z:0.19 [[ 7.60546493e-01 -6.49280955e-01 -1.80950782e-03 9.80772999e+01] [ 6.49279277e-01 7.60548643e-01 -1.47699539e-03 3.35689809e+01] [ 2.33520370e-03 -5.15522672e-05 9.99997272e-01 1.86940976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.10, Y:33.59, Z:0.19 [[ 7.60121133e-01 -6.49778865e-01 -1.81376774e-03 9.80966760e+01] [ 6.49777201e-01 7.60123295e-01 -1.47177760e-03 3.35859101e+01] [ 2.33501709e-03 -5.98156717e-05 9.99997272e-01 1.87620828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:33.60, Z:0.19 [[ 7.59247890e-01 -6.50799024e-01 -1.80899343e-03 9.81178096e+01] [ 6.50797349e-01 7.59250043e-01 -1.47762259e-03 3.36037981e+01] [ 2.33511368e-03 -5.54062977e-05 9.99997272e-01 1.87173228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:98.14, Y:33.62, Z:0.19 [[ 7.58739723e-01 -6.51391405e-01 -1.80859304e-03 9.81399199e+01] [ 6.51389730e-01 7.58741876e-01 -1.47811251e-03 3.36212536e+01] [ 2.33508506e-03 -5.65962589e-05 9.99997272e-01 1.86036502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.16, Y:33.64, Z:0.19 [[ 7.58211121e-01 -6.52006616e-01 -1.80817387e-03 9.81609659e+01] [ 6.52004942e-01 7.58213274e-01 -1.47862509e-03 3.36377970e+01] [ 2.33505478e-03 -5.78283122e-05 9.99997272e-01 1.86802388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.18, Y:33.66, Z:0.19 [[ 7.57807105e-01 -6.52476148e-01 -1.80789035e-03 9.81830662e+01] [ 6.52474474e-01 7.57809259e-01 -1.47897167e-03 3.36557431e+01] [ 2.33502979e-03 -5.88270639e-05 9.99997272e-01 1.85981118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:33.67, Z:0.19 [[ 7.57619862e-01 -6.52693556e-01 -1.80746209e-03 9.82033236e+01] [ 6.52691882e-01 7.57622015e-01 -1.47949487e-03 3.36729282e+01] [ 2.33502984e-03 -5.88211334e-05 9.99997272e-01 1.85852977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:33.69, Z:0.19 [[ 7.57470713e-01 -6.52866642e-01 -1.80727747e-03 9.82238848e+01] [ 6.52864968e-01 7.57472867e-01 -1.47972036e-03 3.36902915e+01] [ 2.33502371e-03 -5.90633080e-05 9.99997272e-01 1.85582220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.25, Y:33.71, Z:0.19 [[ 7.57258482e-01 -6.53112797e-01 -1.80710406e-03 9.82451993e+01] [ 6.53111123e-01 7.57260636e-01 -1.47993210e-03 3.37083926e+01] [ 2.33501136e-03 -5.95486288e-05 9.99997272e-01 1.85371675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:33.73, Z:0.19 [[ 7.57089324e-01 -6.53308879e-01 -1.80669530e-03 9.82661334e+01] [ 6.53307205e-01 7.57091477e-01 -1.48043094e-03 3.37262646e+01] [ 2.33501230e-03 -5.95085975e-05 9.99997272e-01 1.85695053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.29, Y:33.74, Z:0.19 [[ 7.57145515e-01 -6.53243757e-01 -1.80651821e-03 9.82876901e+01] [ 6.53242081e-01 7.57147668e-01 -1.48064701e-03 3.37441559e+01] [ 2.33502447e-03 -5.90284698e-05 9.99997272e-01 1.85813631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:98.31, Y:33.76, Z:0.18 [[ 7.56410521e-01 -6.54094688e-01 -1.80611874e-03 9.83083763e+01] [ 6.54093014e-01 7.56412675e-01 -1.48113414e-03 3.37635009e+01] [ 2.33497308e-03 -6.10242037e-05 9.99997272e-01 1.83510168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:33.78, Z:0.19 [[ 7.57733444e-01 -6.52561696e-01 -1.80569757e-03 9.83304112e+01] [ 6.52560017e-01 7.57735593e-01 -1.48164741e-03 3.37799432e+01] [ 2.33510767e-03 -5.56322419e-05 9.99997272e-01 1.86693320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.35, Y:33.80, Z:0.19 [[ 7.57932379e-01 -6.52330628e-01 -1.80551590e-03 9.83522274e+01] [ 6.52328947e-01 7.57934528e-01 -1.48186876e-03 3.37983032e+01] [ 2.33513122e-03 -5.46339682e-05 9.99997272e-01 1.86850433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.37, Y:33.82, Z:0.19 [[ 7.58429741e-01 -6.51752306e-01 -1.80511661e-03 9.83723644e+01] [ 6.51750623e-01 7.58431888e-01 -1.48235499e-03 3.38160688e+01] [ 2.33518628e-03 -5.22237629e-05 9.99997272e-01 1.86885993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.39, Y:33.84, Z:0.18 [[ 7.57287080e-01 -6.53079643e-01 -1.80494350e-03 9.83934024e+01] [ 6.53077963e-01 7.57289229e-01 -1.48256575e-03 3.38352121e+01] [ 2.33509778e-03 -5.60409313e-05 9.99997272e-01 1.84498057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:33.85, Z:0.19 [[ 7.58546035e-01 -6.51616955e-01 -1.80451623e-03 9.84151657e+01] [ 6.51615269e-01 7.58548180e-01 -1.48308562e-03 3.38508793e+01] [ 2.33521624e-03 -5.08616146e-05 9.99997272e-01 1.86656717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.44, Y:33.87, Z:0.19 [[ 7.57896815e-01 -6.52371951e-01 -1.80433166e-03 9.84371641e+01] [ 6.52370266e-01 7.57898961e-01 -1.48331013e-03 3.38678645e+01] [ 2.33517102e-03 -5.28963060e-05 9.99997272e-01 1.86930554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:33.88, Z:0.19 [[ 7.57350652e-01 -6.53005923e-01 -1.80392499e-03 9.84577520e+01] [ 6.53004240e-01 7.57352799e-01 -1.48380454e-03 3.38846953e+01] [ 2.33514079e-03 -5.42103365e-05 9.99997272e-01 1.86985588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.48, Y:33.90, Z:0.19 [[ 7.56921628e-01 -6.53503172e-01 -1.80364851e-03 9.84789875e+01] [ 6.53501489e-01 7.56923775e-01 -1.48414054e-03 3.39016056e+01] [ 2.33511499e-03 -5.53089149e-05 9.99997272e-01 1.86954073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:33.92, Z:0.18 [[ 7.54528117e-01 -6.56265242e-01 -1.80347452e-03 9.84987475e+01] [ 6.56263567e-01 7.54530269e-01 -1.48435194e-03 3.39200993e+01] [ 2.33490470e-03 -6.35693500e-05 9.99997272e-01 1.82722143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:33.94, Z:0.18 [[ 7.54547985e-01 -6.56242415e-01 -1.79753009e-03 9.85221004e+01] [ 6.56240722e-01 7.54550124e-01 -1.49157264e-03 3.39381574e+01] [ 2.33515978e-03 -5.41493154e-05 9.99997272e-01 1.83139979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:33.95, Z:0.18 [[ 7.54164572e-01 -6.56682988e-01 -1.80326719e-03 9.85424529e+01] [ 6.56681313e-01 7.54166725e-01 -1.48460410e-03 3.39543996e+01] [ 2.33487836e-03 -6.45360509e-05 9.99997272e-01 1.83246853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:33.97, Z:0.18 [[ 7.54315153e-01 -6.56510026e-01 -1.79848630e-03 9.85621581e+01] [ 6.56508337e-01 7.54317295e-01 -1.49040580e-03 3.39704276e+01] [ 2.33509567e-03 -5.64855698e-05 9.99997272e-01 1.82967575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.58, Y:33.99, Z:0.18 [[ 7.52560439e-01 -6.58520747e-01 -1.79176480e-03 9.85848776e+01] [ 6.58519044e-01 7.52562571e-01 -1.49856598e-03 3.39887250e+01] [ 2.33525191e-03 -5.21497733e-05 9.99997272e-01 1.84226850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:34.01, Z:0.19 [[ 7.53217576e-01 -6.57768997e-01 -1.79723599e-03 9.86091645e+01] [ 6.57767308e-01 7.53219718e-01 -1.49192373e-03 3.40052137e+01] [ 2.33505476e-03 -5.84199012e-05 9.99997272e-01 1.88410945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.63, Y:34.02, Z:0.19 [[ 7.52032645e-01 -6.59123395e-01 -1.80283963e-03 9.86303128e+01] [ 6.59121726e-01 7.52034803e-01 -1.48512128e-03 3.40222218e+01] [ 2.33467633e-03 -7.14310836e-05 9.99997272e-01 1.89278164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:34.04, Z:0.19 [[ 7.49830479e-01 -6.61627541e-01 -1.80266065e-03 9.86491402e+01] [ 6.61625878e-01 7.49832642e-01 -1.48533851e-03 3.40415688e+01] [ 2.33443466e-03 -7.89348497e-05 9.99997272e-01 1.85886290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:34.06, Z:0.19 [[ 7.50128037e-01 -6.61290180e-01 -1.79594033e-03 9.86719900e+01] [ 6.61288497e-01 7.50130184e-01 -1.49349310e-03 3.40592999e+01] [ 2.33482137e-03 -6.73236376e-05 9.99997272e-01 1.85152502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:34.08, Z:0.19 [[ 7.50849826e-01 -6.60470516e-01 -1.79876860e-03 9.86933043e+01] [ 6.60468839e-01 7.50851978e-01 -1.49006161e-03 3.40767096e+01] [ 2.33475072e-03 -6.92181018e-05 9.99997272e-01 1.85708766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:98.72, Y:34.10, Z:0.19 [[ 7.51221980e-01 -6.60047196e-01 -1.79889966e-03 9.87162754e+01] [ 6.60045518e-01 7.51224131e-01 -1.48990268e-03 3.40950618e+01] [ 2.33478291e-03 -6.81080157e-05 9.99997272e-01 1.89606728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.74, Y:34.11, Z:0.19 [[ 7.51590230e-01 -6.59627829e-01 -1.80363083e-03 9.87377224e+01] [ 6.59626163e-01 7.51592391e-01 -1.48416597e-03 3.41137715e+01] [ 2.33459239e-03 -7.42374445e-05 9.99997272e-01 1.87830515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.76, Y:34.13, Z:0.19 [[ 7.51467039e-01 -6.59768174e-01 -1.80172664e-03 9.87566649e+01] [ 6.59766503e-01 7.51469195e-01 -1.48647401e-03 3.41311020e+01] [ 2.33467031e-03 -7.16826616e-05 9.99997272e-01 1.86291958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:34.15, Z:0.19 [[ 7.54295272e-01 -6.56532871e-01 -1.79764213e-03 9.87797939e+01] [ 6.56531180e-01 7.54297412e-01 -1.49142238e-03 3.41489968e+01] [ 2.33512462e-03 -5.52352638e-05 9.99997272e-01 1.89293117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.80, Y:34.17, Z:0.19 [[ 7.53337446e-01 -6.57631696e-01 -1.80119557e-03 9.87998874e+01] [ 6.57630018e-01 7.53339597e-01 -1.48711846e-03 3.41695553e+01] [ 2.33488818e-03 -6.42182454e-05 9.99997272e-01 1.85429417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.82, Y:34.19, Z:0.18 [[ 7.54213539e-01 -6.56626755e-01 -1.80077281e-03 9.88203052e+01] [ 6.56625073e-01 7.54215686e-01 -1.48763021e-03 3.41862778e+01] [ 2.33498890e-03 -6.04417295e-05 9.99997272e-01 1.84911588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.85, Y:34.20, Z:0.19 [[ 7.57494942e-01 -6.52838569e-01 -1.79313030e-03 9.88454958e+01] [ 6.52836854e-01 7.57497064e-01 -1.49687348e-03 3.42028098e+01] [ 2.33550768e-03 -3.67474545e-05 9.99997272e-01 1.89097795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.87, Y:34.22, Z:0.19 [[ 7.57973551e-01 -6.52282800e-01 -1.80130819e-03 9.88672430e+01] [ 6.52281107e-01 7.57975690e-01 -1.48698227e-03 3.42205469e+01] [ 2.33528077e-03 -4.78660672e-05 9.99997272e-01 1.90170350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:34.24, Z:0.19 [[ 7.58021265e-01 -6.52227355e-01 -1.79986458e-03 9.88896311e+01] [ 6.52225657e-01 7.58023401e-01 -1.48872758e-03 3.42375464e+01] [ 2.33532832e-03 -4.54306986e-05 9.99997272e-01 1.91070343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:34.26, Z:0.19 [[ 7.57622361e-01 -6.52690678e-01 -1.79945961e-03 9.89117959e+01] [ 6.52688980e-01 7.57624496e-01 -1.48921692e-03 3.42551158e+01] [ 2.33531268e-03 -4.62234204e-05 9.99997272e-01 1.91629035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:34.27, Z:0.19 [[ 7.56961787e-01 -6.53456667e-01 -1.79905205e-03 9.89340965e+01] [ 6.53454971e-01 7.56963923e-01 -1.48970911e-03 3.42727068e+01] [ 2.33527785e-03 -4.79466356e-05 9.99997272e-01 1.92133845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:34.29, Z:0.19 [[ 7.56783872e-01 -6.53662709e-01 -1.79864662e-03 9.89560594e+01] [ 6.53661012e-01 7.56786007e-01 -1.49019846e-03 3.42909894e+01] [ 2.33527775e-03 -4.79470055e-05 9.99997272e-01 1.92200375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:34.31, Z:0.19 [[ 7.55508761e-01 -6.55136076e-01 -1.79824081e-03 9.89780436e+01] [ 6.55134382e-01 7.55510900e-01 -1.49068799e-03 3.43082537e+01] [ 2.33519401e-03 -5.18615460e-05 9.99997272e-01 1.93048050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:34.33, Z:0.19 [[ 7.51900555e-01 -6.59274088e-01 -1.79783626e-03 9.89929884e+01] [ 6.59272405e-01 7.51902701e-01 -1.49117574e-03 3.43272493e+01] [ 2.33489147e-03 -6.40479701e-05 9.99997272e-01 1.90301418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.02, Y:34.34, Z:0.19 [[ 7.53963551e-01 -6.56913840e-01 -1.78067104e-03 9.90211548e+01] [ 6.56912101e-01 7.53965653e-01 -1.51185030e-03 3.43431205e+01] [ 2.33572019e-03 -2.98643316e-05 9.99997272e-01 1.93924640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.04, Y:34.36, Z:0.20 [[ 7.52957369e-01 -6.58066843e-01 -1.79745370e-03 9.90428518e+01] [ 6.58065155e-01 7.52959512e-01 -1.49162671e-03 3.43601066e+01] [ 2.33499994e-03 -5.97103261e-05 9.99997272e-01 1.96358945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.06, Y:34.38, Z:0.19 [[ 7.50351614e-01 -6.61036479e-01 -1.79655375e-03 9.90631998e+01] [ 6.61034798e-01 7.50353762e-01 -1.49271091e-03 3.43813243e+01] [ 2.33478723e-03 -6.75265019e-05 9.99997272e-01 1.92839975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.09, Y:34.40, Z:0.20 [[ 7.51808534e-01 -6.59379025e-01 -1.79711035e-03 9.90864658e+01] [ 6.59377340e-01 7.51810679e-01 -1.49204052e-03 3.43954540e+01] [ 2.33490697e-03 -6.32450464e-05 9.99997272e-01 1.97226666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:34.41, Z:0.20 [[ 7.50960902e-01 -6.60344228e-01 -1.79569689e-03 9.91084076e+01] [ 6.60342541e-01 7.50963046e-01 -1.49374203e-03 3.44133170e+01] [ 2.33488593e-03 -6.40331854e-05 9.99997272e-01 1.96873956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.13, Y:34.43, Z:0.20 [[ 7.49986023e-01 -6.61451234e-01 -1.79740245e-03 9.91306140e+01] [ 6.61449556e-01 7.49988173e-01 -1.49168978e-03 3.44311685e+01] [ 2.33471062e-03 -7.01445694e-05 9.99997272e-01 1.95743496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.15, Y:34.45, Z:0.19 [[ 7.48106885e-01 -6.63575813e-01 -1.79684720e-03 9.91472680e+01] [ 6.63574140e-01 7.48109039e-01 -1.49235749e-03 3.44495608e+01] [ 2.33452997e-03 -7.58984246e-05 9.99997272e-01 1.88112381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:34.47, Z:0.19 [[ 7.47940848e-01 -6.63762997e-01 -1.78079918e-03 9.91723730e+01] [ 6.63761278e-01 7.47942966e-01 -1.51164495e-03 3.44696334e+01] [ 2.33531020e-03 -5.14045282e-05 9.99997272e-01 1.90903604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:34.48, Z:0.19 [[ 7.49219221e-01 -6.62319662e-01 -1.79576463e-03 9.91971741e+01] [ 6.62317981e-01 7.49221370e-01 -1.49365253e-03 3.44849960e+01] [ 2.33470067e-03 -7.02940226e-05 9.99997272e-01 1.93885533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.21, Y:34.50, Z:0.19 [[ 7.47327408e-01 -6.64453540e-01 -1.79920249e-03 9.92121949e+01] [ 6.64451876e-01 7.47329570e-01 -1.48952012e-03 3.45027492e+01] [ 2.33431414e-03 -8.23242605e-05 9.99997272e-01 1.89817818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:34.52, Z:0.19 [[ 7.48004603e-01 -6.63691142e-01 -1.78390974e-03 9.92339428e+01] [ 6.63689431e-01 7.48006728e-01 -1.50790790e-03 3.45196794e+01] [ 2.33516160e-03 -5.60399947e-05 9.99997272e-01 1.85816548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.26, Y:34.54, Z:0.19 [[ 7.49130129e-01 -6.62420471e-01 -1.78039673e-03 9.92640180e+01] [ 6.62418746e-01 7.49132243e-01 -1.51212895e-03 3.45385204e+01] [ 2.33541777e-03 -4.65868169e-05 9.99997272e-01 1.91607316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:34.55, Z:0.19 [[ 7.50393895e-01 -6.60988450e-01 -1.80844531e-03 9.92836780e+01] [ 6.60986802e-01 7.50396070e-01 -1.47839773e-03 3.45547867e+01] [ 2.33425407e-03 -8.59778527e-05 9.99997272e-01 1.92796987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.31, Y:34.57, Z:0.19 [[ 7.51131271e-01 -6.60150429e-01 -1.79562569e-03 9.93051935e+01] [ 6.60148742e-01 7.51133415e-01 -1.49379849e-03 3.45722731e+01] [ 2.33488617e-03 -6.33412835e-05 9.99997272e-01 1.91439241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.33, Y:34.59, Z:0.19 [[ 7.52056103e-01 -6.59096657e-01 -1.79312429e-03 9.93272365e+01] [ 6.59094960e-01 7.52058238e-01 -1.49680151e-03 3.45903914e+01] [ 2.33507076e-03 -5.61604655e-05 9.99997272e-01 1.91466445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.35, Y:34.61, Z:0.19 [[ 7.50607520e-01 -6.60745890e-01 -1.79436914e-03 9.93461582e+01] [ 6.60744201e-01 7.50609662e-01 -1.49530745e-03 3.46100076e+01] [ 2.33488907e-03 -6.32299921e-05 9.99997272e-01 1.87088493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:99.37, Y:34.63, Z:0.19 [[ 7.51530103e-01 -6.59696361e-01 -1.79291968e-03 9.93670561e+01] [ 6.59694665e-01 7.51532240e-01 -1.49704641e-03 3.46270960e+01] [ 2.33503301e-03 -5.77041011e-05 9.99997272e-01 1.86444631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.39, Y:34.65, Z:0.19 [[ 7.52325398e-01 -6.58789266e-01 -1.78858484e-03 9.93901960e+01] [ 6.58787555e-01 7.52327523e-01 -1.50224444e-03 3.46454619e+01] [ 2.33526412e-03 -4.81207892e-05 9.99997272e-01 1.85585484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:34.66, Z:0.19 [[ 7.52980562e-01 -6.58040314e-01 -1.79383158e-03 9.94135400e+01] [ 6.58038616e-01 7.52982697e-01 -1.49595295e-03 3.46627179e+01] [ 2.33512150e-03 -5.39869563e-05 9.99997272e-01 1.88680235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.43, Y:34.68, Z:0.19 [[ 7.51782636e-01 -6.59408562e-01 -1.79347048e-03 9.94325872e+01] [ 6.59406867e-01 7.51784773e-01 -1.49638574e-03 3.46811933e+01] [ 2.33503337e-03 -5.76699350e-05 9.99997272e-01 1.85060082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:34.70, Z:0.19 [[ 7.52699113e-01 -6.58362249e-01 -1.78752404e-03 9.94567746e+01] [ 6.58360534e-01 7.52701234e-01 -1.50350805e-03 3.46989846e+01] [ 2.33532449e-03 -4.51461046e-05 9.99997272e-01 1.89342203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.47, Y:34.72, Z:0.19 [[ 7.50655800e-01 -6.60691043e-01 -1.79319666e-03 9.94721777e+01] [ 6.60689350e-01 7.50657939e-01 -1.49671381e-03 3.47171246e+01] [ 2.33494272e-03 -6.12290339e-05 9.99997272e-01 1.86331404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:34.74, Z:0.18 [[ 7.50604552e-01 -6.60749297e-01 -1.78109779e-03 9.94943085e+01] [ 6.60747570e-01 7.50606664e-01 -1.51122758e-03 3.47354838e+01] [ 2.33544643e-03 -4.25217327e-05 9.99997272e-01 1.83354005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:99.52, Y:34.75, Z:0.18 [[ 7.50512297e-01 -6.60854080e-01 -1.78246836e-03 9.95150571e+01] [ 6.60852357e-01 7.50514413e-01 -1.50958382e-03 3.47527938e+01] [ 2.33538282e-03 -4.49871930e-05 9.99997272e-01 1.84094884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.54, Y:34.77, Z:0.19 [[ 7.51916695e-01 -6.59255737e-01 -1.77647437e-03 9.95408987e+01] [ 6.59253993e-01 7.51918793e-01 -1.51675721e-03 3.47693994e+01] [ 2.33569536e-03 -3.06727559e-05 9.99997272e-01 1.88854216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:99.56, Y:34.79, Z:0.19 [[ 7.51256233e-01 -6.60008239e-01 -1.78805412e-03 9.95639086e+01] [ 6.60006529e-01 7.51258359e-01 -1.50289961e-03 3.47887603e+01] [ 2.33521673e-03 -5.10646929e-05 9.99997272e-01 1.87602775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:34.81, Z:0.19 [[ 7.51053156e-01 -6.60239308e-01 -1.79219554e-03 9.95851431e+01] [ 6.60237612e-01 7.51055292e-01 -1.49794466e-03 3.48072342e+01] [ 2.33503990e-03 -5.82388393e-05 9.99997272e-01 1.87569349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28361786499998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:99.60, Y:34.83, Z:0.18 [[ 7.49424519e-01 -6.62087369e-01 -1.79074389e-03 9.96014279e+01] [ 6.62085674e-01 7.49426655e-01 -1.49968083e-03 3.48269597e+01] [ 2.33495094e-03 -6.17282848e-05 9.99997272e-01 1.83509140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:99.63, Y:34.84, Z:0.19 [[ 7.51863250e-01 -6.59316694e-01 -1.77484644e-03 9.96279783e+01] [ 6.59314945e-01 7.51865345e-01 -1.51866526e-03 3.48444321e+01] [ 2.33572689e-03 -2.83541860e-05 9.99997272e-01 1.86831072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.65, Y:34.86, Z:0.18 [[ 7.49906346e-01 -6.61541593e-01 -1.78697580e-03 9.96453461e+01] [ 6.61539885e-01 7.49908473e-01 -1.50417714e-03 3.48640517e+01] [ 2.33514403e-03 -5.41637861e-05 9.99997272e-01 1.82731788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37361786499997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:99.67, Y:34.88, Z:0.18 [[ 7.52565487e-01 -6.58515016e-01 -1.77798096e-03 9.96737227e+01] [ 6.58513274e-01 7.52567587e-01 -1.51491828e-03 3.48821274e+01] [ 2.33564728e-03 -3.07488498e-05 9.99997272e-01 1.84526015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40361786499997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:99.69, Y:34.90, Z:0.19 [[ 7.53697754e-01 -6.57218744e-01 -1.79420528e-03 9.96941802e+01] [ 6.57217044e-01 7.53699887e-01 -1.49553746e-03 3.48989910e+01] [ 2.33518757e-03 -5.19990627e-05 9.99997272e-01 1.87010372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43361786499997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:99.72, Y:34.92, Z:0.19 [[ 7.53120928e-01 -6.57879683e-01 -1.78630140e-03 9.97169172e+01] [ 6.57877963e-01 7.53123045e-01 -1.50497117e-03 3.49183501e+01] [ 2.33539471e-03 -4.17430456e-05 9.99997272e-01 1.85141826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46361786499997 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:99.73, Y:34.94, Z:0.18 [[ 7.51989105e-01 -6.59173088e-01 -1.79619690e-03 9.97303393e+01] [ 6.59171400e-01 7.51991247e-01 -1.49315845e-03 3.49352872e+01] [ 2.33497421e-03 -6.11627379e-05 9.99997272e-01 1.81775888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49361786499998 meters Centerline goodness : 0.995090 Centerline is valid? [True, True] Translation: X:99.76, Y:34.96, Z:0.19 [[ 7.52839198e-01 -6.58202104e-01 -1.77009975e-03 9.97572722e+01] [ 6.58200339e-01 7.52841278e-01 -1.52415557e-03 3.49550417e+01] [ 2.33580656e-03 -1.76361984e-05 9.99997272e-01 1.86739100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52361786499998 meters Centerline goodness : 0.997016 Centerline is valid? [True, True] Translation: X:99.78, Y:34.97, Z:0.19 [[ 7.53376488e-01 -6.57587008e-01 -1.78734086e-03 9.97786483e+01] [ 6.57585290e-01 7.53378607e-01 -1.50366846e-03 3.49716215e+01] [ 2.33533721e-03 -4.25005929e-05 9.99997272e-01 1.85212300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55361786499998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:99.80, Y:34.99, Z:0.18 [[ 7.51050534e-01 -6.60242315e-01 -1.78350984e-03 9.97967736e+01] [ 6.60240594e-01 7.51052650e-01 -1.50822097e-03 3.49903217e+01] [ 2.33530110e-03 -4.47954314e-05 9.99997272e-01 1.81453316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58361786499998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:99.82, Y:35.01, Z:0.18 [[ 7.54210495e-01 -6.56630326e-01 -1.77341882e-03 9.98239415e+01] [ 6.56628566e-01 7.54212579e-01 -1.52023985e-03 3.50058105e+01] [ 2.33577037e-03 -1.78966036e-05 9.99997272e-01 1.84841518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.84, Y:35.03, Z:0.18 [[ 7.50986990e-01 -6.60314589e-01 -1.78458590e-03 9.98398836e+01] [ 6.60312871e-01 7.50989109e-01 -1.50693478e-03 3.50257555e+01] [ 2.33525560e-03 -4.66966245e-05 9.99997272e-01 1.80254084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:99.86, Y:35.04, Z:0.18 [[ 7.50959798e-01 -6.60345543e-01 -1.77354531e-03 9.98614925e+01] [ 6.60343794e-01 7.50961891e-01 -1.52010791e-03 3.50434713e+01] [ 2.33566142e-03 -2.96097121e-05 9.99997272e-01 1.79814143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:35.06, Z:0.19 [[ 7.54351917e-01 -6.56467855e-01 -1.77215856e-03 9.98908344e+01] [ 6.56466092e-01 7.54353998e-01 -1.52176196e-03 3.50587050e+01] [ 2.33582271e-03 -1.54179488e-05 9.99997272e-01 1.85527134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:35.08, Z:0.18 [[ 7.51096609e-01 -6.60189881e-01 -1.79026639e-03 9.99058312e+01] [ 6.60188179e-01 7.51098740e-01 -1.50015227e-03 3.50779164e+01] [ 2.33505217e-03 -5.51534265e-05 9.99997272e-01 1.78980022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.93, Y:35.09, Z:0.19 [[ 7.54496132e-01 -6.56302100e-01 -1.77196083e-03 9.99342815e+01] [ 6.56300336e-01 7.54498213e-01 -1.52197207e-03 3.50937143e+01] [ 2.33581475e-03 -1.46164490e-05 9.99997272e-01 1.85878023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76361786499997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:99.95, Y:35.11, Z:0.18 [[ 7.50732795e-01 -6.60603562e-01 -1.78981317e-03 9.99472903e+01] [ 6.60601860e-01 7.50734927e-01 -1.50068016e-03 3.51139006e+01] [ 2.33502992e-03 -5.57441017e-05 9.99997272e-01 1.76863075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.97, Y:35.13, Z:0.18 [[ 7.50663402e-01 -6.60682483e-01 -1.76423872e-03 9.99683952e+01] [ 6.60680709e-01 7.50665475e-01 -1.53114163e-03 3.51318131e+01] [ 2.33595156e-03 -1.62265003e-05 9.99997272e-01 1.75805142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.99, Y:35.15, Z:0.18 [[ 7.51236208e-01 -6.60031098e-01 -1.76345463e-03 9.99916676e+01] [ 6.60029320e-01 7.51238278e-01 -1.53207460e-03 3.51495690e+01] [ 2.33599150e-03 -1.29818516e-05 9.99997271e-01 1.76274188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.02, Y:35.16, Z:0.19 [[ 7.54364911e-01 -6.56452939e-01 -1.76624522e-03 1.00022514e+02] [ 6.56451159e-01 7.54366979e-01 -1.52875479e-03 3.51647665e+01] [ 2.33595265e-03 -6.21475365e-06 9.99997272e-01 1.85846276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.04, Y:35.18, Z:0.17 [[ 7.51111311e-01 -6.60173158e-01 -1.78901143e-03 1.00036268e+02] [ 6.60171452e-01 7.51113439e-01 -1.50164571e-03 3.51842565e+01] [ 2.33509672e-03 -5.31511969e-05 9.99997272e-01 1.74441319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:35.20, Z:0.19 [[ 7.53490375e-01 -6.57456564e-01 -1.76651602e-03 1.00066581e+02] [ 6.57454788e-01 7.53492446e-01 -1.52839587e-03 3.51990025e+01] [ 2.33591037e-03 -9.77284326e-06 9.99997272e-01 1.85495168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:35.22, Z:0.19 [[ 7.53172855e-01 -6.57820228e-01 -1.78819238e-03 1.00088713e+02] [ 6.57818514e-01 7.53174977e-01 -1.50259958e-03 3.52170296e+01] [ 2.33526215e-03 -4.45888382e-05 9.99997272e-01 1.85352889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97361786499998 meters Centerline goodness : 0.994669 Centerline is valid? [True, True] Translation: X:100.11, Y:35.23, Z:0.18 [[ 7.53473741e-01 -6.57475571e-01 -1.78779366e-03 1.00110702e+02] [ 6.57473854e-01 7.53475860e-01 -1.50307382e-03 3.52345128e+01] [ 2.33529369e-03 -4.29009355e-05 9.99997272e-01 1.83915588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00361786499998 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:100.13, Y:35.25, Z:0.19 [[ 7.54233872e-01 -6.56603441e-01 -1.78571582e-03 1.00133310e+02] [ 6.56601716e-01 7.54235985e-01 -1.50554463e-03 3.52522556e+01] [ 2.33539692e-03 -3.69713144e-05 9.99997272e-01 1.85086481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03361786499998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:100.15, Y:35.27, Z:0.18 [[ 7.54689431e-01 -6.56079773e-01 -1.78730850e-03 1.00154899e+02] [ 6.56078051e-01 7.54691546e-01 -1.50365151e-03 3.52696784e+01] [ 2.33538195e-03 -3.78239768e-05 9.99997272e-01 1.84853760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06361786499998 meters Centerline goodness : 0.996352 Centerline is valid? [True, True] Translation: X:100.18, Y:35.29, Z:0.18 [[ 7.55899623e-01 -6.54685090e-01 -1.78690220e-03 1.00175205e+02] [ 6.54683363e-01 7.55901734e-01 -1.50413418e-03 3.52851209e+01] [ 2.33545670e-03 -3.28806820e-05 9.99997272e-01 1.83241585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.20, Y:35.30, Z:0.18 [[ 7.54881824e-01 -6.55858428e-01 -1.77603427e-03 1.00198087e+02] [ 6.55856674e-01 7.54883913e-01 -1.51702376e-03 3.53042523e+01] [ 2.33565252e-03 -1.96502637e-05 9.99997272e-01 1.84050980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.22, Y:35.32, Z:0.18 [[ 7.54754435e-01 -6.56004996e-01 -1.78564895e-03 1.00219756e+02] [ 6.56003269e-01 7.54756546e-01 -1.50562087e-03 3.53199233e+01] [ 2.33542505e-03 -3.50175137e-05 9.99997272e-01 1.83068437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:35.34, Z:0.18 [[ 7.54524728e-01 -6.56269188e-01 -1.78543808e-03 1.00241832e+02] [ 6.56267461e-01 7.54526840e-01 -1.50587089e-03 3.53378576e+01] [ 2.33541762e-03 -3.55080855e-05 9.99997272e-01 1.84072167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18361786499997 meters Centerline goodness : 0.996105 Centerline is valid? [True, True] Translation: X:100.26, Y:35.36, Z:0.18 [[ 7.55350246e-01 -6.55318868e-01 -1.78503194e-03 1.00263059e+02] [ 6.55317138e-01 7.55352355e-01 -1.50635217e-03 3.53550057e+01] [ 2.33546908e-03 -3.19385433e-05 9.99997272e-01 1.84646550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.28, Y:35.38, Z:0.18 [[ 7.54492238e-01 -6.56306563e-01 -1.77697745e-03 1.00284844e+02] [ 6.56304813e-01 7.54494330e-01 -1.51589129e-03 3.53750251e+01] [ 2.33560881e-03 -2.25106417e-05 9.99997272e-01 1.84852714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:35.39, Z:0.18 [[ 7.52832163e-01 -6.58210111e-01 -1.78449166e-03 1.00299332e+02] [ 6.58208387e-01 7.52834277e-01 -1.50699341e-03 3.53936505e+01] [ 2.33534478e-03 -4.00542692e-05 9.99997272e-01 1.75289991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:35.41, Z:0.18 [[ 7.54189343e-01 -6.56654637e-01 -1.76677400e-03 1.00322904e+02] [ 6.56652860e-01 7.54191413e-01 -1.52789799e-03 3.54094802e+01] [ 2.33578708e-03 -7.83282133e-06 9.99997272e-01 1.83621600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.34, Y:35.43, Z:0.18 [[ 7.54093427e-01 -6.56764782e-01 -1.76784550e-03 1.00344637e+02] [ 6.56763008e-01 7.54095499e-01 -1.52663520e-03 3.54279754e+01] [ 2.33576457e-03 -9.82995617e-06 9.99997272e-01 1.83688866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33361786499998 meters Centerline goodness : 0.995038 Centerline is valid? [True, True] Translation: X:100.37, Y:35.45, Z:0.18 [[ 7.52314830e-01 -6.58801388e-01 -1.76867168e-03 1.00365335e+02] [ 6.58799622e-01 7.52316908e-01 -1.52566267e-03 3.54469028e+01] [ 2.33571029e-03 -1.74215756e-05 9.99997272e-01 1.83366734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.39, Y:35.47, Z:0.19 [[ 7.50758829e-01 -6.60574033e-01 -1.76852835e-03 1.00388490e+02] [ 6.60572271e-01 7.50760912e-01 -1.52583142e-03 3.54679360e+01] [ 2.33566657e-03 -2.27093798e-05 9.99997272e-01 1.85243137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39361786499998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:100.41, Y:35.49, Z:0.19 [[ 7.50517067e-01 -6.60848669e-01 -1.78017922e-03 1.00408810e+02] [ 6.60846941e-01 7.50519177e-01 -1.51211512e-03 3.54852139e+01] [ 2.33533791e-03 -4.15577885e-05 9.99997272e-01 1.85488671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.43, Y:35.51, Z:0.19 [[ 7.47685048e-01 -6.64051149e-01 -1.77213654e-03 1.00429508e+02] [ 6.64049407e-01 7.47687147e-01 -1.52157730e-03 3.55053073e+01] [ 2.33540886e-03 -3.91256238e-05 9.99997272e-01 1.85488015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45361786499998 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:100.45, Y:35.52, Z:0.18 [[ 7.47171813e-01 -6.64628554e-01 -1.77950736e-03 1.00449417e+02] [ 6.64626834e-01 7.47173930e-01 -1.51290761e-03 3.55230932e+01] [ 2.33512311e-03 -5.23064280e-05 9.99997272e-01 1.84758734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.47, Y:35.54, Z:0.18 [[ 7.45450779e-01 -6.66558323e-01 -1.77122292e-03 1.00471350e+02] [ 6.66556586e-01 7.45452882e-01 -1.52264556e-03 3.55427510e+01] [ 2.33529530e-03 -4.55629819e-05 9.99997272e-01 1.84928469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:35.56, Z:0.18 [[ 7.44481212e-01 -6.67641042e-01 -1.77885997e-03 1.00492385e+02] [ 6.67639329e-01 7.44483334e-01 -1.51367053e-03 3.55618521e+01] [ 2.33492017e-03 -6.07376037e-05 9.99997272e-01 1.84872948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.51, Y:35.58, Z:0.18 [[ 7.44280698e-01 -6.67864566e-01 -1.77845641e-03 1.00512426e+02] [ 6.67862853e-01 7.44282821e-01 -1.51414454e-03 3.55801718e+01] [ 2.33491803e-03 -6.08164150e-05 9.99997272e-01 1.84768161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57361786499997 meters Centerline goodness : 0.996691 Centerline is valid? [True, True] Translation: X:100.53, Y:35.60, Z:0.18 [[ 7.44154808e-01 -6.68004835e-01 -1.77818202e-03 1.00533987e+02] [ 6.68003121e-01 7.44156930e-01 -1.51446670e-03 3.55998757e+01] [ 2.33491755e-03 -6.08334611e-05 9.99997272e-01 1.84377985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:35.62, Z:0.18 [[ 7.45299547e-01 -6.66727395e-01 -1.77923967e-03 1.00553520e+02] [ 6.66725680e-01 7.45301669e-01 -1.51322522e-03 3.56181462e+01] [ 2.33497900e-03 -5.84587046e-05 9.99997272e-01 1.82894608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.58, Y:35.64, Z:0.18 [[ 7.45909542e-01 -6.66044890e-01 -1.77755952e-03 1.00575250e+02] [ 6.66043168e-01 7.45911658e-01 -1.51519630e-03 3.56365844e+01] [ 2.33509112e-03 -5.37319985e-05 9.99997272e-01 1.82774022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66361786499998 meters Centerline goodness : 0.993657 Centerline is valid? [True, True] Translation: X:100.60, Y:35.65, Z:0.18 [[ 7.46549350e-01 -6.65327671e-01 -1.77715034e-03 1.00596065e+02] [ 6.65325947e-01 7.46551463e-01 -1.51567606e-03 3.56541612e+01] [ 2.33515541e-03 -5.08572580e-05 9.99997272e-01 1.81696141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.62, Y:35.67, Z:0.18 [[ 7.48758074e-01 -6.62841009e-01 -1.77292334e-03 1.00617853e+02] [ 6.62839266e-01 7.48760172e-01 -1.52062877e-03 3.56710885e+01] [ 2.33542949e-03 -3.65801397e-05 9.99997272e-01 1.77967028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.64, Y:35.69, Z:0.18 [[ 7.50997390e-01 -6.60302796e-01 -1.77153530e-03 1.00635260e+02] [ 6.60301041e-01 7.50999479e-01 -1.52225711e-03 3.56879512e+01] [ 2.33557271e-03 -2.65354811e-05 9.99997272e-01 1.77301251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:100.66, Y:35.71, Z:0.18 [[ 7.50784449e-01 -6.60544945e-01 -1.75672503e-03 1.00659410e+02] [ 6.60543151e-01 7.50786504e-01 -1.53961074e-03 3.57081461e+01] [ 2.33590754e-03 -4.47688598e-06 9.99997272e-01 1.75791186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78361786499998 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:100.68, Y:35.73, Z:0.18 [[ 7.51770239e-01 -6.59422762e-01 -1.76886917e-03 1.00679789e+02] [ 6.59420998e-01 7.51772319e-01 -1.52539902e-03 3.57262399e+01] [ 2.33566971e-03 -1.96798827e-05 9.99997272e-01 1.81429004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.81361786499998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:100.70, Y:35.74, Z:0.18 [[ 7.53806793e-01 -6.57093760e-01 -1.76337054e-03 1.00701996e+02] [ 6.57091975e-01 7.53808855e-01 -1.53182923e-03 3.57422644e+01] [ 2.33579976e-03 -3.99334616e-06 9.99997272e-01 1.77050289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84361786499997 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:100.73, Y:35.76, Z:0.18 [[ 7.54042009e-01 -6.56823825e-01 -1.76372813e-03 1.00725657e+02] [ 6.56822040e-01 7.54044072e-01 -1.53140937e-03 3.57609667e+01] [ 2.33579491e-03 -3.70851028e-06 9.99997272e-01 1.78120498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:35.78, Z:0.18 [[ 7.54597845e-01 -6.56185162e-01 -1.76811087e-03 1.00748346e+02] [ 6.56183387e-01 7.54599916e-01 -1.52626296e-03 3.57771762e+01] [ 2.33572742e-03 -8.49023924e-06 9.99997272e-01 1.78629204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90361786499997 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:100.77, Y:35.80, Z:0.18 [[ 7.53675705e-01 -6.57244102e-01 -1.76678351e-03 1.00770936e+02] [ 6.57242326e-01 7.53677776e-01 -1.52782104e-03 3.57959277e+01] [ 2.33573684e-03 -9.72329922e-06 9.99997272e-01 1.80225966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:35.82, Z:0.18 [[ 7.52645014e-01 -6.58424134e-01 -1.77262696e-03 1.00794354e+02] [ 6.58422378e-01 7.52647101e-01 -1.52096249e-03 3.58150219e+01] [ 2.33560096e-03 -2.23924209e-05 9.99997272e-01 1.80634696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96361786499997 meters Centerline goodness : 0.993253 Centerline is valid? [True, True] Translation: X:100.82, Y:35.83, Z:0.18 [[ 7.52699779e-01 -6.58361513e-01 -1.77808850e-03 1.00816322e+02] [ 6.58359771e-01 7.52701878e-01 -1.51455203e-03 3.58308290e+01] [ 2.33549332e-03 -3.06189637e-05 9.99997272e-01 1.83303545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99361786499998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:100.84, Y:35.85, Z:0.18 [[ 7.53590356e-01 -6.57341952e-01 -1.76981508e-03 1.00838666e+02] [ 6.57340185e-01 7.53592435e-01 -1.52425973e-03 3.58482598e+01] [ 2.33567912e-03 -1.47031401e-05 9.99997272e-01 1.79849692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02361786499998 meters Centerline goodness : 0.995377 Centerline is valid? [True, True] Translation: X:100.86, Y:35.87, Z:0.18 [[ 7.53273568e-01 -6.57704944e-01 -1.77140671e-03 1.00860146e+02] [ 6.57703182e-01 7.53275651e-01 -1.52239172e-03 3.58677549e+01] [ 2.33564210e-03 -1.82823865e-05 9.99997272e-01 1.82502768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05361786499998 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:100.88, Y:35.88, Z:0.18 [[ 7.54267694e-01 -6.56564627e-01 -1.77116198e-03 1.00880593e+02] [ 6.56562861e-01 7.54269773e-01 -1.52267886e-03 3.58844607e+01] [ 2.33567102e-03 -1.43717069e-05 9.99997272e-01 1.84732463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08361786499998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:100.90, Y:35.90, Z:0.18 [[ 7.55146380e-01 -6.55553851e-01 -1.75892815e-03 1.00902482e+02] [ 6.55552049e-01 7.55148428e-01 -1.53702312e-03 3.59012180e+01] [ 2.33585326e-03 7.60849494e-06 9.99997272e-01 1.80973442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11361786499998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:100.93, Y:35.92, Z:0.18 [[ 7.53195975e-01 -6.57793829e-01 -1.76109465e-03 1.00926213e+02] [ 6.57792039e-01 7.53198034e-01 -1.53447207e-03 3.59220334e+01] [ 2.33581928e-03 -2.67585552e-06 9.99997272e-01 1.80191695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14361786499998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:100.94, Y:35.94, Z:0.18 [[ 7.53296857e-01 -6.57678258e-01 -1.77612170e-03 1.00944327e+02] [ 6.57676509e-01 7.53298951e-01 -1.51677230e-03 3.59388886e+01] [ 2.33549878e-03 -2.55337143e-05 9.99997272e-01 1.80624849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:100.97, Y:35.96, Z:0.18 [[ 7.51953281e-01 -6.59214035e-01 -1.76587650e-03 1.00968495e+02] [ 6.59212263e-01 7.51955355e-01 -1.52884134e-03 3.59597097e+01] [ 2.33569396e-03 -1.44701812e-05 9.99997272e-01 1.78829545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20361786499998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:100.99, Y:35.98, Z:0.18 [[ 7.51456528e-01 -6.59780208e-01 -1.77903090e-03 1.00990014e+02] [ 6.59778473e-01 7.51458632e-01 -1.51333749e-03 3.59785299e+01] [ 2.33533826e-03 -3.65589569e-05 9.99997272e-01 1.79799867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:101.01, Y:36.00, Z:0.18 [[ 7.50565864e-01 -6.60793244e-01 -1.78103849e-03 1.01008134e+02] [ 6.60791518e-01 7.50567976e-01 -1.51097236e-03 3.59966014e+01] [ 2.33523079e-03 -4.28108480e-05 9.99997272e-01 1.75674291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:101.03, Y:36.02, Z:0.18 [[ 7.49625033e-01 -6.61860382e-01 -1.77358068e-03 1.01030201e+02] [ 6.61858638e-01 7.49627130e-01 -1.51975089e-03 3.60163187e+01] [ 2.33538710e-03 -3.46163809e-05 9.99997272e-01 1.75421991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29361786499997 meters Centerline goodness : 0.996359 Centerline is valid? [True, True] Translation: X:101.05, Y:36.03, Z:0.18 [[ 7.49717784e-01 -6.61755295e-01 -1.78124877e-03 1.01050589e+02] [ 6.61753573e-01 7.49719899e-01 -1.51072160e-03 3.60327522e+01] [ 2.33516567e-03 -4.61328835e-05 9.99997272e-01 1.80544984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:101.07, Y:36.05, Z:0.18 [[ 7.47007637e-01 -6.64813082e-01 -1.77658578e-03 1.01072842e+02] [ 6.64811355e-01 7.47009748e-01 -1.51621170e-03 3.60527660e+01] [ 2.33512427e-03 -4.84726793e-05 9.99997272e-01 1.76863917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35361786499998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:101.10, Y:36.07, Z:0.18 [[ 7.46049112e-01 -6.65888527e-01 -1.78662891e-03 1.01096346e+02] [ 6.65886831e-01 7.46051248e-01 -1.50441348e-03 3.60709626e+01] [ 2.33468841e-03 -6.73263260e-05 9.99997272e-01 1.76300762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:36.09, Z:0.18 [[ 7.44271054e-01 -6.67875278e-01 -1.79201873e-03 1.01116577e+02] [ 6.67873603e-01 7.44273207e-01 -1.49808263e-03 3.60891038e+01] [ 2.33428388e-03 -8.18624665e-05 9.99997272e-01 1.75557123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.14, Y:36.11, Z:0.18 [[ 7.43675543e-01 -6.68538310e-01 -1.79319724e-03 1.01137673e+02] [ 6.68536640e-01 7.43677700e-01 -1.49669744e-03 3.61068966e+01] [ 2.33416037e-03 -8.57607736e-05 9.99997272e-01 1.76457620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44361786499998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:101.15, Y:36.12, Z:0.18 [[ 7.43166701e-01 -6.69103915e-01 -1.79037134e-03 1.01153269e+02] [ 6.69102239e-01 7.43168853e-01 -1.50001650e-03 3.61237488e+01] [ 2.33421513e-03 -8.31791571e-05 9.99997272e-01 1.77181981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.17, Y:36.14, Z:0.18 [[ 7.42427820e-01 -6.69923722e-01 -1.77160426e-03 1.01172347e+02] [ 6.69921995e-01 7.42429932e-01 -1.52204030e-03 3.61417475e+01] [ 2.33494293e-03 -5.68315981e-05 9.99997272e-01 1.75936505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.19, Y:36.16, Z:0.18 [[ 7.39829592e-01 -6.72791999e-01 -1.76074416e-03 1.01193374e+02] [ 6.72790251e-01 7.39831686e-01 -1.53474635e-03 3.61633486e+01] [ 2.33521939e-03 -4.91607420e-05 9.99997272e-01 1.79647505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.21, Y:36.18, Z:0.18 [[ 7.37039910e-01 -6.75846899e-01 -1.77171706e-03 1.01212925e+02] [ 6.75845190e-01 7.37042036e-01 -1.52190251e-03 3.61829378e+01] [ 2.33440305e-03 -7.57035615e-05 9.99997272e-01 1.75316141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:36.20, Z:0.18 [[ 7.36033224e-01 -6.76943106e-01 -1.76766789e-03 1.01231846e+02] [ 6.76941389e-01 7.36035343e-01 -1.52664614e-03 3.62002381e+01] [ 2.33451862e-03 -7.29452759e-05 9.99997272e-01 1.76244620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.25, Y:36.22, Z:0.18 [[ 7.35111643e-01 -6.77943778e-01 -1.76245996e-03 1.01254752e+02] [ 6.77942049e-01 7.35113752e-01 -1.53274530e-03 3.62203719e+01] [ 2.33472369e-03 -6.81067956e-05 9.99997272e-01 1.76766018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.27, Y:36.24, Z:0.18 [[ 7.33260654e-01 -6.79945344e-01 -1.77244601e-03 1.01274908e+02] [ 6.79943649e-01 7.33262791e-01 -1.52104765e-03 3.62400493e+01] [ 2.33389798e-03 -8.98390087e-05 9.99997272e-01 1.80866983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.30, Y:36.26, Z:0.18 [[ 7.33241522e-01 -6.79965980e-01 -1.77065232e-03 1.01296116e+02] [ 6.79964280e-01 7.33243655e-01 -1.52314809e-03 3.62598286e+01] [ 2.33400846e-03 -8.71449073e-05 9.99997272e-01 1.81948857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:36.28, Z:0.18 [[ 7.34214984e-01 -6.78914720e-01 -1.77756307e-03 1.01314406e+02] [ 6.78913036e-01 7.34217130e-01 -1.51505473e-03 3.62768901e+01] [ 2.33371022e-03 -9.44348563e-05 9.99997272e-01 1.81775456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.34, Y:36.30, Z:0.18 [[ 7.35552785e-01 -6.77465122e-01 -1.76317782e-03 1.01337456e+02] [ 6.77463394e-01 7.35554895e-01 -1.53189182e-03 3.63004899e+01] [ 2.33471736e-03 -6.77011322e-05 9.99997272e-01 1.79798802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.36, Y:36.32, Z:0.18 [[ 7.35174344e-01 -6.77875739e-01 -1.77954704e-03 1.01356752e+02] [ 6.77874058e-01 7.35176491e-01 -1.51272801e-03 3.63202809e+01] [ 2.33372276e-03 -9.41899528e-05 9.99997272e-01 1.80010658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.38, Y:36.34, Z:0.18 [[ 7.35846106e-01 -6.77146477e-01 -1.77659807e-03 1.01377284e+02] [ 6.77144786e-01 7.35848246e-01 -1.51617829e-03 3.63397612e+01] [ 2.33398136e-03 -8.73402254e-05 9.99997272e-01 1.80329355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.40, Y:36.36, Z:0.18 [[ 7.36704560e-01 -6.76212421e-01 -1.77571561e-03 1.01396293e+02] [ 6.76210724e-01 7.36706695e-01 -1.51721026e-03 3.63593053e+01] [ 2.33413800e-03 -8.30222230e-05 9.99997272e-01 1.81067500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.42, Y:36.38, Z:0.18 [[ 7.37043486e-01 -6.75842994e-01 -1.77413652e-03 1.01417121e+02] [ 6.75841292e-01 7.37045617e-01 -1.51905614e-03 3.63802538e+01] [ 2.33426299e-03 -7.94242845e-05 9.99997272e-01 1.78416972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:36.40, Z:0.18 [[ 7.38427817e-01 -6.74330188e-01 -1.77674405e-03 1.01437673e+02] [ 6.74328488e-01 7.38429950e-01 -1.51600867e-03 3.63992276e+01] [ 2.33429143e-03 -7.86461604e-05 9.99997272e-01 1.82488177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.46, Y:36.42, Z:0.18 [[ 7.38444699e-01 -6.74311708e-01 -1.77417609e-03 1.01455072e+02] [ 6.74310001e-01 7.38446826e-01 -1.51900800e-03 3.64167824e+01] [ 2.33441958e-03 -7.46412731e-05 9.99997272e-01 1.78383267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.48, Y:36.44, Z:0.18 [[ 7.36895384e-01 -6.76004494e-01 -1.76554285e-03 1.01475649e+02] [ 6.76002768e-01 7.36897496e-01 -1.52908467e-03 3.64392947e+01] [ 2.33469221e-03 -6.67364216e-05 9.99997272e-01 1.76171279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.50, Y:36.46, Z:0.18 [[ 7.37854533e-01 -6.74957433e-01 -1.77521098e-03 1.01496245e+02] [ 6.74955731e-01 7.37856664e-01 -1.51780129e-03 3.64588276e+01] [ 2.33430252e-03 -7.82722625e-05 9.99997272e-01 1.78278976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98361786499997 meters Centerline goodness : 0.994018 Centerline is valid? [True, True] Translation: X:101.52, Y:36.48, Z:0.18 [[ 7.38711296e-01 -6.74019641e-01 -1.77321238e-03 1.01516976e+02] [ 6.74017930e-01 7.38713421e-01 -1.52013285e-03 3.64796121e+01] [ 2.33449519e-03 -7.22376305e-05 9.99997272e-01 1.84102101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.54, Y:36.50, Z:0.18 [[ 7.39866107e-01 -6.72751791e-01 -1.78101450e-03 1.01536914e+02] [ 6.72750099e-01 7.39868246e-01 -1.51102821e-03 3.64978556e+01] [ 2.33426301e-03 -8.02191237e-05 9.99997272e-01 1.82905222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04361786499997 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:101.56, Y:36.52, Z:0.18 [[ 7.39696765e-01 -6.72938000e-01 -1.77285818e-03 1.01558385e+02] [ 6.72936286e-01 7.39698887e-01 -1.52053800e-03 3.65185918e+01] [ 2.33460903e-03 -6.82835566e-05 9.99997272e-01 1.84010112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:36.54, Z:0.18 [[ 7.36876244e-01 -6.76025327e-01 -1.77714645e-03 1.01576575e+02] [ 6.76023634e-01 7.36878382e-01 -1.51553888e-03 3.65439403e+01] [ 2.33408347e-03 -8.46284000e-05 9.99997272e-01 1.77874502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:36.56, Z:0.18 [[ 7.38391048e-01 -6.74370424e-01 -1.78666559e-03 1.01592978e+02] [ 6.74368752e-01 7.38393203e-01 -1.50447493e-03 3.65599023e+01] [ 2.33383512e-03 -9.39806258e-05 9.99997272e-01 1.81411462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.61, Y:36.58, Z:0.18 [[ 7.38235109e-01 -6.74541184e-01 -1.76505682e-03 1.01612613e+02] [ 6.74539452e-01 7.38237216e-01 -1.52956257e-03 3.65799185e+01] [ 2.33478358e-03 -6.14236726e-05 9.99997273e-01 1.80966824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:36.60, Z:0.18 [[ 7.38380485e-01 -6.74382048e-01 -1.76438111e-03 1.01632824e+02] [ 6.74380314e-01 7.38382590e-01 -1.53034710e-03 3.66017558e+01] [ 2.33482690e-03 -5.98854511e-05 9.99997272e-01 1.80035181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.65, Y:36.62, Z:0.18 [[ 7.38187888e-01 -6.74592849e-01 -1.76921068e-03 1.01654448e+02] [ 6.74591129e-01 7.38190005e-01 -1.52474147e-03 3.66204301e+01] [ 2.33459333e-03 -6.79481399e-05 9.99997273e-01 1.80104234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.67, Y:36.64, Z:0.18 [[ 7.37714671e-01 -6.75110314e-01 -1.76877200e-03 1.01674120e+02] [ 6.75108594e-01 7.37716788e-01 -1.52525034e-03 3.66397529e+01] [ 2.33456504e-03 -6.89136301e-05 9.99997273e-01 1.82107973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.69, Y:36.66, Z:0.18 [[ 7.38889891e-01 -6.73823857e-01 -1.77142463e-03 1.01693815e+02] [ 6.73822142e-01 7.38892011e-01 -1.52217317e-03 3.66574935e+01] [ 2.33456810e-03 -6.89067663e-05 9.99997273e-01 1.83522907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:36.68, Z:0.18 [[ 7.36473679e-01 -6.76463888e-01 -1.76880253e-03 1.01713104e+02] [ 6.76462172e-01 7.36475799e-01 -1.52521404e-03 3.66798504e+01] [ 2.33443247e-03 -7.32480029e-05 9.99997273e-01 1.80302113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.73, Y:36.70, Z:0.18 [[ 7.38068240e-01 -6.74723747e-01 -1.77141989e-03 1.01734162e+02] [ 6.74722034e-01 7.38070362e-01 -1.52217935e-03 3.66986844e+01] [ 2.33448308e-03 -7.17437954e-05 9.99997273e-01 1.83668966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.75, Y:36.72, Z:0.18 [[ 7.37030562e-01 -6.75857103e-01 -1.76821045e-03 1.01752666e+02] [ 6.75855384e-01 7.37032680e-01 -1.52589845e-03 3.67188368e+01] [ 2.33451820e-03 -7.04207644e-05 9.99997273e-01 1.82048903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:36.74, Z:0.18 [[ 7.37816105e-01 -6.74999475e-01 -1.76190748e-03 1.01775618e+02] [ 6.74997736e-01 7.37818206e-01 -1.53319990e-03 3.67387065e+01] [ 2.33487654e-03 -5.80639840e-05 9.99997272e-01 1.83494120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:36.76, Z:0.18 [[ 7.37648718e-01 -6.75182377e-01 -1.76788586e-03 1.01793296e+02] [ 6.75180656e-01 7.37650834e-01 -1.52627514e-03 3.67592876e+01] [ 2.33459655e-03 -6.77874346e-05 9.99997273e-01 1.79275505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:36.78, Z:0.18 [[ 7.37732782e-01 -6.75090533e-01 -1.76491337e-03 1.01813671e+02] [ 6.75088803e-01 7.37734890e-01 -1.52971710e-03 3.67797762e+01] [ 2.33473570e-03 -6.29508061e-05 9.99997273e-01 1.79019340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:36.80, Z:0.18 [[ 7.39917482e-01 -6.72695324e-01 -1.76671023e-03 1.01833773e+02] [ 6.72693591e-01 7.39919589e-01 -1.52763718e-03 3.68010903e+01] [ 2.33485789e-03 -5.81291896e-05 9.99997273e-01 1.77660981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.85, Y:36.82, Z:0.18 [[ 7.42316896e-01 -6.70046642e-01 -1.76770720e-03 1.01849999e+02] [ 6.70044905e-01 7.42318998e-01 -1.52648350e-03 3.68165030e+01] [ 2.33501778e-03 -5.13087044e-05 9.99997273e-01 1.76006342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:36.84, Z:0.18 [[ 7.42765515e-01 -6.69549368e-01 -1.74195914e-03 1.01876209e+02] [ 6.69547559e-01 7.42767557e-01 -1.55618071e-03 3.68396683e+01] [ 2.33581054e-03 -1.04471257e-05 9.99997272e-01 1.80566444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:36.86, Z:0.18 [[ 7.43897238e-01 -6.68291690e-01 -1.76531914e-03 1.01894662e+02] [ 6.68289942e-01 7.43899332e-01 -1.52921400e-03 3.68609800e+01] [ 2.33518074e-03 -4.21669547e-05 9.99997273e-01 1.76808366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:36.88, Z:0.18 [[ 7.45093926e-01 -6.66957218e-01 -1.76393049e-03 1.01916286e+02] [ 6.66955462e-01 7.45096013e-01 -1.53081640e-03 3.68807942e+01] [ 2.33528663e-03 -3.58610748e-05 9.99997273e-01 1.76105045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:36.90, Z:0.18 [[ 7.46192756e-01 -6.65727615e-01 -1.76480807e-03 1.01935802e+02] [ 6.65725858e-01 7.46194842e-01 -1.52980402e-03 3.68988740e+01] [ 2.33532346e-03 -3.33496851e-05 9.99997273e-01 1.77853506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:36.92, Z:0.18 [[ 7.47179427e-01 -6.64620038e-01 -1.76316568e-03 1.01954294e+02] [ 6.64618274e-01 7.47181507e-01 -1.53169786e-03 3.69192566e+01] [ 2.33540188e-03 -2.73790051e-05 9.99997273e-01 1.77565121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:36.94, Z:0.18 [[ 7.47861619e-01 -6.63852326e-01 -1.75749937e-03 1.01974869e+02] [ 6.63850544e-01 7.47863684e-01 -1.53822718e-03 3.69374453e+01] [ 2.33552565e-03 -1.63358459e-05 9.99997273e-01 1.76226932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.00, Y:36.96, Z:0.18 [[ 7.47692754e-01 -6.64042507e-01 -1.75878992e-03 1.01995490e+02] [ 6.64040730e-01 7.47694823e-01 -1.53674008e-03 3.69558690e+01] [ 2.33549885e-03 -1.88987189e-05 9.99997273e-01 1.75699037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.02, Y:36.97, Z:0.18 [[ 7.46855936e-01 -6.64983550e-01 -1.75764717e-03 1.02015572e+02] [ 6.64981772e-01 7.46858004e-01 -1.53805637e-03 3.69747728e+01] [ 2.33549504e-03 -2.00967943e-05 9.99997273e-01 1.76026786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.04, Y:36.99, Z:0.18 [[ 7.44356413e-01 -6.67780245e-01 -1.75357479e-03 1.02035414e+02] [ 6.67778463e-01 7.44358478e-01 -1.54274641e-03 3.69934582e+01] [ 2.33550384e-03 -2.26462933e-05 9.99997272e-01 1.75755946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.06, Y:37.01, Z:0.18 [[ 7.45441818e-01 -6.66568405e-01 -1.74879121e-03 1.02061996e+02] [ 6.66566607e-01 7.45443869e-01 -1.54825354e-03 3.70098031e+01] [ 2.33564258e-03 -1.15528887e-05 9.99997272e-01 1.79265903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.08, Y:37.03, Z:0.18 [[ 7.40778786e-01 -6.71746738e-01 -1.76350719e-03 1.02078474e+02] [ 6.71744995e-01 7.40780883e-01 -1.53130609e-03 3.70292860e+01] [ 2.33502228e-03 -5.02680591e-05 9.99997273e-01 1.76794745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.10, Y:37.05, Z:0.18 [[ 7.36764565e-01 -6.76147117e-01 -1.74697502e-03 1.02100421e+02] [ 6.76145341e-01 7.36766635e-01 -1.55033034e-03 3.70458497e+01] [ 2.33536430e-03 -3.89805614e-05 9.99997272e-01 1.77561911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.12, Y:37.06, Z:0.18 [[ 7.35545189e-01 -6.77473416e-01 -1.74502355e-03 1.02123275e+02] [ 6.77471638e-01 7.35547258e-01 -1.55257641e-03 3.70632147e+01] [ 2.33537653e-03 -4.02138541e-05 9.99997272e-01 1.77078717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.15, Y:37.08, Z:0.18 [[ 7.34706771e-01 -6.78382568e-01 -1.74703139e-03 1.02151369e+02] [ 6.78380798e-01 7.34708847e-01 -1.55026547e-03 3.70813363e+01] [ 2.33523249e-03 -4.61620094e-05 9.99997272e-01 1.78650496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.17, Y:37.10, Z:0.18 [[ 7.33137436e-01 -6.80078224e-01 -1.76335763e-03 1.02171537e+02] [ 6.80076504e-01 7.33139552e-01 -1.53146716e-03 3.70987185e+01] [ 2.33430469e-03 -7.64421880e-05 9.99997273e-01 1.78250381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.20, Y:37.12, Z:0.18 [[ 7.32965977e-01 -6.80263034e-01 -1.75529951e-03 1.02195647e+02] [ 6.80261292e-01 7.32968076e-01 -1.54073916e-03 3.71168950e+01] [ 2.33468640e-03 -6.47529337e-05 9.99997273e-01 1.79835539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.22, Y:37.13, Z:0.18 [[ 7.33208563e-01 -6.80001541e-01 -1.76265525e-03 1.02216863e+02] [ 6.79999819e-01 7.33210678e-01 -1.53227748e-03 3.71331689e+01] [ 2.33434870e-03 -7.51262816e-05 9.99997273e-01 1.79919917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.24, Y:37.15, Z:0.18 [[ 7.32895810e-01 -6.80338611e-01 -1.76247383e-03 1.02237636e+02] [ 6.80336889e-01 7.32897925e-01 -1.53248614e-03 3.71514794e+01] [ 2.33432290e-03 -7.59232936e-05 9.99997273e-01 1.81168638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.26, Y:37.17, Z:0.18 [[ 7.32350181e-01 -6.80925919e-01 -1.76205533e-03 1.02258690e+02] [ 6.80924198e-01 7.32352297e-01 -1.53296718e-03 3.71700091e+01] [ 2.33428235e-03 -7.71573196e-05 9.99997273e-01 1.80200066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.28, Y:37.19, Z:0.18 [[ 7.33109068e-01 -6.80108808e-01 -1.76161320e-03 1.02280138e+02] [ 6.80107083e-01 7.33111181e-01 -1.53347508e-03 3.71879429e+01] [ 2.33438824e-03 -7.38811293e-05 9.99997273e-01 1.81049257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.30, Y:37.21, Z:0.18 [[ 7.34292854e-01 -6.78830540e-01 -1.76140807e-03 1.02301318e+02] [ 6.78828811e-01 7.34294963e-01 -1.53371067e-03 3.72077548e+01] [ 2.33452271e-03 -6.95017617e-05 9.99997273e-01 1.81650908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:37.23, Z:0.18 [[ 7.35333409e-01 -6.77703236e-01 -1.76101682e-03 1.02322057e+02] [ 6.77701502e-01 7.35335515e-01 -1.53415977e-03 3.72257255e+01] [ 2.33464325e-03 -6.53248039e-05 9.99997273e-01 1.80095526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.34, Y:37.24, Z:0.18 [[ 7.36033494e-01 -6.76942837e-01 -1.75793552e-03 1.02343374e+02] [ 6.76941093e-01 7.36035591e-01 -1.53769440e-03 3.72445662e+01] [ 2.33483432e-03 -5.82242103e-05 9.99997273e-01 1.81387722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.37, Y:37.26, Z:0.18 [[ 7.37876976e-01 -6.74932942e-01 -1.75853050e-03 1.02365644e+02] [ 6.74931194e-01 7.37879069e-01 -1.53701190e-03 3.72631704e+01] [ 2.33496282e-03 -5.27614002e-05 9.99997273e-01 1.81089331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.39, Y:37.28, Z:0.18 [[ 7.39018636e-01 -6.73682683e-01 -1.76022216e-03 1.02386651e+02] [ 6.73680936e-01 7.39020730e-01 -1.53507212e-03 3.72821291e+01] [ 2.33499218e-03 -5.13812089e-05 9.99997273e-01 1.79795020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.41, Y:37.30, Z:0.18 [[ 7.39144218e-01 -6.73544891e-01 -1.76193232e-03 1.02407021e+02] [ 6.73543148e-01 7.39146316e-01 -1.53311191e-03 3.73009349e+01] [ 2.33494548e-03 -5.35466380e-05 9.99997273e-01 1.80187875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.43, Y:37.32, Z:0.18 [[ 7.38937225e-01 -6.73771980e-01 -1.75965187e-03 1.02425633e+02] [ 6.73770232e-01 7.38939319e-01 -1.53572488e-03 3.73201788e+01] [ 2.33500435e-03 -5.07967645e-05 9.99997273e-01 1.78537299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.45, Y:37.34, Z:0.18 [[ 7.38506042e-01 -6.74244564e-01 -1.75895806e-03 1.02445040e+02] [ 6.74242815e-01 7.38508135e-01 -1.53651954e-03 3.73391282e+01] [ 2.33499478e-03 -5.12358648e-05 9.99997273e-01 1.79543818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.47, Y:37.36, Z:0.18 [[ 7.36691568e-01 -6.76226639e-01 -1.75122312e-03 1.02466405e+02] [ 6.76224875e-01 7.36693648e-01 -1.54537231e-03 3.73578014e+01] [ 2.33513687e-03 -4.57578831e-05 9.99997273e-01 1.76350348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.49, Y:37.38, Z:0.18 [[ 7.35548682e-01 -6.77469616e-01 -1.74846726e-03 1.02487909e+02] [ 6.77467847e-01 7.35550758e-01 -1.54852527e-03 3.73757874e+01] [ 2.33516524e-03 -4.55146305e-05 9.99997272e-01 1.76236160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.51, Y:37.39, Z:0.18 [[ 7.34605384e-01 -6.78492360e-01 -1.74581762e-03 1.02509244e+02] [ 6.78490587e-01 7.34607457e-01 -1.55155494e-03 3.73932666e+01] [ 2.33520882e-03 -4.47402111e-05 9.99997272e-01 1.75939250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45361786499998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:102.54, Y:37.41, Z:0.18 [[ 7.35030559e-01 -6.78031735e-01 -1.74489894e-03 1.02536570e+02] [ 6.78029958e-01 7.35032628e-01 -1.55260418e-03 3.74085718e+01] [ 2.33527256e-03 -4.18822421e-05 9.99997272e-01 1.81687685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.56, Y:37.43, Z:0.18 [[ 7.33873558e-01 -6.79283824e-01 -1.75739140e-03 1.02558011e+02] [ 6.79282085e-01 7.33875659e-01 -1.53833279e-03 3.74267603e+01] [ 2.33467135e-03 -6.48227339e-05 9.99997273e-01 1.82388931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.58, Y:37.45, Z:0.18 [[ 7.29852391e-01 -6.83602517e-01 -1.75698578e-03 1.02575210e+02] [ 6.83600789e-01 7.29854501e-01 -1.53879593e-03 3.74469717e+01] [ 2.33426875e-03 -7.79829760e-05 9.99997273e-01 1.76009129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.60, Y:37.46, Z:0.18 [[ 7.32231797e-01 -6.81053260e-01 -1.74706899e-03 1.02601583e+02] [ 6.81051498e-01 7.32233879e-01 -1.55010888e-03 3.74630997e+01] [ 2.33496981e-03 -5.48049387e-05 9.99997272e-01 1.83613968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.62, Y:37.48, Z:0.18 [[ 7.29934817e-01 -6.83514504e-01 -1.75650888e-03 1.02620641e+02] [ 6.83512775e-01 7.29936927e-01 -1.53933720e-03 3.74824153e+01] [ 2.33429999e-03 -7.69804382e-05 9.99997273e-01 1.79919572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.65, Y:37.50, Z:0.18 [[ 7.31451649e-01 -6.81891063e-01 -1.75021177e-03 1.02645178e+02] [ 6.81889312e-01 7.31453740e-01 -1.54651826e-03 3.74977558e+01] [ 2.33475593e-03 -6.22473690e-05 9.99997273e-01 1.84732870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.67, Y:37.52, Z:0.18 [[ 7.32264176e-01 -6.81018424e-01 -1.75594990e-03 1.02670114e+02] [ 6.81016686e-01 7.32266278e-01 -1.53997539e-03 3.75157259e+01] [ 2.33457451e-03 -6.81623748e-05 9.99997273e-01 1.81349489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.69, Y:37.53, Z:0.18 [[ 7.32027909e-01 -6.81272348e-01 -1.76849076e-03 1.02690958e+02] [ 6.81270646e-01 7.32030040e-01 -1.52567134e-03 3.75320568e+01] [ 2.33398606e-03 -8.79868424e-05 9.99997272e-01 1.79344109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.71, Y:37.55, Z:0.18 [[ 7.31976530e-01 -6.81327556e-01 -1.76673400e-03 1.02712207e+02] [ 6.81325849e-01 7.31978657e-01 -1.52767256e-03 3.75502680e+01] [ 2.33405699e-03 -8.55010861e-05 9.99997272e-01 1.78419289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.73, Y:37.57, Z:0.18 [[ 7.32592011e-01 -6.80665724e-01 -1.76554016e-03 1.02731030e+02] [ 6.80664011e-01 7.32594134e-01 -1.52903171e-03 3.75670525e+01] [ 2.33418384e-03 -8.15832372e-05 9.99997272e-01 1.82479721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.75, Y:37.58, Z:0.18 [[ 7.33624908e-01 -6.79552366e-01 -1.75408437e-03 1.02753441e+02] [ 6.79550619e-01 7.33627002e-01 -1.54206259e-03 3.75834949e+01] [ 2.33475594e-03 -6.06935908e-05 9.99997273e-01 1.81893257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.78, Y:37.60, Z:0.18 [[ 7.34669606e-01 -6.78422799e-01 -1.75365407e-03 1.02778748e+02] [ 6.78421048e-01 7.34671697e-01 -1.54255178e-03 3.76007098e+01] [ 2.33486230e-03 -5.64499227e-05 9.99997273e-01 1.78397094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.80, Y:37.62, Z:0.18 [[ 7.34206364e-01 -6.78924077e-01 -1.76422913e-03 1.02797882e+02] [ 6.78922356e-01 7.34208480e-01 -1.53053287e-03 3.76176493e+01] [ 2.33442761e-03 -7.40476216e-05 9.99997272e-01 1.81550639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.82, Y:37.63, Z:0.18 [[ 7.34989968e-01 -6.78075715e-01 -1.75277499e-03 1.02820964e+02] [ 6.78073960e-01 7.34992056e-01 -1.54353969e-03 3.76328112e+01] [ 2.33491247e-03 -5.40248909e-05 9.99997273e-01 1.76305272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87361786499997 meters Centerline goodness : 0.994385 Centerline is valid? [True, True] Translation: X:102.84, Y:37.65, Z:0.18 [[ 7.34701590e-01 -6.78388169e-01 -1.75114152e-03 1.02842797e+02] [ 6.78386411e-01 7.34703675e-01 -1.54539336e-03 3.76506751e+01] [ 2.33494668e-03 -5.25476542e-05 9.99997273e-01 1.81091900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.86, Y:37.67, Z:0.18 [[ 7.33755761e-01 -6.79411081e-01 -1.75077047e-03 1.02864652e+02] [ 6.79409325e-01 7.33757848e-01 -1.54581420e-03 3.76691285e+01] [ 2.33488487e-03 -5.52397079e-05 9.99997273e-01 1.77527295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.89, Y:37.68, Z:0.17 [[ 7.33075597e-01 -6.80144908e-01 -1.75316827e-03 1.02885418e+02] [ 6.80143160e-01 7.33077691e-01 -1.54309776e-03 3.76847703e+01] [ 2.33473863e-03 -6.11980940e-05 9.99997273e-01 1.74138605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.91, Y:37.70, Z:0.18 [[ 7.33194186e-01 -6.80017081e-01 -1.74784833e-03 1.02907305e+02] [ 6.80015318e-01 7.33196268e-01 -1.54912056e-03 3.77023364e+01] [ 2.33494431e-03 -5.27574504e-05 9.99997273e-01 1.75867907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.93, Y:37.72, Z:0.17 [[ 7.32229177e-01 -6.81056078e-01 -1.74663851e-03 1.02928178e+02] [ 6.81054316e-01 7.32231258e-01 -1.55049009e-03 3.77200803e+01] [ 2.33491401e-03 -5.42416115e-05 9.99997273e-01 1.74507180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02361786499998 meters Centerline goodness : 0.994162 Centerline is valid? [True, True] Translation: X:102.95, Y:37.74, Z:0.18 [[ 7.32469524e-01 -6.80797593e-01 -1.74207088e-03 1.02953095e+02] [ 6.80795817e-01 7.32471594e-01 -1.55564728e-03 3.77382531e+01] [ 2.33509835e-03 -4.65303458e-05 9.99997273e-01 1.78977707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.98, Y:37.75, Z:0.18 [[ 7.31838504e-01 -6.81475847e-01 -1.75336872e-03 1.02975104e+02] [ 6.81474104e-01 7.31840601e-01 -1.54288272e-03 3.77527859e+01] [ 2.33462373e-03 -6.57343999e-05 9.99997273e-01 1.80474268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.00, Y:37.77, Z:0.18 [[ 7.30964241e-01 -6.82413526e-01 -1.74838677e-03 1.02997362e+02] [ 6.82411772e-01 7.30966330e-01 -1.54850773e-03 3.77695711e+01] [ 2.33473448e-03 -6.12159395e-05 9.99997273e-01 1.81264299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.02, Y:37.79, Z:0.18 [[ 7.30780872e-01 -6.82609890e-01 -1.74797105e-03 1.03018701e+02] [ 6.82608136e-01 7.30782959e-01 -1.54897687e-03 3.77885734e+01] [ 2.33473438e-03 -6.12165938e-05 9.99997273e-01 1.81330823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14361786499998 meters Centerline goodness : 0.993352 Centerline is valid? [True, True] Translation: X:103.04, Y:37.81, Z:0.18 [[ 7.28389066e-01 -6.85161525e-01 -1.74755476e-03 1.03044047e+02] [ 6.85159776e-01 7.28391159e-01 -1.54944638e-03 3.78059804e+01] [ 2.33452448e-03 -6.87544246e-05 9.99997273e-01 1.82542154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.06, Y:37.82, Z:0.18 [[ 7.29562693e-01 -6.83911685e-01 -1.75607919e-03 1.03063197e+02] [ 6.83909956e-01 7.29564802e-01 -1.53983368e-03 3.78195767e+01] [ 2.33428381e-03 -7.75948333e-05 9.99997273e-01 1.77189483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20361786499997 meters Centerline goodness : 0.993919 Centerline is valid? [True, True] Translation: X:103.09, Y:37.84, Z:0.18 [[ 7.29098285e-01 -6.84406800e-01 -1.73881271e-03 1.03087661e+02] [ 6.84405026e-01 7.29100356e-01 -1.55928349e-03 3.78387728e+01] [ 2.33495319e-03 -5.31812377e-05 9.99997273e-01 1.84395864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.11, Y:37.86, Z:0.18 [[ 7.29356308e-01 -6.84131799e-01 -1.74851797e-03 1.03109814e+02] [ 6.84130051e-01 7.29358401e-01 -1.54835031e-03 3.78556497e+01] [ 2.33457195e-03 -6.69146174e-05 9.99997273e-01 1.82468682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.13, Y:37.87, Z:0.18 [[ 7.30550071e-01 -6.82856902e-01 -1.74506969e-03 1.03132736e+02] [ 6.82855140e-01 7.30552153e-01 -1.55223597e-03 3.78727849e+01] [ 2.33481946e-03 -5.76437057e-05 9.99997273e-01 1.81810836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.16, Y:37.89, Z:0.18 [[ 7.33214800e-01 -6.79994854e-01 -1.74819632e-03 1.03155316e+02] [ 6.79993092e-01 7.33216882e-01 -1.54871334e-03 3.78880989e+01] [ 2.33492415e-03 -5.32218813e-05 9.99997273e-01 1.83515942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.18, Y:37.91, Z:0.18 [[ 7.33903954e-01 -6.79251018e-01 -1.74377084e-03 1.03178963e+02] [ 6.79249242e-01 7.33906025e-01 -1.55369443e-03 3.79063790e+01] [ 2.33511245e-03 -4.41925370e-05 9.99997273e-01 1.80632575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:103.20, Y:37.93, Z:0.18 [[ 7.34744391e-01 -6.78341816e-01 -1.74947517e-03 1.03204832e+02] [ 6.78340053e-01 7.34746472e-01 -1.54727512e-03 3.79255113e+01] [ 2.33500212e-03 -4.98873652e-05 9.99997273e-01 1.82002314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38361786499998 meters Centerline goodness : 0.997123 Centerline is valid? [True, True] Translation: X:103.22, Y:37.93, Z:0.19 [[ 7.40943750e-01 -6.71564779e-01 -1.76247011e-03 1.03220828e+02] [ 6.71563032e-01 7.40945845e-01 -1.53259715e-03 3.79329453e+01] [ 2.33513317e-03 -4.80414920e-05 9.99997272e-01 1.85617716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41361786499998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:103.24, Y:37.96, Z:0.18 [[ 7.41235978e-01 -6.71242312e-01 -1.72709360e-03 1.03244633e+02] [ 6.71240470e-01 7.41237990e-01 -1.57275786e-03 3.79567779e+01] [ 2.33588902e-03 6.48959253e-06 9.99997272e-01 1.84091250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.27, Y:37.98, Z:0.19 [[ 7.45684621e-01 -6.66296740e-01 -1.76078770e-03 1.03266925e+02] [ 6.66294974e-01 7.45686699e-01 -1.53455570e-03 3.79755270e+01] [ 2.33546542e-03 -2.89094089e-05 9.99997272e-01 1.85290030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47361786499998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:103.28, Y:37.99, Z:0.18 [[ 7.45689804e-01 -6.66290919e-01 -1.76831983e-03 1.03284495e+02] [ 6.66289173e-01 7.45691900e-01 -1.52600850e-03 3.79942868e+01] [ 2.33538738e-03 -4.02833798e-05 9.99997272e-01 1.83329236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:103.31, Y:38.01, Z:0.18 [[ 7.46466643e-01 -6.65420510e-01 -1.75938908e-03 1.03307128e+02] [ 6.65418737e-01 7.46468716e-01 -1.53613010e-03 3.80130853e+01] [ 2.33550138e-03 -2.40605797e-05 9.99997272e-01 1.83422630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53361786499998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:103.33, Y:38.03, Z:0.18 [[ 7.46834148e-01 -6.65008012e-01 -1.76038400e-03 1.03325801e+02] [ 6.65006241e-01 7.46836222e-01 -1.53500294e-03 3.80287786e+01] [ 2.33550779e-03 -2.42737349e-05 9.99997272e-01 1.83502882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:103.35, Y:38.05, Z:0.19 [[ 7.45643083e-01 -6.66343270e-01 -1.74331233e-03 1.03353468e+02] [ 6.66341458e-01 7.45645121e-01 -1.55432039e-03 3.80505910e+01] [ 2.33560327e-03 -2.67302640e-06 9.99997272e-01 1.85196152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59361786499997 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:103.37, Y:38.07, Z:0.18 [[ 7.43078422e-01 -6.69202013e-01 -1.76784676e-03 1.03370139e+02] [ 6.69200273e-01 7.43080523e-01 -1.52655892e-03 3.80696260e+01] [ 2.33522880e-03 -4.86905398e-05 9.99997272e-01 1.83099865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62361786499997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:103.39, Y:38.09, Z:0.18 [[ 7.41277806e-01 -6.71196056e-01 -1.75177844e-03 1.03391114e+02] [ 6.71194279e-01 7.41279876e-01 -1.54471884e-03 3.80893870e+01] [ 2.33536730e-03 -3.07178744e-05 9.99997273e-01 1.81961445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65361786499997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:103.41, Y:38.11, Z:0.18 [[ 7.39594588e-01 -6.73050343e-01 -1.75500783e-03 1.03410696e+02] [ 6.73048580e-01 7.39596670e-01 -1.54106949e-03 3.81100654e+01] [ 2.33521529e-03 -4.14388721e-05 9.99997273e-01 1.80704699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.43, Y:38.13, Z:0.18 [[ 7.36158922e-01 -6.76806454e-01 -1.75094795e-03 1.03432427e+02] [ 6.76804690e-01 7.36161003e-01 -1.54565512e-03 3.81318056e+01] [ 2.33508896e-03 -4.72019753e-05 9.99997273e-01 1.75235987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71361786499997 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:103.45, Y:38.15, Z:0.18 [[ 7.35448704e-01 -6.77578108e-01 -1.76374357e-03 1.03452399e+02] [ 6.77576382e-01 7.35450816e-01 -1.53120218e-03 3.81483308e+01] [ 2.33465572e-03 -6.89503240e-05 9.99997272e-01 1.78256714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:103.47, Y:38.17, Z:0.18 [[ 7.34045532e-01 -6.79097998e-01 -1.75092515e-03 1.03472792e+02] [ 6.79096241e-01 7.34047619e-01 -1.54566189e-03 3.81670602e+01] [ 2.33491833e-03 -5.44604869e-05 9.99997273e-01 1.77358960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:103.49, Y:38.19, Z:0.18 [[ 7.32683526e-01 -6.80567261e-01 -1.74751710e-03 1.03494499e+02] [ 6.80565499e-01 7.32685608e-01 -1.54950395e-03 3.81859418e+01] [ 2.33492229e-03 -5.40038253e-05 9.99997273e-01 1.81354287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.51, Y:38.21, Z:0.18 [[ 7.31357040e-01 -6.81992538e-01 -1.74909617e-03 1.03514722e+02] [ 6.81990784e-01 7.31359129e-01 -1.54772447e-03 3.82052429e+01] [ 2.33475399e-03 -6.09282863e-05 9.99997273e-01 1.80200594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83361786499998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:103.53, Y:38.23, Z:0.18 [[ 7.30043788e-01 -6.83398125e-01 -1.75231432e-03 1.03533936e+02] [ 6.83396384e-01 7.30045887e-01 -1.54409748e-03 3.82257192e+01] [ 2.33450319e-03 -7.02664969e-05 9.99997273e-01 1.79258632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:103.55, Y:38.25, Z:0.18 [[ 7.29893236e-01 -6.83558926e-01 -1.74896524e-03 1.03553037e+02] [ 6.83557176e-01 7.29895329e-01 -1.54786815e-03 3.82459851e+01] [ 2.33462064e-03 -6.57392474e-05 9.99997273e-01 1.78238780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.57, Y:38.27, Z:0.18 [[ 7.29971086e-01 -6.83475798e-01 -1.74556852e-03 1.03570860e+02] [ 6.83474039e-01 7.29973171e-01 -1.55169002e-03 3.82662860e+01] [ 2.33476076e-03 -6.03619194e-05 9.99997273e-01 1.78008587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.59, Y:38.29, Z:0.18 [[ 7.29039325e-01 -6.84469598e-01 -1.74097237e-03 1.03591193e+02] [ 6.84467830e-01 7.29041402e-01 -1.55685628e-03 3.82861283e+01] [ 2.33486173e-03 -5.66301276e-05 9.99997273e-01 1.77712521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.61, Y:38.31, Z:0.18 [[ 7.28807621e-01 -6.84716299e-01 -1.74397670e-03 1.03612688e+02] [ 6.84714539e-01 7.28809705e-01 -1.55347996e-03 3.83052253e+01] [ 2.33472019e-03 -6.19381704e-05 9.99997273e-01 1.77034564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.63, Y:38.32, Z:0.18 [[ 7.28327316e-01 -6.85227169e-01 -1.74572520e-03 1.03631941e+02] [ 6.85225416e-01 7.28329405e-01 -1.55151587e-03 3.83241839e+01] [ 2.33460382e-03 -6.62038885e-05 9.99997273e-01 1.76511982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:103.66, Y:38.34, Z:0.18 [[ 7.28497223e-01 -6.85046547e-01 -1.73878237e-03 1.03655525e+02] [ 6.85044775e-01 7.28499296e-01 -1.55931328e-03 3.83438563e+01] [ 2.33490391e-03 -5.51883866e-05 9.99997273e-01 1.78118761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.67, Y:38.36, Z:0.17 [[ 7.26374540e-01 -6.87296853e-01 -1.75017989e-03 1.03674319e+02] [ 6.87295117e-01 7.26376645e-01 -1.54651162e-03 3.83636370e+01] [ 2.33420236e-03 -7.95434226e-05 9.99997273e-01 1.74916767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.69, Y:38.38, Z:0.18 [[ 7.25882811e-01 -6.87816182e-01 -1.74501804e-03 1.03694168e+02] [ 6.87814434e-01 7.25884905e-01 -1.55230720e-03 3.83832995e+01] [ 2.33438427e-03 -7.34554875e-05 9.99997273e-01 1.75984463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.72, Y:38.40, Z:0.18 [[ 7.25498263e-01 -6.88221792e-01 -1.74237553e-03 1.03717935e+02] [ 6.88220038e-01 7.25500352e-01 -1.55527219e-03 3.84035924e+01] [ 2.33446627e-03 -7.07904797e-05 9.99997273e-01 1.75473428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13361786499998 meters Centerline goodness : 0.993351 Centerline is valid? [True, True] Translation: X:103.74, Y:38.42, Z:0.18 [[ 7.27801221e-01 -6.85785897e-01 -1.75694377e-03 1.03738550e+02] [ 6.85784175e-01 7.27803337e-01 -1.53885904e-03 3.84197278e+01] [ 2.33403737e-03 -8.49007427e-05 9.99997273e-01 1.82144344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:38.44, Z:0.18 [[ 7.27959048e-01 -6.85618384e-01 -1.74816678e-03 1.03758563e+02] [ 6.85616639e-01 7.27961143e-01 -1.54874094e-03 3.84383805e+01] [ 2.33444275e-03 -7.11522546e-05 9.99997273e-01 1.76564364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:38.46, Z:0.18 [[ 7.28301122e-01 -6.85255010e-01 -1.74562015e-03 1.03780407e+02] [ 6.85253256e-01 7.28303211e-01 -1.55160702e-03 3.84575242e+01] [ 2.33458725e-03 -6.61547593e-05 9.99997273e-01 1.76446178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:38.48, Z:0.18 [[ 7.28579520e-01 -6.84959001e-01 -1.74663791e-03 1.03802286e+02] [ 6.84957249e-01 7.28581610e-01 -1.55046193e-03 3.84766298e+01] [ 2.33457112e-03 -6.67374916e-05 9.99997273e-01 1.76843295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.82, Y:38.49, Z:0.17 [[ 7.30418157e-01 -6.82997992e-01 -1.74884602e-03 1.03818193e+02] [ 6.82996241e-01 7.30420248e-01 -1.54797876e-03 3.84937959e+01] [ 2.33465892e-03 -6.37834650e-05 9.99997273e-01 1.73639471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28361786499998 meters Centerline goodness : 0.994645 Centerline is valid? [True, True] Translation: X:103.84, Y:38.52, Z:0.18 [[ 7.29970057e-01 -6.83476936e-01 -1.73003075e-03 1.03840649e+02] [ 6.83475136e-01 7.29972106e-01 -1.56904270e-03 3.85160254e+01] [ 2.33527869e-03 -3.70788176e-05 9.99997273e-01 1.81024340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.86, Y:38.53, Z:0.18 [[ 7.31172226e-01 -6.82190687e-01 -1.74413992e-03 1.03861425e+02] [ 6.82188921e-01 7.31174305e-01 -1.55324522e-03 3.85348598e+01] [ 2.33487972e-03 -5.41431647e-05 9.99997273e-01 1.81207104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.88, Y:38.55, Z:0.17 [[ 7.31022165e-01 -6.82351494e-01 -1.74156185e-03 1.03881541e+02] [ 6.82349722e-01 7.31024238e-01 -1.55613050e-03 3.85540894e+01] [ 2.33495189e-03 -5.07883523e-05 9.99997273e-01 1.73305856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.91, Y:38.57, Z:0.18 [[ 7.33543432e-01 -6.79640346e-01 -1.74147227e-03 1.03906071e+02] [ 6.79638566e-01 7.33545498e-01 -1.55623073e-03 3.85700309e+01] [ 2.33512634e-03 -4.20088854e-05 9.99997273e-01 1.78029992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.92, Y:38.59, Z:0.18 [[ 7.31766381e-01 -6.81553323e-01 -1.74108592e-03 1.03924887e+02] [ 6.81551547e-01 7.31768450e-01 -1.55666286e-03 3.85902119e+01] [ 2.33502049e-03 -4.75262588e-05 9.99997273e-01 1.75836887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:38.61, Z:0.18 [[ 7.31121627e-01 -6.82244933e-01 -1.73713958e-03 1.03947808e+02] [ 6.82243148e-01 7.31123690e-01 -1.56107259e-03 3.86085855e+01] [ 2.33509777e-03 -4.38176424e-05 9.99997273e-01 1.80808326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.97, Y:38.63, Z:0.17 [[ 7.30046057e-01 -6.83395729e-01 -1.74096098e-03 1.03968949e+02] [ 6.83393958e-01 7.30048131e-01 -1.55680375e-03 3.86282280e+01] [ 2.33489834e-03 -5.32237770e-05 9.99997273e-01 1.74946143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49361786499998 meters Centerline goodness : 0.995851 Centerline is valid? [True, True] Translation: X:103.99, Y:38.64, Z:0.18 [[ 7.31195795e-01 -6.82165436e-01 -1.74001960e-03 1.03990502e+02] [ 6.82163659e-01 7.31197863e-01 -1.55785483e-03 3.86448178e+01] [ 2.33501334e-03 -4.78812393e-05 9.99997273e-01 1.78608606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52361786499998 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:104.01, Y:38.66, Z:0.18 [[ 7.31558687e-01 -6.81776264e-01 -1.73597732e-03 1.04012507e+02] [ 6.81774475e-01 7.31560745e-01 -1.56236330e-03 3.86639814e+01] [ 2.33515508e-03 -4.05845826e-05 9.99997273e-01 1.78542133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.03, Y:38.68, Z:0.18 [[ 7.33360895e-01 -6.79837315e-01 -1.73852683e-03 1.04031946e+02] [ 6.79835528e-01 7.33362955e-01 -1.55952118e-03 3.86824864e+01] [ 2.33519187e-03 -3.82204564e-05 9.99997273e-01 1.79362636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:38.70, Z:0.18 [[ 7.34805506e-01 -6.78275647e-01 -1.73645923e-03 1.04051535e+02] [ 6.78273849e-01 7.34807557e-01 -1.56182549e-03 3.87007512e+01] [ 2.33531156e-03 -3.01569164e-05 9.99997273e-01 1.79851720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:38.72, Z:0.18 [[ 7.36495750e-01 -6.76439946e-01 -1.73477193e-03 1.04072425e+02] [ 6.76438139e-01 7.36497793e-01 -1.56370628e-03 3.87199459e+01] [ 2.33540909e-03 -2.18028683e-05 9.99997273e-01 1.76299966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64361786499998 meters Centerline goodness : 0.996226 Centerline is valid? [True, True] Translation: X:104.09, Y:38.74, Z:0.18 [[ 7.37166871e-01 -6.75708509e-01 -1.73647094e-03 1.04091554e+02] [ 6.75706704e-01 7.37168916e-01 -1.56181363e-03 3.87374305e+01] [ 2.33540316e-03 -2.20277895e-05 9.99997273e-01 1.77455275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67361786499998 meters Centerline goodness : 0.995193 Centerline is valid? [True, True] Translation: X:104.11, Y:38.76, Z:0.18 [[ 7.36793960e-01 -6.76115135e-01 -1.72744960e-03 1.04113092e+02] [ 6.76113308e-01 7.36795985e-01 -1.57184165e-03 3.87575171e+01] [ 2.33552386e-03 -9.82823304e-06 9.99997273e-01 1.78163626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:38.78, Z:0.18 [[ 7.34823323e-01 -6.78256361e-01 -1.72971084e-03 1.04135410e+02] [ 6.78254546e-01 7.34825359e-01 -1.56932752e-03 3.87783509e+01] [ 2.33544176e-03 -2.00057766e-05 9.99997273e-01 1.76684643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.16, Y:38.80, Z:0.18 [[ 7.34087720e-01 -6.79052424e-01 -1.73912260e-03 1.04155661e+02] [ 6.79050636e-01 7.34089779e-01 -1.55887192e-03 3.87962698e+01] [ 2.33522788e-03 -3.66035691e-05 9.99997273e-01 1.76970500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:38.82, Z:0.18 [[ 7.32301172e-01 -6.80978698e-01 -1.73389973e-03 1.04177026e+02] [ 6.80976901e-01 7.32303224e-01 -1.56466964e-03 3.88150761e+01] [ 2.33524705e-03 -3.49362521e-05 9.99997273e-01 1.76550547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:38.83, Z:0.18 [[ 7.31614571e-01 -6.81716290e-01 -1.73787407e-03 1.04197441e+02] [ 6.81714505e-01 7.31616634e-01 -1.56025843e-03 3.88326891e+01] [ 2.33511116e-03 -4.32261653e-05 9.99997273e-01 1.81088241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.22, Y:38.85, Z:0.18 [[ 7.29248814e-01 -6.84246431e-01 -1.72854119e-03 1.04220447e+02] [ 6.84244630e-01 7.29250862e-01 -1.57060972e-03 3.88500780e+01] [ 2.33522425e-03 -3.73797535e-05 9.99997273e-01 1.78683744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.24, Y:38.87, Z:0.18 [[ 7.26958425e-01 -6.86679284e-01 -1.73451307e-03 1.04241903e+02] [ 6.86677505e-01 7.26960493e-01 -1.56398672e-03 3.88689873e+01] [ 2.33487975e-03 -5.40977844e-05 9.99997273e-01 1.79113780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.27, Y:38.89, Z:0.18 [[ 7.25669760e-01 -6.88040976e-01 -1.73652404e-03 1.04266227e+02] [ 6.88039206e-01 7.25671835e-01 -1.56175744e-03 3.88888273e+01] [ 2.33469970e-03 -6.14764743e-05 9.99997273e-01 1.78826212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:38.91, Z:0.18 [[ 7.24612182e-01 -6.89154654e-01 -1.74562663e-03 1.04285570e+02] [ 6.89152912e-01 7.24614281e-01 -1.55166839e-03 3.89077388e+01] [ 2.33424548e-03 -7.86458506e-05 9.99997273e-01 1.78097863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:38.93, Z:0.18 [[ 7.24294359e-01 -6.89488689e-01 -1.74058127e-03 1.04305021e+02] [ 6.89486934e-01 7.24296447e-01 -1.55725735e-03 3.89259486e+01] [ 2.33440816e-03 -7.21953319e-05 9.99997273e-01 1.76868707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:38.95, Z:0.18 [[ 7.24787018e-01 -6.88970794e-01 -1.73884866e-03 1.04325829e+02] [ 6.88969033e-01 7.24789100e-01 -1.55917564e-03 3.89450139e+01] [ 2.33452504e-03 -6.79426175e-05 9.99997273e-01 1.77250516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:38.96, Z:0.18 [[ 7.24665607e-01 -6.89098497e-01 -1.73776596e-03 1.04346204e+02] [ 6.89096734e-01 7.24667687e-01 -1.56037361e-03 3.89635633e+01] [ 2.33455395e-03 -6.67397564e-05 9.99997273e-01 1.77314312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:104.37, Y:38.98, Z:0.18 [[ 7.25633844e-01 -6.88078851e-01 -1.73757986e-03 1.04365054e+02] [ 6.88077084e-01 7.25635922e-01 -1.56057946e-03 3.89810676e+01] [ 2.33465209e-03 -6.31796082e-05 9.99997273e-01 1.75478036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.39, Y:39.00, Z:0.18 [[ 7.25343254e-01 -6.88385185e-01 -1.73236805e-03 1.04387476e+02] [ 6.88383405e-01 7.25345321e-01 -1.56634178e-03 3.90016590e+01] [ 2.33481154e-03 -5.63979702e-05 9.99997273e-01 1.75694713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.41, Y:39.02, Z:0.18 [[ 7.27995810e-01 -6.85579369e-01 -1.74035660e-03 1.04405776e+02] [ 6.85577603e-01 7.27997888e-01 -1.55750896e-03 3.90182124e+01] [ 2.33477194e-03 -5.92895060e-05 9.99997273e-01 1.75524566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.43, Y:39.04, Z:0.18 [[ 7.28191325e-01 -6.85371727e-01 -1.72932452e-03 1.04426164e+02] [ 6.85369931e-01 7.28193377e-01 -1.56969786e-03 3.90377438e+01] [ 2.33510920e-03 -4.21866604e-05 9.99997273e-01 1.75580254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.45, Y:39.06, Z:0.18 [[ 7.27779518e-01 -6.85809000e-01 -1.72873093e-03 1.04450275e+02] [ 6.85807204e-01 7.27781570e-01 -1.57035337e-03 3.90590861e+01] [ 2.33510099e-03 -4.27051068e-05 9.99997273e-01 1.77258491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.47, Y:39.07, Z:0.18 [[ 7.31184250e-01 -6.82177800e-01 -1.74405536e-03 1.04466511e+02] [ 6.82176034e-01 7.31186328e-01 -1.55340811e-03 3.90734479e+01] [ 2.33492996e-03 -5.39252297e-05 9.99997273e-01 1.82619289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.49, Y:39.10, Z:0.18 [[ 7.30741492e-01 -6.82652120e-01 -1.71927080e-03 1.04491097e+02] [ 6.82650290e-01 7.30743514e-01 -1.58085024e-03 3.90956932e+01] [ 2.33551675e-03 -1.84678436e-05 9.99997273e-01 1.81314631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:104.51, Y:39.12, Z:0.18 [[ 7.30814470e-01 -6.82573941e-01 -1.73933358e-03 1.04513008e+02] [ 6.82572164e-01 7.30816538e-01 -1.55865140e-03 3.91150690e+01] [ 2.33502858e-03 -4.81356917e-05 9.99997273e-01 1.81741011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:104.53, Y:39.13, Z:0.18 [[ 7.30561247e-01 -6.82844957e-01 -1.74041063e-03 1.04534908e+02] [ 6.82843183e-01 7.30563318e-01 -1.55746012e-03 3.91341223e+01] [ 2.33498396e-03 -5.06075316e-05 9.99997273e-01 1.79414195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.55, Y:39.15, Z:0.18 [[ 7.30684787e-01 -6.82712740e-01 -1.74836012e-03 1.04552044e+02] [ 6.82710987e-01 7.30686876e-01 -1.54866167e-03 3.91525008e+01] [ 2.33479485e-03 -6.20411434e-05 9.99997272e-01 1.84329554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33361786499998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:104.58, Y:39.17, Z:0.18 [[ 7.30270076e-01 -6.83156363e-01 -1.73207193e-03 1.04576013e+02] [ 6.83154568e-01 7.30272129e-01 -1.56666950e-03 3.91720529e+01] [ 2.33516409e-03 -3.91809922e-05 9.99997273e-01 1.81531906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:104.59, Y:39.19, Z:0.18 [[ 7.29926072e-01 -6.83523877e-01 -1.74302133e-03 1.04593081e+02] [ 6.83522112e-01 7.29928151e-01 -1.55456303e-03 3.91899015e+01] [ 2.33486128e-03 -5.66775354e-05 9.99997273e-01 1.83791193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:104.62, Y:39.21, Z:0.18 [[ 7.29279227e-01 -6.84214009e-01 -1.73140054e-03 1.04615854e+02] [ 6.84212215e-01 7.29281282e-01 -1.56739972e-03 3.92095335e+01] [ 2.33511486e-03 -4.15733409e-05 9.99997273e-01 1.80980853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.63, Y:39.23, Z:0.18 [[ 7.29480278e-01 -6.83999636e-01 -1.73844147e-03 1.04634323e+02] [ 6.83997860e-01 7.29482348e-01 -1.55962386e-03 3.92273497e+01] [ 2.33494452e-03 -5.13753980e-05 9.99997273e-01 1.83216651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.66, Y:39.25, Z:0.18 [[ 7.29252540e-01 -6.84242455e-01 -1.73074156e-03 1.04656718e+02] [ 6.84240659e-01 7.29254593e-01 -1.56812229e-03 3.92475042e+01] [ 2.33512707e-03 -4.06865848e-05 9.99997273e-01 1.81032416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:104.68, Y:39.27, Z:0.18 [[ 7.28957291e-01 -6.84556977e-01 -1.73610279e-03 1.04676972e+02] [ 6.84555196e-01 7.28959356e-01 -1.56220592e-03 3.92674472e+01] [ 2.33496734e-03 -4.96767911e-05 9.99997273e-01 1.80733011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.70, Y:39.29, Z:0.18 [[ 7.30268491e-01 -6.83158055e-01 -1.73287664e-03 1.04696797e+02] [ 6.83156262e-01 7.30270546e-01 -1.56576387e-03 3.92853090e+01] [ 2.33513297e-03 -4.03975097e-05 9.99997273e-01 1.83946278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.72, Y:39.30, Z:0.18 [[ 7.30126616e-01 -6.83309690e-01 -1.72979095e-03 1.04717421e+02] [ 6.83307889e-01 7.30128664e-01 -1.56916543e-03 3.93048144e+01] [ 2.33519590e-03 -3.62903589e-05 9.99997273e-01 1.84350912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.74, Y:39.32, Z:0.18 [[ 7.29882092e-01 -6.83570875e-01 -1.72937183e-03 1.04738434e+02] [ 6.83569074e-01 7.29884140e-01 -1.56962720e-03 3.93240640e+01] [ 2.33519251e-03 -3.65023128e-05 9.99997273e-01 1.84931597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.76, Y:39.34, Z:0.18 [[ 7.29423025e-01 -6.84060715e-01 -1.72893543e-03 1.04759536e+02] [ 6.84058914e-01 7.29425073e-01 -1.57010775e-03 3.93418916e+01] [ 2.33517788e-03 -3.74209521e-05 9.99997273e-01 1.82927378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:104.78, Y:39.36, Z:0.19 [[ 7.28956026e-01 -6.84558343e-01 -1.72848233e-03 1.04779098e+02] [ 6.84556542e-01 7.28958074e-01 -1.57060639e-03 3.93604034e+01] [ 2.33516286e-03 -3.83408938e-05 9.99997273e-01 1.86447940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:104.80, Y:39.38, Z:0.19 [[ 7.28729682e-01 -6.84799287e-01 -1.72817523e-03 1.04799090e+02] [ 6.84797486e-01 7.28731730e-01 -1.57094423e-03 3.93790014e+01] [ 2.33515762e-03 -3.86563604e-05 9.99997273e-01 1.86433115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.82, Y:39.40, Z:0.19 [[ 7.28393909e-01 -6.85156426e-01 -1.72795150e-03 1.04819575e+02] [ 6.85154625e-01 7.28395958e-01 -1.57119028e-03 3.93978318e+01] [ 2.33514401e-03 -3.94685370e-05 9.99997273e-01 1.87123685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:39.42, Z:0.18 [[ 7.27954983e-01 -6.85622752e-01 -1.72753003e-03 1.04841544e+02] [ 6.85620952e-01 7.27957032e-01 -1.57165355e-03 3.94174644e+01] [ 2.33512907e-03 -4.03377523e-05 9.99997273e-01 1.84911954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.86, Y:39.44, Z:0.18 [[ 7.27376733e-01 -6.86236178e-01 -1.73107380e-03 1.04861949e+02] [ 6.86234389e-01 7.27378791e-01 -1.56776037e-03 3.94371142e+01] [ 2.33500025e-03 -4.75699580e-05 9.99997273e-01 1.84772703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78361786499998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:104.88, Y:39.46, Z:0.19 [[ 7.27449228e-01 -6.86159331e-01 -1.73004004e-03 1.04881782e+02] [ 6.86157539e-01 7.27451284e-01 -1.56889545e-03 3.94559879e+01] [ 2.33503210e-03 -4.57882299e-05 9.99997273e-01 1.86876356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:39.48, Z:0.19 [[ 7.25244924e-01 -6.88488794e-01 -1.72624113e-03 1.04900639e+02] [ 6.88486999e-01 7.25246977e-01 -1.57306428e-03 3.94766332e+01] [ 2.33498829e-03 -4.76376945e-05 9.99997273e-01 1.85214226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:39.50, Z:0.18 [[ 7.23995533e-01 -6.89802503e-01 -1.72486440e-03 1.04921723e+02] [ 6.89800708e-01 7.23997586e-01 -1.57457460e-03 3.94969968e+01] [ 2.33494316e-03 -4.98277026e-05 9.99997273e-01 1.83235519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:39.52, Z:0.19 [[ 7.23664717e-01 -6.90149546e-01 -1.72665456e-03 1.04942338e+02] [ 6.90147756e-01 7.23666775e-01 -1.57261149e-03 3.95155932e+01] [ 2.33485965e-03 -5.36033187e-05 9.99997273e-01 1.86092179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.96, Y:39.54, Z:0.18 [[ 7.20165122e-01 -6.93800563e-01 -1.72536640e-03 1.04962676e+02] [ 6.93798780e-01 7.20167186e-01 -1.57402351e-03 3.95365988e+01] [ 2.33461066e-03 -6.35002704e-05 9.99997273e-01 1.84719168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.98, Y:39.56, Z:0.18 [[ 7.18334382e-01 -6.95695859e-01 -1.72818072e-03 1.04983359e+02] [ 6.95694090e-01 7.18336457e-01 -1.57094060e-03 3.95568122e+01] [ 2.33431209e-03 -7.38244675e-05 9.99997273e-01 1.84017909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.00, Y:39.58, Z:0.19 [[ 7.16760346e-01 -6.97317443e-01 -1.72944654e-03 1.05003391e+02] [ 6.97315681e-01 7.16762427e-01 -1.56955449e-03 3.95763478e+01] [ 2.33408003e-03 -8.09757761e-05 9.99997273e-01 1.85005333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.02, Y:39.60, Z:0.19 [[ 7.15518059e-01 -6.98592094e-01 -1.72987869e-03 1.05024350e+02] [ 6.98590337e-01 7.15520145e-01 -1.56908141e-03 3.95965254e+01] [ 2.33391092e-03 -8.57704508e-05 9.99997273e-01 1.85053606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.04, Y:39.62, Z:0.19 [[ 7.13514117e-01 -7.00638712e-01 -1.73219686e-03 1.05041578e+02] [ 7.00636967e-01 7.13516213e-01 -1.56654500e-03 3.96177483e+01] [ 2.33353261e-03 -9.58891823e-05 9.99997273e-01 1.85599885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.06, Y:39.64, Z:0.19 [[ 7.13360145e-01 -7.00795482e-01 -1.73094839e-03 1.05060692e+02] [ 7.00793735e-01 7.13362238e-01 -1.56791018e-03 3.96372876e+01] [ 2.33357759e-03 -9.45531565e-05 9.99997273e-01 1.86286395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.08, Y:39.66, Z:0.19 [[ 7.12853697e-01 -7.01310658e-01 -1.72280525e-03 1.05080797e+02] [ 7.01308891e-01 7.12855773e-01 -1.57680730e-03 3.96600865e+01] [ 2.33394344e-03 -8.41857233e-05 9.99997273e-01 1.85974995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.10, Y:39.68, Z:0.18 [[ 7.14374937e-01 -6.99761002e-01 -1.72908019e-03 1.05096921e+02] [ 6.99759246e-01 7.14377024e-01 -1.56995214e-03 3.96816987e+01] [ 2.33380644e-03 -8.84053881e-05 9.99997273e-01 1.84393717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.11, Y:39.70, Z:0.19 [[ 7.15875805e-01 -6.98225498e-01 -1.72810487e-03 1.05114654e+02] [ 6.98223735e-01 7.15877886e-01 -1.57101803e-03 3.97028901e+01] [ 2.33403691e-03 -8.19500400e-05 9.99997273e-01 1.87995107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.14, Y:39.73, Z:0.19 [[ 7.16750503e-01 -6.97327577e-01 -1.72235815e-03 1.05135443e+02] [ 6.97325796e-01 7.16752569e-01 -1.57729328e-03 3.97254064e+01] [ 2.33439473e-03 -7.05190149e-05 9.99997273e-01 1.86165795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.15, Y:39.75, Z:0.19 [[ 7.19719572e-01 -6.94262735e-01 -1.73007977e-03 1.05151409e+02] [ 6.94260966e-01 7.19721648e-01 -1.56887235e-03 3.97485368e+01] [ 2.33438547e-03 -7.19787114e-05 9.99997273e-01 1.85979851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.17, Y:39.77, Z:0.19 [[ 7.21457456e-01 -6.92456601e-01 -1.73058685e-03 1.05167465e+02] [ 6.92454828e-01 7.21459528e-01 -1.56831934e-03 3.97678800e+01] [ 2.33454145e-03 -6.68775361e-05 9.99997273e-01 1.85732947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.18, Y:39.79, Z:0.19 [[ 7.21883997e-01 -6.92011945e-01 -1.72141674e-03 1.05184459e+02] [ 6.92010147e-01 7.21886047e-01 -1.57831171e-03 3.97894206e+01] [ 2.33487728e-03 -5.18798816e-05 9.99997273e-01 1.87403479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.20, Y:39.81, Z:0.19 [[ 7.24237874e-01 -6.89548071e-01 -1.72030008e-03 1.05202757e+02] [ 6.89546263e-01 7.24239916e-01 -1.57952788e-03 3.98130480e+01] [ 2.33507039e-03 -4.22725782e-05 9.99997273e-01 1.85967365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.22, Y:39.83, Z:0.19 [[ 7.25509713e-01 -6.88209763e-01 -1.72563025e-03 1.05222290e+02] [ 6.88207965e-01 7.25511764e-01 -1.57372321e-03 3.98344563e+01] [ 2.33501672e-03 -4.58410043e-05 9.99997273e-01 1.85306921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.24, Y:39.86, Z:0.19 [[ 7.26311319e-01 -6.87363722e-01 -1.72665805e-03 1.05238833e+02] [ 6.87361924e-01 7.26313370e-01 -1.57260431e-03 3.98552857e+01] [ 2.33504598e-03 -4.46386843e-05 9.99997273e-01 1.88353926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.26, Y:39.88, Z:0.19 [[ 7.28256397e-01 -6.85302608e-01 -1.71942792e-03 1.05256926e+02] [ 6.85300786e-01 7.28258426e-01 -1.58047012e-03 3.98797319e+01] [ 2.33528817e-03 -2.73378305e-05 9.99997273e-01 1.86612680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.27, Y:39.90, Z:0.19 [[ 7.29108432e-01 -6.84396023e-01 -1.72556082e-03 1.05274880e+02] [ 6.84394214e-01 7.29110473e-01 -1.57379852e-03 3.98998826e+01] [ 2.33522591e-03 -3.34940751e-05 9.99997273e-01 1.86493871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.29, Y:39.92, Z:0.19 [[ 7.29029730e-01 -6.84479859e-01 -1.72508517e-03 1.05293366e+02] [ 6.84478049e-01 7.29031770e-01 -1.57431582e-03 3.99215207e+01] [ 2.33522936e-03 -3.30598991e-05 9.99997273e-01 1.87702130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.31, Y:39.94, Z:0.19 [[ 7.30529862e-01 -6.82878581e-01 -1.72159752e-03 1.05309366e+02] [ 6.82876758e-01 7.30531890e-01 -1.57810677e-03 3.99430721e+01] [ 2.33533721e-03 -2.27848126e-05 9.99997273e-01 1.87209797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.33, Y:39.96, Z:0.19 [[ 7.30115388e-01 -6.83321721e-01 -1.71633792e-03 1.05328331e+02] [ 6.83319885e-01 7.30117405e-01 -1.58382132e-03 3.99646333e+01] [ 2.33538770e-03 -1.64355102e-05 9.99997273e-01 1.87600694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.35, Y:39.99, Z:0.18 [[ 7.29210779e-01 -6.84286992e-01 -1.71809876e-03 1.05347193e+02] [ 6.84285164e-01 7.29212803e-01 -1.58190889e-03 3.99864121e+01] [ 2.33533928e-03 -2.21244783e-05 9.99997273e-01 1.84869776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.37, Y:40.01, Z:0.18 [[ 7.29028865e-01 -6.84480796e-01 -1.71870972e-03 1.05366868e+02] [ 6.84478970e-01 7.29030890e-01 -1.58124550e-03 4.00071165e+01] [ 2.33532465e-03 -2.36470498e-05 9.99997273e-01 1.84214394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.39, Y:40.03, Z:0.19 [[ 7.29668045e-01 -6.83799374e-01 -1.72046102e-03 1.05386372e+02] [ 6.83797551e-01 7.29670073e-01 -1.57934473e-03 4.00251795e+01] [ 2.33532385e-03 -2.40496481e-05 9.99997273e-01 1.85766111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.40, Y:40.05, Z:0.19 [[ 7.26038255e-01 -6.87652167e-01 -1.71721082e-03 1.05401190e+02] [ 6.87650346e-01 7.26040285e-01 -1.58287077e-03 4.00486767e+01] [ 2.33522875e-03 -3.16158813e-05 9.99997273e-01 1.85770057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.42, Y:40.07, Z:0.19 [[ 7.24282682e-01 -6.89501014e-01 -1.71702146e-03 1.05420114e+02] [ 6.89499198e-01 7.24284716e-01 -1.58307616e-03 4.00693088e+01] [ 2.33514501e-03 -3.72902708e-05 9.99997273e-01 1.85323303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.44, Y:40.09, Z:0.18 [[ 7.20186079e-01 -6.93778830e-01 -1.71658459e-03 1.05437782e+02] [ 6.93777024e-01 7.20188123e-01 -1.58354973e-03 4.00909821e+01] [ 2.33489711e-03 -5.04764800e-05 9.99997273e-01 1.84784535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71361786499997 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:105.46, Y:40.11, Z:0.18 [[ 7.18314819e-01 -6.95716088e-01 -1.71615425e-03 1.05455388e+02] [ 6.95714287e-01 7.18316867e-01 -1.58401597e-03 4.01101270e+01] [ 2.33476794e-03 -5.61308804e-05 9.99997273e-01 1.84665833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.48, Y:40.13, Z:0.18 [[ 7.16677799e-01 -6.97402330e-01 -1.70966992e-03 1.05477347e+02] [ 6.97400517e-01 7.16679836e-01 -1.59103545e-03 4.01329537e+01] [ 2.33487779e-03 -5.20648980e-05 9.99997273e-01 1.83432401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.49, Y:40.15, Z:0.19 [[ 7.14556185e-01 -6.99575935e-01 -1.72349712e-03 1.05492763e+02] [ 6.99574164e-01 7.14558259e-01 -1.57610561e-03 4.01527771e+01] [ 2.33414466e-03 -7.94980490e-05 9.99997273e-01 1.86137692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.51, Y:40.18, Z:0.19 [[ 7.08871770e-01 -7.05335296e-01 -1.71271973e-03 1.05507485e+02] [ 7.05333514e-01 7.08873835e-01 -1.58773141e-03 4.01786004e+01] [ 2.33398521e-03 -8.25406514e-05 9.99997273e-01 1.85815172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.53, Y:40.20, Z:0.19 [[ 7.07323125e-01 -7.06888298e-01 -1.71229921e-03 1.05525541e+02] [ 7.06886519e-01 7.07325192e-01 -1.58818479e-03 4.02000106e+01] [ 2.33382162e-03 -8.70413989e-05 9.99997273e-01 1.85575088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.54, Y:40.22, Z:0.19 [[ 7.06140528e-01 -7.08069647e-01 -1.71187393e-03 1.05543652e+02] [ 7.08067870e-01 7.06142597e-01 -1.58864307e-03 4.02211125e+01] [ 2.33369704e-03 -9.03176737e-05 9.99997273e-01 1.85077766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89361786499998 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:105.56, Y:40.24, Z:0.19 [[ 7.05098612e-01 -7.09107198e-01 -1.71145005e-03 1.05562883e+02] [ 7.09105423e-01 7.05100683e-01 -1.58909958e-03 4.02432420e+01] [ 2.33358655e-03 -9.31266005e-05 9.99997273e-01 1.86755264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92361786499998 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:105.58, Y:40.26, Z:0.19 [[ 7.04842128e-01 -7.09362138e-01 -1.71209186e-03 1.05583634e+02] [ 7.09360366e-01 7.04844201e-01 -1.58840852e-03 4.02628749e+01] [ 2.33351488e-03 -9.49128725e-05 9.99997273e-01 1.86822190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.60, Y:40.29, Z:0.18 [[ 7.05664765e-01 -7.08543796e-01 -1.71153416e-03 1.05599492e+02] [ 7.08542020e-01 7.05666835e-01 -1.58900859e-03 4.02852965e+01] [ 2.33365507e-03 -9.13864912e-05 9.99997273e-01 1.84651374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.62, Y:40.31, Z:0.18 [[ 7.06421867e-01 -7.07788967e-01 -1.71018530e-03 1.05616859e+02] [ 7.07787185e-01 7.06423931e-01 -1.59045899e-03 4.03065418e+01] [ 2.33382515e-03 -8.69122271e-05 9.99997273e-01 1.84169698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.63, Y:40.33, Z:0.18 [[ 7.07719845e-01 -7.06491116e-01 -1.71000010e-03 1.05633689e+02] [ 7.06489330e-01 7.07721906e-01 -1.59065808e-03 4.03277344e+01] [ 2.33399033e-03 -8.23565368e-05 9.99997273e-01 1.83647513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.65, Y:40.35, Z:0.18 [[ 7.10655166e-01 -7.03538422e-01 -1.70981700e-03 1.05649146e+02] [ 7.03536627e-01 7.10657219e-01 -1.59085488e-03 4.03528180e+01] [ 2.33432132e-03 -7.23696466e-05 9.99997273e-01 1.82496851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.67, Y:40.37, Z:0.18 [[ 7.12237461e-01 -7.01936520e-01 -1.70940091e-03 1.05667018e+02] [ 7.01934719e-01 7.12239509e-01 -1.59130184e-03 4.03737850e+01] [ 2.33449574e-03 -6.65030668e-05 9.99997273e-01 1.82702780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.69, Y:40.39, Z:0.18 [[ 7.14215309e-01 -6.99923975e-01 -1.70911773e-03 1.05686263e+02] [ 6.99922168e-01 7.14217352e-01 -1.59160593e-03 4.03943289e+01] [ 2.33468469e-03 -5.95000685e-05 9.99997273e-01 1.83310108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13361786499998 meters Centerline goodness : 0.995697 Centerline is valid? [True, True] Translation: X:105.70, Y:40.42, Z:0.18 [[ 7.14671947e-01 -6.99457710e-01 -1.70866773e-03 1.05704460e+02] [ 6.99455901e-01 7.14673987e-01 -1.59208888e-03 4.04175995e+01] [ 2.33473923e-03 -5.73164669e-05 9.99997273e-01 1.82724133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:40.44, Z:0.18 [[ 7.17998418e-01 -6.96042624e-01 -1.71388085e-03 1.05720461e+02] [ 6.96040818e-01 7.18000461e-01 -1.58650000e-03 4.04397472e+01] [ 2.33483887e-03 -5.38265391e-05 9.99997273e-01 1.83937022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:40.46, Z:0.18 [[ 7.18847810e-01 -6.95165384e-01 -1.70728440e-03 1.05738137e+02] [ 6.95163559e-01 7.18849836e-01 -1.59356717e-03 4.04611088e+01] [ 2.33507385e-03 -4.13096287e-05 9.99997273e-01 1.83017656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.76, Y:40.48, Z:0.18 [[ 7.19309772e-01 -6.94687367e-01 -1.70708007e-03 1.05755424e+02] [ 6.94685540e-01 7.19311796e-01 -1.59378603e-03 4.04819403e+01] [ 2.33510585e-03 -3.94579731e-05 9.99997273e-01 1.83426767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.77, Y:40.50, Z:0.18 [[ 7.19846040e-01 -6.94131663e-01 -1.70688173e-03 1.05773398e+02] [ 6.94129834e-01 7.19848062e-01 -1.59399842e-03 4.05030898e+01] [ 2.33514028e-03 -3.73640848e-05 9.99997273e-01 1.84653880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.79, Y:40.53, Z:0.18 [[ 7.21285108e-01 -6.92636189e-01 -1.70350934e-03 1.05791211e+02] [ 6.92634347e-01 7.21287119e-01 -1.59760772e-03 4.05256136e+01] [ 2.33528027e-03 -2.75784259e-05 9.99997273e-01 1.83970161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:40.55, Z:0.18 [[ 7.22107587e-01 -6.91778679e-01 -1.70033583e-03 1.05809349e+02] [ 6.91776827e-01 7.22109589e-01 -1.60100279e-03 4.05452653e+01] [ 2.33536840e-03 -2.01566667e-05 9.99997273e-01 1.84437650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.83, Y:40.57, Z:0.18 [[ 7.22573974e-01 -6.91291533e-01 -1.69400755e-03 1.05828590e+02] [ 6.91289663e-01 7.22575959e-01 -1.60777498e-03 4.05677245e+01] [ 2.33549036e-03 -9.31355198e-06 9.99997273e-01 1.83643094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37361786499997 meters Centerline goodness : 0.995677 Centerline is valid? [True, True] Translation: X:105.85, Y:40.59, Z:0.19 [[ 7.23964188e-01 -6.89835463e-01 -1.69986269e-03 1.05847283e+02] [ 6.89833604e-01 7.23966183e-01 -1.60151897e-03 4.05855749e+01] [ 2.33542768e-03 -1.31800220e-05 9.99997273e-01 1.88163854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40361786499997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:105.87, Y:40.61, Z:0.18 [[ 7.23610696e-01 -6.90206282e-01 -1.68807006e-03 1.05868819e+02] [ 6.90204395e-01 7.23612665e-01 -1.61409650e-03 4.06071997e+01] [ 2.33556842e-03 2.86411682e-06 9.99997273e-01 1.84550815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.89, Y:40.63, Z:0.18 [[ 7.21863858e-01 -6.92033009e-01 -1.69847290e-03 1.05888395e+02] [ 6.92031153e-01 7.21865856e-01 -1.60298504e-03 4.06291632e+01] [ 2.33538815e-03 -1.82591939e-05 9.99997273e-01 1.83227455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.91, Y:40.65, Z:0.19 [[ 7.21427308e-01 -6.92488084e-01 -1.70049708e-03 1.05911969e+02] [ 6.92486234e-01 7.21429312e-01 -1.60082310e-03 4.06497311e+01] [ 2.33533936e-03 -2.26933253e-05 9.99997273e-01 1.86336674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.93, Y:40.67, Z:0.19 [[ 7.20069641e-01 -6.93899697e-01 -1.70964792e-03 1.05930803e+02] [ 6.93897874e-01 7.20071669e-01 -1.59104779e-03 4.06685846e+01] [ 2.33509661e-03 -4.06558432e-05 9.99997273e-01 1.85382584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.95, Y:40.69, Z:0.18 [[ 7.18699025e-01 -6.95319212e-01 -1.70456711e-03 1.05951417e+02] [ 6.95317380e-01 7.18701045e-01 -1.59647262e-03 4.06881726e+01] [ 2.33513225e-03 -3.78318248e-05 9.99997273e-01 1.84884989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.97, Y:40.71, Z:0.18 [[ 7.17571046e-01 -6.96483230e-01 -1.70412502e-03 1.05971270e+02] [ 6.96481401e-01 7.17573068e-01 -1.59694438e-03 4.07070014e+01] [ 2.33507920e-03 -4.09703264e-05 9.99997273e-01 1.84273144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.99, Y:40.73, Z:0.18 [[ 7.15122799e-01 -6.98996766e-01 -1.70393339e-03 1.05994270e+02] [ 6.98994943e-01 7.15124828e-01 -1.59714882e-03 4.07277518e+01] [ 2.33492693e-03 -4.88832885e-05 9.99997273e-01 1.80588205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.01, Y:40.75, Z:0.18 [[ 7.14987285e-01 -6.99135361e-01 -1.71170634e-03 1.06012652e+02] [ 6.99133558e-01 7.14989331e-01 -1.58885686e-03 4.07452127e+01] [ 2.33467779e-03 -6.06988851e-05 9.99997273e-01 1.81604133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.03, Y:40.76, Z:0.18 [[ 7.14818912e-01 -6.99307546e-01 -1.69700629e-03 1.06032021e+02] [ 6.99305706e-01 7.14820925e-01 -1.60452060e-03 4.07629556e+01] [ 2.33510897e-03 -3.97845129e-05 9.99997273e-01 1.80764654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.05, Y:40.78, Z:0.18 [[ 7.11032918e-01 -7.03156691e-01 -1.69023548e-03 1.06049907e+02] [ 7.03154846e-01 7.11034926e-01 -1.61174962e-03 4.07847556e+01] [ 2.33512899e-03 -4.24902309e-05 9.99997273e-01 1.78913082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.07, Y:40.80, Z:0.18 [[ 7.11408483e-01 -7.02776717e-01 -1.68979567e-03 1.06073044e+02] [ 7.02774869e-01 7.11410489e-01 -1.61222001e-03 4.08043862e+01] [ 2.33516905e-03 -4.05989405e-05 9.99997273e-01 1.78607876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.10, Y:40.82, Z:0.18 [[ 7.12843154e-01 -7.01321440e-01 -1.69554644e-03 1.06096964e+02] [ 7.01319602e-01 7.12845170e-01 -1.60606925e-03 4.08223105e+01] [ 2.33503289e-03 -4.42444832e-05 9.99997273e-01 1.80758371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.11, Y:40.84, Z:0.18 [[ 7.10509661e-01 -7.03685379e-01 -1.70560140e-03 1.06114068e+02] [ 7.03683574e-01 7.10511705e-01 -1.59531524e-03 4.08424257e+01] [ 2.33444977e-03 -6.67167945e-05 9.99997273e-01 1.79623564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.14, Y:40.86, Z:0.18 [[ 7.13349573e-01 -7.00806339e-01 -1.69179619e-03 1.06139787e+02] [ 7.00804490e-01 7.13351578e-01 -1.61006825e-03 4.08605442e+01] [ 2.33519152e-03 -3.70768735e-05 9.99997273e-01 1.81148251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.15, Y:40.88, Z:0.18 [[ 7.10669384e-01 -7.03524071e-01 -1.70549277e-03 1.06153679e+02] [ 7.03522265e-01 7.10671427e-01 -1.59542677e-03 4.08804323e+01] [ 2.33446611e-03 -6.60311787e-05 9.99997273e-01 1.77141983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.17, Y:40.90, Z:0.18 [[ 7.10250554e-01 -7.03946952e-01 -1.68539641e-03 1.06171484e+02] [ 7.03945096e-01 7.10252552e-01 -1.61689163e-03 4.08992390e+01] [ 2.33526304e-03 -3.80283613e-05 9.99997273e-01 1.75882791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.20, Y:40.92, Z:0.18 [[ 7.14726118e-01 -6.99402430e-01 -1.67855753e-03 1.06201228e+02] [ 6.99400544e-01 7.14728089e-01 -1.62419025e-03 4.09175813e+01] [ 2.33567483e-03 -1.31328556e-05 9.99997272e-01 1.80213496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.21, Y:40.94, Z:0.18 [[ 7.11771031e-01 -7.02409491e-01 -1.70481971e-03 1.06212443e+02] [ 7.02407680e-01 7.11773070e-01 -1.59613991e-03 4.09374386e+01] [ 2.33458858e-03 -6.13923096e-05 9.99997273e-01 1.75150474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.23, Y:40.96, Z:0.18 [[ 7.12553509e-01 -7.01615767e-01 -1.67694889e-03 1.06233576e+02] [ 7.01613883e-01 7.12555482e-01 -1.62586933e-03 4.09557375e+01] [ 2.33565468e-03 -1.80517273e-05 9.99997272e-01 1.75709468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.25, Y:40.97, Z:0.18 [[ 7.12405896e-01 -7.01765644e-01 -1.67930623e-03 1.06253861e+02] [ 7.01763767e-01 7.12407875e-01 -1.62335404e-03 4.09744056e+01] [ 2.33556508e-03 -2.19892833e-05 9.99997272e-01 1.75777448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.29, Y:40.99, Z:0.18 [[ 7.15164677e-01 -6.98953986e-01 -1.67625392e-03 1.06285109e+02] [ 6.98952094e-01 7.15166641e-01 -1.62660939e-03 4.09918641e+01] [ 2.33572601e-03 -8.32760567e-06 9.99997272e-01 1.79983858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.30, Y:41.01, Z:0.18 [[ 7.12794783e-01 -7.01370581e-01 -1.70453991e-03 1.06301405e+02] [ 7.01368766e-01 7.12796819e-01 -1.59640746e-03 4.10108096e+01] [ 2.33466385e-03 -5.76001391e-05 9.99997273e-01 1.78008916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06361786499997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:106.32, Y:41.03, Z:0.17 [[ 7.10598208e-01 -7.03596001e-01 -1.68950368e-03 1.06319417e+02] [ 7.03594154e-01 7.10600215e-01 -1.61244947e-03 4.10300973e+01] [ 2.33507468e-03 -4.29212090e-05 9.99997273e-01 1.74305692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.34, Y:41.05, Z:0.18 [[ 7.11202012e-01 -7.02985688e-01 -1.67945460e-03 1.06343896e+02] [ 7.02983815e-01 7.11203994e-01 -1.62315283e-03 4.10475461e+01] [ 2.33548803e-03 -2.62398408e-05 9.99997272e-01 1.79372795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.37, Y:41.07, Z:0.18 [[ 7.11107223e-01 -7.03081547e-01 -1.68999362e-03 1.06365091e+02] [ 7.03079700e-01 7.11109230e-01 -1.61193087e-03 4.10665238e+01] [ 2.33508891e-03 -4.19445205e-05 9.99997273e-01 1.80386165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.39, Y:41.09, Z:0.18 [[ 7.12490249e-01 -7.01679975e-01 -1.69046734e-03 1.06390267e+02] [ 7.01678125e-01 7.12492254e-01 -1.61142635e-03 4.10851343e+01] [ 2.33515048e-03 -3.80383897e-05 9.99997273e-01 1.82000329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.41, Y:41.10, Z:0.18 [[ 7.11323264e-01 -7.02862942e-01 -1.70256086e-03 1.06406347e+02] [ 7.02861126e-01 7.11325299e-01 -1.59854592e-03 4.11037511e+01] [ 2.33463330e-03 -5.95809474e-05 9.99997273e-01 1.78692679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.43, Y:41.12, Z:0.18 [[ 7.12738767e-01 -7.01427542e-01 -1.68941472e-03 1.06431208e+02] [ 7.01425689e-01 7.12740768e-01 -1.61253218e-03 4.11219346e+01] [ 2.33518923e-03 -3.56846801e-05 9.99997273e-01 1.82667520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.45, Y:41.14, Z:0.18 [[ 7.12576849e-01 -7.01592002e-01 -1.70193034e-03 1.06452109e+02] [ 7.01590182e-01 7.12578879e-01 -1.59921269e-03 4.11406593e+01] [ 2.33475444e-03 -5.44956786e-05 9.99997273e-01 1.82693830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.47, Y:41.16, Z:0.18 [[ 7.12424140e-01 -7.01747069e-01 -1.70149326e-03 1.06472838e+02] [ 7.01745248e-01 7.12426170e-01 -1.59967758e-03 4.11590136e+01] [ 2.33475738e-03 -5.43658877e-05 9.99997273e-01 1.82694948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.49, Y:41.18, Z:0.18 [[ 7.11268750e-01 -7.02918112e-01 -1.70104900e-03 1.06490467e+02] [ 7.02916293e-01 7.11270781e-01 -1.60014986e-03 4.11781274e+01] [ 2.33468077e-03 -5.75584678e-05 9.99997273e-01 1.79282543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.51, Y:41.20, Z:0.18 [[ 7.11724806e-01 -7.02456364e-01 -1.68998599e-03 1.06513265e+02] [ 7.02454516e-01 7.11726812e-01 -1.61190169e-03 4.11991384e+01] [ 2.33509894e-03 -3.99078700e-05 9.99997273e-01 1.79491317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.53, Y:41.22, Z:0.18 [[ 7.12379882e-01 -7.01792000e-01 -1.70064175e-03 1.06532754e+02] [ 7.01790177e-01 7.12381910e-01 -1.60057978e-03 4.12165202e+01] [ 2.33478050e-03 -5.32728390e-05 9.99997273e-01 1.80622361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.56, Y:41.23, Z:0.18 [[ 7.14559365e-01 -6.99572764e-01 -1.69164918e-03 1.06556643e+02] [ 6.99570912e-01 7.14561367e-01 -1.61012574e-03 4.12346105e+01] [ 2.33518727e-03 -3.28981333e-05 9.99997273e-01 1.81512093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.58, Y:41.25, Z:0.18 [[ 7.14994085e-01 -6.99128435e-01 -1.70002231e-03 1.06577191e+02] [ 6.99126602e-01 7.14996105e-01 -1.60123604e-03 4.12544202e+01] [ 2.33497898e-03 -4.36565243e-05 9.99997273e-01 1.78856066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.60, Y:41.27, Z:0.18 [[ 7.16816607e-01 -6.97259682e-01 -1.69955626e-03 1.06597973e+02] [ 6.97257843e-01 7.16818621e-01 -1.60173056e-03 4.12717344e+01] [ 2.33509571e-03 -3.68818700e-05 9.99997273e-01 1.80987646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.62, Y:41.29, Z:0.18 [[ 7.19538248e-01 -6.94450734e-01 -1.69935279e-03 1.06618325e+02] [ 6.94448887e-01 7.19540254e-01 -1.60194640e-03 4.12895031e+01] [ 2.33522559e-03 -2.74519460e-05 9.99997273e-01 1.79879445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.64, Y:41.31, Z:0.18 [[ 7.20523327e-01 -6.93428618e-01 -1.69915963e-03 1.06639381e+02] [ 6.93426768e-01 7.20525330e-01 -1.60215126e-03 4.13082677e+01] [ 2.33526508e-03 -2.38554172e-05 9.99997273e-01 1.79230777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.66, Y:41.33, Z:0.18 [[ 7.21547358e-01 -6.92363001e-01 -1.69871935e-03 1.06660308e+02] [ 6.92361146e-01 7.21549357e-01 -1.60261794e-03 4.13263055e+01] [ 2.33530322e-03 -1.97625375e-05 9.99997273e-01 1.78911090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.68, Y:41.34, Z:0.18 [[ 7.23025985e-01 -6.90818747e-01 -1.69827931e-03 1.06682085e+02] [ 6.90816887e-01 7.23027979e-01 -1.60308411e-03 4.13420121e+01] [ 2.33534401e-03 -1.41285538e-05 9.99997273e-01 1.78572210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.70, Y:41.36, Z:0.18 [[ 7.23412995e-01 -6.90413466e-01 -1.69808852e-03 1.06704309e+02] [ 6.90411605e-01 7.23414988e-01 -1.60328618e-03 4.13599794e+01] [ 2.33535306e-03 -1.25419646e-05 9.99997273e-01 1.78992633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.73, Y:41.38, Z:0.18 [[ 7.23337175e-01 -6.90492905e-01 -1.69691038e-03 1.06726364e+02] [ 6.90491041e-01 7.23339165e-01 -1.60453345e-03 4.13776218e+01] [ 2.33536070e-03 -1.10827215e-05 9.99997273e-01 1.79060118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.75, Y:41.39, Z:0.18 [[ 7.22955261e-01 -6.90892762e-01 -1.69752811e-03 1.06748005e+02] [ 6.90890900e-01 7.22957254e-01 -1.60387964e-03 4.13949388e+01] [ 2.33534910e-03 -1.32735014e-05 9.99997273e-01 1.79643044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.77, Y:41.41, Z:0.18 [[ 7.22589380e-01 -6.91275421e-01 -1.69709763e-03 1.06770748e+02] [ 6.91273559e-01 7.22591373e-01 -1.60433502e-03 4.14104874e+01] [ 2.33534547e-03 -1.38832745e-05 9.99997273e-01 1.79643755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.79, Y:41.43, Z:0.18 [[ 7.22429592e-01 -6.91442410e-01 -1.69691115e-03 1.06792858e+02] [ 6.91440548e-01 7.22431584e-01 -1.60453223e-03 4.14285851e+01] [ 2.33534384e-03 -1.41516085e-05 9.99997273e-01 1.79990008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.82, Y:41.45, Z:0.18 [[ 7.22442338e-01 -6.91429093e-01 -1.69646671e-03 1.06815164e+02] [ 6.91427230e-01 7.22444330e-01 -1.60500199e-03 4.14465213e+01] [ 2.33534783e-03 -1.34618883e-05 9.99997273e-01 1.80553224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.84, Y:41.46, Z:0.18 [[ 7.22378609e-01 -6.91495675e-01 -1.69602252e-03 1.06837795e+02] [ 6.91493812e-01 7.22380600e-01 -1.60547124e-03 4.14647315e+01] [ 2.33535019e-03 -1.30309996e-05 9.99997273e-01 1.80876685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.86, Y:41.48, Z:0.18 [[ 7.22172042e-01 -6.91711392e-01 -1.70059519e-03 1.06858450e+02] [ 6.91709541e-01 7.22174044e-01 -1.60064117e-03 4.14844366e+01] [ 2.33530744e-03 -2.03796178e-05 9.99997273e-01 1.80944744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.88, Y:41.50, Z:0.18 [[ 7.22639402e-01 -6.91223124e-01 -1.69950638e-03 1.06882378e+02] [ 6.91221268e-01 7.22641400e-01 -1.60179014e-03 4.14991714e+01] [ 2.33532806e-03 -1.72182858e-05 9.99997273e-01 1.82195542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.90, Y:41.52, Z:0.18 [[ 7.22804122e-01 -6.91050888e-01 -1.69472368e-03 1.06904151e+02] [ 6.91049020e-01 7.22806108e-01 -1.60683445e-03 4.15155705e+01] [ 2.33536100e-03 -9.71057475e-06 9.99997273e-01 1.82253506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.93, Y:41.53, Z:0.18 [[ 7.23248114e-01 -6.90586196e-01 -1.69452560e-03 1.06928311e+02] [ 6.90584327e-01 7.23250099e-01 -1.60704331e-03 4.15301218e+01] [ 2.33536773e-03 -7.92177652e-06 9.99997273e-01 1.81589980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.95, Y:41.55, Z:0.18 [[ 7.22960777e-01 -6.90887006e-01 -1.69119111e-03 1.06951095e+02] [ 6.90885129e-01 7.22962755e-01 -1.61055745e-03 4.15478882e+01] [ 2.33538140e-03 -4.04891732e-06 9.99997273e-01 1.81011858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.97, Y:41.56, Z:0.18 [[ 7.24106134e-01 -6.89686475e-01 -1.69502675e-03 1.06973238e+02] [ 6.89684604e-01 7.24108118e-01 -1.60651614e-03 4.15637156e+01] [ 2.33537508e-03 -5.74566026e-06 9.99997273e-01 1.82779954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:41.58, Z:0.18 [[ 7.23005124e-01 -6.90840592e-01 -1.69353028e-03 1.06995475e+02] [ 6.90838720e-01 7.23007107e-01 -1.60809211e-03 4.15824121e+01] [ 2.33536974e-03 -7.29745654e-06 9.99997273e-01 1.81978316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.02, Y:41.60, Z:0.18 [[ 7.22907449e-01 -6.90942801e-01 -1.69313756e-03 1.07020134e+02] [ 6.90940928e-01 7.22909431e-01 -1.60850550e-03 4.15973649e+01] [ 2.33537041e-03 -7.05743129e-06 9.99997273e-01 1.82472911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.04, Y:41.61, Z:0.18 [[ 7.22694042e-01 -6.91166012e-01 -1.69268933e-03 1.07041383e+02] [ 6.91164139e-01 7.22696024e-01 -1.60897705e-03 4.16135894e+01] [ 2.33537010e-03 -7.12803548e-06 9.99997273e-01 1.82768239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.07, Y:41.63, Z:0.18 [[ 7.23225120e-01 -6.90610281e-01 -1.69249517e-03 1.07066088e+02] [ 6.90608407e-01 7.23227101e-01 -1.60918127e-03 4.16313501e+01] [ 2.33537550e-03 -5.05107370e-06 9.99997273e-01 1.83581920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.09, Y:41.65, Z:0.18 [[ 7.21825720e-01 -6.92072789e-01 -1.69864093e-03 1.07086058e+02] [ 6.92070933e-01 7.21827718e-01 -1.60271802e-03 4.16480861e+01] [ 2.33532364e-03 -1.86969294e-05 9.99997273e-01 1.82138133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.11, Y:41.66, Z:0.18 [[ 7.21140905e-01 -6.92786355e-01 -1.69181191e-03 1.07112705e+02] [ 6.92784484e-01 7.21142889e-01 -1.60989453e-03 4.16637519e+01] [ 2.33535109e-03 -1.11002457e-05 9.99997273e-01 1.83118640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.13, Y:41.68, Z:0.18 [[ 7.20024552e-01 -6.93946513e-01 -1.69755110e-03 1.07134246e+02] [ 6.93944660e-01 7.20026553e-01 -1.60386350e-03 4.16804205e+01] [ 2.33527736e-03 -2.31854234e-05 9.99997273e-01 1.82407129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.15, Y:41.70, Z:0.18 [[ 7.18513337e-01 -6.95511112e-01 -1.69654982e-03 1.07154729e+02] [ 6.95509260e-01 7.18515339e-01 -1.60491546e-03 4.16974301e+01] [ 2.33523361e-03 -2.68129432e-05 9.99997273e-01 1.82079182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.18, Y:41.71, Z:0.18 [[ 7.17069437e-01 -6.96999686e-01 -1.69127678e-03 1.07178273e+02] [ 6.96997826e-01 7.17071431e-01 -1.61045314e-03 4.17117210e+01] [ 2.33525159e-03 -2.40095151e-05 9.99997273e-01 1.82310626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.20, Y:41.73, Z:0.18 [[ 7.16276655e-01 -6.97814369e-01 -1.69108579e-03 1.07200421e+02] [ 6.97812511e-01 7.16278651e-01 -1.61065367e-03 4.17288150e+01] [ 2.33522592e-03 -2.63871970e-05 9.99997273e-01 1.82533491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.22, Y:41.75, Z:0.18 [[ 7.15258283e-01 -6.98858162e-01 -1.69065293e-03 1.07222169e+02] [ 6.98856306e-01 7.15260280e-01 -1.61110790e-03 4.17459522e+01] [ 2.33519279e-03 -2.91651953e-05 9.99997273e-01 1.82762027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.24, Y:41.76, Z:0.18 [[ 7.14235035e-01 -6.99903892e-01 -1.69021077e-03 1.07244432e+02] [ 6.99902038e-01 7.14237034e-01 -1.61157163e-03 4.17636765e+01] [ 2.33515639e-03 -3.19410420e-05 9.99997273e-01 1.82590143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35361786499998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:107.27, Y:41.78, Z:0.18 [[ 7.12274496e-01 -7.01898986e-01 -1.68975175e-03 1.07267352e+02] [ 7.01897136e-01 7.12276499e-01 -1.61205278e-03 4.17800928e+01] [ 2.33506867e-03 -3.78078357e-05 9.99997273e-01 1.82828003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:41.80, Z:0.18 [[ 7.11566822e-01 -7.02616399e-01 -1.68929620e-03 1.07288119e+02] [ 7.02614550e-01 7.11568826e-01 -1.61253002e-03 4.17969085e+01] [ 2.33504055e-03 -3.95012290e-05 9.99997273e-01 1.82816128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.31, Y:41.81, Z:0.18 [[ 7.11587716e-01 -7.02595239e-01 -1.68909848e-03 1.07310411e+02] [ 7.02593389e-01 7.11589719e-01 -1.61273710e-03 4.18135852e+01] [ 2.33504652e-03 -3.91455201e-05 9.99997273e-01 1.84846519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.33, Y:41.83, Z:0.18 [[ 7.10998102e-01 -7.03191899e-01 -1.68865188e-03 1.07330936e+02] [ 7.03190050e-01 7.11000106e-01 -1.61320458e-03 4.18310733e+01] [ 2.33502406e-03 -4.04578084e-05 9.99997273e-01 1.84533834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.35, Y:41.85, Z:0.18 [[ 7.10870077e-01 -7.03321323e-01 -1.68845856e-03 1.07352875e+02] [ 7.03319474e-01 7.10872081e-01 -1.61340690e-03 4.18466409e+01] [ 2.33502152e-03 -4.06031041e-05 9.99997273e-01 1.84437937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.37, Y:41.86, Z:0.18 [[ 7.10827989e-01 -7.03363860e-01 -1.68826903e-03 1.07374176e+02] [ 7.03362010e-01 7.10829993e-01 -1.61360520e-03 4.18643269e+01] [ 2.33502384e-03 -4.04685596e-05 9.99997273e-01 1.84285985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.39, Y:41.88, Z:0.18 [[ 7.10886922e-01 -7.03304297e-01 -1.68783067e-03 1.07394884e+02] [ 7.03302446e-01 7.10888925e-01 -1.61406359e-03 4.18817767e+01] [ 2.33503799e-03 -3.96387459e-05 9.99997273e-01 1.84746278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.42, Y:41.90, Z:0.19 [[ 7.11445434e-01 -7.02739317e-01 -1.68753273e-03 1.07416628e+02] [ 7.02737463e-01 7.11447434e-01 -1.61437503e-03 4.18987045e+01] [ 2.33507564e-03 -3.73527295e-05 9.99997273e-01 1.85351212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.44, Y:41.92, Z:0.19 [[ 7.11960054e-01 -7.02217939e-01 -1.68734396e-03 1.07436834e+02] [ 7.02216084e-01 7.11962053e-01 -1.61457231e-03 4.19160970e+01] [ 2.33510651e-03 -3.53690803e-05 9.99997273e-01 1.85451180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.46, Y:41.93, Z:0.19 [[ 7.11811179e-01 -7.02368859e-01 -1.68257939e-03 1.07459343e+02] [ 7.02366992e-01 7.11813167e-01 -1.61954879e-03 4.19341102e+01] [ 2.33520280e-03 -2.89752861e-05 9.99997273e-01 1.85699185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.48, Y:41.95, Z:0.18 [[ 7.11770932e-01 -7.02409635e-01 -1.68683069e-03 1.07480873e+02] [ 7.02407779e-01 7.11772930e-01 -1.61510870e-03 4.19527041e+01] [ 2.33510834e-03 -3.52555715e-05 9.99997273e-01 1.84517204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.50, Y:41.97, Z:0.18 [[ 7.11881108e-01 -7.02297975e-01 -1.68604134e-03 1.07503157e+02] [ 7.02296116e-01 7.11883104e-01 -1.61593272e-03 4.19714248e+01] [ 2.33513062e-03 -3.37483116e-05 9.99997273e-01 1.84899665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.53, Y:41.99, Z:0.19 [[ 7.11854832e-01 -7.02324608e-01 -1.68630999e-03 1.07525503e+02] [ 7.02322751e-01 7.11856828e-01 -1.61565233e-03 4.19870967e+01] [ 2.33512367e-03 -3.42239549e-05 9.99997273e-01 1.85196142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.55, Y:42.01, Z:0.18 [[ 7.11434014e-01 -7.02750881e-01 -1.68611721e-03 1.07546795e+02] [ 7.02749025e-01 7.11436011e-01 -1.61585349e-03 4.20053961e+01] [ 2.33510697e-03 -3.53440888e-05 9.99997273e-01 1.84345976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.57, Y:42.02, Z:0.18 [[ 7.11085055e-01 -7.03103977e-01 -1.68567002e-03 1.07567958e+02] [ 7.03102120e-01 7.11087053e-01 -1.61631987e-03 4.20236286e+01] [ 2.33509905e-03 -3.58572560e-05 9.99997273e-01 1.83892964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.59, Y:42.04, Z:0.18 [[ 7.10620542e-01 -7.03573454e-01 -1.68522124e-03 1.07588601e+02] [ 7.03571597e-01 7.10622539e-01 -1.61678764e-03 4.20415633e+01] [ 2.33508506e-03 -3.67512896e-05 9.99997273e-01 1.83351093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.61, Y:42.06, Z:0.18 [[ 7.09771779e-01 -7.04429686e-01 -1.68502657e-03 1.07610797e+02] [ 7.04427831e-01 7.09773778e-01 -1.61699051e-03 4.20590640e+01] [ 2.33504379e-03 -3.92853832e-05 9.99997273e-01 1.82824781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.63, Y:42.08, Z:0.18 [[ 7.09340664e-01 -7.04863806e-01 -1.68457987e-03 1.07631756e+02] [ 7.04861951e-01 7.09342663e-01 -1.61745574e-03 4.20774358e+01] [ 2.33503038e-03 -4.00691204e-05 9.99997273e-01 1.82090871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.65, Y:42.10, Z:0.18 [[ 7.08933307e-01 -7.05273514e-01 -1.68413315e-03 1.07651924e+02] [ 7.05271659e-01 7.08935306e-01 -1.61792075e-03 4.20952193e+01] [ 2.33501810e-03 -4.07734720e-05 9.99997273e-01 1.82434690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.67, Y:42.11, Z:0.18 [[ 7.08799605e-01 -7.05407885e-01 -1.68393926e-03 1.07674453e+02] [ 7.05406030e-01 7.08801604e-01 -1.61812252e-03 4.21128882e+01] [ 2.33501523e-03 -4.09363030e-05 9.99997273e-01 1.82374846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.69, Y:42.13, Z:0.18 [[ 7.08899681e-01 -7.05307314e-01 -1.68349014e-03 1.07694354e+02] [ 7.05305458e-01 7.08901679e-01 -1.61858965e-03 4.21305162e+01] [ 2.33503210e-03 -3.99571016e-05 9.99997273e-01 1.82446571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.72, Y:42.15, Z:0.18 [[ 7.08927896e-01 -7.05278955e-01 -1.68329507e-03 1.07715086e+02] [ 7.05277098e-01 7.08929894e-01 -1.61879248e-03 4.21495418e+01] [ 2.33503847e-03 -3.95823150e-05 9.99997273e-01 1.82322860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.013617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.73, Y:42.17, Z:0.18 [[ 7.09235889e-01 -7.04969235e-01 -1.68284895e-03 1.07734472e+02] [ 7.04967376e-01 7.09237884e-01 -1.61925613e-03 4.21676637e+01] [ 2.33506598e-03 -3.79190412e-05 9.99997273e-01 1.82162075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.043617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.76, Y:42.19, Z:0.18 [[ 7.09735381e-01 -7.04466364e-01 -1.68265624e-03 1.07755670e+02] [ 7.04464503e-01 7.09737375e-01 -1.61945636e-03 4.21863499e+01] [ 2.33509656e-03 -3.59861097e-05 9.99997273e-01 1.81411404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.073617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.78, Y:42.20, Z:0.18 [[ 7.09828701e-01 -7.04372334e-01 -1.68222193e-03 1.07776879e+02] [ 7.04370472e-01 7.09830694e-01 -1.61990738e-03 4.22048480e+01] [ 2.33511070e-03 -3.50506993e-05 9.99997273e-01 1.81424579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.103617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.80, Y:42.22, Z:0.18 [[ 7.09882674e-01 -7.04317941e-01 -1.68178714e-03 1.07797201e+02] [ 7.04316078e-01 7.09884665e-01 -1.62035865e-03 4.22225436e+01] [ 2.33512257e-03 -3.42451946e-05 9.99997273e-01 1.81592441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.81, Y:42.24, Z:0.18 [[ 7.07645159e-01 -7.06565992e-01 -1.68159856e-03 1.07814809e+02] [ 7.06564134e-01 7.07647156e-01 -1.62055433e-03 4.22406125e+01] [ 2.33500702e-03 -4.13798012e-05 9.99997273e-01 1.78675680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.84, Y:42.26, Z:0.18 [[ 7.09479268e-01 -7.04724336e-01 -1.66700310e-03 1.07840254e+02] [ 7.04722438e-01 7.09481226e-01 -1.63568696e-03 4.22585990e+01] [ 2.33541581e-03 -1.42884972e-05 9.99997273e-01 1.81140502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.86, Y:42.28, Z:0.18 [[ 7.09180591e-01 -7.05024867e-01 -1.68110297e-03 1.07860925e+02] [ 7.05023005e-01 7.09182582e-01 -1.62106488e-03 4.22771562e+01] [ 2.33510000e-03 -3.55885179e-05 9.99997273e-01 1.80766217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.88, Y:42.29, Z:0.18 [[ 7.08912654e-01 -7.05294282e-01 -1.68067919e-03 1.07881763e+02] [ 7.05292419e-01 7.08914645e-01 -1.62150414e-03 4.22941089e+01] [ 2.33509568e-03 -3.58654872e-05 9.99997273e-01 1.80053829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.90, Y:42.31, Z:0.18 [[ 7.08442638e-01 -7.05766395e-01 -1.68044654e-03 1.07902719e+02] [ 7.05764533e-01 7.08444630e-01 -1.62174521e-03 4.23124670e+01] [ 2.33507659e-03 -3.70861118e-05 9.99997273e-01 1.80021938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:42.33, Z:0.18 [[ 7.07932235e-01 -7.06278365e-01 -1.68001971e-03 1.07923926e+02] [ 7.06276503e-01 7.07934227e-01 -1.62218725e-03 4.23307982e+01] [ 2.33505921e-03 -3.81598007e-05 9.99997273e-01 1.80062340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.95, Y:42.35, Z:0.18 [[ 7.07337516e-01 -7.06873976e-01 -1.67959321e-03 1.07945342e+02] [ 7.06872114e-01 7.07339509e-01 -1.62262873e-03 4.23493549e+01] [ 2.33503665e-03 -3.95114287e-05 9.99997273e-01 1.80108633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.97, Y:42.37, Z:0.18 [[ 7.06800583e-01 -7.07410854e-01 -1.67916635e-03 1.07965904e+02] [ 7.07408993e-01 7.06802576e-01 -1.62307034e-03 4.23670347e+01] [ 2.33501667e-03 -4.06703122e-05 9.99997273e-01 1.80061569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.99, Y:42.38, Z:0.18 [[ 7.05060301e-01 -7.09145368e-01 -1.67893131e-03 1.07988314e+02] [ 7.09143512e-01 7.05062299e-01 -1.62331343e-03 4.23844417e+01] [ 2.33491637e-03 -4.60693891e-05 9.99997273e-01 1.80067827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.01, Y:42.40, Z:0.18 [[ 7.04192978e-01 -7.10006642e-01 -1.67851301e-03 1.08009163e+02] [ 7.10004787e-01 7.04194977e-01 -1.62374584e-03 4.24024116e+01] [ 2.33487076e-03 -4.83218528e-05 9.99997273e-01 1.79978436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.03, Y:42.42, Z:0.18 [[ 7.03028284e-01 -7.11159909e-01 -1.67828250e-03 1.08030425e+02] [ 7.11158056e-01 7.03030285e-01 -1.62398406e-03 4.24187575e+01] [ 2.33479578e-03 -5.18173947e-05 9.99997273e-01 1.79892948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:108.05, Y:42.44, Z:0.18 [[ 7.02727876e-01 -7.11456757e-01 -1.67805396e-03 1.08051652e+02] [ 7.11454905e-01 7.02729877e-01 -1.62422017e-03 4.24373657e+01] [ 2.33478107e-03 -5.24749267e-05 9.99997273e-01 1.80184047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.07, Y:42.46, Z:0.18 [[ 7.02435345e-01 -7.11745581e-01 -1.67761293e-03 1.08072361e+02] [ 7.11743728e-01 7.02437346e-01 -1.62467557e-03 4.24559696e+01] [ 2.33477363e-03 -5.28009366e-05 9.99997273e-01 1.80497268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.09, Y:42.48, Z:0.18 [[ 7.01777606e-01 -7.12394117e-01 -1.67716869e-03 1.08092110e+02] [ 7.12392266e-01 7.01779608e-01 -1.62513404e-03 4.24755651e+01] [ 2.33473871e-03 -5.43193268e-05 9.99997273e-01 1.79579793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.11, Y:42.49, Z:0.18 [[ 7.03403874e-01 -7.10788421e-01 -1.67672428e-03 1.08113470e+02] [ 7.10786564e-01 7.03405870e-01 -1.62559243e-03 4.24919837e+01] [ 2.33486997e-03 -4.83450782e-05 9.99997273e-01 1.80305350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.13, Y:42.51, Z:0.18 [[ 7.04038700e-01 -7.10159629e-01 -1.67645888e-03 1.08133682e+02] [ 7.10157769e-01 7.04040695e-01 -1.62586608e-03 4.25113270e+01] [ 2.33491973e-03 -4.58776622e-05 9.99997273e-01 1.80337000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.15, Y:42.53, Z:0.18 [[ 7.04937101e-01 -7.09267844e-01 -1.67600925e-03 1.08152697e+02] [ 7.09265981e-01 7.04939092e-01 -1.62632945e-03 4.25301863e+01] [ 2.33498762e-03 -4.22763793e-05 9.99997273e-01 1.80398116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.17, Y:42.55, Z:0.18 [[ 7.06612358e-01 -7.07598875e-01 -1.67570370e-03 1.08172954e+02] [ 7.07597006e-01 7.06614344e-01 -1.62664421e-03 4.25496362e+01] [ 2.33508788e-03 -3.63160247e-05 9.99997273e-01 1.81135898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.19, Y:42.57, Z:0.18 [[ 7.06701323e-01 -7.07510024e-01 -1.67527461e-03 1.08193835e+02] [ 7.07508153e-01 7.06703308e-01 -1.62708601e-03 4.25699638e+01] [ 2.33510177e-03 -3.54066091e-05 9.99997273e-01 1.80903768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.21, Y:42.59, Z:0.18 [[ 7.07814465e-01 -7.06396394e-01 -1.67876343e-03 1.08213731e+02] [ 7.06394529e-01 7.07816455e-01 -1.62349487e-03 4.25894931e+01] [ 2.33508730e-03 -3.67361489e-05 9.99997273e-01 1.81433165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.23, Y:42.61, Z:0.18 [[ 7.07621180e-01 -7.06590023e-01 -1.67464227e-03 1.08234179e+02] [ 7.06588149e-01 7.07623161e-01 -1.62773480e-03 4.26094616e+01] [ 2.33515682e-03 -3.14627629e-05 9.99997273e-01 1.81497816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.763617865 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:108.26, Y:42.63, Z:0.18 [[ 7.09453944e-01 -7.04749812e-01 -1.67419682e-03 1.08257044e+02] [ 7.04747932e-01 7.09455919e-01 -1.62819283e-03 4.26301946e+01] [ 2.33523744e-03 -2.47589240e-05 9.99997273e-01 1.80909946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.793617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.27, Y:42.65, Z:0.18 [[ 7.09168589e-01 -7.05036935e-01 -1.68284530e-03 1.08273903e+02] [ 7.05035077e-01 7.09170585e-01 -1.61929945e-03 4.26494144e+01] [ 2.33509031e-03 -3.81086587e-05 9.99997273e-01 1.80794330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.823617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.29, Y:42.67, Z:0.18 [[ 7.09361036e-01 -7.04843330e-01 -1.67371588e-03 1.08293228e+02] [ 7.04841449e-01 7.09363010e-01 -1.62868131e-03 4.26692725e+01] [ 2.33523729e-03 -2.43812587e-05 9.99997273e-01 1.80815111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.853617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.31, Y:42.69, Z:0.18 [[ 7.09345499e-01 -7.04858967e-01 -1.67327787e-03 1.08311653e+02] [ 7.04857084e-01 7.09347472e-01 -1.62913119e-03 4.26895603e+01] [ 2.33524315e-03 -2.38048819e-05 9.99997273e-01 1.80660196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.33, Y:42.71, Z:0.18 [[ 7.09143261e-01 -7.05062434e-01 -1.67303609e-03 1.08331709e+02] [ 7.05060552e-01 7.09145234e-01 -1.62937944e-03 4.27090066e+01] [ 2.33523981e-03 -2.41282990e-05 9.99997273e-01 1.80983003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.35, Y:42.73, Z:0.18 [[ 7.08710009e-01 -7.05497927e-01 -1.67257252e-03 1.08350651e+02] [ 7.05496045e-01 7.08711983e-01 -1.62985517e-03 4.27290140e+01] [ 2.33523163e-03 -2.48986259e-05 9.99997273e-01 1.80897000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.37, Y:42.75, Z:0.18 [[ 7.07441536e-01 -7.06769889e-01 -1.67237233e-03 1.08370205e+02] [ 7.06768010e-01 7.07443512e-01 -1.63006056e-03 4.27486152e+01] [ 2.33518667e-03 -2.88067192e-05 9.99997273e-01 1.81130621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.39, Y:42.77, Z:0.18 [[ 7.06660740e-01 -7.07550566e-01 -1.67192228e-03 1.08390685e+02] [ 7.07548688e-01 7.06662717e-01 -1.63052202e-03 4.27672415e+01] [ 2.33516193e-03 -3.07405175e-05 9.99997273e-01 1.81242555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.41, Y:42.79, Z:0.18 [[ 7.05400807e-01 -7.08806679e-01 -1.67145200e-03 1.08409886e+02] [ 7.08804803e-01 7.05402786e-01 -1.63100398e-03 4.27868765e+01] [ 2.33511341e-03 -3.42216826e-05 9.99997273e-01 1.81027803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.03361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:108.43, Y:42.81, Z:0.18 [[ 7.04067593e-01 -7.10130996e-01 -1.67124884e-03 1.08430457e+02] [ 7.10129123e-01 7.04069576e-01 -1.63121212e-03 4.28060405e+01] [ 2.33504975e-03 -3.83188771e-05 9.99997273e-01 1.80195614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06361786499997 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:108.45, Y:42.82, Z:0.18 [[ 7.01849740e-01 -7.12323066e-01 -1.67079291e-03 1.08449583e+02] [ 7.12321199e-01 7.01851728e-01 -1.63167898e-03 4.28249550e+01] [ 2.33493146e-03 -4.49477354e-05 9.99997273e-01 1.80102313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.47, Y:42.84, Z:0.18 [[ 7.00420579e-01 -7.13728395e-01 -1.67059548e-03 1.08469472e+02] [ 7.13726531e-01 7.00422569e-01 -1.63188109e-03 4.28442753e+01] [ 2.33484265e-03 -4.93452231e-05 9.99997273e-01 1.80158475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.49, Y:42.86, Z:0.18 [[ 6.99370839e-01 -7.14757050e-01 -1.67014869e-03 1.08488729e+02] [ 7.14755188e-01 6.99372831e-01 -1.63233823e-03 4.28629359e+01] [ 2.33478188e-03 -5.21376799e-05 9.99997273e-01 1.79439558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.51, Y:42.88, Z:0.18 [[ 6.97921207e-01 -7.16172605e-01 -1.66984525e-03 1.08509284e+02] [ 7.16170746e-01 6.97923203e-01 -1.63264858e-03 4.28816881e+01] [ 2.33468193e-03 -5.64342518e-05 9.99997273e-01 1.78735272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.53, Y:42.90, Z:0.18 [[ 6.97472488e-01 -7.16609616e-01 -1.66940209e-03 1.08527593e+02] [ 7.16607757e-01 6.97474484e-01 -1.63310159e-03 4.29023534e+01] [ 2.33466167e-03 -5.72630574e-05 9.99997273e-01 1.79380136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:108.55, Y:42.92, Z:0.18 [[ 6.97210495e-01 -7.16864519e-01 -1.66924631e-03 1.08547668e+02] [ 7.16862661e-01 6.97212491e-01 -1.63326081e-03 4.29225683e+01] [ 2.33464610e-03 -5.78937717e-05 9.99997273e-01 1.79438695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:108.57, Y:42.94, Z:0.18 [[ 6.97238224e-01 -7.16837551e-01 -1.66880413e-03 1.08567634e+02] [ 7.16835691e-01 6.97240219e-01 -1.63371249e-03 4.29407971e+01] [ 2.33466381e-03 -5.71715640e-05 9.99997273e-01 1.78731605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.59, Y:42.96, Z:0.18 [[ 6.97102365e-01 -7.16969671e-01 -1.66856244e-03 1.08586579e+02] [ 7.16967811e-01 6.97104359e-01 -1.63395929e-03 4.29613759e+01] [ 2.33466141e-03 -5.72686759e-05 9.99997273e-01 1.80061471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.61, Y:42.98, Z:0.18 [[ 6.97251580e-01 -7.16824561e-01 -1.66812075e-03 1.08605581e+02] [ 7.16822700e-01 6.97253573e-01 -1.63441010e-03 4.29806480e+01] [ 2.33468845e-03 -5.61517956e-05 9.99997273e-01 1.80752466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.62, Y:43.00, Z:0.18 [[ 6.97715234e-01 -7.16373276e-01 -1.66787773e-03 1.08624761e+02] [ 7.16371413e-01 6.97717225e-01 -1.63465805e-03 4.30005515e+01] [ 2.33473237e-03 -5.42940990e-05 9.99997273e-01 1.79488872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.64, Y:43.02, Z:0.18 [[ 6.98254075e-01 -7.15848075e-01 -1.66742183e-03 1.08643069e+02] [ 7.15846209e-01 6.98256064e-01 -1.63512296e-03 4.30207693e+01] [ 2.33478703e-03 -5.18863274e-05 9.99997273e-01 1.80437409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.66, Y:43.04, Z:0.18 [[ 6.98518542e-01 -7.15590013e-01 -1.66722433e-03 1.08664066e+02] [ 7.15588146e-01 6.98520530e-01 -1.63532431e-03 4.30421239e+01] [ 2.33481217e-03 -5.07416160e-05 9.99997273e-01 1.77640725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.68, Y:43.06, Z:0.18 [[ 6.99963130e-01 -7.14177024e-01 -1.67203755e-03 1.08681816e+02] [ 7.14175165e-01 6.99965125e-01 -1.63041808e-03 4.30617013e+01] [ 2.33477510e-03 -5.28951542e-05 9.99997273e-01 1.78604902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.70, Y:43.08, Z:0.18 [[ 7.00467032e-01 -7.13682814e-01 -1.66659215e-03 1.08700986e+02] [ 7.13680941e-01 7.00469013e-01 -1.63596542e-03 4.30808639e+01] [ 2.33495656e-03 -4.34752169e-05 9.99997273e-01 1.78082583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.72, Y:43.10, Z:0.18 [[ 7.01690995e-01 -7.12479453e-01 -1.66630070e-03 1.08720861e+02] [ 7.12477575e-01 7.01692973e-01 -1.63626222e-03 4.31002999e+01] [ 2.33503470e-03 -3.90514180e-05 9.99997273e-01 1.78902232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.513617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.74, Y:43.12, Z:0.18 [[ 7.02195686e-01 -7.11982063e-01 -1.66155946e-03 1.08741213e+02] [ 7.11980172e-01 7.02197651e-01 -1.64108877e-03 4.31211492e+01] [ 2.33516892e-03 -3.06319386e-05 9.99997273e-01 1.77862782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.543617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.76, Y:43.14, Z:0.18 [[ 7.02768386e-01 -7.11416770e-01 -1.66579819e-03 1.08761651e+02] [ 7.11414888e-01 7.02770359e-01 -1.63677488e-03 4.31409616e+01] [ 2.33510269e-03 -3.47999948e-05 9.99997273e-01 1.78888072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.573617865 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:108.78, Y:43.16, Z:0.18 [[ 7.03027208e-01 -7.11161002e-01 -1.66534521e-03 1.08780693e+02] [ 7.11159118e-01 7.03029180e-01 -1.63723563e-03 4.31596597e+01] [ 2.33512441e-03 -3.33042340e-05 9.99997273e-01 1.79108804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.603617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.80, Y:43.18, Z:0.18 [[ 7.02663175e-01 -7.11520688e-01 -1.66514952e-03 1.08800762e+02] [ 7.11518804e-01 7.02665148e-01 -1.63743464e-03 4.31786494e+01] [ 2.33511115e-03 -3.42201748e-05 9.99997273e-01 1.80250980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.82, Y:43.20, Z:0.18 [[ 7.02254631e-01 -7.11923916e-01 -1.66470014e-03 1.08821181e+02] [ 7.11922032e-01 7.02256604e-01 -1.63789137e-03 4.31984535e+01] [ 2.33510070e-03 -3.49199036e-05 9.99997273e-01 1.80472318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.84, Y:43.22, Z:0.18 [[ 7.01604753e-01 -7.12564384e-01 -1.66425250e-03 1.08841165e+02] [ 7.12562502e-01 7.01606725e-01 -1.63834609e-03 4.32178242e+01] [ 2.33507782e-03 -3.64125202e-05 9.99997273e-01 1.80554018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.86, Y:43.24, Z:0.18 [[ 7.00975849e-01 -7.13183070e-01 -1.66380674e-03 1.08861405e+02] [ 7.13181188e-01 7.00977823e-01 -1.63879865e-03 4.32371752e+01] [ 2.33505508e-03 -3.78373934e-05 9.99997273e-01 1.81095439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.88, Y:43.26, Z:0.18 [[ 7.00359066e-01 -7.13788772e-01 -1.66336374e-03 1.08881948e+02] [ 7.13786891e-01 7.00361041e-01 -1.63924817e-03 4.32569000e+01] [ 2.33503210e-03 -3.92249150e-05 9.99997273e-01 1.81683729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.75361786499997 meters Centerline goodness : 0.997795 Centerline is valid? [True, True] Translation: X:108.90, Y:43.28, Z:0.18 [[ 6.99757827e-01 -7.14378203e-01 -1.66291562e-03 1.08901849e+02] [ 7.14376323e-01 6.99759802e-01 -1.63970263e-03 4.32756061e+01] [ 2.33500933e-03 -4.05527972e-05 9.99997273e-01 1.81399124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.92, Y:43.30, Z:0.18 [[ 6.97737590e-01 -7.16351528e-01 -1.65644885e-03 1.08922964e+02] [ 7.16349637e-01 6.97739555e-01 -1.64625765e-03 4.32966233e+01] [ 2.33506907e-03 -3.79406828e-05 9.99997273e-01 1.79918592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.94, Y:43.32, Z:0.18 [[ 6.97415287e-01 -7.16665301e-01 -1.66223747e-03 1.08942646e+02] [ 7.16663425e-01 6.97417267e-01 -1.64039195e-03 4.33150092e+01] [ 2.33488510e-03 -4.72303776e-05 9.99997273e-01 1.82600802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.96, Y:43.33, Z:0.18 [[ 6.95485284e-01 -7.18538418e-01 -1.66203951e-03 1.08962559e+02] [ 7.18536547e-01 6.95487268e-01 -1.64059249e-03 4.33338311e+01] [ 2.33475605e-03 -5.32282018e-05 9.99997273e-01 1.83404374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:108.98, Y:43.35, Z:0.18 [[ 6.94957431e-01 -7.19048960e-01 -1.66179415e-03 1.08983102e+02] [ 7.19047090e-01 6.94959416e-01 -1.64084099e-03 4.33534422e+01] [ 2.33472450e-03 -5.45936066e-05 9.99997273e-01 1.83553039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.00, Y:43.37, Z:0.18 [[ 6.94117553e-01 -7.19859756e-01 -1.65974604e-03 1.09002814e+02] [ 7.19857883e-01 6.94119535e-01 -1.64291440e-03 4.33731955e+01] [ 2.33473011e-03 -5.44055543e-05 9.99997273e-01 1.84215599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.02, Y:43.39, Z:0.18 [[ 6.94241157e-01 -7.19740547e-01 -1.66130488e-03 1.09022354e+02] [ 7.19738678e-01 6.94243143e-01 -1.64133660e-03 4.33929824e+01] [ 2.33468602e-03 -5.62219542e-05 9.99997273e-01 1.84221791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.04, Y:43.41, Z:0.18 [[ 6.94114531e-01 -7.19862667e-01 -1.66086506e-03 1.09043279e+02] [ 7.19860797e-01 6.94116516e-01 -1.64178153e-03 4.34142601e+01] [ 2.33469110e-03 -5.60072272e-05 9.99997273e-01 1.84071654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.06, Y:43.43, Z:0.18 [[ 6.95238003e-01 -7.18777674e-01 -1.66564984e-03 1.09061144e+02] [ 7.18775813e-01 6.95239996e-01 -1.63694206e-03 4.34326886e+01] [ 2.33462379e-03 -5.91644901e-05 9.99997273e-01 1.83425005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.08, Y:43.45, Z:0.18 [[ 6.95751755e-01 -7.18280404e-01 -1.66026201e-03 1.09080955e+02] [ 7.18278528e-01 6.95753735e-01 -1.64238852e-03 4.34528468e+01] [ 2.33482898e-03 -4.98358519e-05 9.99997273e-01 1.82974190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:109.10, Y:43.47, Z:0.18 [[ 6.96907955e-01 -7.17158662e-01 -1.65981562e-03 1.09099784e+02] [ 7.17156782e-01 6.96909930e-01 -1.64283952e-03 4.34727898e+01] [ 2.33491858e-03 -4.54401028e-05 9.99997273e-01 1.81130847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.12, Y:43.49, Z:0.18 [[ 6.97341284e-01 -7.16737315e-01 -1.65957841e-03 1.09119588e+02] [ 7.16735433e-01 6.97343258e-01 -1.64307911e-03 4.34932973e+01] [ 2.33495193e-03 -4.36917568e-05 9.99997273e-01 1.81343527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.14, Y:43.51, Z:0.18 [[ 6.97953270e-01 -7.16141382e-01 -1.65912199e-03 1.09137938e+02] [ 7.16139498e-01 6.97955241e-01 -1.64353986e-03 4.35134491e+01] [ 2.33499980e-03 -4.10487694e-05 9.99997273e-01 1.80383674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.16, Y:43.53, Z:0.18 [[ 6.97791728e-01 -7.16298788e-01 -1.65881211e-03 1.09157694e+02] [ 7.16296903e-01 6.97793698e-01 -1.64385256e-03 4.35336731e+01] [ 2.33499823e-03 -4.11352586e-05 9.99997273e-01 1.80805478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.18, Y:43.55, Z:0.18 [[ 7.00496498e-01 -7.13653912e-01 -1.65836554e-03 1.09179508e+02] [ 7.13652019e-01 7.00498460e-01 -1.64430295e-03 4.35511102e+01] [ 2.33514574e-03 -3.16674611e-05 9.99997273e-01 1.82481881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.20, Y:43.57, Z:0.18 [[ 6.96933165e-01 -7.17134167e-01 -1.65822721e-03 1.09198131e+02] [ 7.17132283e-01 6.96935136e-01 -1.64444244e-03 4.35730733e+01] [ 2.33496267e-03 -4.31017937e-05 9.99997273e-01 1.82341160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.22, Y:43.59, Z:0.18 [[ 6.96190925e-01 -7.17854754e-01 -1.65783781e-03 1.09217490e+02] [ 7.17852870e-01 6.96192898e-01 -1.64483492e-03 4.35924497e+01] [ 2.33492747e-03 -4.49644867e-05 9.99997273e-01 1.82869789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.263617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.24, Y:43.61, Z:0.18 [[ 6.95283609e-01 -7.18733577e-01 -1.65758785e-03 1.09237499e+02] [ 7.18731696e-01 6.95285584e-01 -1.64508678e-03 4.36125044e+01] [ 2.33487604e-03 -4.75590504e-05 9.99997273e-01 1.83357184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.293617865 meters Centerline goodness : 0.994911 Centerline is valid? [True, True] Translation: X:109.26, Y:43.63, Z:0.18 [[ 6.93794222e-01 -7.20171391e-01 -1.65713872e-03 1.09256747e+02] [ 7.20169512e-01 6.93796199e-01 -1.64553907e-03 4.36314805e+01] [ 2.33478671e-03 -5.17552845e-05 9.99997273e-01 1.83161972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.323617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.28, Y:43.65, Z:0.18 [[ 6.92962014e-01 -7.20972196e-01 -1.65530987e-03 1.09276757e+02] [ 7.20970316e-01 6.92963989e-01 -1.64737975e-03 4.36513142e+01] [ 2.33478513e-03 -5.18576935e-05 9.99997273e-01 1.83462427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.30, Y:43.67, Z:0.18 [[ 6.92098362e-01 -7.21801298e-01 -1.65636167e-03 1.09296829e+02] [ 7.21799423e-01 6.92100341e-01 -1.64632154e-03 4.36716144e+01] [ 2.33468550e-03 -5.61444603e-05 9.99997273e-01 1.83621075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.32, Y:43.69, Z:0.18 [[ 6.91616184e-01 -7.22263326e-01 -1.65591892e-03 1.09315710e+02] [ 7.22261451e-01 6.91618164e-01 -1.64676675e-03 4.36906752e+01] [ 2.33466283e-03 -5.70758712e-05 9.99997273e-01 1.83145230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.34, Y:43.71, Z:0.18 [[ 6.91262399e-01 -7.22601934e-01 -1.65567587e-03 1.09336870e+02] [ 7.22600059e-01 6.91264379e-01 -1.64701108e-03 4.37097803e+01] [ 2.33464314e-03 -5.78746510e-05 9.99997273e-01 1.81377735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.36, Y:43.73, Z:0.18 [[ 6.90616663e-01 -7.23219113e-01 -1.65520820e-03 1.09356494e+02] [ 7.23217239e-01 6.90618644e-01 -1.64748094e-03 4.37303444e+01] [ 2.33460735e-03 -5.92973174e-05 9.99997273e-01 1.81294498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.38, Y:43.75, Z:0.18 [[ 6.90637531e-01 -7.23199186e-01 -1.65473510e-03 1.09375821e+02] [ 7.23197311e-01 6.90639510e-01 -1.64795599e-03 4.37502563e+01] [ 2.33462587e-03 -5.85597197e-05 9.99997273e-01 1.82377460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.40, Y:43.77, Z:0.18 [[ 6.91299277e-01 -7.22566649e-01 -1.65759763e-03 1.09396046e+02] [ 7.22564779e-01 6.91301262e-01 -1.64508224e-03 4.37694561e+01] [ 2.33458089e-03 -6.04775005e-05 9.99997273e-01 1.81566691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.41, Y:43.79, Z:0.18 [[ 6.91681363e-01 -7.22200911e-01 -1.65399239e-03 1.09414800e+02] [ 7.22199032e-01 6.91683338e-01 -1.64869905e-03 4.37887275e+01] [ 2.33473094e-03 -5.41372924e-05 9.99997273e-01 1.82981964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.44, Y:43.81, Z:0.18 [[ 6.92797347e-01 -7.21130433e-01 -1.65379299e-03 1.09436138e+02] [ 7.21128549e-01 6.92799319e-01 -1.64889905e-03 4.38072829e+01] [ 2.33481794e-03 -5.02444541e-05 9.99997273e-01 1.82328075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.46, Y:43.83, Z:0.18 [[ 6.92851843e-01 -7.21078075e-01 -1.65333445e-03 1.09455994e+02] [ 7.21076190e-01 6.92853814e-01 -1.64935869e-03 4.38272842e+01] [ 2.33483547e-03 -4.94189025e-05 9.99997273e-01 1.83424094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.48, Y:43.85, Z:0.18 [[ 6.92644312e-01 -7.21277426e-01 -1.65285927e-03 1.09476196e+02] [ 7.21275541e-01 6.92646282e-01 -1.64983474e-03 4.38475055e+01] [ 2.33483538e-03 -4.94183151e-05 9.99997273e-01 1.83490613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.50, Y:43.87, Z:0.18 [[ 6.93602798e-01 -7.20355765e-01 -1.65238436e-03 1.09496320e+02] [ 7.20353876e-01 6.93604765e-01 -1.65031025e-03 4.38675424e+01] [ 2.33491217e-03 -4.56416754e-05 9.99997273e-01 1.83650847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.52, Y:43.89, Z:0.18 [[ 6.93576825e-01 -7.20380774e-01 -1.65191009e-03 1.09515660e+02] [ 7.20378883e-01 6.93578791e-01 -1.65078484e-03 4.38868943e+01] [ 2.33492346e-03 -4.50550378e-05 9.99997273e-01 1.84371308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:109.53, Y:43.91, Z:0.18 [[ 6.93080058e-01 -7.20858728e-01 -1.65170438e-03 1.09534458e+02] [ 7.20856839e-01 6.93082024e-01 -1.65099064e-03 4.39076624e+01] [ 2.33489763e-03 -4.63737100e-05 9.99997273e-01 1.83173100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:109.55, Y:43.93, Z:0.18 [[ 6.92694742e-01 -7.21228998e-01 -1.65156139e-03 1.09553652e+02] [ 7.21227109e-01 6.92696709e-01 -1.65113367e-03 4.39263023e+01] [ 2.33487662e-03 -4.74192324e-05 9.99997273e-01 1.83757399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.57, Y:43.95, Z:0.18 [[ 6.92387114e-01 -7.21524329e-01 -1.65131294e-03 1.09573180e+02] [ 7.21522441e-01 6.92389082e-01 -1.65138210e-03 4.39460886e+01] [ 2.33486342e-03 -4.80636548e-05 9.99997273e-01 1.82520640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.59, Y:43.97, Z:0.18 [[ 6.91845524e-01 -7.22043659e-01 -1.65087366e-03 1.09593082e+02] [ 7.22041771e-01 6.91847492e-01 -1.65182114e-03 4.39660392e+01] [ 2.33483978e-03 -4.91946765e-05 9.99997273e-01 1.84981638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.61, Y:43.99, Z:0.18 [[ 6.91883825e-01 -7.22006959e-01 -1.65043328e-03 1.09612253e+02] [ 7.22005070e-01 6.91885792e-01 -1.65226102e-03 4.39858806e+01] [ 2.33485530e-03 -4.84485216e-05 9.99997273e-01 1.84092873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:109.63, Y:44.00, Z:0.19 [[ 6.92335865e-01 -7.21573508e-01 -1.64999356e-03 1.09633163e+02] [ 7.21571617e-01 6.92337829e-01 -1.65270003e-03 4.40048264e+01] [ 2.33489752e-03 -4.63650181e-05 9.99997273e-01 1.85644293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.65, Y:44.03, Z:0.18 [[ 6.91678476e-01 -7.22203687e-01 -1.64952818e-03 1.09651010e+02] [ 7.22201796e-01 6.91680441e-01 -1.65316438e-03 4.40252638e+01] [ 2.33486779e-03 -4.78339934e-05 9.99997273e-01 1.84231164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.67, Y:44.05, Z:0.18 [[ 6.91863119e-01 -7.22026803e-01 -1.64933702e-03 1.09674061e+02] [ 7.22024911e-01 6.91865083e-01 -1.65335508e-03 4.40458265e+01] [ 2.33488538e-03 -4.69670099e-05 9.99997273e-01 1.83626253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.69, Y:44.07, Z:0.19 [[ 6.90389964e-01 -7.23435515e-01 -1.65914368e-03 1.09691768e+02] [ 7.23433651e-01 6.90391955e-01 -1.64357656e-03 4.40652715e+01] [ 2.33448110e-03 -6.55716102e-05 9.99997273e-01 1.85030613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.71, Y:44.09, Z:0.18 [[ 6.89646639e-01 -7.24144183e-01 -1.64811776e-03 1.09710739e+02] [ 7.24142294e-01 6.89648606e-01 -1.65455955e-03 4.40852941e+01] [ 2.33476179e-03 -5.24103406e-05 9.99997273e-01 1.83585304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.013617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.73, Y:44.10, Z:0.18 [[ 6.88383721e-01 -7.25344841e-01 -1.64764510e-03 1.09729172e+02] [ 7.25342955e-01 6.88385691e-01 -1.65503010e-03 4.41044364e+01] [ 2.33468286e-03 -5.58119815e-05 9.99997273e-01 1.83143492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.043617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.75, Y:44.12, Z:0.18 [[ 6.87010066e-01 -7.26646032e-01 -1.64739849e-03 1.09748854e+02] [ 7.26644149e-01 6.87012038e-01 -1.65527553e-03 4.41242444e+01] [ 2.33458200e-03 -5.98815222e-05 9.99997273e-01 1.83969511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.073617865 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:109.77, Y:44.14, Z:0.18 [[ 6.85778108e-01 -7.27808818e-01 -1.64693561e-03 1.09767367e+02] [ 7.27806937e-01 6.85780082e-01 -1.65573595e-03 4.41438778e+01] [ 2.33449487e-03 -6.31836961e-05 9.99997273e-01 1.83974585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.79, Y:44.16, Z:0.18 [[ 6.84113945e-01 -7.29373291e-01 -1.64673589e-03 1.09787606e+02] [ 7.29371415e-01 6.84115924e-01 -1.65593457e-03 4.41635666e+01] [ 2.33435269e-03 -6.82341557e-05 9.99997273e-01 1.84912289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.81, Y:44.18, Z:0.19 [[ 6.83439899e-01 -7.30004927e-01 -1.64629453e-03 1.09807252e+02] [ 7.30003051e-01 6.83441879e-01 -1.65637325e-03 4.41828427e+01] [ 2.33430725e-03 -6.97684609e-05 9.99997273e-01 1.85705117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.83, Y:44.20, Z:0.19 [[ 6.83118948e-01 -7.30305274e-01 -1.64605046e-03 1.09827028e+02] [ 7.30303399e-01 6.83120928e-01 -1.65661576e-03 4.42028327e+01] [ 2.33428674e-03 -7.04506262e-05 9.99997273e-01 1.86867952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.19361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:109.84, Y:44.22, Z:0.19 [[ 6.82955310e-01 -7.30458306e-01 -1.64562967e-03 1.09844903e+02] [ 7.30456430e-01 6.82957289e-01 -1.65703365e-03 4.42214360e+01] [ 2.33428877e-03 -7.03808508e-05 9.99997273e-01 1.87951035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.86, Y:44.24, Z:0.19 [[ 6.82413735e-01 -7.30964297e-01 -1.64056894e-03 1.09864044e+02] [ 7.30962410e-01 6.82415704e-01 -1.66205761e-03 4.42437968e+01] [ 2.33445478e-03 -6.49832808e-05 9.99997273e-01 1.86189594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.88, Y:44.26, Z:0.19 [[ 6.83661435e-01 -7.29797461e-01 -1.64535222e-03 1.09883033e+02] [ 7.29795583e-01 6.83663412e-01 -1.65730884e-03 4.42632001e+01] [ 2.33436690e-03 -6.77326459e-05 9.99997273e-01 1.87047963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:109.90, Y:44.28, Z:0.19 [[ 6.84901125e-01 -7.28634173e-01 -1.64038630e-03 1.09897247e+02] [ 7.28632280e-01 6.84903087e-01 -1.66223636e-03 4.42825301e+01] [ 2.33466785e-03 -5.67708596e-05 9.99997273e-01 1.85374996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.92, Y:44.31, Z:0.19 [[ 6.84429993e-01 -7.29076767e-01 -1.62857950e-03 1.09918962e+02] [ 7.29074847e-01 6.84431929e-01 -1.67397293e-03 4.43066263e+01] [ 2.33510658e-03 -4.16390672e-05 9.99997273e-01 1.85172107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.94, Y:44.33, Z:0.18 [[ 6.84882703e-01 -7.28651475e-01 -1.64667531e-03 1.09938028e+02] [ 7.28649596e-01 6.84884679e-01 -1.65597877e-03 4.43275060e+01] [ 2.33441407e-03 -6.56980841e-05 9.99997273e-01 1.84874657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.96, Y:44.35, Z:0.19 [[ 6.86933518e-01 -7.26718400e-01 -1.64619715e-03 1.09956860e+02] [ 7.26716514e-01 6.86935488e-01 -1.65645398e-03 4.43465626e+01] [ 2.33460682e-03 -5.84448979e-05 9.99997273e-01 1.86770726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.97, Y:44.37, Z:0.18 [[ 6.85648933e-01 -7.27930520e-01 -1.64282354e-03 1.09974580e+02] [ 7.27928630e-01 6.85650899e-01 -1.65980389e-03 4.43682766e+01] [ 2.33462535e-03 -5.78155226e-05 9.99997273e-01 1.84222270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.00, Y:44.39, Z:0.19 [[ 6.85826187e-01 -7.27763526e-01 -1.64045663e-03 1.09995064e+02] [ 7.27761630e-01 6.85828147e-01 -1.66215422e-03 4.43895692e+01] [ 2.33472655e-03 -5.39124960e-05 9.99997273e-01 1.86236432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.01, Y:44.41, Z:0.18 [[ 6.84912554e-01 -7.28623418e-01 -1.64530122e-03 1.10012921e+02] [ 7.28621536e-01 6.84914528e-01 -1.65734484e-03 4.44116579e+01] [ 2.33447097e-03 -6.36656158e-05 9.99997273e-01 1.84791756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.03, Y:44.43, Z:0.19 [[ 6.84230330e-01 -7.29264116e-01 -1.64482397e-03 1.10031543e+02] [ 7.29262234e-01 6.84232304e-01 -1.65781834e-03 4.44326225e+01] [ 2.33442912e-03 -6.51784188e-05 9.99997273e-01 1.85454810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.05, Y:44.45, Z:0.19 [[ 6.84270543e-01 -7.29226384e-01 -1.64434660e-03 1.10051488e+02] [ 7.29224502e-01 6.84272516e-01 -1.65829170e-03 4.44529006e+01] [ 2.33445124e-03 -6.43776630e-05 9.99997273e-01 1.85871104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.07, Y:44.47, Z:0.19 [[ 6.82630885e-01 -7.30761497e-01 -1.64638674e-03 1.10068696e+02] [ 7.30759623e-01 6.82632866e-01 -1.65626935e-03 4.44747465e+01] [ 2.33421557e-03 -7.24923436e-05 9.99997273e-01 1.86539308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.09, Y:44.50, Z:0.18 [[ 6.81385991e-01 -7.31922421e-01 -1.64354793e-03 1.10085518e+02] [ 7.31920544e-01 6.81387970e-01 -1.65908158e-03 4.44965983e+01] [ 2.33421279e-03 -7.24715465e-05 9.99997273e-01 1.84634007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.10, Y:44.52, Z:0.19 [[ 6.80168666e-01 -7.33053808e-01 -1.64335606e-03 1.10103867e+02] [ 7.33051934e-01 6.80170647e-01 -1.65927161e-03 4.45173396e+01] [ 2.33409793e-03 -7.60807831e-05 9.99997273e-01 1.85707165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.12, Y:44.54, Z:0.19 [[ 6.78048694e-01 -7.35015149e-01 -1.64291437e-03 1.10122083e+02] [ 7.35013280e-01 6.78050680e-01 -1.65970883e-03 4.45381418e+01] [ 2.33389034e-03 -8.22004725e-05 9.99997273e-01 1.85940977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.14, Y:44.56, Z:0.19 [[ 6.76733096e-01 -7.36226608e-01 -1.64245260e-03 1.10140398e+02] [ 7.36224741e-01 6.76735084e-01 -1.66016567e-03 4.45590296e+01] [ 2.33376344e-03 -8.57251904e-05 9.99997273e-01 1.88627997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.16, Y:44.58, Z:0.19 [[ 6.76963293e-01 -7.36014948e-01 -1.64197616e-03 1.10159221e+02] [ 7.36013080e-01 6.76965279e-01 -1.66063676e-03 4.45790117e+01] [ 2.33381433e-03 -8.43257951e-05 9.99997273e-01 1.88351598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.18, Y:44.60, Z:0.19 [[ 6.76106818e-01 -7.36801789e-01 -1.64165225e-03 1.10176368e+02] [ 7.36799922e-01 6.76108805e-01 -1.66095690e-03 4.46014045e+01] [ 2.33373156e-03 -8.65849697e-05 9.99997273e-01 1.89810994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.763617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.19, Y:44.62, Z:0.19 [[ 6.76014363e-01 -7.36886618e-01 -1.64118654e-03 1.10194880e+02] [ 7.36884750e-01 6.76016350e-01 -1.66141694e-03 4.46223248e+01] [ 2.33374485e-03 -8.62236225e-05 9.99997273e-01 1.90025720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.793617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.21, Y:44.64, Z:0.19 [[ 6.77711573e-01 -7.35326004e-01 -1.64072392e-03 1.10209090e+02] [ 7.35324130e-01 6.77713554e-01 -1.66187368e-03 4.46398533e+01] [ 2.33395977e-03 -8.01928618e-05 9.99997273e-01 1.88382474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.823617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.23, Y:44.67, Z:0.19 [[ 6.76703124e-01 -7.36254210e-01 -1.61875739e-03 1.10228583e+02] [ 7.36252287e-01 6.76705058e-01 -1.68356377e-03 4.46673906e+01] [ 2.33495223e-03 -5.25409678e-05 9.99997273e-01 1.89179150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.25, Y:44.69, Z:0.19 [[ 6.77750520e-01 -7.35290105e-01 -1.64140104e-03 1.10245744e+02] [ 7.35288233e-01 6.77752503e-01 -1.66118986e-03 4.46881339e+01] [ 2.33392013e-03 -8.10305850e-05 9.99997273e-01 1.89635302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.26, Y:44.71, Z:0.19 [[ 6.79598560e-01 -7.33582377e-01 -1.64119404e-03 1.10262900e+02] [ 7.33580499e-01 6.79600538e-01 -1.66139435e-03 4.47091506e+01] [ 2.33412596e-03 -7.48667363e-05 9.99997273e-01 1.90113309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.28, Y:44.73, Z:0.19 [[ 6.80053897e-01 -7.33160285e-01 -1.64099554e-03 1.10282144e+02] [ 7.33158406e-01 6.80055873e-01 -1.66159038e-03 4.47291688e+01] [ 2.33418073e-03 -7.31386607e-05 9.99997273e-01 1.90012910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.30, Y:44.75, Z:0.19 [[ 6.81666437e-01 -7.31661245e-01 -1.64055051e-03 1.10299447e+02] [ 7.31659360e-01 6.81668408e-01 -1.66202966e-03 4.47515286e+01] [ 2.33435415e-03 -6.73742950e-05 9.99997273e-01 1.89125504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.32, Y:44.77, Z:0.19 [[ 6.82410361e-01 -7.30967448e-01 -1.64010557e-03 1.10317824e+02] [ 7.30965560e-01 6.82412329e-01 -1.66246862e-03 4.47723842e+01] [ 2.33443870e-03 -6.43748710e-05 9.99997273e-01 1.88807066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.34, Y:44.79, Z:0.19 [[ 6.82256806e-01 -7.31110773e-01 -1.63965110e-03 1.10335065e+02] [ 7.31108885e-01 6.82258773e-01 -1.66291673e-03 4.47941627e+01] [ 2.33444268e-03 -6.42272365e-05 9.99997273e-01 1.88249779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.35, Y:44.82, Z:0.18 [[ 6.83587768e-01 -7.29866479e-01 -1.63917635e-03 1.10351663e+02] [ 7.29864586e-01 6.83589730e-01 -1.66338457e-03 4.48152881e+01] [ 2.33457276e-03 -5.93074214e-05 9.99997273e-01 1.84962222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.37, Y:44.84, Z:0.19 [[ 6.85353061e-01 -7.28209108e-01 -1.63592183e-03 1.10371576e+02] [ 7.28207203e-01 6.85355012e-01 -1.66659020e-03 4.48352345e+01] [ 2.33481339e-03 -4.90873650e-05 9.99997273e-01 1.88735439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.39, Y:44.86, Z:0.19 [[ 6.86008012e-01 -7.27592140e-01 -1.63866485e-03 1.10389621e+02] [ 7.27590239e-01 6.86009968e-01 -1.66388877e-03 4.48555252e+01] [ 2.33477281e-03 -5.08355251e-05 9.99997273e-01 1.89067522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.41, Y:44.88, Z:0.19 [[ 6.86575974e-01 -7.27056220e-01 -1.63836300e-03 1.10408686e+02] [ 7.27054317e-01 6.86577927e-01 -1.66418594e-03 4.48767240e+01] [ 2.33482061e-03 -4.85888054e-05 9.99997273e-01 1.89565391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.43, Y:44.90, Z:0.19 [[ 6.86234271e-01 -7.27378748e-01 -1.63790914e-03 1.10425924e+02] [ 7.27376845e-01 6.86236224e-01 -1.66463251e-03 4.48996115e+01] [ 2.33481089e-03 -4.90493063e-05 9.99997273e-01 1.88223399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.45, Y:44.92, Z:0.19 [[ 6.86996482e-01 -7.26658897e-01 -1.63743659e-03 1.10445193e+02] [ 7.26656990e-01 6.86998432e-01 -1.66509721e-03 4.49184564e+01] [ 2.33487407e-03 -4.59388185e-05 9.99997273e-01 1.90406125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.46, Y:44.94, Z:0.19 [[ 6.86711253e-01 -7.26928452e-01 -1.63723224e-03 1.10463895e+02] [ 7.26926546e-01 6.86713203e-01 -1.66529812e-03 4.49389927e+01] [ 2.33486158e-03 -4.65686217e-05 9.99997273e-01 1.90703220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.48, Y:44.96, Z:0.19 [[ 6.85878769e-01 -7.27713979e-01 -1.63678208e-03 1.10481986e+02] [ 7.27712075e-01 6.85880720e-01 -1.66574045e-03 4.49610163e+01] [ 2.33481988e-03 -4.86100718e-05 9.99997273e-01 1.90224759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.50, Y:44.98, Z:0.19 [[ 6.84360933e-01 -7.29141575e-01 -1.63630534e-03 1.10499015e+02] [ 7.29139673e-01 6.84362887e-01 -1.66620864e-03 4.49813872e+01] [ 2.33472863e-03 -5.28070417e-05 9.99997273e-01 1.86729555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.52, Y:45.00, Z:0.19 [[ 6.85082490e-01 -7.28463677e-01 -1.62884034e-03 1.10520501e+02] [ 7.28461755e-01 6.85084426e-01 -1.67353385e-03 4.50010129e+01] [ 2.33500177e-03 -4.00391587e-05 9.99997273e-01 1.90307161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.54, Y:45.02, Z:0.19 [[ 6.84263769e-01 -7.29232761e-01 -1.63551991e-03 1.10540014e+02] [ 7.29230857e-01 6.84265722e-01 -1.66698034e-03 4.50222537e+01] [ 2.33474689e-03 -5.20173347e-05 9.99997273e-01 1.89567300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.56, Y:45.04, Z:0.19 [[ 6.83486977e-01 -7.29960875e-01 -1.63512458e-03 1.10559410e+02] [ 7.29958972e-01 6.83488931e-01 -1.66736803e-03 4.50422887e+01] [ 2.33470297e-03 -5.39495234e-05 9.99997273e-01 1.90426769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.58, Y:45.06, Z:0.19 [[ 6.82498649e-01 -7.30885030e-01 -1.63299658e-03 1.10579414e+02] [ 7.30883125e-01 6.82500601e-01 -1.66945447e-03 4.50638394e+01] [ 2.33470042e-03 -5.41292210e-05 9.99997273e-01 1.90189727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.60, Y:45.08, Z:0.19 [[ 6.82057453e-01 -7.31296765e-01 -1.63466139e-03 1.10598996e+02] [ 7.31294865e-01 6.82059410e-01 -1.66782275e-03 4.50831162e+01] [ 2.33460957e-03 -5.78685432e-05 9.99997273e-01 1.90719247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.62, Y:45.10, Z:0.19 [[ 6.80921567e-01 -7.32354523e-01 -1.63445950e-03 1.10617450e+02] [ 7.32352626e-01 6.80923526e-01 -1.66802059e-03 4.51040342e+01] [ 2.33452435e-03 -6.12095114e-05 9.99997273e-01 1.88830128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.64, Y:45.12, Z:0.19 [[ 6.81329832e-01 -7.31974720e-01 -1.63399255e-03 1.10637918e+02] [ 7.31972821e-01 6.81331789e-01 -1.66847789e-03 4.51246665e+01] [ 2.33457470e-03 -5.92543754e-05 9.99997273e-01 1.90562869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.513617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.66, Y:45.14, Z:0.19 [[ 6.81685175e-01 -7.31643803e-01 -1.63358526e-03 1.10658164e+02] [ 7.31641902e-01 6.81687130e-01 -1.66887656e-03 4.51448125e+01] [ 2.33461724e-03 -5.75510215e-05 9.99997273e-01 1.90703686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.543617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.68, Y:45.17, Z:0.19 [[ 6.81480437e-01 -7.31834508e-01 -1.63314769e-03 1.10678101e+02] [ 7.31832607e-01 6.81482391e-01 -1.66930466e-03 4.51652633e+01] [ 2.33461614e-03 -5.75922600e-05 9.99997273e-01 1.90770214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.573617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.70, Y:45.19, Z:0.19 [[ 6.82003218e-01 -7.31347349e-01 -1.63268049e-03 1.10698837e+02] [ 7.31345445e-01 6.82005170e-01 -1.66976148e-03 4.51858562e+01] [ 2.33467217e-03 -5.52707388e-05 9.99997273e-01 1.87885198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.72, Y:45.21, Z:0.19 [[ 6.81813437e-01 -7.31524272e-01 -1.63581548e-03 1.10719808e+02] [ 7.31522376e-01 6.81815397e-01 -1.66669661e-03 4.52065161e+01] [ 2.33455321e-03 -6.02594816e-05 9.99997273e-01 1.90417960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.74, Y:45.23, Z:0.19 [[ 6.82325878e-01 -7.31046310e-01 -1.63975230e-03 1.10741647e+02] [ 7.31044422e-01 6.82327845e-01 -1.66284869e-03 4.52260974e+01] [ 2.33446806e-03 -6.41270813e-05 9.99997273e-01 1.89665037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.76, Y:45.25, Z:0.19 [[ 6.81130595e-01 -7.32160105e-01 -1.64115000e-03 1.10761191e+02] [ 7.32158223e-01 6.81132568e-01 -1.66148428e-03 4.52465598e+01] [ 2.33431322e-03 -6.98936867e-05 9.99997273e-01 1.90696336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.78, Y:45.27, Z:0.19 [[ 6.80999348e-01 -7.32282188e-01 -1.63886524e-03 1.10782937e+02] [ 7.32280301e-01 6.81001317e-01 -1.66371360e-03 4.52662879e+01] [ 2.33437722e-03 -6.71208535e-05 9.99997273e-01 1.90791869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.80, Y:45.29, Z:0.19 [[ 6.80388261e-01 -7.32849999e-01 -1.64085946e-03 1.10804520e+02] [ 7.32848119e-01 6.80390236e-01 -1.66176917e-03 4.52863239e+01] [ 2.33425229e-03 -7.18525286e-05 9.99997273e-01 1.90346104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.82, Y:45.30, Z:0.19 [[ 6.78141138e-01 -7.34929860e-01 -1.64237586e-03 1.10824254e+02] [ 7.34927990e-01 6.78143122e-01 -1.66029131e-03 4.53043499e+01] [ 2.33396355e-03 -8.11161538e-05 9.99997273e-01 1.91384313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.84, Y:45.32, Z:0.19 [[ 6.77217799e-01 -7.35780793e-01 -1.63609245e-03 1.10842654e+02] [ 7.35778910e-01 6.77219772e-01 -1.66641128e-03 4.53220755e+01] [ 2.33410757e-03 -7.52789382e-05 9.99997273e-01 1.92419646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.86, Y:45.34, Z:0.19 [[ 6.76128390e-01 -7.36782022e-01 -1.62884323e-03 1.10863060e+02] [ 7.36780125e-01 6.76130348e-01 -1.67346720e-03 4.53427603e+01] [ 2.33429089e-03 -6.86206403e-05 9.99997273e-01 1.91810646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.88, Y:45.36, Z:0.19 [[ 6.74631332e-01 -7.38153036e-01 -1.63116475e-03 1.10881931e+02] [ 7.38151148e-01 6.74633300e-01 -1.67120860e-03 4.53626090e+01] [ 2.33404576e-03 -7.65964489e-05 9.99997273e-01 1.90560833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.90, Y:45.38, Z:0.19 [[ 6.73706890e-01 -7.38996874e-01 -1.62689644e-03 1.10899108e+02] [ 7.38994979e-01 6.73708850e-01 -1.67535884e-03 4.53821231e+01] [ 2.33413948e-03 -7.35675108e-05 9.99997273e-01 1.90348673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.92, Y:45.40, Z:0.19 [[ 6.74747771e-01 -7.38046624e-01 -1.62054808e-03 1.10921508e+02] [ 7.38044711e-01 6.74749714e-01 -1.68152647e-03 4.54021974e+01] [ 2.33450928e-03 -6.14307020e-05 9.99997273e-01 1.89140429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.94, Y:45.42, Z:0.19 [[ 6.74520237e-01 -7.38254566e-01 -1.62688799e-03 1.10940411e+02] [ 7.38252668e-01 6.74522195e-01 -1.67536745e-03 4.54215481e+01] [ 2.33421972e-03 -7.09851492e-05 9.99997273e-01 1.90661382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.96, Y:45.44, Z:0.19 [[ 6.75880909e-01 -7.37009065e-01 -1.62318857e-03 1.10963003e+02] [ 7.37007155e-01 6.75882856e-01 -1.67896067e-03 4.54403321e+01] [ 2.33449455e-03 -6.15241273e-05 9.99997273e-01 1.92209668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.98, Y:45.46, Z:0.19 [[ 6.76160934e-01 -7.36752165e-01 -1.62462242e-03 1.10982570e+02] [ 7.36750257e-01 6.76162883e-01 -1.67756840e-03 4.54590418e+01] [ 2.33446153e-03 -6.26347673e-05 9.99997273e-01 1.92047567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.00, Y:45.48, Z:0.19 [[ 6.76277326e-01 -7.36645331e-01 -1.62325958e-03 1.11001940e+02] [ 7.36643420e-01 6.76279272e-01 -1.67889084e-03 4.54781687e+01] [ 2.33452391e-03 -6.03676818e-05 9.99997273e-01 1.89394271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.02, Y:45.50, Z:0.19 [[ 6.76812713e-01 -7.36153464e-01 -1.62121286e-03 1.11022881e+02] [ 7.36151547e-01 6.76814653e-01 -1.68087743e-03 4.54972810e+01] [ 2.33464437e-03 -5.58191410e-05 9.99997273e-01 1.89575122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.04, Y:45.52, Z:0.19 [[ 6.77063571e-01 -7.35922750e-01 -1.62071118e-03 1.11042397e+02] [ 7.35920832e-01 6.77065508e-01 -1.68136411e-03 4.55156219e+01] [ 2.33468174e-03 -5.43247260e-05 9.99997273e-01 1.88968576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.06, Y:45.53, Z:0.19 [[ 6.76921988e-01 -7.36052986e-01 -1.61984228e-03 1.11062424e+02] [ 7.36051065e-01 6.76923924e-01 -1.68220671e-03 4.55348815e+01] [ 2.33470326e-03 -5.35639198e-05 9.99997273e-01 1.87647256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.08, Y:45.55, Z:0.19 [[ 6.77347265e-01 -7.35661647e-01 -1.61975284e-03 1.11084571e+02] [ 7.35659726e-01 6.77349199e-01 -1.68229343e-03 4.55522283e+01] [ 2.33473704e-03 -5.20900751e-05 9.99997273e-01 1.89213617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.11, Y:45.57, Z:0.20 [[ 6.79516001e-01 -7.33658904e-01 -1.61765142e-03 1.11108953e+02] [ 7.33656971e-01 6.79517926e-01 -1.68433005e-03 4.55697717e+01] [ 2.33494687e-03 -4.22720209e-05 9.99997273e-01 1.98106032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.12, Y:45.59, Z:0.19 [[ 6.77111678e-01 -7.35878476e-01 -1.62616319e-03 1.11123941e+02] [ 7.35876569e-01 6.77113628e-01 -1.67607868e-03 4.55893190e+01] [ 2.33448748e-03 -6.17629413e-05 9.99997273e-01 1.87131221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.15, Y:45.61, Z:0.19 [[ 6.79610917e-01 -7.33570986e-01 -1.61581125e-03 1.11148130e+02] [ 7.33569049e-01 6.79612836e-01 -1.68612229e-03 4.56070946e+01] [ 2.33501646e-03 -3.94020078e-05 9.99997273e-01 1.89987669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.263617865 meters Centerline goodness : 0.993784 Centerline is valid? [True, True] Translation: X:111.17, Y:45.63, Z:0.19 [[ 6.80581644e-01 -7.32670457e-01 -1.62057757e-03 1.11169846e+02] [ 7.32668529e-01 6.80583572e-01 -1.68150397e-03 4.56268077e+01] [ 2.33492676e-03 -4.29454505e-05 9.99997273e-01 1.89867088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.293617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.19, Y:45.64, Z:0.20 [[ 6.82421018e-01 -7.30957538e-01 -1.62230608e-03 1.11191122e+02] [ 7.30955609e-01 6.82422945e-01 -1.67982973e-03 4.56446595e+01] [ 2.33498310e-03 -3.94826177e-05 9.99997273e-01 1.96168621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.323617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.21, Y:45.66, Z:0.20 [[ 6.83725342e-01 -7.29737636e-01 -1.62435107e-03 1.11213210e+02] [ 7.29735709e-01 6.83727271e-01 -1.67784995e-03 4.56624369e+01] [ 2.33500338e-03 -3.81584492e-05 9.99997273e-01 1.96641906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.23, Y:45.68, Z:0.20 [[ 6.84319817e-01 -7.29180191e-01 -1.62389457e-03 1.11234199e+02] [ 7.29178261e-01 6.84321743e-01 -1.67829165e-03 4.56806160e+01] [ 2.33504339e-03 -3.56203834e-05 9.99997273e-01 1.97020651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.26, Y:45.70, Z:0.20 [[ 6.84709908e-01 -7.28813904e-01 -1.62343133e-03 1.11255313e+02] [ 7.28811971e-01 6.84711832e-01 -1.67873963e-03 4.56988054e+01] [ 2.33507142e-03 -3.37265322e-05 9.99997273e-01 1.97500377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.28, Y:45.72, Z:0.20 [[ 6.85132329e-01 -7.28416816e-01 -1.62297002e-03 1.11278483e+02] [ 7.28414881e-01 6.85134250e-01 -1.67918550e-03 4.57160878e+01] [ 2.33509930e-03 -3.17312399e-05 9.99997273e-01 1.98855030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.30, Y:45.73, Z:0.20 [[ 6.85331898e-01 -7.28229056e-01 -1.62251017e-03 1.11299542e+02] [ 7.28227119e-01 6.85333818e-01 -1.67962971e-03 4.57345383e+01] [ 2.33511625e-03 -3.04520882e-05 9.99997273e-01 1.99366935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.47361786499997 meters Centerline goodness : 0.996137 Centerline is valid? [True, True] Translation: X:111.32, Y:45.75, Z:0.20 [[ 6.85150476e-01 -7.28399749e-01 -1.62204506e-03 1.11320183e+02] [ 7.28397812e-01 6.85152396e-01 -1.68007876e-03 4.57528899e+01] [ 2.33511700e-03 -3.03873109e-05 9.99997273e-01 1.97079148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50361786499997 meters Centerline goodness : 0.995160 Centerline is valid? [True, True] Translation: X:111.34, Y:45.77, Z:0.20 [[ 6.86095074e-01 -7.27510084e-01 -1.62089294e-03 1.11342002e+02] [ 7.27508142e-01 6.86096988e-01 -1.68119040e-03 4.57688138e+01] [ 2.33517274e-03 -2.57563601e-05 9.99997273e-01 1.96488285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.36, Y:45.79, Z:0.20 [[ 6.86259039e-01 -7.27355430e-01 -1.61558922e-03 1.11363908e+02] [ 7.27353475e-01 6.86260940e-01 -1.68630499e-03 4.57887045e+01] [ 2.33525887e-03 -1.78623860e-05 9.99997273e-01 1.99327398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56361786499997 meters Centerline goodness : 0.994477 Centerline is valid? [True, True] Translation: X:111.38, Y:45.81, Z:0.20 [[ 6.85947764e-01 -7.27648980e-01 -1.62083659e-03 1.11384635e+02] [ 7.27647039e-01 6.85949678e-01 -1.68124616e-03 4.58079607e+01] [ 2.33516939e-03 -2.61499022e-05 9.99997273e-01 1.96281670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59361786499997 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:111.41, Y:45.82, Z:0.20 [[ 6.87449021e-01 -7.26230828e-01 -1.62115613e-03 1.11407545e+02] [ 7.26228883e-01 6.87450932e-01 -1.68093826e-03 4.58241525e+01] [ 2.33521448e-03 -2.17710479e-05 9.99997273e-01 1.97706483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.43, Y:45.84, Z:0.20 [[ 6.87945259e-01 -7.25760779e-01 -1.61655295e-03 1.11428167e+02] [ 7.25758822e-01 6.87947158e-01 -1.68537263e-03 4.58434166e+01] [ 2.33528036e-03 -1.37834557e-05 9.99997273e-01 1.99444689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65361786499997 meters Centerline goodness : 0.996322 Centerline is valid? [True, True] Translation: X:111.45, Y:45.86, Z:0.20 [[ 6.88562247e-01 -7.25175432e-01 -1.62002722e-03 1.11446839e+02] [ 7.25173482e-01 6.88564152e-01 -1.68202642e-03 4.58628457e+01] [ 2.33525691e-03 -1.66208898e-05 9.99997273e-01 1.95635862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68361786499997 meters Centerline goodness : 0.996497 Centerline is valid? [True, True] Translation: X:111.47, Y:45.88, Z:0.20 [[ 6.88383205e-01 -7.25345393e-01 -1.61947066e-03 1.11467386e+02] [ 7.25343442e-01 6.88385110e-01 -1.68256211e-03 4.58841416e+01] [ 2.33525817e-03 -1.64249260e-05 9.99997273e-01 1.98569340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.49, Y:45.91, Z:0.20 [[ 6.87642378e-01 -7.26047729e-01 -1.62971674e-03 1.11489529e+02] [ 7.26045803e-01 6.87644308e-01 -1.67270345e-03 4.59071509e+01] [ 2.33512799e-03 -3.30272230e-05 9.99997273e-01 1.96217177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.50, Y:45.93, Z:0.20 [[ 6.85751232e-01 -7.27834166e-01 -1.63561561e-03 1.11504481e+02] [ 7.27832258e-01 6.85753181e-01 -1.66708178e-03 4.59274821e+01] [ 2.33498768e-03 -4.72504236e-05 9.99997273e-01 1.98160383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.53, Y:45.94, Z:0.20 [[ 6.87651305e-01 -7.26039309e-01 -1.61405482e-03 1.11525253e+02] [ 7.26037347e-01 6.87653199e-01 -1.68760405e-03 4.59446680e+01] [ 2.33517684e-03 -1.13809581e-05 9.99997273e-01 1.99888944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80361786499998 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:111.54, Y:45.97, Z:0.20 [[ 6.85583027e-01 -7.27992666e-01 -1.60968384e-03 1.11542941e+02] [ 7.27990701e-01 6.85584916e-01 -1.69176296e-03 4.59661780e+01] [ 2.33516599e-03 -1.19908966e-05 9.99997273e-01 1.98482750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83361786499998 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:111.56, Y:45.99, Z:0.20 [[ 6.86361752e-01 -7.27258513e-01 -1.61275580e-03 1.11562161e+02] [ 7.27256552e-01 6.86363646e-01 -1.68884092e-03 4.59862836e+01] [ 2.33516089e-03 -1.37314105e-05 9.99997273e-01 1.98547711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.58, Y:46.01, Z:0.20 [[ 6.84012806e-01 -7.29468226e-01 -1.60888187e-03 1.11579498e+02] [ 7.29466263e-01 6.84014698e-01 -1.69252341e-03 4.60085567e+01] [ 2.33514089e-03 -1.59173585e-05 9.99997273e-01 2.01247624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.60, Y:46.03, Z:0.20 [[ 6.80849552e-01 -7.32421532e-01 -1.60835385e-03 1.11596446e+02] [ 7.32419576e-01 6.80851451e-01 -1.69302502e-03 4.60306843e+01] [ 2.33505803e-03 -2.52945120e-05 9.99997273e-01 1.96989822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:111.62, Y:46.05, Z:0.20 [[ 6.81076176e-01 -7.32210808e-01 -1.60472872e-03 1.11617684e+02] [ 7.32208843e-01 6.81078067e-01 -1.69646676e-03 4.60504342e+01] [ 2.33511683e-03 -1.95734622e-05 9.99997273e-01 2.01016967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.64, Y:46.07, Z:0.20 [[ 6.79241503e-01 -7.33913071e-01 -1.60776108e-03 1.11635655e+02] [ 7.33911117e-01 6.79243405e-01 -1.69358808e-03 4.60703062e+01] [ 2.33500754e-03 -2.95984214e-05 9.99997273e-01 2.00677929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.65, Y:46.09, Z:0.20 [[ 6.75110186e-01 -7.37715157e-01 -1.60744366e-03 1.11654625e+02] [ 7.37713214e-01 6.75112098e-01 -1.69388930e-03 4.60922907e+01] [ 2.33481247e-03 -4.22705051e-05 9.99997273e-01 1.98742595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.013617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:46.11, Z:0.20 [[ 6.74431680e-01 -7.38335511e-01 -1.60700803e-03 1.11674253e+02] [ 7.38333568e-01 6.74433593e-01 -1.69430249e-03 4.61117151e+01] [ 2.33478389e-03 -4.38166970e-05 9.99997273e-01 2.01339112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.043617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.69, Y:46.13, Z:0.20 [[ 6.71063868e-01 -7.41397804e-01 -1.60685494e-03 1.11691896e+02] [ 7.41395870e-01 6.71065789e-01 -1.69444766e-03 4.61338572e+01] [ 2.33456515e-03 -5.42330138e-05 9.99997273e-01 1.98436382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.073617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.71, Y:46.15, Z:0.20 [[ 6.70202277e-01 -7.42176756e-01 -1.60345960e-03 1.11709954e+02] [ 7.42174816e-01 6.70204193e-01 -1.69766559e-03 4.61545368e+01] [ 2.33461328e-03 -5.22679875e-05 9.99997273e-01 1.96321585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.73, Y:46.17, Z:0.20 [[ 6.71870411e-01 -7.40666986e-01 -1.60183097e-03 1.11731022e+02] [ 7.40665039e-01 6.71872319e-01 -1.69920856e-03 4.61745464e+01] [ 2.33477357e-03 -4.47722423e-05 9.99997273e-01 2.00483134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.75, Y:46.19, Z:0.20 [[ 6.72016712e-01 -7.40534240e-01 -1.60587710e-03 1.11748486e+02] [ 7.40532301e-01 6.72018629e-01 -1.69537602e-03 4.61949045e+01] [ 2.33466332e-03 -4.98828415e-05 9.99997273e-01 1.99910852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.77, Y:46.22, Z:0.20 [[ 6.73459950e-01 -7.39221968e-01 -1.60563159e-03 1.11766587e+02] [ 7.39220024e-01 6.73461863e-01 -1.69560851e-03 4.62164513e+01] [ 2.33476270e-03 -4.49906002e-05 9.99997273e-01 2.00275117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.78, Y:46.24, Z:0.19 [[ 6.72327216e-01 -7.40252347e-01 -1.60517264e-03 1.11783707e+02] [ 7.40250406e-01 6.72329131e-01 -1.69604286e-03 4.62388286e+01] [ 2.33470404e-03 -4.79339260e-05 9.99997273e-01 1.94593956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.80, Y:46.26, Z:0.20 [[ 6.73268713e-01 -7.39396160e-01 -1.59971722e-03 1.11803446e+02] [ 7.39394204e-01 6.73270612e-01 -1.70120429e-03 4.62602160e+01] [ 2.33490651e-03 -3.74540185e-05 9.99997273e-01 1.95426426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.82, Y:46.28, Z:0.20 [[ 6.75726507e-01 -7.37150682e-01 -1.59997212e-03 1.11824086e+02] [ 7.37148720e-01 6.75728400e-01 -1.70096316e-03 4.62808045e+01] [ 2.33501276e-03 -3.00315091e-05 9.99997273e-01 1.98108196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28361786499997 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:111.84, Y:46.30, Z:0.20 [[ 6.77709593e-01 -7.35327908e-01 -1.60459238e-03 1.11844725e+02] [ 7.35325951e-01 6.77711492e-01 -1.69659294e-03 4.62999315e+01] [ 2.33500284e-03 -3.01011096e-05 9.99997273e-01 2.00863253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.86, Y:46.32, Z:0.20 [[ 6.76467437e-01 -7.36470803e-01 -1.60086974e-03 1.11863458e+02] [ 7.36468841e-01 6.76469331e-01 -1.70011182e-03 4.63208807e+01] [ 2.33502200e-03 -2.89203997e-05 9.99997273e-01 1.97107195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34361786499997 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:111.88, Y:46.34, Z:0.20 [[ 6.79019403e-01 -7.34118574e-01 -1.60300900e-03 1.11883746e+02] [ 7.34116611e-01 6.79021295e-01 -1.69809060e-03 4.63382092e+01] [ 2.33507709e-03 -2.37590654e-05 9.99997273e-01 2.02640540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:46.36, Z:0.21 [[ 6.78734490e-01 -7.34382016e-01 -1.59590332e-03 1.11904733e+02] [ 7.34380038e-01 6.78736366e-01 -1.70480107e-03 4.63597053e+01] [ 2.33517286e-03 -1.48922570e-05 9.99997273e-01 2.05417610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.92, Y:46.38, Z:0.21 [[ 6.78587142e-01 -7.34518155e-01 -1.60327223e-03 1.11923601e+02] [ 7.34516193e-01 6.78589036e-01 -1.69784260e-03 4.63793593e+01] [ 2.33505917e-03 -2.54952609e-05 9.99997273e-01 2.05313519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.94, Y:46.40, Z:0.21 [[ 6.78390234e-01 -7.34700021e-01 -1.60302265e-03 1.11943165e+02] [ 7.34698059e-01 6.78392128e-01 -1.69807822e-03 4.64001867e+01] [ 2.33505605e-03 -2.57779454e-05 9.99997273e-01 2.05380129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.96, Y:46.42, Z:0.20 [[ 6.78342873e-01 -7.34743750e-01 -1.60256737e-03 1.11962161e+02] [ 7.34741787e-01 6.78344766e-01 -1.69850778e-03 4.64196330e+01] [ 2.33506116e-03 -2.53025650e-05 9.99997273e-01 2.04864712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.98, Y:46.44, Z:0.20 [[ 6.75127171e-01 -7.37699624e-01 -1.60231402e-03 1.11977627e+02] [ 7.37697669e-01 6.75129072e-01 -1.69874675e-03 4.64405432e+01] [ 2.33493361e-03 -3.51532303e-05 9.99997273e-01 1.96391992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.00, Y:46.46, Z:0.20 [[ 6.74655830e-01 -7.38130729e-01 -1.59288794e-03 1.11998030e+02] [ 7.38128754e-01 6.74657710e-01 -1.70764117e-03 4.64606447e+01] [ 2.33511655e-03 -2.36863245e-05 9.99997273e-01 1.97542700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.02, Y:46.48, Z:0.20 [[ 6.74225443e-01 -7.38523871e-01 -1.59524401e-03 1.12017124e+02] [ 7.38521902e-01 6.74227329e-01 -1.70541885e-03 4.64803719e+01] [ 2.33504964e-03 -2.82858599e-05 9.99997273e-01 1.96733671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:46.50, Z:0.20 [[ 6.75418702e-01 -7.37432740e-01 -1.59084389e-03 1.12039342e+02] [ 7.37430758e-01 6.75420576e-01 -1.70956437e-03 4.64999499e+01] [ 2.33517743e-03 -1.84654660e-05 9.99997273e-01 2.03798873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61361786499998 meters Centerline goodness : 0.995036 Centerline is valid? [True, True] Translation: X:112.06, Y:46.52, Z:0.20 [[ 6.74806748e-01 -7.37992742e-01 -1.60149573e-03 1.12058375e+02] [ 7.37990786e-01 6.74808648e-01 -1.69952694e-03 4.65212674e+01] [ 2.33494172e-03 -3.50368485e-05 9.99997273e-01 2.03015128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64361786499998 meters Centerline goodness : 0.994979 Centerline is valid? [True, True] Translation: X:112.08, Y:46.54, Z:0.20 [[ 6.75331264e-01 -7.37512797e-01 -1.59947906e-03 1.12076370e+02] [ 7.37510835e-01 6.75333158e-01 -1.70142623e-03 4.65400750e+01] [ 2.33500486e-03 -3.06068158e-05 9.99997273e-01 2.01436738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:46.56, Z:0.20 [[ 6.74990896e-01 -7.37824338e-01 -1.59245456e-03 1.12098012e+02] [ 7.37822362e-01 6.74992774e-01 -1.70804820e-03 4.65611395e+01] [ 2.33513485e-03 -2.20315956e-05 9.99997273e-01 2.04956925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70361786499998 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:112.12, Y:46.58, Z:0.20 [[ 6.71181098e-01 -7.41291689e-01 -1.60173022e-03 1.12116344e+02] [ 7.41289743e-01 6.71183008e-01 -1.69930515e-03 4.65830587e+01] [ 2.33473489e-03 -4.68046792e-05 9.99997273e-01 2.01293723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:112.14, Y:46.60, Z:0.20 [[ 6.70608070e-01 -7.41810103e-01 -1.60871981e-03 1.12135215e+02] [ 7.41808174e-01 6.70609997e-01 -1.69271345e-03 4.66024545e+01] [ 2.33449553e-03 -5.82142100e-05 9.99997273e-01 1.99905062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.763617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:46.62, Z:0.20 [[ 6.67871168e-01 -7.44275168e-01 -1.60505575e-03 1.12152960e+02] [ 7.44273238e-01 6.67873094e-01 -1.69615942e-03 4.66235505e+01] [ 2.33438289e-03 -6.17840672e-05 9.99997273e-01 2.02884273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.793617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.17, Y:46.64, Z:0.20 [[ 6.67097085e-01 -7.44969074e-01 -1.59944919e-03 1.12171480e+02] [ 7.44967133e-01 6.67099000e-01 -1.70142993e-03 4.66442902e+01] [ 2.33450364e-03 -5.65181333e-05 9.99997273e-01 2.01622576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.823617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.19, Y:46.67, Z:0.20 [[ 6.65411085e-01 -7.46475406e-01 -1.59921568e-03 1.12190335e+02] [ 7.46473469e-01 6.65413003e-01 -1.70164939e-03 4.66677096e+01] [ 2.33437833e-03 -6.14757070e-05 9.99997273e-01 2.00990746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.21, Y:46.69, Z:0.20 [[ 6.63486807e-01 -7.48186265e-01 -1.60316671e-03 1.12209192e+02] [ 7.48184342e-01 6.63488739e-01 -1.69793728e-03 4.66895600e+01] [ 2.33405641e-03 -7.29052476e-05 9.99997273e-01 2.00782670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.23, Y:46.71, Z:0.20 [[ 6.62835112e-01 -7.48763673e-01 -1.60476463e-03 1.12227805e+02] [ 7.48761756e-01 6.62837050e-01 -1.69643654e-03 4.67096542e+01] [ 2.33392751e-03 -7.71286757e-05 9.99997273e-01 2.01300180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.25, Y:46.73, Z:0.20 [[ 6.63384105e-01 -7.48277328e-01 -1.60311486e-03 1.12247460e+02] [ 7.48275405e-01 6.63386038e-01 -1.69798519e-03 4.67299972e+01] [ 2.33404784e-03 -7.31550356e-05 9.99997273e-01 2.02160960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:112.27, Y:46.75, Z:0.20 [[ 6.63031103e-01 -7.48590136e-01 -1.60113689e-03 1.12265672e+02] [ 7.48588210e-01 6.63033033e-01 -1.69984107e-03 4.67529588e+01] [ 2.33409090e-03 -7.15446977e-05 9.99997273e-01 2.03677732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.28, Y:46.77, Z:0.20 [[ 6.63463243e-01 -7.48207167e-01 -1.60028081e-03 1.12282814e+02] [ 7.48205237e-01 6.63465169e-01 -1.70064396e-03 4.67736907e+01] [ 2.33416457e-03 -6.90237277e-05 9.99997273e-01 2.02537567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.30, Y:46.80, Z:0.20 [[ 6.64926010e-01 -7.46907520e-01 -1.59956281e-03 1.12301368e+02] [ 7.46905585e-01 6.64927931e-01 -1.70131715e-03 4.67956510e+01] [ 2.33432056e-03 -6.34723751e-05 9.99997273e-01 2.04653005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.32, Y:46.82, Z:0.20 [[ 6.65269430e-01 -7.46601648e-01 -1.60148836e-03 1.12318033e+02] [ 7.46599717e-01 6.65271354e-01 -1.69951252e-03 4.68167914e+01] [ 2.33428318e-03 -6.50370346e-05 9.99997273e-01 2.02946907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:112.34, Y:46.84, Z:0.20 [[ 6.65862289e-01 -7.46072966e-01 -1.59449382e-03 1.12337373e+02] [ 7.46071017e-01 6.65864196e-01 -1.70606430e-03 4.68403180e+01] [ 2.33456480e-03 -5.36017444e-05 9.99997273e-01 2.00379995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.36, Y:46.86, Z:0.20 [[ 6.68454058e-01 -7.43751708e-01 -1.60284053e-03 1.12356508e+02] [ 7.43749771e-01 6.68455978e-01 -1.69824625e-03 4.68590148e+01] [ 2.33450188e-03 -5.69126744e-05 9.99997273e-01 2.03376200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.38, Y:46.88, Z:0.20 [[ 6.68017155e-01 -7.44144166e-01 -1.59393346e-03 1.12376395e+02] [ 7.44142211e-01 6.68019055e-01 -1.70658310e-03 4.68807596e+01] [ 2.33472178e-03 -4.60863831e-05 9.99997273e-01 2.02511833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.39, Y:46.90, Z:0.20 [[ 6.70271819e-01 -7.42113963e-01 -1.59854001e-03 1.12393204e+02] [ 7.42112012e-01 6.70273723e-01 -1.70227256e-03 4.68988627e+01] [ 2.33473960e-03 -4.53104156e-05 9.99997273e-01 2.03750336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18361786499997 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:112.41, Y:46.92, Z:0.21 [[ 6.73572071e-01 -7.39119842e-01 -1.58884276e-03 1.12413609e+02] [ 7.39117861e-01 6.73573944e-01 -1.71133193e-03 4.69200557e+01] [ 2.33508246e-03 -2.16366697e-05 9.99997273e-01 2.06472888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.43, Y:46.94, Z:0.20 [[ 6.72757860e-01 -7.39861011e-01 -1.59550805e-03 1.12430760e+02] [ 7.39859047e-01 6.72759751e-01 -1.70510452e-03 4.69427728e+01] [ 2.33493395e-03 -3.33285990e-05 9.99997273e-01 2.03745519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:112.45, Y:46.96, Z:0.21 [[ 6.74379641e-01 -7.38383070e-01 -1.59421936e-03 1.12449297e+02] [ 7.38381099e-01 6.74381525e-01 -1.70630761e-03 4.69630740e+01] [ 2.33502074e-03 -2.64423254e-05 9.99997273e-01 2.05791528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.47, Y:46.98, Z:0.21 [[ 6.75377436e-01 -7.37470532e-01 -1.59176045e-03 1.12469047e+02] [ 7.37468553e-01 6.75379311e-01 -1.70860238e-03 4.69830111e+01] [ 2.33508598e-03 -1.99217834e-05 9.99997273e-01 2.06244694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30361786499998 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:112.49, Y:47.00, Z:0.20 [[ 6.76043003e-01 -7.36860444e-01 -1.59493461e-03 1.12487822e+02] [ 7.36858470e-01 6.76044884e-01 -1.70563908e-03 4.70010702e+01] [ 2.33506535e-03 -2.21557065e-05 9.99997273e-01 2.03530411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.51, Y:47.02, Z:0.21 [[ 6.72886856e-01 -7.39743719e-01 -1.58400317e-03 1.12509660e+02] [ 7.39741729e-01 6.72888720e-01 -1.71583051e-03 4.70231467e+01] [ 2.33513270e-03 -1.71934448e-05 9.99997273e-01 2.07321236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36361786499998 meters Centerline goodness : 0.994692 Centerline is valid? [True, True] Translation: X:112.53, Y:47.04, Z:0.21 [[ 6.72776662e-01 -7.39843909e-01 -1.59762127e-03 1.12529504e+02] [ 7.39841950e-01 6.72778558e-01 -1.70313222e-03 4.70428751e+01] [ 2.33489734e-03 -3.61596220e-05 9.99997273e-01 2.05646266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.55, Y:47.07, Z:0.21 [[ 6.70217469e-01 -7.42163054e-01 -1.59552176e-03 1.12550054e+02] [ 7.42161097e-01 6.70219367e-01 -1.70508873e-03 4.70650552e+01] [ 2.33480344e-03 -4.13539310e-05 9.99997273e-01 2.08366706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.57, Y:47.08, Z:0.21 [[ 6.69340532e-01 -7.42954025e-01 -1.60285028e-03 1.12566877e+02] [ 7.42952086e-01 6.69342449e-01 -1.69828216e-03 4.70823837e+01] [ 2.33460130e-03 -5.41118787e-05 9.99997273e-01 2.07564784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.59, Y:47.10, Z:0.21 [[ 6.68375689e-01 -7.43822167e-01 -1.58823127e-03 1.12585964e+02] [ 7.43820198e-01 6.68377575e-01 -1.71184552e-03 4.71023542e+01] [ 2.33484680e-03 -3.72025691e-05 9.99997274e-01 2.08032164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:112.61, Y:47.12, Z:0.21 [[ 6.66626362e-01 -7.45390355e-01 -1.58491798e-03 1.12607332e+02] [ 7.45388383e-01 6.66628245e-01 -1.71491834e-03 4.71245499e+01] [ 2.33483468e-03 -3.81696797e-05 9.99997274e-01 2.09030384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.513617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.63, Y:47.14, Z:0.21 [[ 6.65971342e-01 -7.45975619e-01 -1.59604944e-03 1.12625751e+02] [ 7.45973673e-01 6.65973252e-01 -1.70459313e-03 4.71429071e+01] [ 2.33451115e-03 -5.54006865e-05 9.99997273e-01 2.07322207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.543617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.65, Y:47.16, Z:0.21 [[ 6.64039967e-01 -7.47695394e-01 -1.58745274e-03 1.12645866e+02] [ 7.47693434e-01 6.64041863e-01 -1.71256181e-03 4.71646003e+01] [ 2.33460965e-03 -4.97185052e-05 9.99997274e-01 2.10668387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.573617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.66, Y:47.19, Z:0.21 [[ 6.62807810e-01 -7.48787867e-01 -1.59260547e-03 1.12664941e+02] [ 7.48785922e-01 6.62809721e-01 -1.70778694e-03 4.71853335e+01] [ 2.33436452e-03 -6.05860309e-05 9.99997274e-01 2.08902330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.68, Y:47.20, Z:0.21 [[ 6.63840560e-01 -7.47872431e-01 -1.59297333e-03 1.12681556e+02] [ 7.47870484e-01 6.63842469e-01 -1.70744603e-03 4.72024895e+01] [ 2.33443516e-03 -5.78658084e-05 9.99997274e-01 2.09390583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.70, Y:47.23, Z:0.21 [[ 6.61672149e-01 -7.49791625e-01 -1.57676476e-03 1.12701495e+02] [ 7.49789648e-01 6.61674026e-01 -1.72246692e-03 4.72260336e+01] [ 2.33479556e-03 -4.25335101e-05 9.99997273e-01 2.07379762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:112.72, Y:47.25, Z:0.21 [[ 6.62450132e-01 -7.49104337e-01 -1.58608629e-03 1.12721911e+02] [ 7.49102378e-01 6.62452029e-01 -1.71382735e-03 4.72452303e+01] [ 2.33454158e-03 -5.28158520e-05 9.99997274e-01 2.08791832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.74, Y:47.26, Z:0.21 [[ 6.61148234e-01 -7.50253619e-01 -1.58708431e-03 1.12737265e+02] [ 7.50251666e-01 6.61150137e-01 -1.71290264e-03 4.72628771e+01] [ 2.33441241e-03 -5.82300872e-05 9.99997274e-01 2.05350133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:112.76, Y:47.29, Z:0.20 [[ 6.58809109e-01 -7.52308512e-01 -1.56832245e-03 1.12758551e+02] [ 7.52306524e-01 6.58810975e-01 -1.73027757e-03 4.72858660e+01] [ 2.33493059e-03 -3.99365878e-05 9.99997273e-01 2.04905114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.78, Y:47.30, Z:0.21 [[ 6.61316978e-01 -7.50104897e-01 -1.58062887e-03 1.12780715e+02] [ 7.50102929e-01 6.61318865e-01 -1.71887909e-03 4.73049336e+01] [ 2.33463932e-03 -4.89104177e-05 9.99997274e-01 2.13347700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.80, Y:47.33, Z:0.21 [[ 6.61256337e-01 -7.50158343e-01 -1.58672073e-03 1.12799902e+02] [ 7.50156388e-01 6.61258238e-01 -1.71323709e-03 4.73256147e+01] [ 2.33443126e-03 -5.73998108e-05 9.99997274e-01 2.14305052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.82, Y:47.35, Z:0.22 [[ 6.61253010e-01 -7.50161277e-01 -1.58625279e-03 1.12819696e+02] [ 7.50159322e-01 6.61254910e-01 -1.71367024e-03 4.73461147e+01] [ 2.33444650e-03 -5.67727094e-05 9.99997274e-01 2.15995971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:112.84, Y:47.37, Z:0.22 [[ 6.62195563e-01 -7.49329381e-01 -1.58583550e-03 1.12839969e+02] [ 7.49327423e-01 6.62197460e-01 -1.71405632e-03 4.73650997e+01] [ 2.33452900e-03 -5.32695389e-05 9.99997274e-01 2.16738690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.86, Y:47.39, Z:0.21 [[ 6.60892801e-01 -7.50478642e-01 -1.58532870e-03 1.12857473e+02] [ 7.50476686e-01 6.60894700e-01 -1.71452493e-03 4.73863633e+01] [ 2.33444968e-03 -5.66350414e-05 9.99997274e-01 2.14974682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:112.88, Y:47.41, Z:0.22 [[ 6.60746306e-01 -7.50607625e-01 -1.58517277e-03 1.12876455e+02] [ 7.50605669e-01 6.60748205e-01 -1.71466908e-03 4.74063556e+01] [ 2.33444375e-03 -5.68784085e-05 9.99997274e-01 2.16215566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.90, Y:47.43, Z:0.22 [[ 6.60817817e-01 -7.50544669e-01 -1.58494215e-03 1.12895526e+02] [ 7.50542712e-01 6.60819716e-01 -1.71488223e-03 4.74264364e+01] [ 2.33445673e-03 -5.63420487e-05 9.99997274e-01 2.17534743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:112.91, Y:47.45, Z:0.22 [[ 6.61041577e-01 -7.50347602e-01 -1.58447668e-03 1.12914144e+02] [ 7.50345643e-01 6.61043473e-01 -1.71531219e-03 4.74460439e+01] [ 2.33448836e-03 -5.50124950e-05 9.99997274e-01 2.15769782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.93, Y:47.47, Z:0.22 [[ 6.60786222e-01 -7.50572498e-01 -1.57911759e-03 1.12933989e+02] [ 7.50570529e-01 6.60788107e-01 -1.72026074e-03 4.74686540e+01] [ 2.33464253e-03 -4.85145267e-05 9.99997274e-01 2.16813257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.95, Y:47.49, Z:0.22 [[ 6.60440582e-01 -7.50876641e-01 -1.58396385e-03 1.12952724e+02] [ 7.50874682e-01 6.60442479e-01 -1.71578682e-03 4.74895780e+01] [ 2.33446125e-03 -5.61831099e-05 9.99997274e-01 2.16841210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.97, Y:47.51, Z:0.21 [[ 6.59313052e-01 -7.51866871e-01 -1.58349410e-03 1.12972056e+02] [ 7.51864915e-01 6.59314951e-01 -1.71622024e-03 4.75115920e+01] [ 2.33439048e-03 -5.90472478e-05 9.99997274e-01 2.14625523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.99, Y:47.53, Z:0.21 [[ 6.58257991e-01 -7.52790744e-01 -1.58544553e-03 1.12990423e+02] [ 7.52788794e-01 6.58259897e-01 -1.71442046e-03 4.75328036e+01] [ 2.33423506e-03 -6.49746569e-05 9.99997274e-01 2.12736833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.01, Y:47.55, Z:0.21 [[ 6.58149189e-01 -7.52885869e-01 -1.58522148e-03 1.13007515e+02] [ 7.52883920e-01 6.58151095e-01 -1.71462704e-03 4.75537159e+01] [ 2.33423372e-03 -6.50073623e-05 9.99997274e-01 2.11529774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:113.03, Y:47.57, Z:0.21 [[ 6.59447672e-01 -7.51748806e-01 -1.58125365e-03 1.13026488e+02] [ 7.51746845e-01 6.59449565e-01 -1.71828292e-03 4.75739603e+01] [ 2.33447417e-03 -5.55847706e-05 9.99997274e-01 2.14852677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.04, Y:47.60, Z:0.21 [[ 6.57960908e-01 -7.53050424e-01 -1.58217841e-03 1.13042860e+02] [ 7.53048468e-01 6.57962807e-01 -1.71743100e-03 4.75970543e+01] [ 2.33432669e-03 -6.14545692e-05 9.99997274e-01 2.13401976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:113.06, Y:47.62, Z:0.21 [[ 6.57644022e-01 -7.53327187e-01 -1.57814021e-03 1.13059733e+02] [ 7.53325223e-01 6.57645913e-01 -1.72114918e-03 4.76181665e+01] [ 2.33444593e-03 -5.69493529e-05 9.99997274e-01 2.12797176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.08, Y:47.64, Z:0.22 [[ 6.59284466e-01 -7.51891953e-01 -1.57596606e-03 1.13080233e+02] [ 7.51889980e-01 6.59286348e-01 -1.72315017e-03 4.76389820e+01] [ 2.33463566e-03 -4.89069511e-05 9.99997274e-01 2.18609145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.263617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.10, Y:47.66, Z:0.22 [[ 6.58641046e-01 -7.52455628e-01 -1.58130468e-03 1.13098093e+02] [ 7.52453668e-01 6.58642942e-01 -1.71823701e-03 4.76612740e+01] [ 2.33441228e-03 -5.81570863e-05 9.99997274e-01 2.18541908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.293617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.12, Y:47.68, Z:0.22 [[ 6.58607719e-01 -7.52484799e-01 -1.58083995e-03 1.13115869e+02] [ 7.52482839e-01 6.58609614e-01 -1.71866448e-03 4.76812243e+01] [ 2.33442528e-03 -5.76292415e-05 9.99997274e-01 2.18689535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.323617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.13, Y:47.70, Z:0.22 [[ 6.58520801e-01 -7.52560866e-01 -1.58052381e-03 1.13132335e+02] [ 7.52558905e-01 6.58522695e-01 -1.71895515e-03 4.77023237e+01] [ 2.33442918e-03 -5.74695449e-05 9.99997274e-01 2.19189549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.15, Y:47.72, Z:0.22 [[ 6.58321515e-01 -7.52735203e-01 -1.58027818e-03 1.13151616e+02] [ 7.52733242e-01 6.58323409e-01 -1.71918094e-03 4.77234074e+01] [ 2.33442213e-03 -5.77541202e-05 9.99997274e-01 2.19256153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.17, Y:47.75, Z:0.22 [[ 6.58557925e-01 -7.52528381e-01 -1.57982287e-03 1.13169440e+02] [ 7.52526418e-01 6.58559817e-01 -1.71959924e-03 4.77452040e+01] [ 2.33445509e-03 -5.64027338e-05 9.99997274e-01 2.19338999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.19, Y:47.77, Z:0.21 [[ 6.57432098e-01 -7.53512138e-01 -1.57936947e-03 1.13186154e+02] [ 7.53510177e-01 6.57433992e-01 -1.72001556e-03 4.77685289e+01] [ 2.33438378e-03 -5.92775345e-05 9.99997274e-01 2.14635704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.20, Y:47.79, Z:0.21 [[ 6.57731146e-01 -7.53251124e-01 -1.57621921e-03 1.13204009e+02] [ 7.53249155e-01 6.57733032e-01 -1.72290657e-03 4.77904915e+01] [ 2.33451275e-03 -5.40764775e-05 9.99997274e-01 2.14611021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.47361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.22, Y:47.81, Z:0.21 [[ 6.58173687e-01 -7.52864472e-01 -1.57625548e-03 1.13220425e+02] [ 7.52862503e-01 6.58175572e-01 -1.72287331e-03 4.78136071e+01] [ 2.33454295e-03 -5.27537677e-05 9.99997274e-01 2.13864873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.24, Y:47.84, Z:0.21 [[ 6.58185468e-01 -7.52854175e-01 -1.57482842e-03 1.13239044e+02] [ 7.52852203e-01 6.58187350e-01 -1.72418186e-03 4.78354364e+01] [ 2.33458965e-03 -5.07815976e-05 9.99997274e-01 2.13970774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.26, Y:47.86, Z:0.22 [[ 6.59607499e-01 -7.51608586e-01 -1.57507760e-03 1.13258507e+02] [ 7.51606610e-01 6.59609378e-01 -1.72395340e-03 4.78558311e+01] [ 2.33467414e-03 -4.67061443e-05 9.99997274e-01 2.21949058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.28, Y:47.88, Z:0.22 [[ 6.59062885e-01 -7.52086181e-01 -1.57792651e-03 1.13276530e+02] [ 7.52084213e-01 6.59064772e-01 -1.72134185e-03 4.78770648e+01] [ 2.33455320e-03 -5.22610898e-05 9.99997274e-01 2.22806114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.29, Y:47.90, Z:0.22 [[ 6.57018428e-01 -7.53872865e-01 -1.57746121e-03 1.13293836e+02] [ 7.53870901e-01 6.57020319e-01 -1.72176816e-03 4.79006979e+01] [ 2.33441836e-03 -5.79686943e-05 9.99997274e-01 2.16671776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.31, Y:47.92, Z:0.22 [[ 6.56698080e-01 -7.54151942e-01 -1.57507902e-03 1.13310975e+02] [ 7.54149973e-01 6.56699966e-01 -1.72395007e-03 4.79216217e+01] [ 2.33447463e-03 -5.57310979e-05 9.99997274e-01 2.18032280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.33, Y:47.94, Z:0.22 [[ 6.56621024e-01 -7.54219037e-01 -1.57303698e-03 1.13327086e+02] [ 7.54217065e-01 6.56622906e-01 -1.72581930e-03 4.79446486e+01] [ 2.33453789e-03 -5.32020991e-05 9.99997274e-01 2.18596198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68361786499997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:113.34, Y:47.96, Z:0.22 [[ 6.58516064e-01 -7.52565024e-01 -1.57409177e-03 1.13344660e+02] [ 7.52563049e-01 6.58517944e-01 -1.72485419e-03 4.79647188e+01] [ 2.33463261e-03 -4.87591085e-05 9.99997274e-01 2.21785031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71361786499997 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:113.36, Y:47.99, Z:0.22 [[ 6.57463018e-01 -7.53485175e-01 -1.57179708e-03 1.13361288e+02] [ 7.53483198e-01 6.57464895e-01 -1.72695294e-03 4.79882920e+01] [ 2.33463484e-03 -4.89149944e-05 9.99997274e-01 2.21900120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.38, Y:48.01, Z:0.22 [[ 6.54807861e-01 -7.55793743e-01 -1.57580542e-03 1.13376834e+02] [ 7.55791781e-01 6.54809754e-01 -1.72328764e-03 4.80108414e+01] [ 2.33430277e-03 -6.25584940e-05 9.99997274e-01 2.18969134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.39, Y:48.03, Z:0.22 [[ 6.54207148e-01 -7.56313793e-01 -1.56657711e-03 1.13394244e+02] [ 7.56311812e-01 6.54209022e-01 -1.73172167e-03 4.80332510e+01] [ 2.33459386e-03 -5.19160824e-05 9.99997273e-01 2.17527659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.41, Y:48.05, Z:0.22 [[ 6.53758695e-01 -7.56701471e-01 -1.56635281e-03 1.13412268e+02] [ 7.56699491e-01 6.53760569e-01 -1.73192652e-03 4.80549198e+01] [ 2.33457105e-03 -5.29963521e-05 9.99997273e-01 2.18799707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.43, Y:48.08, Z:0.22 [[ 6.53612132e-01 -7.56828060e-01 -1.57109780e-03 1.13427622e+02] [ 7.56826091e-01 6.53614017e-01 -1.72759275e-03 4.80775855e+01] [ 2.33438221e-03 -5.98722287e-05 9.99997274e-01 2.19472990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86361786499998 meters Centerline goodness : 0.995049 Centerline is valid? [True, True] Translation: X:113.44, Y:48.09, Z:0.22 [[ 6.55624870e-01 -7.55085151e-01 -1.56335568e-03 1.13444054e+02] [ 7.55083160e-01 6.55626732e-01 -1.73464259e-03 4.80949058e+01] [ 2.33478064e-03 -4.31887278e-05 9.99997273e-01 2.17586707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89361786499998 meters Centerline goodness : 0.994934 Centerline is valid? [True, True] Translation: X:113.46, Y:48.12, Z:0.22 [[ 6.54972087e-01 -7.55651512e-01 -1.53570155e-03 1.13464227e+02] [ 7.55649462e-01 6.54973887e-01 -1.75979829e-03 4.81220273e+01] [ 2.33563865e-03 -7.83329058e-06 9.99997272e-01 2.19411932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92361786499998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:113.48, Y:48.14, Z:0.22 [[ 6.55738348e-01 -7.54986578e-01 -1.57652597e-03 1.13480941e+02] [ 7.54984616e-01 6.55740240e-01 -1.72261667e-03 4.81437758e+01] [ 2.33434398e-03 -6.06670496e-05 9.99997274e-01 2.21447857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.50, Y:48.17, Z:0.22 [[ 6.56837228e-01 -7.54030759e-01 -1.57185902e-03 1.13497347e+02] [ 7.54028783e-01 6.56839107e-01 -1.72686471e-03 4.81666457e+01] [ 2.33456758e-03 -5.09579133e-05 9.99997274e-01 2.23533721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.52, Y:48.19, Z:0.22 [[ 6.57281593e-01 -7.53643442e-01 -1.57138135e-03 1.13515307e+02] [ 7.53641464e-01 6.57283470e-01 -1.72729926e-03 4.81890093e+01] [ 2.33461074e-03 -4.89361337e-05 9.99997274e-01 2.24389206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.013617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.53, Y:48.21, Z:0.22 [[ 6.58716129e-01 -7.52389913e-01 -1.57454232e-03 1.13531165e+02] [ 7.52387939e-01 6.58718009e-01 -1.72442389e-03 4.82127370e+01] [ 2.33461853e-03 -4.87608195e-05 9.99997274e-01 2.23731456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.043617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.55, Y:48.23, Z:0.23 [[ 6.58655675e-01 -7.52442845e-01 -1.57080810e-03 1.13548216e+02] [ 7.52440862e-01 6.58657546e-01 -1.72781878e-03 4.82347455e+01] [ 2.33470948e-03 -4.39025528e-05 9.99997274e-01 2.25036683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.073617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.56, Y:48.26, Z:0.22 [[ 6.58442387e-01 -7.52629489e-01 -1.57306371e-03 1.13563754e+02] [ 7.52627512e-01 6.58444265e-01 -1.72576892e-03 4.82598330e+01] [ 2.33463936e-03 -4.76116175e-05 9.99997274e-01 2.24606888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.58, Y:48.28, Z:0.22 [[ 6.58142833e-01 -7.52891449e-01 -1.57370140e-03 1.13581393e+02] [ 7.52889475e-01 6.58144713e-01 -1.72518962e-03 4.82816536e+01] [ 2.33460377e-03 -4.94020343e-05 9.99997274e-01 2.23217433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13361786499996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:113.60, Y:48.30, Z:0.22 [[ 6.56991763e-01 -7.53896120e-01 -1.56967457e-03 1.13598381e+02] [ 7.53894139e-01 6.56993636e-01 -1.72884572e-03 4.83027401e+01] [ 2.33463628e-03 -4.75310604e-05 9.99997274e-01 2.24131679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16361786499996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:113.62, Y:48.33, Z:0.22 [[ 6.55309671e-01 -7.55358709e-01 -1.56717075e-03 1.13616705e+02] [ 7.55356727e-01 6.55311543e-01 -1.73111830e-03 4.83251445e+01] [ 2.33460036e-03 -4.93544027e-05 9.99997274e-01 2.22721739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.63, Y:48.35, Z:0.22 [[ 6.50647404e-01 -7.59378357e-01 -1.57050403e-03 1.13629764e+02] [ 7.59376394e-01 6.50649296e-01 -1.72809355e-03 4.83474344e+01] [ 2.33412418e-03 -6.82241009e-05 9.99997274e-01 2.20764211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.65, Y:48.37, Z:0.22 [[ 6.49182139e-01 -7.60631404e-01 -1.55504551e-03 1.13648674e+02] [ 7.60629410e-01 6.49183999e-01 -1.74211823e-03 4.83695308e+01] [ 2.33462049e-03 -5.18613110e-05 9.99997273e-01 2.20343767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.25361786499997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:113.67, Y:48.39, Z:0.22 [[ 6.49346987e-01 -7.60490672e-01 -1.55848691e-03 1.13669725e+02] [ 7.60488686e-01 6.49348855e-01 -1.73899625e-03 4.83915510e+01] [ 2.33449212e-03 -5.59996849e-05 9.99997274e-01 2.21779431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.69, Y:48.41, Z:0.22 [[ 6.47678586e-01 -7.61912060e-01 -1.56893055e-03 1.13687777e+02] [ 7.61910101e-01 6.47680482e-01 -1.72952234e-03 4.84131551e+01] [ 2.33390963e-03 -7.52094520e-05 9.99997274e-01 2.24897315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.70, Y:48.43, Z:0.22 [[ 6.45367418e-01 -7.63870693e-01 -1.56845962e-03 1.13703565e+02] [ 7.63868739e-01 6.45369319e-01 -1.72994932e-03 4.84346714e+01] [ 2.33369330e-03 -8.16443452e-05 9.99997274e-01 2.24759002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.72, Y:48.46, Z:0.23 [[ 6.44574556e-01 -7.64539850e-01 -1.56825559e-03 1.13721922e+02] [ 7.64537897e-01 6.44576458e-01 -1.73013425e-03 4.84564292e+01] [ 2.33361722e-03 -8.37903148e-05 9.99997274e-01 2.25085137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.74, Y:48.48, Z:0.22 [[ 6.42625067e-01 -7.66179199e-01 -1.56778264e-03 1.13737940e+02] [ 7.66177250e-01 6.42626973e-01 -1.73056271e-03 4.84794706e+01] [ 2.33342057e-03 -8.90964151e-05 9.99997274e-01 2.23533337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.76, Y:48.50, Z:0.23 [[ 6.44010548e-01 -7.65015005e-01 -1.56729338e-03 1.13755949e+02] [ 7.65013051e-01 6.44012449e-01 -1.73100571e-03 4.85020021e+01] [ 2.33360179e-03 -8.42139558e-05 9.99997274e-01 2.26502769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.77, Y:48.52, Z:0.23 [[ 6.45220285e-01 -7.63994979e-01 -1.56686782e-03 1.13774321e+02] [ 7.63993022e-01 6.45222183e-01 -1.73139083e-03 4.85233944e+01] [ 2.33375177e-03 -7.99475938e-05 9.99997274e-01 2.25089739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.79, Y:48.55, Z:0.23 [[ 6.46755917e-01 -7.62695437e-01 -1.56664196e-03 1.13791056e+02] [ 7.62693475e-01 6.46757810e-01 -1.73159517e-03 4.85466037e+01] [ 2.33391766e-03 -7.49481800e-05 9.99997274e-01 2.25790366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.81, Y:48.57, Z:0.23 [[ 6.46362272e-01 -7.63029069e-01 -1.56618219e-03 1.13808299e+02] [ 7.63027107e-01 6.46364165e-01 -1.73201091e-03 4.85696700e+01] [ 2.33389872e-03 -7.55329604e-05 9.99997274e-01 2.26548197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.83, Y:48.59, Z:0.23 [[ 6.48233404e-01 -7.61440084e-01 -1.56575370e-03 1.13827315e+02] [ 7.61438117e-01 6.48235291e-01 -1.73239819e-03 4.85901649e+01] [ 2.33409423e-03 -6.92261755e-05 9.99997274e-01 2.25991954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.84, Y:48.61, Z:0.22 [[ 6.48691211e-01 -7.61050105e-01 -1.56560252e-03 1.13843512e+02] [ 7.61048136e-01 6.48693097e-01 -1.73253480e-03 4.86140126e+01] [ 2.33414134e-03 -6.76187793e-05 9.99997274e-01 2.24111222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.86, Y:48.64, Z:0.22 [[ 6.49342020e-01 -7.60494899e-01 -1.56514346e-03 1.13860886e+02] [ 7.60492927e-01 6.49343903e-01 -1.73294941e-03 4.86359297e+01] [ 2.33421555e-03 -6.50036634e-05 9.99997274e-01 2.24389468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61361786499998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:113.88, Y:48.66, Z:0.22 [[ 6.50679391e-01 -7.59350961e-01 -1.56464885e-03 1.13878820e+02] [ 7.59348985e-01 6.50681270e-01 -1.73339587e-03 4.86580112e+01] [ 2.33434352e-03 -6.02295428e-05 9.99997274e-01 2.23099604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.90, Y:48.68, Z:0.22 [[ 6.51219647e-01 -7.58887689e-01 -1.56421895e-03 1.13896844e+02] [ 7.58885710e-01 6.51221523e-01 -1.73378373e-03 4.86801118e+01] [ 2.33440017e-03 -5.79893811e-05 9.99997274e-01 2.24597522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.91, Y:48.70, Z:0.23 [[ 6.54826925e-01 -7.55777251e-01 -1.56379012e-03 1.13914637e+02] [ 7.55775263e-01 6.54828790e-01 -1.73417043e-03 4.87013793e+01] [ 2.33466135e-03 -4.62923966e-05 9.99997274e-01 2.25957942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.93, Y:48.72, Z:0.22 [[ 6.54402771e-01 -7.56144542e-01 -1.56363819e-03 1.13929508e+02] [ 7.56142554e-01 6.54404638e-01 -1.73430741e-03 4.87235364e+01] [ 2.33463916e-03 -4.73977969e-05 9.99997274e-01 2.22625972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.95, Y:48.75, Z:0.22 [[ 6.55279374e-01 -7.55385019e-01 -1.55383349e-03 1.13947088e+02] [ 7.55383009e-01 6.55281216e-01 -1.74314170e-03 4.87458088e+01] [ 2.33494103e-03 -3.14946198e-05 9.99997274e-01 2.22286278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.763617865 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:113.97, Y:48.77, Z:0.22 [[ 6.58565598e-01 -7.52521724e-01 -1.55146391e-03 1.13965441e+02] [ 7.52519701e-01 6.58567426e-01 -1.74527653e-03 4.87681161e+01] [ 2.33510210e-03 -1.81280747e-05 9.99997273e-01 2.20010708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.793617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:48.79, Z:0.23 [[ 6.61498119e-01 -7.49945218e-01 -1.55211084e-03 1.13987834e+02] [ 7.49943189e-01 6.61499939e-01 -1.74469380e-03 4.87883906e+01] [ 2.33514600e-03 -9.88328275e-06 9.99997273e-01 2.25329724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.01, Y:48.81, Z:0.23 [[ 6.63220834e-01 -7.48422129e-01 -1.56280871e-03 1.14005839e+02] [ 7.48420118e-01 6.63222675e-01 -1.73505797e-03 4.88088426e+01] [ 2.33504596e-03 -1.89108876e-05 9.99997274e-01 2.25565420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85361786499996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:114.02, Y:48.83, Z:0.22 [[ 6.63548045e-01 -7.48132041e-01 -1.56260268e-03 1.14024006e+02] [ 7.48130028e-01 6.63549885e-01 -1.73524351e-03 4.88301421e+01] [ 2.33505609e-03 -1.76125510e-05 9.99997274e-01 2.23690337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.04, Y:48.85, Z:0.23 [[ 6.63845887e-01 -7.47867768e-01 -1.56213213e-03 1.14042401e+02] [ 7.47865754e-01 6.63847725e-01 -1.73566701e-03 4.88497762e+01] [ 2.33506727e-03 -1.60497218e-05 9.99997274e-01 2.26001710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.06, Y:48.87, Z:0.23 [[ 6.63585740e-01 -7.48098607e-01 -1.56192814e-03 1.14060632e+02] [ 7.48096594e-01 6.63587578e-01 -1.73585056e-03 4.88696396e+01] [ 2.33506350e-03 -1.65874437e-05 9.99997274e-01 2.25783875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94361786499996 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:114.08, Y:48.89, Z:0.22 [[ 6.62664317e-01 -7.48914925e-01 -1.56172569e-03 1.14079345e+02] [ 7.48912913e-01 6.62666157e-01 -1.73603269e-03 4.88909444e+01] [ 2.33504355e-03 -1.91896176e-05 9.99997274e-01 2.21695506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.10, Y:48.91, Z:0.22 [[ 6.60075354e-01 -7.51197770e-01 -1.56126368e-03 1.14095968e+02] [ 7.51195763e-01 6.60077200e-01 -1.73644808e-03 4.89108970e+01] [ 2.33497049e-03 -2.66280771e-05 9.99997274e-01 2.22951526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00361786499997 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:114.12, Y:48.93, Z:0.22 [[ 6.59649855e-01 -7.51571468e-01 -1.54850095e-03 1.14119039e+02] [ 7.51569435e-01 6.59651672e-01 -1.74791441e-03 4.89306305e+01] [ 2.33515384e-03 -1.07944963e-05 9.99997273e-01 2.22703694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.03361786499997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:114.14, Y:48.95, Z:0.22 [[ 6.58491946e-01 -7.52586156e-01 -1.56069986e-03 1.14138518e+02] [ 7.52584152e-01 6.58493794e-01 -1.73695335e-03 4.89512495e+01] [ 2.33491822e-03 -3.07881879e-05 9.99997274e-01 2.22662074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.16, Y:48.97, Z:0.22 [[ 6.55568774e-01 -7.55133861e-01 -1.56022454e-03 1.14157539e+02] [ 7.55131864e-01 6.55570629e-01 -1.73738020e-03 4.89717262e+01] [ 2.33479201e-03 -3.92030554e-05 9.99997274e-01 2.23668219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09361786499997 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:114.18, Y:48.99, Z:0.22 [[ 6.54342127e-01 -7.56197030e-01 -1.55971800e-03 1.14176158e+02] [ 7.56195034e-01 6.54343985e-01 -1.73783483e-03 4.89926459e+01] [ 2.33473763e-03 -4.23124640e-05 9.99997274e-01 2.21246932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12361786499997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:114.20, Y:49.01, Z:0.22 [[ 6.54096190e-01 -7.56409771e-01 -1.55956169e-03 1.14196271e+02] [ 7.56407776e-01 6.54098048e-01 -1.73797509e-03 4.90109370e+01] [ 2.33472760e-03 -4.28617057e-05 9.99997274e-01 2.23688907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.22, Y:49.03, Z:0.23 [[ 6.50689990e-01 -7.59341890e-01 -1.55936417e-03 1.14216779e+02] [ 7.59339902e-01 6.50691856e-01 -1.73815229e-03 4.90312101e+01] [ 2.33451742e-03 -5.30891405e-05 9.99997274e-01 2.26108444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18361786499997 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:114.23, Y:49.05, Z:0.22 [[ 6.49309684e-01 -7.60522520e-01 -1.55894130e-03 1.14231850e+02] [ 7.60520535e-01 6.49311553e-01 -1.73853148e-03 4.90487662e+01] [ 2.33443094e-03 -5.67615455e-05 9.99997274e-01 2.19380247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.26, Y:49.07, Z:0.22 [[ 6.48106405e-01 -7.61548235e-01 -1.54093871e-03 1.14255213e+02] [ 7.61546214e-01 6.48108235e-01 -1.75468517e-03 4.90713227e+01] [ 2.33497246e-03 -3.62733437e-05 9.99997273e-01 2.24004728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.27, Y:49.09, Z:0.22 [[ 6.47882789e-01 -7.61738445e-01 -1.55989004e-03 1.14274278e+02] [ 7.61736465e-01 6.47884664e-01 -1.73767277e-03 4.90925832e+01] [ 2.33428098e-03 -6.24168436e-05 9.99997274e-01 2.24077819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.29, Y:49.11, Z:0.22 [[ 6.47497707e-01 -7.62065803e-01 -1.55937973e-03 1.14294382e+02] [ 7.62063823e-01 6.47499582e-01 -1.73813060e-03 4.91120061e+01] [ 2.33426761e-03 -6.29112991e-05 9.99997274e-01 2.24985245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.32, Y:49.13, Z:0.23 [[ 6.47544502e-01 -7.62026041e-01 -1.55890232e-03 1.14315530e+02] [ 7.62024061e-01 6.47546376e-01 -1.73855867e-03 4.91306234e+01] [ 2.33428853e-03 -6.21269711e-05 9.99997274e-01 2.25732299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.34, Y:49.15, Z:0.23 [[ 6.47708337e-01 -7.61886790e-01 -1.55874341e-03 1.14335657e+02] [ 7.61884808e-01 6.47710210e-01 -1.73870113e-03 4.91509730e+01] [ 2.33430744e-03 -6.14117107e-05 9.99997274e-01 2.26966312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.36, Y:49.17, Z:0.22 [[ 6.48414744e-01 -7.61285683e-01 -1.55830020e-03 1.14355504e+02] [ 7.61283699e-01 6.48416614e-01 -1.73909826e-03 4.91706104e+01] [ 2.33437835e-03 -5.86515861e-05 9.99997274e-01 2.22329865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39361786499998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:114.38, Y:49.19, Z:0.22 [[ 6.48790446e-01 -7.60965525e-01 -1.55785995e-03 1.14375343e+02] [ 7.60963539e-01 6.48792314e-01 -1.73949254e-03 4.91913478e+01] [ 2.33442142e-03 -5.69084782e-05 9.99997274e-01 2.20957544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42361786499998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:114.39, Y:49.21, Z:0.22 [[ 6.49600458e-01 -7.60274173e-01 -1.55754390e-03 1.14394668e+02] [ 7.60272185e-01 6.49602323e-01 -1.73977545e-03 4.92104732e+01] [ 2.33449048e-03 -5.39983713e-05 9.99997274e-01 2.23450717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45361786499998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:114.41, Y:49.23, Z:0.22 [[ 6.50070757e-01 -7.59872085e-01 -1.55719732e-03 1.14414379e+02] [ 7.59870095e-01 6.50072620e-01 -1.74008560e-03 4.92307305e+01] [ 2.33453382e-03 -5.20889071e-05 9.99997274e-01 2.21603055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.43, Y:49.25, Z:0.22 [[ 6.50483621e-01 -7.59518689e-01 -1.55576959e-03 1.14433967e+02] [ 7.59516694e-01 6.50485480e-01 -1.74136272e-03 4.92509471e+01] [ 2.33460306e-03 -4.89050419e-05 9.99997274e-01 2.22914959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.513617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.46, Y:49.27, Z:0.23 [[ 6.53384229e-01 -7.57024858e-01 -1.55373405e-03 1.14455278e+02] [ 7.57022852e-01 6.53386075e-01 -1.74318285e-03 4.92695834e+01] [ 2.33482094e-03 -3.72440026e-05 9.99997274e-01 2.26664218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.543617865 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:114.47, Y:49.29, Z:0.23 [[ 6.54137241e-01 -7.56374278e-01 -1.55640370e-03 1.14474415e+02] [ 7.56372275e-01 6.54139091e-01 -1.74079598e-03 4.92898688e+01] [ 2.33479780e-03 -3.85011277e-05 9.99997274e-01 2.25541045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.49, Y:49.31, Z:0.23 [[ 6.55970597e-01 -7.54784841e-01 -1.55593424e-03 1.14494437e+02] [ 7.54782833e-01 6.55972441e-01 -1.74121548e-03 4.93079706e+01] [ 2.33489303e-03 -3.22062947e-05 9.99997274e-01 2.26679584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.51, Y:49.33, Z:0.23 [[ 6.56266921e-01 -7.54527209e-01 -1.55573064e-03 1.14514351e+02] [ 7.54525200e-01 6.56268764e-01 -1.74139738e-03 4.93282086e+01] [ 2.33490913e-03 -3.10164802e-05 9.99997274e-01 2.26482476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.53, Y:49.35, Z:0.23 [[ 6.56880562e-01 -7.53993043e-01 -1.55525501e-03 1.14533718e+02] [ 7.53991031e-01 6.56882402e-01 -1.74182206e-03 4.93471731e+01] [ 2.33494136e-03 -2.84792729e-05 9.99997274e-01 2.26482294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.56, Y:49.37, Z:0.23 [[ 6.57032170e-01 -7.53860935e-01 -1.55504889e-03 1.14555137e+02] [ 7.53858923e-01 6.57034009e-01 -1.74200606e-03 4.93662003e+01] [ 2.33495033e-03 -2.77334601e-05 9.99997274e-01 2.26044618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.57, Y:49.39, Z:0.23 [[ 6.56697534e-01 -7.54152459e-01 -1.55458363e-03 1.14574672e+02] [ 7.54150447e-01 6.56699374e-01 -1.74242117e-03 4.93857345e+01] [ 2.33494530e-03 -2.81462558e-05 9.99997274e-01 2.25972392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.59, Y:49.41, Z:0.22 [[ 6.55105995e-01 -7.55535386e-01 -1.55411202e-03 1.14593700e+02] [ 7.55533377e-01 6.55107838e-01 -1.74284170e-03 4.94069177e+01] [ 2.33488955e-03 -3.24374565e-05 9.99997274e-01 2.21754959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.61, Y:49.42, Z:0.22 [[ 6.54595336e-01 -7.55977865e-01 -1.55363831e-03 1.14613677e+02] [ 7.55975856e-01 6.54597179e-01 -1.74326388e-03 4.94249743e+01] [ 2.33487617e-03 -3.33806452e-05 9.99997274e-01 2.22419490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78361786499997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:114.63, Y:49.44, Z:0.22 [[ 6.55105431e-01 -7.55535877e-01 -1.55341767e-03 1.14634482e+02] [ 7.55533866e-01 6.55107272e-01 -1.74346048e-03 4.94433897e+01] [ 2.33490215e-03 -3.15092241e-05 9.99997274e-01 2.24895639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.65, Y:49.46, Z:0.23 [[ 6.54948837e-01 -7.55671628e-01 -1.55294147e-03 1.14653960e+02] [ 7.55669617e-01 6.54950677e-01 -1.74388454e-03 4.94619784e+01] [ 2.33490413e-03 -3.13555373e-05 9.99997274e-01 2.26023736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.68, Y:49.48, Z:0.22 [[ 6.54711485e-01 -7.55877279e-01 -1.55273439e-03 1.14675157e+02] [ 7.55875268e-01 6.54713325e-01 -1.74406890e-03 4.94801041e+01] [ 2.33489795e-03 -3.18115812e-05 9.99997274e-01 2.24292389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.69, Y:49.50, Z:0.22 [[ 6.54471301e-01 -7.56085251e-01 -1.55224887e-03 1.14693917e+02] [ 7.56083239e-01 6.54473141e-01 -1.74450091e-03 4.94990903e+01] [ 2.33489660e-03 -3.19035792e-05 9.99997274e-01 2.24621682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.71, Y:49.52, Z:0.22 [[ 6.52506391e-01 -7.57781631e-01 -1.55203853e-03 1.14710506e+02] [ 7.57779624e-01 6.52508236e-01 -1.74468802e-03 4.95186381e+01] [ 2.33481046e-03 -3.76830885e-05 9.99997274e-01 2.17437002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.73, Y:49.54, Z:0.22 [[ 6.53687714e-01 -7.56762842e-01 -1.54063585e-03 1.14733440e+02] [ 7.56760807e-01 6.53689530e-01 -1.75482071e-03 4.95399717e+01] [ 2.33508063e-03 -1.87880928e-05 9.99997274e-01 2.17607429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.75, Y:49.56, Z:0.22 [[ 6.54745427e-01 -7.55847881e-01 -1.55127018e-03 1.14753834e+02] [ 7.55845867e-01 6.54747264e-01 -1.74536899e-03 4.95582063e+01] [ 2.33492337e-03 -2.97487906e-05 9.99997274e-01 2.21109014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.77, Y:49.58, Z:0.22 [[ 6.54330499e-01 -7.56207110e-01 -1.55093267e-03 1.14773541e+02] [ 7.56205096e-01 6.54332336e-01 -1.74566885e-03 4.95776423e+01] [ 2.33491260e-03 -3.05788190e-05 9.99997274e-01 2.19951528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.79, Y:49.60, Z:0.22 [[ 6.52321011e-01 -7.57941221e-01 -1.55046030e-03 1.14794841e+02] [ 7.57939211e-01 6.52322852e-01 -1.74608830e-03 4.95967765e+01] [ 2.33483299e-03 -3.61445699e-05 9.99997274e-01 2.17619053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.82, Y:49.61, Z:0.22 [[ 6.52847935e-01 -7.57487407e-01 -1.54998659e-03 1.14816290e+02] [ 7.57485394e-01 6.52849774e-01 -1.74650871e-03 4.96147611e+01] [ 2.33486675e-03 -3.38875979e-05 9.99997274e-01 2.19813168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.84, Y:49.63, Z:0.22 [[ 6.52435348e-01 -7.57842804e-01 -1.54950528e-03 1.14835898e+02] [ 7.57840791e-01 6.52437187e-01 -1.74693562e-03 4.96334876e+01] [ 2.33485746e-03 -3.45157579e-05 9.99997274e-01 2.20050936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.86, Y:49.65, Z:0.22 [[ 6.51983386e-01 -7.58231669e-01 -1.54924028e-03 1.14857558e+02] [ 7.58229657e-01 6.51985226e-01 -1.74717060e-03 4.96523814e+01] [ 2.33484186e-03 -3.55537221e-05 9.99997274e-01 2.19603706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.88, Y:49.67, Z:0.22 [[ 6.52067029e-01 -7.58159740e-01 -1.54875584e-03 1.14877156e+02] [ 7.58157727e-01 6.52068867e-01 -1.74759993e-03 4.96714670e+01] [ 2.33485537e-03 -3.46489167e-05 9.99997274e-01 2.20548323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.90, Y:49.69, Z:0.22 [[ 6.52236653e-01 -7.58013819e-01 -1.54849078e-03 1.14897580e+02] [ 7.58011805e-01 6.52238491e-01 -1.74783476e-03 4.96912299e+01] [ 2.33486819e-03 -3.37723941e-05 9.99997274e-01 2.20569606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.92, Y:49.71, Z:0.22 [[ 6.53502304e-01 -7.56922943e-01 -1.54801559e-03 1.14919354e+02] [ 7.56920925e-01 6.53504137e-01 -1.74825552e-03 4.97094509e+01] [ 2.33492930e-03 -2.92363774e-05 9.99997274e-01 2.20697922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23361786499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.93, Y:49.73, Z:0.22 [[ 6.51800523e-01 -7.58388873e-01 -1.54754179e-03 1.14934082e+02] [ 7.58386858e-01 6.51802360e-01 -1.74867482e-03 4.97298830e+01] [ 2.33486692e-03 -3.38481896e-05 9.99997274e-01 2.16619520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.263617865 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:114.96, Y:49.75, Z:0.22 [[ 6.56512849e-01 -7.54313286e-01 -1.53147572e-03 1.14960107e+02] [ 7.54311226e-01 6.56514636e-01 -1.76288429e-03 4.97477806e+01] [ 2.33520327e-03 2.14685543e-06 9.99997273e-01 2.21371582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.293617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.98, Y:49.77, Z:0.22 [[ 6.57431391e-01 -7.53512822e-01 -1.54727603e-03 1.14979930e+02] [ 7.53510792e-01 6.57433211e-01 -1.74890558e-03 4.97677103e+01] [ 2.33505343e-03 -1.61037613e-05 9.99997274e-01 2.20944792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.00, Y:49.79, Z:0.22 [[ 6.58048292e-01 -7.52974138e-01 -1.54680500e-03 1.14999741e+02] [ 7.52972106e-01 6.58050110e-01 -1.74932209e-03 4.97877166e+01] [ 2.33506949e-03 -1.35626043e-05 9.99997274e-01 2.21023427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35361786499996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:115.02, Y:49.81, Z:0.22 [[ 6.59500868e-01 -7.51702211e-01 -1.54633041e-03 1.15022181e+02] [ 7.51700175e-01 6.59502681e-01 -1.74974150e-03 4.98064519e+01] [ 2.33509361e-03 -8.42079805e-06 9.99997274e-01 2.20633319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.04, Y:49.83, Z:0.22 [[ 6.60048835e-01 -7.51221103e-01 -1.54591542e-03 1.15042489e+02] [ 7.51219064e-01 6.60050645e-01 -1.75010807e-03 4.98260365e+01] [ 2.33510059e-03 -6.16434252e-06 9.99997274e-01 2.20394140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.06, Y:49.84, Z:0.22 [[ 6.60532534e-01 -7.50795834e-01 -1.54543364e-03 1.15062144e+02] [ 7.50793793e-01 6.60534342e-01 -1.75053340e-03 4.98447088e+01] [ 2.33510518e-03 -4.01771990e-06 9.99997274e-01 2.21116110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.08, Y:49.86, Z:0.22 [[ 6.61165873e-01 -7.50238163e-01 -1.54516518e-03 1.15083630e+02] [ 7.50236120e-01 6.61167678e-01 -1.75077034e-03 4.98627410e+01] [ 2.33510800e-03 -1.68912681e-06 9.99997274e-01 2.20695144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.10, Y:49.88, Z:0.22 [[ 6.61137914e-01 -7.50262802e-01 -1.54470557e-03 1.15102992e+02] [ 7.50260758e-01 6.61139719e-01 -1.75117576e-03 4.98815907e+01] [ 2.33510824e-03 -1.16328069e-06 9.99997274e-01 2.21068586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.13, Y:49.90, Z:0.22 [[ 6.60610163e-01 -7.50727532e-01 -1.54445698e-03 1.15125005e+02] [ 7.50725489e-01 6.60611968e-01 -1.75139497e-03 4.98996181e+01] [ 2.33510719e-03 -2.47390764e-06 9.99997274e-01 2.20594978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.53361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:115.15, Y:49.92, Z:0.22 [[ 6.60250291e-01 -7.51044053e-01 -1.54398693e-03 1.15145840e+02] [ 7.51042010e-01 6.60252096e-01 -1.75180926e-03 4.99191954e+01] [ 2.33510654e-03 -2.96647242e-06 9.99997274e-01 2.20470687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:115.17, Y:49.94, Z:0.22 [[ 6.59569336e-01 -7.51642141e-01 -1.54351643e-03 1.15166622e+02] [ 7.51640099e-01 6.59571142e-01 -1.75222372e-03 4.99387437e+01] [ 2.33510408e-03 -4.45580738e-06 9.99997274e-01 2.20373394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:115.19, Y:49.96, Z:0.22 [[ 6.58941519e-01 -7.52192591e-01 -1.54304544e-03 1.15186789e+02] [ 7.52190549e-01 6.58943325e-01 -1.75263839e-03 4.99576464e+01] [ 2.33510110e-03 -5.77799677e-06 9.99997274e-01 2.20348354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.21, Y:49.98, Z:0.22 [[ 6.57940554e-01 -7.53068288e-01 -1.54277775e-03 1.15209488e+02] [ 7.53066248e-01 6.57942363e-01 -1.75287399e-03 4.99756472e+01] [ 2.33509265e-03 -8.52697000e-06 9.99997274e-01 2.19501469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.23, Y:49.99, Z:0.22 [[ 6.57563707e-01 -7.53397367e-01 -1.54229556e-03 1.15229321e+02] [ 7.53395327e-01 6.57565515e-01 -1.75329815e-03 4.99947903e+01] [ 2.33509059e-03 -9.05303668e-06 9.99997274e-01 2.19700372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.25, Y:50.01, Z:0.22 [[ 6.56870624e-01 -7.54001728e-01 -1.54196772e-03 1.15249781e+02] [ 7.53999689e-01 6.56872433e-01 -1.75358643e-03 5.00148391e+01] [ 2.33508329e-03 -1.07637755e-05 9.99997274e-01 2.19178439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:115.27, Y:50.03, Z:0.22 [[ 6.56354849e-01 -7.54450751e-01 -1.54148487e-03 1.15270666e+02] [ 7.54448713e-01 6.56356659e-01 -1.75401077e-03 5.00321651e+01] [ 2.33507861e-03 -1.17177993e-05 9.99997274e-01 2.18704268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:115.29, Y:50.05, Z:0.22 [[ 6.56320518e-01 -7.54480618e-01 -1.54121450e-03 1.15289791e+02] [ 7.54478578e-01 6.56322327e-01 -1.75424831e-03 5.00522171e+01] [ 2.33507984e-03 -1.14641718e-05 9.99997274e-01 2.19029546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.31, Y:50.07, Z:0.22 [[ 6.57141189e-01 -7.53765935e-01 -1.54074142e-03 1.15308129e+02] [ 7.53763892e-01 6.57142995e-01 -1.75466371e-03 5.00737120e+01] [ 2.33509317e-03 -8.29345223e-06 9.99997274e-01 2.19616224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.33, Y:50.09, Z:0.22 [[ 6.59248354e-01 -7.51923689e-01 -1.54026734e-03 1.15325706e+02] [ 7.51921641e-01 6.59250154e-01 -1.75507977e-03 5.00946054e+01] [ 2.33510754e-03 -1.12689589e-06 9.99997274e-01 2.20668396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.34, Y:50.12, Z:0.22 [[ 6.60474803e-01 -7.50846631e-01 -1.53994526e-03 1.15342720e+02] [ 7.50844579e-01 6.60476598e-01 -1.75536233e-03 5.01152245e+01] [ 2.33510569e-03 3.11303988e-06 9.99997274e-01 2.20986991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:115.36, Y:50.14, Z:0.22 [[ 6.61367107e-01 -7.50060784e-01 -1.53968394e-03 1.15361513e+02] [ 7.50058729e-01 6.61368899e-01 -1.75559150e-03 5.01357726e+01] [ 2.33509941e-03 6.23709172e-06 9.99997274e-01 2.19994146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.38, Y:50.16, Z:0.22 [[ 6.61159564e-01 -7.50243735e-01 -1.53922672e-03 1.15380456e+02] [ 7.50241680e-01 6.61161356e-01 -1.75599229e-03 5.01565527e+01] [ 2.33509944e-03 6.19905736e-06 9.99997274e-01 2.19966749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.40, Y:50.18, Z:0.22 [[ 6.60664208e-01 -7.50679983e-01 -1.53876389e-03 1.15398686e+02] [ 7.50677928e-01 6.60666000e-01 -1.75639777e-03 5.01774173e+01] [ 2.33510163e-03 5.27304830e-06 9.99997274e-01 2.19797703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.42, Y:50.20, Z:0.22 [[ 6.60001356e-01 -7.51262833e-01 -1.53829658e-03 1.15417164e+02] [ 7.51260778e-01 6.60003149e-01 -1.75680696e-03 5.01987672e+01] [ 2.33510435e-03 3.83308954e-06 9.99997274e-01 2.19580006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.43, Y:50.22, Z:0.22 [[ 6.58325284e-01 -7.52731995e-01 -1.53781945e-03 1.15433831e+02] [ 7.52729944e-01 6.58327080e-01 -1.75722450e-03 5.02195310e+01] [ 2.33510730e-03 -7.37430804e-07 9.99997274e-01 2.19684196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.013617865 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.45, Y:50.24, Z:0.22 [[ 6.57300006e-01 -7.53627453e-01 -1.53755699e-03 1.15451512e+02] [ 7.53625404e-01 6.57301804e-01 -1.75745413e-03 5.02412579e+01] [ 2.33510466e-03 -3.56740131e-06 9.99997274e-01 2.20028630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.043617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.47, Y:50.26, Z:0.22 [[ 6.56191664e-01 -7.54592696e-01 -1.53710546e-03 1.15468448e+02] [ 7.54590649e-01 6.56193465e-01 -1.75784896e-03 5.02622728e+01] [ 2.33509854e-03 -6.39957023e-06 9.99997274e-01 2.20526459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:115.49, Y:50.28, Z:0.22 [[ 6.54923175e-01 -7.55693902e-01 -1.53679885e-03 1.15486218e+02] [ 7.55691856e-01 6.54924978e-01 -1.75811697e-03 5.02835482e+01] [ 2.33508623e-03 -9.91483092e-06 9.99997274e-01 2.21177566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:115.50, Y:50.31, Z:0.22 [[ 6.52415857e-01 -7.57859610e-01 -1.53635164e-03 1.15504820e+02] [ 7.57857570e-01 6.52417666e-01 -1.75850768e-03 5.03050967e+01] [ 2.33504490e-03 -1.70574210e-05 9.99997274e-01 2.22016751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.52, Y:50.33, Z:0.22 [[ 6.51099208e-01 -7.58991082e-01 -1.53589058e-03 1.15522679e+02] [ 7.58989044e-01 6.51101019e-01 -1.75891029e-03 5.03258855e+01] [ 2.33501714e-03 -2.04990269e-05 9.99997274e-01 2.22157110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.54, Y:50.35, Z:0.22 [[ 6.50902096e-01 -7.59160131e-01 -1.53563711e-03 1.15541411e+02] [ 7.59158093e-01 6.50903907e-01 -1.75913155e-03 5.03474715e+01] [ 2.33501473e-03 -2.07689237e-05 9.99997274e-01 2.22223723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.19361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.56, Y:50.37, Z:0.22 [[ 6.48325481e-01 -7.61361750e-01 -1.53518020e-03 1.15558852e+02] [ 7.61359717e-01 6.48327298e-01 -1.75953020e-03 5.03691892e+01] [ 2.33493822e-03 -2.80760999e-05 9.99997274e-01 2.22149006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.58, Y:50.39, Z:0.22 [[ 6.46975648e-01 -7.62509118e-01 -1.53469455e-03 1.15576335e+02] [ 7.62507088e-01 6.46977468e-01 -1.75995369e-03 5.03903950e+01] [ 2.33489353e-03 -3.15682931e-05 9.99997274e-01 2.21881612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.25361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:115.59, Y:50.41, Z:0.22 [[ 6.45689206e-01 -7.63598779e-01 -1.53436430e-03 1.15593869e+02] [ 7.63596751e-01 6.45691028e-01 -1.76024156e-03 5.04117559e+01] [ 2.33484357e-03 -3.50666195e-05 9.99997274e-01 2.22253807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28361786499997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:115.61, Y:50.43, Z:0.22 [[ 6.44497084e-01 -7.64605229e-01 -1.53388089e-03 1.15610914e+02] [ 7.64603202e-01 6.44498908e-01 -1.76066271e-03 5.04325233e+01] [ 2.33479647e-03 -3.80682559e-05 9.99997274e-01 2.22011664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.63, Y:50.45, Z:0.22 [[ 6.42545391e-01 -7.66246089e-01 -1.53355206e-03 1.15628578e+02] [ 7.66244067e-01 6.42547220e-01 -1.76094907e-03 5.04539070e+01] [ 2.33469995e-03 -4.35854587e-05 9.99997274e-01 2.22558835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.65, Y:50.48, Z:0.22 [[ 6.41550600e-01 -7.67079186e-01 -1.53307862e-03 1.15647322e+02] [ 7.67077165e-01 6.41552430e-01 -1.76136116e-03 5.04754032e+01] [ 2.33465380e-03 -4.59872912e-05 9.99997274e-01 2.22690465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.67, Y:50.50, Z:0.22 [[ 6.40201904e-01 -7.68205164e-01 -1.53260627e-03 1.15665650e+02] [ 7.68203145e-01 6.40203736e-01 -1.76177206e-03 5.04963850e+01] [ 2.33458266e-03 -4.94631291e-05 9.99997274e-01 2.23286054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.68, Y:50.52, Z:0.22 [[ 6.39807329e-01 -7.68533821e-01 -1.53213127e-03 1.15682843e+02] [ 7.68531802e-01 6.39809162e-01 -1.76218505e-03 5.05167982e+01] [ 2.33457044e-03 -5.00326963e-05 9.99997274e-01 2.23199447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:115.70, Y:50.54, Z:0.22 [[ 6.39757394e-01 -7.68575390e-01 -1.53180826e-03 1.15701243e+02] [ 7.68573371e-01 6.39759226e-01 -1.76246579e-03 5.05386052e+01] [ 2.33457630e-03 -4.97565147e-05 9.99997274e-01 2.23165024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.72, Y:50.56, Z:0.22 [[ 6.39798350e-01 -7.68541298e-01 -1.53133705e-03 1.15719038e+02] [ 7.68539278e-01 6.39800180e-01 -1.76287511e-03 5.05602112e+01] [ 2.33459205e-03 -4.90080777e-05 9.99997274e-01 2.23235231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.74, Y:50.58, Z:0.22 [[ 6.39728018e-01 -7.68599844e-01 -1.53084541e-03 1.15736490e+02] [ 7.68597823e-01 6.39729847e-01 -1.76330194e-03 5.05808303e+01] [ 2.33460109e-03 -4.85707932e-05 9.99997274e-01 2.23106309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.76, Y:50.60, Z:0.22 [[ 6.39675337e-01 -7.68643689e-01 -1.53057663e-03 1.15755338e+02] [ 7.68641667e-01 6.39677166e-01 -1.76353521e-03 5.06022903e+01] [ 2.33460513e-03 -4.83749923e-05 9.99997274e-01 2.22731029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:115.77, Y:50.62, Z:0.22 [[ 6.39489962e-01 -7.68797923e-01 -1.53009231e-03 1.15773956e+02] [ 7.68795901e-01 6.39491791e-01 -1.76395532e-03 5.06228618e+01] [ 2.33460666e-03 -4.82969768e-05 9.99997274e-01 2.22684946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.79, Y:50.64, Z:0.22 [[ 6.39232271e-01 -7.69012200e-01 -1.52960724e-03 1.15792981e+02] [ 7.69010178e-01 6.39234099e-01 -1.76437585e-03 5.06428649e+01] [ 2.33460366e-03 -4.84375582e-05 9.99997274e-01 2.22343014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.81, Y:50.66, Z:0.22 [[ 6.37624931e-01 -7.70345448e-01 -1.52912659e-03 1.15809738e+02] [ 7.70343428e-01 6.37626763e-01 -1.76479231e-03 5.06649197e+01] [ 2.33451176e-03 -5.26770429e-05 9.99997274e-01 2.20320430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.83, Y:50.68, Z:0.22 [[ 6.38197354e-01 -7.69871288e-01 -1.52882874e-03 1.15829907e+02] [ 7.69869266e-01 6.38199183e-01 -1.76505030e-03 5.06847049e+01] [ 2.33455880e-03 -5.05478275e-05 9.99997274e-01 2.22897079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.85, Y:50.71, Z:0.22 [[ 6.37950313e-01 -7.70076011e-01 -1.52834949e-03 1.15848067e+02] [ 7.70073989e-01 6.37952141e-01 -1.76546518e-03 5.07054834e+01] [ 2.33455622e-03 -5.06631271e-05 9.99997274e-01 2.22140431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.87, Y:50.73, Z:0.22 [[ 6.38125762e-01 -7.69930631e-01 -1.52810239e-03 1.15867083e+02] [ 7.69928608e-01 6.38127590e-01 -1.76567903e-03 5.07263136e+01] [ 2.33457467e-03 -4.98044691e-05 9.99997274e-01 2.23179547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73361786499999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:115.89, Y:50.75, Z:0.23 [[ 6.39511414e-01 -7.68780084e-01 -1.52763702e-03 1.15887757e+02] [ 7.68778056e-01 6.39513237e-01 -1.76608158e-03 5.07453637e+01] [ 2.33467244e-03 -4.49844866e-05 9.99997274e-01 2.25165998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.763617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.91, Y:50.77, Z:0.23 [[ 6.39602848e-01 -7.68704016e-01 -1.52717244e-03 1.15906407e+02] [ 7.68701987e-01 6.39604670e-01 -1.76648322e-03 5.07660419e+01] [ 2.33468937e-03 -4.40927887e-05 9.99997274e-01 2.25564248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.793617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:115.92, Y:50.79, Z:0.23 [[ 6.39928022e-01 -7.68433338e-01 -1.52669872e-03 1.15924676e+02] [ 7.68431308e-01 6.39929842e-01 -1.76689254e-03 5.07863923e+01] [ 2.33471920e-03 -4.24790450e-05 9.99997274e-01 2.25148818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:115.94, Y:50.81, Z:0.23 [[ 6.41490722e-01 -7.67129274e-01 -1.52643777e-03 1.15942897e+02] [ 7.67127240e-01 6.41492537e-01 -1.76711795e-03 5.08062180e+01] [ 2.33480635e-03 -3.73822296e-05 9.99997274e-01 2.25255355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.96, Y:50.83, Z:0.22 [[ 6.42202887e-01 -7.66533185e-01 -1.52612508e-03 1.15961473e+02] [ 7.66531148e-01 6.42204699e-01 -1.76738796e-03 5.08274792e+01] [ 2.33484621e-03 -3.48007574e-05 9.99997274e-01 2.24955962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:115.98, Y:50.85, Z:0.22 [[ 6.41276375e-01 -7.67308467e-01 -1.52567401e-03 1.15978270e+02] [ 7.67306431e-01 6.41278189e-01 -1.76777725e-03 5.08496419e+01] [ 2.33481192e-03 -3.70256898e-05 9.99997274e-01 2.24542238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.00, Y:50.87, Z:0.22 [[ 6.44101377e-01 -7.64938618e-01 -1.52517728e-03 1.15997507e+02] [ 7.64936575e-01 6.44103182e-01 -1.76820571e-03 5.08691973e+01] [ 2.33494037e-03 -2.77601514e-05 9.99997274e-01 2.23809534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.01, Y:50.89, Z:0.22 [[ 6.43129092e-01 -7.65756257e-01 -1.52501137e-03 1.16013295e+02] [ 7.65754216e-01 6.43130900e-01 -1.76834878e-03 5.08908052e+01] [ 2.33490608e-03 -3.05073372e-05 9.99997274e-01 2.22500828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.03, Y:50.91, Z:0.22 [[ 6.45859070e-01 -7.63455145e-01 -1.51743946e-03 1.16033907e+02] [ 7.63453082e-01 6.45860852e-01 -1.77487508e-03 5.09113189e+01] [ 2.33509226e-03 -1.21746665e-05 9.99997274e-01 2.23877290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.05, Y:50.93, Z:0.22 [[ 6.44571042e-01 -7.64542901e-01 -1.52455983e-03 1.16049878e+02] [ 7.64540855e-01 6.44572845e-01 -1.76873770e-03 5.09330717e+01] [ 2.33496572e-03 -2.55111798e-05 9.99997274e-01 2.21916979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.07, Y:50.96, Z:0.22 [[ 6.45146938e-01 -7.64057019e-01 -1.51664811e-03 1.16069950e+02] [ 7.64054956e-01 6.45148720e-01 -1.77555436e-03 5.09550951e+01] [ 2.33508836e-03 -1.33090483e-05 9.99997274e-01 2.23857385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.09, Y:50.98, Z:0.22 [[ 6.44580316e-01 -7.64535083e-01 -1.52407487e-03 1.16086853e+02] [ 7.64533036e-01 6.44582118e-01 -1.76915643e-03 5.09758270e+01] [ 2.33497357e-03 -2.48421800e-05 9.99997274e-01 2.23730456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:116.11, Y:51.00, Z:0.22 [[ 6.44632427e-01 -7.64491158e-01 -1.51740720e-03 1.16106049e+02] [ 7.64489098e-01 6.44634213e-01 -1.77489735e-03 5.09972341e+01] [ 2.33506592e-03 -1.58848785e-05 9.99997274e-01 2.24356994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.13, Y:51.02, Z:0.23 [[ 6.45208623e-01 -7.64004924e-01 -1.51987843e-03 1.16125154e+02] [ 7.64002867e-01 6.45210412e-01 -1.77277048e-03 5.10178730e+01] [ 2.33504676e-03 -1.73846800e-05 9.99997274e-01 2.27161574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:116.14, Y:51.04, Z:0.23 [[ 6.44615305e-01 -7.64505584e-01 -1.52310911e-03 1.16142916e+02] [ 7.64503536e-01 6.44617104e-01 -1.76999042e-03 5.10385274e+01] [ 2.33498974e-03 -2.34593857e-05 9.99997274e-01 2.27196046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:116.16, Y:51.06, Z:0.23 [[ 6.42816326e-01 -7.66018832e-01 -1.52277737e-03 1.16160290e+02] [ 7.66016787e-01 6.42818129e-01 -1.77027578e-03 5.10600272e+01] [ 2.33493348e-03 -2.85108582e-05 9.99997274e-01 2.26077883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21361786499997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:116.18, Y:51.08, Z:0.23 [[ 6.42162474e-01 -7.66567052e-01 -1.52023098e-03 1.16178498e+02] [ 7.66565003e-01 6.42164273e-01 -1.77246550e-03 5.10817982e+01] [ 2.33495168e-03 -2.71450369e-05 9.99997274e-01 2.26863982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.20, Y:51.10, Z:0.23 [[ 6.42703068e-01 -7.66113868e-01 -1.51896677e-03 1.16197650e+02] [ 7.66111816e-01 6.42704862e-01 -1.77355207e-03 5.11026610e+01] [ 2.33499017e-03 -2.38310352e-05 9.99997274e-01 2.28851196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:116.21, Y:51.12, Z:0.23 [[ 6.41711776e-01 -7.66944379e-01 -1.52194929e-03 1.16214517e+02] [ 7.66942335e-01 6.41713580e-01 -1.77098897e-03 5.11238418e+01] [ 2.33490556e-03 -3.07828649e-05 9.99997274e-01 2.28090690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.23, Y:51.15, Z:0.23 [[ 6.41152002e-01 -7.67412402e-01 -1.52162690e-03 1.16232540e+02] [ 7.67410359e-01 6.41153807e-01 -1.77126592e-03 5.11457295e+01] [ 2.33488831e-03 -3.20615551e-05 9.99997274e-01 2.28353703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.25, Y:51.17, Z:0.23 [[ 6.40098705e-01 -7.68291178e-01 -1.52114574e-03 1.16249493e+02] [ 7.68289136e-01 6.40100512e-01 -1.77167904e-03 5.11670971e+01] [ 2.33485154e-03 -3.46302871e-05 9.99997274e-01 2.27186864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.27, Y:51.19, Z:0.23 [[ 6.39202296e-01 -7.69037133e-01 -1.52088812e-03 1.16267595e+02] [ 7.69035093e-01 6.39204104e-01 -1.77190016e-03 5.11888165e+01] [ 2.33481495e-03 -3.70136837e-05 9.99997274e-01 2.27709338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.29, Y:51.21, Z:0.23 [[ 6.38240996e-01 -7.69835125e-01 -1.52040977e-03 1.16286033e+02] [ 7.69833086e-01 6.38242805e-01 -1.77231052e-03 5.12106491e+01] [ 2.33477749e-03 -3.93005181e-05 9.99997274e-01 2.28209259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:116.30, Y:51.23, Z:0.23 [[ 6.37333450e-01 -7.70586636e-01 -1.51992495e-03 1.16303902e+02] [ 7.70584598e-01 6.37335261e-01 -1.77272620e-03 5.12320071e+01] [ 2.33474089e-03 -4.14130544e-05 9.99997274e-01 2.28152200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.32, Y:51.25, Z:0.23 [[ 6.36087424e-01 -7.71615500e-01 -1.51944037e-03 1.16321735e+02] [ 7.71613464e-01 6.36089237e-01 -1.77314145e-03 5.12541351e+01] [ 2.33468309e-03 -4.45476691e-05 9.99997274e-01 2.27314543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.34, Y:51.28, Z:0.23 [[ 6.35486176e-01 -7.72110752e-01 -1.51895567e-03 1.16339898e+02] [ 7.72108716e-01 6.35487990e-01 -1.77355657e-03 5.12753822e+01] [ 2.33466018e-03 -4.57282299e-05 9.99997274e-01 2.28451677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.513617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:116.36, Y:51.30, Z:0.23 [[ 6.34749315e-01 -7.72716637e-01 -1.51844517e-03 1.16357453e+02] [ 7.72714602e-01 6.34751130e-01 -1.77399353e-03 5.12975798e+01] [ 2.33462910e-03 -4.72835788e-05 9.99997274e-01 2.27363954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.543617865 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:116.37, Y:51.32, Z:0.23 [[ 6.34849378e-01 -7.72634430e-01 -1.51828741e-03 1.16374448e+02] [ 7.72632395e-01 6.34851191e-01 -1.77412854e-03 5.13179827e+01] [ 2.33463936e-03 -4.67736442e-05 9.99997274e-01 2.29499057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.39, Y:51.34, Z:0.23 [[ 6.32723152e-01 -7.74376593e-01 -1.51801565e-03 1.16394265e+02] [ 7.74374562e-01 6.32724971e-01 -1.77436104e-03 5.13419212e+01] [ 2.33451006e-03 -5.28333982e-05 9.99997274e-01 2.29798924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.41, Y:51.36, Z:0.23 [[ 6.34033775e-01 -7.73303836e-01 -1.53239145e-03 1.16410081e+02] [ 7.73301832e-01 6.34035624e-01 -1.76206012e-03 5.13613778e+01] [ 2.33419862e-03 -6.77954882e-05 9.99997273e-01 2.30617750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63361786499996 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:116.43, Y:51.38, Z:0.23 [[ 6.35986908e-01 -7.71698355e-01 -1.51715650e-03 1.16428110e+02] [ 7.71696314e-01 6.35988716e-01 -1.77508138e-03 5.13833713e+01] [ 2.33472180e-03 -4.18555630e-05 9.99997274e-01 2.29832797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66361786499996 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:116.44, Y:51.41, Z:0.23 [[ 6.32568809e-01 -7.74502680e-01 -1.51661441e-03 1.16443719e+02] [ 7.74500646e-01 6.32570625e-01 -1.77554442e-03 5.14065144e+01] [ 2.33452964e-03 -5.14648211e-05 9.99997274e-01 2.26193179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.46, Y:51.43, Z:0.23 [[ 6.34134791e-01 -7.73221041e-01 -1.51289921e-03 1.16462561e+02] [ 7.73218996e-01 6.34136594e-01 -1.77871556e-03 5.14273166e+01] [ 2.33472505e-03 -4.18569938e-05 9.99997274e-01 2.31004036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72361786499997 meters Centerline goodness : 0.996473 Centerline is valid? [True, True] Translation: X:116.48, Y:51.44, Z:0.23 [[ 6.38276891e-01 -7.69805373e-01 -1.51576602e-03 1.16476833e+02] [ 7.69803325e-01 6.38278690e-01 -1.77626919e-03 5.14430457e+01] [ 2.33486272e-03 -3.30901403e-05 9.99997274e-01 2.26900285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.75361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:116.50, Y:51.47, Z:0.23 [[ 6.34734511e-01 -7.72728882e-01 -1.47503672e-03 1.16496959e+02] [ 7.72726760e-01 6.34736224e-01 -1.81095016e-03 5.14715653e+01] [ 2.33563273e-03 9.67221667e-06 9.99997272e-01 2.30403749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78361786499997 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:116.51, Y:51.49, Z:0.23 [[ 6.35311479e-01 -7.72254511e-01 -1.51489377e-03 1.16514475e+02] [ 7.72252468e-01 6.35313284e-01 -1.77697145e-03 5.14930775e+01] [ 2.33470635e-03 -4.09500892e-05 9.99997274e-01 2.31896353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.53, Y:51.52, Z:0.23 [[ 6.35562293e-01 -7.72048114e-01 -1.51031944e-03 1.16533381e+02] [ 7.72046061e-01 6.35564087e-01 -1.78086848e-03 5.15164134e+01] [ 2.33482095e-03 -3.41833165e-05 9.99997274e-01 2.27529805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84361786499997 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:116.55, Y:51.54, Z:0.23 [[ 6.35914970e-01 -7.71757634e-01 -1.51842007e-03 1.16550870e+02] [ 7.71755596e-01 6.35916781e-01 -1.77396714e-03 5.15379597e+01] [ 2.33466148e-03 -4.37569256e-05 9.99997274e-01 2.32926039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87361786499997 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:116.57, Y:51.56, Z:0.23 [[ 6.35998192e-01 -7.71689054e-01 -1.51748149e-03 1.16569223e+02] [ 7.71687015e-01 6.36000001e-01 -1.77476629e-03 5.15604289e+01] [ 2.33468594e-03 -4.22726065e-05 9.99997274e-01 2.32530098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:116.59, Y:51.58, Z:0.23 [[ 6.36704013e-01 -7.71106801e-01 -1.51674257e-03 1.16586629e+02] [ 7.71104758e-01 6.36705819e-01 -1.77539491e-03 5.15824977e+01] [ 2.33473791e-03 -3.91663497e-05 9.99997274e-01 2.34050508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:116.60, Y:51.60, Z:0.23 [[ 6.37164799e-01 -7.70726100e-01 -1.51578304e-03 1.16603537e+02] [ 7.70724054e-01 6.37166601e-01 -1.77621068e-03 5.16030421e+01] [ 2.33477826e-03 -3.65115255e-05 9.99997274e-01 2.33861985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:116.62, Y:51.63, Z:0.24 [[ 6.36710747e-01 -7.71101251e-01 -1.51169107e-03 1.16621954e+02] [ 7.71099198e-01 6.36712540e-01 -1.77968741e-03 5.16256310e+01] [ 2.33483185e-03 -3.25176776e-05 9.99997274e-01 2.35447476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.64, Y:51.65, Z:0.23 [[ 6.37887092e-01 -7.70128405e-01 -1.51604023e-03 1.16639375e+02] [ 7.70126358e-01 6.37888892e-01 -1.77599399e-03 5.16470873e+01] [ 2.33480864e-03 -3.46588963e-05 9.99997274e-01 2.34298185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.66, Y:51.67, Z:0.23 [[ 6.38116099e-01 -7.69938673e-01 -1.51107426e-03 1.16656701e+02] [ 7.69936616e-01 6.38117888e-01 -1.78020919e-03 5.16681734e+01] [ 2.33489542e-03 -2.74512575e-05 9.99997274e-01 2.33403090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.68, Y:51.69, Z:0.23 [[ 6.37929305e-01 -7.70093448e-01 -1.51080185e-03 1.16675103e+02] [ 7.70091391e-01 6.37931094e-01 -1.78044035e-03 5.16900283e+01] [ 2.33489292e-03 -2.76604182e-05 9.99997274e-01 2.33469675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:116.69, Y:51.71, Z:0.24 [[ 6.37950497e-01 -7.70075894e-01 -1.51036985e-03 1.16693251e+02] [ 7.70073836e-01 6.37952284e-01 -1.78080675e-03 5.17125103e+01] [ 2.33490024e-03 -2.70297553e-05 9.99997274e-01 2.36492734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:116.71, Y:51.73, Z:0.24 [[ 6.39267411e-01 -7.68983018e-01 -1.51481106e-03 1.16710476e+02] [ 7.68980965e-01 6.39269206e-01 -1.77704103e-03 5.17331640e+01] [ 2.33488644e-03 -2.88564552e-05 9.99997274e-01 2.36421332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:116.73, Y:51.76, Z:0.23 [[ 6.37985198e-01 -7.70047153e-01 -1.50653427e-03 1.16725470e+02] [ 7.70045086e-01 6.37986976e-01 -1.78405629e-03 5.17565310e+01] [ 2.33495671e-03 -2.18978057e-05 9.99997274e-01 2.29596372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17361786499998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:116.74, Y:51.78, Z:0.23 [[ 6.38665991e-01 -7.69482615e-01 -1.50210637e-03 1.16744143e+02] [ 7.69480539e-01 6.38667757e-01 -1.78780641e-03 5.17787071e+01] [ 2.33503286e-03 -1.40304644e-05 9.99997274e-01 2.30282039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.76, Y:51.80, Z:0.24 [[ 6.40342091e-01 -7.68088369e-01 -1.50478049e-03 1.16762923e+02] [ 7.68086293e-01 6.40343859e-01 -1.78554264e-03 5.17996756e+01] [ 2.33503148e-03 -1.24431624e-05 9.99997274e-01 2.35097448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23361786499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:116.78, Y:51.82, Z:0.23 [[ 6.42959534e-01 -7.65898663e-01 -1.50855784e-03 1.16776640e+02] [ 7.65896589e-01 6.42961304e-01 -1.78234553e-03 5.18156495e+01] [ 2.33504038e-03 -9.42324863e-06 9.99997274e-01 2.31742962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.263617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.80, Y:51.84, Z:0.24 [[ 6.40931887e-01 -7.67596334e-01 -1.47767786e-03 1.16797977e+02] [ 7.67594205e-01 6.40933590e-01 -1.80846293e-03 5.18421965e+01] [ 2.33526289e-03 2.48445970e-05 9.99997273e-01 2.35551834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.293617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.82, Y:51.86, Z:0.24 [[ 6.40832247e-01 -7.67679461e-01 -1.50869099e-03 1.16815595e+02] [ 7.67677393e-01 6.40834023e-01 -1.78220943e-03 5.18645391e+01] [ 2.33498609e-03 -1.60906882e-05 9.99997274e-01 2.35502419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.83, Y:51.89, Z:0.24 [[ 6.40573111e-01 -7.67895706e-01 -1.50819384e-03 1.16832767e+02] [ 7.67893637e-01 6.40574886e-01 -1.78263004e-03 5.18857175e+01] [ 2.33498505e-03 -1.62275796e-05 9.99997274e-01 2.35481206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:116.85, Y:51.91, Z:0.23 [[ 6.39393026e-01 -7.68878589e-01 -1.50792424e-03 1.16850330e+02] [ 7.68876522e-01 6.39394803e-01 -1.78285807e-03 5.19081780e+01] [ 2.33496032e-03 -1.94605293e-05 9.99997274e-01 2.33189942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.87, Y:51.93, Z:0.24 [[ 6.39765373e-01 -7.68568796e-01 -1.50742327e-03 1.16867799e+02] [ 7.68566728e-01 6.39767149e-01 -1.78328154e-03 5.19285888e+01] [ 2.33497443e-03 -1.76735930e-05 9.99997274e-01 2.35691294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.89, Y:51.95, Z:0.23 [[ 6.38933237e-01 -7.69260715e-01 -1.50714975e-03 1.16886300e+02] [ 7.69258647e-01 6.38935014e-01 -1.78351268e-03 5.19499372e+01] [ 2.33495698e-03 -1.98424513e-05 9.99997274e-01 2.34721258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:116.90, Y:51.97, Z:0.24 [[ 6.37999771e-01 -7.70035078e-01 -1.50682844e-03 1.16903599e+02] [ 7.70033012e-01 6.38001550e-01 -1.78378410e-03 5.19719998e+01] [ 2.33493521e-03 -2.22537955e-05 9.99997274e-01 2.35983121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.47361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:116.92, Y:51.99, Z:0.24 [[ 6.36273657e-01 -7.71461965e-01 -1.50655558e-03 1.16922310e+02] [ 7.71459903e-01 6.36275440e-01 -1.78401452e-03 5.19935463e+01] [ 2.33488366e-03 -2.71257754e-05 9.99997274e-01 2.36705030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.94, Y:52.02, Z:0.24 [[ 6.35684857e-01 -7.71947210e-01 -1.50604916e-03 1.16939284e+02] [ 7.71945148e-01 6.35686640e-01 -1.78444194e-03 5.20150144e+01] [ 2.33487030e-03 -2.82446226e-05 9.99997274e-01 2.37621493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.53361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:116.96, Y:52.04, Z:0.24 [[ 6.33751489e-01 -7.73535249e-01 -1.50586062e-03 1.16955762e+02] [ 7.73533192e-01 6.33753277e-01 -1.78460103e-03 5.20365543e+01] [ 2.33479590e-03 -3.38396068e-05 9.99997274e-01 2.37517467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:116.97, Y:52.06, Z:0.24 [[ 6.32527535e-01 -7.74536410e-01 -1.50559065e-03 1.16973056e+02] [ 7.74534355e-01 6.32529326e-01 -1.78482876e-03 5.20582223e+01] [ 2.33474510e-03 -3.71783469e-05 9.99997274e-01 2.37718965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.99, Y:52.08, Z:0.24 [[ 6.31149044e-01 -7.75660118e-01 -1.50511213e-03 1.16990178e+02] [ 7.75658065e-01 6.31150837e-01 -1.78523220e-03 5.20802010e+01] [ 2.33468620e-03 -4.07047652e-05 9.99997274e-01 2.37797188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:117.01, Y:52.10, Z:0.24 [[ 6.28451872e-01 -7.77847016e-01 -1.50462792e-03 1.17006433e+02] [ 7.77844968e-01 6.28453671e-01 -1.78564021e-03 5.21020297e+01] [ 2.33454385e-03 -4.81783252e-05 9.99997274e-01 2.37622032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.02, Y:52.12, Z:0.24 [[ 6.26827455e-01 -7.79156646e-01 -1.50430023e-03 1.17024314e+02] [ 7.79154601e-01 6.26829258e-01 -1.78591622e-03 5.21235794e+01] [ 2.33444789e-03 -5.26211220e-05 9.99997274e-01 2.38408917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.04, Y:52.14, Z:0.24 [[ 6.24497811e-01 -7.81025110e-01 -1.50382313e-03 1.17040838e+02] [ 7.81023069e-01 6.24499619e-01 -1.78631787e-03 5.21449329e+01] [ 2.33429608e-03 -5.89689604e-05 9.99997274e-01 2.38849604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.06, Y:52.17, Z:0.24 [[ 6.23421460e-01 -7.81884533e-01 -1.50355932e-03 1.17057924e+02] [ 7.81882494e-01 6.23423270e-01 -1.78653989e-03 5.21670244e+01] [ 2.33422178e-03 -6.18394076e-05 9.99997274e-01 2.38591345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74361786499998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:117.08, Y:52.19, Z:0.24 [[ 6.22435105e-01 -7.82669969e-01 -1.50309404e-03 1.17075095e+02] [ 7.82667932e-01 6.22436917e-01 -1.78693127e-03 5.21894377e+01] [ 2.33415866e-03 -6.41747546e-05 9.99997274e-01 2.38490924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.09, Y:52.21, Z:0.24 [[ 6.21723742e-01 -7.83235170e-01 -1.50260172e-03 1.17091709e+02] [ 7.83233133e-01 6.21725554e-01 -1.78734516e-03 5.22111992e+01] [ 2.33411747e-03 -6.56525366e-05 9.99997274e-01 2.37719578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.11, Y:52.23, Z:0.24 [[ 6.20619739e-01 -7.84110249e-01 -1.50233176e-03 1.17107796e+02] [ 7.84108214e-01 6.20621554e-01 -1.78757204e-03 5.22324966e+01] [ 2.33403303e-03 -6.85881787e-05 9.99997274e-01 2.37545419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.13, Y:52.25, Z:0.24 [[ 6.20191202e-01 -7.84449244e-01 -1.50207273e-03 1.17125021e+02] [ 7.84447210e-01 6.20193017e-01 -1.78778968e-03 5.22536573e+01] [ 2.33400528e-03 -6.95253313e-05 9.99997274e-01 2.37710305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:117.14, Y:52.28, Z:0.24 [[ 6.19566553e-01 -7.84942693e-01 -1.50181412e-03 1.17142492e+02] [ 7.84940660e-01 6.19568369e-01 -1.78800689e-03 5.22755173e+01] [ 2.33395947e-03 -7.10457015e-05 9.99997274e-01 2.38529788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.16, Y:52.30, Z:0.24 [[ 6.19093454e-01 -7.85315886e-01 -1.50135258e-03 1.17158935e+02] [ 7.85313853e-01 6.19095271e-01 -1.78839435e-03 5.22976580e+01] [ 2.33393478e-03 -7.18497425e-05 9.99997274e-01 2.39017598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.17, Y:52.32, Z:0.23 [[ 6.19637020e-01 -7.84887069e-01 -1.50093725e-03 1.17169704e+02] [ 7.84885033e-01 6.19638834e-01 -1.78874285e-03 5.23158528e+01] [ 2.33400014e-03 -6.96918954e-05 9.99997274e-01 2.34476504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.19, Y:52.34, Z:0.24 [[ 6.19674333e-01 -7.84857644e-01 -1.48316631e-03 1.17189482e+02] [ 7.84855573e-01 6.19676106e-01 -1.80371582e-03 5.23413901e+01] [ 2.33474287e-03 -4.63549441e-05 9.99997273e-01 2.38448357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.20, Y:52.36, Z:0.24 [[ 6.21227256e-01 -7.83629013e-01 -1.50502755e-03 1.17204468e+02] [ 7.83626983e-01 6.21229076e-01 -1.78528641e-03 5.23644064e+01] [ 2.33396910e-03 -7.03116174e-05 9.99997274e-01 2.36375397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.013617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.22, Y:52.39, Z:0.24 [[ 6.20616346e-01 -7.84112930e-01 -1.50480055e-03 1.17221738e+02] [ 7.84110900e-01 6.20618166e-01 -1.78547773e-03 5.23869254e+01] [ 2.33392273e-03 -7.18338470e-05 9.99997274e-01 2.37600839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.043617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.24, Y:52.41, Z:0.24 [[ 6.22613051e-01 -7.82528418e-01 -1.50429768e-03 1.17240713e+02] [ 7.82526383e-01 6.22614865e-01 -1.78590131e-03 5.24076875e+01] [ 2.33411662e-03 -6.52271577e-05 9.99997274e-01 2.39351892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.26, Y:52.43, Z:0.24 [[ 6.21065057e-01 -7.83757573e-01 -1.50404232e-03 1.17255613e+02] [ 7.83755541e-01 6.21066874e-01 -1.78611634e-03 5.24316372e+01] [ 2.33399307e-03 -6.95070560e-05 9.99997274e-01 2.37298509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.27, Y:52.45, Z:0.24 [[ 6.22547641e-01 -7.82580458e-01 -1.50353859e-03 1.17271190e+02] [ 7.82578422e-01 6.22549454e-01 -1.78654027e-03 5.24547666e+01] [ 2.33413863e-03 -6.44304264e-05 9.99997274e-01 2.38284749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.29, Y:52.48, Z:0.24 [[ 6.22686746e-01 -7.82469780e-01 -1.50322619e-03 1.17287524e+02] [ 7.82467742e-01 6.22688558e-01 -1.78680309e-03 5.24779319e+01] [ 2.33416117e-03 -6.36074060e-05 9.99997274e-01 2.39071048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.30, Y:52.50, Z:0.24 [[ 6.23789319e-01 -7.81591087e-01 -1.50269565e-03 1.17302031e+02] [ 7.81589046e-01 6.23791126e-01 -1.78724916e-03 5.25000823e+01] [ 2.33426623e-03 -5.96235208e-05 9.99997274e-01 2.37431558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:52.52, Z:0.24 [[ 6.23828606e-01 -7.81559748e-01 -1.49356102e-03 1.17318229e+02] [ 7.81557688e-01 6.23830393e-01 -1.79492595e-03 5.25222950e+01] [ 2.33457063e-03 -4.75779464e-05 9.99997274e-01 2.37593173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.34, Y:52.54, Z:0.24 [[ 6.24344222e-01 -7.81147916e-01 -1.49200292e-03 1.17335776e+02] [ 7.81145852e-01 6.24346003e-01 -1.79623467e-03 5.25446540e+01] [ 2.33465103e-03 -4.40031540e-05 9.99997274e-01 2.37559161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.35, Y:52.57, Z:0.24 [[ 6.25841981e-01 -7.79948449e-01 -1.49392708e-03 1.17354619e+02] [ 7.79946385e-01 6.25843763e-01 -1.79461946e-03 5.25663423e+01] [ 2.33467561e-03 -4.20348264e-05 9.99997274e-01 2.41200593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.37, Y:52.59, Z:0.24 [[ 6.26127874e-01 -7.79718944e-01 -1.50116990e-03 1.17368962e+02] [ 7.79716894e-01 6.26129672e-01 -1.78854037e-03 5.25889994e+01] [ 2.33448582e-03 -5.06325513e-05 9.99997274e-01 2.40923238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.38, Y:52.61, Z:0.24 [[ 6.25029244e-01 -7.80599892e-01 -1.50089733e-03 1.17384580e+02] [ 7.80597844e-01 6.25031044e-01 -1.78876907e-03 5.26120009e+01] [ 2.33442037e-03 -5.35642402e-05 9.99997274e-01 2.38648248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.40, Y:52.63, Z:0.24 [[ 6.26127176e-01 -7.79719506e-01 -1.50039242e-03 1.17401677e+02] [ 7.79717455e-01 6.26128972e-01 -1.78919248e-03 5.26340222e+01] [ 2.33450744e-03 -4.96201294e-05 9.99997274e-01 2.43333402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.42, Y:52.66, Z:0.24 [[ 6.25409913e-01 -7.80294932e-01 -1.50333982e-03 1.17418189e+02] [ 7.80292889e-01 6.25411717e-01 -1.78672186e-03 5.26572379e+01] [ 2.33437635e-03 -5.56118137e-05 9.99997274e-01 2.40518133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.43, Y:52.68, Z:0.24 [[ 6.26275406e-01 -7.79600454e-01 -1.49942907e-03 1.17434609e+02] [ 7.79598400e-01 6.26277199e-01 -1.78999778e-03 5.26790848e+01] [ 2.33454132e-03 -4.79209150e-05 9.99997274e-01 2.43612113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.45, Y:52.70, Z:0.24 [[ 6.25674346e-01 -7.80082922e-01 -1.49906931e-03 1.17450230e+02] [ 7.80080870e-01 6.25676140e-01 -1.79029902e-03 5.27023466e+01] [ 2.33451359e-03 -4.92511292e-05 9.99997274e-01 2.42547973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.47, Y:52.72, Z:0.24 [[ 6.26159375e-01 -7.79693653e-01 -1.49855496e-03 1.17466035e+02] [ 7.79691598e-01 6.26161166e-01 -1.79072944e-03 5.27245380e+01] [ 2.33455730e-03 -4.71286862e-05 9.99997274e-01 2.44729023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.48, Y:52.75, Z:0.25 [[ 6.26078337e-01 -7.79758726e-01 -1.49833273e-03 1.17482709e+02] [ 7.79756671e-01 6.26080128e-01 -1.79091537e-03 5.27466265e+01] [ 2.33455824e-03 -4.70816206e-05 9.99997274e-01 2.45132722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.50, Y:52.77, Z:0.24 [[ 6.26020885e-01 -7.79804852e-01 -1.49780638e-03 1.17499332e+02] [ 7.79802796e-01 6.26022675e-01 -1.79135547e-03 5.27675329e+01] [ 2.33456844e-03 -4.65676707e-05 9.99997274e-01 2.44811271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.52, Y:52.79, Z:0.24 [[ 6.25800207e-01 -7.79981960e-01 -1.49757841e-03 1.17517620e+02] [ 7.79979904e-01 6.25801997e-01 -1.79154603e-03 5.27894817e+01] [ 2.33456115e-03 -4.69311911e-05 9.99997274e-01 2.44877890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.53, Y:52.81, Z:0.24 [[ 6.25374315e-01 -7.80323475e-01 -1.49707136e-03 1.17534086e+02] [ 7.80321418e-01 6.25376105e-01 -1.79196964e-03 5.28123820e+01] [ 2.33454863e-03 -4.75450596e-05 9.99997274e-01 2.44579665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.55, Y:52.83, Z:0.24 [[ 6.26069312e-01 -7.79765982e-01 -1.49347562e-03 1.17547874e+02] [ 7.79763917e-01 6.26071092e-01 -1.79497182e-03 5.28337818e+01] [ 2.33467988e-03 -4.07816270e-05 9.99997274e-01 2.43050307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.57, Y:52.86, Z:0.25 [[ 6.26817692e-01 -7.79164539e-01 -1.48399604e-03 1.17566181e+02] [ 7.79162454e-01 6.26819448e-01 -1.80288572e-03 5.28569281e+01] [ 2.33494221e-03 -2.61933298e-05 9.99997274e-01 2.45196154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.58, Y:52.88, Z:0.24 [[ 6.26926811e-01 -7.79076731e-01 -1.49029609e-03 1.17582891e+02] [ 7.79074658e-01 6.26928581e-01 -1.79762550e-03 5.28793279e+01] [ 2.33479741e-03 -3.40722900e-05 9.99997274e-01 2.44533366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.60, Y:52.90, Z:0.25 [[ 6.30143741e-01 -7.76477080e-01 -1.48663338e-03 1.17602777e+02] [ 7.76474992e-01 6.30145495e-01 -1.80068195e-03 5.29012614e+01] [ 2.33498359e-03 -1.96451825e-05 9.99997274e-01 2.48298000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73361786499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.62, Y:52.92, Z:0.25 [[ 6.30757479e-01 -7.75978585e-01 -1.49615060e-03 1.17619469e+02] [ 7.75976515e-01 6.30759253e-01 -1.79273925e-03 5.29226953e+01] [ 2.33483810e-03 -3.01940428e-05 9.99997274e-01 2.47297015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.763617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.63, Y:52.95, Z:0.24 [[ 6.28738462e-01 -7.77615399e-01 -1.49588513e-03 1.17632593e+02] [ 7.77613333e-01 6.28740240e-01 -1.79296073e-03 5.29457047e+01] [ 2.33475705e-03 -3.59168475e-05 9.99997274e-01 2.42482446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.793617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.65, Y:52.97, Z:0.25 [[ 6.30819895e-01 -7.75927873e-01 -1.48156732e-03 1.17653852e+02] [ 7.75925774e-01 6.30821635e-01 -1.80489947e-03 5.29691044e+01] [ 2.33507653e-03 -1.10197736e-05 9.99997274e-01 2.46557444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.67, Y:52.99, Z:0.25 [[ 6.31245377e-01 -7.75581741e-01 -1.49546672e-03 1.17668396e+02] [ 7.75579668e-01 6.31247148e-01 -1.79330855e-03 5.29901502e+01] [ 2.33486647e-03 -2.78358519e-05 9.99997274e-01 2.45522997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.68, Y:53.01, Z:0.24 [[ 6.32179186e-01 -7.74820796e-01 -1.48707485e-03 1.17684214e+02] [ 7.74818704e-01 6.32180935e-01 -1.80030253e-03 5.30117074e+01] [ 2.33501221e-03 -1.40996198e-05 9.99997274e-01 2.44621273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.70, Y:53.03, Z:0.25 [[ 6.33243288e-01 -7.73951377e-01 -1.48495045e-03 1.17703554e+02] [ 7.73949279e-01 6.33245029e-01 -1.80207232e-03 5.30340357e+01] [ 2.33505384e-03 -8.12612897e-06 9.99997274e-01 2.46802475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.72, Y:53.06, Z:0.25 [[ 6.34855811e-01 -7.72629199e-01 -1.48971050e-03 1.17722869e+02] [ 7.72627107e-01 6.34857559e-01 -1.79810766e-03 5.30559167e+01] [ 2.33502446e-03 -9.45161908e-06 9.99997274e-01 2.49506565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.74, Y:53.08, Z:0.25 [[ 6.34051643e-01 -7.73289261e-01 -1.49418999e-03 1.17739889e+02] [ 7.73287179e-01 6.34053404e-01 -1.79437757e-03 5.30792209e+01] [ 2.33496915e-03 -1.77099118e-05 9.99997274e-01 2.48436757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.76, Y:53.10, Z:0.25 [[ 6.33855272e-01 -7.73450233e-01 -1.49370284e-03 1.17758106e+02] [ 7.73448151e-01 6.33857032e-01 -1.79478303e-03 5.31012116e+01] [ 2.33496940e-03 -1.76690151e-05 9.99997274e-01 2.48503255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.78, Y:53.12, Z:0.25 [[ 6.35346541e-01 -7.72225707e-01 -1.49325566e-03 1.17775994e+02] [ 7.72223621e-01 6.35348296e-01 -1.79515503e-03 5.31240961e+01] [ 2.33500230e-03 -1.25817552e-05 9.99997274e-01 2.47069764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:53.15, Z:0.25 [[ 6.35229362e-01 -7.72322103e-01 -1.49213909e-03 1.17792974e+02] [ 7.72320015e-01 6.35231114e-01 -1.79608353e-03 5.31459287e+01] [ 2.33500819e-03 -1.14838914e-05 9.99997274e-01 2.46006184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.81, Y:53.17, Z:0.25 [[ 6.36250241e-01 -7.71481312e-01 -1.48884594e-03 1.17811591e+02] [ 7.71479214e-01 6.36251983e-01 -1.79882001e-03 5.31668588e+01] [ 2.33503720e-03 -4.11403563e-06 9.99997274e-01 2.48119876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:53.19, Z:0.25 [[ 6.37294914e-01 -7.70618558e-01 -1.49339803e-03 1.17829538e+02] [ 7.70616468e-01 6.37296663e-01 -1.79503788e-03 5.31876653e+01] [ 2.33502708e-03 -6.86860618e-06 9.99997274e-01 2.51345831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.85, Y:53.21, Z:0.25 [[ 6.36320844e-01 -7.71423073e-01 -1.49183677e-03 1.17847388e+02] [ 7.71420982e-01 6.36322593e-01 -1.79633448e-03 5.32104293e+01] [ 2.33502331e-03 -7.78911273e-06 9.99997274e-01 2.47908496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.87, Y:53.23, Z:0.25 [[ 6.36441442e-01 -7.71323579e-01 -1.49227791e-03 1.17866720e+02] [ 7.71321488e-01 6.36443192e-01 -1.79596821e-03 5.32324393e+01] [ 2.33502275e-03 -7.99742086e-06 9.99997274e-01 2.48420314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:53.25, Z:0.25 [[ 6.37198106e-01 -7.70698607e-01 -1.49366296e-03 1.17887541e+02] [ 7.70696517e-01 6.37199857e-01 -1.79481855e-03 5.32536682e+01] [ 2.33502598e-03 -7.50585674e-06 9.99997274e-01 2.47261488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.90, Y:53.28, Z:0.25 [[ 6.36123078e-01 -7.71586139e-01 -1.50308260e-03 1.17904613e+02] [ 7.71584070e-01 6.36124854e-01 -1.78699142e-03 5.32755080e+01] [ 2.33496601e-03 -2.30081021e-05 9.99997274e-01 2.47051243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.92, Y:53.30, Z:0.25 [[ 6.35707554e-01 -7.71928533e-01 -1.49880788e-03 1.17920769e+02] [ 7.71926456e-01 6.35709321e-01 -1.79054203e-03 5.32951355e+01] [ 2.33497662e-03 -1.87083588e-05 9.99997274e-01 2.49101949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.94, Y:53.32, Z:0.25 [[ 6.34722386e-01 -7.72738810e-01 -1.49145626e-03 1.17939363e+02] [ 7.72736721e-01 6.34724138e-01 -1.79664487e-03 5.33162282e+01] [ 2.33500050e-03 -1.21323032e-05 9.99997274e-01 2.50170845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.96, Y:53.34, Z:0.25 [[ 6.33098912e-01 -7.74069470e-01 -1.49097874e-03 1.17958472e+02] [ 7.74067385e-01 6.33100667e-01 -1.79704106e-03 5.33367181e+01] [ 2.33497425e-03 -1.64132736e-05 9.99997274e-01 2.51689537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.98, Y:53.36, Z:0.25 [[ 6.32219991e-01 -7.74787494e-01 -1.49049829e-03 1.17978575e+02] [ 7.74785410e-01 6.32221748e-01 -1.79743947e-03 5.33591859e+01] [ 2.33495905e-03 -1.84391615e-05 9.99997274e-01 2.48865137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36361786499998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:118.00, Y:53.38, Z:0.25 [[ 6.31361045e-01 -7.75487580e-01 -1.49846798e-03 1.17995500e+02] [ 7.75485512e-01 6.31362822e-01 -1.79083100e-03 5.33790522e+01] [ 2.33484417e-03 -3.13792752e-05 9.99997274e-01 2.51971131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.01, Y:53.40, Z:0.25 [[ 6.29664011e-01 -7.76866149e-01 -1.48981063e-03 1.18014118e+02] [ 7.76864069e-01 6.29665773e-01 -1.79800441e-03 5.33985517e+01] [ 2.33489152e-03 -2.52416802e-05 9.99997274e-01 2.51896978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.03, Y:53.42, Z:0.25 [[ 6.28905738e-01 -7.77480131e-01 -1.48955536e-03 1.18032103e+02] [ 7.77478052e-01 6.28907501e-01 -1.79821586e-03 5.34187257e+01] [ 2.33486964e-03 -2.71883306e-05 9.99997274e-01 2.52074942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.05, Y:53.44, Z:0.25 [[ 6.28081904e-01 -7.78145812e-01 -1.48916043e-03 1.18050967e+02] [ 7.78143734e-01 6.28083668e-01 -1.79854286e-03 5.34401282e+01] [ 2.33484594e-03 -2.91486366e-05 9.99997274e-01 2.54100039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.07, Y:53.46, Z:0.25 [[ 6.27164320e-01 -7.78885550e-01 -1.48865469e-03 1.18069745e+02] [ 7.78883473e-01 6.27166086e-01 -1.79896136e-03 5.34599725e+01] [ 2.33481874e-03 -3.12441539e-05 9.99997274e-01 2.54649455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.513617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.09, Y:53.48, Z:0.25 [[ 6.26962777e-01 -7.79047791e-01 -1.48843470e-03 1.18088166e+02] [ 7.79045714e-01 6.26964543e-01 -1.79914335e-03 5.34812176e+01] [ 2.33481444e-03 -3.15627636e-05 9.99997274e-01 2.54764119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.543617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.11, Y:53.50, Z:0.25 [[ 6.27019330e-01 -7.79002276e-01 -1.48793027e-03 1.18105776e+02] [ 7.79000198e-01 6.27021094e-01 -1.79956043e-03 5.35015436e+01] [ 2.33482534e-03 -3.07388004e-05 9.99997274e-01 2.54756996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57361786499996 meters Centerline goodness : 0.997249 Centerline is valid? [True, True] Translation: X:118.13, Y:53.52, Z:0.25 [[ 6.27721470e-01 -7.78436602e-01 -1.48771185e-03 1.18128687e+02] [ 7.78434522e-01 6.27723233e-01 -1.79974098e-03 5.35245689e+01] [ 2.33485555e-03 -2.83502100e-05 9.99997274e-01 2.49358486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.14, Y:53.54, Z:0.25 [[ 6.27239505e-01 -7.78824969e-01 -1.50702492e-03 1.18143438e+02] [ 7.78822928e-01 6.27241313e-01 -1.78376856e-03 5.35438936e+01] [ 2.33451179e-03 -5.48554533e-05 9.99997274e-01 2.54401147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.16, Y:53.56, Z:0.26 [[ 6.26855679e-01 -7.79133972e-01 -1.48695294e-03 1.18162441e+02] [ 7.79131893e-01 6.26857442e-01 -1.80034653e-03 5.35640713e+01] [ 2.33481866e-03 -2.99750086e-05 9.99997274e-01 2.55179339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.18, Y:53.58, Z:0.26 [[ 6.26369416e-01 -7.79524949e-01 -1.48645406e-03 1.18180511e+02] [ 7.79522869e-01 6.26371179e-01 -1.80075834e-03 5.35842847e+01] [ 2.33480803e-03 -3.07849826e-05 9.99997274e-01 2.55084282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.20, Y:53.61, Z:0.26 [[ 6.25494450e-01 -7.80227201e-01 -1.48611495e-03 1.18199381e+02] [ 7.80225123e-01 6.25496214e-01 -1.80103815e-03 5.36053665e+01] [ 2.33477823e-03 -3.29648496e-05 9.99997274e-01 2.55766678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.22, Y:53.63, Z:0.26 [[ 6.23877010e-01 -7.81521126e-01 -1.48562081e-03 1.18219081e+02] [ 7.81519050e-01 6.23878777e-01 -1.80144566e-03 5.36255058e+01] [ 2.33471514e-03 -3.71604356e-05 9.99997274e-01 2.56210178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.24, Y:53.65, Z:0.26 [[ 6.22947653e-01 -7.82262115e-01 -1.48512891e-03 1.18237168e+02] [ 7.82260041e-01 6.22949422e-01 -1.80185110e-03 5.36461927e+01] [ 2.33468005e-03 -3.92980841e-05 9.99997274e-01 2.56650779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.26, Y:53.67, Z:0.26 [[ 6.22014344e-01 -7.83004439e-01 -1.48484585e-03 1.18255560e+02] [ 7.83002366e-01 6.22016115e-01 -1.80208433e-03 5.36674444e+01] [ 2.33463807e-03 -4.17155164e-05 9.99997274e-01 2.57011088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.27, Y:53.69, Z:0.26 [[ 6.20633270e-01 -7.84099573e-01 -1.48435908e-03 1.18273902e+02] [ 7.84097503e-01 6.20635043e-01 -1.80248518e-03 5.36870176e+01] [ 2.33457313e-03 -4.51999754e-05 9.99997274e-01 2.57364720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.30, Y:53.71, Z:0.25 [[ 6.20469722e-01 -7.84228999e-01 -1.48408454e-03 1.18296793e+02] [ 7.84226928e-01 6.20471495e-01 -1.80271120e-03 5.37095555e+01] [ 2.33457055e-03 -4.53313377e-05 9.99997274e-01 2.54400981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:53.73, Z:0.26 [[ 6.18955924e-01 -7.85424292e-01 -1.49859784e-03 1.18311799e+02] [ 7.85422254e-01 6.18957734e-01 -1.79076417e-03 5.37296059e+01] [ 2.33407840e-03 -6.86280006e-05 9.99997274e-01 2.57942195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.33, Y:53.75, Z:0.26 [[ 6.18217700e-01 -7.86005519e-01 -1.48311160e-03 1.18331885e+02] [ 7.86003451e-01 6.18219477e-01 -1.80349931e-03 5.37493802e+01] [ 2.33444889e-03 -5.07756374e-05 9.99997274e-01 2.58950423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.35, Y:53.77, Z:0.26 [[ 6.18020901e-01 -7.86160268e-01 -1.48262000e-03 1.18350387e+02] [ 7.86158200e-01 6.18022678e-01 -1.80390335e-03 5.37705532e+01] [ 2.33444992e-03 -5.07239014e-05 9.99997274e-01 2.59266682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.37, Y:53.79, Z:0.26 [[ 6.18971477e-01 -7.85412067e-01 -1.48212795e-03 1.18372575e+02] [ 7.85409996e-01 6.18973249e-01 -1.80430754e-03 5.37930393e+01] [ 2.33452247e-03 -4.72632054e-05 9.99997274e-01 2.57109744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.39, Y:53.81, Z:0.26 [[ 6.18926343e-01 -7.85447614e-01 -1.49273302e-03 1.18388365e+02] [ 7.85445564e-01 6.18928140e-01 -1.79559736e-03 5.38141301e+01] [ 2.33424214e-03 -6.11180221e-05 9.99997274e-01 2.59724553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:53.84, Z:0.26 [[ 6.18818009e-01 -7.85532989e-01 -1.48108405e-03 1.18408264e+02] [ 7.85530917e-01 6.18819780e-01 -1.80515506e-03 5.38364874e+01] [ 2.33453295e-03 -4.63748500e-05 9.99997274e-01 2.55818194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.42, Y:53.86, Z:0.25 [[ 6.17849989e-01 -7.86294586e-01 -1.48831931e-03 1.18423953e+02] [ 7.86292529e-01 6.17851779e-01 -1.79921944e-03 5.38571279e+01] [ 2.33427724e-03 -5.86066405e-05 9.99997274e-01 2.53933019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.44, Y:53.88, Z:0.26 [[ 6.20402043e-01 -7.84282550e-01 -1.47858819e-03 1.18444905e+02] [ 7.84280469e-01 6.20403804e-01 -1.80719674e-03 5.38766896e+01] [ 2.33467460e-03 -3.84392869e-05 9.99997274e-01 2.60350154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.46, Y:53.90, Z:0.26 [[ 6.20537966e-01 -7.84175007e-01 -1.48001171e-03 1.18463290e+02] [ 7.84172929e-01 6.20539730e-01 -1.80603019e-03 5.38974654e+01] [ 2.33464980e-03 -3.98748147e-05 9.99997274e-01 2.61110744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.48, Y:53.92, Z:0.26 [[ 6.20724037e-01 -7.84027730e-01 -1.47951083e-03 1.18481067e+02] [ 7.84025649e-01 6.20725799e-01 -1.80644041e-03 5.39180193e+01] [ 2.33466992e-03 -3.86734528e-05 9.99997274e-01 2.61034128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.50, Y:53.94, Z:0.26 [[ 6.20989735e-01 -7.83817301e-01 -1.47917065e-03 1.18502670e+02] [ 7.83815219e-01 6.20991496e-01 -1.80671892e-03 5.39404651e+01] [ 2.33468994e-03 -3.74425662e-05 9.99997274e-01 2.55999204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.52, Y:53.96, Z:0.26 [[ 6.21421588e-01 -7.83474946e-01 -1.48972832e-03 1.18518854e+02] [ 7.83472884e-01 6.21423372e-01 -1.79807578e-03 5.39598200e+01] [ 2.33449932e-03 -4.97986403e-05 9.99997274e-01 2.60836400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.54, Y:53.98, Z:0.26 [[ 6.22626138e-01 -7.82518055e-01 -1.47843492e-03 1.18538105e+02] [ 7.82515968e-01 6.22627893e-01 -1.80731411e-03 5.39789552e+01] [ 2.33477074e-03 -3.16179295e-05 9.99997274e-01 2.62033816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.263617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.56, Y:54.00, Z:0.26 [[ 6.23324745e-01 -7.81961686e-01 -1.47816423e-03 1.18555988e+02] [ 7.81959597e-01 6.23326497e-01 -1.80753547e-03 5.39994017e+01] [ 2.33480242e-03 -2.91831163e-05 9.99997274e-01 2.61990406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.58, Y:54.02, Z:0.26 [[ 6.23881160e-01 -7.81517827e-01 -1.47789608e-03 1.18577186e+02] [ 7.81515737e-01 6.23882910e-01 -1.80775470e-03 5.40222815e+01] [ 2.33482663e-03 -2.71749433e-05 9.99997274e-01 2.57121368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.60, Y:54.04, Z:0.26 [[ 6.26260245e-01 -7.79612648e-01 -1.49144948e-03 1.18597150e+02] [ 7.79610578e-01 6.26262020e-01 -1.79667441e-03 5.40428102e+01] [ 2.33474826e-03 -3.75640330e-05 9.99997274e-01 2.59278363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.61, Y:54.06, Z:0.26 [[ 6.26464593e-01 -7.79448443e-01 -1.49655553e-03 1.18611224e+02] [ 7.79446383e-01 6.26466379e-01 -1.79250109e-03 5.40625072e+01] [ 2.33470390e-03 -4.35463284e-05 9.99997274e-01 2.61495086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.63, Y:54.09, Z:0.26 [[ 6.27112849e-01 -7.78927015e-01 -1.47647419e-03 1.18634079e+02] [ 7.78924915e-01 6.27114587e-01 -1.80889210e-03 5.40851419e+01] [ 2.33491343e-03 -1.56830548e-05 9.99997274e-01 2.58800451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41361786499996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:118.65, Y:54.11, Z:0.26 [[ 6.27547652e-01 -7.78576724e-01 -1.49307251e-03 1.18653447e+02] [ 7.78574655e-01 6.27549427e-01 -1.79534747e-03 5.41060257e+01] [ 2.33479255e-03 -3.58023224e-05 9.99997274e-01 2.59166188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.67, Y:54.13, Z:0.26 [[ 6.27783223e-01 -7.78386793e-01 -1.49174624e-03 1.18671621e+02] [ 7.78384721e-01 6.27784994e-01 -1.79642909e-03 5.41265586e+01] [ 2.33481258e-03 -3.33844434e-05 9.99997274e-01 2.58332637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.69, Y:54.14, Z:0.26 [[ 6.28427472e-01 -7.77866758e-01 -1.48964540e-03 1.18686718e+02] [ 7.77864680e-01 6.28429237e-01 -1.79814155e-03 5.41449984e+01] [ 2.33485126e-03 -2.87409937e-05 9.99997274e-01 2.62360679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.71, Y:54.17, Z:0.26 [[ 6.27718858e-01 -7.78438733e-01 -1.47447507e-03 1.18709554e+02] [ 7.78436627e-01 6.27720590e-01 -1.81049632e-03 5.41669701e+01] [ 2.33491882e-03 -1.13027187e-05 9.99997274e-01 2.58533022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.53361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.73, Y:54.19, Z:0.26 [[ 6.27671620e-01 -7.78476798e-01 -1.48747861e-03 1.18725885e+02] [ 7.78474718e-01 6.27673381e-01 -1.79990688e-03 5.41866636e+01] [ 2.33483647e-03 -2.82140275e-05 9.99997274e-01 2.63299744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.74, Y:54.21, Z:0.26 [[ 6.27168850e-01 -7.78881931e-01 -1.47347898e-03 1.18745000e+02] [ 7.78879825e-01 6.27170581e-01 -1.81129550e-03 5.42078325e+01] [ 2.33490800e-03 -1.16749335e-05 9.99997274e-01 2.63428397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.76, Y:54.23, Z:0.26 [[ 6.26184144e-01 -7.79673809e-01 -1.47300098e-03 1.18764354e+02] [ 7.79671704e-01 6.26185876e-01 -1.81168414e-03 5.42270337e+01] [ 2.33489508e-03 -1.40093069e-05 9.99997274e-01 2.64210476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.79, Y:54.25, Z:0.26 [[ 6.24890495e-01 -7.80711022e-01 -1.47272808e-03 1.18785645e+02] [ 7.80708920e-01 6.24892230e-01 -1.81190595e-03 5.42502151e+01] [ 2.33487129e-03 -1.75291414e-05 9.99997274e-01 2.60277864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.81, Y:54.27, Z:0.26 [[ 6.24785419e-01 -7.80795094e-01 -1.48342858e-03 1.18805855e+02] [ 7.80793013e-01 6.24787180e-01 -1.80321379e-03 5.42716940e+01] [ 2.33476764e-03 -3.16289851e-05 9.99997274e-01 2.61650012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:118.82, Y:54.29, Z:0.26 [[ 6.22347182e-01 -7.82739917e-01 -1.48551510e-03 1.18824085e+02] [ 7.82737845e-01 6.22348954e-01 -1.80152093e-03 5.42920469e+01] [ 2.33463111e-03 -4.15974168e-05 9.99997274e-01 2.60920632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.84, Y:54.31, Z:0.27 [[ 6.22182922e-01 -7.82870501e-01 -1.47982853e-03 1.18841270e+02] [ 7.82868419e-01 6.22184681e-01 -1.80613169e-03 5.43110717e+01] [ 2.33469386e-03 -3.47667258e-05 9.99997274e-01 2.65472390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.86, Y:54.33, Z:0.26 [[ 6.20479643e-01 -7.84221175e-01 -1.46993292e-03 1.18862312e+02] [ 7.84219078e-01 6.20481383e-01 -1.81414971e-03 5.43337283e+01] [ 2.33476063e-03 -2.71064714e-05 9.99997274e-01 2.61220001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.88, Y:54.35, Z:0.27 [[ 6.19921073e-01 -7.84662771e-01 -1.48283886e-03 1.18878583e+02] [ 7.84660699e-01 6.19922845e-01 -1.80369222e-03 5.43529139e+01] [ 2.33453582e-03 -4.53785560e-05 9.99997274e-01 2.66583363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.90, Y:54.37, Z:0.26 [[ 6.17015537e-01 -7.86949597e-01 -1.46923467e-03 1.18899148e+02] [ 7.86947506e-01 6.17017285e-01 -1.81470653e-03 5.43740105e+01] [ 2.33462576e-03 -3.65084373e-05 9.99997274e-01 2.61648560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.92, Y:54.40, Z:0.26 [[ 6.15181315e-01 -7.88384280e-01 -1.47542839e-03 1.18916956e+02] [ 7.88382205e-01 6.15183082e-01 -1.80969858e-03 5.43958600e+01] [ 2.33439649e-03 -4.99087374e-05 9.99997274e-01 2.62512370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.93, Y:54.42, Z:0.26 [[ 6.15024715e-01 -7.88506458e-01 -1.47144819e-03 1.18934208e+02] [ 7.88504375e-01 6.15026474e-01 -1.81291457e-03 5.44173569e+01] [ 2.33447444e-03 -4.52560760e-05 9.99997274e-01 2.62574859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.95, Y:54.44, Z:0.26 [[ 6.14620725e-01 -7.88821399e-01 -1.47116430e-03 1.18952566e+02] [ 7.88819317e-01 6.14622484e-01 -1.81314387e-03 5.44366690e+01] [ 2.33445734e-03 -4.60870181e-05 9.99997274e-01 2.62302476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.97, Y:54.46, Z:0.26 [[ 6.13480741e-01 -7.89708316e-01 -1.46799046e-03 1.18972221e+02] [ 7.89706230e-01 6.13482496e-01 -1.81570642e-03 5.44590292e+01] [ 2.33446491e-03 -4.53802951e-05 9.99997274e-01 2.64357807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:54.48, Z:0.26 [[ 6.13062556e-01 -7.90032995e-01 -1.47277023e-03 1.18989755e+02] [ 7.90030920e-01 6.13064322e-01 -1.81184825e-03 5.44795226e+01] [ 2.33432278e-03 -5.27577011e-05 9.99997274e-01 2.61636487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.01, Y:54.50, Z:0.26 [[ 6.12403771e-01 -7.90543775e-01 -1.47031795e-03 1.19008402e+02] [ 7.90541696e-01 6.12405533e-01 -1.81382715e-03 5.45017090e+01] [ 2.33434061e-03 -5.15530556e-05 9.99997274e-01 2.61674219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.013617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:119.03, Y:54.52, Z:0.26 [[ 6.12990890e-01 -7.90088603e-01 -1.47270044e-03 1.19028042e+02] [ 7.90086527e-01 6.12992657e-01 -1.81190553e-03 5.45226576e+01] [ 2.33432046e-03 -5.28791929e-05 9.99997274e-01 2.61797722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.05, Y:54.54, Z:0.26 [[ 6.12368202e-01 -7.90571321e-01 -1.47341456e-03 1.19045413e+02] [ 7.90569248e-01 6.12369972e-01 -1.81132976e-03 5.45443333e+01] [ 2.33426020e-03 -5.56354916e-05 9.99997274e-01 2.61678250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:119.06, Y:54.57, Z:0.26 [[ 6.13320766e-01 -7.89832559e-01 -1.47162534e-03 1.19064874e+02] [ 7.89830481e-01 6.13322530e-01 -1.81277166e-03 5.45653724e+01] [ 2.33436705e-03 -5.05240491e-05 9.99997274e-01 2.62812529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.08, Y:54.59, Z:0.26 [[ 6.14395626e-01 -7.88996728e-01 -1.47563822e-03 1.19084321e+02] [ 7.88994655e-01 6.14397396e-01 -1.80953878e-03 5.45872685e+01] [ 2.33434846e-03 -5.24979600e-05 9.99997274e-01 2.64461669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:119.10, Y:54.61, Z:0.26 [[ 6.13498540e-01 -7.89694474e-01 -1.47640390e-03 1.19101561e+02] [ 7.89692404e-01 6.13500314e-01 -1.80892298e-03 5.46095404e+01] [ 2.33427074e-03 -5.61333399e-05 9.99997274e-01 2.64491506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16361786499996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:119.12, Y:54.63, Z:0.26 [[ 6.15132560e-01 -7.88422329e-01 -1.47152176e-03 1.19119921e+02] [ 7.88420246e-01 6.15134318e-01 -1.81284701e-03 5.46295955e+01] [ 2.33447260e-03 -4.50363271e-05 9.99997274e-01 2.63285332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.19361786499996 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:119.14, Y:54.65, Z:0.26 [[ 6.15608455e-01 -7.88050809e-01 -1.46695170e-03 1.19140393e+02] [ 7.88048716e-01 6.15610202e-01 -1.81652156e-03 5.46525304e+01] [ 2.33458172e-03 -3.77633718e-05 9.99997274e-01 2.64358502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:54.67, Z:0.26 [[ 6.15544148e-01 -7.88101018e-01 -1.47895435e-03 1.19156590e+02] [ 7.88098949e-01 6.15545922e-01 -1.80687157e-03 5.46740931e+01] [ 2.33436164e-03 -5.33531462e-05 9.99997274e-01 2.64718394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.25361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.18, Y:54.70, Z:0.27 [[ 6.15723649e-01 -7.87960805e-01 -1.46887919e-03 1.19175012e+02] [ 7.87958716e-01 6.15725400e-01 -1.81495372e-03 5.46960176e+01] [ 2.33453862e-03 -3.99062291e-05 9.99997274e-01 2.66551100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:119.19, Y:54.72, Z:0.27 [[ 6.16630008e-01 -7.87251713e-01 -1.47405534e-03 1.19193678e+02] [ 7.87249632e-01 6.16631769e-01 -1.81080238e-03 5.47168697e+01] [ 2.33450662e-03 -4.38544362e-05 9.99997274e-01 2.67761467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.21, Y:54.74, Z:0.27 [[ 6.17921959e-01 -7.86238050e-01 -1.47721795e-03 1.19211076e+02] [ 7.86235972e-01 6.17923723e-01 -1.80826773e-03 5.47375235e+01] [ 2.33453691e-03 -4.40735541e-05 9.99997274e-01 2.67865963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34361786499997 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:119.23, Y:54.76, Z:0.27 [[ 6.17189844e-01 -7.86812901e-01 -1.46823543e-03 1.19225449e+02] [ 7.86810807e-01 6.17191589e-01 -1.81547397e-03 5.47578144e+01] [ 2.33462090e-03 -3.47314062e-05 9.99997274e-01 2.70632649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:119.25, Y:54.78, Z:0.27 [[ 6.16704024e-01 -7.87193768e-01 -1.45570580e-03 1.19246699e+02] [ 7.87191651e-01 6.16705742e-01 -1.82551760e-03 5.47835622e+01] [ 2.33477820e-03 -2.01154020e-05 9.99997274e-01 2.68518839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.26, Y:54.81, Z:0.27 [[ 6.17640887e-01 -7.86458868e-01 -1.47756934e-03 1.19263764e+02] [ 7.86456791e-01 6.17642653e-01 -1.80809121e-03 5.48051565e+01] [ 2.33459921e-03 -4.52933802e-05 9.99997274e-01 2.69439643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.28, Y:54.83, Z:0.27 [[ 6.17628893e-01 -7.86468310e-01 -1.46547806e-03 1.19282988e+02] [ 7.86466210e-01 6.17630631e-01 -1.81770825e-03 5.48288541e+01] [ 2.33469407e-03 -2.98798420e-05 9.99997274e-01 2.69345156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.30, Y:54.85, Z:0.27 [[ 6.18731933e-01 -7.85600801e-01 -1.47571275e-03 1.19297730e+02] [ 7.85598717e-01 6.18733691e-01 -1.80956937e-03 5.48479399e+01] [ 2.33467234e-03 -3.96796922e-05 9.99997274e-01 2.66648837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:54.87, Z:0.27 [[ 6.18300484e-01 -7.85940447e-01 -1.45793758e-03 1.19316607e+02] [ 7.85938331e-01 6.18302203e-01 -1.82369286e-03 5.48722962e+01] [ 2.33476000e-03 -1.82588488e-05 9.99997274e-01 2.66870936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:54.89, Z:0.27 [[ 6.19050489e-01 -7.85349819e-01 -1.46733953e-03 1.19335356e+02] [ 7.85347720e-01 6.19052228e-01 -1.81622188e-03 5.48940687e+01] [ 2.33472934e-03 -2.80387108e-05 9.99997274e-01 2.67169693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.35, Y:54.92, Z:0.27 [[ 6.18445432e-01 -7.85826374e-01 -1.46900508e-03 1.19353982e+02] [ 7.85824279e-01 6.18447176e-01 -1.81490068e-03 5.49178445e+01] [ 2.33469887e-03 -3.19628232e-05 9.99997274e-01 2.67288592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.37, Y:54.94, Z:0.27 [[ 6.19344242e-01 -7.85118164e-01 -1.47604790e-03 1.19370596e+02] [ 7.85116080e-01 6.19346000e-01 -1.80931526e-03 5.49377408e+01] [ 2.33471064e-03 -3.82799505e-05 9.99997274e-01 2.67678319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.39, Y:54.96, Z:0.27 [[ 6.17942706e-01 -7.86221759e-01 -1.46868908e-03 1.19388422e+02] [ 7.86219665e-01 6.17944451e-01 -1.81515188e-03 5.49610056e+01] [ 2.33468017e-03 -3.30523774e-05 9.99997274e-01 2.66422046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.40, Y:54.98, Z:0.27 [[ 6.17937710e-01 -7.86225681e-01 -1.47131162e-03 1.19403983e+02] [ 7.86223591e-01 6.17939461e-01 -1.81307304e-03 5.49812240e+01] [ 2.33466609e-03 -3.64137032e-05 9.99997274e-01 2.65899017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.42, Y:55.00, Z:0.27 [[ 6.17662207e-01 -7.86442153e-01 -1.46225312e-03 1.19420868e+02] [ 7.86440047e-01 6.17663937e-01 -1.82024837e-03 5.50028395e+01] [ 2.33470106e-03 -2.56757881e-05 9.99997274e-01 2.65809234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:55.02, Z:0.27 [[ 6.17419615e-01 -7.86632622e-01 -1.46193653e-03 1.19437772e+02] [ 7.86630516e-01 6.17421345e-01 -1.82049899e-03 5.50248239e+01] [ 2.33469472e-03 -2.59921005e-05 9.99997274e-01 2.65688190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:55.05, Z:0.27 [[ 6.17617687e-01 -7.86477121e-01 -1.45956718e-03 1.19455591e+02] [ 7.86475010e-01 6.17619411e-01 -1.82237325e-03 5.50479765e+01] [ 2.33471189e-03 -2.23831615e-05 9.99997274e-01 2.66039470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.763617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.47, Y:55.07, Z:0.27 [[ 6.18360491e-01 -7.85893225e-01 -1.46349138e-03 1.19471720e+02] [ 7.85891120e-01 6.18362222e-01 -1.81926993e-03 5.50694664e+01] [ 2.33471969e-03 -2.51802370e-05 9.99997274e-01 2.66819013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.49, Y:55.09, Z:0.26 [[ 6.19772235e-01 -7.84780383e-01 -1.45871346e-03 1.19491527e+02] [ 7.84778265e-01 6.19773951e-01 -1.82304502e-03 5.50943848e+01] [ 2.33476257e-03 -1.48939348e-05 9.99997274e-01 2.62995662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.51, Y:55.12, Z:0.27 [[ 6.18928405e-01 -7.85446024e-01 -1.47423547e-03 1.19507918e+02] [ 7.85443937e-01 6.18930160e-01 -1.81078046e-03 5.51158990e+01] [ 2.33471910e-03 -3.71858541e-05 9.99997274e-01 2.67993197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.52, Y:55.14, Z:0.27 [[ 6.19038204e-01 -7.85359505e-01 -1.46639465e-03 1.19524068e+02] [ 7.85357403e-01 6.19039940e-01 -1.81697055e-03 5.51386595e+01] [ 2.33473195e-03 -2.68697068e-05 9.99997274e-01 2.67399279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.54, Y:55.16, Z:0.27 [[ 6.18727878e-01 -7.85604013e-01 -1.46539409e-03 1.19540203e+02] [ 7.85601911e-01 6.18729612e-01 -1.81775993e-03 5.51608992e+01] [ 2.33472221e-03 -2.65176488e-05 9.99997274e-01 2.67337593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:119.56, Y:55.19, Z:0.26 [[ 6.17128403e-01 -7.86861109e-01 -1.45920427e-03 1.19558492e+02] [ 7.86858998e-01 6.17130128e-01 -1.82263850e-03 5.51861802e+01] [ 2.33468227e-03 -2.33860237e-05 9.99997274e-01 2.60870896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.58, Y:55.21, Z:0.27 [[ 6.18003334e-01 -7.86174102e-01 -1.46999836e-03 1.19575414e+02] [ 7.86172009e-01 6.18005082e-01 -1.81413549e-03 5.52063248e+01] [ 2.33469280e-03 -3.45297821e-05 9.99997274e-01 2.68823692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.59, Y:55.23, Z:0.27 [[ 6.17374116e-01 -7.86668337e-01 -1.45905049e-03 1.19590208e+02] [ 7.86666225e-01 6.17375840e-01 -1.82274951e-03 5.52260023e+01] [ 2.33468185e-03 -2.24673798e-05 9.99997274e-01 2.69510828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.61, Y:55.25, Z:0.27 [[ 6.15821267e-01 -7.87884564e-01 -1.44282235e-03 1.19607252e+02] [ 7.87882426e-01 6.15822957e-01 -1.83550584e-03 5.52502629e+01] [ 2.33468985e-03 -6.43084560e-06 9.99997275e-01 2.67345395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.03361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.63, Y:55.27, Z:0.26 [[ 6.15746209e-01 -7.87943201e-01 -1.45564160e-03 1.19625877e+02] [ 7.87941087e-01 6.15747929e-01 -1.82542829e-03 5.52726145e+01] [ 2.33464211e-03 -2.29592696e-05 9.99997274e-01 2.61129441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:119.64, Y:55.29, Z:0.27 [[ 6.12939255e-01 -7.90128692e-01 -1.45594187e-03 1.19639282e+02] [ 7.90126584e-01 6.12940984e-01 -1.82519231e-03 5.52929346e+01] [ 2.33454325e-03 -3.16463635e-05 9.99997274e-01 2.69752827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.66, Y:55.32, Z:0.27 [[ 6.11546971e-01 -7.91206815e-01 -1.44175905e-03 1.19658228e+02] [ 7.91204684e-01 6.11548670e-01 -1.83632769e-03 5.53185013e+01] [ 2.33462081e-03 -1.77258717e-05 9.99997275e-01 2.67261360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.68, Y:55.34, Z:0.27 [[ 6.11472536e-01 -7.91264317e-01 -1.45575946e-03 1.19676083e+02] [ 7.91262212e-01 6.11474267e-01 -1.82533553e-03 5.53406497e+01] [ 2.33448233e-03 -3.57449046e-05 9.99997274e-01 2.69261917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.69, Y:55.36, Z:0.26 [[ 6.07778160e-01 -7.94105519e-01 -1.46015705e-03 1.19689746e+02] [ 7.94103431e-01 6.07779912e-01 -1.82188506e-03 5.53640415e+01] [ 2.33422310e-03 -5.22137787e-05 9.99997274e-01 2.64172077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.70, Y:55.38, Z:0.27 [[ 6.09323680e-01 -7.92920263e-01 -1.45201090e-03 1.19704924e+02] [ 7.92918157e-01 6.09325409e-01 -1.82827238e-03 5.53838070e+01] [ 2.33442136e-03 -3.73161491e-05 9.99997275e-01 2.68710753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.72, Y:55.41, Z:0.27 [[ 6.07967210e-01 -7.93960830e-01 -1.43971831e-03 1.19724248e+02] [ 7.93958703e-01 6.07968914e-01 -1.83790177e-03 5.54087108e+01] [ 2.33452599e-03 -2.56928754e-05 9.99997275e-01 2.67882390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.74, Y:55.43, Z:0.27 [[ 6.06428753e-01 -7.95136504e-01 -1.45166101e-03 1.19743516e+02] [ 7.95134403e-01 6.06430489e-01 -1.82854721e-03 5.54330456e+01] [ 2.33427614e-03 -4.53820054e-05 9.99997275e-01 2.67616275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:119.76, Y:55.45, Z:0.27 [[ 6.06594200e-01 -7.95010272e-01 -1.46405960e-03 1.19758658e+02] [ 7.95008194e-01 6.06595964e-01 -1.81883626e-03 5.54539699e+01] [ 2.33408616e-03 -6.06438550e-05 9.99997274e-01 2.66385576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:119.78, Y:55.48, Z:0.27 [[ 6.05008231e-01 -7.96217895e-01 -1.45061949e-03 1.19778900e+02] [ 7.96215795e-01 6.05009968e-01 -1.82935273e-03 5.54792553e+01] [ 2.33420263e-03 -4.82326886e-05 9.99997275e-01 2.69483110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.79, Y:55.50, Z:0.27 [[ 6.05720148e-01 -7.95676413e-01 -1.46527428e-03 1.19793860e+02] [ 7.95674339e-01 6.05721917e-01 -1.81788395e-03 5.54993899e+01] [ 2.33399613e-03 -6.47522043e-05 9.99997274e-01 2.66746146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.81, Y:55.52, Z:0.27 [[ 6.05997048e-01 -7.95465572e-01 -1.44976034e-03 1.19809187e+02] [ 7.95463468e-01 6.05998780e-01 -1.83001259e-03 5.55198725e+01] [ 2.33426501e-03 -4.42491622e-05 9.99997275e-01 2.70617374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.83, Y:55.54, Z:0.27 [[ 6.04416051e-01 -7.96667541e-01 -1.43719738e-03 1.19828743e+02] [ 7.96665418e-01 6.04417759e-01 -1.83982626e-03 5.55449713e+01] [ 2.33439748e-03 -3.29449250e-05 9.99997275e-01 2.70568672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:119.85, Y:55.57, Z:0.27 [[ 6.04833845e-01 -7.96350364e-01 -1.45535960e-03 1.19845246e+02] [ 7.96348273e-01 6.04835594e-01 -1.82563583e-03 5.55658453e+01] [ 2.33409905e-03 -5.47667601e-05 9.99997274e-01 2.68453639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.86, Y:55.59, Z:0.27 [[ 6.05626476e-01 -7.95747744e-01 -1.44856101e-03 1.19862250e+02] [ 7.95745639e-01 6.05628207e-01 -1.83094086e-03 5.55882214e+01] [ 2.33425646e-03 -4.38198412e-05 9.99997275e-01 2.69329374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.88, Y:55.61, Z:0.27 [[ 6.04879174e-01 -7.96315953e-01 -1.44453398e-03 1.19880504e+02] [ 7.96313842e-01 6.04880898e-01 -1.83408135e-03 5.56114000e+01] [ 2.33427925e-03 -4.09047947e-05 9.99997275e-01 2.70619010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.513617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.90, Y:55.63, Z:0.27 [[ 6.05811678e-01 -7.95606741e-01 -1.45741593e-03 1.19896738e+02] [ 7.95604652e-01 6.05813428e-01 -1.82403490e-03 5.56331353e+01] [ 2.33413660e-03 -5.45052506e-05 9.99997274e-01 2.69777781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:119.91, Y:55.65, Z:0.27 [[ 6.09068375e-01 -7.93116396e-01 -1.44801914e-03 1.19912096e+02] [ 7.93114283e-01 6.09070095e-01 -1.83135676e-03 5.56519141e+01] [ 2.33442423e-03 -3.30231722e-05 9.99997275e-01 2.68592059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57361786499996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:119.93, Y:55.68, Z:0.27 [[ 6.06262159e-01 -7.95263566e-01 -1.43314615e-03 1.19933272e+02] [ 7.95261431e-01 6.06263853e-01 -1.84293353e-03 5.56795133e+01] [ 2.33448260e-03 -2.24249961e-05 9.99997275e-01 2.71924498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.95, Y:55.70, Z:0.27 [[ 6.07079282e-01 -7.94639915e-01 -1.46630646e-03 1.19950227e+02] [ 7.94637840e-01 6.07081050e-01 -1.81708762e-03 5.57020440e+01] [ 2.33409722e-03 -6.20663514e-05 9.99997274e-01 2.71558994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.97, Y:55.73, Z:0.27 [[ 6.07749919e-01 -7.94127142e-01 -1.45543981e-03 1.19968552e+02] [ 7.94125045e-01 6.07751660e-01 -1.82550994e-03 5.57260998e+01] [ 2.33423295e-03 -4.63476840e-05 9.99997275e-01 2.71595528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:119.98, Y:55.75, Z:0.27 [[ 6.08041909e-01 -7.93903587e-01 -1.45998153e-03 1.19984549e+02] [ 7.93901498e-01 6.08043659e-01 -1.82199124e-03 5.57473881e+01] [ 2.33421790e-03 -5.12344949e-05 9.99997274e-01 2.69966322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.69361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:120.00, Y:55.77, Z:0.27 [[ 6.07619470e-01 -7.94226961e-01 -1.45383121e-03 1.20001785e+02] [ 7.94224862e-01 6.07621208e-01 -1.82675216e-03 5.57705955e+01] [ 2.33423449e-03 -4.46987108e-05 9.99997275e-01 2.71000322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.02, Y:55.79, Z:0.27 [[ 6.07562370e-01 -7.94270637e-01 -1.45675592e-03 1.20016795e+02] [ 7.94268543e-01 6.07564114e-01 -1.82448964e-03 5.57918867e+01] [ 2.33421117e-03 -4.85641538e-05 9.99997275e-01 2.71539013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.75361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:120.03, Y:55.82, Z:0.27 [[ 6.06415501e-01 -7.95146616e-01 -1.44864100e-03 1.20034290e+02] [ 7.95144510e-01 6.06417230e-01 -1.83076204e-03 5.58156339e+01] [ 2.33420510e-03 -4.16764575e-05 9.99997275e-01 2.70200899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:120.05, Y:55.84, Z:0.27 [[ 6.06045900e-01 -7.95428352e-01 -1.45032657e-03 1.20051672e+02] [ 7.95426249e-01 6.06047634e-01 -1.82946021e-03 5.58384179e+01] [ 2.33417150e-03 -4.48909689e-05 9.99997275e-01 2.70268583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:55.86, Z:0.27 [[ 6.06816301e-01 -7.94840786e-01 -1.44984398e-03 1.20066705e+02] [ 7.94838681e-01 6.06818031e-01 -1.82983266e-03 5.58580664e+01] [ 2.33421710e-03 -4.20197911e-05 9.99997275e-01 2.70096832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.09, Y:55.88, Z:0.27 [[ 6.06166959e-01 -7.95336128e-01 -1.43607374e-03 1.20087721e+02] [ 7.95333999e-01 6.06168659e-01 -1.84044252e-03 5.58832392e+01] [ 2.33427332e-03 -2.65428266e-05 9.99997275e-01 2.72661265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:120.11, Y:55.91, Z:0.27 [[ 6.04725877e-01 -7.96432356e-01 -1.45468766e-03 1.20105062e+02] [ 7.96430264e-01 6.04727625e-01 -1.82610267e-03 5.59055108e+01] [ 2.33405706e-03 -5.42657326e-05 9.99997275e-01 2.71618042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.12, Y:55.93, Z:0.27 [[ 6.03727423e-01 -7.97189494e-01 -1.45210213e-03 1.20122228e+02] [ 7.97187400e-01 6.03729167e-01 -1.82809263e-03 5.59277350e+01] [ 2.33401265e-03 -5.39278651e-05 9.99997275e-01 2.71509038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:120.14, Y:55.95, Z:0.27 [[ 6.02166223e-01 -7.98369423e-01 -1.45061720e-03 1.20141873e+02] [ 7.98367330e-01 6.02167967e-01 -1.82923432e-03 5.59520684e+01] [ 2.33391995e-03 -5.66222590e-05 9.99997275e-01 2.69630663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:55.97, Z:0.27 [[ 6.00895988e-01 -7.99325895e-01 -1.45768275e-03 1.20158377e+02] [ 7.99323818e-01 6.00897752e-01 -1.82381214e-03 5.59743279e+01] [ 2.33373856e-03 -6.92391490e-05 9.99997274e-01 2.71808007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.17, Y:56.00, Z:0.27 [[ 5.97434022e-01 -8.01916759e-01 -1.44935269e-03 1.20172723e+02] [ 8.01914674e-01 5.97435776e-01 -1.83019810e-03 5.59953039e+01] [ 2.33356168e-03 -6.88345776e-05 9.99997275e-01 2.70763910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.19, Y:56.02, Z:0.27 [[ 5.95887734e-01 -8.03066459e-01 -1.43919260e-03 1.20188537e+02] [ 8.03064358e-01 5.95889469e-01 -1.83798154e-03 5.60162673e+01] [ 2.33362104e-03 -6.05336244e-05 9.99997275e-01 2.68275910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.21, Y:56.04, Z:0.27 [[ 5.91266088e-01 -8.06475283e-01 -1.42542584e-03 1.20205126e+02] [ 8.06473166e-01 5.91267803e-01 -1.84851669e-03 5.60391283e+01] [ 2.33359143e-03 -5.66024612e-05 9.99997276e-01 2.70854330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.23, Y:56.06, Z:0.27 [[ 5.91056454e-01 -8.06628936e-01 -1.42395103e-03 1.20225032e+02] [ 8.06626817e-01 5.91058167e-01 -1.84964459e-03 5.60612290e+01] [ 2.33361473e-03 -5.53527191e-05 9.99997276e-01 2.71019931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.24, Y:56.08, Z:0.27 [[ 5.89708092e-01 -8.07615207e-01 -1.42942723e-03 1.20242615e+02] [ 8.07613102e-01 5.89709820e-01 -1.84545946e-03 5.60837958e+01] [ 2.33336840e-03 -6.61417833e-05 9.99997276e-01 2.70517004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:120.26, Y:56.10, Z:0.27 [[ 5.89073257e-01 -8.08078374e-01 -1.42819687e-03 1.20261315e+02] [ 8.08076267e-01 5.89074985e-01 -1.84639916e-03 5.61044082e+01] [ 2.33335028e-03 -6.64276290e-05 9.99997276e-01 2.70749616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17361786499998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:120.28, Y:56.13, Z:0.27 [[ 5.87360341e-01 -8.09324274e-01 -1.43115659e-03 1.20276478e+02] [ 8.09322177e-01 5.87362080e-01 -1.84413702e-03 5.61266320e+01] [ 2.33311197e-03 -7.50938122e-05 9.99997275e-01 2.69905325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.30, Y:56.15, Z:0.27 [[ 5.88000363e-01 -8.08859409e-01 -1.42468993e-03 1.20295471e+02] [ 8.08857298e-01 5.88002086e-01 -1.84907227e-03 5.61497055e+01] [ 2.33336015e-03 -6.51156787e-05 9.99997276e-01 2.70723758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.31, Y:56.17, Z:0.27 [[ 5.89542546e-01 -8.07736056e-01 -1.43172527e-03 1.20313216e+02] [ 8.07733955e-01 5.89544281e-01 -1.84370365e-03 5.61706361e+01] [ 2.33329136e-03 -6.95113639e-05 9.99997275e-01 2.72137987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.263617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.33, Y:56.19, Z:0.27 [[ 5.89488606e-01 -8.07775413e-01 -1.43710783e-03 1.20328710e+02] [ 8.07773322e-01 5.89490353e-01 -1.83959219e-03 5.61931904e+01] [ 2.33313854e-03 -7.64387253e-05 9.99997275e-01 2.72116112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29361786499996 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:120.35, Y:56.22, Z:0.27 [[ 5.90241972e-01 -8.07225106e-01 -1.42925046e-03 1.20345048e+02] [ 8.07222999e-01 5.90243699e-01 -1.84559002e-03 5.62153824e+01] [ 2.33341268e-03 -6.43791509e-05 9.99997276e-01 2.72561626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32361786499996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:120.36, Y:56.24, Z:0.27 [[ 5.92329107e-01 -8.05694851e-01 -1.42695438e-03 1.20362176e+02] [ 8.05692735e-01 5.92330823e-01 -1.84733960e-03 5.62394889e+01] [ 2.33362107e-03 -5.54537600e-05 9.99997276e-01 2.72750615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.38, Y:56.26, Z:0.27 [[ 5.93309109e-01 -8.04973451e-01 -1.42963067e-03 1.20376674e+02] [ 8.04971338e-01 5.93310829e-01 -1.84530142e-03 5.62604886e+01] [ 2.33363401e-03 -5.59775693e-05 9.99997276e-01 2.70676124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:56.28, Z:0.27 [[ 5.95838270e-01 -8.03103188e-01 -1.42339479e-03 1.20391899e+02] [ 8.03101058e-01 5.95839968e-01 -1.85005046e-03 5.62836338e+01] [ 2.33389693e-03 -4.07989942e-05 9.99997276e-01 2.70555437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.41, Y:56.31, Z:0.27 [[ 5.96821175e-01 -8.02373020e-01 -1.42211203e-03 1.20407244e+02] [ 8.02370885e-01 5.96822868e-01 -1.85102687e-03 5.63057699e+01] [ 2.33396300e-03 -3.63292571e-05 9.99997276e-01 2.71909995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:120.42, Y:56.33, Z:0.27 [[ 5.97426265e-01 -8.01922590e-01 -1.42028721e-03 1.20422787e+02] [ 8.01920451e-01 5.97427953e-01 -1.85241427e-03 5.63290755e+01] [ 2.33401213e-03 -3.22764191e-05 9.99997276e-01 2.70661931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.44, Y:56.35, Z:0.27 [[ 5.99442247e-01 -8.00416753e-01 -1.41921885e-03 1.20441763e+02] [ 8.00414608e-01 5.99443927e-01 -1.85322594e-03 5.63530145e+01] [ 2.33409521e-03 -2.50615794e-05 9.99997276e-01 2.71901447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:120.46, Y:56.38, Z:0.27 [[ 6.01237705e-01 -7.99068949e-01 -1.42703963e-03 1.20456225e+02] [ 7.99066814e-01 6.01239398e-01 -1.84728549e-03 5.63757052e+01] [ 2.33410092e-03 -2.96423215e-05 9.99997276e-01 2.71580832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:56.40, Z:0.27 [[ 6.01000690e-01 -7.99247236e-01 -1.42355338e-03 1.20473657e+02] [ 7.99245095e-01 6.01002375e-01 -1.84993128e-03 5.64002056e+01] [ 2.33411143e-03 -2.59580761e-05 9.99997276e-01 2.72107452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.49, Y:56.42, Z:0.27 [[ 6.01622108e-01 -7.98779569e-01 -1.42831881e-03 1.20491241e+02] [ 7.98777436e-01 6.01623802e-01 -1.84631577e-03 5.64227140e+01] [ 2.33410991e-03 -3.01244510e-05 9.99997276e-01 2.72906512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.51, Y:56.45, Z:0.27 [[ 6.00289583e-01 -7.99781447e-01 -1.43290847e-03 1.20506401e+02] [ 7.99779325e-01 6.00291292e-01 -1.84283502e-03 5.64468396e+01] [ 2.33402774e-03 -3.97759020e-05 9.99997275e-01 2.71836667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.53, Y:56.47, Z:0.27 [[ 6.00006529e-01 -7.99993830e-01 -1.42726055e-03 1.20525342e+02] [ 7.99991699e-01 6.00008225e-01 -1.84710976e-03 5.64705208e+01] [ 2.33404448e-03 -3.35186718e-05 9.99997276e-01 2.72205893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.54, Y:56.49, Z:0.27 [[ 5.98099484e-01 -8.01420581e-01 -1.43513399e-03 1.20538842e+02] [ 8.01418467e-01 5.98101204e-01 -1.84115250e-03 5.64922829e+01] [ 2.33389287e-03 -4.89505224e-05 9.99997275e-01 2.70545142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.55, Y:56.52, Z:0.27 [[ 5.96675960e-01 -8.02481003e-01 -1.42807662e-03 1.20554895e+02] [ 8.02478880e-01 5.96677667e-01 -1.84649054e-03 5.65154718e+01] [ 2.33387501e-03 -4.42448093e-05 9.99997276e-01 2.71083864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.57, Y:56.54, Z:0.27 [[ 5.95881492e-01 -8.03071114e-01 -1.42597703e-03 1.20572626e+02] [ 8.03068989e-01 5.95883197e-01 -1.84807756e-03 5.65386656e+01] [ 2.33385346e-03 -4.39227171e-05 9.99997276e-01 2.70356376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.59, Y:56.56, Z:0.27 [[ 5.92709938e-01 -8.05414735e-01 -1.42666846e-03 1.20589449e+02] [ 8.05412617e-01 5.92711652e-01 -1.84755513e-03 5.65618633e+01] [ 2.33365115e-03 -5.39924920e-05 9.99997276e-01 2.69725108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.61, Y:56.58, Z:0.27 [[ 5.90703245e-01 -8.06887622e-01 -1.42865967e-03 1.20605772e+02] [ 8.06885513e-01 5.90704969e-01 -1.84605140e-03 5.65837946e+01] [ 2.33347239e-03 -6.22962372e-05 9.99997276e-01 2.70274006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.62, Y:56.61, Z:0.27 [[ 5.89987859e-01 -8.07410857e-01 -1.42598334e-03 1.20623757e+02] [ 8.07408745e-01 5.89989579e-01 -1.84806994e-03 5.66061843e+01] [ 2.33346704e-03 -6.10125896e-05 9.99997276e-01 2.71016892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.64, Y:56.63, Z:0.27 [[ 5.86974091e-01 -8.09604457e-01 -1.42839941e-03 1.20640781e+02] [ 8.09602355e-01 5.86975824e-01 -1.84624954e-03 5.66292906e+01] [ 2.33316778e-03 -7.27348857e-05 9.99997276e-01 2.73145298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:120.66, Y:56.65, Z:0.27 [[ 5.86173582e-01 -8.10184229e-01 -1.43042586e-03 1.20656199e+02] [ 8.10182133e-01 5.86175322e-01 -1.84472363e-03 5.66506984e+01] [ 2.33304633e-03 -7.75772166e-05 9.99997275e-01 2.72820446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.67, Y:56.67, Z:0.27 [[ 5.84118276e-01 -8.11667298e-01 -1.42720862e-03 1.20673098e+02] [ 8.11665200e-01 5.84120014e-01 -1.84714602e-03 5.66740279e+01] [ 2.33292914e-03 -7.94638285e-05 9.99997276e-01 2.72682939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.69, Y:56.70, Z:0.27 [[ 5.81307693e-01 -8.13682572e-01 -1.42737170e-03 1.20689641e+02] [ 8.13680481e-01 5.81309439e-01 -1.84702345e-03 5.66981943e+01] [ 2.33263544e-03 -8.77355546e-05 9.99997276e-01 2.73068522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.70, Y:56.72, Z:0.27 [[ 5.79074293e-01 -8.15273523e-01 -1.43020774e-03 1.20704865e+02] [ 8.15271441e-01 5.79076051e-01 -1.84489330e-03 5.67202621e+01] [ 2.33229171e-03 -9.76772414e-05 9.99997275e-01 2.72729047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.72, Y:56.74, Z:0.27 [[ 5.77414472e-01 -8.16449935e-01 -1.42503018e-03 1.20719528e+02] [ 8.16447848e-01 5.77416223e-01 -1.84877948e-03 5.67433522e+01] [ 2.33227143e-03 -9.59507945e-05 9.99997276e-01 2.73774140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.013617865 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:120.74, Y:56.77, Z:0.28 [[ 5.75409500e-01 -8.17864231e-01 -1.41663160e-03 1.20736767e+02] [ 8.17862132e-01 5.75411237e-01 -1.85507892e-03 5.67678693e+01] [ 2.33234843e-03 -9.11793061e-05 9.99997276e-01 2.75629007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.75, Y:56.79, Z:0.27 [[ 5.74406936e-01 -8.18568652e-01 -1.42641156e-03 1.20749892e+02] [ 8.18566573e-01 5.74408697e-01 -1.84774154e-03 5.67902365e+01] [ 2.33184651e-03 -1.06257261e-04 9.99997276e-01 2.73941677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.77, Y:56.81, Z:0.27 [[ 5.75072124e-01 -8.18101488e-01 -1.41666177e-03 1.20767585e+02] [ 8.18099390e-01 5.75073862e-01 -1.85504480e-03 5.68135974e+01] [ 2.33230007e-03 -9.21855788e-05 9.99997276e-01 2.74992242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.78, Y:56.84, Z:0.28 [[ 5.75961122e-01 -8.17475860e-01 -1.41613162e-03 1.20782229e+02] [ 8.17473759e-01 5.75962856e-01 -1.85544156e-03 5.68375107e+01] [ 2.33241790e-03 -8.89882339e-05 9.99997276e-01 2.75337463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.80, Y:56.86, Z:0.28 [[ 5.75630192e-01 -8.17708921e-01 -1.41519253e-03 1.20799256e+02] [ 8.17706819e-01 5.75631925e-01 -1.85614377e-03 5.68605251e+01] [ 2.33241532e-03 -8.87601879e-05 9.99997276e-01 2.75403861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.81, Y:56.88, Z:0.28 [[ 5.77246171e-01 -8.16568954e-01 -1.41473785e-03 1.20814250e+02] [ 8.16566848e-01 5.77247898e-01 -1.85648353e-03 5.68839998e+01] [ 2.33260127e-03 -8.35800180e-05 9.99997276e-01 2.75515285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.83, Y:56.91, Z:0.28 [[ 5.78923604e-01 -8.15380560e-01 -1.41557166e-03 1.20830071e+02] [ 8.15378452e-01 5.78925329e-01 -1.85586058e-03 5.69056280e+01] [ 2.33274292e-03 -7.98251321e-05 9.99997276e-01 2.76038080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.84, Y:56.93, Z:0.28 [[ 5.78481856e-01 -8.15694027e-01 -1.41317921e-03 1.20844157e+02] [ 8.15691915e-01 5.78483577e-01 -1.85764760e-03 5.69285312e+01] [ 2.33277301e-03 -7.81034286e-05 9.99997276e-01 2.76234968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.86, Y:56.95, Z:0.28 [[ 5.79800646e-01 -8.14757166e-01 -1.40408007e-03 1.20863885e+02] [ 8.14755035e-01 5.79802343e-01 -1.86443716e-03 5.69541406e+01] [ 2.33315245e-03 -6.29794374e-05 9.99997276e-01 2.75332195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.88, Y:56.98, Z:0.28 [[ 5.80055843e-01 -8.14575471e-01 -1.42181906e-03 1.20876698e+02] [ 8.14573372e-01 5.80057579e-01 -1.85119790e-03 5.69756472e+01] [ 2.33267732e-03 -8.43777869e-05 9.99997276e-01 2.75383216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.89, Y:57.00, Z:0.27 [[ 5.80147108e-01 -8.14510501e-01 -1.40594066e-03 1.20892805e+02] [ 8.14508373e-01 5.80148808e-01 -1.86303413e-03 5.70001102e+01] [ 2.33311566e-03 -6.43165722e-05 9.99997276e-01 2.73667331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.91, Y:57.02, Z:0.27 [[ 5.81230000e-01 -8.13738107e-01 -1.40709869e-03 1.20908828e+02] [ 8.13735979e-01 5.81231700e-01 -1.86217118e-03 5.70225558e+01] [ 2.33317001e-03 -6.26570763e-05 9.99997276e-01 2.74597916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.93, Y:57.05, Z:0.28 [[ 5.82502276e-01 -8.12827853e-01 -1.40702783e-03 1.20926109e+02] [ 8.12825722e-01 5.82503972e-01 -1.86222396e-03 5.70455619e+01] [ 2.33326680e-03 -5.89187136e-05 9.99997276e-01 2.77735371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.94, Y:57.07, Z:0.28 [[ 5.84396110e-01 -8.11467315e-01 -1.40831188e-03 1.20940620e+02] [ 8.11465182e-01 5.84397804e-01 -1.86126789e-03 5.70681341e+01] [ 2.33337243e-03 -5.50783482e-05 9.99997276e-01 2.75904650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.96, Y:57.09, Z:0.28 [[ 5.84321487e-01 -8.11521060e-01 -1.40328730e-03 1.20958130e+02] [ 8.11518919e-01 5.84323170e-01 -1.86500425e-03 5.70930814e+01] [ 2.33346351e-03 -4.90321354e-05 9.99997276e-01 2.75616853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.97, Y:57.12, Z:0.27 [[ 5.85408487e-01 -8.10737263e-01 -1.41205569e-03 1.20974727e+02] [ 8.10735135e-01 5.85410187e-01 -1.85848604e-03 5.71156893e+01] [ 2.33337567e-03 -5.68296563e-05 9.99997276e-01 2.74422174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.99, Y:57.14, Z:0.28 [[ 5.88161840e-01 -8.08742018e-01 -1.41357468e-03 1.20987705e+02] [ 8.08739887e-01 5.88163537e-01 -1.85735668e-03 5.71350221e+01] [ 2.33353547e-03 -5.07879019e-05 9.99997276e-01 2.76013606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52361786499998 meters Centerline goodness : 0.996913 Centerline is valid? [True, True] Translation: X:121.00, Y:57.16, Z:0.27 [[ 5.83261764e-01 -8.12283067e-01 -1.39046715e-03 1.21000580e+02] [ 8.12280905e-01 5.83263420e-01 -1.87451095e-03 5.71628256e+01] [ 2.33364213e-03 -3.61193518e-05 9.99997276e-01 2.74197001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:121.02, Y:57.18, Z:0.27 [[ 5.86936363e-01 -8.09631863e-01 -1.39688131e-03 1.21018841e+02] [ 8.09629705e-01 5.86938025e-01 -1.86975208e-03 5.71831035e+01] [ 2.33369362e-03 -3.35311175e-05 9.99997276e-01 2.74197962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.04, Y:57.21, Z:0.27 [[ 5.82568172e-01 -8.12780655e-01 -1.38978392e-03 1.21037400e+02] [ 8.12778493e-01 5.82569829e-01 -1.87501275e-03 5.72104596e+01] [ 2.33362028e-03 -3.72637279e-05 9.99997276e-01 2.71797213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61361786499998 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:121.05, Y:57.23, Z:0.27 [[ 5.81814055e-01 -8.13320598e-01 -1.41805783e-03 1.21052699e+02] [ 8.13318488e-01 5.81815778e-01 -1.85396504e-03 5.72334228e+01] [ 2.33291638e-03 -7.46697379e-05 9.99997276e-01 2.74444606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64361786499998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:121.07, Y:57.25, Z:0.27 [[ 5.83716583e-01 -8.11956237e-01 -1.42097452e-03 1.21066895e+02] [ 8.11954129e-01 5.83718308e-01 -1.85179427e-03 5.72524057e+01] [ 2.33302475e-03 -7.28431005e-05 9.99997276e-01 2.73469675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67361786499998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:121.08, Y:57.28, Z:0.27 [[ 5.83457105e-01 -8.12142756e-01 -1.39663519e-03 1.21083764e+02] [ 8.12140605e-01 5.83458775e-01 -1.86988111e-03 5.72754913e+01] [ 2.33348946e-03 -4.32687301e-05 9.99997276e-01 2.73526208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.10, Y:57.30, Z:0.27 [[ 5.80743390e-01 -8.14085478e-01 -1.39618484e-03 1.21099529e+02] [ 8.14083331e-01 5.80745066e-01 -1.87021557e-03 5.72996384e+01] [ 2.33334280e-03 -5.04954712e-05 9.99997276e-01 2.68475687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73361786499999 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:121.12, Y:57.32, Z:0.27 [[ 5.83933910e-01 -8.11799993e-01 -1.39997961e-03 1.21115798e+02] [ 8.11797847e-01 5.83935586e-01 -1.86739826e-03 5.73173629e+01] [ 2.33345181e-03 -4.60632671e-05 9.99997276e-01 2.74805966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.763617865 meters Centerline goodness : 0.995618 Centerline is valid? [True, True] Translation: X:121.13, Y:57.34, Z:0.28 [[ 5.84754105e-01 -8.11209437e-01 -1.37366199e-03 1.21132762e+02] [ 8.11207242e-01 5.84755718e-01 -1.88690540e-03 5.73387749e+01] [ 2.33393217e-03 -1.09488747e-05 9.99997276e-01 2.76493388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.15, Y:57.36, Z:0.27 [[ 5.84154818e-01 -8.11641098e-01 -1.37021272e-03 1.21149149e+02] [ 8.11638899e-01 5.84156424e-01 -1.88946095e-03 5.73616220e+01] [ 2.33398272e-03 -8.38022371e-06 9.99997276e-01 2.74357842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.17, Y:57.38, Z:0.27 [[ 5.83250470e-01 -8.12291198e-01 -1.37771698e-03 1.21165781e+02] [ 8.12289014e-01 5.83252097e-01 -1.88388741e-03 5.73847753e+01] [ 2.33382148e-03 -2.03261503e-05 9.99997276e-01 2.73662257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85361786499996 meters Centerline goodness : 0.996258 Centerline is valid? [True, True] Translation: X:121.18, Y:57.41, Z:0.27 [[ 5.82148729e-01 -8.13081151e-01 -1.37839173e-03 1.21183293e+02] [ 8.13078970e-01 5.82150360e-01 -1.88338727e-03 5.74089765e+01] [ 2.33377793e-03 -2.43298229e-05 9.99997276e-01 2.72023354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.20, Y:57.43, Z:0.27 [[ 5.79163933e-01 -8.15209916e-01 -1.38968626e-03 1.21198064e+02] [ 8.15207761e-01 5.79165598e-01 -1.87501622e-03 5.74337281e+01] [ 2.33339029e-03 -4.69412575e-05 9.99997277e-01 2.71894597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.22, Y:57.45, Z:0.27 [[ 5.80685666e-01 -8.14126664e-01 -1.39022084e-03 1.21216906e+02] [ 8.14124507e-01 5.80687328e-01 -1.87462022e-03 5.74541126e+01] [ 2.33346193e-03 -4.32477650e-05 9.99997277e-01 2.74018657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:57.48, Z:0.27 [[ 5.80707003e-01 -8.14111447e-01 -1.38882990e-03 1.21233787e+02] [ 8.14109287e-01 5.80708662e-01 -1.87565014e-03 5.74763760e+01] [ 2.33349380e-03 -4.14561457e-05 9.99997277e-01 2.73843312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.97361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.25, Y:57.50, Z:0.27 [[ 5.80978802e-01 -8.13917504e-01 -1.38831277e-03 1.21250038e+02] [ 8.13915343e-01 5.80980460e-01 -1.87603283e-03 5.74977933e+01] [ 2.33351855e-03 -4.00337619e-05 9.99997277e-01 2.73657787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.27, Y:57.52, Z:0.27 [[ 5.81706590e-01 -8.13397514e-01 -1.38802721e-03 1.21270383e+02] [ 8.13395351e-01 5.81708245e-01 -1.87624408e-03 5.75225005e+01] [ 2.33355914e-03 -3.75913292e-05 9.99997277e-01 2.70274414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.28, Y:57.54, Z:0.27 [[ 5.82352818e-01 -8.12934944e-01 -1.40404674e-03 1.21283530e+02] [ 8.12932808e-01 5.82354508e-01 -1.86439067e-03 5.75420739e+01] [ 2.33328127e-03 -5.56624942e-05 9.99997276e-01 2.73742102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.30, Y:57.57, Z:0.27 [[ 5.82913911e-01 -8.12532737e-01 -1.38725892e-03 1.21304290e+02] [ 8.12530570e-01 5.82915561e-01 -1.87679959e-03 5.75670450e+01] [ 2.33361592e-03 -3.31776872e-05 9.99997277e-01 2.71688206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:57.59, Z:0.27 [[ 5.83285804e-01 -8.12265782e-01 -1.40341500e-03 1.21320921e+02] [ 8.12263643e-01 5.83287490e-01 -1.86485727e-03 5.75894625e+01] [ 2.33335416e-03 -5.21982149e-05 9.99997276e-01 2.71823606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.34, Y:57.61, Z:0.27 [[ 5.83431270e-01 -8.12161313e-01 -1.39820593e-03 1.21338436e+02] [ 8.12159164e-01 5.83432944e-01 -1.86870566e-03 5.76114809e+01] [ 2.33344984e-03 -4.53044474e-05 9.99997276e-01 2.72641123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15361786499997 meters Centerline goodness : 0.995615 Centerline is valid? [True, True] Translation: X:121.36, Y:57.64, Z:0.27 [[ 5.81858291e-01 -8.13288981e-01 -1.40098917e-03 1.21357832e+02] [ 8.13286841e-01 5.81859975e-01 -1.86664406e-03 5.76368428e+01] [ 2.33330057e-03 -5.32837388e-05 9.99997276e-01 2.72383468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:57.66, Z:0.27 [[ 5.80471517e-01 -8.14279311e-01 -1.42198289e-03 1.21371664e+02] [ 8.14277211e-01 5.80473253e-01 -1.85116623e-03 5.76574222e+01] [ 2.33278939e-03 -8.33389910e-05 9.99997276e-01 2.73506089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21361786499997 meters Centerline goodness : 0.995878 Centerline is valid? [True, True] Translation: X:121.39, Y:57.68, Z:0.28 [[ 5.80701904e-01 -8.14115081e-01 -1.39056005e-03 1.21388320e+02] [ 8.14112924e-01 5.80703568e-01 -1.87428620e-03 5.76783470e+01] [ 2.33338785e-03 -4.36713439e-05 9.99997277e-01 2.75337095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.40, Y:57.70, Z:0.27 [[ 5.80805456e-01 -8.14041211e-01 -1.38915296e-03 1.21404936e+02] [ 8.14039052e-01 5.80807116e-01 -1.87532132e-03 5.76989574e+01] [ 2.33341876e-03 -4.16279037e-05 9.99997277e-01 2.74203948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:57.72, Z:0.27 [[ 5.80141220e-01 -8.14514735e-01 -1.38223505e-03 1.21423332e+02] [ 8.14512565e-01 5.80142866e-01 -1.88040648e-03 5.77223812e+01] [ 2.33351259e-03 -3.49465023e-05 9.99997277e-01 2.71683910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:121.44, Y:57.74, Z:0.27 [[ 5.80365756e-01 -8.14354747e-01 -1.39107454e-03 1.21441064e+02] [ 8.14352593e-01 5.80367421e-01 -1.87391140e-03 5.77448290e+01] [ 2.33336299e-03 -4.52711494e-05 9.99997277e-01 2.70898802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.46, Y:57.77, Z:0.27 [[ 5.80283753e-01 -8.14413179e-01 -1.39318301e-03 1.21456377e+02] [ 8.14411028e-01 5.80285423e-01 -1.87236315e-03 5.77654279e+01] [ 2.33332102e-03 -4.81216912e-05 9.99997277e-01 2.72121517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.47, Y:57.79, Z:0.27 [[ 5.80558240e-01 -8.14217553e-01 -1.38032290e-03 1.21474125e+02] [ 8.14215379e-01 5.80559880e-01 -1.88179621e-03 5.77892346e+01] [ 2.33355161e-03 -3.13878397e-05 9.99997277e-01 2.71944607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.49, Y:57.81, Z:0.27 [[ 5.81251190e-01 -8.13723002e-01 -1.38924842e-03 1.21490084e+02] [ 8.13720843e-01 5.81252848e-01 -1.87525091e-03 5.78098213e+01] [ 2.33343940e-03 -4.04685708e-05 9.99997277e-01 2.73235775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42361786499998 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:121.51, Y:57.83, Z:0.28 [[ 5.81226495e-01 -8.13740658e-01 -1.37958141e-03 1.21505766e+02] [ 8.13738481e-01 5.81228131e-01 -1.88233594e-03 5.78316345e+01] [ 2.33358482e-03 -2.85549613e-05 9.99997277e-01 2.75355742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.52, Y:57.85, Z:0.27 [[ 5.80800271e-01 -8.14044927e-01 -1.37890372e-03 1.21522812e+02] [ 8.14042750e-01 5.80801907e-01 -1.88283225e-03 5.78548407e+01] [ 2.33357996e-03 -2.89370945e-05 9.99997277e-01 2.73264342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.54, Y:57.88, Z:0.27 [[ 5.80781835e-01 -8.14058080e-01 -1.37960336e-03 1.21541840e+02] [ 8.14055904e-01 5.80783473e-01 -1.88232023e-03 5.78776516e+01] [ 2.33356883e-03 -2.98568636e-05 9.99997277e-01 2.73242745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.513617865 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.56, Y:57.90, Z:0.27 [[ 5.78824684e-01 -8.15450832e-01 -1.38786040e-03 1.21555656e+02] [ 8.15448675e-01 5.78826346e-01 -1.87627960e-03 5.78999870e+01] [ 2.33334393e-03 -4.56919803e-05 9.99997277e-01 2.72777761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.57, Y:57.92, Z:0.27 [[ 5.78542385e-01 -8.15651165e-01 -1.37289706e-03 1.21573764e+02] [ 8.15648983e-01 5.78544013e-01 -1.88721803e-03 5.79233054e+01] [ 2.33359296e-03 -2.79664727e-05 9.99997277e-01 2.72129152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.59, Y:57.95, Z:0.27 [[ 5.78971359e-01 -8.15346717e-01 -1.37690324e-03 1.21593267e+02] [ 8.15344540e-01 5.78972996e-01 -1.88429001e-03 5.79468295e+01] [ 2.33353947e-03 -3.17005887e-05 9.99997277e-01 2.73090197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.61, Y:57.97, Z:0.27 [[ 5.77619628e-01 -8.16304872e-01 -1.38600839e-03 1.21608738e+02] [ 8.16302714e-01 5.77621289e-01 -1.87763669e-03 5.79673405e+01] [ 2.33331193e-03 -4.68426000e-05 9.99997277e-01 2.74850714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.63, Y:57.99, Z:0.27 [[ 5.76662828e-01 -8.16981082e-01 -1.37639669e-03 1.21626438e+02] [ 8.16978909e-01 5.76664470e-01 -1.88465628e-03 5.79910742e+01] [ 2.33344759e-03 -3.76758454e-05 9.99997277e-01 2.74233884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.64, Y:58.01, Z:0.27 [[ 5.74715491e-01 -8.18352120e-01 -1.38303531e-03 1.21643997e+02] [ 8.18349962e-01 5.74717153e-01 -1.87980880e-03 5.80123775e+01] [ 2.33319963e-03 -5.14516582e-05 9.99997277e-01 2.73930682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.69361786499996 meters Centerline goodness : 0.995669 Centerline is valid? [True, True] Translation: X:121.66, Y:58.03, Z:0.28 [[ 5.76246521e-01 -8.17274765e-01 -1.38047716e-03 1.21661415e+02] [ 8.17272600e-01 5.76248173e-01 -1.88167789e-03 5.80327146e+01] [ 2.33334530e-03 -4.39158207e-05 9.99997277e-01 2.76410960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.68, Y:58.05, Z:0.27 [[ 5.75956991e-01 -8.17478838e-01 -1.37603848e-03 1.21677736e+02] [ 8.17476666e-01 5.75958633e-01 -1.88491824e-03 5.80540923e+01] [ 2.33342202e-03 -3.92475131e-05 9.99997277e-01 2.72683492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.69, Y:58.08, Z:0.28 [[ 5.73628237e-01 -8.19114615e-01 -1.37557195e-03 1.21693932e+02] [ 8.19112447e-01 5.73629885e-01 -1.88525856e-03 5.80764746e+01] [ 2.33331202e-03 -4.53105567e-05 9.99997277e-01 2.76308189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.71, Y:58.10, Z:0.28 [[ 5.73470312e-01 -8.19225189e-01 -1.37492419e-03 1.21711089e+02] [ 8.19223020e-01 5.73471959e-01 -1.88573086e-03 5.80993461e+01] [ 2.33331869e-03 -4.49588851e-05 9.99997277e-01 2.76072494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81361786499997 meters Centerline goodness : 0.996178 Centerline is valid? [True, True] Translation: X:121.73, Y:58.12, Z:0.28 [[ 5.73556525e-01 -8.19164832e-01 -1.37487663e-03 1.21728604e+02] [ 8.19162663e-01 5.73558171e-01 -1.88576552e-03 5.81222874e+01] [ 2.33332452e-03 -4.46544816e-05 9.99997277e-01 2.76391191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.75, Y:58.15, Z:0.28 [[ 5.73842114e-01 -8.18964796e-01 -1.37487425e-03 1.21749345e+02] [ 8.18962626e-01 5.73843760e-01 -1.88576725e-03 5.81470278e+01] [ 2.33334000e-03 -4.38379635e-05 9.99997277e-01 2.75687849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87361786499997 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:121.77, Y:58.17, Z:0.28 [[ 5.75683642e-01 -8.17671336e-01 -1.38958847e-03 1.21766665e+02] [ 8.17669188e-01 5.75685316e-01 -1.87505398e-03 5.81670688e+01] [ 2.33314357e-03 -5.67857737e-05 9.99997277e-01 2.78387734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90361786499997 meters Centerline goodness : 0.996787 Centerline is valid? [True, True] Translation: X:121.78, Y:58.19, Z:0.28 [[ 5.75055186e-01 -8.18113443e-01 -1.38821488e-03 1.21779964e+02] [ 8.18111294e-01 5.75056858e-01 -1.87605362e-03 5.81878203e+01] [ 2.33312718e-03 -5.68799057e-05 9.99997277e-01 2.77234394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.80, Y:58.21, Z:0.27 [[ 5.76302970e-01 -8.17234981e-01 -1.36859009e-03 1.21798873e+02] [ 8.17232795e-01 5.76304594e-01 -1.89032816e-03 5.82103065e+01] [ 2.33356705e-03 -2.90549740e-05 9.99997277e-01 2.74380346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.82, Y:58.23, Z:0.28 [[ 5.77420968e-01 -8.16445432e-01 -1.37222228e-03 1.21816872e+02] [ 8.16443250e-01 5.77422598e-01 -1.88768780e-03 5.82334748e+01] [ 2.33354624e-03 -3.03510999e-05 9.99997277e-01 2.76104595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.83, Y:58.25, Z:0.28 [[ 5.79170241e-01 -8.15205440e-01 -1.38635585e-03 1.21830983e+02] [ 8.15203280e-01 5.79171899e-01 -1.87740144e-03 5.82536154e+01] [ 2.33340622e-03 -4.28267888e-05 9.99997277e-01 2.76009938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.85, Y:58.28, Z:0.27 [[ 5.77861105e-01 -8.16133977e-01 -1.36929693e-03 1.21851074e+02] [ 8.16131789e-01 5.77862727e-01 -1.88980487e-03 5.82800532e+01] [ 2.33359963e-03 -2.54820214e-05 9.99997277e-01 2.74751535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.87, Y:58.30, Z:0.28 [[ 5.78745593e-01 -8.15506966e-01 -1.38785534e-03 1.21868579e+02] [ 8.15504809e-01 5.78747255e-01 -1.87632874e-03 5.83022987e+01] [ 2.33337663e-03 -4.58857171e-05 9.99997277e-01 2.75957650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:121.88, Y:58.32, Z:0.28 [[ 5.78489534e-01 -8.15688627e-01 -1.38623464e-03 1.21882470e+02] [ 8.15686468e-01 5.78491194e-01 -1.87750486e-03 5.83224834e+01] [ 2.33338389e-03 -4.46159238e-05 9.99997277e-01 2.78076774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11361786499998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:121.90, Y:58.34, Z:0.28 [[ 5.78858423e-01 -8.15426913e-01 -1.36965373e-03 1.21900377e+02] [ 8.15424724e-01 5.78860043e-01 -1.88952381e-03 5.83443147e+01] [ 2.33360638e-03 -2.30827479e-05 9.99997277e-01 2.78644526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:121.92, Y:58.37, Z:0.28 [[ 5.79907262e-01 -8.14681345e-01 -1.36913521e-03 1.21920283e+02] [ 8.14679153e-01 5.79908878e-01 -1.88989945e-03 5.83678003e+01] [ 2.33363949e-03 -1.94394980e-05 9.99997277e-01 2.76477093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:121.94, Y:58.39, Z:0.28 [[ 5.80500237e-01 -8.14258904e-01 -1.38305466e-03 1.21936811e+02] [ 8.14256735e-01 5.80501883e-01 -1.87981503e-03 5.83894335e+01] [ 2.33352196e-03 -3.49284980e-05 9.99997277e-01 2.76701267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:121.95, Y:58.41, Z:0.28 [[ 5.78910019e-01 -8.15390260e-01 -1.38325490e-03 1.21953330e+02] [ 8.15388094e-01 5.78911670e-01 -1.87966998e-03 5.84117365e+01] [ 2.33344700e-03 -3.97297917e-05 9.99997277e-01 2.76236699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23361786499999 meters Centerline goodness : 0.995543 Centerline is valid? [True, True] Translation: X:121.97, Y:58.43, Z:0.28 [[ 5.79604257e-01 -8.14896914e-01 -1.38726658e-03 1.21969041e+02] [ 8.14894754e-01 5.79605915e-01 -1.87675172e-03 5.84316027e+01] [ 2.33342710e-03 -4.27029736e-05 9.99997277e-01 2.78937064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.263617865 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:121.99, Y:58.46, Z:0.28 [[ 5.78233610e-01 -8.15870096e-01 -1.37070994e-03 1.21987936e+02] [ 8.15867910e-01 5.78235234e-01 -1.88878229e-03 5.84565500e+01] [ 2.33359377e-03 -2.61608514e-05 9.99997277e-01 2.75868074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.00, Y:58.48, Z:0.28 [[ 5.78635308e-01 -8.15585229e-01 -1.38381781e-03 1.22003457e+02] [ 8.15583065e-01 5.78636961e-01 -1.87929647e-03 5.84764939e+01] [ 2.33345457e-03 -4.11910811e-05 9.99997277e-01 2.75815404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.02, Y:58.50, Z:0.28 [[ 5.76254221e-01 -8.17269358e-01 -1.36722702e-03 1.22019334e+02] [ 8.17267170e-01 5.76255842e-01 -1.89129007e-03 5.85006987e+01] [ 2.33356598e-03 -2.75258682e-05 9.99997277e-01 2.77802185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35361786499996 meters Centerline goodness : 0.996944 Centerline is valid? [True, True] Translation: X:122.04, Y:58.52, Z:0.28 [[ 5.76552691e-01 -8.17058827e-01 -1.36676833e-03 1.22035017e+02] [ 8.17056637e-01 5.76554311e-01 -1.89162149e-03 5.85211988e+01] [ 2.33358221e-03 -2.61076707e-05 9.99997277e-01 2.77567798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.05, Y:58.55, Z:0.28 [[ 5.75033578e-01 -8.18128687e-01 -1.35505677e-03 1.22053317e+02] [ 8.18126481e-01 5.75035174e-01 -1.90007273e-03 5.85460799e+01] [ 2.33370932e-03 -1.60022063e-05 9.99997277e-01 2.75229952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.07, Y:58.57, Z:0.27 [[ 5.72791803e-01 -8.19699743e-01 -1.37220972e-03 1.22071504e+02] [ 8.19697570e-01 5.72793445e-01 -1.88772805e-03 5.85700760e+01] [ 2.33336293e-03 -4.35218206e-05 9.99997277e-01 2.74910656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:58.59, Z:0.27 [[ 5.72609004e-01 -8.19827436e-01 -1.37963765e-03 1.22086313e+02] [ 8.19825277e-01 5.72610664e-01 -1.88238336e-03 5.85894361e+01] [ 2.33322476e-03 -5.31921605e-05 9.99997277e-01 2.74628121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.47361786499997 meters Centerline goodness : 0.995733 Centerline is valid? [True, True] Translation: X:122.10, Y:58.61, Z:0.27 [[ 5.72583072e-01 -8.19845577e-01 -1.36205811e-03 1.22102013e+02] [ 8.19843388e-01 5.72584691e-01 -1.89501878e-03 5.86088202e+01] [ 2.33351639e-03 -3.16186589e-05 9.99997277e-01 2.74432923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.12, Y:58.63, Z:0.27 [[ 5.69772301e-01 -8.21801492e-01 -1.35385293e-03 1.22118757e+02] [ 8.21799294e-01 5.69773909e-01 -1.90091269e-03 5.86348321e+01] [ 2.33356296e-03 -2.95079803e-05 9.99997277e-01 2.73098000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.53361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.13, Y:58.66, Z:0.27 [[ 5.69217709e-01 -8.22185702e-01 -1.36774372e-03 1.22134903e+02] [ 8.22183529e-01 5.69219350e-01 -1.89095419e-03 5.86565700e+01] [ 2.33326169e-03 -4.81717426e-05 9.99997277e-01 2.73305088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.15, Y:58.68, Z:0.28 [[ 5.67320516e-01 -8.23495946e-01 -1.36343648e-03 1.22152131e+02] [ 8.23493769e-01 5.67322153e-01 -1.89404064e-03 5.86805261e+01] [ 2.33324251e-03 -4.82533324e-05 9.99997277e-01 2.75778823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.17, Y:58.70, Z:0.28 [[ 5.67078055e-01 -8.23662923e-01 -1.36683113e-03 1.22168103e+02] [ 8.23660753e-01 5.67079700e-01 -1.89160868e-03 5.87030301e+01] [ 2.33315012e-03 -5.31153879e-05 9.99997277e-01 2.75844798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.18, Y:58.73, Z:0.28 [[ 5.66354217e-01 -8.24160808e-01 -1.36533367e-03 1.22184322e+02] [ 8.24158636e-01 5.66355860e-01 -1.89268024e-03 5.87255379e+01] [ 2.33313760e-03 -5.33240961e-05 9.99997277e-01 2.75419001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.20, Y:58.75, Z:0.28 [[ 5.66404712e-01 -8.24126106e-01 -1.36512741e-03 1.22199846e+02] [ 8.24123934e-01 5.66406355e-01 -1.89282774e-03 5.87469638e+01] [ 2.33314559e-03 -5.29276183e-05 9.99997277e-01 2.76364303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.22, Y:58.77, Z:0.28 [[ 5.66482849e-01 -8.24072407e-01 -1.36001784e-03 1.22219499e+02] [ 8.24070226e-01 5.66484480e-01 -1.89647943e-03 5.87708824e+01] [ 2.33326537e-03 -4.64271367e-05 9.99997277e-01 2.76703226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.24, Y:58.79, Z:0.28 [[ 5.65564993e-01 -8.24702590e-01 -1.36976907e-03 1.22236690e+02] [ 8.24700428e-01 5.65566648e-01 -1.88951360e-03 5.87942037e+01] [ 2.33298246e-03 -6.10063911e-05 9.99997277e-01 2.78781528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.25, Y:58.82, Z:0.28 [[ 5.64644188e-01 -8.25333302e-01 -1.37169724e-03 1.22253116e+02] [ 8.25331145e-01 5.64645851e-01 -1.88813686e-03 5.88172779e+01] [ 2.33286539e-03 -6.59789454e-05 9.99997277e-01 2.78676812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.27, Y:58.84, Z:0.28 [[ 5.63562998e-01 -8.26071947e-01 -1.37292449e-03 1.22270134e+02] [ 8.26069794e-01 5.63564666e-01 -1.88726200e-03 5.88413750e+01] [ 2.33274593e-03 -7.05404198e-05 9.99997277e-01 2.78986637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:122.28, Y:58.86, Z:0.28 [[ 5.63630694e-01 -8.26025753e-01 -1.37713831e-03 1.22284413e+02] [ 8.26023607e-01 5.63632371e-01 -1.88425931e-03 5.88626223e+01] [ 2.33264645e-03 -7.55223768e-05 9.99997277e-01 2.79328010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.30, Y:58.89, Z:0.28 [[ 5.62253532e-01 -8.26963777e-01 -1.36993592e-03 1.22299698e+02] [ 8.26961622e-01 5.62255197e-01 -1.88939489e-03 5.88863432e+01] [ 2.33271472e-03 -7.05654797e-05 9.99997277e-01 2.78541077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:122.32, Y:58.91, Z:0.28 [[ 5.62309845e-01 -8.26925491e-01 -1.36771913e-03 1.22316150e+02] [ 8.26923332e-01 5.62311504e-01 -1.89097324e-03 5.89099400e+01] [ 2.33277818e-03 -6.76859855e-05 9.99997277e-01 2.78239476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:58.93, Z:0.28 [[ 5.62072911e-01 -8.27086557e-01 -1.36745339e-03 1.22330791e+02] [ 8.27084398e-01 5.62074570e-01 -1.89116215e-03 5.89341488e+01] [ 2.33276557e-03 -6.80283508e-05 9.99997277e-01 2.79172755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:58.96, Z:0.28 [[ 5.63349631e-01 -8.26217486e-01 -1.36355630e-03 1.22344420e+02] [ 8.26215317e-01 5.63351278e-01 -1.89393037e-03 5.89550555e+01] [ 2.33295957e-03 -5.96461277e-05 9.99997277e-01 2.78297257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:122.36, Y:58.98, Z:0.27 [[ 5.64397409e-01 -8.25502114e-01 -1.35065300e-03 1.22360467e+02] [ 8.25499921e-01 5.64399024e-01 -1.90308805e-03 5.89768702e+01] [ 2.33331045e-03 -4.08659796e-05 9.99997277e-01 2.72726878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.38, Y:59.00, Z:0.28 [[ 5.63786303e-01 -8.25919598e-01 -1.35018842e-03 1.22375537e+02] [ 8.25917405e-01 5.63787918e-01 -1.90341761e-03 5.90011341e+01] [ 2.33328982e-03 -4.20233398e-05 9.99997277e-01 2.77608313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.013617865 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.39, Y:59.03, Z:0.28 [[ 5.62969945e-01 -8.26476266e-01 -1.34968019e-03 1.22389251e+02] [ 8.26474075e-01 5.62971561e-01 -1.90377791e-03 5.90267003e+01] [ 2.33325883e-03 -4.37059391e-05 9.99997277e-01 2.78168929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:59.05, Z:0.27 [[ 5.62754185e-01 -8.26623185e-01 -1.35542561e-03 1.22405102e+02] [ 8.26621004e-01 5.62755815e-01 -1.89970629e-03 5.90507719e+01] [ 2.33311491e-03 -5.13556163e-05 9.99997277e-01 2.74949253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.42, Y:59.07, Z:0.28 [[ 5.63673239e-01 -8.25996753e-01 -1.35747740e-03 1.22419317e+02] [ 8.25994574e-01 5.63674872e-01 -1.89825289e-03 5.90731226e+01] [ 2.33312662e-03 -5.12746085e-05 9.99997277e-01 2.77059290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10361786499996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:122.44, Y:59.10, Z:0.28 [[ 5.63125575e-01 -8.26370225e-01 -1.35555177e-03 1.22437768e+02] [ 8.26368044e-01 5.63127204e-01 -1.89961692e-03 5.90990823e+01] [ 2.33313494e-03 -5.04617939e-05 9.99997277e-01 2.76970499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.45, Y:59.11, Z:0.27 [[ 5.65427175e-01 -8.24797088e-01 -1.36901725e-03 1.22449773e+02] [ 8.24794924e-01 5.65428829e-01 -1.89008727e-03 5.91141009e+01] [ 2.33302030e-03 -6.04517747e-05 9.99997277e-01 2.71981805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.47, Y:59.15, Z:0.28 [[ 5.64367945e-01 -8.25522298e-01 -1.32570300e-03 1.22468190e+02] [ 8.25520064e-01 5.64369502e-01 -1.92068209e-03 5.91452224e+01] [ 2.33375224e-03 -1.04230195e-05 9.99997277e-01 2.76559294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.48, Y:59.17, Z:0.28 [[ 5.66350473e-01 -8.24163388e-01 -1.36087661e-03 1.22482402e+02] [ 8.24161209e-01 5.66352106e-01 -1.89581931e-03 5.91664916e+01] [ 2.33320019e-03 -4.78835490e-05 9.99997277e-01 2.77633667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.50, Y:59.19, Z:0.28 [[ 5.65827413e-01 -8.24522605e-01 -1.34608908e-03 1.22495830e+02] [ 8.24520402e-01 5.65829013e-01 -1.90626138e-03 5.91878281e+01] [ 2.33341186e-03 -3.12629641e-05 9.99997277e-01 2.77419270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.51, Y:59.21, Z:0.28 [[ 5.64806875e-01 -8.25222038e-01 -1.33491046e-03 1.22513408e+02] [ 8.25219818e-01 5.64808452e-01 -1.91415257e-03 5.92134222e+01] [ 2.33356960e-03 -2.04680327e-05 9.99997277e-01 2.76811073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.53, Y:59.24, Z:0.28 [[ 5.62739196e-01 -8.26633405e-01 -1.34579097e-03 1.22530677e+02] [ 8.26631207e-01 5.62740804e-01 -1.90647195e-03 5.92386272e+01] [ 2.33328489e-03 -3.96263239e-05 9.99997277e-01 2.77078294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:122.55, Y:59.26, Z:0.28 [[ 5.61426237e-01 -8.27525674e-01 -1.35607247e-03 1.22546095e+02] [ 8.27523497e-01 5.61427872e-01 -1.89921444e-03 5.92616815e+01] [ 2.33298559e-03 -5.59130189e-05 9.99997277e-01 2.76467212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:122.56, Y:59.28, Z:0.28 [[ 5.61264964e-01 -8.27635066e-01 -1.35537265e-03 1.22557830e+02] [ 8.27632888e-01 5.61266598e-01 -1.89970857e-03 5.92819469e+01] [ 2.33299082e-03 -5.55111203e-05 9.99997277e-01 2.78214291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.58, Y:59.31, Z:0.28 [[ 5.61985250e-01 -8.27146176e-01 -1.33480555e-03 1.22577327e+02] [ 8.27143962e-01 5.61986834e-01 -1.91421074e-03 5.93050839e+01] [ 2.33347524e-03 -2.83181475e-05 9.99997277e-01 2.77236679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.60, Y:59.33, Z:0.28 [[ 5.61259973e-01 -8.27638469e-01 -1.34452647e-03 1.22595509e+02] [ 8.27636272e-01 5.61261582e-01 -1.90735831e-03 5.93312628e+01] [ 2.33323416e-03 -4.22550067e-05 9.99997277e-01 2.76266072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.61, Y:59.35, Z:0.28 [[ 5.61597787e-01 -8.27409247e-01 -1.36535769e-03 1.22609309e+02] [ 8.27407085e-01 5.61599443e-01 -1.89266831e-03 5.93509135e+01] [ 2.33279537e-03 -6.67882946e-05 9.99997277e-01 2.78140853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.63, Y:59.38, Z:0.28 [[ 5.61084540e-01 -8.27757412e-01 -1.34364880e-03 1.22627755e+02] [ 8.27755214e-01 5.61086147e-01 -1.90795646e-03 5.93772304e+01] [ 2.33322783e-03 -4.16874282e-05 9.99997277e-01 2.75654327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:59.40, Z:0.28 [[ 5.61389973e-01 -8.27550268e-01 -1.36134937e-03 1.22641487e+02] [ 8.27548099e-01 5.61391620e-01 -1.89549001e-03 5.93978201e+01] [ 2.33286339e-03 -6.24729946e-05 9.99997277e-01 2.76824821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.66, Y:59.42, Z:0.28 [[ 5.59554366e-01 -8.28792551e-01 -1.34864387e-03 1.22658756e+02] [ 8.28790365e-01 5.59555989e-01 -1.90443088e-03 5.94238032e+01] [ 2.33301988e-03 -5.21104310e-05 9.99997277e-01 2.75601681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.67, Y:59.45, Z:0.27 [[ 5.58770315e-01 -8.29321334e-01 -1.36346708e-03 1.22674745e+02] [ 8.29319175e-01 5.58771974e-01 -1.89400094e-03 5.94478683e+01] [ 2.33260257e-03 -7.24378901e-05 9.99997277e-01 2.74842888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.69, Y:59.47, Z:0.27 [[ 5.59145051e-01 -8.29068721e-01 -1.36707140e-03 1.22690614e+02] [ 8.29066566e-01 5.59146717e-01 -1.89146621e-03 5.94713233e+01] [ 2.33254896e-03 -7.57892268e-05 9.99997277e-01 2.74164206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.70, Y:59.49, Z:0.27 [[ 5.58816786e-01 -8.29290025e-01 -1.36141940e-03 1.22702297e+02] [ 8.29287862e-01 5.58818440e-01 -1.89543534e-03 5.94925487e+01] [ 2.33265189e-03 -6.98074930e-05 9.99997277e-01 2.74611167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.72, Y:59.52, Z:0.27 [[ 5.57718651e-01 -8.30028984e-01 -1.33869151e-03 1.22720837e+02] [ 8.30026784e-01 5.57720256e-01 -1.91138103e-03 5.95187465e+01] [ 2.33311702e-03 -4.51369581e-05 9.99997277e-01 2.72357289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:59.54, Z:0.27 [[ 5.57879598e-01 -8.29920790e-01 -1.35492141e-03 1.22734448e+02] [ 8.29918618e-01 5.57881240e-01 -1.89999435e-03 5.95391763e+01] [ 2.33273005e-03 -6.45064174e-05 9.99997277e-01 2.74105565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.75, Y:59.56, Z:0.27 [[ 5.56918494e-01 -8.30566071e-01 -1.33937411e-03 1.22751143e+02] [ 8.30563874e-01 5.56920102e-01 -1.91089170e-03 5.95648345e+01] [ 2.33304618e-03 -4.82248190e-05 9.99997277e-01 2.71759589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:59.58, Z:0.27 [[ 5.58524140e-01 -8.29487167e-01 -1.35113659e-03 1.22763177e+02] [ 8.29484987e-01 5.58525771e-01 -1.90264827e-03 5.95836939e+01] [ 2.33286693e-03 -5.80725272e-05 9.99997277e-01 2.70086222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.78, Y:59.61, Z:0.27 [[ 5.56942375e-01 -8.30550086e-01 -1.32138086e-03 1.22783042e+02] [ 8.30547859e-01 5.56943942e-01 -1.92348101e-03 5.96112107e+01] [ 2.33348238e-03 -2.62019661e-05 9.99997277e-01 2.71891318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.80, Y:59.63, Z:0.27 [[ 5.57428673e-01 -8.30223734e-01 -1.35124506e-03 1.22798443e+02] [ 8.30221557e-01 5.57430307e-01 -1.90255327e-03 5.96335609e+01] [ 2.33276983e-03 -6.12950367e-05 9.99997277e-01 2.72730974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.81, Y:59.66, Z:0.27 [[ 5.57005915e-01 -8.30507433e-01 -1.34668855e-03 1.22813495e+02] [ 8.30505249e-01 5.57007540e-01 -1.90574604e-03 5.96559551e+01] [ 2.33285193e-03 -5.69200938e-05 9.99997277e-01 2.73322846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.83, Y:59.68, Z:0.27 [[ 5.56297248e-01 -8.30982294e-01 -1.34131018e-03 1.22830992e+02] [ 8.30980102e-01 5.56298862e-01 -1.90951103e-03 5.96802793e+01] [ 2.33293919e-03 -5.23463360e-05 9.99997277e-01 2.71342012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:59.70, Z:0.27 [[ 5.57208901e-01 -8.30371255e-01 -1.34885756e-03 1.22845160e+02] [ 8.30369074e-01 5.57210530e-01 -1.90422844e-03 5.97010139e+01] [ 2.33281419e-03 -5.89965661e-05 9.99997277e-01 2.72260371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:59.73, Z:0.27 [[ 5.55841413e-01 -8.31287276e-01 -1.33730907e-03 1.22863482e+02] [ 8.31285078e-01 5.55843020e-01 -1.91230450e-03 5.97260869e+01] [ 2.33300831e-03 -4.87470439e-05 9.99997277e-01 2.71613434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.88, Y:59.75, Z:0.27 [[ 5.56018942e-01 -8.31168524e-01 -1.34968885e-03 1.22880804e+02] [ 8.31166346e-01 5.56020576e-01 -1.90365027e-03 5.97493236e+01] [ 2.33270895e-03 -6.33503391e-05 9.99997277e-01 2.71367918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.90, Y:59.77, Z:0.27 [[ 5.56710132e-01 -8.30705725e-01 -1.35172747e-03 1.22898789e+02] [ 8.30703549e-01 5.56711770e-01 -1.90222609e-03 5.97720851e+01] [ 2.33271269e-03 -6.38962671e-05 9.99997277e-01 2.72324741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.92, Y:59.80, Z:0.27 [[ 5.57146737e-01 -8.30412958e-01 -1.35422029e-03 1.22915878e+02] [ 8.30410785e-01 5.57148378e-01 -1.90048581e-03 5.97956326e+01] [ 2.33268968e-03 -6.57096654e-05 9.99997277e-01 2.71806012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.93, Y:59.82, Z:0.27 [[ 5.57801942e-01 -8.29972989e-01 -1.35355441e-03 1.22932622e+02] [ 8.29970814e-01 5.57803580e-01 -1.90095019e-03 5.98195651e+01] [ 2.33275481e-03 -6.30569503e-05 9.99997277e-01 2.72316587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:122.94, Y:59.84, Z:0.27 [[ 5.57308534e-01 -8.30304380e-01 -1.35435545e-03 1.22943974e+02] [ 8.30302208e-01 5.57310176e-01 -1.90039176e-03 5.98410096e+01] [ 2.33269968e-03 -6.54197750e-05 9.99997277e-01 2.74930937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:122.97, Y:59.87, Z:0.27 [[ 5.61127052e-01 -8.27728611e-01 -1.33340954e-03 1.22965573e+02] [ 8.27726397e-01 5.61128635e-01 -1.91497653e-03 5.98659599e+01] [ 2.33329514e-03 -2.91531413e-05 9.99997277e-01 2.72245857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:59.88, Z:0.27 [[ 5.64814916e-01 -8.25216499e-01 -1.35647274e-03 1.22973226e+02] [ 8.25214316e-01 5.64816543e-01 -1.89886419e-03 5.98779051e+01] [ 2.33313230e-03 -4.68739098e-05 9.99997277e-01 2.74530067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.99, Y:59.91, Z:0.28 [[ 5.60297201e-01 -8.28290681e-01 -1.26232218e-03 1.22994684e+02] [ 8.28288355e-01 5.60298621e-01 -1.96384151e-03 5.99119098e+01] [ 2.33390900e-03 5.47681402e-05 9.99997275e-01 2.75353030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.01, Y:59.93, Z:0.28 [[ 5.60922464e-01 -8.27867277e-01 -1.32726822e-03 1.23010344e+02] [ 8.27865053e-01 5.60924033e-01 -1.91892000e-03 5.99337751e+01] [ 2.33310771e-03 -2.24336403e-05 9.99997278e-01 2.75182945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21361786499997 meters Centerline goodness : 0.996059 Centerline is valid? [True, True] Translation: X:123.03, Y:59.96, Z:0.28 [[ 5.61664197e-01 -8.27364230e-01 -1.32682632e-03 1.23026115e+02] [ 8.27362004e-01 5.61665764e-01 -1.91922549e-03 5.99562871e+01] [ 2.33313144e-03 -1.98054373e-05 9.99997278e-01 2.75688893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.04, Y:59.98, Z:0.27 [[ 5.63463440e-01 -8.26139942e-01 -1.32203328e-03 1.23043599e+02] [ 8.26137705e-01 5.63464991e-01 -1.92253661e-03 5.99787473e+01] [ 2.33320376e-03 -8.90244830e-06 9.99997278e-01 2.71457093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:123.06, Y:60.00, Z:0.27 [[ 5.61927907e-01 -8.27185142e-01 -1.32935336e-03 1.23061302e+02] [ 8.27182920e-01 5.61929479e-01 -1.91748786e-03 6.00040771e+01] [ 2.33312031e-03 -2.21284560e-05 9.99997278e-01 2.71143682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:123.08, Y:60.02, Z:0.27 [[ 5.62796830e-01 -8.26594174e-01 -1.34160181e-03 1.23076821e+02] [ 8.26591970e-01 5.62798428e-01 -1.90904183e-03 6.00243250e+01] [ 2.33305425e-03 -3.45545924e-05 9.99997278e-01 2.69785459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.10, Y:60.05, Z:0.27 [[ 5.61783141e-01 -8.27283467e-01 -1.32954517e-03 1.23095440e+02] [ 8.27281246e-01 5.61784713e-01 -1.91734556e-03 6.00492021e+01] [ 2.33310643e-03 -2.27753763e-05 9.99997278e-01 2.71238202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:60.07, Z:0.27 [[ 5.62797645e-01 -8.26593615e-01 -1.34409005e-03 1.23109332e+02] [ 8.26591415e-01 5.62799249e-01 -1.90732784e-03 6.00684060e+01] [ 2.33303789e-03 -3.75736834e-05 9.99997278e-01 2.71161150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.13, Y:60.09, Z:0.27 [[ 5.60834170e-01 -8.27927098e-01 -1.32452586e-03 1.23128635e+02] [ 8.27924870e-01 5.60835734e-01 -1.92078906e-03 6.00940933e+01] [ 2.33311475e-03 -1.93637656e-05 9.99997278e-01 2.71668537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:60.12, Z:0.27 [[ 5.60052462e-01 -8.28456056e-01 -1.34292410e-03 1.23144605e+02] [ 8.28453859e-01 5.60054070e-01 -1.90813313e-03 6.01170253e+01] [ 2.33291455e-03 -4.38959984e-05 9.99997278e-01 2.71938196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:60.14, Z:0.27 [[ 5.59712341e-01 -8.28685890e-01 -1.33835182e-03 1.23162106e+02] [ 8.28683687e-01 5.59713940e-01 -1.91127536e-03 6.01407830e+01] [ 2.33294109e-03 -3.93059155e-05 9.99997278e-01 2.72022168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:60.16, Z:0.27 [[ 5.59427362e-01 -8.28878295e-01 -1.34103560e-03 1.23177618e+02] [ 8.28876097e-01 5.59428968e-01 -1.90943243e-03 6.01636333e+01] [ 2.33290126e-03 -4.33636119e-05 9.99997278e-01 2.72087803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.19, Y:60.19, Z:0.27 [[ 5.57995276e-01 -8.29843042e-01 -1.34068861e-03 1.23193544e+02] [ 8.29840846e-01 5.57996884e-01 -1.90967058e-03 6.01855106e+01] [ 2.33282691e-03 -4.69710127e-05 9.99997278e-01 2.71904837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:60.20, Z:0.27 [[ 5.60334498e-01 -8.28265327e-01 -1.34096470e-03 1.23205431e+02] [ 8.28263127e-01 5.60336101e-01 -1.90948112e-03 6.02004076e+01] [ 2.33294794e-03 -4.07234710e-05 9.99997278e-01 2.72103416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:123.23, Y:60.23, Z:0.27 [[ 5.57513016e-01 -8.30167179e-01 -1.30116099e-03 1.23225740e+02] [ 8.30164919e-01 5.57514534e-01 -1.93677206e-03 6.02295491e+01] [ 2.33326076e-03 -4.02579005e-07 9.99997278e-01 2.71732421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60361786499996 meters Centerline goodness : 0.995876 Centerline is valid? [True, True] Translation: X:123.24, Y:60.25, Z:0.27 [[ 5.56997697e-01 -8.30512957e-01 -1.33919129e-03 1.23243259e+02] [ 8.30510761e-01 5.56999305e-01 -1.91055980e-03 6.02525025e+01] [ 2.33267329e-03 -4.80353646e-05 9.99997278e-01 2.70493147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.26, Y:60.27, Z:0.27 [[ 5.56797484e-01 -8.30647177e-01 -1.35239215e-03 1.23257923e+02] [ 8.30645003e-01 5.56799123e-01 -1.90146018e-03 6.02734225e+01] [ 2.33245329e-03 -6.46295369e-05 9.99997278e-01 2.72338738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.28, Y:60.30, Z:0.27 [[ 5.56619446e-01 -8.30766529e-01 -1.32952473e-03 1.23275502e+02] [ 8.30764317e-01 5.56621032e-01 -1.91716342e-03 6.02972598e+01] [ 2.33275663e-03 -3.73912639e-05 9.99997278e-01 2.73646267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:123.29, Y:60.32, Z:0.27 [[ 5.56538966e-01 -8.30820438e-01 -1.33412128e-03 1.23293936e+02] [ 8.30818234e-01 5.56540563e-01 -1.91400932e-03 6.03212523e+01] [ 2.33269067e-03 -4.31915229e-05 9.99997278e-01 2.72772285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.31, Y:60.34, Z:0.27 [[ 5.55647715e-01 -8.31416757e-01 -1.33917325e-03 1.23310433e+02] [ 8.31414563e-01 5.55649326e-01 -1.91054419e-03 6.03434755e+01] [ 2.33256916e-03 -5.18186272e-05 9.99997278e-01 2.73917173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.33, Y:60.37, Z:0.27 [[ 5.54446719e-01 -8.32218148e-01 -1.33831476e-03 1.23326002e+02] [ 8.32215955e-01 5.54448331e-01 -1.91113262e-03 6.03672611e+01] [ 2.33250563e-03 -5.41456863e-05 9.99997278e-01 2.73659180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.34, Y:60.39, Z:0.27 [[ 5.54103435e-01 -8.32446758e-01 -1.33350130e-03 1.23342617e+02] [ 8.32444558e-01 5.54105037e-01 -1.91442913e-03 6.03911845e+01] [ 2.33256011e-03 -4.92741412e-05 9.99997278e-01 2.73140426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.36, Y:60.42, Z:0.27 [[ 5.54291509e-01 -8.32321539e-01 -1.33393188e-03 1.23356902e+02] [ 8.32319339e-01 5.54293112e-01 -1.91413453e-03 6.04156130e+01] [ 2.33256465e-03 -4.92687838e-05 9.99997278e-01 2.72579864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.37, Y:60.44, Z:0.27 [[ 5.53968573e-01 -8.32536515e-01 -1.33051022e-03 1.23371174e+02] [ 8.32534311e-01 5.53970169e-01 -1.91647359e-03 6.04380254e+01] [ 2.33259722e-03 -4.60292631e-05 9.99997278e-01 2.72455248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.39, Y:60.46, Z:0.27 [[ 5.53407572e-01 -8.32909538e-01 -1.32740157e-03 1.23386555e+02] [ 8.32907329e-01 5.53409162e-01 -1.91859762e-03 6.04614772e+01] [ 2.33261445e-03 -4.38360432e-05 9.99997278e-01 2.71386586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.40, Y:60.48, Z:0.27 [[ 5.52774150e-01 -8.33330058e-01 -1.32438296e-03 1.23401988e+02] [ 8.33327845e-01 5.52775735e-01 -1.92065828e-03 6.04844014e+01] [ 2.33262905e-03 -4.19549519e-05 9.99997279e-01 2.71582163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.42, Y:60.51, Z:0.27 [[ 5.51885178e-01 -8.33919062e-01 -1.32256233e-03 1.23417567e+02] [ 8.33916848e-01 5.51886761e-01 -1.92190047e-03 6.05067927e+01] [ 2.33261407e-03 -4.22386299e-05 9.99997279e-01 2.71493682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:60.53, Z:0.27 [[ 5.51230369e-01 -8.34352048e-01 -1.31947243e-03 1.23434367e+02] [ 8.34349830e-01 5.51231946e-01 -1.92400796e-03 6.05306859e+01] [ 2.33263534e-03 -4.03299832e-05 9.99997279e-01 2.72530696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.45, Y:60.55, Z:0.27 [[ 5.50204969e-01 -8.35028589e-01 -1.32166007e-03 1.23449844e+02] [ 8.35026377e-01 5.50206555e-01 -1.92251669e-03 6.05543764e+01] [ 2.33254243e-03 -4.58427879e-05 9.99997279e-01 2.72578782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:123.47, Y:60.58, Z:0.27 [[ 5.50243003e-01 -8.35003528e-01 -1.32106239e-03 1.23466072e+02] [ 8.35001315e-01 5.50244587e-01 -1.92292380e-03 6.05781193e+01] [ 2.33255559e-03 -4.50134695e-05 9.99997279e-01 2.73152737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:60.60, Z:0.27 [[ 5.49579159e-01 -8.35440597e-01 -1.32553325e-03 1.23480692e+02] [ 8.35438393e-01 5.49580755e-01 -1.91987990e-03 6.06034693e+01] [ 2.33243317e-03 -5.22753909e-05 9.99997279e-01 2.72514718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.50, Y:60.62, Z:0.27 [[ 5.51390817e-01 -8.34246013e-01 -1.32515151e-03 1.23495704e+02] [ 8.34243805e-01 5.51392407e-01 -1.92013954e-03 6.06246144e+01] [ 2.33254724e-03 -4.67521321e-05 9.99997279e-01 2.70303629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.51, Y:60.65, Z:0.27 [[ 5.48939226e-01 -8.35861237e-01 -1.31076403e-03 1.23511305e+02] [ 8.35859010e-01 5.48940790e-01 -1.92991512e-03 6.06500203e+01] [ 2.33267308e-03 -3.62078096e-05 9.99997279e-01 2.73151390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:60.67, Z:0.27 [[ 5.48000073e-01 -8.36477237e-01 -1.32364204e-03 1.23527535e+02] [ 8.36475033e-01 5.48001669e-01 -1.92116277e-03 6.06736253e+01] [ 2.33236697e-03 -5.43961786e-05 9.99997279e-01 2.72916669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:123.54, Y:60.70, Z:0.27 [[ 5.46517285e-01 -8.37446771e-01 -1.32763668e-03 1.23539187e+02] [ 8.37444576e-01 5.46518894e-01 -1.91844865e-03 6.06950743e+01] [ 2.33217716e-03 -6.33567912e-05 9.99997278e-01 2.74329116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.56, Y:60.72, Z:0.27 [[ 5.46475321e-01 -8.37474183e-01 -1.31007330e-03 1.23557323e+02] [ 8.37471959e-01 5.46476890e-01 -1.93036830e-03 6.07199105e+01] [ 2.33255840e-03 -4.22510115e-05 9.99997279e-01 2.73828502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23361786499999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:123.57, Y:60.74, Z:0.27 [[ 5.44874686e-01 -8.38516442e-01 -1.32395995e-03 1.23572884e+02] [ 8.38514244e-01 5.44876291e-01 -1.92094354e-03 6.07449755e+01] [ 2.33213712e-03 -6.34857702e-05 9.99997279e-01 2.73149998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.59, Y:60.77, Z:0.27 [[ 5.43789377e-01 -8.39220682e-01 -1.32704436e-03 1.23588744e+02] [ 8.39218491e-01 5.43790992e-01 -1.91885313e-03 6.07699585e+01] [ 2.33197600e-03 -7.02282184e-05 9.99997278e-01 2.72946621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:60.79, Z:0.27 [[ 5.43921313e-01 -8.39135172e-01 -1.32963271e-03 1.23602746e+02] [ 8.39132985e-01 5.43922934e-01 -1.91709999e-03 6.07921653e+01] [ 2.33192376e-03 -7.29871210e-05 9.99997278e-01 2.74921587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.62, Y:60.82, Z:0.27 [[ 5.42632706e-01 -8.39969043e-01 -1.32403344e-03 1.23619708e+02] [ 8.39966850e-01 5.42634317e-01 -1.92089095e-03 6.08178078e+01] [ 2.33195491e-03 -6.98059455e-05 9.99997279e-01 2.73602102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35361786499996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:123.63, Y:60.84, Z:0.27 [[ 5.41162869e-01 -8.40916751e-01 -1.32978541e-03 1.23634449e+02] [ 8.40914569e-01 5.41164496e-01 -1.91700176e-03 6.08413259e+01] [ 2.33167154e-03 -8.08257518e-05 9.99997278e-01 2.73001540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.65, Y:60.87, Z:0.28 [[ 5.40265976e-01 -8.41493264e-01 -1.32700068e-03 1.23648806e+02] [ 8.41491080e-01 5.40267600e-01 -1.91888290e-03 6.08655356e+01] [ 2.33166251e-03 -7.99520931e-05 9.99997278e-01 2.75616793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41361786499996 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:123.66, Y:60.89, Z:0.28 [[ 5.39758032e-01 -8.41819169e-01 -1.32441298e-03 1.23661431e+02] [ 8.41816982e-01 5.39759651e-01 -1.92062995e-03 6.08878411e+01] [ 2.33168779e-03 -7.82378986e-05 9.99997279e-01 2.75206537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:60.91, Z:0.28 [[ 5.41069201e-01 -8.40977044e-01 -1.31615083e-03 1.23674815e+02] [ 8.40974840e-01 5.41070798e-01 -1.92620507e-03 6.09092503e+01] [ 2.33202503e-03 -6.46394968e-05 9.99997279e-01 2.77573535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:60.93, Z:0.28 [[ 5.41320612e-01 -8.40815256e-01 -1.30415464e-03 1.23687396e+02] [ 8.40813032e-01 5.41322181e-01 -1.93429324e-03 6.09345962e+01] [ 2.33235110e-03 -4.94774160e-05 9.99997279e-01 2.75744316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:60.96, Z:0.28 [[ 5.40628169e-01 -8.41260653e-01 -1.30267066e-03 1.23702765e+02] [ 8.41258428e-01 5.40629736e-01 -1.93529329e-03 6.09608469e+01] [ 2.33234860e-03 -4.96086065e-05 9.99997279e-01 2.75160666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:60.98, Z:0.28 [[ 5.44430930e-01 -8.38804645e-01 -1.31500075e-03 1.23714724e+02] [ 8.38802434e-01 5.44432516e-01 -1.92698230e-03 6.09825912e+01] [ 2.33229087e-03 -5.39170594e-05 9.99997279e-01 2.76281065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.73, Y:61.01, Z:0.28 [[ 5.43505041e-01 -8.39404891e-01 -1.30320409e-03 1.23732554e+02] [ 8.39402662e-01 5.43506602e-01 -1.93492754e-03 6.10095695e+01] [ 2.33248767e-03 -4.22701124e-05 9.99997279e-01 2.75996901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.75, Y:61.03, Z:0.27 [[ 5.43436723e-01 -8.39449095e-01 -1.32131133e-03 1.23747949e+02] [ 8.39446895e-01 5.43438325e-01 -1.92273388e-03 6.10348008e+01] [ 2.33208843e-03 -6.42864960e-05 9.99997279e-01 2.74151959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:123.76, Y:61.06, Z:0.27 [[ 5.45035505e-01 -8.38411920e-01 -1.32330351e-03 1.23761876e+02] [ 8.38409720e-01 5.45037108e-01 -1.92139279e-03 6.10586895e+01] [ 2.33216813e-03 -6.22432330e-05 9.99997279e-01 2.73798230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.78, Y:61.08, Z:0.27 [[ 5.45245502e-01 -8.38275372e-01 -1.32033652e-03 1.23777306e+02] [ 8.38273167e-01 5.45247098e-01 -1.92338915e-03 6.10833490e+01] [ 2.33223941e-03 -5.80833921e-05 9.99997279e-01 2.73535458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.79, Y:61.10, Z:0.28 [[ 5.47118054e-01 -8.37054404e-01 -1.32633502e-03 1.23787322e+02] [ 8.37052206e-01 5.47119659e-01 -1.91935205e-03 6.11042978e+01] [ 2.33226605e-03 -6.00994995e-05 9.99997278e-01 2.77784883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.80, Y:61.13, Z:0.27 [[ 5.46569895e-01 -8.37412477e-01 -1.30119761e-03 1.23804311e+02] [ 8.37410239e-01 5.46571443e-01 -1.93624492e-03 6.11308949e+01] [ 2.33263311e-03 -3.13430173e-05 9.99997279e-01 2.74551367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.82, Y:61.15, Z:0.28 [[ 5.47397179e-01 -8.36871910e-01 -1.31714112e-03 1.23817382e+02] [ 8.36869696e-01 5.47398761e-01 -1.92552722e-03 6.11517559e+01] [ 2.33242106e-03 -4.82473241e-05 9.99997279e-01 2.78171348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:123.83, Y:61.18, Z:0.28 [[ 5.46310328e-01 -8.37581837e-01 -1.30060158e-03 1.23833997e+02] [ 8.37579599e-01 5.46311875e-01 -1.93663481e-03 6.11787173e+01] [ 2.33262423e-03 -3.13537528e-05 9.99997279e-01 2.77522879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.85, Y:61.20, Z:0.28 [[ 5.45446162e-01 -8.38144826e-01 -1.31741082e-03 1.23849368e+02] [ 8.38142616e-01 5.45447750e-01 -1.92535573e-03 6.12032733e+01] [ 2.33230571e-03 -5.40002600e-05 9.99997279e-01 2.76167812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:61.23, Z:0.28 [[ 5.44728022e-01 -8.38611734e-01 -1.31993336e-03 1.23863097e+02] [ 8.38609529e-01 5.44729618e-01 -1.92366569e-03 6.12279194e+01] [ 2.33221542e-03 -5.90340873e-05 9.99997279e-01 2.76816248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.88, Y:61.25, Z:0.28 [[ 5.44944598e-01 -8.38471020e-01 -1.31645397e-03 1.23877112e+02] [ 8.38468810e-01 5.44946186e-01 -1.92599466e-03 6.12509130e+01] [ 2.33228728e-03 -5.42452076e-05 9.99997279e-01 2.77754352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.89, Y:61.28, Z:0.28 [[ 5.46077935e-01 -8.37733348e-01 -1.31358644e-03 1.23893598e+02] [ 8.37731131e-01 5.46079513e-01 -1.92791448e-03 6.12752127e+01] [ 2.33240090e-03 -4.76406967e-05 9.99997279e-01 2.75480104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.91, Y:61.30, Z:0.28 [[ 5.45685927e-01 -8.37988748e-01 -1.31429275e-03 1.23905986e+02] [ 8.37986533e-01 5.45687507e-01 -1.92744177e-03 6.12996885e+01] [ 2.33236765e-03 -4.95817753e-05 9.99997279e-01 2.76944357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.92, Y:61.32, Z:0.28 [[ 5.45418754e-01 -8.38162673e-01 -1.30997823e-03 1.23920426e+02] [ 8.38160452e-01 5.45420325e-01 -1.93032685e-03 6.13241388e+01] [ 2.33241667e-03 -4.51354832e-05 9.99997279e-01 2.75689253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:61.35, Z:0.27 [[ 5.44566250e-01 -8.38716817e-01 -1.30423079e-03 1.23934813e+02] [ 8.38714588e-01 5.44567810e-01 -1.93416755e-03 6.13479022e+01] [ 2.33246096e-03 -4.05950167e-05 9.99997279e-01 2.74060215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.95, Y:61.37, Z:0.27 [[ 5.44232011e-01 -8.38933742e-01 -1.30174506e-03 1.23951203e+02] [ 8.38931509e-01 5.44233567e-01 -1.93582689e-03 6.13728371e+01] [ 2.33248385e-03 -3.85359914e-05 9.99997279e-01 2.74981098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.96, Y:61.40, Z:0.27 [[ 5.43297483e-01 -8.39539239e-01 -1.30812964e-03 1.23963928e+02] [ 8.39537019e-01 5.43299055e-01 -1.93156672e-03 6.13950398e+01] [ 2.33233166e-03 -4.88079230e-05 9.99997279e-01 2.74067242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07361786499996 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:123.98, Y:61.42, Z:0.28 [[ 5.42427389e-01 -8.40101685e-01 -1.29880809e-03 1.23979960e+02] [ 8.40099451e-01 5.42428943e-01 -1.93778231e-03 6.14193413e+01] [ 2.33244528e-03 -4.00217598e-05 9.99997279e-01 2.75248945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.99, Y:61.44, Z:0.27 [[ 5.41941474e-01 -8.40415219e-01 -1.30334127e-03 1.23994614e+02] [ 8.40412993e-01 5.41943039e-01 -1.93476051e-03 6.14415855e+01] [ 2.33233890e-03 -4.68179725e-05 9.99997279e-01 2.74052842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.01, Y:61.46, Z:0.27 [[ 5.40023351e-01 -8.41649027e-01 -1.30234438e-03 1.24008049e+02] [ 8.41646803e-01 5.40024919e-01 -1.93542500e-03 6.14638330e+01] [ 2.33224698e-03 -5.09392926e-05 9.99997279e-01 2.71845063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.02, Y:61.49, Z:0.27 [[ 5.39225369e-01 -8.42160509e-01 -1.29577727e-03 1.24024992e+02] [ 8.42158276e-01 5.39226924e-01 -1.93979950e-03 6.14884066e+01] [ 2.33234053e-03 -4.52604534e-05 9.99997279e-01 2.74588948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.04, Y:61.51, Z:0.27 [[ 5.36583216e-01 -8.43846406e-01 -1.30164028e-03 1.24039008e+02] [ 8.43844188e-01 5.36584792e-01 -1.93589891e-03 6.15124185e+01] [ 2.33204172e-03 -5.96107180e-05 9.99997279e-01 2.72871300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.05, Y:61.53, Z:0.28 [[ 5.34956396e-01 -8.44878671e-01 -1.29798212e-03 1.24053859e+02] [ 8.44876450e-01 5.34957968e-01 -1.93833041e-03 6.15346523e+01] [ 2.33201990e-03 -5.97122684e-05 9.99997279e-01 2.75462610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.07, Y:61.56, Z:0.27 [[ 5.32305895e-01 -8.46551103e-01 -1.29055313e-03 1.24067193e+02] [ 8.46548874e-01 5.32307456e-01 -1.94326412e-03 6.15588192e+01] [ 2.33204344e-03 -5.81053503e-05 9.99997279e-01 2.72527664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28361786499997 meters Centerline goodness : 0.994082 Centerline is valid? [True, True] Translation: X:124.08, Y:61.58, Z:0.28 [[ 5.31962005e-01 -8.46767243e-01 -1.28921866e-03 1.24082740e+02] [ 8.46765013e-01 5.31963564e-01 -1.94414970e-03 6.15818395e+01] [ 2.33205963e-03 -5.74514868e-05 9.99997279e-01 2.77015502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.10, Y:61.61, Z:0.28 [[ 5.31390534e-01 -8.47125983e-01 -1.29210605e-03 1.24098764e+02] [ 8.47123759e-01 5.31392101e-01 -1.94223448e-03 6.16066887e+01] [ 2.33193224e-03 -6.24887139e-05 9.99997279e-01 2.75768652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34361786499997 meters Centerline goodness : 0.994880 Centerline is valid? [True, True] Translation: X:124.11, Y:61.63, Z:0.28 [[ 5.29323122e-01 -8.48419324e-01 -1.29739856e-03 1.24112226e+02] [ 8.48417112e-01 5.29324707e-01 -1.93872547e-03 6.16292329e+01] [ 2.33159727e-03 -7.45229208e-05 9.99997279e-01 2.77394084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.13, Y:61.65, Z:0.28 [[ 5.29611601e-01 -8.48239282e-01 -1.29342048e-03 1.24126338e+02] [ 8.48237063e-01 5.29613176e-01 -1.94136158e-03 6.16507451e+01] [ 2.33175168e-03 -6.89595751e-05 9.99997279e-01 2.77793923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.14, Y:61.67, Z:0.28 [[ 5.29386754e-01 -8.48379636e-01 -1.28782403e-03 1.24142045e+02] [ 8.48377408e-01 5.29388317e-01 -1.94506698e-03 6.16746102e+01] [ 2.33191421e-03 -6.28681154e-05 9.99997279e-01 2.77858368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.16, Y:61.70, Z:0.28 [[ 5.28875850e-01 -8.48698226e-01 -1.28730839e-03 1.24157117e+02] [ 8.48695998e-01 5.28877413e-01 -1.94540818e-03 6.16987202e+01] [ 2.33189280e-03 -6.36540704e-05 9.99997279e-01 2.77755802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.17, Y:61.72, Z:0.28 [[ 5.29484113e-01 -8.48318878e-01 -1.28678949e-03 1.24170617e+02] [ 8.48316648e-01 5.29485673e-01 -1.94575135e-03 6.17224445e+01] [ 2.33195420e-03 -6.13605259e-05 9.99997279e-01 2.76787496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.19, Y:61.75, Z:0.28 [[ 5.30969556e-01 -8.47389920e-01 -1.28632454e-03 1.24187944e+02] [ 8.47387687e-01 5.30971111e-01 -1.94605868e-03 6.17480635e+01] [ 2.33207168e-03 -5.67176600e-05 9.99997279e-01 2.75183704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:124.20, Y:61.77, Z:0.27 [[ 5.31009482e-01 -8.47364882e-01 -1.29907634e-03 1.24199671e+02] [ 8.47362670e-01 5.31011066e-01 -1.93763442e-03 6.17726395e+01] [ 2.33170727e-03 -7.18865472e-05 9.99997279e-01 2.73845968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.21, Y:61.80, Z:0.27 [[ 5.30482930e-01 -8.47694636e-01 -1.29044335e-03 1.24212107e+02] [ 8.47692411e-01 5.30484496e-01 -1.94333380e-03 6.17956910e+01] [ 2.33191382e-03 -6.29936269e-05 9.99997279e-01 2.72804501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.23, Y:61.82, Z:0.28 [[ 5.31236008e-01 -8.47222910e-01 -1.28269637e-03 1.24225696e+02] [ 8.47220671e-01 5.31237554e-01 -1.94844445e-03 6.18182281e+01] [ 2.33218326e-03 -5.16430307e-05 9.99997279e-01 2.75539867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.24, Y:61.84, Z:0.27 [[ 5.32573702e-01 -8.46382671e-01 -1.27496281e-03 1.24239362e+02] [ 8.46380417e-01 5.32575227e-01 -1.95354313e-03 6.18437035e+01] [ 2.33245866e-03 -3.86978613e-05 9.99997279e-01 2.71733627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64361786499998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:124.26, Y:61.87, Z:0.28 [[ 5.34063598e-01 -8.45443344e-01 -1.27505969e-03 1.24255366e+02] [ 8.45441088e-01 5.34065119e-01 -1.95347934e-03 6.18677773e+01] [ 2.33252101e-03 -3.47056481e-05 9.99997279e-01 2.76732573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:61.89, Z:0.27 [[ 5.33492773e-01 -8.45803655e-01 -1.28002964e-03 1.24270030e+02] [ 8.45801408e-01 5.33494307e-01 -1.95020678e-03 6.18929070e+01] [ 2.33238055e-03 -4.22296498e-05 9.99997279e-01 2.72883862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.28, Y:61.92, Z:0.27 [[ 5.33809567e-01 -8.45603744e-01 -1.28584436e-03 1.24283389e+02] [ 8.45601506e-01 5.33811114e-01 -1.94638135e-03 6.19154045e+01] [ 2.33226537e-03 -4.83149397e-05 9.99997279e-01 2.72920302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73361786499999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:124.30, Y:61.94, Z:0.28 [[ 5.33841429e-01 -8.45583647e-01 -1.27466718e-03 1.24299375e+02] [ 8.45581390e-01 5.33842950e-01 -1.95371987e-03 6.19407292e+01] [ 2.33250566e-03 -3.48582412e-05 9.99997279e-01 2.76538825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76361786499996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:124.31, Y:61.96, Z:0.28 [[ 5.35135085e-01 -8.44765524e-01 -1.28487228e-03 1.24313827e+02] [ 8.44763281e-01 5.35136626e-01 -1.94702102e-03 6.19632552e+01] [ 2.33235845e-03 -4.34936677e-05 9.99997279e-01 2.76624813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79361786499996 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:124.33, Y:61.99, Z:0.28 [[ 5.34165375e-01 -8.45379036e-01 -1.27949421e-03 1.24328591e+02] [ 8.45376787e-01 5.34166906e-01 -1.95054885e-03 6.19877651e+01] [ 2.33241657e-03 -3.97390397e-05 9.99997279e-01 2.76199260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.34, Y:62.01, Z:0.27 [[ 5.33368762e-01 -8.45881858e-01 -1.28314820e-03 1.24341829e+02] [ 8.45879616e-01 5.33370304e-01 -1.94815320e-03 6.20124541e+01] [ 2.33230059e-03 -4.63048411e-05 9.99997279e-01 2.73210270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.36, Y:62.04, Z:0.27 [[ 5.34626020e-01 -8.45087797e-01 -1.27831607e-03 1.24358335e+02] [ 8.45085545e-01 5.34627547e-01 -1.95131895e-03 6.20359373e+01] [ 2.33245882e-03 -3.70605525e-05 9.99997279e-01 2.73239589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.37, Y:62.06, Z:0.27 [[ 5.34088249e-01 -8.45427767e-01 -1.27786965e-03 1.24370558e+02] [ 8.45425515e-01 5.34089777e-01 -1.95161125e-03 6.20574376e+01] [ 2.33244346e-03 -3.80109718e-05 9.99997279e-01 2.72333481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.39, Y:62.08, Z:0.28 [[ 5.33459305e-01 -8.45824790e-01 -1.26261803e-03 1.24387484e+02] [ 8.45822516e-01 5.33460799e-01 -1.96157899e-03 6.20820000e+01] [ 2.33270936e-03 -2.15281980e-05 9.99997279e-01 2.75091792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.40, Y:62.11, Z:0.27 [[ 5.32374561e-01 -8.46507943e-01 -1.27624723e-03 1.24402154e+02] [ 8.46505692e-01 5.32376089e-01 -1.95267108e-03 6.21057251e+01] [ 2.33239509e-03 -4.07981345e-05 9.99997279e-01 2.71208335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.97361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.42, Y:62.13, Z:0.27 [[ 5.32994124e-01 -8.46117980e-01 -1.27567206e-03 1.24417853e+02] [ 8.46115727e-01 5.32995650e-01 -1.95304676e-03 6.21283542e+01] [ 2.33243564e-03 -3.84037397e-05 9.99997279e-01 2.72642932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.43, Y:62.15, Z:0.27 [[ 5.33730254e-01 -8.45653824e-01 -1.27542175e-03 1.24432253e+02] [ 8.45651569e-01 5.33731777e-01 -1.95321021e-03 6.21517796e+01] [ 2.33247280e-03 -3.60750248e-05 9.99997279e-01 2.74433362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.45, Y:62.17, Z:0.27 [[ 5.34191617e-01 -8.45362461e-01 -1.27510184e-03 1.24446919e+02] [ 8.45360205e-01 5.34193138e-01 -1.95341903e-03 6.21747540e+01] [ 2.33249777e-03 -3.44202785e-05 9.99997279e-01 2.74378749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.46, Y:62.20, Z:0.27 [[ 5.34059339e-01 -8.45446035e-01 -1.27473617e-03 1.24461062e+02] [ 8.45443778e-01 5.34060859e-01 -1.95365763e-03 6.21991449e+01] [ 2.33249879e-03 -3.43486609e-05 9.99997279e-01 2.71284039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.48, Y:62.22, Z:0.27 [[ 5.34375906e-01 -8.45245984e-01 -1.27190325e-03 1.24477175e+02] [ 8.45243722e-01 5.34377419e-01 -1.95550553e-03 6.22232945e+01] [ 2.33255957e-03 -3.00931960e-05 9.99997279e-01 2.70148830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.49, Y:62.24, Z:0.27 [[ 5.36451517e-01 -8.43930178e-01 -1.27410599e-03 1.24493825e+02] [ 8.43927917e-01 5.36453030e-01 -1.95406928e-03 6.22447635e+01] [ 2.33259606e-03 -2.69901844e-05 9.99997279e-01 2.73522025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.51, Y:62.27, Z:0.27 [[ 5.35922160e-01 -8.44266437e-01 -1.27378998e-03 1.24508363e+02] [ 8.44264175e-01 5.35923673e-01 -1.95427525e-03 6.22684845e+01] [ 2.33258321e-03 -2.80758362e-05 9.99997279e-01 2.70669165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.52, Y:62.29, Z:0.27 [[ 5.37656637e-01 -8.43162926e-01 -1.27323148e-03 1.24523894e+02] [ 8.43160660e-01 5.37658144e-01 -1.95463906e-03 6.22900816e+01] [ 2.33264246e-03 -2.26140316e-05 9.99997279e-01 2.72874543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.54, Y:62.31, Z:0.27 [[ 5.38131632e-01 -8.42859850e-01 -1.27285352e-03 1.24537492e+02] [ 8.42857583e-01 5.38133137e-01 -1.95488515e-03 6.23146072e+01] [ 2.33265886e-03 -2.08487006e-05 9.99997279e-01 2.67740810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.55, Y:62.34, Z:0.27 [[ 5.40142347e-01 -8.41572715e-01 -1.26864130e-03 1.24554337e+02] [ 8.41570439e-01 5.40143837e-01 -1.95762607e-03 6.23373224e+01] [ 2.33273346e-03 -1.02542722e-05 9.99997279e-01 2.71012113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:62.36, Z:0.27 [[ 5.40265535e-01 -8.41493632e-01 -1.27213961e-03 1.24569479e+02] [ 8.41491361e-01 5.40267033e-01 -1.95535008e-03 6.23606333e+01] [ 2.33270974e-03 -1.40862363e-05 9.99997279e-01 2.69490020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:62.38, Z:0.27 [[ 5.41527177e-01 -8.40682282e-01 -1.27158066e-03 1.24586054e+02] [ 8.40680008e-01 5.41528670e-01 -1.95571350e-03 6.23834287e+01] [ 2.33273108e-03 -9.92042741e-06 9.99997279e-01 2.71529231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:62.41, Z:0.27 [[ 5.41624180e-01 -8.40619790e-01 -1.27102341e-03 1.24603176e+02] [ 8.40617515e-01 5.41625671e-01 -1.95607560e-03 6.24058120e+01] [ 2.33273477e-03 -8.98669341e-06 9.99997279e-01 2.70724002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:62.43, Z:0.27 [[ 5.41157741e-01 -8.40920142e-01 -1.27046605e-03 1.24618768e+02] [ 8.40917866e-01 5.41159233e-01 -1.95643754e-03 6.24287506e+01] [ 2.33273216e-03 -9.61627893e-06 9.99997279e-01 2.70849043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.64, Y:62.45, Z:0.27 [[ 5.45491910e-01 -8.38115125e-01 -1.26990810e-03 1.24638885e+02] [ 8.38112841e-01 5.45493389e-01 -1.95679963e-03 6.24486910e+01] [ 2.33274984e-03 3.09207690e-06 9.99997279e-01 2.73216069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.65, Y:62.48, Z:0.27 [[ 5.41492922e-01 -8.40704349e-01 -1.26973527e-03 1.24651340e+02] [ 8.40702072e-01 5.41494411e-01 -1.95691177e-03 6.24752214e+01] [ 2.33273879e-03 -7.81519935e-06 9.99997279e-01 2.71414390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.67, Y:62.50, Z:0.27 [[ 5.43546971e-01 -8.39377793e-01 -1.26926276e-03 1.24671942e+02] [ 8.39375511e-01 5.43548453e-01 -1.95721820e-03 6.25000514e+01] [ 2.33275130e-03 -1.54805138e-06 9.99997279e-01 2.72949089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.68, Y:62.52, Z:0.27 [[ 5.41277148e-01 -8.40843260e-01 -1.28864556e-03 1.24682650e+02] [ 8.40841012e-01 5.41278681e-01 -1.94464912e-03 6.25211079e+01] [ 2.33266147e-03 -3.09519055e-05 9.99997279e-01 2.71278030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.70, Y:62.54, Z:0.27 [[ 5.40915362e-01 -8.41076074e-01 -1.26820864e-03 1.24699351e+02] [ 8.41073795e-01 5.40916849e-01 -1.95788700e-03 6.25436505e+01] [ 2.33272733e-03 -7.60589730e-06 9.99997279e-01 2.70978307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.72, Y:62.57, Z:0.27 [[ 5.42415827e-01 -8.40109197e-01 -1.26767239e-03 1.24719984e+02] [ 8.40106915e-01 5.42417309e-01 -1.95823415e-03 6.25681767e+01] [ 2.33273796e-03 -2.80314170e-06 9.99997279e-01 2.72295631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.74, Y:62.59, Z:0.27 [[ 5.41483089e-01 -8.40710658e-01 -1.28599599e-03 1.24735945e+02] [ 8.40708405e-01 5.41484615e-01 -1.94637358e-03 6.25913955e+01] [ 2.33268406e-03 -2.72192601e-05 9.99997279e-01 2.71044413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.75, Y:62.61, Z:0.27 [[ 5.39651624e-01 -8.41887450e-01 -1.28302324e-03 1.24753722e+02] [ 8.41885196e-01 5.39653149e-01 -1.94829624e-03 6.26134947e+01] [ 2.33263369e-03 -2.87570432e-05 9.99997279e-01 2.70035322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63361786499996 meters Centerline goodness : 0.995987 Centerline is valid? [True, True] Translation: X:124.77, Y:62.64, Z:0.27 [[ 5.36915746e-01 -8.43634896e-01 -1.28241677e-03 1.24768583e+02] [ 8.43632646e-01 5.36917276e-01 -1.94868956e-03 6.26360783e+01] [ 2.33253423e-03 -3.56065494e-05 9.99997279e-01 2.70930280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66361786499996 meters Centerline goodness : 0.996023 Centerline is valid? [True, True] Translation: X:124.78, Y:62.66, Z:0.27 [[ 5.37443816e-01 -8.43298575e-01 -1.28773419e-03 1.24784357e+02] [ 8.43296332e-01 5.37445357e-01 -1.94524065e-03 6.26560632e+01] [ 2.33250543e-03 -4.04839599e-05 9.99997279e-01 2.70693668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:62.68, Z:0.27 [[ 5.36823827e-01 -8.43693410e-01 -1.26800178e-03 1.24805006e+02] [ 8.43691138e-01 5.36825325e-01 -1.95801924e-03 6.26781822e+01] [ 2.33266340e-03 -1.86904868e-05 9.99997279e-01 2.71538965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.82, Y:62.71, Z:0.27 [[ 5.32144443e-01 -8.46652621e-01 -1.27723664e-03 1.24824538e+02] [ 8.46650372e-01 5.32145974e-01 -1.95205378e-03 6.27055235e+01] [ 2.33238778e-03 -4.25983082e-05 9.99997279e-01 2.70072300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.83, Y:62.72, Z:0.27 [[ 5.31578758e-01 -8.47007859e-01 -1.30794828e-03 1.24834479e+02] [ 8.47005659e-01 5.31580361e-01 -1.93219947e-03 6.27223692e+01] [ 2.33186775e-03 -8.07234042e-05 9.99997278e-01 2.70794476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.86, Y:62.75, Z:0.27 [[ 5.31026227e-01 -8.47354440e-01 -1.26437376e-03 1.24858944e+02] [ 8.47352173e-01 5.31027732e-01 -1.96030454e-03 6.27454975e+01] [ 2.33249028e-03 -3.03967268e-05 9.99997279e-01 2.71286445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.88, Y:62.77, Z:0.27 [[ 5.29690717e-01 -8.48189892e-01 -1.28477894e-03 1.24876595e+02] [ 8.48187659e-01 5.29692272e-01 -1.94715449e-03 6.27687014e+01] [ 2.33209423e-03 -5.83439800e-05 9.99997279e-01 2.71411968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.89, Y:62.79, Z:0.27 [[ 5.28240756e-01 -8.49093662e-01 -1.28751503e-03 1.24892779e+02] [ 8.49091436e-01 5.28242321e-01 -1.94539270e-03 6.27916640e+01] [ 2.33194053e-03 -6.55822752e-05 9.99997279e-01 2.71435439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.91, Y:62.81, Z:0.27 [[ 5.27045981e-01 -8.49835798e-01 -1.28466488e-03 1.24910257e+02] [ 8.49833570e-01 5.27047543e-01 -1.94722681e-03 6.28126834e+01] [ 2.33190251e-03 -6.54732737e-05 9.99997279e-01 2.71805272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.93, Y:62.84, Z:0.27 [[ 5.26643289e-01 -8.50085408e-01 -1.28313424e-03 1.24926497e+02] [ 8.50083178e-01 5.26644848e-01 -1.94821138e-03 6.28352102e+01] [ 2.33190210e-03 -6.47583816e-05 9.99997279e-01 2.71912580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.94, Y:62.86, Z:0.27 [[ 5.26842451e-01 -8.49961992e-01 -1.28213353e-03 1.24943736e+02] [ 8.49959760e-01 5.26844007e-01 -1.94885443e-03 6.28583877e+01] [ 2.33193656e-03 -6.30226641e-05 9.99997279e-01 2.72650548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.96, Y:62.88, Z:0.27 [[ 5.26453078e-01 -8.50203216e-01 -1.28403773e-03 1.24955220e+02] [ 8.50200987e-01 5.26454640e-01 -1.94763144e-03 6.28779049e+01] [ 2.33187013e-03 -6.63535748e-05 9.99997279e-01 2.72098990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.98, Y:62.90, Z:0.27 [[ 5.28854242e-01 -8.48711732e-01 -1.25946178e-03 1.24975964e+02] [ 8.48709462e-01 5.28855741e-01 -1.96339620e-03 6.29026655e+01] [ 2.33243098e-03 -3.05667245e-05 9.99997279e-01 2.72086300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.99, Y:62.93, Z:0.27 [[ 5.29394350e-01 -8.48374910e-01 -1.27817567e-03 1.24991563e+02] [ 8.48372668e-01 5.29395891e-01 -1.95139386e-03 6.29264459e+01] [ 2.33217453e-03 -5.13124161e-05 9.99997279e-01 2.71348064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.01, Y:62.95, Z:0.27 [[ 5.30457925e-01 -8.47710308e-01 -1.27419684e-03 1.25006500e+02] [ 8.47708057e-01 5.30459454e-01 -1.95394297e-03 6.29495612e+01] [ 2.33228735e-03 -4.36623951e-05 9.99997279e-01 2.71123846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.02, Y:62.97, Z:0.27 [[ 5.30872514e-01 -8.47450743e-01 -1.26955286e-03 1.25019001e+02] [ 8.47448484e-01 5.30874031e-01 -1.95691611e-03 6.29707484e+01] [ 2.33236265e-03 -3.70076672e-05 9.99997279e-01 2.71300234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:62.99, Z:0.27 [[ 5.33581742e-01 -8.45747565e-01 -1.25698358e-03 1.25037206e+02] [ 8.45745283e-01 5.33583222e-01 -1.96495668e-03 6.29942939e+01] [ 2.33256268e-03 -1.46229291e-05 9.99997279e-01 2.70805909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.05, Y:63.02, Z:0.27 [[ 5.33395801e-01 -8.45864834e-01 -1.26578386e-03 1.25051662e+02] [ 8.45862565e-01 5.33397302e-01 -1.95932830e-03 6.30166199e+01] [ 2.33249260e-03 -2.55816938e-05 9.99997279e-01 2.71133836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:125.07, Y:63.04, Z:0.27 [[ 5.35426238e-01 -8.44581052e-01 -1.26122242e-03 1.25071227e+02] [ 8.44578773e-01 5.35427723e-01 -1.96224360e-03 6.30397999e+01] [ 2.33256721e-03 -1.45649778e-05 9.99997279e-01 2.71207286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:63.06, Z:0.27 [[ 5.35109315e-01 -8.44781873e-01 -1.26796608e-03 1.25086842e+02] [ 8.44779605e-01 5.35110817e-01 -1.95793538e-03 6.30625730e+01] [ 2.33253068e-03 -2.34424227e-05 9.99997279e-01 2.71140009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.10, Y:63.08, Z:0.27 [[ 5.34962840e-01 -8.44874641e-01 -1.26559362e-03 1.25101483e+02] [ 8.44872369e-01 5.34964337e-01 -1.95945027e-03 6.30833405e+01] [ 2.33253729e-03 -2.10320015e-05 9.99997279e-01 2.72275270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.12, Y:63.11, Z:0.27 [[ 5.34669783e-01 -8.45060145e-01 -1.25448081e-03 1.25117027e+02] [ 8.45057857e-01 5.34671255e-01 -1.96653927e-03 6.31061225e+01] [ 2.33257879e-03 -8.65974064e-06 9.99997279e-01 2.72082361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.13, Y:63.13, Z:0.27 [[ 5.34447084e-01 -8.45201007e-01 -1.25399045e-03 1.25132324e+02] [ 8.45198718e-01 5.34448555e-01 -1.96685191e-03 6.31302657e+01] [ 2.33257860e-03 -8.69285471e-06 9.99997279e-01 2.72148814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.15, Y:63.15, Z:0.27 [[ 5.34444730e-01 -8.45202496e-01 -1.25347208e-03 1.25149286e+02] [ 8.45200207e-01 5.34446200e-01 -1.96718221e-03 6.31546474e+01] [ 2.33258070e-03 -8.08469810e-06 9.99997279e-01 2.71138223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.16, Y:63.18, Z:0.27 [[ 5.34588304e-01 -8.45111678e-01 -1.26380046e-03 1.25162225e+02] [ 8.45109404e-01 5.34589797e-01 -1.96060100e-03 6.31774437e+01] [ 2.33254163e-03 -1.99352872e-05 9.99997279e-01 2.72873211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:63.20, Z:0.27 [[ 5.34118907e-01 -8.45408436e-01 -1.25285682e-03 1.25176871e+02] [ 8.45406146e-01 5.34120377e-01 -1.96756940e-03 6.32014132e+01] [ 2.33257613e-03 -8.25683545e-06 9.99997280e-01 2.71617465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.19, Y:63.23, Z:0.27 [[ 5.33684308e-01 -8.45682855e-01 -1.25229417e-03 1.25192037e+02] [ 8.45680565e-01 5.33685777e-01 -1.96792745e-03 6.32257837e+01] [ 2.33257409e-03 -8.78884618e-06 9.99997280e-01 2.71406092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.21, Y:63.25, Z:0.27 [[ 5.34420270e-01 -8.45217960e-01 -1.25495672e-03 1.25209006e+02] [ 8.45215673e-01 5.34421744e-01 -1.96623400e-03 6.32509592e+01] [ 2.33257245e-03 -9.91378239e-06 9.99997280e-01 2.72311104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.22, Y:63.27, Z:0.27 [[ 5.31743023e-01 -8.46904811e-01 -1.26425029e-03 1.25220131e+02] [ 8.46902543e-01 5.31744525e-01 -1.96032511e-03 6.32740238e+01] [ 2.33246693e-03 -2.83075869e-05 9.99997279e-01 2.71776429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.24, Y:63.30, Z:0.27 [[ 5.30138899e-01 -8.47909891e-01 -1.25070387e-03 1.25236002e+02] [ 8.47907605e-01 5.30140374e-01 -1.96893006e-03 6.32987871e+01] [ 2.33252389e-03 -1.66749095e-05 9.99997280e-01 2.70041489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.25, Y:63.32, Z:0.27 [[ 5.29697331e-01 -8.48185811e-01 -1.25213050e-03 1.25251628e+02] [ 8.48183528e-01 5.29698811e-01 -1.96802415e-03 6.33213753e+01] [ 2.33250220e-03 -1.95793281e-05 9.99997280e-01 2.72480977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:125.27, Y:63.35, Z:0.27 [[ 5.25314570e-01 -8.50907186e-01 -1.24996169e-03 1.25265145e+02] [ 8.50904908e-01 5.25316057e-01 -1.96940068e-03 6.33462027e+01] [ 2.33240213e-03 -2.90436667e-05 9.99997280e-01 2.69719442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.28, Y:63.37, Z:0.27 [[ 5.23388476e-01 -8.52093271e-01 -1.24938388e-03 1.25279252e+02] [ 8.52090995e-01 5.23389966e-01 -1.96976717e-03 6.33696850e+01] [ 2.33234034e-03 -3.36353217e-05 9.99997280e-01 2.69161302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.29, Y:63.39, Z:0.27 [[ 5.19758226e-01 -8.54312488e-01 -1.24906559e-03 1.25292075e+02] [ 8.54310217e-01 5.19759725e-01 -1.96996898e-03 6.33932003e+01] [ 2.33218309e-03 -4.31819122e-05 9.99997280e-01 2.66862941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.31, Y:63.42, Z:0.27 [[ 5.18826320e-01 -8.54878760e-01 -1.24731770e-03 1.25307078e+02] [ 8.54876489e-01 5.18827817e-01 -1.97107693e-03 6.34174674e+01] [ 2.33217492e-03 -4.36559866e-05 9.99997280e-01 2.68401380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.32, Y:63.44, Z:0.27 [[ 5.18679792e-01 -8.54967666e-01 -1.24999105e-03 1.25321910e+02] [ 8.54965399e-01 5.18681297e-01 -1.96938317e-03 6.34403530e+01] [ 2.33210591e-03 -4.72198428e-05 9.99997280e-01 2.70959214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.34, Y:63.46, Z:0.27 [[ 5.16416264e-01 -8.56336782e-01 -1.24793021e-03 1.25336826e+02] [ 8.56334516e-01 5.16417770e-01 -1.97068819e-03 6.34643942e+01] [ 2.33202612e-03 -5.09502816e-05 9.99997280e-01 2.71351486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.35, Y:63.49, Z:0.27 [[ 5.16135633e-01 -8.56505956e-01 -1.24735188e-03 1.25351253e+02] [ 8.56503690e-01 5.16137137e-01 -1.97105418e-03 6.34877860e+01] [ 2.33202427e-03 -5.10301924e-05 9.99997280e-01 2.70303741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.37, Y:63.51, Z:0.27 [[ 5.14588536e-01 -8.57436344e-01 -1.24703686e-03 1.25365944e+02] [ 8.57434080e-01 5.14590044e-01 -1.97125346e-03 6.35118148e+01] [ 2.33193711e-03 -5.48674682e-05 9.99997280e-01 2.72382451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.38, Y:63.54, Z:0.27 [[ 5.13551148e-01 -8.58058078e-01 -1.24648170e-03 1.25381597e+02] [ 8.58055815e-01 5.13552657e-01 -1.97160444e-03 6.35380777e+01] [ 2.33188511e-03 -5.70311434e-05 9.99997280e-01 2.70857979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.39, Y:63.56, Z:0.27 [[ 5.12396608e-01 -8.58748003e-01 -1.25866174e-03 1.25393301e+02] [ 8.58745760e-01 5.12398148e-01 -1.96390486e-03 6.35599784e+01] [ 2.33143532e-03 -7.45722469e-05 9.99997279e-01 2.73588391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:125.41, Y:63.58, Z:0.27 [[ 5.11338800e-01 -8.59378310e-01 -1.24568187e-03 1.25406795e+02] [ 8.59376050e-01 5.11340313e-01 -1.97210362e-03 6.35841283e+01] [ 2.33175043e-03 -6.20960679e-05 9.99997280e-01 2.74444126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.42, Y:63.61, Z:0.27 [[ 5.10863331e-01 -8.59661042e-01 -1.24514839e-03 1.25420963e+02] [ 8.59658781e-01 5.10864845e-01 -1.97244039e-03 6.36081001e+01] [ 2.33173270e-03 -6.27552770e-05 9.99997280e-01 2.74807403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.43, Y:63.63, Z:0.28 [[ 5.11589491e-01 -8.59229099e-01 -1.24461443e-03 1.25434570e+02] [ 8.59226836e-01 5.11591001e-01 -1.97277726e-03 6.36320504e+01] [ 2.33180117e-03 -6.01540092e-05 9.99997280e-01 2.75345385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.45, Y:63.66, Z:0.28 [[ 5.11044608e-01 -8.59553300e-01 -1.23834294e-03 1.25448932e+02] [ 8.59551028e-01 5.11046106e-01 -1.97673124e-03 6.36562107e+01] [ 2.33195620e-03 -5.42211029e-05 9.99997280e-01 2.75186360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98361786499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.46, Y:63.68, Z:0.28 [[ 5.11067913e-01 -8.59539436e-01 -1.24368830e-03 1.25462366e+02] [ 8.59537173e-01 5.11069423e-01 -1.97336239e-03 6.36795201e+01] [ 2.33179386e-03 -6.04741214e-05 9.99997280e-01 2.75315463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.48, Y:63.71, Z:0.27 [[ 5.12556031e-01 -8.58652881e-01 -1.24333073e-03 1.25481355e+02] [ 8.58650615e-01 5.12557535e-01 -1.97358766e-03 6.37058303e+01] [ 2.33190526e-03 -5.60124380e-05 9.99997280e-01 2.74251364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.49, Y:63.73, Z:0.27 [[ 5.11559327e-01 -8.59247033e-01 -1.26173130e-03 1.25490686e+02] [ 8.59244797e-01 5.11560876e-01 -1.96199494e-03 6.37285429e+01] [ 2.33129070e-03 -8.04592455e-05 9.99997279e-01 2.74556931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.51, Y:63.75, Z:0.27 [[ 5.12503884e-01 -8.58684008e-01 -1.24238000e-03 1.25509192e+02] [ 8.58681741e-01 5.12505386e-01 -1.97417303e-03 6.37544083e+01] [ 2.33191725e-03 -5.50376734e-05 9.99997280e-01 2.73491481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:125.52, Y:63.78, Z:0.27 [[ 5.11025909e-01 -8.59564388e-01 -1.25839170e-03 1.25519831e+02] [ 8.59562147e-01 5.11027453e-01 -1.96409706e-03 6.37772389e+01] [ 2.33134059e-03 -7.79613899e-05 9.99997279e-01 2.74592293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:125.54, Y:63.80, Z:0.27 [[ 5.11662249e-01 -8.59185778e-01 -1.24145459e-03 1.25537649e+02] [ 8.59183511e-01 5.11663752e-01 -1.97474485e-03 6.38028414e+01] [ 2.33188000e-03 -5.62349240e-05 9.99997280e-01 2.73845731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:125.55, Y:63.83, Z:0.28 [[ 5.09686001e-01 -8.60359579e-01 -1.25549713e-03 1.25548522e+02] [ 8.60357336e-01 5.09687541e-01 -1.96591639e-03 6.38250278e+01] [ 2.33130624e-03 -7.81761025e-05 9.99997279e-01 2.75008858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.56, Y:63.85, Z:0.27 [[ 5.08648347e-01 -8.60973472e-01 -1.24059412e-03 1.25563088e+02] [ 8.60971209e-01 5.08649856e-01 -1.97527639e-03 6.38497470e+01] [ 2.33168859e-03 -6.33947463e-05 9.99997280e-01 2.74137395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.58, Y:63.87, Z:0.27 [[ 5.09067992e-01 -8.60725402e-01 -1.24977215e-03 1.25576653e+02] [ 8.60723152e-01 5.09069520e-01 -1.96951229e-03 6.38730914e+01] [ 2.33143017e-03 -7.30921578e-05 9.99997280e-01 2.74136822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.59, Y:63.90, Z:0.27 [[ 5.07879997e-01 -8.61426939e-01 -1.23975204e-03 1.25589940e+02] [ 8.61424676e-01 5.07881506e-01 -1.97579960e-03 6.38975478e+01] [ 2.33165413e-03 -6.44839055e-05 9.99997280e-01 2.74052843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.60, Y:63.92, Z:0.28 [[ 5.08649753e-01 -8.60972641e-01 -1.24140795e-03 1.25604393e+02] [ 8.60970378e-01 5.08651264e-01 -1.97476100e-03 6.39211724e+01] [ 2.33165892e-03 -6.43537773e-05 9.99997280e-01 2.76418714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.62, Y:63.95, Z:0.27 [[ 5.09539169e-01 -8.60446570e-01 -1.23902018e-03 1.25619559e+02] [ 8.60444303e-01 5.09540672e-01 -1.97625803e-03 6.39467983e+01] [ 2.33179561e-03 -5.91269776e-05 9.99997280e-01 2.73767159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34361786499997 meters Centerline goodness : 0.993774 Centerline is valid? [True, True] Translation: X:125.63, Y:63.97, Z:0.28 [[ 5.10873732e-01 -8.59654858e-01 -1.24693859e-03 1.25632589e+02] [ 8.59652601e-01 5.10875249e-01 -1.97128443e-03 6.39685473e+01] [ 2.33165430e-03 -6.48565712e-05 9.99997280e-01 2.76553725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.65, Y:63.99, Z:0.28 [[ 5.13483031e-01 -8.58098851e-01 -1.24037334e-03 1.25648767e+02] [ 8.58096579e-01 5.13484526e-01 -1.97540466e-03 6.39911175e+01] [ 2.33200499e-03 -5.00233489e-05 9.99997280e-01 2.76388134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.66, Y:64.02, Z:0.27 [[ 5.15742719e-01 -8.56742617e-01 -1.23922543e-03 1.25663318e+02] [ 8.56740339e-01 5.15744206e-01 -1.97612452e-03 6.40172699e+01] [ 2.33215343e-03 -4.25225830e-05 9.99997280e-01 2.73626632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.68, Y:64.04, Z:0.27 [[ 5.17855326e-01 -8.55467291e-01 -1.25549975e-03 1.25679623e+02] [ 8.55465034e-01 5.17856845e-01 -1.96591543e-03 6.40424993e+01] [ 2.33194549e-03 -5.59763580e-05 9.99997279e-01 2.72679447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:125.69, Y:64.07, Z:0.27 [[ 5.18076451e-01 -8.55333386e-01 -1.26064910e-03 1.25693207e+02] [ 8.55331137e-01 5.18077981e-01 -1.96267785e-03 6.40664831e+01] [ 2.33185843e-03 -6.14552524e-05 9.99997279e-01 2.73881045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.71, Y:64.09, Z:0.27 [[ 5.18096682e-01 -8.55321140e-01 -1.25535053e-03 1.25705578e+02] [ 8.55318882e-01 5.18098200e-01 -1.96600445e-03 6.40905718e+01] [ 2.33196001e-03 -5.51446276e-05 9.99997279e-01 2.74321043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.72, Y:64.11, Z:0.27 [[ 5.18982924e-01 -8.54783694e-01 -1.24967432e-03 1.25717640e+02] [ 8.54781426e-01 5.18984426e-01 -1.96955942e-03 6.41139771e+01] [ 2.33210878e-03 -4.60306914e-05 9.99997280e-01 2.74967720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.73, Y:64.14, Z:0.27 [[ 5.19329701e-01 -8.54573060e-01 -1.24391310e-03 1.25732762e+02] [ 8.54570783e-01 5.19331189e-01 -1.97316646e-03 6.41386465e+01] [ 2.33221777e-03 -3.82878486e-05 9.99997280e-01 2.73114877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.75, Y:64.16, Z:0.27 [[ 5.19458015e-01 -8.54495066e-01 -1.24613774e-03 1.25747436e+02] [ 8.54492792e-01 5.19459508e-01 -1.97177448e-03 6.41630371e+01] [ 2.33218966e-03 -4.05616602e-05 9.99997280e-01 2.73798415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.76, Y:64.19, Z:0.27 [[ 5.19538843e-01 -8.54445927e-01 -1.24448303e-03 1.25760862e+02] [ 8.54443650e-01 5.19540332e-01 -1.97280918e-03 6.41864966e+01] [ 2.33221789e-03 -3.83896221e-05 9.99997280e-01 2.73205597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:64.21, Z:0.28 [[ 5.19883679e-01 -8.54236168e-01 -1.23719265e-03 1.25777960e+02] [ 8.54233879e-01 5.19885150e-01 -1.97736351e-03 6.42124277e+01] [ 2.33233352e-03 -2.88528654e-05 9.99997280e-01 2.76109328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.79, Y:64.24, Z:0.27 [[ 5.19096521e-01 -8.54714715e-01 -1.24823231e-03 1.25791682e+02] [ 8.54712444e-01 5.19098020e-01 -1.97046664e-03 6.42356740e+01] [ 2.33214175e-03 -4.40173064e-05 9.99997280e-01 2.73043901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:125.80, Y:64.26, Z:0.27 [[ 5.18399504e-01 -8.55137653e-01 -1.24450171e-03 1.25804213e+02] [ 8.55135378e-01 5.18400996e-01 -1.97279806e-03 6.42580490e+01] [ 2.33216483e-03 -4.15199009e-05 9.99997280e-01 2.71921996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.82, Y:64.28, Z:0.27 [[ 5.17499955e-01 -8.55682340e-01 -1.23667805e-03 1.25820418e+02] [ 8.55680056e-01 5.17501431e-01 -1.97768343e-03 6.42833663e+01] [ 2.33225145e-03 -3.47496596e-05 9.99997280e-01 2.74407672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.83, Y:64.31, Z:0.27 [[ 5.15064626e-01 -8.57150447e-01 -1.24199702e-03 1.25833600e+02] [ 8.57148174e-01 5.15066121e-01 -1.97436307e-03 6.43070202e+01] [ 2.33203678e-03 -4.76509030e-05 9.99997280e-01 2.70204141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.85, Y:64.33, Z:0.27 [[ 5.13620762e-01 -8.58016422e-01 -1.23796696e-03 1.25848002e+02] [ 8.58014146e-01 5.13622252e-01 -1.97687707e-03 6.43307268e+01] [ 2.33204036e-03 -4.68280572e-05 9.99997280e-01 2.70746805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.86, Y:64.36, Z:0.27 [[ 5.11804381e-01 -8.59101129e-01 -1.23527433e-03 1.25863286e+02] [ 8.59098852e-01 5.11805869e-01 -1.97855584e-03 6.43555559e+01] [ 2.33200021e-03 -4.85892129e-05 9.99997280e-01 2.74021898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85361786499996 meters Centerline goodness : 0.995407 Centerline is valid? [True, True] Translation: X:125.88, Y:64.38, Z:0.28 [[ 5.12327495e-01 -8.58789272e-01 -1.23494968e-03 1.25877953e+02] [ 8.58786993e-01 5.12328981e-01 -1.97875820e-03 6.43758122e+01] [ 2.33203682e-03 -4.67864960e-05 9.99997280e-01 2.76034227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88361786499996 meters Centerline goodness : 0.995449 Centerline is valid? [True, True] Translation: X:125.89, Y:64.40, Z:0.28 [[ 5.07476975e-01 -8.61664461e-01 -1.21467041e-03 1.25893044e+02] [ 8.61662161e-01 5.07478428e-01 -1.99136035e-03 6.44001339e+01] [ 2.33230347e-03 -3.60660076e-05 9.99997280e-01 2.77656247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.91, Y:64.43, Z:0.28 [[ 5.04614009e-01 -8.63344201e-01 -1.22211252e-03 1.25908436e+02] [ 8.63341916e-01 5.04615486e-01 -1.98673543e-03 6.44253676e+01] [ 2.33193342e-03 -5.25664374e-05 9.99997280e-01 2.77211887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.92, Y:64.45, Z:0.28 [[ 5.02611921e-01 -8.64511273e-01 -1.23104435e-03 1.25923853e+02] [ 8.64509006e-01 5.02613424e-01 -1.98118549e-03 6.44489660e+01] [ 2.33149660e-03 -6.84814831e-05 9.99997280e-01 2.77259988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.97361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.94, Y:64.47, Z:0.28 [[ 4.99467191e-01 -8.66331929e-01 -1.23049886e-03 1.25938920e+02] [ 8.66329666e-01 4.99468701e-01 -1.98152423e-03 6.44710595e+01] [ 2.33125337e-03 -7.63113306e-05 9.99997280e-01 2.77537173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.95, Y:64.49, Z:0.28 [[ 5.01075938e-01 -8.65402445e-01 -1.23000982e-03 1.25954795e+02] [ 8.65400179e-01 5.01077442e-01 -1.98182775e-03 6.44936877e+01] [ 2.33140875e-03 -7.14045204e-05 9.99997280e-01 2.76377480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.97, Y:64.52, Z:0.28 [[ 4.99952193e-01 -8.66052131e-01 -1.22948619e-03 1.25969609e+02] [ 8.66049866e-01 4.99953699e-01 -1.98215255e-03 6.45160982e+01] [ 2.33133360e-03 -7.38148352e-05 9.99997280e-01 2.76986265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06361786499997 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:125.98, Y:64.54, Z:0.28 [[ 5.00697091e-01 -8.65621692e-01 -1.22901810e-03 1.25980721e+02] [ 8.65619424e-01 5.00698594e-01 -1.98244274e-03 6.45371914e+01] [ 2.33141307e-03 -7.12586331e-05 9.99997280e-01 2.76389276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09361786499997 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:125.99, Y:64.56, Z:0.28 [[ 5.01631573e-01 -8.65080514e-01 -1.21184137e-03 1.25994589e+02] [ 8.65078220e-01 5.01633035e-01 -1.99309102e-03 6.45609303e+01] [ 2.33208387e-03 -4.85401910e-05 9.99997280e-01 2.76111034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.01, Y:64.59, Z:0.28 [[ 5.06450627e-01 -8.62268111e-01 -1.21152635e-03 1.26010415e+02] [ 8.62265807e-01 5.06452075e-01 -1.99328614e-03 6.45854401e+01] [ 2.33232711e-03 -3.51567269e-05 9.99997280e-01 2.76570001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.03, Y:64.61, Z:0.28 [[ 5.06211055e-01 -8.62408754e-01 -1.22824939e-03 1.26026253e+02] [ 8.62406476e-01 5.06212542e-01 -1.98292769e-03 6.46110395e+01] [ 2.33184944e-03 -5.54703079e-05 9.99997280e-01 2.75049862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.04, Y:64.63, Z:0.28 [[ 5.09211902e-01 -8.60640294e-01 -1.23456121e-03 1.26036225e+02] [ 8.60638020e-01 5.09213396e-01 -1.97901729e-03 6.46293709e+01] [ 2.33187713e-03 -5.47711582e-05 9.99997280e-01 2.75348150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:64.65, Z:0.28 [[ 5.09147533e-01 -8.60678418e-01 -1.20430390e-03 1.26051224e+02] [ 8.60676100e-01 5.09148957e-01 -1.99773019e-03 6.46536176e+01] [ 2.33257333e-03 -1.93761839e-05 9.99997279e-01 2.75402432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.07, Y:64.68, Z:0.28 [[ 5.13408315e-01 -8.58143609e-01 -1.20339425e-03 1.26067663e+02] [ 8.58141283e-01 5.13409725e-01 -1.99829254e-03 6.46770799e+01] [ 2.33265628e-03 -6.74227844e-06 9.99997279e-01 2.75534763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.08, Y:64.70, Z:0.27 [[ 5.14453596e-01 -8.57517367e-01 -1.20932309e-03 1.26081304e+02] [ 8.57515047e-01 5.14455018e-01 -1.99462425e-03 6.47005058e+01] [ 2.33256727e-03 -1.08711280e-05 9.99997280e-01 2.74529260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.10, Y:64.73, Z:0.28 [[ 5.15202220e-01 -8.57067799e-01 -1.20818118e-03 1.26099763e+02] [ 8.57065477e-01 5.15203637e-01 -1.99533267e-03 6.47266024e+01] [ 2.33259472e-03 -7.49055492e-06 9.99997279e-01 2.77651476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.12, Y:64.75, Z:0.28 [[ 5.17800767e-01 -8.55500352e-01 -1.22995023e-03 1.26115912e+02] [ 8.55498057e-01 5.17802227e-01 -1.98182246e-03 6.47488982e+01] [ 2.33232078e-03 -2.60308384e-05 9.99997280e-01 2.77031158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.13, Y:64.77, Z:0.28 [[ 5.17404518e-01 -8.55740062e-01 -1.22963368e-03 1.26133059e+02] [ 8.55737767e-01 5.17405978e-01 -1.98201884e-03 6.47748520e+01] [ 2.33231274e-03 -2.67384783e-05 9.99997280e-01 2.77214085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.15, Y:64.80, Z:0.28 [[ 5.17565328e-01 -8.55642790e-01 -1.24401892e-03 1.26148955e+02] [ 8.55640516e-01 5.17566821e-01 -1.97309583e-03 6.47983806e+01] [ 2.33212814e-03 -4.32270029e-05 9.99997280e-01 2.75733260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:126.16, Y:64.82, Z:0.28 [[ 5.18063009e-01 -8.55341559e-01 -1.23899655e-03 1.26163508e+02] [ 8.55339277e-01 5.18064490e-01 -1.97620870e-03 6.48201946e+01] [ 2.33221355e-03 -3.59617829e-05 9.99997280e-01 2.77490521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.18, Y:64.85, Z:0.28 [[ 5.19168009e-01 -8.54671323e-01 -1.22791934e-03 1.26181124e+02] [ 8.54669023e-01 5.19169460e-01 -1.98306773e-03 6.48458658e+01] [ 2.33236934e-03 -1.99192972e-05 9.99997280e-01 2.77942401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48361786499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.19, Y:64.87, Z:0.28 [[ 5.19745527e-01 -8.54320223e-01 -1.24220373e-03 1.26194591e+02] [ 8.54317943e-01 5.19747010e-01 -1.97422207e-03 6.48679321e+01] [ 2.33224952e-03 -3.51438484e-05 9.99997280e-01 2.78338691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51361786499996 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:126.21, Y:64.89, Z:0.28 [[ 5.20235644e-01 -8.54021872e-01 -1.23141093e-03 1.26211995e+02] [ 8.54019575e-01 5.20237101e-01 -1.98090168e-03 6.48929483e+01] [ 2.33235901e-03 -2.11133759e-05 9.99997280e-01 2.78669469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54361786499996 meters Centerline goodness : 0.994846 Centerline is valid? [True, True] Translation: X:126.23, Y:64.92, Z:0.28 [[ 5.20094310e-01 -8.54107943e-01 -1.23717801e-03 1.26227145e+02] [ 8.54105654e-01 5.20095781e-01 -1.97732645e-03 6.49153819e+01] [ 2.33230129e-03 -2.82844935e-05 9.99997280e-01 2.78746426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.24, Y:64.94, Z:0.28 [[ 5.19797041e-01 -8.54288896e-01 -1.23179164e-03 1.26241595e+02] [ 8.54286601e-01 5.19798501e-01 -1.98066302e-03 6.49370060e+01] [ 2.33234187e-03 -2.27603184e-05 9.99997280e-01 2.77414908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.26, Y:64.96, Z:0.28 [[ 5.19369243e-01 -8.54549052e-01 -1.22737644e-03 1.26263840e+02] [ 8.54546751e-01 5.19370693e-01 -1.98339526e-03 6.49624002e+01] [ 2.33237189e-03 -1.87360586e-05 9.99997280e-01 2.75075611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:126.27, Y:64.98, Z:0.28 [[ 5.17982229e-01 -8.55390466e-01 -1.24985282e-03 1.26274982e+02] [ 8.55388200e-01 5.17983734e-01 -1.96949087e-03 6.49836745e+01] [ 2.33208715e-03 -4.89480834e-05 9.99997279e-01 2.76257851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.29, Y:65.01, Z:0.28 [[ 5.16449491e-01 -8.56316776e-01 -1.22591246e-03 1.26291229e+02] [ 8.56314477e-01 5.16450946e-01 -1.98428151e-03 6.50080109e+01] [ 2.33229719e-03 -2.49854159e-05 9.99997280e-01 2.75904653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69361786499996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:126.31, Y:65.03, Z:0.28 [[ 5.15374239e-01 -8.56964338e-01 -1.23157774e-03 1.26307795e+02] [ 8.56962050e-01 5.15375709e-01 -1.98078252e-03 6.50296197e+01] [ 2.33218523e-03 -3.45710971e-05 9.99997280e-01 2.78223597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72361786499997 meters Centerline goodness : 0.995508 Centerline is valid? [True, True] Translation: X:126.32, Y:65.05, Z:0.27 [[ 5.13230055e-01 -8.58250203e-01 -1.22474004e-03 1.26324015e+02] [ 8.58247908e-01 5.13231515e-01 -1.98500136e-03 6.50534614e+01] [ 2.33220301e-03 -3.23682246e-05 9.99997280e-01 2.74367528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.75361786499997 meters Centerline goodness : 0.995888 Centerline is valid? [True, True] Translation: X:126.34, Y:65.08, Z:0.27 [[ 5.11179234e-01 -8.59473243e-01 -1.23941909e-03 1.26336841e+02] [ 8.59470973e-01 5.11180733e-01 -1.97594424e-03 6.50750363e+01] [ 2.33183836e-03 -5.51830657e-05 9.99997280e-01 2.74013554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78361786499997 meters Centerline goodness : 0.996803 Centerline is valid? [True, True] Translation: X:126.35, Y:65.10, Z:0.28 [[ 5.09127069e-01 -8.60690493e-01 -1.22580825e-03 1.26353191e+02] [ 8.60688207e-01 5.09128542e-01 -1.98433075e-03 6.50996685e+01] [ 2.33198858e-03 -4.47622095e-05 9.99997280e-01 2.75186308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.37, Y:65.12, Z:0.28 [[ 5.09300635e-01 -8.60587786e-01 -1.23527126e-03 1.26365143e+02] [ 8.60585513e-01 5.09302130e-01 -1.97850400e-03 6.51222178e+01] [ 2.33180266e-03 -5.54032079e-05 9.99997280e-01 2.75245774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:126.38, Y:65.15, Z:0.27 [[ 5.08586802e-01 -8.61009855e-01 -1.22204991e-03 1.26379875e+02] [ 8.61007564e-01 5.08588269e-01 -1.98663692e-03 6.51461520e+01] [ 2.33203421e-03 -4.18168976e-05 9.99997280e-01 2.74775461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.39, Y:65.17, Z:0.27 [[ 5.09397406e-01 -8.60530523e-01 -1.22525899e-03 1.26393663e+02] [ 8.60528236e-01 5.09398878e-01 -1.98466342e-03 6.51703383e+01] [ 2.33200901e-03 -4.33875582e-05 9.99997280e-01 2.73980581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:126.41, Y:65.19, Z:0.27 [[ 5.09489105e-01 -8.60476236e-01 -1.22390788e-03 1.26408226e+02] [ 8.60473947e-01 5.09490574e-01 -1.98549388e-03 6.51940657e+01] [ 2.33203983e-03 -4.15533453e-05 9.99997280e-01 2.73235877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:126.42, Y:65.22, Z:0.27 [[ 5.10468126e-01 -8.59895803e-01 -1.22518958e-03 1.26424370e+02] [ 8.59893513e-01 5.10469595e-01 -1.98470638e-03 6.52179224e+01] [ 2.33206271e-03 -4.04032259e-05 9.99997280e-01 2.73309581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:65.24, Z:0.27 [[ 5.09316411e-01 -8.60578463e-01 -1.22567826e-03 1.26437248e+02] [ 8.60576177e-01 5.09317883e-01 -1.98440628e-03 6.52416221e+01] [ 2.33199717e-03 -4.40988213e-05 9.99997280e-01 2.71617319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.45, Y:65.27, Z:0.27 [[ 5.09273676e-01 -8.60603766e-01 -1.21694987e-03 1.26450540e+02] [ 8.60601466e-01 5.09275129e-01 -1.98976311e-03 6.52669226e+01] [ 2.33215993e-03 -3.39748698e-05 9.99997280e-01 2.71288575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.46, Y:65.29, Z:0.27 [[ 5.10289837e-01 -8.60001622e-01 -1.22157194e-03 1.26462359e+02] [ 8.59999328e-01 5.10291298e-01 -1.98692726e-03 6.52895612e+01] [ 2.33211820e-03 -3.66422617e-05 9.99997280e-01 2.69214233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:126.48, Y:65.31, Z:0.27 [[ 5.10213779e-01 -8.60046767e-01 -1.20740137e-03 1.26476307e+02] [ 8.60044452e-01 5.10215208e-01 -1.99561915e-03 6.53143025e+01] [ 2.33236034e-03 -2.02264641e-05 9.99997280e-01 2.67881754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.49, Y:65.34, Z:0.27 [[ 5.11255603e-01 -8.59427861e-01 -1.20879981e-03 1.26490975e+02] [ 8.59425546e-01 5.11257031e-01 -1.99476101e-03 6.53396757e+01] [ 2.33236060e-03 -1.90406956e-05 9.99997280e-01 2.70236542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:126.50, Y:65.36, Z:0.27 [[ 5.11694535e-01 -8.59166592e-01 -1.21241347e-03 1.26504211e+02] [ 8.59164282e-01 5.11695971e-01 -1.99254380e-03 6.53624239e+01] [ 2.33231415e-03 -2.20885742e-05 9.99997280e-01 2.69342295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:126.52, Y:65.39, Z:0.27 [[ 5.11778387e-01 -8.59116663e-01 -1.20107312e-03 1.26519243e+02] [ 8.59114336e-01 5.11779796e-01 -1.99949315e-03 6.53875694e+01] [ 2.33248284e-03 -8.56175423e-06 9.99997280e-01 2.69284688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.54, Y:65.41, Z:0.27 [[ 5.12589240e-01 -8.58633111e-01 -1.20447574e-03 1.26535267e+02] [ 8.58630788e-01 5.12590655e-01 -1.99740658e-03 6.54132637e+01] [ 2.33244243e-03 -1.03508337e-05 9.99997280e-01 2.70870504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.55, Y:65.44, Z:0.27 [[ 5.12169851e-01 -8.58883332e-01 -1.21069495e-03 1.26550248e+02] [ 8.58881018e-01 5.12171282e-01 -1.99359390e-03 6.54381186e+01] [ 2.33234776e-03 -1.87842202e-05 9.99997280e-01 2.72620078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:126.56, Y:65.46, Z:0.27 [[ 5.11844514e-01 -8.59077242e-01 -1.21889463e-03 1.26563009e+02] [ 8.59074941e-01 5.11845965e-01 -1.98856790e-03 6.54607388e+01] [ 2.33221973e-03 -2.92842556e-05 9.99997280e-01 2.69711471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:126.58, Y:65.49, Z:0.27 [[ 5.10994011e-01 -8.59583419e-01 -1.21059441e-03 1.26577879e+02] [ 8.59581108e-01 5.10995445e-01 -1.99365277e-03 6.54856083e+01] [ 2.33231909e-03 -2.18594612e-05 9.99997280e-01 2.70605143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.59, Y:65.51, Z:0.27 [[ 5.09740721e-01 -8.60327221e-01 -1.21262518e-03 1.26592429e+02] [ 8.60324914e-01 5.09742163e-01 -1.99240913e-03 6.55096007e+01] [ 2.33224999e-03 -2.76395831e-05 9.99997280e-01 2.69329528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.61, Y:65.53, Z:0.27 [[ 5.09817512e-01 -8.60281713e-01 -1.21649744e-03 1.26607519e+02] [ 8.60279411e-01 5.09818962e-01 -1.99003806e-03 6.55317223e+01] [ 2.33218682e-03 -3.19714504e-05 9.99997280e-01 2.68877074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.62, Y:65.56, Z:0.27 [[ 5.08573098e-01 -8.61017968e-01 -1.20970133e-03 1.26622355e+02] [ 8.61015659e-01 5.08574536e-01 -1.99419609e-03 6.55554245e+01] [ 2.33226196e-03 -2.73773087e-05 9.99997280e-01 2.68070483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:126.64, Y:65.58, Z:0.27 [[ 5.07727426e-01 -8.61516919e-01 -1.20776872e-03 1.26638563e+02] [ 8.61514609e-01 5.07728862e-01 -1.99537802e-03 6.55798701e+01] [ 2.33227096e-03 -2.74022501e-05 9.99997280e-01 2.69619010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.65, Y:65.60, Z:0.27 [[ 5.05561197e-01 -8.62789891e-01 -1.21670961e-03 1.26654055e+02] [ 8.62787597e-01 5.05562659e-01 -1.98991121e-03 6.56025044e+01] [ 2.33199822e-03 -4.37400647e-05 9.99997280e-01 2.68322284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.67, Y:65.63, Z:0.27 [[ 5.05060623e-01 -8.63083015e-01 -1.21489188e-03 1.26669459e+02] [ 8.63080720e-01 5.05062083e-01 -1.99102231e-03 6.56271412e+01] [ 2.33201336e-03 -4.29627850e-05 9.99997280e-01 2.67961805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.68, Y:65.65, Z:0.27 [[ 5.04935721e-01 -8.63156092e-01 -1.21616531e-03 1.26683428e+02] [ 8.63153799e-01 5.04937183e-01 -1.99024416e-03 6.56500163e+01] [ 2.33197846e-03 -4.47923381e-05 9.99997280e-01 2.68134690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.70, Y:65.67, Z:0.27 [[ 5.02703776e-01 -8.64457885e-01 -1.21585349e-03 1.26699596e+02] [ 8.64455595e-01 5.02705244e-01 -1.99043464e-03 6.56726164e+01] [ 2.33186284e-03 -5.04523407e-05 9.99997280e-01 2.70938947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.71, Y:65.70, Z:0.27 [[ 5.01379315e-01 -8.65226737e-01 -1.21531562e-03 1.26714901e+02] [ 8.65224448e-01 5.01380785e-01 -1.99076300e-03 6.56963510e+01] [ 2.33179727e-03 -5.33933961e-05 9.99997280e-01 2.71496545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.73, Y:65.72, Z:0.27 [[ 4.99293601e-01 -8.66432008e-01 -1.21476750e-03 1.26730034e+02] [ 8.66429722e-01 4.99295075e-01 -1.99109741e-03 6.57182641e+01] [ 2.33167795e-03 -5.83684702e-05 9.99997280e-01 2.70887172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:126.75, Y:65.74, Z:0.27 [[ 4.98327326e-01 -8.66988121e-01 -1.21439477e-03 1.26747888e+02] [ 8.66985836e-01 4.98328802e-01 -1.99132471e-03 6.57449856e+01] [ 2.33162276e-03 -6.05315524e-05 9.99997280e-01 2.69376768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:126.76, Y:65.77, Z:0.27 [[ 4.98210814e-01 -8.67055059e-01 -1.22836486e-03 1.26763170e+02] [ 8.67052796e-01 4.98212322e-01 -1.98281429e-03 6.57691451e+01] [ 2.33119567e-03 -7.71976678e-05 9.99997280e-01 2.70324800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.77, Y:65.79, Z:0.27 [[ 4.96164731e-01 -8.68227533e-01 -1.22894012e-03 1.26773814e+02] [ 8.68225274e-01 4.96166246e-01 -1.98246400e-03 6.57915408e+01] [ 2.33098843e-03 -8.33681551e-05 9.99997280e-01 2.71729857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:126.79, Y:65.82, Z:0.27 [[ 4.95935933e-01 -8.68358268e-01 -1.21218837e-03 1.26788187e+02] [ 8.68355984e-01 4.95937410e-01 -1.99265456e-03 6.58153934e+01] [ 2.33150762e-03 -6.43820295e-05 9.99997280e-01 2.71576122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.80, Y:65.84, Z:0.27 [[ 4.96356831e-01 -8.68117750e-01 -1.21163756e-03 1.26802037e+02] [ 8.68115465e-01 4.96358306e-01 -1.99298943e-03 6.58383895e+01] [ 2.33155586e-03 -6.26073879e-05 9.99997280e-01 2.71487808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:126.82, Y:65.86, Z:0.27 [[ 4.96615393e-01 -8.67969864e-01 -1.21114316e-03 1.26816288e+02] [ 8.67967577e-01 4.96616867e-01 -1.99328983e-03 6.58623008e+01] [ 2.33158962e-03 -6.13345854e-05 9.99997280e-01 2.71134357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.83, Y:65.89, Z:0.27 [[ 4.97139478e-01 -8.67669795e-01 -1.21059845e-03 1.26830297e+02] [ 8.67667507e-01 4.97140949e-01 -1.99362059e-03 6.58864467e+01] [ 2.33164244e-03 -5.92894395e-05 9.99997280e-01 2.70971079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:126.84, Y:65.91, Z:0.27 [[ 4.98346911e-01 -8.66976870e-01 -1.21005294e-03 1.26843055e+02] [ 8.66974578e-01 4.98348377e-01 -1.99395164e-03 6.59119619e+01] [ 2.33173787e-03 -5.54054970e-05 9.99997280e-01 2.70313128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:126.86, Y:65.94, Z:0.27 [[ 4.98693012e-01 -8.66777836e-01 -1.20949998e-03 1.26857531e+02] [ 8.66775543e-01 4.98694476e-01 -1.99428701e-03 6.59363656e+01] [ 2.33177473e-03 -5.38280108e-05 9.99997280e-01 2.70116569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86361786499998 meters Centerline goodness : 0.995211 Centerline is valid? [True, True] Translation: X:126.87, Y:65.96, Z:0.27 [[ 4.98512907e-01 -8.66881434e-01 -1.20894189e-03 1.26870091e+02] [ 8.66879141e-01 4.98514370e-01 -1.99462526e-03 6.59610414e+01] [ 2.33177851e-03 -5.36600693e-05 9.99997280e-01 2.69638611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:126.88, Y:65.98, Z:0.27 [[ 4.98591037e-01 -8.66836489e-01 -1.21616326e-03 1.26882563e+02] [ 8.66834206e-01 4.98592516e-01 -1.99024980e-03 6.59839947e+01] [ 2.33159105e-03 -6.18911993e-05 9.99997280e-01 2.68150796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:66.01, Z:0.27 [[ 4.97849839e-01 -8.67262405e-01 -1.20760510e-03 1.26896434e+02] [ 8.67260111e-01 4.97851301e-01 -1.99542908e-03 6.60084709e+01] [ 2.33176839e-03 -5.38836900e-05 9.99997280e-01 2.68020324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95361786499998 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:126.91, Y:66.03, Z:0.27 [[ 4.97883448e-01 -8.67243112e-01 -1.20705392e-03 1.26909128e+02] [ 8.67240817e-01 4.97884909e-01 -1.99576243e-03 6.60304208e+01] [ 2.33178515e-03 -5.31493454e-05 9.99997280e-01 2.70334286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.92, Y:66.06, Z:0.27 [[ 4.94985270e-01 -8.68900546e-01 -1.19274887e-03 1.26923049e+02] [ 8.68898236e-01 4.94986705e-01 -2.00440195e-03 6.60574152e+01] [ 2.33202079e-03 -4.42279464e-05 9.99997280e-01 2.69554289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:126.94, Y:66.08, Z:0.27 [[ 4.93321909e-01 -8.69845986e-01 -1.20589699e-03 1.26936889e+02] [ 8.69843698e-01 4.93323378e-01 -1.99646026e-03 6.60816585e+01] [ 2.33151012e-03 -6.40443100e-05 9.99997280e-01 2.70685922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04361786499996 meters Centerline goodness : 0.994789 Centerline is valid? [True, True] Translation: X:126.95, Y:66.10, Z:0.27 [[ 4.91879664e-01 -8.70662359e-01 -1.20535667e-03 1.26947799e+02] [ 8.70660072e-01 4.91881136e-01 -1.99678642e-03 6.61047903e+01] [ 2.33141899e-03 -6.72772866e-05 9.99997280e-01 2.71246531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:66.13, Z:0.27 [[ 4.89236318e-01 -8.72150449e-01 -1.19131978e-03 1.26961197e+02] [ 8.72148146e-01 4.89237765e-01 -2.00524975e-03 6.61293162e+01] [ 2.33171810e-03 -5.79663278e-05 9.99997280e-01 2.68461915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.98, Y:66.15, Z:0.27 [[ 4.89003178e-01 -8.72281171e-01 -1.20420842e-03 1.26975903e+02] [ 8.72278887e-01 4.89004655e-01 -1.99747966e-03 6.61538190e+01] [ 2.33122742e-03 -7.36316779e-05 9.99997280e-01 2.68533869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13361786499996 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:126.99, Y:66.17, Z:0.27 [[ 4.89380034e-01 -8.72069799e-01 -1.20367441e-03 1.26988002e+02] [ 8.72067513e-01 4.89381509e-01 -1.99780140e-03 6.61748861e+01] [ 2.33127826e-03 -7.20012322e-05 9.99997280e-01 2.71553609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.00, Y:66.20, Z:0.27 [[ 4.85379445e-01 -8.74302806e-01 -1.18242785e-03 1.27001517e+02] [ 8.74300496e-01 4.85380882e-01 -2.01058332e-03 6.62023617e+01] [ 2.33178651e-03 -5.79014383e-05 9.99997280e-01 2.68693896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:66.23, Z:0.27 [[ 4.83575022e-01 -8.75302090e-01 -1.20421051e-03 1.27013283e+02] [ 8.75299815e-01 4.83576513e-01 -1.99748263e-03 6.62269853e+01] [ 2.33072865e-03 -8.81125321e-05 9.99997280e-01 2.69340324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.03, Y:66.25, Z:0.27 [[ 4.83907619e-01 -8.75118262e-01 -1.20171348e-03 1.27029555e+02] [ 8.75115983e-01 4.83909104e-01 -1.99898376e-03 6.62529206e+01] [ 2.33086728e-03 -8.43152021e-05 9.99997280e-01 2.69420275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:66.28, Z:0.27 [[ 4.83157054e-01 -8.75532859e-01 -1.21380844e-03 1.27042447e+02] [ 8.75530600e-01 4.83158568e-01 -1.99171573e-03 6.62779116e+01] [ 2.33027451e-03 -1.00414930e-04 9.99997280e-01 2.68655198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.06, Y:66.30, Z:0.27 [[ 4.84153055e-01 -8.74982487e-01 -1.21120413e-03 1.27055797e+02] [ 8.74980221e-01 4.84154561e-01 -1.99327987e-03 6.63036181e+01] [ 2.33049498e-03 -9.47271158e-05 9.99997280e-01 2.68978579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.07, Y:66.33, Z:0.27 [[ 4.82983156e-01 -8.75628797e-01 -1.21693175e-03 1.27065136e+02] [ 8.75626543e-01 4.82984677e-01 -1.98983958e-03 6.63272520e+01] [ 2.33012022e-03 -1.04518741e-04 9.99997280e-01 2.68229957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.08, Y:66.35, Z:0.27 [[ 4.84268365e-01 -8.74918688e-01 -1.19999759e-03 1.27076971e+02] [ 8.74916406e-01 4.84269845e-01 -2.00000005e-03 6.63500438e+01] [ 2.33096007e-03 -8.13608305e-05 9.99997280e-01 2.68594179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.09, Y:66.38, Z:0.27 [[ 4.86032032e-01 -8.73940181e-01 -1.19317197e-03 1.27094885e+02] [ 8.73937886e-01 4.86033492e-01 -2.00409795e-03 6.63775359e+01] [ 2.33138326e-03 -6.87023839e-05 9.99997280e-01 2.69176527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.11, Y:66.40, Z:0.27 [[ 4.88312142e-01 -8.72668191e-01 -1.21675174e-03 1.27105332e+02] [ 8.72665927e-01 4.88313650e-01 -1.98994062e-03 6.63998540e+01] [ 2.33071436e-03 -9.01056124e-05 9.99997280e-01 2.69698006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.12, Y:66.43, Z:0.27 [[ 4.87274799e-01 -8.73247866e-01 -1.19804435e-03 1.27120882e+02] [ 8.73245576e-01 4.87276266e-01 -2.00115988e-03 6.64276389e+01] [ 2.33128718e-03 -7.10721521e-05 9.99997280e-01 2.69845482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.13, Y:66.45, Z:0.27 [[ 4.86182154e-01 -8.73856646e-01 -1.21470230e-03 1.27130136e+02] [ 8.73854383e-01 4.86183662e-01 -1.99117398e-03 6.64511521e+01] [ 2.33056903e-03 -9.33996713e-05 9.99997280e-01 2.68230188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49361786499998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:127.14, Y:66.48, Z:0.27 [[ 4.88376953e-01 -8.72631952e-01 -1.19499125e-03 1.27144827e+02] [ 8.72629656e-01 4.88378411e-01 -2.00298014e-03 6.64786946e+01] [ 2.33147239e-03 -6.45754657e-05 9.99997280e-01 2.68804430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:66.50, Z:0.27 [[ 4.88659905e-01 -8.72473519e-01 -1.20638628e-03 1.27158256e+02] [ 8.72471239e-01 4.88661388e-01 -1.99615545e-03 6.65034539e+01] [ 2.33110716e-03 -7.70961953e-05 9.99997280e-01 2.68205974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55361786499998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:127.17, Y:66.53, Z:0.27 [[ 4.90245170e-01 -8.71583738e-01 -1.20910113e-03 1.27168935e+02] [ 8.71581459e-01 4.90246655e-01 -1.99452931e-03 6.65267255e+01] [ 2.33115710e-03 -7.60217636e-05 9.99997280e-01 2.67711373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.18, Y:66.55, Z:0.27 [[ 4.91308759e-01 -8.70984662e-01 -1.19268287e-03 1.27181240e+02] [ 8.70982357e-01 4.91310204e-01 -2.00435236e-03 6.65526231e+01] [ 2.33173742e-03 -5.40498721e-05 9.99997280e-01 2.67026578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.20, Y:66.58, Z:0.27 [[ 4.91290019e-01 -8.70995226e-01 -1.19722444e-03 1.27195193e+02] [ 8.70992928e-01 4.91291474e-01 -2.00163594e-03 6.65779659e+01] [ 2.33160151e-03 -5.93902597e-05 9.99997280e-01 2.67494145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.21, Y:66.60, Z:0.27 [[ 4.92146707e-01 -8.70511451e-01 -1.19675394e-03 1.27207549e+02] [ 8.70509151e-01 4.92148159e-01 -2.00191721e-03 6.66026018e+01] [ 2.33167210e-03 -5.65482935e-05 9.99997280e-01 2.66574857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.22, Y:66.63, Z:0.27 [[ 4.93001995e-01 -8.70027357e-01 -1.19623495e-03 1.27220785e+02] [ 8.70025055e-01 4.93003443e-01 -2.00222728e-03 6.66264079e+01] [ 2.33174046e-03 -5.36523388e-05 9.99997280e-01 2.66597406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:66.65, Z:0.27 [[ 4.92170586e-01 -8.70497960e-01 -1.18982590e-03 1.27235387e+02] [ 8.70495650e-01 4.92172022e-01 -2.00605424e-03 6.66524591e+01] [ 2.33186515e-03 -4.84173815e-05 9.99997280e-01 2.66484868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:66.68, Z:0.27 [[ 4.92190536e-01 -8.70486673e-01 -1.19547281e-03 1.27247378e+02] [ 8.70484371e-01 4.92191984e-01 -2.00268340e-03 6.66766207e+01] [ 2.33171135e-03 -5.49385826e-05 9.99997280e-01 2.65577248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:66.70, Z:0.27 [[ 4.92199111e-01 -8.70481825e-01 -1.19498408e-03 1.27261446e+02] [ 8.70479522e-01 4.92200559e-01 -2.00297498e-03 6.67010519e+01] [ 2.33172515e-03 -5.43466682e-05 9.99997280e-01 2.66334153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.28, Y:66.73, Z:0.27 [[ 4.90210538e-01 -8.71603237e-01 -1.19449671e-03 1.27275316e+02] [ 8.71600936e-01 4.90211989e-01 -2.00326559e-03 6.67255856e+01] [ 2.33160938e-03 -5.91025465e-05 9.99997280e-01 2.66547613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:66.75, Z:0.27 [[ 4.89695664e-01 -8.71892614e-01 -1.19394986e-03 1.27289969e+02] [ 8.71890314e-01 4.89697116e-01 -2.00359146e-03 6.67504986e+01] [ 2.33159040e-03 -5.98432627e-05 9.99997280e-01 2.67720090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.30, Y:66.78, Z:0.27 [[ 4.87404817e-01 -8.73175309e-01 -1.19343583e-03 1.27302866e+02] [ 8.73173012e-01 4.87406274e-01 -2.00389760e-03 6.67753856e+01] [ 2.33144201e-03 -6.53666151e-05 9.99997280e-01 2.65928580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.32, Y:66.80, Z:0.27 [[ 4.87170266e-01 -8.73306189e-01 -1.19717026e-03 1.27315604e+02] [ 8.73303898e-01 4.87171731e-01 -2.00167393e-03 6.67989535e+01] [ 2.33130173e-03 -7.03374342e-05 9.99997280e-01 2.66030923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.33, Y:66.82, Z:0.27 [[ 4.87102372e-01 -8.73344065e-01 -1.19286818e-03 1.27329822e+02] [ 8.73341768e-01 4.87103828e-01 -2.00423441e-03 6.68235969e+01] [ 2.33143688e-03 -6.55142685e-05 9.99997280e-01 2.66491074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.34, Y:66.85, Z:0.26 [[ 4.86506700e-01 -8.73676032e-01 -1.19237081e-03 1.27341268e+02] [ 8.73673735e-01 4.86508156e-01 -2.00453026e-03 6.68494845e+01] [ 2.33140817e-03 -6.65256592e-05 9.99997280e-01 2.64891838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.97361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.36, Y:66.87, Z:0.26 [[ 4.87416992e-01 -8.73168514e-01 -1.19219544e-03 1.27356085e+02] [ 8.73166216e-01 4.87418446e-01 -2.00463456e-03 6.68749569e+01] [ 2.33148183e-03 -6.38918286e-05 9.99997280e-01 2.64671593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:66.90, Z:0.26 [[ 4.86809434e-01 -8.73507377e-01 -1.19909935e-03 1.27367781e+02] [ 8.73505089e-01 4.86810905e-01 -2.00052883e-03 6.68980494e+01] [ 2.33121133e-03 -7.35430777e-05 9.99997280e-01 2.64512469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:66.92, Z:0.26 [[ 4.87930865e-01 -8.72881465e-01 -1.19135436e-03 1.27380091e+02] [ 8.72879164e-01 4.87932316e-01 -2.00513054e-03 6.69228475e+01] [ 2.33154157e-03 -6.15433174e-05 9.99997280e-01 2.63045981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.39, Y:66.95, Z:0.26 [[ 4.88584975e-01 -8.72515504e-01 -1.19082188e-03 1.27393558e+02] [ 8.72513201e-01 4.88586422e-01 -2.00544672e-03 6.69478431e+01] [ 2.33160276e-03 -5.91766807e-05 9.99997280e-01 2.62425247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:66.97, Z:0.26 [[ 4.89762302e-01 -8.71855189e-01 -1.19026621e-03 1.27406478e+02] [ 8.71852884e-01 4.89763745e-01 -2.00577647e-03 6.69716613e+01] [ 2.33169586e-03 -5.53833236e-05 9.99997280e-01 2.63291276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:67.00, Z:0.26 [[ 4.91773340e-01 -8.70722439e-01 -1.18995565e-03 1.27418756e+02] [ 8.70720130e-01 4.91774777e-01 -2.00596069e-03 6.69968972e+01] [ 2.33182516e-03 -4.96403466e-05 9.99997280e-01 2.61575212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.43, Y:67.02, Z:0.26 [[ 4.92759049e-01 -8.70164987e-01 -1.18940708e-03 1.27432581e+02] [ 8.70162675e-01 4.92760482e-01 -2.00628591e-03 6.70217285e+01] [ 2.33189256e-03 -4.63621156e-05 9.99997280e-01 2.61396561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.45, Y:67.05, Z:0.26 [[ 4.93694345e-01 -8.69634682e-01 -1.18886186e-03 1.27446166e+02] [ 8.69632368e-01 4.93695775e-01 -2.00660894e-03 6.70461855e+01] [ 2.33195280e-03 -4.32212701e-05 9.99997280e-01 2.61183249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.46, Y:67.07, Z:0.26 [[ 4.94996110e-01 -8.68894377e-01 -1.18831975e-03 1.27459985e+02] [ 8.68892060e-01 4.94997535e-01 -2.00692992e-03 6.70713407e+01] [ 2.33202547e-03 -3.90990899e-05 9.99997280e-01 2.60021072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.47, Y:67.10, Z:0.26 [[ 4.95888005e-01 -8.68385665e-01 -1.19290181e-03 1.27473785e+02] [ 8.68383353e-01 4.95889438e-01 -2.00421747e-03 6.70958562e+01] [ 2.33198113e-03 -4.20286667e-05 9.99997280e-01 2.61121422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.49, Y:67.12, Z:0.26 [[ 4.96898302e-01 -8.67807962e-01 -1.19141256e-03 1.27487337e+02] [ 8.67805646e-01 4.96899729e-01 -2.00509841e-03 6.71201246e+01] [ 2.33205294e-03 -3.75845500e-05 9.99997280e-01 2.61457615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.50, Y:67.14, Z:0.26 [[ 4.96304191e-01 -8.68147880e-01 -1.18690738e-03 1.27499410e+02] [ 8.68145559e-01 4.96305609e-01 -2.00776169e-03 6.71448778e+01] [ 2.33210284e-03 -3.39478323e-05 9.99997280e-01 2.58854684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:67.17, Z:0.26 [[ 4.98062058e-01 -8.67140576e-01 -1.18659099e-03 1.27514041e+02] [ 8.67138251e-01 4.98063471e-01 -2.00794866e-03 6.71677347e+01] [ 2.33217138e-03 -2.88553938e-05 9.99997280e-01 2.61306951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:67.19, Z:0.26 [[ 4.98010893e-01 -8.67169962e-01 -1.18610665e-03 1.27527661e+02] [ 8.67167637e-01 4.98012305e-01 -2.00823472e-03 6.71916614e+01] [ 2.33217653e-03 -2.84305316e-05 9.99997280e-01 2.62095260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:67.22, Z:0.26 [[ 4.96281450e-01 -8.68160880e-01 -1.18650744e-03 1.27539308e+02] [ 8.68158559e-01 4.96282867e-01 -2.00799808e-03 6.72173601e+01] [ 2.33210870e-03 -3.35443914e-05 9.99997280e-01 2.58010295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:67.24, Z:0.26 [[ 4.97678482e-01 -8.67360781e-01 -1.18529402e-03 1.27554944e+02] [ 8.67358455e-01 4.97679892e-01 -2.00871410e-03 6.72394263e+01] [ 2.33217683e-03 -2.83810081e-05 9.99997280e-01 2.60858555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:67.26, Z:0.26 [[ 4.95575228e-01 -8.68564211e-01 -1.18496578e-03 1.27567688e+02] [ 8.68561889e-01 4.95576644e-01 -2.00890771e-03 6.72648175e+01] [ 2.33210670e-03 -3.36512238e-05 9.99997280e-01 2.58724776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:67.29, Z:0.26 [[ 4.94001575e-01 -8.69460201e-01 -1.18438629e-03 1.27582319e+02] [ 8.69457880e-01 4.94002994e-01 -2.00924930e-03 6.72885116e+01] [ 2.33205267e-03 -3.72016680e-05 9.99997280e-01 2.59277286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:67.31, Z:0.26 [[ 4.94147166e-01 -8.69377465e-01 -1.18381065e-03 1.27597814e+02] [ 8.69375144e-01 4.94148582e-01 -2.00958840e-03 6.73105646e+01] [ 2.33206922e-03 -3.61431457e-05 9.99997280e-01 2.61999568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:67.34, Z:0.26 [[ 4.91279032e-01 -8.71001442e-01 -1.18350415e-03 1.27610452e+02] [ 8.70999124e-01 4.91280456e-01 -2.00976889e-03 6.73361510e+01] [ 2.33194406e-03 -4.34737617e-05 9.99997280e-01 2.58448694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:67.36, Z:0.26 [[ 4.88840045e-01 -8.72372633e-01 -1.18293136e-03 1.27624254e+02] [ 8.72370319e-01 4.88841474e-01 -2.01010597e-03 6.73581334e+01] [ 2.33182735e-03 -4.93339099e-05 9.99997280e-01 2.57065002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:67.38, Z:0.26 [[ 4.87719463e-01 -8.72999626e-01 -1.17369257e-03 1.27640325e+02] [ 8.72997301e-01 4.87720874e-01 -2.01554046e-03 6.73832346e+01] [ 2.33200043e-03 -4.16121315e-05 9.99997280e-01 2.58897060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:67.41, Z:0.26 [[ 4.86322821e-01 -8.73778413e-01 -1.18237620e-03 1.27654677e+02] [ 8.73776102e-01 4.86324255e-01 -2.01043344e-03 6.74067823e+01] [ 2.33169156e-03 -5.54124044e-05 9.99997280e-01 2.58196046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:67.43, Z:0.26 [[ 4.83532414e-01 -8.75325658e-01 -1.18180953e-03 1.27669371e+02] [ 8.75323351e-01 4.83533854e-01 -2.01076649e-03 6.74308835e+01] [ 2.33152042e-03 -6.21947003e-05 9.99997280e-01 2.56627090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:67.45, Z:0.26 [[ 4.83147364e-01 -8.75538251e-01 -1.18122679e-03 1.27684266e+02] [ 8.75535944e-01 4.83148804e-01 -2.01110876e-03 6.74548694e+01] [ 2.33151096e-03 -6.25446162e-05 9.99997280e-01 2.58282593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:67.48, Z:0.26 [[ 4.82816189e-01 -8.75720922e-01 -1.18064315e-03 1.27698700e+02] [ 8.75718614e-01 4.82817629e-01 -2.01145134e-03 6.74787581e+01] [ 2.33150535e-03 -6.27499115e-05 9.99997280e-01 2.58049231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:67.50, Z:0.26 [[ 4.82803593e-01 -8.75727867e-01 -1.18006146e-03 1.27712473e+02] [ 8.75725559e-01 4.82805031e-01 -2.01179254e-03 6.75017396e+01] [ 2.33152240e-03 -6.21093140e-05 9.99997280e-01 2.59052727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.73, Y:67.53, Z:0.26 [[ 4.82844701e-01 -8.75705203e-01 -1.17966618e-03 1.27725747e+02] [ 8.75702894e-01 4.82846139e-01 -2.01202430e-03 6.75253841e+01] [ 2.33153741e-03 -6.15418158e-05 9.99997280e-01 2.59331284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:67.55, Z:0.26 [[ 4.83098270e-01 -8.75565344e-01 -1.17936307e-03 1.27739961e+02] [ 8.75563033e-01 4.83099706e-01 -2.01220195e-03 6.75498289e+01] [ 2.33156425e-03 -6.05154229e-05 9.99997280e-01 2.59066114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:67.57, Z:0.26 [[ 4.84185703e-01 -8.74964465e-01 -1.17882324e-03 1.27755071e+02] [ 8.74962153e-01 4.84187135e-01 -2.01251815e-03 6.75737974e+01] [ 2.33165292e-03 -5.69932045e-05 9.99997280e-01 2.59362275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:67.60, Z:0.26 [[ 4.84376331e-01 -8.74858950e-01 -1.17823883e-03 1.27768238e+02] [ 8.74856636e-01 4.84377761e-01 -2.01286025e-03 6.75982056e+01] [ 2.33168148e-03 -5.58081951e-05 9.99997280e-01 2.57536651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:67.62, Z:0.26 [[ 4.86795152e-01 -8.73515365e-01 -1.17765658e-03 1.27781626e+02] [ 8.73513047e-01 4.86796574e-01 -2.01320084e-03 6.76222180e+01] [ 2.33184106e-03 -4.86819828e-05 9.99997280e-01 2.58949367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.79, Y:67.65, Z:0.26 [[ 4.87183491e-01 -8.73298838e-01 -1.17732940e-03 1.27794941e+02] [ 8.73296518e-01 4.87184911e-01 -2.01339216e-03 6.76474883e+01] [ 2.33187015e-03 -4.72662419e-05 9.99997280e-01 2.57132987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.81, Y:67.67, Z:0.26 [[ 4.89460411e-01 -8.72024725e-01 -1.17676293e-03 1.27808458e+02] [ 8.72022401e-01 4.89461824e-01 -2.01372318e-03 6.76713277e+01] [ 2.33199694e-03 -4.05258615e-05 9.99997280e-01 2.58903670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.82, Y:67.70, Z:0.26 [[ 4.90512007e-01 -8.71433639e-01 -1.17645413e-03 1.27823323e+02] [ 8.71431313e-01 4.90513416e-01 -2.01390358e-03 6.76951017e+01] [ 2.33204986e-03 -3.73550848e-05 9.99997280e-01 2.57667878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:67.72, Z:0.26 [[ 4.90266612e-01 -8.71571722e-01 -1.17588600e-03 1.27837681e+02] [ 8.71569395e-01 4.90268020e-01 -2.01423524e-03 6.77197991e+01] [ 2.33204978e-03 -3.73539629e-05 9.99997280e-01 2.57734311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:67.74, Z:0.26 [[ 4.91240598e-01 -8.71023130e-01 -1.17531874e-03 1.27850435e+02] [ 8.71020801e-01 4.91242003e-01 -2.01456619e-03 6.77431978e+01] [ 2.33209968e-03 -3.40903756e-05 9.99997280e-01 2.59654721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:67.77, Z:0.26 [[ 4.93147355e-01 -8.69945002e-01 -1.17474094e-03 1.27863263e+02] [ 8.69942669e-01 4.93148753e-01 -2.01490306e-03 6.77675080e+01] [ 2.33217688e-03 -2.83131580e-05 9.99997280e-01 2.55962540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.88, Y:67.79, Z:0.26 [[ 4.94194963e-01 -8.69350315e-01 -1.16981515e-03 1.27877361e+02] [ 8.69347973e-01 4.94196348e-01 -2.01777380e-03 6.77912383e+01] [ 2.33227066e-03 -1.98027815e-05 9.99997280e-01 2.59238929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.89, Y:67.82, Z:0.26 [[ 4.95302395e-01 -8.68719839e-01 -1.17415544e-03 1.27891763e+02] [ 8.68717502e-01 4.95303787e-01 -2.01524498e-03 6.78156971e+01] [ 2.33224693e-03 -2.18537121e-05 9.99997280e-01 2.59303779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.90, Y:67.84, Z:0.26 [[ 4.94470122e-01 -8.69193834e-01 -1.17361492e-03 1.27904814e+02] [ 8.69191497e-01 4.94471514e-01 -2.01555971e-03 6.78396249e+01] [ 2.33223122e-03 -2.34620561e-05 9.99997280e-01 2.56268554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:67.86, Z:0.26 [[ 4.94268003e-01 -8.69308794e-01 -1.16703701e-03 1.27918975e+02] [ 8.69306449e-01 4.94269380e-01 -2.01938708e-03 6.78633874e+01] [ 2.33230160e-03 -1.63943830e-05 9.99997280e-01 2.56097679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.94, Y:67.89, Z:0.26 [[ 4.95850880e-01 -8.68406901e-01 -1.16571168e-03 1.27936598e+02] [ 8.68404552e-01 4.95852250e-01 -2.02015785e-03 6.78884182e+01] [ 2.33233977e-03 -1.06122834e-05 9.99997280e-01 2.59960916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26361786499996 meters Centerline goodness : 0.994537 Centerline is valid? [True, True] Translation: X:127.95, Y:67.91, Z:0.26 [[ 4.96367989e-01 -8.68111421e-01 -1.17457425e-03 1.27950721e+02] [ 8.68109083e-01 4.96369378e-01 -2.01500204e-03 6.79110241e+01] [ 2.33226897e-03 -1.94760633e-05 9.99997280e-01 2.60484024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:67.93, Z:0.26 [[ 4.97057035e-01 -8.67717072e-01 -1.17762322e-03 1.27964553e+02] [ 8.67714737e-01 4.97058429e-01 -2.01322967e-03 6.79339216e+01] [ 2.33226130e-03 -2.11510516e-05 9.99997280e-01 2.59117203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.98, Y:67.96, Z:0.26 [[ 4.95602757e-01 -8.68548522e-01 -1.17141660e-03 1.27977558e+02] [ 8.68546180e-01 4.95604141e-01 -2.01683459e-03 6.79583676e+01] [ 2.33227762e-03 -1.78806297e-05 9.99997280e-01 2.55206304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.99, Y:67.98, Z:0.26 [[ 4.96344315e-01 -8.68124962e-01 -1.17084554e-03 1.27993490e+02] [ 8.68122619e-01 4.96345695e-01 -2.01716606e-03 6.79798807e+01] [ 2.33229635e-03 -1.52285926e-05 9.99997280e-01 2.59208523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.01, Y:68.00, Z:0.26 [[ 4.94970949e-01 -8.68908735e-01 -1.17052563e-03 1.28009322e+02] [ 8.68906393e-01 4.94972332e-01 -2.01735168e-03 6.80047297e+01] [ 2.33227230e-03 -1.85467309e-05 9.99997280e-01 2.57950648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.02, Y:68.03, Z:0.26 [[ 4.92590254e-01 -8.70260571e-01 -1.17459010e-03 1.28024281e+02] [ 8.70258239e-01 4.92591654e-01 -2.01499375e-03 6.80257502e+01] [ 2.33216289e-03 -2.96304229e-05 9.99997280e-01 2.59170619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.04, Y:68.05, Z:0.26 [[ 4.90441432e-01 -8.71473372e-01 -1.16789623e-03 1.28039934e+02] [ 8.71471034e-01 4.90442822e-01 -2.01887366e-03 6.80505769e+01] [ 2.33218096e-03 -2.76484474e-05 9.99997280e-01 2.57868232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.05, Y:68.07, Z:0.26 [[ 4.88159507e-01 -8.72753647e-01 -1.16931817e-03 1.28054648e+02] [ 8.72751315e-01 4.88160906e-01 -2.01804975e-03 6.80733811e+01] [ 2.33207569e-03 -3.53938043e-05 9.99997280e-01 2.58262687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.07, Y:68.10, Z:0.26 [[ 4.85345061e-01 -8.74321912e-01 -1.16883708e-03 1.28071563e+02] [ 8.74319583e-01 4.85346466e-01 -2.01832835e-03 6.80996199e+01] [ 2.33195965e-03 -4.23514518e-05 9.99997280e-01 2.56747783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.09, Y:68.12, Z:0.26 [[ 4.81317940e-01 -8.76545291e-01 -1.18048806e-03 1.28086740e+02] [ 8.76542985e-01 4.81319383e-01 -2.01158018e-03 6.81204604e+01] [ 2.33143292e-03 -6.65388976e-05 9.99997280e-01 2.59043730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.10, Y:68.14, Z:0.26 [[ 4.79422253e-01 -8.77583575e-01 -1.17142085e-03 1.28101325e+02] [ 8.77581259e-01 4.79423680e-01 -2.01682752e-03 6.81433347e+01] [ 2.33154160e-03 -6.11049851e-05 9.99997280e-01 2.58182816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.12, Y:68.17, Z:0.26 [[ 4.77304581e-01 -8.78737147e-01 -1.16761530e-03 1.28117395e+02] [ 8.78734830e-01 4.77306005e-01 -2.01902829e-03 6.81681644e+01] [ 2.33150495e-03 -6.23327803e-05 9.99997280e-01 2.57340307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.13, Y:68.19, Z:0.26 [[ 4.75388799e-01 -8.79775036e-01 -1.17305982e-03 1.28132726e+02] [ 8.79772730e-01 4.75390240e-01 -2.01588045e-03 6.81900456e+01] [ 2.33118249e-03 -7.36990517e-05 9.99997280e-01 2.57037849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.15, Y:68.21, Z:0.26 [[ 4.74671906e-01 -8.80162042e-01 -1.16692416e-03 1.28147675e+02] [ 8.80159728e-01 4.74673336e-01 -2.01942594e-03 6.82141642e+01] [ 2.33132984e-03 -6.85148948e-05 9.99997280e-01 2.56880158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:128.16, Y:68.24, Z:0.26 [[ 4.74278559e-01 -8.80374061e-01 -1.16637904e-03 1.28162494e+02] [ 8.80371747e-01 4.74279989e-01 -2.01974074e-03 6.82384634e+01] [ 2.33131760e-03 -6.89274218e-05 9.99997280e-01 2.56628200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.18, Y:68.26, Z:0.26 [[ 4.74849626e-01 -8.80066176e-01 -1.16583409e-03 1.28177628e+02] [ 8.80063860e-01 4.74851053e-01 -2.02005525e-03 6.82625545e+01] [ 2.33137984e-03 -6.67859638e-05 9.99997280e-01 2.56711612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.19, Y:68.29, Z:0.26 [[ 4.75514610e-01 -8.79707052e-01 -1.16528796e-03 1.28191323e+02] [ 8.79704734e-01 4.75516034e-01 -2.02037024e-03 6.82857396e+01] [ 2.33144706e-03 -6.43937637e-05 9.99997280e-01 2.57579068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.21, Y:68.31, Z:0.26 [[ 4.77532023e-01 -8.78613573e-01 -1.16479574e-03 1.28205536e+02] [ 8.78611251e-01 4.77533440e-01 -2.02065398e-03 6.83094160e+01] [ 2.33160293e-03 -5.84756639e-05 9.99997280e-01 2.56675502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.22, Y:68.33, Z:0.26 [[ 4.78663640e-01 -8.77997588e-01 -1.16425403e-03 1.28220875e+02] [ 8.77995264e-01 4.78665052e-01 -2.02096605e-03 6.83343383e+01] [ 2.33169104e-03 -5.48465635e-05 9.99997280e-01 2.56252534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.24, Y:68.36, Z:0.26 [[ 4.79477407e-01 -8.77553453e-01 -1.16375977e-03 1.28235249e+02] [ 8.77551126e-01 4.79478816e-01 -2.02125063e-03 6.83589328e+01] [ 2.33175362e-03 -5.21146882e-05 9.99997280e-01 2.55359832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.25, Y:68.38, Z:0.26 [[ 4.80499619e-01 -8.76994164e-01 -1.16319809e-03 1.28249093e+02] [ 8.76991835e-01 4.80501024e-01 -2.02157381e-03 6.83828789e+01] [ 2.33182631e-03 -4.87497828e-05 9.99997280e-01 2.56408702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:128.26, Y:68.41, Z:0.25 [[ 4.82052940e-01 -8.76141319e-01 -1.16300787e-03 1.28264012e+02] [ 8.76138987e-01 4.82054341e-01 -2.02168324e-03 6.84071588e+01] [ 2.33191321e-03 -4.43981843e-05 9.99997280e-01 2.53486692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.28, Y:68.43, Z:0.25 [[ 4.84317100e-01 -8.74891762e-01 -1.16244471e-03 1.28277003e+02] [ 8.74889427e-01 4.84318493e-01 -2.02200700e-03 6.84287414e+01] [ 2.33203074e-03 -3.77180231e-05 9.99997280e-01 2.52098591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.29, Y:68.46, Z:0.26 [[ 4.85160555e-01 -8.74424334e-01 -1.14912613e-03 1.28293720e+02] [ 8.74421979e-01 4.85161915e-01 -2.02965683e-03 6.84551558e+01] [ 2.33229356e-03 -2.01117124e-05 9.99997280e-01 2.57867334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.31, Y:68.48, Z:0.26 [[ 4.86162627e-01 -8.73867582e-01 -1.16154239e-03 1.28306650e+02] [ 8.73865242e-01 4.86164014e-01 -2.02252614e-03 6.84780805e+01] [ 2.33212014e-03 -3.17549052e-05 9.99997280e-01 2.56378898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.32, Y:68.50, Z:0.26 [[ 4.89249825e-01 -8.72142920e-01 -1.15605656e-03 1.28322538e+02] [ 8.72140568e-01 4.89251190e-01 -2.02567358e-03 6.85018611e+01] [ 2.33227892e-03 -1.71833782e-05 9.99997280e-01 2.61270639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.34, Y:68.53, Z:0.26 [[ 4.88747143e-01 -8.72424722e-01 -1.15518734e-03 1.28335984e+02] [ 8.72422369e-01 4.88748508e-01 -2.02617200e-03 6.85279182e+01] [ 2.33227863e-03 -1.75254986e-05 9.99997280e-01 2.56656467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.35, Y:68.55, Z:0.26 [[ 4.88920425e-01 -8.72327618e-01 -1.15996656e-03 1.28349794e+02] [ 8.72325271e-01 4.88921801e-01 -2.02343223e-03 6.85518113e+01] [ 2.33222876e-03 -2.25708017e-05 9.99997280e-01 2.56874792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.37, Y:68.58, Z:0.26 [[ 4.89634308e-01 -8.71927125e-01 -1.15463546e-03 1.28366548e+02] [ 8.71924770e-01 4.89635669e-01 -2.02648657e-03 6.85758403e+01] [ 2.33229932e-03 -1.45179071e-05 9.99997280e-01 2.62243152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.38, Y:68.60, Z:0.26 [[ 4.87516017e-01 -8.73113272e-01 -1.16031769e-03 1.28380594e+02] [ 8.73110929e-01 4.87517397e-01 -2.02323226e-03 6.86007452e+01] [ 2.33218600e-03 -2.67279270e-05 9.99997280e-01 2.56205487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:128.40, Y:68.62, Z:0.26 [[ 4.88162666e-01 -8.72751890e-01 -1.16189449e-03 1.28395456e+02] [ 8.72749547e-01 4.88164048e-01 -2.02232963e-03 6.86231852e+01] [ 2.33218713e-03 -2.68170691e-05 9.99997280e-01 2.59006650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.41, Y:68.65, Z:0.25 [[ 4.84882310e-01 -8.74578643e-01 -1.15827319e-03 1.28409848e+02] [ 8.74576301e-01 4.84883693e-01 -2.02440158e-03 6.86474130e+01] [ 2.33212617e-03 -3.14017663e-05 9.99997280e-01 2.54826775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.42, Y:68.67, Z:0.26 [[ 4.83632681e-01 -8.75270295e-01 -1.15769687e-03 1.28424879e+02] [ 8.75267954e-01 4.83634065e-01 -2.02473111e-03 6.86718700e+01] [ 2.33208864e-03 -3.40688383e-05 9.99997280e-01 2.55078853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.44, Y:68.70, Z:0.26 [[ 4.81646320e-01 -8.76364926e-01 -1.15719415e-03 1.28439425e+02] [ 8.76362587e-01 4.81647709e-01 -2.02501839e-03 6.86958319e+01] [ 2.33201500e-03 -3.87789983e-05 9.99997280e-01 2.56600064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.45, Y:68.72, Z:0.25 [[ 4.80414886e-01 -8.77040591e-01 -1.15693202e-03 1.28453685e+02] [ 8.77038254e-01 4.80416277e-01 -2.02516814e-03 6.87209674e+01] [ 2.33196363e-03 -4.17527192e-05 9.99997280e-01 2.54510146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.47, Y:68.74, Z:0.26 [[ 4.79176914e-01 -8.77717579e-01 -1.15643228e-03 1.28469447e+02] [ 8.77715243e-01 4.79178307e-01 -2.02545346e-03 6.87433434e+01] [ 2.33191337e-03 -4.44677010e-05 9.99997280e-01 2.56747861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.48, Y:68.77, Z:0.26 [[ 4.78926276e-01 -8.77854364e-01 -1.15614788e-03 1.28483879e+02] [ 8.77852029e-01 4.78927670e-01 -2.02561579e-03 6.87669285e+01] [ 2.33190687e-03 -4.48061339e-05 9.99997280e-01 2.56237903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.50, Y:68.79, Z:0.26 [[ 4.77162803e-01 -8.78814158e-01 -1.15564407e-03 1.28497697e+02] [ 8.78811824e-01 4.77164200e-01 -2.02590318e-03 6.87898367e+01] [ 2.33182437e-03 -4.89080287e-05 9.99997280e-01 2.56958077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.51, Y:68.81, Z:0.26 [[ 4.76141163e-01 -8.79368102e-01 -1.15515165e-03 1.28511960e+02] [ 8.79365769e-01 4.76142562e-01 -2.02618391e-03 6.88137169e+01] [ 2.33177837e-03 -5.10512527e-05 9.99997280e-01 2.55755582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.53, Y:68.84, Z:0.26 [[ 4.74811180e-01 -8.80086934e-01 -1.15458374e-03 1.28525987e+02] [ 8.80084602e-01 4.74812580e-01 -2.02650748e-03 6.88367056e+01] [ 2.33171363e-03 -5.39229667e-05 9.99997280e-01 2.55824959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.54, Y:68.86, Z:0.25 [[ 4.73192217e-01 -8.80958452e-01 -1.15406772e-03 1.28539182e+02] [ 8.80956122e-01 4.73193621e-01 -2.02680130e-03 6.88620382e+01] [ 2.33162522e-03 -5.76164186e-05 9.99997280e-01 2.53803071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:128.56, Y:68.89, Z:0.25 [[ 4.73479289e-01 -8.80804196e-01 -1.15352188e-03 1.28555194e+02] [ 8.80801865e-01 4.73480691e-01 -2.02711191e-03 6.88855203e+01] [ 2.33165901e-03 -5.62287123e-05 9.99997280e-01 2.54614955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.57, Y:68.91, Z:0.25 [[ 4.72710628e-01 -8.81216956e-01 -1.15719674e-03 1.28568383e+02] [ 8.81214631e-01 4.72712040e-01 -2.02502169e-03 6.89103064e+01] [ 2.33150428e-03 -6.24894176e-05 9.99997280e-01 2.53872935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.58, Y:68.93, Z:0.26 [[ 4.75137016e-01 -8.79911068e-01 -1.15256706e-03 1.28582495e+02] [ 8.79908733e-01 4.75138411e-01 -2.02765331e-03 6.89303240e+01] [ 2.33178347e-03 -5.07406774e-05 9.99997280e-01 2.55451786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.60, Y:68.96, Z:0.26 [[ 4.74094032e-01 -8.80473488e-01 -1.13349721e-03 1.28598619e+02] [ 8.80471129e-01 4.74095386e-01 -2.03847226e-03 6.89576046e+01] [ 2.33220658e-03 -3.15840359e-05 9.99997280e-01 2.55250443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.61, Y:68.98, Z:0.25 [[ 4.72311631e-01 -8.81430881e-01 -1.15109826e-03 1.28610323e+02] [ 8.81428549e-01 4.72313030e-01 -2.02848424e-03 6.89822810e+01] [ 2.33164736e-03 -5.65341725e-05 9.99997280e-01 2.54150079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.63, Y:69.01, Z:0.25 [[ 4.74315294e-01 -8.80354291e-01 -1.15061306e-03 1.28625834e+02] [ 8.80351955e-01 4.74316687e-01 -2.02875942e-03 6.90061919e+01] [ 2.33178204e-03 -5.06728419e-05 9.99997280e-01 2.54908189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:128.64, Y:69.03, Z:0.25 [[ 4.73823489e-01 -8.80619088e-01 -1.15008181e-03 1.28638341e+02] [ 8.80616752e-01 4.73824882e-01 -2.02906054e-03 6.90306265e+01] [ 2.33176682e-03 -5.13647629e-05 9.99997280e-01 2.52826296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.65, Y:69.05, Z:0.26 [[ 4.74063647e-01 -8.80489828e-01 -1.14960078e-03 1.28653353e+02] [ 8.80487491e-01 4.74065039e-01 -2.02933304e-03 6.90542795e+01] [ 2.33179263e-03 -5.01760840e-05 9.99997280e-01 2.56669894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.67, Y:69.08, Z:0.26 [[ 4.75635716e-01 -8.79641601e-01 -1.14906269e-03 1.28666571e+02] [ 8.79639260e-01 4.75637101e-01 -2.02963767e-03 6.90764799e+01] [ 2.33189058e-03 -4.53924894e-05 9.99997280e-01 2.56072827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.68, Y:69.10, Z:0.26 [[ 4.74330978e-01 -8.80345857e-01 -1.13806975e-03 1.28682251e+02] [ 8.80343504e-01 4.74332341e-01 -2.03585615e-03 6.91015767e+01] [ 2.33208082e-03 -3.62226684e-05 9.99997280e-01 2.56351157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:128.70, Y:69.12, Z:0.26 [[ 4.74517689e-01 -8.80245218e-01 -1.14842565e-03 1.28697028e+02] [ 8.80242879e-01 4.74519076e-01 -2.02999753e-03 6.91248532e+01] [ 2.33184550e-03 -4.76237598e-05 9.99997280e-01 2.55654062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.71, Y:69.15, Z:0.26 [[ 4.75019455e-01 -8.79974547e-01 -1.14601103e-03 1.28712306e+02] [ 8.79972204e-01 4.75020836e-01 -2.03136299e-03 6.91496124e+01] [ 2.33192684e-03 -4.35209070e-05 9.99997280e-01 2.56826317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.73, Y:69.17, Z:0.26 [[ 4.75725169e-01 -8.79593223e-01 -1.15146311e-03 1.28725097e+02] [ 8.79590886e-01 4.75726560e-01 -2.02828098e-03 6.91733588e+01] [ 2.33184379e-03 -4.79121441e-05 9.99997280e-01 2.56464069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.74, Y:69.20, Z:0.26 [[ 4.75585610e-01 -8.79668699e-01 -1.14389058e-03 1.28740543e+02] [ 8.79666351e-01 4.75586984e-01 -2.03255995e-03 6.92004941e+01] [ 2.33199883e-03 -3.95857943e-05 9.99997280e-01 2.56060981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.75, Y:69.23, Z:0.26 [[ 4.75279734e-01 -8.79833983e-01 -1.15641586e-03 1.28754560e+02] [ 8.79831653e-01 4.75281138e-01 -2.02548360e-03 6.92254300e+01] [ 2.33171195e-03 -5.47799685e-05 9.99997280e-01 2.56132714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.77, Y:69.25, Z:0.26 [[ 4.75363889e-01 -8.79788518e-01 -1.15581095e-03 1.28766068e+02] [ 8.79786187e-01 4.75365292e-01 -2.02582519e-03 6.92477093e+01] [ 2.33173015e-03 -5.38623724e-05 9.99997280e-01 2.58077597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.97361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.78, Y:69.27, Z:0.26 [[ 4.78149250e-01 -8.78277858e-01 -1.14014740e-03 1.28779926e+02] [ 8.78275501e-01 4.78150608e-01 -2.03465669e-03 6.92734052e+01] [ 2.33215609e-03 -2.84939565e-05 9.99997280e-01 2.56314264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.79, Y:69.30, Z:0.26 [[ 4.79723887e-01 -8.77418760e-01 -1.14523761e-03 1.28792000e+02] [ 8.77416408e-01 4.79725253e-01 -2.03178754e-03 6.92974801e+01] [ 2.33212790e-03 -3.01532540e-05 9.99997280e-01 2.56756781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:69.32, Z:0.26 [[ 4.82763874e-01 -8.75749811e-01 -1.14486216e-03 1.28808703e+02] [ 8.75747454e-01 4.82765231e-01 -2.03199907e-03 6.93240917e+01] [ 2.33222245e-03 -2.16343744e-05 9.99997280e-01 2.55835617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:69.35, Z:0.26 [[ 4.88475178e-01 -8.72577022e-01 -1.15835737e-03 1.28818729e+02] [ 8.72574674e-01 4.88476551e-01 -2.02438579e-03 6.93468437e+01] [ 2.33226294e-03 -2.18910971e-05 9.99997280e-01 2.58277387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:69.37, Z:0.26 [[ 4.87656468e-01 -8.73034855e-01 -1.14506786e-03 1.28832402e+02] [ 8.73032491e-01 4.87657812e-01 -2.03187513e-03 6.93712423e+01] [ 2.33229909e-03 -8.82440153e-06 9.99997280e-01 2.55501848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.85, Y:69.40, Z:0.25 [[ 4.88133596e-01 -8.72768172e-01 -1.14449952e-03 1.28846421e+02] [ 8.72765806e-01 4.88134938e-01 -2.03219521e-03 6.93975442e+01] [ 2.33230550e-03 -6.89729319e-06 9.99997280e-01 2.53786441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15361786499997 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:128.86, Y:69.42, Z:0.26 [[ 4.90776257e-01 -8.71284878e-01 -1.15148839e-03 1.28862960e+02] [ 8.71282518e-01 4.90777608e-01 -2.02826102e-03 6.94239214e+01] [ 2.33231787e-03 -7.84935148e-06 9.99997280e-01 2.56078829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:128.87, Y:69.45, Z:0.25 [[ 4.89028346e-01 -8.72267118e-01 -1.16254616e-03 1.28871501e+02] [ 8.72264775e-01 4.89029728e-01 -2.02203668e-03 6.94469708e+01] [ 2.33227573e-03 -2.52148114e-05 9.99997280e-01 2.54175190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.88, Y:69.47, Z:0.25 [[ 4.90031232e-01 -8.71704127e-01 -1.14301322e-03 1.28882991e+02] [ 8.71701756e-01 4.90032565e-01 -2.03301858e-03 6.94730818e+01] [ 2.33230438e-03 -1.24034799e-07 9.99997280e-01 2.53603610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:128.90, Y:69.50, Z:0.25 [[ 4.90267645e-01 -8.71571185e-01 -1.14247767e-03 1.28895317e+02] [ 8.71568813e-01 4.90268976e-01 -2.03331949e-03 6.94982232e+01] [ 2.33230404e-03 1.12285100e-06 9.99997280e-01 2.52805987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:128.91, Y:69.52, Z:0.25 [[ 4.89422741e-01 -8.72045914e-01 -1.14194497e-03 1.28909065e+02] [ 8.72043543e-01 4.89424074e-01 -2.03361862e-03 6.95225406e+01] [ 2.33230417e-03 -5.26533756e-07 9.99997280e-01 2.50427652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.92, Y:69.55, Z:0.25 [[ 4.87923114e-01 -8.72885864e-01 -1.14140981e-03 1.28922829e+02] [ 8.72883495e-01 4.87924449e-01 -2.03391894e-03 6.95465059e+01] [ 2.33230085e-03 -3.92171884e-06 9.99997280e-01 2.49981167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33361786499998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:128.94, Y:69.57, Z:0.25 [[ 4.88355966e-01 -8.72643770e-01 -1.14084948e-03 1.28942183e+02] [ 8.72641399e-01 4.88357299e-01 -2.03423319e-03 6.95727296e+01] [ 2.33230309e-03 -2.12257493e-06 9.99997280e-01 2.52526816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36361786499998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:128.96, Y:69.60, Z:0.25 [[ 4.84789095e-01 -8.74630316e-01 -1.15933544e-03 1.28958052e+02] [ 8.74627975e-01 4.84790480e-01 -2.02386413e-03 6.95961889e+01] [ 2.33216771e-03 -3.28399531e-05 9.99997280e-01 2.52596010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.97, Y:69.62, Z:0.25 [[ 4.81545607e-01 -8.76420266e-01 -1.16030573e-03 1.28971445e+02] [ 8.76417931e-01 4.81547003e-01 -2.02332040e-03 6.96213595e+01] [ 2.33202075e-03 -4.25916985e-05 9.99997280e-01 2.51773648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.98, Y:69.65, Z:0.25 [[ 4.78899111e-01 -8.77869184e-01 -1.15635169e-03 1.28983932e+02] [ 8.77866848e-01 4.78900505e-01 -2.02553406e-03 6.96455182e+01] [ 2.33193134e-03 -4.50963563e-05 9.99997280e-01 2.51447131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:128.99, Y:69.67, Z:0.25 [[ 4.73970084e-01 -8.80540194e-01 -1.15139241e-03 1.28994036e+02] [ 8.80537860e-01 4.73971480e-01 -2.02830744e-03 6.96702755e+01] [ 2.33173339e-03 -5.24875615e-05 9.99997280e-01 2.50222223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:129.01, Y:69.69, Z:0.25 [[ 4.72838327e-01 -8.81148466e-01 -1.13927041e-03 1.29006206e+02] [ 8.81146117e-01 4.72839697e-01 -2.03508138e-03 6.96948657e+01] [ 2.33190111e-03 -4.15992250e-05 9.99997280e-01 2.49812023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51361786499996 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:129.02, Y:69.72, Z:0.25 [[ 4.71887197e-01 -8.81658199e-01 -1.13729285e-03 1.29019419e+02] [ 8.81655849e-01 4.71888565e-01 -2.03618593e-03 6.97187439e+01] [ 2.33189551e-03 -4.18508193e-05 9.99997280e-01 2.50105243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54361786499996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:129.04, Y:69.74, Z:0.25 [[ 4.71949927e-01 -8.81624622e-01 -1.13678360e-03 1.29035656e+02] [ 8.81622271e-01 4.71951294e-01 -2.03647019e-03 6.97444454e+01] [ 2.33190876e-03 -4.11017848e-05 9.99997280e-01 2.50934600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57361786499996 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:129.05, Y:69.77, Z:0.25 [[ 4.71879169e-01 -8.81662485e-01 -1.14530700e-03 1.29049573e+02] [ 8.81660146e-01 4.71880556e-01 -2.03171364e-03 6.97700562e+01] [ 2.33173380e-03 -5.10481896e-05 9.99997280e-01 2.50497404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60361786499996 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:129.06, Y:69.80, Z:0.25 [[ 4.70942073e-01 -8.82163392e-01 -1.14655461e-03 1.29061616e+02] [ 8.82161055e-01 4.70943465e-01 -2.03101790e-03 6.97952146e+01] [ 2.33165204e-03 -5.49540403e-05 9.99997280e-01 2.48353286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63361786499996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:129.07, Y:69.82, Z:0.25 [[ 4.70537554e-01 -8.82379230e-01 -1.14192151e-03 1.29074744e+02] [ 8.82376889e-01 4.70538937e-01 -2.03359966e-03 6.98198566e+01] [ 2.33172464e-03 -5.07201421e-05 9.99997280e-01 2.48556388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.09, Y:69.84, Z:0.25 [[ 4.69887732e-01 -8.82725449e-01 -1.14085956e-03 1.29087540e+02] [ 8.82723106e-01 4.69889114e-01 -2.03419099e-03 6.98443529e+01] [ 2.33170965e-03 -5.12217056e-05 9.99997280e-01 2.48004167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69361786499996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:129.10, Y:69.87, Z:0.25 [[ 4.69370241e-01 -8.83000723e-01 -1.14007541e-03 1.29100496e+02] [ 8.82998381e-01 4.69371623e-01 -2.03462731e-03 6.98696336e+01] [ 2.33169643e-03 -5.16912361e-05 9.99997280e-01 2.47767387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.11, Y:69.90, Z:0.25 [[ 4.69072570e-01 -8.83158892e-01 -1.13801879e-03 1.29113306e+02] [ 8.83156547e-01 4.69073948e-01 -2.03577075e-03 6.98952281e+01] [ 2.33172401e-03 -5.01245286e-05 9.99997280e-01 2.47788000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.75361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:129.13, Y:69.92, Z:0.25 [[ 4.69042615e-01 -8.83174802e-01 -1.13763760e-03 1.29126409e+02] [ 8.83172457e-01 4.69043992e-01 -2.03598253e-03 6.99208879e+01] [ 2.33173055e-03 -4.97676273e-05 9.99997280e-01 2.48094372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.14, Y:69.95, Z:0.25 [[ 4.69545029e-01 -8.82907795e-01 -1.13659381e-03 1.29138850e+02] [ 8.82905447e-01 4.69546402e-01 -2.03656205e-03 6.99461017e+01] [ 2.33178004e-03 -4.72472775e-05 9.99997280e-01 2.47103191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.15, Y:69.97, Z:0.25 [[ 4.70147576e-01 -8.82587089e-01 -1.13453383e-03 1.29151643e+02] [ 8.82584738e-01 4.70148943e-01 -2.03770514e-03 6.99713776e+01] [ 2.33185213e-03 -4.33001096e-05 9.99997280e-01 2.50011683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.16, Y:70.00, Z:0.25 [[ 4.72465629e-01 -8.81348371e-01 -1.13094139e-03 1.29164937e+02] [ 8.81346011e-01 4.72466981e-01 -2.03969702e-03 6.99967384e+01] [ 2.33201611e-03 -3.30639504e-05 9.99997280e-01 2.50217770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.18, Y:70.02, Z:0.25 [[ 4.73967874e-01 -8.80541411e-01 -1.13042957e-03 1.29177745e+02] [ 8.80539049e-01 4.73969221e-01 -2.03998064e-03 7.00209346e+01] [ 2.33207626e-03 -2.85020940e-05 9.99997280e-01 2.50388717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.19, Y:70.05, Z:0.25 [[ 4.74908051e-01 -8.80034696e-01 -1.13021169e-03 1.29191044e+02] [ 8.80032332e-01 4.74909395e-01 -2.04010135e-03 7.00458878e+01] [ 2.33210812e-03 -2.57622757e-05 9.99997280e-01 2.51129278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.20, Y:70.07, Z:0.25 [[ 4.76546642e-01 -8.79148464e-01 -1.12964533e-03 1.29203243e+02] [ 8.79146096e-01 4.76547981e-01 -2.04041490e-03 7.00695158e+01] [ 2.33215783e-03 -2.07704095e-05 9.99997280e-01 2.49132671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.22, Y:70.09, Z:0.25 [[ 4.76715838e-01 -8.79056730e-01 -1.12913578e-03 1.29216379e+02] [ 8.79054362e-01 4.76717175e-01 -2.04069685e-03 7.00941255e+01] [ 2.33216671e-03 -1.97392208e-05 9.99997280e-01 2.50298609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.23, Y:70.12, Z:0.25 [[ 4.76656850e-01 -8.79088718e-01 -1.12858206e-03 1.29230063e+02] [ 8.79086349e-01 4.76658186e-01 -2.04100303e-03 7.01189672e+01] [ 2.33217061e-03 -1.92630058e-05 9.99997280e-01 2.50338036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.24, Y:70.14, Z:0.25 [[ 4.76459719e-01 -8.79195578e-01 -1.12803008e-03 1.29243504e+02] [ 8.79193208e-01 4.76461053e-01 -2.04130805e-03 7.01432094e+01] [ 2.33217141e-03 -1.91553241e-05 9.99997280e-01 2.51265282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.26, Y:70.17, Z:0.25 [[ 4.75828002e-01 -8.79537629e-01 -1.12746160e-03 1.29257285e+02] [ 8.79535260e-01 4.75829338e-01 -2.04162199e-03 7.01667314e+01] [ 2.33216267e-03 -2.01813178e-05 9.99997280e-01 2.50803602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.27, Y:70.19, Z:0.25 [[ 4.75106566e-01 -8.79927543e-01 -1.12707578e-03 1.29271209e+02] [ 8.79925174e-01 4.75107902e-01 -2.04183496e-03 7.01907044e+01] [ 2.33214943e-03 -2.16531525e-05 9.99997280e-01 2.52103342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.29, Y:70.21, Z:0.25 [[ 4.74457906e-01 -8.80277471e-01 -1.12652615e-03 1.29285256e+02] [ 8.80275103e-01 4.74459243e-01 -2.04213815e-03 7.02144690e+01] [ 2.33213895e-03 -2.27443306e-05 9.99997280e-01 2.52463701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.30, Y:70.24, Z:0.25 [[ 4.73493098e-01 -8.80796809e-01 -1.12597811e-03 1.29299448e+02] [ 8.80794441e-01 4.73494436e-01 -2.04244028e-03 7.02374313e+01] [ 2.33211925e-03 -2.46738852e-05 9.99997280e-01 2.51801905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.31, Y:70.26, Z:0.25 [[ 4.72783472e-01 -8.81177917e-01 -1.12548282e-03 1.29313411e+02] [ 8.81175550e-01 4.72784811e-01 -2.04271317e-03 7.02616339e+01] [ 2.33210492e-03 -2.59869201e-05 9.99997280e-01 2.52577492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.33, Y:70.28, Z:0.25 [[ 4.71818767e-01 -8.81694837e-01 -1.12493622e-03 1.29326339e+02] [ 8.81692470e-01 4.71820108e-01 -2.04301415e-03 7.02849897e+01] [ 2.33208255e-03 -2.79153777e-05 9.99997280e-01 2.52096581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.34, Y:70.31, Z:0.25 [[ 4.69707607e-01 -8.82821329e-01 -1.12444368e-03 1.29340069e+02] [ 8.82818965e-01 4.69708952e-01 -2.04328520e-03 7.03096307e+01] [ 2.33201702e-03 -3.29336059e-05 9.99997280e-01 2.52034807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26361786499996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:129.35, Y:70.33, Z:0.25 [[ 4.68852687e-01 -8.83275662e-01 -1.12389508e-03 1.29353963e+02] [ 8.83273298e-01 4.68854033e-01 -2.04358691e-03 7.03331168e+01] [ 2.33199332e-03 -3.45652975e-05 9.99997280e-01 2.51127440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.37, Y:70.36, Z:0.25 [[ 4.67696039e-01 -8.83888654e-01 -1.12340295e-03 1.29368162e+02] [ 8.83886292e-01 4.67697387e-01 -2.04385741e-03 7.03576897e+01] [ 2.33195500e-03 -3.70564545e-05 9.99997280e-01 2.51321990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.38, Y:70.38, Z:0.25 [[ 4.66285032e-01 -8.84633827e-01 -1.12286157e-03 1.29383524e+02] [ 8.84631466e-01 4.66286382e-01 -2.04415479e-03 7.03818478e+01] [ 2.33190353e-03 -4.01598992e-05 9.99997280e-01 2.50897087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.40, Y:70.41, Z:0.25 [[ 4.65283215e-01 -8.85161155e-01 -1.12234039e-03 1.29397370e+02] [ 8.85158795e-01 4.65284567e-01 -2.04444090e-03 7.04057800e+01] [ 2.33186733e-03 -4.22054342e-05 9.99997280e-01 2.50771969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.41, Y:70.43, Z:0.25 [[ 4.64685346e-01 -8.85475167e-01 -1.12178820e-03 1.29411406e+02] [ 8.85472807e-01 4.64686698e-01 -2.04474384e-03 7.04306531e+01] [ 2.33184995e-03 -4.31504439e-05 9.99997280e-01 2.50784499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:129.42, Y:70.46, Z:0.25 [[ 4.65897472e-01 -8.84838001e-01 -1.12123907e-03 1.29423659e+02] [ 8.84835639e-01 4.65898820e-01 -2.04504491e-03 7.04558627e+01] [ 2.33191741e-03 -3.93310362e-05 9.99997280e-01 2.51418260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.44, Y:70.48, Z:0.25 [[ 4.66852775e-01 -8.84334343e-01 -1.12069044e-03 1.29436198e+02] [ 8.84331979e-01 4.66854119e-01 -2.04534552e-03 7.04799243e+01] [ 2.33196824e-03 -3.61871644e-05 9.99997280e-01 2.50974940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.45, Y:70.50, Z:0.25 [[ 4.67404759e-01 -8.84042723e-01 -1.12031728e-03 1.29449276e+02] [ 8.84040357e-01 4.67406100e-01 -2.04554990e-03 7.05044205e+01] [ 2.33199663e-03 -3.43059282e-05 9.99997280e-01 2.50541026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.46, Y:70.53, Z:0.25 [[ 4.68440761e-01 -8.83494199e-01 -1.11977377e-03 1.29461284e+02] [ 8.83491831e-01 4.68442099e-01 -2.04584738e-03 7.05291469e+01] [ 2.33204347e-03 -3.09526690e-05 9.99997280e-01 2.49655156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.53361786499997 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:129.47, Y:70.55, Z:0.25 [[ 4.68224539e-01 -8.83608809e-01 -1.11930508e-03 1.29474260e+02] [ 8.83606441e-01 4.68225876e-01 -2.04610378e-03 7.05526250e+01] [ 2.33204292e-03 -3.09891795e-05 9.99997280e-01 2.48587327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.49, Y:70.58, Z:0.25 [[ 4.67718659e-01 -8.83876690e-01 -1.11882996e-03 1.29487892e+02] [ 8.83874322e-01 4.67719996e-01 -2.04636354e-03 7.05776840e+01] [ 2.33203218e-03 -3.17826610e-05 9.99997280e-01 2.49172356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59361786499997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:129.50, Y:70.60, Z:0.25 [[ 4.66805115e-01 -8.84359505e-01 -1.11830088e-03 1.29500907e+02] [ 8.84357137e-01 4.66806453e-01 -2.04665263e-03 7.06023895e+01] [ 2.33200678e-03 -3.35894466e-05 9.99997280e-01 2.50235159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:129.52, Y:70.63, Z:0.25 [[ 4.68264928e-01 -8.83587408e-01 -1.11773440e-03 1.29518961e+02] [ 8.83585037e-01 4.68266262e-01 -2.04696196e-03 7.06295511e+01] [ 2.33206712e-03 -2.90928992e-05 9.99997280e-01 2.47012600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.53, Y:70.65, Z:0.25 [[ 4.64071932e-01 -8.85796783e-01 -1.14060876e-03 1.29525651e+02] [ 8.85794449e-01 4.64073329e-01 -2.03447028e-03 7.06527191e+01] [ 2.33145334e-03 -6.62043576e-05 9.99997280e-01 2.49907828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68361786499997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:129.54, Y:70.68, Z:0.25 [[ 4.62636035e-01 -8.86547603e-01 -1.11663120e-03 1.29538215e+02] [ 8.86545239e-01 4.62637381e-01 -2.04754647e-03 7.06775965e+01] [ 2.33184275e-03 -4.26752973e-05 9.99997280e-01 2.50322988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.55, Y:70.70, Z:0.25 [[ 4.60760636e-01 -8.87523741e-01 -1.11608273e-03 1.29551903e+02] [ 8.87521380e-01 4.60761985e-01 -2.04784538e-03 7.07019898e+01] [ 2.33175989e-03 -4.69807439e-05 9.99997280e-01 2.53293769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.56, Y:70.73, Z:0.25 [[ 4.58257871e-01 -8.88818586e-01 -1.11555270e-03 1.29563862e+02] [ 8.88816228e-01 4.58259226e-01 -2.04813408e-03 7.07272576e+01] [ 2.33163195e-03 -5.29477809e-05 9.99997280e-01 2.52246121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.58, Y:70.75, Z:0.25 [[ 4.55133002e-01 -8.90422768e-01 -1.11524858e-03 1.29576933e+02] [ 8.90420414e-01 4.55134365e-01 -2.04829966e-03 7.07517892e+01] [ 2.33144061e-03 -6.07913260e-05 9.99997280e-01 2.52947755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.59, Y:70.78, Z:0.25 [[ 4.53880795e-01 -8.91061716e-01 -1.11469017e-03 1.29589456e+02] [ 8.91059363e-01 4.53882160e-01 -2.04860351e-03 7.07756867e+01] [ 2.33137014e-03 -6.34333237e-05 9.99997280e-01 2.52719685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.60, Y:70.80, Z:0.25 [[ 4.53642184e-01 -8.91183217e-01 -1.11418854e-03 1.29603044e+02] [ 8.91180865e-01 4.53643548e-01 -2.04887630e-03 7.08008200e+01] [ 2.33136861e-03 -6.34867851e-05 9.99997280e-01 2.52786131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.62, Y:70.83, Z:0.25 [[ 4.52251071e-01 -8.91889976e-01 -1.11363984e-03 1.29615605e+02] [ 8.91887624e-01 4.52252437e-01 -2.04917449e-03 7.08258923e+01] [ 2.33128452e-03 -6.65002332e-05 9.99997280e-01 2.52368677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:129.63, Y:70.85, Z:0.25 [[ 4.51478346e-01 -8.92281381e-01 -1.11309106e-03 1.29627913e+02] [ 8.92279030e-01 4.51479713e-01 -2.04947254e-03 7.08498654e+01] [ 2.33124422e-03 -6.78953415e-05 9.99997280e-01 2.52047087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.64, Y:70.87, Z:0.25 [[ 4.50815211e-01 -8.92616607e-01 -1.11271843e-03 1.29640482e+02] [ 8.92614257e-01 4.50816578e-01 -2.04967483e-03 7.08742771e+01] [ 2.33120571e-03 -6.92037439e-05 9.99997280e-01 2.52259415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:70.90, Z:0.25 [[ 4.52833971e-01 -8.91594166e-01 -1.11222902e-03 1.29659353e+02] [ 8.91591812e-01 4.52835333e-01 -2.04994037e-03 7.09018498e+01] [ 2.33137147e-03 -6.33716488e-05 9.99997280e-01 2.48714280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.67, Y:70.93, Z:0.25 [[ 4.51916322e-01 -8.92059612e-01 -1.13430006e-03 1.29672102e+02] [ 8.92057289e-01 4.51917736e-01 -2.03796302e-03 7.09269007e+01] [ 2.33059482e-03 -9.08718790e-05 9.99997280e-01 2.49330904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.68, Y:70.95, Z:0.25 [[ 4.50107892e-01 -8.92973467e-01 -1.12859790e-03 1.29682095e+02] [ 8.92971138e-01 4.50109298e-01 -2.04105509e-03 7.09503850e+01] [ 2.33060045e-03 -8.91103470e-05 9.99997280e-01 2.53230895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.69, Y:70.97, Z:0.25 [[ 4.50174624e-01 -8.92939849e-01 -1.11074269e-03 1.29694883e+02] [ 8.92937497e-01 4.50175989e-01 -2.05072608e-03 7.09739598e+01] [ 2.33120473e-03 -6.86389563e-05 9.99997280e-01 2.52663408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.71, Y:71.00, Z:0.25 [[ 4.50359250e-01 -8.92846747e-01 -1.11024014e-03 1.29708292e+02] [ 8.92844394e-01 4.50360613e-01 -2.05099812e-03 7.09987156e+01] [ 2.33123543e-03 -6.75857099e-05 9.99997280e-01 2.52982524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.72, Y:71.02, Z:0.25 [[ 4.50404575e-01 -8.92823884e-01 -1.10968565e-03 1.29721748e+02] [ 8.92821530e-01 4.50405937e-01 -2.05129808e-03 7.10238553e+01] [ 2.33125692e-03 -6.68372001e-05 9.99997280e-01 2.52727519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.74, Y:71.05, Z:0.25 [[ 4.51219147e-01 -8.92412489e-01 -1.10913076e-03 1.29736500e+02] [ 8.92410133e-01 4.51220506e-01 -2.05159807e-03 7.10483091e+01] [ 2.33133428e-03 -6.40791985e-05 9.99997280e-01 2.52600125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.75, Y:71.07, Z:0.25 [[ 4.50534707e-01 -8.92758225e-01 -1.10859227e-03 1.29748223e+02] [ 8.92755869e-01 4.50536067e-01 -2.05188900e-03 7.10741422e+01] [ 2.33130158e-03 -6.52550510e-05 9.99997280e-01 2.51438576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.76, Y:71.10, Z:0.25 [[ 4.50528562e-01 -8.92761327e-01 -1.10832873e-03 1.29762417e+02] [ 8.92758971e-01 4.50529920e-01 -2.05203134e-03 7.10983820e+01] [ 2.33130948e-03 -6.49716930e-05 9.99997280e-01 2.49060773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.78, Y:71.12, Z:0.25 [[ 4.50037585e-01 -8.93008928e-01 -1.10780156e-03 1.29775011e+02] [ 8.93006572e-01 4.50038944e-01 -2.05231590e-03 7.11237805e+01] [ 2.33129026e-03 -6.56547832e-05 9.99997280e-01 2.50988605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:71.15, Z:0.25 [[ 4.49651873e-01 -8.93203206e-01 -1.10724265e-03 1.29788938e+02] [ 8.93200850e-01 4.49653232e-01 -2.05261739e-03 7.11475418e+01] [ 2.33127967e-03 -6.60268192e-05 9.99997280e-01 2.51316694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.80, Y:71.17, Z:0.25 [[ 4.49449051e-01 -8.93305281e-01 -1.10674552e-03 1.29802783e+02] [ 8.93302925e-01 4.49450409e-01 -2.05288540e-03 7.11723611e+01] [ 2.33128060e-03 -6.59916132e-05 9.99997280e-01 2.51429167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.82, Y:71.20, Z:0.25 [[ 4.48894940e-01 -8.93583857e-01 -1.10620836e-03 1.29816115e+02] [ 8.93581501e-01 4.48896298e-01 -2.05317481e-03 7.11964003e+01] [ 2.33125671e-03 -6.68275474e-05 9.99997280e-01 2.51973921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.83, Y:71.22, Z:0.25 [[ 4.48267190e-01 -8.93898934e-01 -1.10571882e-03 1.29829549e+02] [ 8.93896578e-01 4.48268548e-01 -2.05343842e-03 7.12216057e+01] [ 2.33122538e-03 -6.79092014e-05 9.99997280e-01 2.52673506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.84, Y:71.25, Z:0.25 [[ 4.47997500e-01 -8.94034126e-01 -1.10516060e-03 1.29842324e+02] [ 8.94031770e-01 4.47998858e-01 -2.05373881e-03 7.12456112e+01] [ 2.33122327e-03 -6.79788322e-05 9.99997280e-01 2.52478304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.86, Y:71.27, Z:0.25 [[ 4.47712750e-01 -8.94176757e-01 -1.10465887e-03 1.29855449e+02] [ 8.94174401e-01 4.47714107e-01 -2.05400864e-03 7.12704688e+01] [ 2.33121814e-03 -6.81518270e-05 9.99997280e-01 2.52762719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:129.87, Y:71.30, Z:0.25 [[ 4.47766874e-01 -8.94149656e-01 -1.10410796e-03 1.29868085e+02] [ 8.94147299e-01 4.47768231e-01 -2.05430473e-03 7.12950378e+01] [ 2.33124034e-03 -6.73855463e-05 9.99997280e-01 2.52881768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.88, Y:71.32, Z:0.25 [[ 4.47618742e-01 -8.94223822e-01 -1.10354805e-03 1.29880782e+02] [ 8.94221464e-01 4.47620097e-01 -2.05460546e-03 7.13191709e+01] [ 2.33124744e-03 -6.71364425e-05 9.99997280e-01 2.53123120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.89, Y:71.34, Z:0.25 [[ 4.47501195e-01 -8.94282653e-01 -1.10316794e-03 1.29893923e+02] [ 8.94280295e-01 4.47502550e-01 -2.05480953e-03 7.13437899e+01] [ 2.33125099e-03 -6.70116312e-05 9.99997280e-01 2.53347226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.91, Y:71.37, Z:0.25 [[ 4.47382539e-01 -8.94342020e-01 -1.10262071e-03 1.29907097e+02] [ 8.94339661e-01 4.47383893e-01 -2.05510314e-03 7.13682492e+01] [ 2.33125984e-03 -6.67001754e-05 9.99997280e-01 2.53951225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.92, Y:71.39, Z:0.25 [[ 4.47083982e-01 -8.94491307e-01 -1.10206018e-03 1.29920134e+02] [ 8.94488948e-01 4.47085335e-01 -2.05540368e-03 7.13918474e+01] [ 2.33125567e-03 -6.68425921e-05 9.99997280e-01 2.54041083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.93, Y:71.42, Z:0.25 [[ 4.46741612e-01 -8.94662349e-01 -1.10155613e-03 1.29933588e+02] [ 8.94659990e-01 4.46742965e-01 -2.05567378e-03 7.14164367e+01] [ 2.33124639e-03 -6.71631756e-05 9.99997280e-01 2.54091566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.95, Y:71.44, Z:0.25 [[ 4.47054607e-01 -8.94505990e-01 -1.10099861e-03 1.29947090e+02] [ 8.94503630e-01 4.47055958e-01 -2.05597234e-03 7.14408675e+01] [ 2.33128756e-03 -6.57153506e-05 9.99997280e-01 2.54484931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64361786499998 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:129.96, Y:71.47, Z:0.25 [[ 4.47495701e-01 -8.94285405e-01 -1.10044447e-03 1.29959907e+02] [ 8.94283044e-01 4.47497050e-01 -2.05626890e-03 7.14655113e+01] [ 2.33133692e-03 -6.39373417e-05 9.99997280e-01 2.54698454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.97, Y:71.49, Z:0.26 [[ 4.49137764e-01 -8.93461840e-01 -1.09989354e-03 1.29971622e+02] [ 8.93459475e-01 4.49139107e-01 -2.05656355e-03 7.14896247e+01] [ 2.33146625e-03 -5.90299505e-05 9.99997280e-01 2.55065947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.98, Y:71.51, Z:0.26 [[ 4.50074676e-01 -8.92990245e-01 -1.09939885e-03 1.29984418e+02] [ 8.92987878e-01 4.50076015e-01 -2.05682796e-03 7.15145938e+01] [ 2.33154036e-03 -5.60236695e-05 9.99997280e-01 2.55138747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:130.00, Y:71.54, Z:0.26 [[ 4.50938009e-01 -8.92554595e-01 -1.09885610e-03 1.29996934e+02] [ 8.92552226e-01 4.50939345e-01 -2.05711789e-03 7.15394019e+01] [ 2.33160747e-03 -5.31538142e-05 9.99997280e-01 2.55148248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.01, Y:71.56, Z:0.25 [[ 4.51860886e-01 -8.92087739e-01 -1.09831581e-03 1.30008952e+02] [ 8.92085368e-01 4.51862218e-01 -2.05740631e-03 7.15631561e+01] [ 2.33167436e-03 -5.01300294e-05 9.99997280e-01 2.54858303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.02, Y:71.59, Z:0.25 [[ 4.53382246e-01 -8.91315507e-01 -1.09783005e-03 1.30020111e+02] [ 8.91313133e-01 4.53383573e-01 -2.05766548e-03 7.15877479e+01] [ 2.33176726e-03 -4.56013465e-05 9.99997280e-01 2.54510759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.03, Y:71.61, Z:0.25 [[ 4.54156704e-01 -8.90921144e-01 -1.09734922e-03 1.30033268e+02] [ 8.90918768e-01 4.54158028e-01 -2.05792187e-03 7.16130730e+01] [ 2.33181607e-03 -4.30300008e-05 9.99997280e-01 2.54300713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.05, Y:71.64, Z:0.25 [[ 4.54434662e-01 -8.90779398e-01 -1.09681959e-03 1.30045858e+02] [ 8.90777021e-01 4.54435984e-01 -2.05820412e-03 7.16377584e+01] [ 2.33184011e-03 -4.17023919e-05 9.99997280e-01 2.54212666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.06, Y:71.66, Z:0.25 [[ 4.54642129e-01 -8.90673527e-01 -1.09629288e-03 1.30058558e+02] [ 8.90671150e-01 4.54643449e-01 -2.05848463e-03 7.16626468e+01] [ 2.33186014e-03 -4.05626050e-05 9.99997280e-01 2.54104114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.07, Y:71.69, Z:0.25 [[ 4.55350265e-01 -8.90311707e-01 -1.09574511e-03 1.30070633e+02] [ 8.90309327e-01 4.55351582e-01 -2.05877617e-03 7.16877961e+01] [ 2.33190179e-03 -3.80878215e-05 9.99997280e-01 2.54375559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.08, Y:71.71, Z:0.25 [[ 4.55889752e-01 -8.90035580e-01 -1.09517678e-03 1.30082255e+02] [ 8.90033199e-01 4.55891066e-01 -2.05907845e-03 7.17119150e+01] [ 2.33193439e-03 -3.60309338e-05 9.99997280e-01 2.54342284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.09, Y:71.74, Z:0.26 [[ 4.55538526e-01 -8.90215401e-01 -1.09137754e-03 1.30094690e+02] [ 8.90213016e-01 4.55539832e-01 -2.06109768e-03 7.17380413e+01] [ 2.33198684e-03 -3.26490917e-05 9.99997280e-01 2.55022379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.11, Y:71.76, Z:0.25 [[ 4.55074362e-01 -8.90452766e-01 -1.09411740e-03 1.30105460e+02] [ 8.90450384e-01 4.55075676e-01 -2.05964222e-03 7.17625215e+01] [ 2.33192032e-03 -3.69668946e-05 9.99997280e-01 2.54762789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.12, Y:71.79, Z:0.25 [[ 4.54168958e-01 -8.90914902e-01 -1.09361316e-03 1.30117878e+02] [ 8.90912521e-01 4.54170273e-01 -2.05990992e-03 7.17877868e+01] [ 2.33189103e-03 -3.87665154e-05 9.99997280e-01 2.54854908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.13, Y:71.81, Z:0.25 [[ 4.51384710e-01 -8.92328778e-01 -1.09308058e-03 1.30129047e+02] [ 8.92326401e-01 4.51386031e-01 -2.06019249e-03 7.18132711e+01] [ 2.33177035e-03 -4.54452675e-05 9.99997280e-01 2.54806648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.14, Y:71.84, Z:0.25 [[ 4.49423382e-01 -8.93318213e-01 -1.09252446e-03 1.30141686e+02] [ 8.93315838e-01 4.49424708e-01 -2.06048736e-03 7.18385994e+01] [ 2.33167837e-03 -4.99381984e-05 9.99997280e-01 2.54777735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.15, Y:71.86, Z:0.25 [[ 4.47349342e-01 -8.94358638e-01 -1.09197039e-03 1.30154264e+02] [ 8.94356266e-01 4.47350672e-01 -2.06078095e-03 7.18640961e+01] [ 2.33157093e-03 -5.47215614e-05 9.99997280e-01 2.54725514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.17, Y:71.89, Z:0.25 [[ 4.43025466e-01 -8.96508363e-01 -1.09141877e-03 1.30166132e+02] [ 8.96505997e-01 4.43026805e-01 -2.06107306e-03 7.18900020e+01] [ 2.33129700e-03 -6.53556204e-05 9.99997280e-01 2.53918486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.18, Y:71.92, Z:0.25 [[ 4.40712920e-01 -8.97647443e-01 -1.09086636e-03 1.30178609e+02] [ 8.97645079e-01 4.40714264e-01 -2.06136539e-03 7.19155039e+01] [ 2.33113974e-03 -7.07404612e-05 9.99997280e-01 2.54032382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.19, Y:71.94, Z:0.25 [[ 4.38808165e-01 -8.98580105e-01 -1.09031233e-03 1.30190296e+02] [ 8.98577743e-01 4.38809514e-01 -2.06165839e-03 7.19397714e+01] [ 2.33100464e-03 -7.50578510e-05 9.99997280e-01 2.53933524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:130.20, Y:71.97, Z:0.25 [[ 4.36843116e-01 -8.99537050e-01 -1.08993748e-03 1.30202778e+02] [ 8.99534690e-01 4.36844469e-01 -2.06185655e-03 7.19654738e+01] [ 2.33084951e-03 -7.97287329e-05 9.99997280e-01 2.53984142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27361786499998 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:130.21, Y:71.99, Z:0.25 [[ 4.34480182e-01 -9.00680734e-01 -1.08937842e-03 1.30213961e+02] [ 9.00678378e-01 4.34481539e-01 -2.06215188e-03 7.19911707e+01] [ 2.33065528e-03 -8.52154641e-05 9.99997280e-01 2.53719189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30361786499998 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:130.23, Y:72.02, Z:0.26 [[ 4.34987037e-01 -9.00436057e-01 -1.08880670e-03 1.30227541e+02] [ 9.00433699e-01 4.34988391e-01 -2.06245370e-03 7.20173535e+01] [ 2.33072595e-03 -8.32576180e-05 9.99997280e-01 2.56110117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33361786499998 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:130.24, Y:72.04, Z:0.25 [[ 4.33347987e-01 -9.01226014e-01 -1.09256820e-03 1.30237051e+02] [ 9.01223663e-01 4.33349355e-01 -2.06046833e-03 7.20424962e+01] [ 2.33041139e-03 -9.17485114e-05 9.99997280e-01 2.53313834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36361786499998 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:130.25, Y:72.07, Z:0.25 [[ 4.32952806e-01 -9.01415933e-01 -1.08808329e-03 1.30246490e+02] [ 9.01413577e-01 4.32954164e-01 -2.06283399e-03 7.20695859e+01] [ 2.33056161e-03 -8.77032893e-05 9.99997280e-01 2.52087843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39361786499998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:130.26, Y:72.09, Z:0.25 [[ 4.33117367e-01 -9.01336876e-01 -1.08751978e-03 1.30257033e+02] [ 9.01334519e-01 4.33118724e-01 -2.06313102e-03 7.20940041e+01] [ 2.33060125e-03 -8.66412451e-05 9.99997280e-01 2.51873639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42361786499998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:130.27, Y:72.12, Z:0.25 [[ 4.32645252e-01 -9.01563594e-01 -1.08260486e-03 1.30268780e+02] [ 9.01561231e-01 4.32646599e-01 -2.06572076e-03 7.21206102e+01] [ 2.33076394e-03 -8.23102897e-05 9.99997280e-01 2.51834326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45361786499996 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:130.28, Y:72.15, Z:0.25 [[ 4.32386863e-01 -9.01687540e-01 -1.08700945e-03 1.30280200e+02] [ 9.01685183e-01 4.32388220e-01 -2.06340042e-03 7.21456317e+01] [ 2.33055253e-03 -8.79530747e-05 9.99997280e-01 2.51410129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48361786499996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:130.29, Y:72.17, Z:0.25 [[ 4.32007190e-01 -9.01869507e-01 -1.08663589e-03 1.30289618e+02] [ 9.01867150e-01 4.32008547e-01 -2.06359713e-03 7.21718053e+01] [ 2.33053132e-03 -8.85124186e-05 9.99997280e-01 2.51310606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51361786499996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:130.30, Y:72.20, Z:0.25 [[ 4.31921466e-01 -9.01910565e-01 -1.08613698e-03 1.30300944e+02] [ 9.01908208e-01 4.31922823e-01 -2.06385969e-03 7.21972094e+01] [ 2.33054421e-03 -8.81705588e-05 9.99997280e-01 2.51616567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54361786499996 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:130.31, Y:72.22, Z:0.25 [[ 4.31893250e-01 -9.01924078e-01 -1.08559000e-03 1.30309684e+02] [ 9.01921720e-01 4.31894606e-01 -2.06414736e-03 7.22235104e+01] [ 2.33056467e-03 -8.76258880e-05 9.99997280e-01 2.52096119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57361786499996 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:130.32, Y:72.25, Z:0.25 [[ 4.31718709e-01 -9.02007638e-01 -1.08509971e-03 1.30320748e+02] [ 9.02005280e-01 4.31720064e-01 -2.06440507e-03 7.22493735e+01] [ 2.33056845e-03 -8.75233729e-05 9.99997280e-01 2.52204914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60361786499996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:130.33, Y:72.28, Z:0.25 [[ 4.33100945e-01 -9.01344771e-01 -1.08456240e-03 1.30334626e+02] [ 9.01342410e-01 4.33102294e-01 -2.06468731e-03 7.22763580e+01] [ 2.33072157e-03 -8.33440658e-05 9.99997280e-01 2.53967409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63361786499996 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:130.34, Y:72.30, Z:0.25 [[ 4.31123467e-01 -9.02292283e-01 -1.09227047e-03 1.30341400e+02] [ 9.02289935e-01 4.31124839e-01 -2.06063844e-03 7.23017105e+01] [ 2.33020310e-03 -9.71550668e-05 9.99997280e-01 2.52967042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66361786499996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:130.36, Y:72.33, Z:0.26 [[ 4.33874669e-01 -9.00972584e-01 -1.08380376e-03 1.30359217e+02] [ 9.00970221e-01 4.33876015e-01 -2.06508197e-03 7.23301250e+01] [ 2.33081870e-03 -8.04881546e-05 9.99997280e-01 2.56569001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69361786499996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:130.36, Y:72.35, Z:0.25 [[ 4.29862430e-01 -9.02893717e-01 -1.10762201e-03 1.30364098e+02] [ 9.02891392e-01 4.29863841e-01 -2.05257632e-03 7.23544201e+01] [ 2.32938491e-03 -1.17736934e-04 9.99997280e-01 2.52196982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72361786499997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:130.38, Y:72.38, Z:0.25 [[ 4.29619408e-01 -9.03009409e-01 -1.08295302e-03 1.30377287e+02] [ 9.03007051e-01 4.29620763e-01 -2.06551034e-03 7.23797495e+01] [ 2.33043437e-03 -9.05308804e-05 9.99997280e-01 2.52255914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.75361786499997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:130.39, Y:72.41, Z:0.25 [[ 4.28312224e-01 -9.03630161e-01 -1.08239702e-03 1.30386595e+02] [ 9.03627804e-01 4.28313581e-01 -2.06580166e-03 7.24056045e+01] [ 2.33032603e-03 -9.32759436e-05 9.99997280e-01 2.52426481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78361786499997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:130.40, Y:72.43, Z:0.25 [[ 4.27742155e-01 -9.03900149e-01 -1.08189693e-03 1.30398477e+02] [ 9.03897792e-01 4.27743513e-01 -2.06606354e-03 7.24314282e+01] [ 2.33028953e-03 -9.41817743e-05 9.99997280e-01 2.52284576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81361786499997 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:130.41, Y:72.46, Z:0.25 [[ 4.26894607e-01 -9.04300738e-01 -1.08133514e-03 1.30410222e+02] [ 9.04298383e-01 4.26895966e-01 -2.06635752e-03 7.24574483e+01] [ 2.33022624e-03 -9.57327367e-05 9.99997280e-01 2.52397577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84361786499997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:130.43, Y:72.48, Z:0.26 [[ 4.28577934e-01 -9.03504171e-01 -1.08076974e-03 1.30425729e+02] [ 9.03501812e-01 4.28579287e-01 -2.06665320e-03 7.24846838e+01] [ 2.33042531e-03 -9.07554569e-05 9.99997280e-01 2.55648752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87361786499997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:130.43, Y:72.51, Z:0.25 [[ 4.26591547e-01 -9.04443727e-01 -1.09393747e-03 1.30431254e+02] [ 9.04441388e-01 4.26592935e-01 -2.05976854e-03 7.25097838e+01] [ 2.32961073e-03 -1.10722475e-04 9.99997280e-01 2.52962111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90361786499997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:130.44, Y:72.53, Z:0.25 [[ 4.28031639e-01 -9.03763105e-01 -1.07972561e-03 1.30441055e+02] [ 9.03760746e-01 4.28032991e-01 -2.06719161e-03 7.25334369e+01] [ 2.33040969e-03 -9.09902120e-05 9.99997280e-01 2.53024217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93361786499997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:130.45, Y:72.56, Z:0.25 [[ 4.27102564e-01 -9.04202559e-01 -1.06370087e-03 1.30453117e+02] [ 9.04200180e-01 4.27103882e-01 -2.07555117e-03 7.25609277e+01] [ 2.33102945e-03 -7.53252887e-05 9.99997280e-01 2.53018219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96361786499997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:130.47, Y:72.59, Z:0.26 [[ 4.30534999e-01 -9.02573239e-01 -1.07872517e-03 1.30470236e+02] [ 9.02570874e-01 4.30536342e-01 -2.06771300e-03 7.25889055e+01] [ 2.33069281e-03 -8.34031091e-05 9.99997280e-01 2.55763367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99361786499998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:130.47, Y:72.61, Z:0.25 [[ 4.29289123e-01 -9.03166453e-01 -1.09863110e-03 1.30474327e+02] [ 9.03164116e-01 4.29290515e-01 -2.05733136e-03 7.26145817e+01] [ 2.32974458e-03 -1.09054215e-04 9.99997280e-01 2.52483619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.49, Y:72.64, Z:0.25 [[ 4.30103788e-01 -9.02778805e-01 -1.07732925e-03 1.30485552e+02] [ 9.02776440e-01 4.30105129e-01 -2.06842633e-03 7.26400837e+01] [ 2.33069628e-03 -8.29494630e-05 9.99997280e-01 2.52477360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.50, Y:72.67, Z:0.25 [[ 4.33709242e-01 -9.01052237e-01 -1.07677201e-03 1.30498378e+02] [ 9.01049865e-01 4.33710573e-01 -2.06871637e-03 7.26670261e+01] [ 2.33102892e-03 -7.30038707e-05 9.99997280e-01 2.52381914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.51, Y:72.69, Z:0.25 [[ 4.32897575e-01 -9.01442460e-01 -1.08685634e-03 1.30507042e+02] [ 9.01440102e-01 4.32898931e-01 -2.06346777e-03 7.26917607e+01] [ 2.33059641e-03 -8.64656933e-05 9.99997280e-01 2.51767626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.52, Y:72.72, Z:0.25 [[ 4.35852010e-01 -9.00017704e-01 -1.07589164e-03 1.30522741e+02] [ 9.00015328e-01 4.35853333e-01 -2.06916900e-03 7.27190892e+01] [ 2.33121969e-03 -6.64675031e-05 9.99997280e-01 2.51865689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.53, Y:72.74, Z:0.25 [[ 4.34970072e-01 -9.00444251e-01 -1.08912469e-03 1.30532135e+02] [ 9.00441894e-01 4.34971428e-01 -2.06229050e-03 7.27449101e+01] [ 2.33071575e-03 -8.36588469e-05 9.99997280e-01 2.50710539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.54, Y:72.77, Z:0.25 [[ 4.36795272e-01 -8.99560297e-01 -1.07778763e-03 1.30542508e+02] [ 8.99557922e-01 4.36796597e-01 -2.06817775e-03 7.27699091e+01] [ 2.33122456e-03 -6.61621357e-05 9.99997281e-01 2.51938666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.56, Y:72.80, Z:0.25 [[ 4.38235989e-01 -8.98859312e-01 -1.07445761e-03 1.30555940e+02] [ 8.98856931e-01 4.38237302e-01 -2.06990631e-03 7.27955410e+01] [ 2.33142197e-03 -5.86762262e-05 9.99997281e-01 2.54373890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.57, Y:72.82, Z:0.25 [[ 4.38754221e-01 -8.98606465e-01 -1.07416854e-03 1.30567652e+02] [ 8.98604083e-01 4.38755533e-01 -2.07005631e-03 7.28213253e+01] [ 2.33146337e-03 -5.70062908e-05 9.99997281e-01 2.52759509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.58, Y:72.84, Z:0.25 [[ 4.40097764e-01 -8.97949222e-01 -1.07387007e-03 1.30578870e+02] [ 8.97946837e-01 4.40099071e-01 -2.07021113e-03 7.28449513e+01] [ 2.33155370e-03 -5.31829437e-05 9.99997281e-01 2.52755340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.59, Y:72.87, Z:0.25 [[ 4.40760631e-01 -8.97624044e-01 -1.06913180e-03 1.30591310e+02] [ 8.97621652e-01 4.40761925e-01 -2.07266820e-03 7.28709817e+01] [ 2.33170940e-03 -4.61253124e-05 9.99997281e-01 2.52839088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.60, Y:72.89, Z:0.25 [[ 4.41026694e-01 -8.97493344e-01 -1.07341159e-03 1.30603695e+02] [ 8.97490957e-01 4.41027998e-01 -2.07044937e-03 7.28944797e+01] [ 2.33161909e-03 -5.02537568e-05 9.99997281e-01 2.52642018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.62, Y:72.92, Z:0.25 [[ 4.39875020e-01 -8.98058359e-01 -1.07302356e-03 1.30617437e+02] [ 8.98055973e-01 4.39876325e-01 -2.07065044e-03 7.29201751e+01] [ 2.33156260e-03 -5.28078150e-05 9.99997281e-01 2.54703348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.63, Y:72.95, Z:0.25 [[ 4.37746976e-01 -8.99097567e-01 -1.07251760e-03 1.30630442e+02] [ 8.99095184e-01 4.37748286e-01 -2.07091248e-03 7.29464450e+01] [ 2.33144511e-03 -5.77597364e-05 9.99997281e-01 2.52519992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.64, Y:72.97, Z:0.25 [[ 4.36314922e-01 -8.99793387e-01 -1.07201582e-03 1.30643788e+02] [ 8.99791006e-01 4.36316234e-01 -2.07117220e-03 7.29705904e+01] [ 2.33136495e-03 -6.09068562e-05 9.99997281e-01 2.53044013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.66, Y:72.99, Z:0.25 [[ 4.35546281e-01 -9.00165701e-01 -1.07144387e-03 1.30658281e+02] [ 9.00163320e-01 4.35547594e-01 -2.07146803e-03 7.29948242e+01] [ 2.33132927e-03 -6.22542732e-05 9.99997281e-01 2.53850542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.67, Y:73.02, Z:0.25 [[ 4.33035221e-01 -9.01376364e-01 -1.07114708e-03 1.30670320e+02] [ 9.01373986e-01 4.33036541e-01 -2.07162149e-03 7.30205107e+01] [ 2.33115647e-03 -6.84190395e-05 9.99997281e-01 2.51675926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.69, Y:73.04, Z:0.25 [[ 4.30864983e-01 -9.02415769e-01 -1.07059326e-03 1.30685055e+02] [ 9.02413394e-01 4.30866306e-01 -2.07190766e-03 7.30430230e+01] [ 2.33100471e-03 -7.34052394e-05 9.99997281e-01 2.53959977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.70, Y:73.07, Z:0.25 [[ 4.29159772e-01 -9.03227962e-01 -1.06717601e-03 1.30698841e+02] [ 9.03225585e-01 4.29161092e-01 -2.07367211e-03 7.30682443e+01] [ 2.33098905e-03 -7.39640240e-05 9.99997281e-01 2.54591377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.71, Y:73.09, Z:0.25 [[ 4.28109745e-01 -9.03726121e-01 -1.06957986e-03 1.30712548e+02] [ 9.03723748e-01 4.28111074e-01 -2.07243148e-03 7.30932013e+01] [ 2.33080945e-03 -7.93766102e-05 9.99997281e-01 2.54542401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.73, Y:73.12, Z:0.25 [[ 4.26654001e-01 -9.04414297e-01 -1.06903231e-03 1.30725660e+02] [ 9.04411926e-01 4.26655332e-01 -2.07271389e-03 7.31170001e+01] [ 2.33070041e-03 -8.25138937e-05 9.99997281e-01 2.54054100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.74, Y:73.14, Z:0.25 [[ 4.26359367e-01 -9.04553231e-01 -1.06854040e-03 1.30738291e+02] [ 9.04550860e-01 4.26360698e-01 -2.07296745e-03 7.31415121e+01] [ 2.33069304e-03 -8.27200483e-05 9.99997281e-01 2.53708043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65361786499997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:130.75, Y:73.17, Z:0.25 [[ 4.26498728e-01 -9.04487531e-01 -1.06799005e-03 1.30750621e+02] [ 9.04485159e-01 4.26500058e-01 -2.07325095e-03 7.31655089e+01] [ 2.33072745e-03 -8.17422588e-05 9.99997281e-01 2.53436924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.76, Y:73.19, Z:0.25 [[ 4.27333531e-01 -9.04093421e-01 -1.06749503e-03 1.30763892e+02] [ 9.04091047e-01 4.27334857e-01 -2.07350580e-03 7.31903306e+01] [ 2.33082079e-03 -7.90341451e-05 9.99997281e-01 2.52100929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.78, Y:73.22, Z:0.25 [[ 4.27888070e-01 -9.03831102e-01 -1.06693662e-03 1.30777527e+02] [ 9.03828726e-01 4.27889393e-01 -2.07379309e-03 7.32150922e+01] [ 2.33088956e-03 -7.69766457e-05 9.99997281e-01 2.51520345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.79, Y:73.24, Z:0.25 [[ 4.28279156e-01 -9.03645853e-01 -1.06638010e-03 1.30790844e+02] [ 9.03643476e-01 4.28280477e-01 -2.07407923e-03 7.32390882e+01] [ 2.33094287e-03 -7.53425133e-05 9.99997281e-01 2.51028979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.80, Y:73.26, Z:0.25 [[ 4.28611679e-01 -9.03488181e-01 -1.06588063e-03 1.30804713e+02] [ 9.03485803e-01 4.28612998e-01 -2.07433588e-03 7.32635995e+01] [ 2.33098824e-03 -7.39234352e-05 9.99997281e-01 2.51355499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.82, Y:73.29, Z:0.25 [[ 4.29598040e-01 -9.03019595e-01 -1.06530931e-03 1.30818894e+02] [ 9.03017215e-01 4.29599355e-01 -2.07462924e-03 7.32870780e+01] [ 2.33108705e-03 -7.07359940e-05 9.99997281e-01 2.50915435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.83, Y:73.31, Z:0.25 [[ 4.29628932e-01 -9.03004898e-01 -1.06499353e-03 1.30832277e+02] [ 9.03002518e-01 4.29630246e-01 -2.07479134e-03 7.33120740e+01] [ 2.33110017e-03 -7.03014540e-05 9.99997281e-01 2.51375063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.85, Y:73.34, Z:0.25 [[ 4.29679856e-01 -9.02980669e-01 -1.06442643e-03 1.30845123e+02] [ 9.02978287e-01 4.29681169e-01 -2.07508223e-03 7.33359671e+01] [ 2.33112314e-03 -6.95329166e-05 9.99997281e-01 2.51280919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.86, Y:73.36, Z:0.25 [[ 4.29754567e-01 -9.02945115e-01 -1.06391714e-03 1.30858765e+02] [ 9.02942732e-01 4.29755879e-01 -2.07534332e-03 7.33607727e+01] [ 2.33114576e-03 -6.87679809e-05 9.99997281e-01 2.51172724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.87, Y:73.38, Z:0.25 [[ 4.29872321e-01 -9.02889061e-01 -1.06335778e-03 1.30873290e+02] [ 9.02886678e-01 4.29873631e-01 -2.07562988e-03 7.33835267e+01] [ 2.33117299e-03 -6.78357434e-05 9.99997281e-01 2.51816542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.89, Y:73.41, Z:0.25 [[ 4.29796848e-01 -9.02924991e-01 -1.06285549e-03 1.30886770e+02] [ 9.02922607e-01 4.29798157e-01 -2.07588706e-03 7.34067569e+01] [ 2.33118363e-03 -6.74665328e-05 9.99997281e-01 2.52239055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.90, Y:73.43, Z:0.25 [[ 4.29649777e-01 -9.02994984e-01 -1.06235893e-03 1.30900922e+02] [ 9.02992599e-01 4.29651085e-01 -2.07614114e-03 7.34294331e+01] [ 2.33118871e-03 -6.72886716e-05 9.99997281e-01 2.52590278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.91, Y:73.45, Z:0.25 [[ 4.29474796e-01 -9.03078220e-01 -1.06186765e-03 1.30914589e+02] [ 9.03075836e-01 4.29476103e-01 -2.07639238e-03 7.34543962e+01] [ 2.33119152e-03 -6.71888210e-05 9.99997281e-01 2.52924616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.93, Y:73.48, Z:0.25 [[ 4.29323888e-01 -9.03149973e-01 -1.06132894e-03 1.30928004e+02] [ 9.03147588e-01 4.29325194e-01 -2.07666771e-03 7.34791809e+01] [ 2.33119763e-03 -6.69736166e-05 9.99997281e-01 2.54256834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.94, Y:73.50, Z:0.25 [[ 4.29975015e-01 -9.02840167e-01 -1.05800400e-03 1.30942527e+02] [ 9.02837777e-01 4.29976313e-01 -2.07836579e-03 7.35032931e+01] [ 2.33134878e-03 -6.15606114e-05 9.99997281e-01 2.53185482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.96, Y:73.53, Z:0.25 [[ 4.30175389e-01 -9.02744709e-01 -1.06051711e-03 1.30955688e+02] [ 9.02742322e-01 4.30176692e-01 -2.07708265e-03 7.35279194e+01] [ 2.33128511e-03 -6.38638359e-05 9.99997281e-01 2.53233352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.97, Y:73.55, Z:0.25 [[ 4.29790524e-01 -9.02928005e-01 -1.05998752e-03 1.30967438e+02] [ 9.02925617e-01 4.29791826e-01 -2.07735288e-03 7.35521944e+01] [ 2.33127406e-03 -6.42633033e-05 9.99997281e-01 2.54379320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:73.58, Z:0.25 [[ 4.30819256e-01 -9.02437624e-01 -1.05032550e-03 1.30982346e+02] [ 9.02435223e-01 4.30820533e-01 -2.08228048e-03 7.35772491e+01] [ 2.33163005e-03 -5.07642011e-05 9.99997280e-01 2.54216706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.99, Y:73.60, Z:0.25 [[ 4.28973341e-01 -9.03316529e-01 -1.05939061e-03 1.30991002e+02] [ 9.03314142e-01 4.28974644e-01 -2.07765822e-03 7.36002119e+01] [ 2.33123472e-03 -6.57025308e-05 9.99997281e-01 2.54334920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:73.63, Z:0.25 [[ 4.33978909e-01 -9.00922431e-01 -1.03954902e-03 1.31012068e+02] [ 9.00920012e-01 4.33980153e-01 -2.08776506e-03 7.36278503e+01] [ 2.33205801e-03 -3.05045126e-05 9.99997280e-01 2.53796750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.02, Y:73.65, Z:0.25 [[ 4.28857924e-01 -9.03371307e-01 -1.07857750e-03 1.31016849e+02] [ 9.03368944e-01 4.28859272e-01 -2.06786343e-03 7.36500272e+01] [ 2.33060645e-03 -8.75337941e-05 9.99997280e-01 2.53848726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:73.68, Z:0.25 [[ 4.30620531e-01 -9.02532481e-01 -1.03917080e-03 1.31034890e+02] [ 9.02530066e-01 4.30621783e-01 -2.08791609e-03 7.36752911e+01] [ 2.33190167e-03 -3.87833557e-05 9.99997280e-01 2.54288688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.05, Y:73.70, Z:0.25 [[ 4.30050867e-01 -9.02804039e-01 -1.05802749e-03 1.31047792e+02] [ 9.02801649e-01 4.30052164e-01 -2.07831654e-03 7.36991493e+01] [ 2.33131958e-03 -6.14071350e-05 9.99997281e-01 2.54381507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:73.72, Z:0.25 [[ 4.29541466e-01 -9.03046516e-01 -1.05751828e-03 1.31060585e+02] [ 9.03044126e-01 4.29542764e-01 -2.07857562e-03 7.37226299e+01] [ 2.33129979e-03 -6.21512488e-05 9.99997281e-01 2.54447506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.07, Y:73.75, Z:0.25 [[ 4.28222650e-01 -9.03672642e-01 -1.05695790e-03 1.31074860e+02] [ 9.03670254e-01 4.28223950e-01 -2.07886053e-03 7.37472853e+01] [ 2.33122408e-03 -6.49262470e-05 9.99997281e-01 2.53658811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:73.77, Z:0.25 [[ 4.27839308e-01 -9.03854197e-01 -1.05642955e-03 1.31088652e+02] [ 9.03851808e-01 4.27840608e-01 -2.07912899e-03 7.37721670e+01] [ 2.33121293e-03 -6.53226449e-05 9.99997281e-01 2.53196060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.10, Y:73.80, Z:0.25 [[ 4.27764445e-01 -9.03889631e-01 -1.05590506e-03 1.31102058e+02] [ 9.03887241e-01 4.27765743e-01 -2.07939532e-03 7.37963891e+01] [ 2.33122388e-03 -6.49277250e-05 9.99997281e-01 2.53064787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.12, Y:73.82, Z:0.25 [[ 4.27881906e-01 -9.03834034e-01 -1.05538353e-03 1.31115354e+02] [ 9.03831644e-01 4.27883202e-01 -2.07965999e-03 7.38209070e+01] [ 2.33124836e-03 -6.40401541e-05 9.99997281e-01 2.53000151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.13, Y:73.84, Z:0.25 [[ 4.28928094e-01 -9.03338019e-01 -1.05482432e-03 1.31128595e+02] [ 9.03335627e-01 4.28929387e-01 -2.07994359e-03 7.38443692e+01] [ 2.33133727e-03 -6.07141494e-05 9.99997281e-01 2.52479486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.14, Y:73.87, Z:0.25 [[ 4.29632201e-01 -9.03003355e-01 -1.05432322e-03 1.31142293e+02] [ 9.03000961e-01 4.29633491e-01 -2.08019756e-03 7.38694073e+01] [ 2.33139795e-03 -5.83350252e-05 9.99997281e-01 2.52341432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.16, Y:73.89, Z:0.25 [[ 4.30189072e-01 -9.02738197e-01 -1.05377235e-03 1.31155599e+02] [ 9.02735801e-01 4.30190358e-01 -2.08047658e-03 7.38932508e+01] [ 2.33144838e-03 -5.62797410e-05 9.99997281e-01 2.52524058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.17, Y:73.92, Z:0.25 [[ 4.31127455e-01 -9.02290423e-01 -1.05327754e-03 1.31170336e+02] [ 9.02288026e-01 4.31128738e-01 -2.08072706e-03 7.39170727e+01] [ 2.33151832e-03 -5.33011506e-05 9.99997281e-01 2.52765065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:73.94, Z:0.25 [[ 4.31132402e-01 -9.02288060e-01 -1.05273397e-03 1.31183336e+02] [ 9.02285662e-01 4.31133684e-01 -2.08100204e-03 7.39402728e+01] [ 2.33153237e-03 -5.26793550e-05 9.99997281e-01 2.52533287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.20, Y:73.97, Z:0.25 [[ 4.30915515e-01 -9.02391662e-01 -1.05224682e-03 1.31196122e+02] [ 9.02389264e-01 4.30916796e-01 -2.08124834e-03 7.39658013e+01] [ 2.33153197e-03 -5.26940302e-05 9.99997281e-01 2.52599718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.21, Y:73.99, Z:0.25 [[ 4.30584074e-01 -9.02549860e-01 -1.05174650e-03 1.31210140e+02] [ 9.02547461e-01 4.30585355e-01 -2.08150114e-03 7.39905814e+01] [ 2.33152520e-03 -5.29898979e-05 9.99997281e-01 2.53205093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.22, Y:74.02, Z:0.25 [[ 4.29822395e-01 -9.02912844e-01 -1.05118666e-03 1.31224499e+02] [ 9.02910446e-01 4.29823677e-01 -2.08178382e-03 7.40153186e+01] [ 2.33149427e-03 -5.43301114e-05 9.99997281e-01 2.53589870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.24, Y:74.04, Z:0.25 [[ 4.28047404e-01 -9.03755673e-01 -1.05061799e-03 1.31240295e+02] [ 9.03753276e-01 4.28048689e-01 -2.08207078e-03 7.40391116e+01] [ 2.33139893e-03 -5.82744539e-05 9.99997281e-01 2.54288849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.25, Y:74.06, Z:0.25 [[ 4.26839432e-01 -9.04326820e-01 -1.05004516e-03 1.31254191e+02] [ 9.04324424e-01 4.26840719e-01 -2.08235963e-03 7.40628334e+01] [ 2.33133570e-03 -6.07482771e-05 9.99997281e-01 2.54405506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.27, Y:74.09, Z:0.26 [[ 4.29284664e-01 -9.03168631e-01 -1.04965582e-03 1.31274929e+02] [ 9.03166231e-01 4.29285944e-01 -2.08255587e-03 7.40894838e+01] [ 2.33150162e-03 -5.40043938e-05 9.99997281e-01 2.56896135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.29, Y:74.11, Z:0.26 [[ 4.26809992e-01 -9.04340687e-01 -1.07305276e-03 1.31287099e+02] [ 9.04338321e-01 4.26811332e-01 -2.07076372e-03 7.41139145e+01] [ 2.33066696e-03 -8.65800842e-05 9.99997280e-01 2.56724613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.30, Y:74.14, Z:0.26 [[ 4.23299365e-01 -9.05989249e-01 -1.06181573e-03 1.31298765e+02] [ 9.05986874e-01 4.23300689e-01 -2.07642114e-03 7.41362057e+01] [ 2.33068256e-03 -8.30433602e-05 9.99997281e-01 2.55005430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.31, Y:74.16, Z:0.25 [[ 4.23030314e-01 -9.06114924e-01 -1.04777861e-03 1.31312947e+02] [ 9.06112531e-01 4.23031606e-01 -2.08348039e-03 7.41607961e+01] [ 2.33111614e-03 -6.80299657e-05 9.99997281e-01 2.54468317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:74.18, Z:0.25 [[ 4.23168297e-01 -9.06050493e-01 -1.04722375e-03 1.31328270e+02] [ 9.06048099e-01 4.23169588e-01 -2.08375924e-03 7.41847620e+01] [ 2.33114433e-03 -6.70542361e-05 9.99997281e-01 2.53498407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.34, Y:74.21, Z:0.25 [[ 4.23424580e-01 -9.05930753e-01 -1.04667092e-03 1.31342128e+02] [ 9.05928358e-01 4.23425869e-01 -2.08403689e-03 7.42095154e+01] [ 2.33118065e-03 -6.57764267e-05 9.99997281e-01 2.53091606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:74.23, Z:0.25 [[ 4.24032849e-01 -9.05646205e-01 -1.04611719e-03 1.31356001e+02] [ 9.05643809e-01 4.24034135e-01 -2.08431480e-03 7.42343278e+01] [ 2.33124119e-03 -6.35916136e-05 9.99997281e-01 2.54850029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.37, Y:74.26, Z:0.25 [[ 4.24401273e-01 -9.05473617e-01 -1.04360190e-03 1.31369836e+02] [ 9.05471217e-01 4.24402552e-01 -2.08557672e-03 7.42585830e+01] [ 2.33134200e-03 -5.98300643e-05 9.99997281e-01 2.52290322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.39, Y:74.28, Z:0.25 [[ 4.26535172e-01 -9.04470372e-01 -1.04539995e-03 1.31387790e+02] [ 9.04467971e-01 4.26536450e-01 -2.08467505e-03 7.42849171e+01] [ 2.33142800e-03 -5.63435368e-05 9.99997281e-01 2.50384729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.40, Y:74.31, Z:0.25 [[ 4.25832327e-01 -9.04801474e-01 -1.05940130e-03 1.31400200e+02] [ 9.04799092e-01 4.25833638e-01 -2.07765342e-03 7.43065894e+01] [ 2.33099258e-03 -7.38133415e-05 9.99997281e-01 2.51889919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.42, Y:74.33, Z:0.25 [[ 4.27252845e-01 -9.04131581e-01 -1.04471850e-03 1.31417460e+02] [ 9.04129178e-01 4.27254118e-01 -2.08501040e-03 7.43326351e+01] [ 2.33148403e-03 -5.37338560e-05 9.99997281e-01 2.50284810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.43, Y:74.36, Z:0.25 [[ 4.26783030e-01 -9.04353432e-01 -1.05621301e-03 1.31430705e+02] [ 9.04351044e-01 4.26784331e-01 -2.07925175e-03 7.43572453e+01] [ 2.33115362e-03 -6.77979750e-05 9.99997281e-01 2.50541541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.45, Y:74.38, Z:0.25 [[ 4.27759580e-01 -9.03891939e-01 -1.05125132e-03 1.31447298e+02] [ 9.03889543e-01 4.27760867e-01 -2.08173524e-03 7.43811636e+01] [ 2.33134788e-03 -5.97328893e-05 9.99997281e-01 2.50053450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.46, Y:74.40, Z:0.25 [[ 4.27431516e-01 -9.04047117e-01 -1.05306114e-03 1.31459360e+02] [ 9.04044725e-01 4.27432809e-01 -2.08082984e-03 7.44037867e+01] [ 2.33128110e-03 -6.26021136e-05 9.99997281e-01 2.51053492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.47, Y:74.43, Z:0.25 [[ 4.27986328e-01 -9.03784607e-01 -1.04272947e-03 1.31474286e+02] [ 9.03782201e-01 4.27987595e-01 -2.08599435e-03 7.44281720e+01] [ 2.33156486e-03 -4.96232738e-05 9.99997281e-01 2.51668772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.49, Y:74.45, Z:0.26 [[ 4.27740632e-01 -9.03900916e-01 -1.04218272e-03 1.31492386e+02] [ 9.03898510e-01 4.27741898e-01 -2.08626747e-03 7.44524917e+01] [ 2.33156429e-03 -4.96460443e-05 9.99997281e-01 2.55201575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.51, Y:74.48, Z:0.25 [[ 4.29289537e-01 -9.03166310e-01 -1.05370443e-03 1.31506528e+02] [ 9.03163916e-01 4.29290826e-01 -2.08051282e-03 7.44752211e+01] [ 2.33139473e-03 -5.85254360e-05 9.99997281e-01 2.54016495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.52, Y:74.50, Z:0.25 [[ 4.30323072e-01 -9.02674341e-01 -1.04301451e-03 1.31521003e+02] [ 9.02671932e-01 4.30324333e-01 -2.08584694e-03 7.44987300e+01] [ 2.33167503e-03 -4.39118586e-05 9.99997281e-01 2.52799917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.53, Y:74.52, Z:0.25 [[ 4.36389344e-01 -8.99757332e-01 -1.04085584e-03 1.31531853e+02] [ 8.99754912e-01 4.36390585e-01 -2.08692358e-03 7.45236225e+01] [ 2.33194448e-03 -2.58039483e-05 9.99997281e-01 2.54308886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.55, Y:74.55, Z:0.25 [[ 4.38143514e-01 -8.98904432e-01 -1.04051779e-03 1.31546773e+02] [ 8.98902010e-01 4.38144749e-01 -2.08709211e-03 7.45478221e+01] [ 2.33199376e-03 -2.08776625e-05 9.99997281e-01 2.53829626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.56, Y:74.57, Z:0.25 [[ 4.38873364e-01 -8.98548323e-01 -1.03998577e-03 1.31561084e+02] [ 8.98545899e-01 4.38874595e-01 -2.08735718e-03 7.45709884e+01] [ 2.33201463e-03 -1.83894768e-05 9.99997281e-01 2.53442946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.58, Y:74.59, Z:0.25 [[ 4.39791844e-01 -8.98099133e-01 -1.03943497e-03 1.31577014e+02] [ 8.98096707e-01 4.39793072e-01 -2.08763143e-03 7.45935885e+01] [ 2.33203627e-03 -1.53898450e-05 9.99997281e-01 2.53054300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.59, Y:74.62, Z:0.25 [[ 4.40631596e-01 -8.97687427e-01 -1.03904906e-03 1.31589441e+02] [ 8.97684999e-01 4.40632821e-01 -2.08782348e-03 7.46182302e+01] [ 2.33205201e-03 -1.27777578e-05 9.99997281e-01 2.54569617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.60, Y:74.64, Z:0.26 [[ 4.40799179e-01 -8.97605150e-01 -1.03851107e-03 1.31602912e+02] [ 8.97602721e-01 4.40800403e-01 -2.08809105e-03 7.46424634e+01] [ 2.33205738e-03 -1.17415415e-05 9.99997281e-01 2.56113605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.62, Y:74.67, Z:0.26 [[ 4.40060346e-01 -8.97967602e-01 -1.03794550e-03 1.31615760e+02] [ 8.97965174e-01 4.40061569e-01 -2.08837214e-03 7.46676708e+01] [ 2.33205045e-03 -1.30291458e-05 9.99997281e-01 2.56041056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.63, Y:74.69, Z:0.26 [[ 4.38980979e-01 -8.98495756e-01 -1.03738204e-03 1.31627985e+02] [ 8.98493329e-01 4.38982204e-01 -2.08865200e-03 7.46929963e+01] [ 2.33203722e-03 -1.52023462e-05 9.99997281e-01 2.56366349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57361786499996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:131.64, Y:74.72, Z:0.26 [[ 4.37932457e-01 -8.99007279e-01 -1.03680925e-03 1.31640383e+02] [ 8.99004852e-01 4.37933684e-01 -2.08893630e-03 7.47180201e+01] [ 2.33202263e-03 -1.72835390e-05 9.99997281e-01 2.56915480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.65, Y:74.74, Z:0.26 [[ 4.37325380e-01 -8.99302751e-01 -1.03623073e-03 1.31652195e+02] [ 8.99300325e-01 4.37326607e-01 -2.08922324e-03 7.47426109e+01] [ 2.33201547e-03 -1.82122872e-05 9.99997281e-01 2.57614607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.67, Y:74.77, Z:0.26 [[ 4.34548780e-01 -9.00647703e-01 -1.03570854e-03 1.31665351e+02] [ 9.00645279e-01 4.34550014e-01 -2.08948208e-03 7.47671141e+01] [ 2.33195439e-03 -2.48241172e-05 9.99997281e-01 2.59386233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.68, Y:74.79, Z:0.26 [[ 4.32665169e-01 -9.01554092e-01 -1.03513921e-03 1.31676669e+02] [ 9.01551670e-01 4.32666406e-01 -2.08976409e-03 7.47917098e+01] [ 2.33190532e-03 -2.90633521e-05 9.99997281e-01 2.59011203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.69, Y:74.82, Z:0.26 [[ 4.30692359e-01 -9.02498211e-01 -1.03462902e-03 1.31688713e+02] [ 9.02495792e-01 4.30693600e-01 -2.09001665e-03 7.48165865e+01] [ 2.33184438e-03 -3.35941373e-05 9.99997281e-01 2.59421131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.70, Y:74.84, Z:0.26 [[ 4.26956547e-01 -9.04271551e-01 -1.03405359e-03 1.31701588e+02] [ 9.04269136e-01 4.26957797e-01 -2.09030131e-03 7.48412039e+01] [ 2.33169725e-03 -4.25949180e-05 9.99997281e-01 2.59522074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.75361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.71, Y:74.87, Z:0.26 [[ 4.25580528e-01 -9.04919967e-01 -1.03347760e-03 1.31713350e+02] [ 9.04917553e-01 4.25581780e-01 -2.09058605e-03 7.48655772e+01] [ 2.33164229e-03 -4.54993105e-05 9.99997281e-01 2.59103427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.72, Y:74.89, Z:0.26 [[ 4.24512295e-01 -9.05421584e-01 -1.03296463e-03 1.31724863e+02] [ 9.05419171e-01 4.24513549e-01 -2.09083948e-03 7.48917952e+01] [ 2.33159867e-03 -4.76789107e-05 9.99997281e-01 2.58341930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.74, Y:74.92, Z:0.26 [[ 4.23730381e-01 -9.05787778e-01 -1.03242688e-03 1.31736176e+02] [ 9.05785365e-01 4.23731636e-01 -2.09110497e-03 7.49173502e+01] [ 2.33156926e-03 -4.90924544e-05 9.99997281e-01 2.57100278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.75, Y:74.94, Z:0.26 [[ 4.23320753e-01 -9.05979291e-01 -1.03185546e-03 1.31747302e+02] [ 9.05976878e-01 4.23322008e-01 -2.09138690e-03 7.49432759e+01] [ 2.33156035e-03 -4.95097094e-05 9.99997281e-01 2.56844144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.76, Y:74.97, Z:0.26 [[ 4.23703724e-01 -9.05800249e-01 -1.03128827e-03 1.31759235e+02] [ 9.05797835e-01 4.23704977e-01 -2.09166656e-03 7.49692395e+01] [ 2.33159406e-03 -4.78917676e-05 9.99997281e-01 2.56980030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:131.77, Y:74.99, Z:0.26 [[ 4.24257449e-01 -9.05541029e-01 -1.03072379e-03 1.31770557e+02] [ 9.05538614e-01 4.24258698e-01 -2.09194468e-03 7.49947131e+01] [ 2.33163527e-03 -4.58370741e-05 9.99997281e-01 2.57360638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.78, Y:75.02, Z:0.26 [[ 4.25852734e-01 -9.04791903e-01 -1.03015510e-03 1.31781773e+02] [ 9.04789485e-01 4.25853978e-01 -2.09222469e-03 7.50203750e+01] [ 2.33172360e-03 -4.10939001e-05 9.99997281e-01 2.58086946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.79, Y:75.04, Z:0.26 [[ 4.26389597e-01 -9.04539027e-01 -1.02959157e-03 1.31793041e+02] [ 9.04536607e-01 4.26390839e-01 -2.09250197e-03 7.50446474e+01] [ 2.33175811e-03 -3.90821904e-05 9.99997281e-01 2.58312367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.80, Y:75.07, Z:0.26 [[ 4.26581204e-01 -9.04448681e-01 -1.02907727e-03 1.31804771e+02] [ 9.04446261e-01 4.26582444e-01 -2.09275487e-03 7.50698428e+01] [ 2.33177567e-03 -3.80151955e-05 9.99997281e-01 2.58589570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.82, Y:75.10, Z:0.26 [[ 4.26295150e-01 -9.04583544e-01 -1.02852390e-03 1.31816742e+02] [ 9.04581123e-01 4.26296389e-01 -2.09302679e-03 7.50957767e+01] [ 2.33177362e-03 -3.81361365e-05 9.99997281e-01 2.59033936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.83, Y:75.12, Z:0.26 [[ 4.25101802e-01 -9.05144961e-01 -1.02796611e-03 1.31829781e+02] [ 9.05142542e-01 4.25103043e-01 -2.09330071e-03 7.51206368e+01] [ 2.33173211e-03 -4.05899556e-05 9.99997281e-01 2.59738112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.84, Y:75.15, Z:0.26 [[ 4.23659239e-01 -9.05821060e-01 -1.02740624e-03 1.31842378e+02] [ 9.05818642e-01 4.23660483e-01 -2.09357546e-03 7.51455721e+01] [ 2.33167617e-03 -4.36811388e-05 9.99997281e-01 2.60308781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:75.17, Z:0.26 [[ 4.22353475e-01 -9.06430630e-01 -1.02684532e-03 1.31855093e+02] [ 9.06428213e-01 4.22354721e-01 -2.09385054e-03 7.51704385e+01] [ 2.33162324e-03 -4.64165134e-05 9.99997281e-01 2.61270637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:75.19, Z:0.26 [[ 4.19713960e-01 -9.07655848e-01 -1.02627612e-03 1.31868670e+02] [ 9.07653434e-01 4.19715211e-01 -2.09412949e-03 7.51946957e+01] [ 2.33149258e-03 -5.25676597e-05 9.99997281e-01 2.62195803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:75.22, Z:0.26 [[ 4.18236378e-01 -9.08337646e-01 -1.02569983e-03 1.31881050e+02] [ 9.08335233e-01 4.18237632e-01 -2.09441172e-03 7.52184558e+01] [ 2.33141928e-03 -5.57201257e-05 9.99997281e-01 2.62695079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.89, Y:75.24, Z:0.26 [[ 4.17256174e-01 -9.08788333e-01 -1.02517845e-03 1.31894292e+02] [ 9.08785921e-01 4.17257430e-01 -2.09466690e-03 7.52435384e+01] [ 2.33137216e-03 -5.76550433e-05 9.99997281e-01 2.63485589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:75.27, Z:0.26 [[ 4.16864033e-01 -9.08968277e-01 -1.02460578e-03 1.31905917e+02] [ 9.08965864e-01 4.16865288e-01 -2.09494698e-03 7.52676946e+01] [ 2.33136293e-03 -5.80236294e-05 9.99997281e-01 2.62957451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:75.29, Z:0.26 [[ 4.17422818e-01 -9.08711804e-01 -1.02409153e-03 1.31917166e+02] [ 9.08709390e-01 4.17424070e-01 -2.09519834e-03 7.52937534e+01] [ 2.33141191e-03 -5.60179926e-05 9.99997281e-01 2.64128513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.93, Y:75.32, Z:0.26 [[ 4.17999691e-01 -9.08446592e-01 -1.02352363e-03 1.31929289e+02] [ 9.08444177e-01 4.18000940e-01 -2.09547572e-03 7.53192576e+01] [ 2.33146162e-03 -5.39058767e-05 9.99997281e-01 2.64467702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:131.94, Y:75.34, Z:0.26 [[ 4.18390636e-01 -9.08266607e-01 -1.02293901e-03 1.31941346e+02] [ 9.08264191e-01 4.18391883e-01 -2.09576107e-03 7.53438475e+01] [ 2.33149918e-03 -5.22520644e-05 9.99997281e-01 2.64019677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.95, Y:75.37, Z:0.26 [[ 4.18630811e-01 -9.08155933e-01 -1.02241569e-03 1.31953189e+02] [ 9.08153516e-01 4.18632056e-01 -2.09601634e-03 7.53690177e+01] [ 2.33152566e-03 -5.10533822e-05 9.99997281e-01 2.63769667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.97, Y:75.39, Z:0.26 [[ 4.18788844e-01 -9.08083069e-01 -1.02183382e-03 1.31965130e+02] [ 9.08080651e-01 4.18790088e-01 -2.09629998e-03 7.53938495e+01] [ 2.33154839e-03 -5.00004733e-05 9.99997281e-01 2.62991331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:75.42, Z:0.26 [[ 4.18630550e-01 -9.08156055e-01 -1.02131452e-03 1.31976832e+02] [ 9.08153636e-01 4.18631793e-01 -2.09655295e-03 7.54189668e+01] [ 2.33155198e-03 -4.98293781e-05 9.99997281e-01 2.63269128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.99, Y:75.44, Z:0.26 [[ 4.18362592e-01 -9.08279527e-01 -1.02072960e-03 1.31988000e+02] [ 9.08277108e-01 4.18363834e-01 -2.09683768e-03 7.54434105e+01] [ 2.33155109e-03 -4.98668800e-05 9.99997281e-01 2.63291743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:132.00, Y:75.47, Z:0.26 [[ 4.17811097e-01 -9.08533349e-01 -1.02033192e-03 1.31998846e+02] [ 9.08530930e-01 4.17812340e-01 -2.09703118e-03 7.54677699e+01] [ 2.33153003e-03 -5.08402133e-05 9.99997281e-01 2.62652728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.01, Y:75.49, Z:0.26 [[ 4.17387731e-01 -9.08727925e-01 -1.01981271e-03 1.32010752e+02] [ 9.08725507e-01 4.17388973e-01 -2.09728365e-03 7.54930098e+01] [ 2.33151880e-03 -5.13493624e-05 9.99997281e-01 2.62895028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.53361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.02, Y:75.52, Z:0.26 [[ 4.17139573e-01 -9.08841866e-01 -1.01924008e-03 1.32023183e+02] [ 9.08839447e-01 4.17140815e-01 -2.09756190e-03 7.55187389e+01] [ 2.33151871e-03 -5.13495127e-05 9.99997281e-01 2.62961452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.04, Y:75.54, Z:0.26 [[ 4.16984611e-01 -9.08912975e-01 -1.01866723e-03 1.32035463e+02] [ 9.08910556e-01 4.16985852e-01 -2.09784006e-03 7.55442904e+01] [ 2.33152387e-03 -5.11103738e-05 9.99997281e-01 2.63255178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.05, Y:75.57, Z:0.26 [[ 4.17321664e-01 -9.08758269e-01 -1.01809505e-03 1.32047253e+02] [ 9.08755849e-01 4.17322903e-01 -2.09811771e-03 7.55693906e+01] [ 2.33155620e-03 -4.96098554e-05 9.99997281e-01 2.63625801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:132.06, Y:75.60, Z:0.26 [[ 4.17370711e-01 -9.08735745e-01 -1.01752367e-03 1.32059128e+02] [ 9.08733323e-01 4.17371949e-01 -2.09839477e-03 7.55950697e+01] [ 2.33157217e-03 -4.88491522e-05 9.99997281e-01 2.63274496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.07, Y:75.62, Z:0.26 [[ 4.17178333e-01 -9.08824078e-01 -1.01695060e-03 1.32070883e+02] [ 9.08821656e-01 4.17179570e-01 -2.09867246e-03 7.56207953e+01] [ 2.33157508e-03 -4.87060457e-05 9.99997281e-01 2.62604993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.08, Y:75.65, Z:0.26 [[ 4.16473412e-01 -9.09147328e-01 -1.01638143e-03 1.32082714e+02] [ 9.09144906e-01 4.16474650e-01 -2.09894808e-03 7.56452397e+01] [ 2.33155013e-03 -4.98819316e-05 9.99997281e-01 2.61806285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.10, Y:75.67, Z:0.26 [[ 4.17506287e-01 -9.08673466e-01 -1.01587698e-03 1.32100987e+02] [ 9.08671043e-01 4.17507520e-01 -2.09919220e-03 7.56734660e+01] [ 2.33161653e-03 -4.66720560e-05 9.99997281e-01 2.56242673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.11, Y:75.70, Z:0.26 [[ 4.14260969e-01 -9.10157553e-01 -1.03852918e-03 1.32108634e+02] [ 9.10155161e-01 4.14262263e-01 -2.08822726e-03 7.56966120e+01] [ 2.33083926e-03 -8.01516422e-05 9.99997280e-01 2.62228957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.13, Y:75.72, Z:0.26 [[ 4.14182077e-01 -9.10193484e-01 -1.01480053e-03 1.32127773e+02] [ 9.10191063e-01 4.14183316e-01 -2.09969551e-03 7.57241562e+01] [ 2.33144262e-03 -5.40061255e-05 9.99997281e-01 2.58629771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.13, Y:75.75, Z:0.26 [[ 4.10241666e-01 -9.11976259e-01 -1.03876467e-03 1.32134689e+02] [ 9.11973873e-01 4.10242971e-01 -2.08811260e-03 7.57469709e+01] [ 2.33045502e-03 -9.06954413e-05 9.99997280e-01 2.62864606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.15, Y:75.77, Z:0.26 [[ 4.09794509e-01 -9.12177303e-01 -1.01345294e-03 1.32150184e+02] [ 9.12174888e-01 4.09795758e-01 -2.10032606e-03 7.57741177e+01] [ 2.33117848e-03 -6.37442278e-05 9.99997281e-01 2.60643099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:132.16, Y:75.80, Z:0.26 [[ 4.07125515e-01 -9.13371644e-01 -1.02698334e-03 1.32159444e+02] [ 9.13369248e-01 4.07126802e-01 -2.09379835e-03 7.57977273e+01] [ 2.33052849e-03 -8.55762645e-05 9.99997281e-01 2.64877199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.17, Y:75.82, Z:0.27 [[ 4.06160738e-01 -9.13801089e-01 -1.01234766e-03 1.32171705e+02] [ 9.13798677e-01 4.06161993e-01 -2.10085092e-03 7.58231026e+01] [ 2.33093700e-03 -7.17987936e-05 9.99997281e-01 2.65430155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.18, Y:75.85, Z:0.27 [[ 4.04946791e-01 -9.14339692e-01 -1.01177837e-03 1.32184008e+02] [ 9.14337281e-01 4.04948048e-01 -2.10112506e-03 7.58488716e+01] [ 2.33085972e-03 -7.42628336e-05 9.99997281e-01 2.65521234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.20, Y:75.87, Z:0.27 [[ 4.03956177e-01 -9.14777779e-01 -1.01121074e-03 1.32195652e+02] [ 9.14775368e-01 4.03957436e-01 -2.10139821e-03 7.58730764e+01] [ 2.33079848e-03 -7.61578919e-05 9.99997281e-01 2.65749965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.21, Y:75.90, Z:0.27 [[ 4.03410949e-01 -9.15018352e-01 -1.01069810e-03 1.32207602e+02] [ 9.15015942e-01 4.03412207e-01 -2.10164474e-03 7.58989337e+01] [ 2.33077146e-03 -7.69783774e-05 9.99997281e-01 2.65766537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:132.22, Y:75.92, Z:0.27 [[ 4.03173726e-01 -9.15122903e-01 -1.01013899e-03 1.32219199e+02] [ 9.15120492e-01 4.03174984e-01 -2.10191344e-03 7.59235041e+01] [ 2.33077190e-03 -7.69626156e-05 9.99997281e-01 2.65637579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.23, Y:75.95, Z:0.27 [[ 4.03030538e-01 -9.15185974e-01 -1.00963669e-03 1.32230914e+02] [ 9.15183563e-01 4.03031795e-01 -2.10215469e-03 7.59484753e+01] [ 2.33077817e-03 -7.67703704e-05 9.99997281e-01 2.65994336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07361786499996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:132.24, Y:75.97, Z:0.27 [[ 4.03490495e-01 -9.14983280e-01 -1.00905820e-03 1.32243334e+02] [ 9.14980867e-01 4.03491750e-01 -2.10243233e-03 7.59739818e+01] [ 2.33083709e-03 -7.49574860e-05 9.99997281e-01 2.65362337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:132.25, Y:76.00, Z:0.26 [[ 4.03080010e-01 -9.15164187e-01 -1.00846703e-03 1.32254951e+02] [ 9.15161774e-01 4.03081264e-01 -2.10271586e-03 7.60008269e+01] [ 2.33082441e-03 -7.53477519e-05 9.99997281e-01 2.63474613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.27, Y:76.03, Z:0.27 [[ 4.04198593e-01 -9.14670696e-01 -1.00794465e-03 1.32267963e+02] [ 9.14668281e-01 4.04199844e-01 -2.10296623e-03 7.60264440e+01] [ 2.33093266e-03 -7.19190102e-05 9.99997281e-01 2.65017718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16361786499996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:132.28, Y:76.05, Z:0.26 [[ 4.04503899e-01 -9.14535719e-01 -1.00739800e-03 1.32278646e+02] [ 9.14533303e-01 4.04505147e-01 -2.10322807e-03 7.60508231e+01] [ 2.33097487e-03 -7.05350675e-05 9.99997281e-01 2.64468643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19361786499996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:132.29, Y:76.08, Z:0.27 [[ 4.06754999e-01 -9.13536730e-01 -1.00699379e-03 1.32290133e+02] [ 9.13534310e-01 4.06756241e-01 -2.10342158e-03 7.60757353e+01] [ 2.33115388e-03 -6.43461313e-05 9.99997281e-01 2.65037983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.30, Y:76.10, Z:0.27 [[ 4.07692057e-01 -9.13118926e-01 -1.00647829e-03 1.32301694e+02] [ 9.13116505e-01 4.07693295e-01 -2.10366821e-03 7.60997370e+01] [ 2.33123371e-03 -6.13831167e-05 9.99997281e-01 2.65315271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.31, Y:76.12, Z:0.27 [[ 4.08714930e-01 -9.12661544e-01 -1.00596633e-03 1.32313814e+02] [ 9.12659121e-01 4.08716164e-01 -2.10391300e-03 7.61247939e+01] [ 2.33131519e-03 -5.82036893e-05 9.99997281e-01 2.65939877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:76.15, Z:0.27 [[ 4.11791181e-01 -9.11277681e-01 -1.00538734e-03 1.32324783e+02] [ 9.11275253e-01 4.11792405e-01 -2.10418965e-03 7.61507110e+01] [ 2.33151193e-03 -4.96978590e-05 9.99997281e-01 2.66122867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.34, Y:76.18, Z:0.27 [[ 4.12656481e-01 -9.10886172e-01 -1.00513014e-03 1.32336289e+02] [ 9.10883743e-01 4.12657702e-01 -2.10431250e-03 7.61767910e+01] [ 2.33156385e-03 -4.71985179e-05 9.99997281e-01 2.65602642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.35, Y:76.20, Z:0.27 [[ 4.14253393e-01 -9.10161039e-01 -1.00453433e-03 1.32348286e+02] [ 9.10158607e-01 4.14254609e-01 -2.10459688e-03 7.62020676e+01] [ 2.33165506e-03 -4.24491687e-05 9.99997281e-01 2.65739934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.36, Y:76.23, Z:0.27 [[ 4.15764778e-01 -9.09471628e-01 -1.00394460e-03 1.32360554e+02] [ 9.09469193e-01 4.15765989e-01 -2.10487816e-03 7.62270811e+01] [ 2.33173298e-03 -3.79224888e-05 9.99997281e-01 2.66960920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.37, Y:76.25, Z:0.27 [[ 4.18535113e-01 -9.08200062e-01 -1.00336045e-03 1.32372684e+02] [ 9.08197622e-01 4.18536315e-01 -2.10515658e-03 7.62517901e+01] [ 2.33184612e-03 -3.01676249e-05 9.99997281e-01 2.66033245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.38, Y:76.28, Z:0.27 [[ 4.19696198e-01 -9.07664088e-01 -1.00283276e-03 1.32384921e+02] [ 9.07661646e-01 4.19697395e-01 -2.10540792e-03 7.62764265e+01] [ 2.33188946e-03 -2.66011367e-05 9.99997281e-01 2.66306977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.40, Y:76.30, Z:0.27 [[ 4.20592780e-01 -9.07248978e-01 -1.00244507e-03 1.32397424e+02] [ 9.07246535e-01 4.20593974e-01 -2.10559250e-03 7.63015554e+01] [ 2.33191900e-03 -2.38678137e-05 9.99997281e-01 2.66646065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.41, Y:76.33, Z:0.27 [[ 4.22020742e-01 -9.06585622e-01 -1.00188020e-03 1.32410023e+02] [ 9.06583176e-01 4.22021931e-01 -2.10586123e-03 7.63271500e+01] [ 2.33195894e-03 -1.95706161e-05 9.99997281e-01 2.67075375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.42, Y:76.35, Z:0.27 [[ 4.22707721e-01 -9.06265513e-01 -1.00131494e-03 1.32423160e+02] [ 9.06263066e-01 4.22708907e-01 -2.10612998e-03 7.63523693e+01] [ 2.33197771e-03 -1.71773475e-05 9.99997281e-01 2.67844100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.43, Y:76.38, Z:0.27 [[ 4.22539998e-01 -9.06343725e-01 -1.00074716e-03 1.32434868e+02] [ 9.06341278e-01 4.22541183e-01 -2.10639973e-03 7.63771844e+01] [ 2.33197907e-03 -1.69803225e-05 9.99997281e-01 2.67407362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.45, Y:76.40, Z:0.27 [[ 4.23196477e-01 -9.06037384e-01 -1.00023263e-03 1.32450042e+02] [ 9.06034935e-01 4.23197659e-01 -2.10664403e-03 7.64012515e+01] [ 2.33199435e-03 -1.47213804e-05 9.99997281e-01 2.69826939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.46, Y:76.43, Z:0.27 [[ 4.21173879e-01 -9.06979363e-01 -9.99672772e-04 1.32461274e+02] [ 9.06976916e-01 4.21175065e-01 -2.10690967e-03 7.64258353e+01] [ 2.33196083e-03 -1.93048117e-05 9.99997281e-01 2.69930567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.47, Y:76.45, Z:0.27 [[ 4.20007853e-01 -9.07519920e-01 -9.99176636e-04 1.32473878e+02] [ 9.07517474e-01 4.20009041e-01 -2.10714493e-03 7.64500530e+01] [ 2.33193922e-03 -2.17528412e-05 9.99997281e-01 2.69697086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.49, Y:76.48, Z:0.27 [[ 4.19605970e-01 -9.07705807e-01 -9.98770890e-04 1.32491413e+02] [ 9.07703361e-01 4.19607158e-01 -2.10733723e-03 7.64761304e+01] [ 2.33193366e-03 -2.23364129e-05 9.99997281e-01 2.68483320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.51, Y:76.50, Z:0.27 [[ 4.19997443e-01 -9.07524721e-01 -1.01434481e-03 1.32505436e+02] [ 9.07522292e-01 4.19998666e-01 -2.09995620e-03 7.65002690e+01] [ 2.33178563e-03 -3.85642964e-05 9.99997281e-01 2.67239466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.52, Y:76.53, Z:0.27 [[ 4.17891552e-01 -9.08496348e-01 -1.01842123e-03 1.32517163e+02] [ 9.08493927e-01 4.17892790e-01 -2.09802526e-03 7.65264775e+01] [ 2.33163918e-03 -4.84824663e-05 9.99997281e-01 2.68206908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:132.53, Y:76.55, Z:0.27 [[ 4.16758247e-01 -9.09016795e-01 -1.01475033e-03 1.32529519e+02] [ 9.09014371e-01 4.16759479e-01 -2.09976248e-03 7.65502455e+01] [ 2.33162618e-03 -4.73292997e-05 9.99997281e-01 2.68508942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.54, Y:76.58, Z:0.27 [[ 4.15904673e-01 -9.09407651e-01 -1.01402394e-03 1.32542081e+02] [ 9.09405227e-01 4.15905906e-01 -2.10010651e-03 7.65752941e+01] [ 2.33159147e-03 -4.87145654e-05 9.99997281e-01 2.67582964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.55, Y:76.60, Z:0.27 [[ 4.14276900e-01 -9.10150335e-01 -1.00924443e-03 1.32554244e+02] [ 9.10147908e-01 4.14278126e-01 -2.10236232e-03 7.66014046e+01] [ 2.33157366e-03 -4.76015663e-05 9.99997281e-01 2.67939929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85361786499996 meters Centerline goodness : 0.995915 Centerline is valid? [True, True] Translation: X:132.57, Y:76.63, Z:0.27 [[ 4.13340149e-01 -9.10576137e-01 -1.00945474e-03 1.32566544e+02] [ 9.10573712e-01 4.13341379e-01 -2.10226278e-03 7.66255346e+01] [ 2.33151974e-03 -5.02333419e-05 9.99997281e-01 2.67007958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88361786499996 meters Centerline goodness : 0.995415 Centerline is valid? [True, True] Translation: X:132.58, Y:76.65, Z:0.27 [[ 4.11787092e-01 -9.11279521e-01 -1.01256983e-03 1.32577616e+02] [ 9.11277102e-01 4.11788332e-01 -2.10078886e-03 7.66505692e+01] [ 2.33137031e-03 -5.76539627e-05 9.99997281e-01 2.66868203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.59, Y:76.67, Z:0.27 [[ 4.10826402e-01 -9.11713029e-01 -1.01047249e-03 1.32587026e+02] [ 9.11710608e-01 4.10827640e-01 -2.10178046e-03 7.66727815e+01] [ 2.33135066e-03 -5.77915838e-05 9.99997281e-01 2.69791946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.60, Y:76.70, Z:0.27 [[ 4.10129539e-01 -9.12026737e-01 -9.95549710e-04 1.32598991e+02] [ 9.12024300e-01 4.10130745e-01 -2.10882532e-03 7.66976195e+01] [ 2.33161062e-03 -4.30739719e-05 9.99997281e-01 2.69579407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.61, Y:76.72, Z:0.27 [[ 4.07985438e-01 -9.12987893e-01 -9.95005646e-04 1.32610670e+02] [ 9.12985458e-01 4.07986649e-01 -2.10908199e-03 7.67239503e+01] [ 2.33151534e-03 -4.79509453e-05 9.99997281e-01 2.68340594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.62, Y:76.75, Z:0.27 [[ 4.07691682e-01 -9.13119101e-01 -9.99858409e-04 1.32621257e+02] [ 9.13116672e-01 4.07692905e-01 -2.10679304e-03 7.67485833e+01] [ 2.33138815e-03 -5.40653821e-05 9.99997281e-01 2.70918205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.63, Y:76.77, Z:0.27 [[ 4.07903496e-01 -9.13024506e-01 -9.94200634e-04 1.32629463e+02] [ 9.13022071e-01 4.07904705e-01 -2.10945959e-03 7.67702302e+01] [ 2.33152741e-03 -4.72711815e-05 9.99997281e-01 2.66446640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.64, Y:76.80, Z:0.27 [[ 4.05927590e-01 -9.13904726e-01 -9.71470346e-04 1.32641937e+02] [ 9.13902267e-01 4.05928752e-01 -2.12016561e-03 7.68004358e+01] [ 2.33197711e-03 -2.71952372e-05 9.99997281e-01 2.72407711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09361786499997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:132.65, Y:76.83, Z:0.27 [[ 4.05962671e-01 -9.13889119e-01 -9.93968407e-04 1.32654638e+02] [ 9.13886686e-01 4.05963884e-01 -2.10956515e-03 7.68278044e+01] [ 2.33142391e-03 -5.19697926e-05 9.99997281e-01 2.70175238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:132.66, Y:76.85, Z:0.27 [[ 4.04393026e-01 -9.14584753e-01 -1.00515985e-03 1.32663069e+02] [ 9.14582335e-01 4.04394269e-01 -2.10429339e-03 7.68530970e+01] [ 2.33103553e-03 -6.83398765e-05 9.99997281e-01 2.71032065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.67, Y:76.88, Z:0.27 [[ 4.05883298e-01 -9.13924375e-01 -9.92718959e-04 1.32674529e+02] [ 9.13921940e-01 4.05884509e-01 -2.11014621e-03 7.68792217e+01] [ 2.33144330e-03 -5.07945355e-05 9.99997281e-01 2.73456612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.68, Y:76.90, Z:0.27 [[ 4.06264999e-01 -9.13754763e-01 -9.92132387e-04 1.32684013e+02] [ 9.13752327e-01 4.06266207e-01 -2.11042196e-03 7.69047086e+01] [ 2.33147798e-03 -4.91727013e-05 9.99997281e-01 2.74589243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.69, Y:76.93, Z:0.27 [[ 4.06947479e-01 -9.13451022e-01 -9.90298565e-04 1.32694879e+02] [ 9.13448583e-01 4.06948681e-01 -2.11128354e-03 7.69318249e+01] [ 2.33155480e-03 -4.54053061e-05 9.99997281e-01 2.73902027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.70, Y:76.96, Z:0.27 [[ 4.08803176e-01 -9.12622036e-01 -9.91377415e-04 1.32703175e+02] [ 9.12619596e-01 4.08804376e-01 -2.11077684e-03 7.69578822e+01] [ 2.33162088e-03 -4.18581812e-05 9.99997281e-01 2.73861268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:132.72, Y:76.99, Z:0.27 [[ 4.11440997e-01 -9.11435859e-01 -9.90863405e-04 1.32718046e+02] [ 9.11433414e-01 4.11442189e-01 -2.11101810e-03 7.69863390e+01] [ 2.33174060e-03 -3.45466251e-05 9.99997281e-01 2.73491574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30361786499998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:132.73, Y:77.01, Z:0.27 [[ 4.12203217e-01 -9.11091373e-01 -1.00935684e-03 1.32726313e+02] [ 9.11088949e-01 4.12204449e-01 -2.10233705e-03 7.70126348e+01] [ 2.33148253e-03 -5.30237650e-05 9.99997281e-01 2.73285483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.73, Y:77.04, Z:0.27 [[ 4.10775810e-01 -9.11735831e-01 -1.00396992e-03 1.32733571e+02] [ 9.11733403e-01 4.10777033e-01 -2.10486391e-03 7.70371225e+01] [ 2.33148764e-03 -5.07257362e-05 9.99997281e-01 2.73677677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:132.75, Y:77.07, Z:0.27 [[ 4.12069706e-01 -9.11151787e-01 -9.89345373e-04 1.32748392e+02] [ 9.11149340e-01 4.12070892e-01 -2.11171556e-03 7.70653375e+01] [ 2.33177384e-03 -3.12673747e-05 9.99997281e-01 2.73155110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.76, Y:77.09, Z:0.27 [[ 4.11344679e-01 -9.11479315e-01 -1.00678267e-03 1.32758790e+02] [ 9.11476889e-01 4.11345908e-01 -2.10354455e-03 7.70909933e+01] [ 2.33147328e-03 -5.23772771e-05 9.99997281e-01 2.73275972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.77, Y:77.12, Z:0.27 [[ 4.08747099e-01 -9.12647138e-01 -1.00497154e-03 1.32767450e+02] [ 9.12644714e-01 4.08748330e-01 -2.10439184e-03 7.71182942e+01] [ 2.33134763e-03 -5.70179007e-05 9.99997281e-01 2.72459995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.78, Y:77.14, Z:0.27 [[ 4.08402051e-01 -9.12801598e-01 -1.00388004e-03 1.32779034e+02] [ 9.12799173e-01 4.08403281e-01 -2.10490193e-03 7.71433546e+01] [ 2.33134574e-03 -5.66946043e-05 9.99997281e-01 2.72523982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.79, Y:77.17, Z:0.27 [[ 4.07729563e-01 -9.13102183e-01 -1.00336228e-03 1.32789775e+02] [ 9.13099758e-01 4.07730793e-01 -2.10514369e-03 7.71692031e+01] [ 2.33131300e-03 -5.78405362e-05 9.99997281e-01 2.72409229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.80, Y:77.19, Z:0.27 [[ 4.04668887e-01 -9.14462726e-01 -1.00724636e-03 1.32795036e+02] [ 9.14460310e-01 4.04670134e-01 -2.10332998e-03 7.71926319e+01] [ 2.33101939e-03 -6.99346134e-05 9.99997281e-01 2.72887047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.81, Y:77.22, Z:0.27 [[ 4.03176799e-01 -9.15121575e-01 -9.85690351e-04 1.32805399e+02] [ 9.15119136e-01 4.03178001e-01 -2.11338379e-03 7.72182391e+01] [ 2.33141177e-03 -4.99567918e-05 9.99997281e-01 2.73030419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.81, Y:77.24, Z:0.27 [[ 4.00495510e-01 -9.16298192e-01 -9.85126684e-04 1.32814518e+02] [ 9.16295756e-01 4.00496718e-01 -2.11364650e-03 7.72440192e+01] [ 2.33127047e-03 -5.61614661e-05 9.99997281e-01 2.73420268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.83, Y:77.27, Z:0.27 [[ 3.99140203e-01 -9.16889377e-01 -9.84620399e-04 1.32825204e+02] [ 9.16886942e-01 3.99141413e-01 -2.11388232e-03 7.72704892e+01] [ 2.33119902e-03 -5.90501676e-05 9.99997281e-01 2.73154272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.84, Y:77.30, Z:0.27 [[ 3.97759977e-01 -9.17488982e-01 -9.84059457e-04 1.32835606e+02] [ 9.17486549e-01 3.97761189e-01 -2.11414342e-03 7.72969835e+01] [ 2.33112396e-03 -6.19396762e-05 9.99997281e-01 2.73053409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.84, Y:77.32, Z:0.27 [[ 3.94713261e-01 -9.18803828e-01 -9.83480232e-04 1.32844161e+02] [ 9.18801398e-01 3.94714480e-01 -2.11441284e-03 7.73231599e+01] [ 2.33092450e-03 -6.90362252e-05 9.99997281e-01 2.72694404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.85, Y:77.35, Z:0.27 [[ 3.93173603e-01 -9.19463731e-01 -9.82960046e-04 1.32854443e+02] [ 9.19461302e-01 3.93174825e-01 -2.11465464e-03 7.73489976e+01] [ 2.33082338e-03 -7.23673414e-05 9.99997281e-01 2.72548236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.86, Y:77.38, Z:0.27 [[ 3.90427078e-01 -9.20633332e-01 -9.82383422e-04 1.32862544e+02] [ 9.20630906e-01 3.90428306e-01 -2.11492248e-03 7.73753707e+01] [ 2.33061842e-03 -7.86895374e-05 9.99997281e-01 2.71870972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.87, Y:77.40, Z:0.27 [[ 3.88710173e-01 -9.21359559e-01 -9.81865653e-04 1.32872783e+02] [ 9.21357135e-01 3.88711404e-01 -2.11516283e-03 7.74016453e+01] [ 2.33048787e-03 -8.24636160e-05 9.99997281e-01 2.71883317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.88, Y:77.43, Z:0.27 [[ 3.87356254e-01 -9.21929590e-01 -9.81296169e-04 1.32882870e+02] [ 9.21927167e-01 3.87357488e-01 -2.11542700e-03 7.74271665e+01] [ 2.33038716e-03 -8.52597202e-05 9.99997281e-01 2.72113977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.89, Y:77.45, Z:0.27 [[ 3.85909025e-01 -9.22536320e-01 -9.80784695e-04 1.32892852e+02] [ 9.22533899e-01 3.85910261e-01 -2.11566411e-03 7.74533046e+01] [ 2.33027186e-03 -8.83532552e-05 9.99997281e-01 2.72267540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.90, Y:77.48, Z:0.27 [[ 3.83838748e-01 -9.23399618e-01 -9.80215345e-04 1.32899657e+02] [ 9.23397199e-01 3.83839988e-01 -2.11592786e-03 7.74797033e+01] [ 2.33009283e-03 -9.29530019e-05 9.99997281e-01 2.72854981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.91, Y:77.51, Z:0.27 [[ 3.83164196e-01 -9.23679728e-01 -9.79829306e-04 1.32909092e+02] [ 9.23677308e-01 3.83165437e-01 -2.11610661e-03 7.75057826e+01] [ 2.33004150e-03 -9.42298087e-05 9.99997281e-01 2.73189482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.92, Y:77.53, Z:0.27 [[ 3.82305883e-01 -9.24035309e-01 -9.79259971e-04 1.32918570e+02] [ 9.24032891e-01 3.82307125e-01 -2.11637005e-03 7.75322649e+01] [ 2.32997872e-03 -9.57677017e-05 9.99997281e-01 2.73070634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.93, Y:77.56, Z:0.27 [[ 3.81853972e-01 -9.24222152e-01 -9.78692619e-04 1.32926586e+02] [ 9.24219733e-01 3.81855214e-01 -2.11663238e-03 7.75598147e+01] [ 2.32995741e-03 -9.62825498e-05 9.99997281e-01 2.73241551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96361786499997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:132.94, Y:77.59, Z:0.27 [[ 3.82051507e-01 -9.24140514e-01 -9.78126247e-04 1.32936418e+02] [ 9.24138094e-01 3.82052748e-01 -2.11689408e-03 7.75861538e+01] [ 2.33000340e-03 -9.51611520e-05 9.99997281e-01 2.73435972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99361786499998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:132.95, Y:77.61, Z:0.27 [[ 3.82404531e-01 -9.23994491e-01 -9.77559479e-04 1.32945262e+02] [ 9.23992070e-01 3.82405769e-01 -2.11715577e-03 7.76115027e+01] [ 2.33006465e-03 -9.36472474e-05 9.99997281e-01 2.73800472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02361786499998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:132.95, Y:77.64, Z:0.27 [[ 3.82573961e-01 -9.23924353e-01 -9.77050717e-04 1.32953601e+02] [ 9.23921931e-01 3.82575197e-01 -2.11739054e-03 7.76419757e+01] [ 2.33010405e-03 -9.26601004e-05 9.99997281e-01 2.73988695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05361786499998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:132.96, Y:77.67, Z:0.27 [[ 3.84438545e-01 -9.23150053e-01 -9.92705848e-04 1.32961716e+02] [ 9.23147647e-01 3.84439812e-01 -2.11017271e-03 7.76658203e+01] [ 2.32964170e-03 -1.05182342e-04 9.99997281e-01 2.74947691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08361786499998 meters Centerline goodness : 0.994382 Centerline is valid? [True, True] Translation: X:132.97, Y:77.69, Z:0.28 [[ 3.84736939e-01 -9.23025751e-01 -9.75202607e-04 1.32970372e+02] [ 9.23023324e-01 3.84738165e-01 -2.11823095e-03 7.76915930e+01] [ 2.33037937e-03 -8.51730626e-05 9.99997281e-01 2.75353809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11361786499998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:132.98, Y:77.72, Z:0.28 [[ 3.85253566e-01 -9.22810234e-01 -9.80609146e-04 1.32978948e+02] [ 9.22807813e-01 3.85254803e-01 -2.11574405e-03 7.77169518e+01] [ 2.33021465e-03 -8.98158408e-05 9.99997281e-01 2.77136824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14361786499998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:132.99, Y:77.74, Z:0.28 [[ 3.86083532e-01 -9.22463310e-01 -9.73697412e-04 1.32986046e+02] [ 9.22460880e-01 3.86084752e-01 -2.11892017e-03 7.77443747e+01] [ 2.33055584e-03 -8.01175876e-05 9.99997281e-01 2.78302844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17361786499995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.99, Y:77.77, Z:0.28 [[ 3.85506875e-01 -9.22704450e-01 -9.73106259e-04 1.32994385e+02] [ 9.22702020e-01 3.85508095e-01 -2.11919162e-03 7.77707879e+01] [ 2.33052788e-03 -8.09241706e-05 9.99997281e-01 2.76348407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20361786499996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:133.01, Y:77.80, Z:0.28 [[ 3.86508240e-01 -9.22285441e-01 -9.72835631e-04 1.33007861e+02] [ 9.22283009e-01 3.86509456e-01 -2.11931585e-03 7.77992761e+01] [ 2.33062432e-03 -7.80967352e-05 9.99997281e-01 2.76028871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23361786499996 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:133.01, Y:77.82, Z:0.28 [[ 3.82773883e-01 -9.23841532e-01 -9.88738495e-04 1.33011213e+02] [ 9.23839124e-01 3.82775146e-01 -2.11201710e-03 7.78244534e+01] [ 2.32963364e-03 -1.05010317e-04 9.99997281e-01 2.76750594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26361786499996 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:133.03, Y:77.85, Z:0.28 [[ 3.85521713e-01 -9.22698252e-01 -9.71742986e-04 1.33027586e+02] [ 9.22695820e-01 3.85522930e-01 -2.11980803e-03 7.78533669e+01] [ 2.33057237e-03 -7.93911675e-05 9.99997281e-01 2.79531619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29361786499996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:133.03, Y:77.88, Z:0.28 [[ 3.81192305e-01 -9.24495232e-01 -9.96774410e-04 1.33032836e+02] [ 9.24492835e-01 3.81193590e-01 -2.10833357e-03 7.78786037e+01] [ 2.32910835e-03 -1.17830267e-04 9.99997281e-01 2.77425454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32361786499996 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:133.04, Y:77.91, Z:0.28 [[ 3.80103591e-01 -9.24943406e-01 -9.77472068e-04 1.33043146e+02] [ 9.24940989e-01 3.80104835e-01 -2.11716923e-03 7.79054458e+01] [ 2.32980358e-03 -9.93603537e-05 9.99997281e-01 2.77519653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.06, Y:77.93, Z:0.28 [[ 3.80003357e-01 -9.24984589e-01 -9.79028385e-04 1.33055246e+02] [ 9.24982173e-01 3.80004605e-01 -2.11645714e-03 7.79336588e+01] [ 2.32972553e-03 -1.01322986e-04 9.99997281e-01 2.77413524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38361786499996 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:133.06, Y:77.96, Z:0.28 [[ 3.78289548e-01 -9.25686790e-01 -9.92097269e-04 1.33064986e+02] [ 9.25684392e-01 3.78290829e-01 -2.11048704e-03 7.79606816e+01] [ 2.32895127e-03 -1.19993769e-04 9.99997281e-01 2.77798151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.07, Y:77.99, Z:0.27 [[ 3.74311208e-01 -9.27302615e-01 -9.89658307e-04 1.33067545e+02] [ 9.27300220e-01 3.74312494e-01 -2.11160033e-03 7.79851445e+01] [ 2.32853398e-03 -1.27314694e-04 9.99997281e-01 2.73693165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44361786499996 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:133.08, Y:78.01, Z:0.28 [[ 3.75256709e-01 -9.26920424e-01 -9.64530815e-04 1.33077358e+02] [ 9.26917998e-01 3.75257936e-01 -2.12305009e-03 7.80105143e+01] [ 2.32984633e-03 -9.73521807e-05 9.99997281e-01 2.75835160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.09, Y:78.04, Z:0.28 [[ 3.76855052e-01 -9.26271746e-01 -9.60257245e-04 1.33086045e+02] [ 9.26269313e-01 3.76856265e-01 -2.12499589e-03 7.80391323e+01] [ 2.33020261e-03 -8.86413805e-05 9.99997281e-01 2.75652409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.09, Y:78.07, Z:0.28 [[ 3.76703198e-01 -9.26333507e-01 -9.66030333e-04 1.33093652e+02] [ 9.26331081e-01 3.76704425e-01 -2.12236818e-03 7.80655726e+01] [ 2.32992866e-03 -9.53610422e-05 9.99997281e-01 2.75189752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.11, Y:78.09, Z:0.28 [[ 3.79585324e-01 -9.25156240e-01 -9.55941822e-04 1.33106137e+02] [ 9.25153798e-01 3.79586520e-01 -2.12695685e-03 7.80925122e+01] [ 2.33063003e-03 -7.70316027e-05 9.99997281e-01 2.76790543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.11, Y:78.12, Z:0.27 [[ 3.79451586e-01 -9.25211090e-01 -9.65463042e-04 1.33112533e+02] [ 9.25208660e-01 3.79452804e-01 -2.12262712e-03 7.81181008e+01] [ 2.33022581e-03 -8.78205383e-05 9.99997281e-01 2.72114185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.13, Y:78.14, Z:0.28 [[ 3.84218514e-01 -9.23241699e-01 -9.47973040e-04 1.33126163e+02] [ 9.23239242e-01 3.84219680e-01 -2.13057107e-03 7.81433673e+01] [ 2.33126195e-03 -5.66010607e-05 9.99997281e-01 2.76871103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.13, Y:78.17, Z:0.27 [[ 3.86523659e-01 -9.22278996e-01 -9.56598861e-04 1.33131808e+02] [ 9.22276546e-01 3.86524838e-01 -2.12665352e-03 7.81705765e+01] [ 2.33111709e-03 -6.02467931e-05 9.99997281e-01 2.72522336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.15, Y:78.20, Z:0.27 [[ 3.92939380e-01 -9.19563891e-01 -9.45197627e-04 1.33147100e+02] [ 9.19561421e-01 3.92940516e-01 -2.13182586e-03 7.81980932e+01] [ 2.33175653e-03 -3.14889387e-05 9.99997281e-01 2.74631035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.16, Y:78.22, Z:0.27 [[ 3.96121409e-01 -9.18197637e-01 -9.63707121e-04 1.33156043e+02] [ 9.18195183e-01 3.96122579e-01 -2.12342541e-03 7.82247666e+01] [ 2.33147035e-03 -4.37369688e-05 9.99997281e-01 2.74221100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.17, Y:78.25, Z:0.28 [[ 3.99254523e-01 -9.16839625e-01 -9.63095146e-04 1.33168208e+02] [ 9.16837166e-01 3.99255683e-01 -2.12370294e-03 7.82484899e+01] [ 2.33161622e-03 -3.51034187e-05 9.99997281e-01 2.76313086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.18, Y:78.27, Z:0.28 [[ 4.01500109e-01 -9.15858469e-01 -9.62543604e-04 1.33179722e+02] [ 9.15856007e-01 4.01501262e-01 -2.12395289e-03 7.82740388e+01] [ 2.33170272e-03 -2.87840228e-05 9.99997281e-01 2.76763501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.20, Y:78.30, Z:0.28 [[ 4.09643636e-01 -9.12245124e-01 -9.61960791e-04 1.33198686e+02] [ 9.12242651e-01 4.09644765e-01 -2.12421682e-03 7.83026852e+01] [ 2.33186864e-03 -7.36976060e-06 9.99997281e-01 2.77085274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.21, Y:78.33, Z:0.28 [[ 4.11305907e-01 -9.11496829e-01 -9.91193602e-04 1.33211325e+02] [ 9.11494385e-01 4.11307099e-01 -2.11098719e-03 7.83292743e+01] [ 2.33184309e-03 -3.52059044e-05 9.99997281e-01 2.77529785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.22, Y:78.35, Z:0.28 [[ 4.10165417e-01 -9.12010606e-01 -9.92609085e-04 1.33218110e+02] [ 9.12008165e-01 4.10166616e-01 -2.11034597e-03 7.83519784e+01] [ 2.33179302e-03 -3.96766565e-05 9.99997281e-01 2.78258472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.23, Y:78.37, Z:0.28 [[ 4.12706076e-01 -9.10863741e-01 -9.69659787e-04 1.33229119e+02] [ 9.10861272e-01 4.12707215e-01 -2.12073401e-03 7.83732251e+01] [ 2.33188530e-03 -7.98573802e-06 9.99997281e-01 2.77491235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.24, Y:78.40, Z:0.28 [[ 4.11942256e-01 -9.11209456e-01 -9.51502399e-04 1.33243043e+02] [ 9.11206969e-01 4.11943355e-01 -2.12894770e-03 7.84013033e+01] [ 2.33188237e-03 9.98790254e-06 9.99997281e-01 2.78425661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.26, Y:78.43, Z:0.28 [[ 4.12357801e-01 -9.11021465e-01 -9.66273030e-04 1.33255479e+02] [ 9.11018993e-01 4.12358933e-01 -2.12226452e-03 7.84252110e+01] [ 2.33187985e-03 -5.16075347e-06 9.99997281e-01 2.77924971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.27, Y:78.45, Z:0.28 [[ 4.11485402e-01 -9.11415844e-01 -9.60712006e-04 1.33270246e+02] [ 9.11413368e-01 4.11486523e-01 -2.12477892e-03 7.84490057e+01] [ 2.33187721e-03 -1.29025883e-06 9.99997281e-01 2.78700706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.28, Y:78.47, Z:0.28 [[ 4.10868945e-01 -9.11693911e-01 -9.60135015e-04 1.33283746e+02] [ 9.11691435e-01 4.10870067e-01 -2.12503961e-03 7.84738144e+01] [ 2.33187641e-03 -2.23408470e-06 9.99997281e-01 2.79236270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.30, Y:78.50, Z:0.28 [[ 4.09455621e-01 -9.12329533e-01 -9.57696913e-04 1.33297518e+02] [ 9.12327056e-01 4.09456741e-01 -2.12614059e-03 7.84988718e+01] [ 2.33187631e-03 -3.17259135e-06 9.99997281e-01 2.79000384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.31, Y:78.52, Z:0.28 [[ 4.08910155e-01 -9.12574138e-01 -9.63427113e-04 1.33311204e+02] [ 9.12571667e-01 4.08911290e-01 -2.12355404e-03 7.85237135e+01] [ 2.33185672e-03 -1.08534754e-05 9.99997281e-01 2.79049199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.33, Y:78.55, Z:0.28 [[ 4.07199834e-01 -9.13338588e-01 -9.58747406e-04 1.33326468e+02] [ 9.13336114e-01 4.07200963e-01 -2.12566475e-03 7.85463842e+01] [ 2.33185450e-03 -1.00882991e-05 9.99997281e-01 2.78535645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.34, Y:78.57, Z:0.28 [[ 4.06476616e-01 -9.13660682e-01 -9.58219639e-04 1.33340120e+02] [ 9.13658209e-01 4.06477746e-01 -2.12590263e-03 7.85709143e+01] [ 2.33184861e-03 -1.13555318e-05 9.99997281e-01 2.78361785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.35, Y:78.60, Z:0.28 [[ 4.04726328e-01 -9.14437358e-01 -9.57639812e-04 1.33354378e+02] [ 9.14434887e-01 4.04727461e-01 -2.12616379e-03 7.85967325e+01] [ 2.33182673e-03 -1.51847894e-05 9.99997281e-01 2.79243400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.37, Y:78.62, Z:0.28 [[ 4.03917422e-01 -9.14794940e-01 -9.66435103e-04 1.33370079e+02] [ 9.14792479e-01 4.03918578e-01 -2.12220294e-03 7.86188567e+01] [ 2.33174161e-03 -2.68928209e-05 9.99997281e-01 2.77667396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.38, Y:78.64, Z:0.28 [[ 4.02998199e-01 -9.15200271e-01 -9.56903847e-04 1.33383775e+02] [ 9.15197801e-01 4.02999334e-01 -2.12649193e-03 7.86430282e+01] [ 2.33179760e-03 -1.87838786e-05 9.99997281e-01 2.77463297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.40, Y:78.67, Z:0.28 [[ 4.01353864e-01 -9.15922574e-01 -9.56335238e-04 1.33399311e+02] [ 9.15920105e-01 4.01355003e-01 -2.12674762e-03 7.86651692e+01] [ 2.33176608e-03 -2.23482975e-05 9.99997281e-01 2.77198907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.41, Y:78.69, Z:0.28 [[ 4.00502884e-01 -9.16294999e-01 -9.55830668e-04 1.33413041e+02] [ 9.16292531e-01 4.00504024e-01 -2.12697436e-03 7.86895015e+01] [ 2.33175000e-03 -2.39611344e-05 9.99997281e-01 2.77520610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.43, Y:78.72, Z:0.28 [[ 3.99118375e-01 -9.16898910e-01 -9.55241195e-04 1.33427532e+02] [ 9.16896442e-01 3.99119517e-01 -2.12723907e-03 7.87152873e+01] [ 2.33171859e-03 -2.68370546e-05 9.99997281e-01 2.78852500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.44, Y:78.74, Z:0.28 [[ 3.99456512e-01 -9.16751639e-01 -9.63213673e-04 1.33443852e+02] [ 9.16749180e-01 3.99457671e-01 -2.12365624e-03 7.87375871e+01] [ 2.33162843e-03 -3.47170317e-05 9.99997281e-01 2.76803006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.46, Y:78.76, Z:0.28 [[ 3.99272206e-01 -9.16831930e-01 -9.58025469e-04 1.33455418e+02] [ 9.16829465e-01 3.99273355e-01 -2.12598609e-03 7.87636829e+01] [ 2.33168597e-03 -2.94988214e-05 9.99997281e-01 2.76868025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.47, Y:78.79, Z:0.27 [[ 3.99376417e-01 -9.16786541e-01 -9.57116557e-04 1.33471419e+02] [ 9.16784075e-01 3.99377563e-01 -2.12639391e-03 7.87898673e+01] [ 2.33170019e-03 -2.82376385e-05 9.99997281e-01 2.74787594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.49, Y:78.82, Z:0.28 [[ 3.98749647e-01 -9.17059313e-01 -9.67712011e-04 1.33485482e+02] [ 9.17056859e-01 3.98750819e-01 -2.12165008e-03 7.88151087e+01] [ 2.33155492e-03 -4.14397162e-05 9.99997281e-01 2.75640792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.50, Y:78.84, Z:0.28 [[ 3.98257766e-01 -9.17273033e-01 -9.66852859e-04 1.33498539e+02] [ 9.17270579e-01 3.98258938e-01 -2.12203443e-03 7.88387565e+01] [ 2.33154275e-03 -4.17489887e-05 9.99997281e-01 2.76197263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.51, Y:78.86, Z:0.28 [[ 3.97419447e-01 -9.17636558e-01 -9.64954918e-04 1.33513300e+02] [ 9.17634103e-01 3.97420616e-01 -2.12288278e-03 7.88618235e+01] [ 2.33152782e-03 -4.18006430e-05 9.99997281e-01 2.77158908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.53, Y:78.89, Z:0.28 [[ 3.97676045e-01 -9.17525393e-01 -9.57332069e-04 1.33527421e+02] [ 9.17522930e-01 3.97677196e-01 -2.12628627e-03 7.88868211e+01] [ 2.33163078e-03 -3.28010077e-05 9.99997281e-01 2.79059686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.54, Y:78.91, Z:0.28 [[ 3.97147871e-01 -9.17754127e-01 -9.64347265e-04 1.33540279e+02] [ 9.17751673e-01 3.97149040e-01 -2.12315417e-03 7.89114258e+01] [ 2.33152309e-03 -4.18251584e-05 9.99997281e-01 2.80640760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.55, Y:78.94, Z:0.28 [[ 3.96570568e-01 -9.18003735e-01 -9.62784404e-04 1.33554212e+02] [ 9.18001279e-01 3.96571734e-01 -2.12385129e-03 7.89351684e+01] [ 2.33151650e-03 -4.15804019e-05 9.99997281e-01 2.81576551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.57, Y:78.96, Z:0.28 [[ 3.97571883e-01 -9.17570536e-01 -9.53307148e-04 1.33568433e+02] [ 9.17568069e-01 3.97573025e-01 -2.12807520e-03 7.89600138e+01] [ 2.33166831e-03 -2.86613360e-05 9.99997281e-01 2.81956567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.58, Y:78.98, Z:0.28 [[ 3.96855637e-01 -9.17880538e-01 -9.59499439e-04 1.33579677e+02] [ 9.17878079e-01 3.96856795e-01 -2.12531519e-03 7.89840674e+01] [ 2.33156932e-03 -3.72601894e-05 9.99997281e-01 2.82907335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.59, Y:79.01, Z:0.28 [[ 3.98084658e-01 -9.17348185e-01 -9.55579491e-04 1.33593379e+02] [ 9.17345719e-01 3.98085804e-01 -2.12706041e-03 7.90077918e+01] [ 2.33165764e-03 -2.98466387e-05 9.99997281e-01 2.83249071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.61, Y:79.03, Z:0.28 [[ 3.98767631e-01 -9.17051513e-01 -9.48256752e-04 1.33606332e+02] [ 9.17049039e-01 3.98768757e-01 -2.13031711e-03 7.90329853e+01] [ 2.33174570e-03 -2.00964352e-05 9.99997281e-01 2.83475302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.62, Y:79.06, Z:0.28 [[ 4.00010135e-01 -9.16510226e-01 -9.47340769e-04 1.33617944e+02] [ 9.16507749e-01 4.00011257e-01 -2.13072420e-03 7.90561233e+01] [ 2.33177749e-03 -1.59338809e-05 9.99997281e-01 2.82215656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.63, Y:79.08, Z:0.28 [[ 3.98891463e-01 -9.16997668e-01 -9.37299753e-04 1.33631620e+02] [ 9.16995182e-01 3.98892564e-01 -2.13518284e-03 7.90844136e+01] [ 2.33183959e-03 -7.79315099e-06 9.99997281e-01 2.80549064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.64, Y:79.11, Z:0.28 [[ 4.02008676e-01 -9.15635363e-01 -9.51917027e-04 1.33644914e+02] [ 9.15632889e-01 4.02009803e-01 -2.12869109e-03 7.91072377e+01] [ 2.33178482e-03 -1.58542487e-05 9.99997281e-01 2.80184222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.66, Y:79.13, Z:0.28 [[ 4.02829595e-01 -9.15274508e-01 -9.44375318e-04 1.33658018e+02] [ 9.15272025e-01 4.02830702e-01 -2.13203727e-03 7.91334093e+01] [ 2.33182274e-03 -5.51259910e-06 9.99997281e-01 2.79967056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.67, Y:79.16, Z:0.28 [[ 4.04635127e-01 -9.14477729e-01 -9.46910586e-04 1.33669987e+02] [ 9.14475247e-01 4.04636235e-01 -2.13091322e-03 7.91563186e+01] [ 2.33182702e-03 -3.68395160e-06 9.99997281e-01 2.78478156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.68, Y:79.18, Z:0.28 [[ 4.06707970e-01 -9.13557750e-01 -9.30299026e-04 1.33684177e+02] [ 9.13555247e-01 4.06709034e-01 -2.13827063e-03 7.91818871e+01] [ 2.33179472e-03 1.97721501e-05 9.99997281e-01 2.79192008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.70, Y:79.21, Z:0.28 [[ 4.07219421e-01 -9.13329877e-01 -9.37822770e-04 1.33697488e+02] [ 9.13327381e-01 4.07220501e-01 -2.13493838e-03 7.92077035e+01] [ 2.33180366e-03 1.28491561e-05 9.99997281e-01 2.79714585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.71, Y:79.23, Z:0.29 [[ 4.10811278e-01 -9.11719914e-01 -9.44789236e-04 1.33713004e+02] [ 9.11717422e-01 4.10812364e-01 -2.13185285e-03 7.92300432e+01] [ 2.33178379e-03 1.44083860e-05 9.99997281e-01 2.86329153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.73, Y:79.25, Z:0.29 [[ 4.09925818e-01 -9.12118382e-01 -9.38095715e-04 1.33725685e+02] [ 9.12115884e-01 4.09926891e-01 -2.13481472e-03 7.92549748e+01] [ 2.33175441e-03 1.94636677e-05 9.99997281e-01 2.86383809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97361786499997 meters Centerline goodness : 0.996083 Centerline is valid? [True, True] Translation: X:133.74, Y:79.28, Z:0.28 [[ 4.08884841e-01 -9.12585505e-01 -9.39926453e-04 1.33738326e+02] [ 9.12583010e-01 4.08885921e-01 -2.13400563e-03 7.92806773e+01] [ 2.33178530e-03 1.48016401e-05 9.99997281e-01 2.84145867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00361786499997 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:133.75, Y:79.31, Z:0.28 [[ 4.04426476e-01 -9.14570026e-01 -9.45289868e-04 1.33751465e+02] [ 9.14567542e-01 4.04427581e-01 -2.13163633e-03 7.93062436e+01] [ 2.33183198e-03 -2.44126397e-06 9.99997281e-01 2.77717815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.76, Y:79.33, Z:0.28 [[ 4.06468929e-01 -9.13664109e-01 -9.51532059e-04 1.33763955e+02] [ 9.13661629e-01 4.06470043e-01 -2.12888333e-03 7.93253864e+01] [ 2.33185357e-03 -4.05340395e-06 9.99997281e-01 2.84372753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.78, Y:79.35, Z:0.28 [[ 4.03866699e-01 -9.14817374e-01 -9.28233467e-04 1.33777045e+02] [ 9.14814873e-01 4.03867766e-01 -2.13914983e-03 7.93524148e+01] [ 2.33181501e-03 1.47696008e-05 9.99997281e-01 2.84684068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.79, Y:79.38, Z:0.29 [[ 4.01460919e-01 -9.15875672e-01 -9.39658896e-04 1.33789553e+02] [ 9.15873186e-01 4.01462019e-01 -2.13411512e-03 7.93783879e+01] [ 2.33182148e-03 -3.84456929e-06 9.99997281e-01 2.85094893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12361786499997 meters Centerline goodness : 0.995954 Centerline is valid? [True, True] Translation: X:133.80, Y:79.40, Z:0.28 [[ 3.98383560e-01 -9.17218432e-01 -9.42150643e-04 1.33804519e+02] [ 9.17215952e-01 3.98384674e-01 -2.13301752e-03 7.94029626e+01] [ 2.33178136e-03 -1.43964877e-05 9.99997281e-01 2.83692783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15361786499997 meters Centerline goodness : 0.995178 Centerline is valid? [True, True] Translation: X:133.81, Y:79.43, Z:0.28 [[ 3.95492779e-01 -9.18468599e-01 -9.45259884e-04 1.33814503e+02] [ 9.18466126e-01 3.95493908e-01 -2.13164879e-03 7.94257393e+01] [ 2.33169700e-03 -2.51374809e-05 9.99997281e-01 2.76427873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.83, Y:79.45, Z:0.29 [[ 3.90720776e-01 -9.20508773e-01 -9.34964037e-04 1.33828309e+02] [ 9.20506295e-01 3.90721894e-01 -2.13617516e-03 7.94532513e+01] [ 2.33167889e-03 -2.59922669e-05 9.99997281e-01 2.85838443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.84, Y:79.47, Z:0.28 [[ 3.89590842e-01 -9.20987544e-01 -9.58962909e-04 1.33842205e+02] [ 9.20985092e-01 3.89592019e-01 -2.12567021e-03 7.94730182e+01] [ 2.33132009e-03 -5.50488943e-05 9.99997281e-01 2.84015520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.86, Y:79.50, Z:0.28 [[ 3.87871006e-01 -9.21713193e-01 -9.33745393e-04 1.33855892e+02] [ 9.21710717e-01 3.87872129e-01 -2.13669041e-03 7.94986331e+01] [ 2.33158955e-03 -3.18828771e-05 9.99997281e-01 2.84938515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27361786499998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:133.87, Y:79.52, Z:0.28 [[ 3.85893874e-01 -9.22542703e-01 -9.37649579e-04 1.33870198e+02] [ 9.22540233e-01 3.85895011e-01 -2.13498483e-03 7.95219075e+01] [ 2.33144897e-03 -4.11418944e-05 9.99997281e-01 2.83849957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.88, Y:79.55, Z:0.28 [[ 3.84712466e-01 -9.23035995e-01 -9.33023376e-04 1.33883634e+02] [ 9.23033522e-01 3.84713595e-01 -2.13700464e-03 7.95474410e+01] [ 2.33147898e-03 -3.90795268e-05 9.99997281e-01 2.83943952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.90, Y:79.57, Z:0.28 [[ 3.84094497e-01 -9.23293313e-01 -9.35697742e-04 1.33896515e+02] [ 9.23290844e-01 3.84095634e-01 -2.13583757e-03 7.95724250e+01] [ 2.33140197e-03 -4.35576984e-05 9.99997281e-01 2.83912593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:133.91, Y:79.60, Z:0.29 [[ 3.85744590e-01 -9.22605139e-01 -9.31947830e-04 1.33907944e+02] [ 9.22602664e-01 3.85745714e-01 -2.13747255e-03 7.95977530e+01] [ 2.33153804e-03 -3.52990763e-05 9.99997281e-01 2.85647408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.92, Y:79.62, Z:0.29 [[ 3.87585239e-01 -9.21833399e-01 -9.31373820e-04 1.33917928e+02] [ 9.21830921e-01 3.87586357e-01 -2.13772264e-03 7.96231042e+01] [ 2.33161191e-03 -3.00194454e-05 9.99997281e-01 2.85507892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.95, Y:79.66, Z:0.29 [[ 4.00341487e-01 -9.16365554e-01 -9.30767090e-04 1.33949073e+02] [ 9.16363060e-01 4.00342569e-01 -2.13798678e-03 7.96583405e+01] [ 2.33180313e-03 3.00422753e-06 9.99997281e-01 2.92549762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:133.94, Y:79.67, Z:0.29 [[ 3.90578333e-01 -9.20569125e-01 -1.02600411e-03 1.33939450e+02] [ 9.20566746e-01 3.90579660e-01 -2.09638775e-03 7.96741070e+01] [ 2.33060617e-03 -1.25701630e-04 9.99997276e-01 2.86290578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.95, Y:79.70, Z:0.29 [[ 3.94069684e-01 -9.19080095e-01 -9.29041421e-04 1.33948111e+02] [ 9.19077607e-01 3.94070779e-01 -2.13851162e-03 7.96996749e+01] [ 2.33157154e-03 -1.11385688e-05 9.99997282e-01 2.85375387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.98, Y:79.73, Z:0.29 [[ 4.04751552e-01 -9.14426224e-01 -9.28517837e-04 1.33976458e+02] [ 9.14423723e-01 4.04752617e-01 -2.13873893e-03 7.97334329e+01] [ 2.33153898e-03 1.65991623e-05 9.99997282e-01 2.90990464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.97, Y:79.75, Z:0.28 [[ 3.95264313e-01 -9.18566876e-01 -1.00828641e-03 1.33969923e+02] [ 9.18564471e-01 3.95265588e-01 -2.10400691e-03 7.97500960e+01] [ 2.33121197e-03 -9.45372255e-05 9.99997278e-01 2.84307081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:133.98, Y:79.78, Z:0.28 [[ 3.95242382e-01 -9.18576398e-01 -9.27230338e-04 1.33979608e+02] [ 9.18573908e-01 3.95243470e-01 -2.13914141e-03 7.97763520e+01] [ 2.33144655e-03 -6.25024670e-06 9.99997282e-01 2.84017421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:134.00, Y:79.81, Z:0.29 [[ 4.00251751e-01 -9.16404756e-01 -9.26642307e-04 1.33998870e+02] [ 9.16402259e-01 4.00252824e-01 -2.13939611e-03 7.98064076e+01] [ 2.33144397e-03 7.11993400e-06 9.99997282e-01 2.85408430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.01, Y:79.84, Z:0.29 [[ 3.99969195e-01 -9.16528076e-01 -9.63789010e-04 1.34011990e+02] [ 9.16525617e-01 3.99970355e-01 -2.12332464e-03 7.98355319e+01] [ 2.33157368e-03 -3.40728719e-05 9.99997281e-01 2.87683821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.02, Y:79.86, Z:0.29 [[ 3.98837418e-01 -9.17021133e-01 -9.77486591e-04 1.34021736e+02] [ 9.17018690e-01 3.98838613e-01 -2.11740054e-03 7.98597107e+01] [ 2.33156044e-03 -5.18749093e-05 9.99997281e-01 2.86683643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.03, Y:79.89, Z:0.29 [[ 3.95287228e-01 -9.18557059e-01 -9.67907284e-04 1.34032228e+02] [ 9.18554610e-01 3.95288410e-01 -2.12153370e-03 7.98871309e+01] [ 2.33135229e-03 -5.04605229e-05 9.99997281e-01 2.86845429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:134.04, Y:79.91, Z:0.29 [[ 3.91181506e-01 -9.20313042e-01 -9.66345376e-04 1.34042647e+02] [ 9.20310597e-01 3.91182695e-01 -2.12220697e-03 7.99101690e+01] [ 2.33111234e-03 -5.91697715e-05 9.99997281e-01 2.85218036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.75361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:134.04, Y:79.93, Z:0.28 [[ 3.83426368e-01 -9.23570951e-01 -9.58786342e-04 1.34044551e+02] [ 9.23568508e-01 3.83427561e-01 -2.12546877e-03 7.99315508e+01] [ 2.33064632e-03 -7.05440995e-05 9.99997282e-01 2.84379207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.07, Y:79.96, Z:0.29 [[ 3.87449808e-01 -9.21890339e-01 -9.21817636e-04 1.34066558e+02] [ 9.21887852e-01 3.87450904e-01 -2.14138298e-03 7.99613572e+01] [ 2.33127935e-03 -2.01340565e-05 9.99997282e-01 2.87120769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.81361786499997 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:134.08, Y:79.99, Z:0.29 [[ 3.85136180e-01 -9.22859251e-01 -9.62305983e-04 1.34077848e+02] [ 9.22856810e-01 3.85137375e-01 -2.12395042e-03 7.99877208e+01] [ 2.33072730e-03 -7.00604778e-05 9.99997281e-01 2.87311444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.09, Y:80.01, Z:0.28 [[ 3.82771830e-01 -9.23842411e-01 -9.62025058e-04 1.34088141e+02] [ 9.23839972e-01 3.82773031e-01 -2.12407129e-03 8.00110999e+01] [ 2.33054439e-03 -7.57225465e-05 9.99997281e-01 2.83816584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.10, Y:80.03, Z:0.28 [[ 3.81939555e-01 -9.24186819e-01 -9.48141375e-04 1.34098094e+02] [ 9.24184367e-01 3.81940727e-01 -2.13003946e-03 8.00346041e+01] [ 2.33068820e-03 -6.27111124e-05 9.99997282e-01 2.84812477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.11, Y:80.06, Z:0.28 [[ 3.80279043e-01 -9.24871324e-01 -9.39850303e-04 1.34110978e+02] [ 9.24868865e-01 3.80280200e-01 -2.13359968e-03 8.00630244e+01] [ 2.33071163e-03 -5.78750375e-05 9.99997282e-01 2.83312771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:134.11, Y:80.08, Z:0.29 [[ 3.76531738e-01 -9.26403231e-01 -9.51400805e-04 1.34113254e+02] [ 9.26400788e-01 3.76532931e-01 -2.12862379e-03 8.00832401e+01] [ 2.33019769e-03 -7.98840418e-05 9.99997282e-01 2.87219827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:134.12, Y:80.11, Z:0.29 [[ 3.76225698e-01 -9.26527601e-01 -9.10895530e-04 1.34124365e+02] [ 9.26525116e-01 3.76226799e-01 -2.14601826e-03 8.01092719e+01] [ 2.33104846e-03 -3.65803696e-05 9.99997282e-01 2.87099342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.14, Y:80.14, Z:0.29 [[ 3.82432215e-01 -9.23983092e-01 -9.19654717e-04 1.34141058e+02] [ 9.23980610e-01 3.82433320e-01 -2.14225801e-03 8.01360966e+01] [ 2.33111679e-03 -3.04746504e-05 9.99997282e-01 2.88052134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.15, Y:80.16, Z:0.28 [[ 3.85298971e-01 -9.22791324e-01 -9.34931155e-04 1.34152538e+02] [ 9.22788854e-01 3.85300104e-01 -2.13569896e-03 8.01615884e+01] [ 2.33103354e-03 -3.98614372e-05 9.99997282e-01 2.84634957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05361786499998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:134.16, Y:80.19, Z:0.29 [[ 3.84362720e-01 -9.23181679e-01 -9.41391480e-04 1.34156349e+02] [ 9.23179217e-01 3.84363870e-01 -2.13292159e-03 8.01853733e+01] [ 2.33091101e-03 -4.92575033e-05 9.99997282e-01 2.85270263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08361786499998 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:134.17, Y:80.21, Z:0.28 [[ 3.89194903e-01 -9.21154972e-01 -9.19482192e-04 1.34172983e+02] [ 9.21152480e-01 3.89195989e-01 -2.14232502e-03 8.02112741e+01] [ 2.33127213e-03 -1.32013215e-05 9.99997282e-01 2.84924035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11361786499998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:134.18, Y:80.24, Z:0.29 [[ 3.89318719e-01 -9.21102632e-01 -9.36498568e-04 1.34177930e+02] [ 9.21100158e-01 3.89319844e-01 -2.13502061e-03 8.02357330e+01] [ 2.33117058e-03 -3.14054885e-05 9.99997282e-01 2.86498939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14361786499998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:134.19, Y:80.26, Z:0.29 [[ 3.90522493e-01 -9.20592928e-01 -9.18534647e-04 1.34189212e+02] [ 9.20590434e-01 3.90523573e-01 -2.14272133e-03 8.02610571e+01] [ 2.33128353e-03 -8.81333564e-06 9.99997283e-01 2.87190578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.21, Y:80.29, Z:0.29 [[ 3.94068358e-01 -9.19080675e-01 -9.17978603e-04 1.34208921e+02] [ 9.19078176e-01 3.94069428e-01 -2.14295952e-03 8.02897437e+01] [ 2.33129998e-03 7.78440247e-07 9.99997283e-01 2.85726859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:134.21, Y:80.31, Z:0.29 [[ 3.91292417e-01 -9.20265907e-01 -9.50954595e-04 1.34213757e+02] [ 9.20263446e-01 3.91293570e-01 -2.12882177e-03 8.03113001e+01] [ 2.33118452e-03 -4.21369369e-05 9.99997282e-01 2.88721007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.23, Y:80.34, Z:0.29 [[ 3.92989350e-01 -9.19542565e-01 -9.17082694e-04 1.34232124e+02] [ 9.19540067e-01 3.92990420e-01 -2.14331490e-03 8.03398007e+01] [ 2.33127399e-03 -9.94352205e-07 9.99997283e-01 2.86474574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.24, Y:80.37, Z:0.29 [[ 3.92620669e-01 -9.19700014e-01 -9.46058815e-04 1.34242867e+02] [ 9.19697546e-01 3.92621807e-01 -2.13090952e-03 8.03653078e+01] [ 2.33124083e-03 -3.34488504e-05 9.99997282e-01 2.86550470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:134.25, Y:80.39, Z:0.29 [[ 3.90668774e-01 -9.20530834e-01 -9.44773352e-04 1.34254267e+02] [ 9.20528367e-01 3.90669915e-01 -2.13145923e-03 8.03911723e+01] [ 2.33116846e-03 -3.69961076e-05 9.99997282e-01 2.87432305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:134.27, Y:80.42, Z:0.29 [[ 3.89508543e-01 -9.21022371e-01 -9.41934149e-04 1.34265755e+02] [ 9.21019903e-01 3.89509680e-01 -2.13267168e-03 8.04171289e+01] [ 2.33113079e-03 -3.68462616e-05 9.99997282e-01 2.87259388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:134.28, Y:80.44, Z:0.29 [[ 3.86909823e-01 -9.22117079e-01 -9.38663222e-04 1.34277445e+02] [ 9.22114611e-01 3.86910959e-01 -2.13406540e-03 8.04426948e+01] [ 2.33103724e-03 -3.98642054e-05 9.99997282e-01 2.87399549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.29, Y:80.47, Z:0.29 [[ 3.86159739e-01 -9.22431451e-01 -9.34899655e-04 1.34288402e+02] [ 9.22428980e-01 3.86160869e-01 -2.13566738e-03 8.04677594e+01] [ 2.33102842e-03 -3.76697780e-05 9.99997282e-01 2.86656576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.30, Y:80.49, Z:0.29 [[ 3.85436544e-01 -9.22733871e-01 -9.34250298e-04 1.34300786e+02] [ 9.22731400e-01 3.85437674e-01 -2.13594406e-03 8.04945025e+01] [ 2.33100320e-03 -3.87911873e-05 9.99997282e-01 2.87109032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.31, Y:80.52, Z:0.29 [[ 3.83674213e-01 -9.23468037e-01 -9.39317852e-04 1.34309964e+02] [ 9.23465574e-01 3.83675359e-01 -2.13378602e-03 8.05196492e+01] [ 2.33087630e-03 -4.87490267e-05 9.99997282e-01 2.86408388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.32, Y:80.54, Z:0.29 [[ 3.81941827e-01 -9.24185900e-01 -9.29159021e-04 1.34316222e+02] [ 9.24183428e-01 3.81942955e-01 -2.13810155e-03 8.05426296e+01] [ 2.33088904e-03 -4.20829584e-05 9.99997283e-01 2.90771977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:134.33, Y:80.57, Z:0.29 [[ 3.81471652e-01 -9.24380090e-01 -9.10314833e-04 1.34329867e+02] [ 9.24377599e-01 3.81472737e-01 -2.14609474e-03 8.05701530e+01] [ 2.33106754e-03 -2.28003351e-05 9.99997283e-01 2.87301670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.53361786499997 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:134.34, Y:80.60, Z:0.29 [[ 3.81680766e-01 -9.24293750e-01 -9.26111341e-04 1.34343222e+02] [ 9.24291274e-01 3.81681887e-01 -2.13937961e-03 8.05974796e+01] [ 2.33089513e-03 -3.94365835e-05 9.99997283e-01 2.88480068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:134.35, Y:80.62, Z:0.29 [[ 3.79467435e-01 -9.25204617e-01 -9.39584091e-04 1.34349959e+02] [ 9.25202158e-01 3.79468594e-01 -2.13365142e-03 8.06195128e+01] [ 2.33060680e-03 -5.96539967e-05 9.99997282e-01 2.91040436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.36, Y:80.65, Z:0.29 [[ 3.78817709e-01 -9.25470861e-01 -9.10487889e-04 1.34360894e+02] [ 9.25468373e-01 3.78818802e-01 -2.14599615e-03 8.06454642e+01] [ 2.33096684e-03 -2.96863987e-05 9.99997283e-01 2.91070809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62361786499997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:134.37, Y:80.67, Z:0.29 [[ 3.77150471e-01 -9.26151550e-01 -9.09923559e-04 1.34371616e+02] [ 9.26149064e-01 3.77151567e-01 -2.14623541e-03 8.06711322e+01] [ 2.33091835e-03 -3.32711584e-05 9.99997283e-01 2.88523065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:134.38, Y:80.70, Z:0.29 [[ 3.76518459e-01 -9.26408669e-01 -9.09323523e-04 1.34382573e+02] [ 9.26406183e-01 3.76519556e-01 -2.14648960e-03 8.06999389e+01] [ 2.33090466e-03 -3.42099767e-05 9.99997283e-01 2.86408158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:134.39, Y:80.72, Z:0.29 [[ 3.75500743e-01 -9.26821632e-01 -9.23901087e-04 1.34389646e+02] [ 9.26819163e-01 3.75501876e-01 -2.14032459e-03 8.07238684e+01] [ 2.33062572e-03 -5.25957578e-05 9.99997283e-01 2.90011054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.40, Y:80.75, Z:0.29 [[ 3.74809911e-01 -9.27101239e-01 -9.07080909e-04 1.34401880e+02] [ 9.27098753e-01 3.74811007e-01 -2.14742949e-03 8.07519526e+01] [ 2.33086845e-03 -3.60757238e-05 9.99997283e-01 2.86137273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:134.41, Y:80.78, Z:0.29 [[ 3.73394582e-01 -9.27672161e-01 -9.20879503e-04 1.34409233e+02] [ 9.27669691e-01 3.73395713e-01 -2.14160280e-03 8.07762070e+01] [ 2.33055775e-03 -5.46091226e-05 9.99997283e-01 2.90979213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.42, Y:80.80, Z:0.29 [[ 3.72450779e-01 -9.28051506e-01 -9.05789653e-04 1.34419295e+02] [ 9.28049021e-01 3.72451878e-01 -2.14796613e-03 8.08016161e+01] [ 2.33078626e-03 -4.06055417e-05 9.99997283e-01 2.91562964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.43, Y:80.83, Z:0.29 [[ 3.71650562e-01 -9.28372253e-01 -9.05196343e-04 1.34429624e+02] [ 9.28369769e-01 3.71651662e-01 -2.14821614e-03 8.08281753e+01] [ 2.33076198e-03 -4.19711842e-05 9.99997283e-01 2.91644973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:134.44, Y:80.85, Z:0.29 [[ 3.70809504e-01 -9.28708508e-01 -9.04645393e-04 1.34438985e+02] [ 9.28706024e-01 3.70810605e-01 -2.14844812e-03 8.08543379e+01] [ 2.33073416e-03 -4.34846421e-05 9.99997283e-01 2.92173228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.45, Y:80.88, Z:0.29 [[ 3.70934753e-01 -9.28658490e-01 -9.04088806e-04 1.34451676e+02] [ 9.28656005e-01 3.70935853e-01 -2.14868232e-03 8.08822961e+01] [ 2.33075103e-03 -4.25665534e-05 9.99997283e-01 2.88641443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.46, Y:80.91, Z:0.29 [[ 3.70625534e-01 -9.28781929e-01 -9.17591876e-04 1.34458528e+02] [ 9.28779459e-01 3.70626665e-01 -2.14300267e-03 8.09060839e+01] [ 2.33046618e-03 -5.79889759e-05 9.99997283e-01 2.93020507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92361786499995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:134.47, Y:80.93, Z:0.29 [[ 3.71382093e-01 -9.28479685e-01 -9.02830841e-04 1.34466994e+02] [ 9.28477199e-01 3.71383188e-01 -2.14920345e-03 8.09315671e+01] [ 2.33078794e-03 -4.00821773e-05 9.99997283e-01 2.92415077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.48, Y:80.96, Z:0.29 [[ 3.71573221e-01 -9.28403214e-01 -9.02243748e-04 1.34477167e+02] [ 9.28400726e-01 3.71574314e-01 -2.14944988e-03 8.09577440e+01] [ 2.33080678e-03 -3.89657360e-05 9.99997283e-01 2.92922799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.49, Y:80.98, Z:0.29 [[ 3.71711026e-01 -9.28348049e-01 -9.01676827e-04 1.34487131e+02] [ 9.28345561e-01 3.71712118e-01 -2.14968767e-03 8.09836329e+01] [ 2.33082256e-03 -3.80050682e-05 9.99997283e-01 2.93194847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:134.50, Y:81.01, Z:0.29 [[ 3.71241098e-01 -9.28536071e-01 -9.01099811e-04 1.34495993e+02] [ 9.28533583e-01 3.71242190e-01 -2.14992952e-03 8.10102686e+01] [ 2.33081338e-03 -3.85592397e-05 9.99997283e-01 2.92641662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.51, Y:81.04, Z:0.29 [[ 3.71080011e-01 -9.28600460e-01 -9.00514337e-04 1.34505465e+02] [ 9.28597971e-01 3.71081102e-01 -2.15017472e-03 8.10355357e+01] [ 2.33081709e-03 -3.83289272e-05 9.99997283e-01 2.91920707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:134.51, Y:81.06, Z:0.29 [[ 3.71298226e-01 -9.28513229e-01 -8.99988157e-04 1.34514648e+02] [ 9.28510740e-01 3.71299315e-01 -2.15039494e-03 8.10607776e+01] [ 2.33083514e-03 -3.72108433e-05 9.99997283e-01 2.92395622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10361786499996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:134.52, Y:81.09, Z:0.29 [[ 3.69371945e-01 -9.29281204e-01 -8.99571020e-04 1.34523713e+02] [ 9.29278717e-01 3.69373038e-01 -2.15056942e-03 8.10876723e+01] [ 2.33076103e-03 -4.15921912e-05 9.99997283e-01 2.91214543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.53, Y:81.11, Z:0.29 [[ 3.69474997e-01 -9.29240237e-01 -8.99005359e-04 1.34534083e+02] [ 9.29237749e-01 3.69476088e-01 -2.15080586e-03 8.11134619e+01] [ 2.33077633e-03 -4.07207265e-05 9.99997283e-01 2.93363867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.54, Y:81.14, Z:0.29 [[ 3.67476054e-01 -9.30032549e-01 -8.98446213e-04 1.34543799e+02] [ 9.30030063e-01 3.67477149e-01 -2.15103941e-03 8.11403343e+01] [ 2.33069512e-03 -4.51265154e-05 9.99997283e-01 2.91665563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.55, Y:81.17, Z:0.30 [[ 3.67643032e-01 -9.29966556e-01 -8.97841568e-04 1.34553930e+02] [ 9.29964069e-01 3.67644126e-01 -2.15129176e-03 8.11652329e+01] [ 2.33071556e-03 -4.40529741e-05 9.99997283e-01 2.95157286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.56, Y:81.19, Z:0.29 [[ 3.66448372e-01 -9.30437954e-01 -8.97432099e-04 1.34563745e+02] [ 9.30435467e-01 3.66449468e-01 -2.15146256e-03 8.11919462e+01] [ 2.33066593e-03 -4.66027038e-05 9.99997283e-01 2.93687366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.57, Y:81.22, Z:0.29 [[ 3.66821254e-01 -9.30291010e-01 -8.96826373e-04 1.34573623e+02] [ 9.30288523e-01 3.66822348e-01 -2.15171502e-03 8.12174865e+01] [ 2.33069709e-03 -4.50124791e-05 9.99997283e-01 2.94990449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.58, Y:81.24, Z:0.29 [[ 3.66266910e-01 -9.30509402e-01 -8.96287132e-04 1.34582974e+02] [ 9.30506915e-01 3.66268004e-01 -2.15193962e-03 8.12434412e+01] [ 2.33068134e-03 -4.58170997e-05 9.99997283e-01 2.94859946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.59, Y:81.27, Z:0.30 [[ 3.65667852e-01 -9.30744981e-01 -8.95704604e-04 1.34591693e+02] [ 9.30742494e-01 3.65668946e-01 -2.15218205e-03 8.12699147e+01] [ 2.33066400e-03 -4.66865497e-05 9.99997283e-01 2.95026521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.60, Y:81.30, Z:0.29 [[ 3.65104693e-01 -9.30966037e-01 -8.95126647e-04 1.34602011e+02] [ 9.30963550e-01 3.65105787e-01 -2.15242241e-03 8.12958379e+01] [ 2.33064808e-03 -4.74707584e-05 9.99997283e-01 2.94003116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.61, Y:81.32, Z:0.30 [[ 3.65007310e-01 -9.31004223e-01 -8.94524698e-04 1.34612707e+02] [ 9.31001735e-01 3.65008403e-01 -2.15267254e-03 8.13223015e+01] [ 2.33065626e-03 -4.70628310e-05 9.99997283e-01 2.96041120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.62, Y:81.35, Z:0.30 [[ 3.63995967e-01 -9.31400095e-01 -8.93928086e-04 1.34622015e+02] [ 9.31397608e-01 3.63997062e-01 -2.15292027e-03 8.13484963e+01] [ 2.33061734e-03 -4.89481857e-05 9.99997283e-01 2.95699241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:134.63, Y:81.37, Z:0.30 [[ 3.63892765e-01 -9.31440420e-01 -8.93546264e-04 1.34633980e+02] [ 9.31437933e-01 3.63893859e-01 -2.15307873e-03 8.13748600e+01] [ 2.33062055e-03 -4.87931133e-05 9.99997283e-01 2.97745896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.64, Y:81.40, Z:0.30 [[ 3.62217761e-01 -9.32093073e-01 -8.93020059e-04 1.34641578e+02] [ 9.32090587e-01 3.62218858e-01 -2.15329696e-03 8.14020989e+01] [ 2.33054188e-03 -5.24131889e-05 9.99997283e-01 2.96802275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.65, Y:81.43, Z:0.30 [[ 3.63396117e-01 -9.31634298e-01 -8.92691451e-04 1.34652762e+02] [ 9.31631811e-01 3.63397210e-01 -2.15343318e-03 8.14287249e+01] [ 2.33061379e-03 -4.91104983e-05 9.99997283e-01 2.96089247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.66, Y:81.46, Z:0.30 [[ 3.59661287e-01 -9.33082506e-01 -8.92177387e-04 1.34659409e+02] [ 9.33080022e-01 3.59662389e-01 -2.15364614e-03 8.14566160e+01] [ 2.33041218e-03 -5.78897557e-05 9.99997283e-01 2.96648846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.67, Y:81.48, Z:0.30 [[ 3.60346915e-01 -9.32817938e-01 -8.91870478e-04 1.34669589e+02] [ 9.32815453e-01 3.60348015e-01 -2.15377323e-03 8.14818346e+01] [ 2.33046205e-03 -5.58450259e-05 9.99997283e-01 2.97557543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.68, Y:81.51, Z:0.30 [[ 3.58437956e-01 -9.33553125e-01 -8.91327150e-04 1.34677410e+02] [ 9.33550642e-01 3.58439059e-01 -2.15399806e-03 8.15094258e+01] [ 2.33035808e-03 -6.00243731e-05 9.99997283e-01 2.97261388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.69, Y:81.54, Z:0.30 [[ 3.59164956e-01 -9.33273669e-01 -8.90712908e-04 1.34687643e+02] [ 9.33271184e-01 3.59166056e-01 -2.15425202e-03 8.15350521e+01] [ 2.33042053e-03 -5.75448565e-05 9.99997283e-01 2.98644472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.69, Y:81.56, Z:0.30 [[ 3.60701839e-01 -9.32680755e-01 -8.90100788e-04 1.34694126e+02] [ 9.32678268e-01 3.60702933e-01 -2.15450491e-03 8.15552862e+01] [ 2.33052723e-03 -5.30437778e-05 9.99997283e-01 2.96428581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.71, Y:81.59, Z:0.30 [[ 3.62487446e-01 -9.31988262e-01 -8.54435979e-04 1.34705856e+02] [ 9.31985738e-01 3.62488453e-01 -2.16922760e-03 8.15875869e+01] [ 2.33141783e-03 -1.00043757e-05 9.99997282e-01 3.00436733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.71, Y:81.61, Z:0.30 [[ 3.63120124e-01 -9.31741908e-01 -8.90454178e-04 1.34714962e+02] [ 9.31739418e-01 3.63121213e-01 -2.15434018e-03 8.16141286e+01] [ 2.33063183e-03 -4.73869838e-05 9.99997283e-01 2.97843760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.72, Y:81.64, Z:0.30 [[ 3.64307869e-01 -9.31278145e-01 -8.90182200e-04 1.34724271e+02] [ 9.31275654e-01 3.64308954e-01 -2.15445256e-03 8.16419694e+01] [ 2.33069593e-03 -4.41209897e-05 9.99997283e-01 2.99506955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.73, Y:81.67, Z:0.30 [[ 3.65415542e-01 -9.30844074e-01 -8.89662019e-04 1.34732822e+02] [ 9.30841581e-01 3.65416622e-01 -2.15466734e-03 8.16700086e+01] [ 2.33075662e-03 -4.07854664e-05 9.99997283e-01 2.99323520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.74, Y:81.70, Z:0.30 [[ 3.67123313e-01 -9.30171857e-01 -8.89117138e-04 1.34741918e+02] [ 9.30169361e-01 3.67124387e-01 -2.15489216e-03 8.16968882e+01] [ 2.33083663e-03 -3.59183713e-05 9.99997283e-01 3.01336363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.75, Y:81.72, Z:0.30 [[ 3.66272005e-01 -9.30507404e-01 -8.88484389e-04 1.34751537e+02] [ 9.30504909e-01 3.66273081e-01 -2.15515302e-03 8.17239174e+01] [ 2.33081376e-03 -3.73668687e-05 9.99997283e-01 2.98955640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.76, Y:81.75, Z:0.30 [[ 3.67099102e-01 -9.30181413e-01 -8.87385766e-04 1.34762237e+02] [ 9.30178916e-01 3.67100173e-01 -2.15560564e-03 8.17506693e+01] [ 2.33086377e-03 -3.41066352e-05 9.99997283e-01 2.99478557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.77, Y:81.78, Z:0.30 [[ 3.66058917e-01 -9.30591248e-01 -8.93109520e-04 1.34770651e+02] [ 9.30588758e-01 3.66060004e-01 -2.15324832e-03 8.17768846e+01] [ 2.33072572e-03 -4.29019311e-05 9.99997283e-01 2.98863517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.78, Y:81.81, Z:0.29 [[ 3.64358515e-01 -9.31258335e-01 -8.87164007e-04 1.34783382e+02] [ 9.31255840e-01 3.64359592e-01 -2.15569516e-03 8.18101920e+01] [ 2.33075580e-03 -4.07307754e-05 9.99997283e-01 2.94936139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.79, Y:81.83, Z:0.30 [[ 3.65105676e-01 -9.30965613e-01 -9.34090232e-04 1.34789024e+02] [ 9.30963166e-01 3.65106860e-01 -2.13636126e-03 8.18297727e+01] [ 2.32992162e-03 -8.96059784e-05 9.99997282e-01 2.98984757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.80, Y:81.86, Z:0.30 [[ 3.64177199e-01 -9.31329256e-01 -8.85957216e-04 1.34798791e+02] [ 9.31326761e-01 3.64178274e-01 -2.15613911e-03 8.18565673e+01] [ 2.33072181e-03 -3.98989616e-05 9.99997283e-01 2.98025188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.81, Y:81.88, Z:0.30 [[ 3.61527837e-01 -9.32360888e-01 -8.92605621e-04 1.34805368e+02] [ 9.32358403e-01 3.61528935e-01 -2.15340890e-03 8.18832092e+01] [ 2.33045699e-03 -5.37110897e-05 9.99997283e-01 2.98159369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.82, Y:81.91, Z:0.30 [[ 3.61823620e-01 -9.32246151e-01 -8.84639401e-04 1.34815224e+02] [ 9.32243657e-01 3.61824698e-01 -2.15667653e-03 8.19080412e+01] [ 2.33063778e-03 -4.43629602e-05 9.99997283e-01 2.98832392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.83, Y:81.93, Z:0.30 [[ 3.63103994e-01 -9.31748200e-01 -8.84298459e-04 1.34826399e+02] [ 9.31745704e-01 3.63105068e-01 -2.15681632e-03 8.19324432e+01] [ 2.33070298e-03 -4.07926704e-05 9.99997283e-01 2.98762949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.83, Y:81.96, Z:0.30 [[ 3.60586931e-01 -9.32725192e-01 -8.83888431e-04 1.34832275e+02] [ 9.32722699e-01 3.60588011e-01 -2.15698434e-03 8.19579542e+01] [ 2.33059321e-03 -4.66424402e-05 9.99997283e-01 2.97205357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.84, Y:81.98, Z:0.30 [[ 3.59935463e-01 -9.32976799e-01 -8.69353672e-04 1.34841797e+02] [ 9.32974292e-01 3.59936512e-01 -2.16293552e-03 8.19845297e+01] [ 2.33088078e-03 -3.25674292e-05 9.99997283e-01 2.97111237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.85, Y:82.01, Z:0.30 [[ 3.59871608e-01 -9.33001434e-01 -8.65630967e-04 1.34852212e+02] [ 9.32998924e-01 3.59872648e-01 -2.16445891e-03 8.20099911e+01] [ 2.33096017e-03 -2.87054538e-05 9.99997283e-01 2.97174183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.86, Y:82.03, Z:0.30 [[ 3.59637217e-01 -9.33091809e-01 -8.65160110e-04 1.34860965e+02] [ 9.33089298e-01 3.59638256e-01 -2.16465152e-03 8.20348822e+01] [ 2.33096327e-03 -2.87823930e-05 9.99997283e-01 2.95525368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.87, Y:82.06, Z:0.30 [[ 3.58988458e-01 -9.33341604e-01 -8.58918283e-04 1.34872135e+02] [ 9.33339088e-01 3.58989485e-01 -2.16720443e-03 8.20627390e+01] [ 2.33108469e-03 -2.36606312e-05 9.99997283e-01 2.95672958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.88, Y:82.09, Z:0.30 [[ 3.58743616e-01 -9.33435733e-01 -8.66308225e-04 1.34880772e+02] [ 9.33433225e-01 3.58744660e-01 -2.16418137e-03 8.20871507e+01] [ 2.33090767e-03 -3.22546316e-05 9.99997283e-01 2.96109034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.89, Y:82.11, Z:0.30 [[ 3.57790586e-01 -9.33801457e-01 -8.58004219e-04 1.34891284e+02] [ 9.33798941e-01 3.57791613e-01 -2.16757449e-03 8.21147792e+01] [ 2.33107093e-03 -2.56656841e-05 9.99997283e-01 2.95502560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.90, Y:82.14, Z:0.30 [[ 3.57814081e-01 -9.33792446e-01 -8.67217191e-04 1.34902660e+02] [ 9.33789939e-01 3.57815130e-01 -2.16380475e-03 8.21437201e+01] [ 2.33084796e-03 -3.55588813e-05 9.99997283e-01 2.97206233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.91, Y:82.17, Z:0.30 [[ 3.59181988e-01 -9.33267122e-01 -8.82971549e-04 1.34914449e+02] [ 9.33264629e-01 3.59183069e-01 -2.15735674e-03 8.21685950e+01] [ 2.33053855e-03 -4.91624325e-05 9.99997283e-01 2.98254278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.92, Y:82.20, Z:0.30 [[ 3.57571743e-01 -9.33885255e-01 -8.82624814e-04 1.34923180e+02] [ 9.33882765e-01 3.57572828e-01 -2.15749859e-03 8.21956226e+01] [ 2.33045877e-03 -5.28075705e-05 9.99997283e-01 2.98396911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.93, Y:82.22, Z:0.30 [[ 3.56984887e-01 -9.34109743e-01 -8.82018206e-04 1.34931826e+02] [ 9.34107253e-01 3.56985972e-01 -2.15774655e-03 8.22196474e+01] [ 2.33044021e-03 -5.36166947e-05 9.99997283e-01 2.95564955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.94, Y:82.25, Z:0.30 [[ 3.57652834e-01 -9.33854214e-01 -8.70666833e-04 1.34943793e+02] [ 9.33851711e-01 3.57653891e-01 -2.16238514e-03 8.22469874e+01] [ 2.33074985e-03 -3.96905399e-05 9.99997283e-01 2.98284125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.95, Y:82.27, Z:0.30 [[ 3.59435499e-01 -9.33169515e-01 -8.81860857e-04 1.34952875e+02] [ 9.33167022e-01 3.59436578e-01 -2.15781033e-03 8.22726182e+01] [ 2.33057586e-03 -4.73298390e-05 9.99997283e-01 2.97452296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.96, Y:82.30, Z:0.30 [[ 3.59652489e-01 -9.33085907e-01 -8.81438994e-04 1.34963767e+02] [ 9.33083413e-01 3.59653567e-01 -2.15798264e-03 8.22989304e+01] [ 2.33059587e-03 -4.63322770e-05 9.99997283e-01 2.98900395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.97, Y:82.32, Z:0.30 [[ 3.60305422e-01 -9.32833976e-01 -8.80868572e-04 1.34973631e+02] [ 9.32831481e-01 3.60306496e-01 -2.15821545e-03 8.23248948e+01] [ 2.33063937e-03 -4.40852047e-05 9.99997283e-01 2.99363567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.98, Y:82.35, Z:0.30 [[ 3.61898655e-01 -9.32217029e-01 -8.80268888e-04 1.34984192e+02] [ 9.32214531e-01 3.61899724e-01 -2.15846002e-03 8.23511930e+01] [ 2.33072225e-03 -3.94556701e-05 9.99997283e-01 2.99249895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.99, Y:82.38, Z:0.30 [[ 3.61435911e-01 -9.32396540e-01 -8.79677981e-04 1.34994159e+02] [ 9.32394042e-01 3.61436979e-01 -2.15870082e-03 8.23779761e+01] [ 2.33071332e-03 -3.99745128e-05 9.99997283e-01 2.97120112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.00, Y:82.40, Z:0.30 [[ 3.63438905e-01 -9.31617620e-01 -8.79151105e-04 1.35004346e+02] [ 9.31615119e-01 3.63439967e-01 -2.15891537e-03 8.24010812e+01] [ 2.33080225e-03 -3.43966231e-05 9.99997283e-01 2.97253630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.02, Y:82.43, Z:0.30 [[ 3.63856136e-01 -9.31454755e-01 -8.66887925e-04 1.35016956e+02] [ 9.31452242e-01 3.63857168e-01 -2.16390865e-03 8.24287758e+01] [ 2.33100639e-03 -2.01132600e-05 9.99997283e-01 3.00238335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.03, Y:82.45, Z:0.30 [[ 3.64193008e-01 -9.31323080e-01 -8.79148603e-04 1.35027436e+02] [ 9.31320579e-01 3.64194067e-01 -2.15891589e-03 8.24534290e+01] [ 2.33082890e-03 -3.25071137e-05 9.99997283e-01 3.00437845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.04, Y:82.48, Z:0.30 [[ 3.64723576e-01 -9.31115428e-01 -8.78800213e-04 1.35037254e+02] [ 9.31112926e-01 3.64724633e-01 -2.15905770e-03 8.24791432e+01] [ 2.33085202e-03 -3.08029942e-05 9.99997283e-01 2.98105777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.05, Y:82.50, Z:0.30 [[ 3.64143667e-01 -9.31342374e-01 -8.78250113e-04 1.35047847e+02] [ 9.31339872e-01 3.64144725e-01 -2.15928144e-03 8.25046574e+01] [ 2.33084045e-03 -3.16606849e-05 9.99997283e-01 3.01168375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.06, Y:82.53, Z:0.30 [[ 3.63361741e-01 -9.31647722e-01 -8.75768301e-04 1.35056434e+02] [ 9.31645218e-01 3.63362795e-01 -2.16029038e-03 8.25293553e+01] [ 2.33085122e-03 -3.09384784e-05 9.99997283e-01 2.98133910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.07, Y:82.56, Z:0.30 [[ 3.62373839e-01 -9.32032432e-01 -8.64507266e-04 1.35067067e+02] [ 9.32029918e-01 3.62374869e-01 -2.16486700e-03 8.25557772e+01] [ 2.33100197e-03 -2.12554693e-05 9.99997283e-01 2.97839915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.08, Y:82.58, Z:0.30 [[ 3.64112978e-01 -9.31354381e-01 -8.69607754e-04 1.35079957e+02] [ 9.31351870e-01 3.64114016e-01 -2.16279445e-03 8.25826818e+01] [ 2.33096446e-03 -2.24092783e-05 9.99997283e-01 3.01170680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.09, Y:82.61, Z:0.30 [[ 3.63471517e-01 -9.31604898e-01 -8.77507473e-04 1.35087063e+02] [ 9.31602396e-01 3.63472575e-01 -2.15958455e-03 8.26054318e+01] [ 2.33082944e-03 -3.25405929e-05 9.99997283e-01 2.97433432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.10, Y:82.63, Z:0.30 [[ 3.66287039e-01 -9.30501516e-01 -8.56942299e-04 1.35102446e+02] [ 9.30498990e-01 3.66288041e-01 -2.16792784e-03 8.26329355e+01] [ 2.33114786e-03 -3.30007336e-06 9.99997283e-01 3.01242413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.11, Y:82.66, Z:0.30 [[ 3.66939250e-01 -9.30244494e-01 -8.76668953e-04 1.35112972e+02] [ 9.30241987e-01 3.66940296e-01 -2.15992119e-03 8.26576813e+01] [ 2.33093996e-03 -2.29544086e-05 9.99997283e-01 3.01040652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.12, Y:82.68, Z:0.30 [[ 3.66679266e-01 -9.30347004e-01 -8.76137530e-04 1.35120912e+02] [ 9.30344497e-01 3.66680312e-01 -2.16013673e-03 8.26817883e+01] [ 2.33093912e-03 -2.30323783e-05 9.99997283e-01 2.96418697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.13, Y:82.71, Z:0.30 [[ 3.66393498e-01 -9.30459594e-01 -8.65177865e-04 1.35131650e+02] [ 9.30457076e-01 3.66394519e-01 -2.16457992e-03 8.27086653e+01] [ 2.33105058e-03 -1.19228576e-05 9.99997283e-01 2.97638021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.15, Y:82.73, Z:0.30 [[ 3.69519025e-01 -9.29222761e-01 -8.66495643e-04 1.35145667e+02] [ 9.29220241e-01 3.69520041e-01 -2.16404586e-03 8.27327697e+01] [ 2.33106817e-03 -5.50917404e-06 9.99997283e-01 3.01516962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.16, Y:82.76, Z:0.30 [[ 3.69706920e-01 -9.29148020e-01 -8.66699159e-04 1.35159099e+02] [ 9.29145500e-01 3.69707936e-01 -2.16396341e-03 8.27596873e+01] [ 2.33106787e-03 -5.25737757e-06 9.99997283e-01 3.00335938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.17, Y:82.79, Z:0.30 [[ 3.68444811e-01 -9.29649211e-01 -8.75171869e-04 1.35169975e+02] [ 9.29646701e-01 3.68445849e-01 -2.16053134e-03 8.27861726e+01] [ 2.33098970e-03 -1.75640794e-05 9.99997283e-01 3.00707390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.18, Y:82.81, Z:0.30 [[ 3.68238556e-01 -9.29730922e-01 -8.81716341e-04 1.35182406e+02] [ 9.29728419e-01 3.68239611e-01 -2.15788394e-03 8.28127939e+01] [ 2.33093431e-03 -2.51406730e-05 9.99997283e-01 3.02233039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.19, Y:82.84, Z:0.30 [[ 3.65811713e-01 -9.30688462e-01 -8.81019070e-04 1.35194184e+02] [ 9.30685961e-01 3.65812773e-01 -2.15816578e-03 8.28364929e+01] [ 2.33086802e-03 -3.04697581e-05 9.99997283e-01 3.00593343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.21, Y:82.86, Z:0.30 [[ 3.64557518e-01 -9.31180463e-01 -8.72704299e-04 1.35205103e+02] [ 9.31177954e-01 3.64558562e-01 -2.16152283e-03 8.28612969e+01] [ 2.33091965e-03 -2.46436075e-05 9.99997283e-01 3.01221449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.22, Y:82.89, Z:0.30 [[ 3.64155208e-01 -9.31337868e-01 -8.72164176e-04 1.35216627e+02] [ 9.31335359e-01 3.64156252e-01 -2.16174074e-03 8.28853327e+01] [ 2.33091505e-03 -2.50681862e-05 9.99997283e-01 3.04195195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.23, Y:82.91, Z:0.30 [[ 3.61668734e-01 -9.32306262e-01 -8.71626126e-04 1.35228308e+02] [ 9.32303756e-01 3.61669783e-01 -2.16195766e-03 8.29112386e+01] [ 2.33084750e-03 -3.07078187e-05 9.99997283e-01 3.01880214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.24, Y:82.94, Z:0.30 [[ 3.61192316e-01 -9.32490939e-01 -8.71037660e-04 1.35240105e+02] [ 9.32488433e-01 3.61193365e-01 -2.16219473e-03 8.29363103e+01] [ 2.33084002e-03 -3.12644213e-05 9.99997283e-01 3.03380252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.25, Y:82.96, Z:0.30 [[ 3.61992029e-01 -9.32180784e-01 -8.70407905e-04 1.35251521e+02] [ 9.32178276e-01 3.61993074e-01 -2.16244821e-03 8.29605098e+01] [ 2.33087430e-03 -2.85863261e-05 9.99997283e-01 3.04712465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.26, Y:82.99, Z:0.30 [[ 3.59564038e-01 -9.33120006e-01 -8.69980921e-04 1.35264013e+02] [ 9.33117501e-01 3.59565088e-01 -2.16261998e-03 8.29856550e+01] [ 2.33079873e-03 -3.41940515e-05 9.99997283e-01 3.03491119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.28, Y:83.01, Z:0.30 [[ 3.58983770e-01 -9.33343397e-01 -8.69336707e-04 1.35275508e+02] [ 9.33340892e-01 3.58984821e-01 -2.16287891e-03 8.30109027e+01] [ 2.33078743e-03 -3.49490725e-05 9.99997283e-01 3.03758377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.29, Y:83.04, Z:0.31 [[ 3.58820875e-01 -9.33406034e-01 -8.68696636e-04 1.35288854e+02] [ 9.33403528e-01 3.58821925e-01 -2.16313596e-03 8.30355368e+01] [ 2.33079155e-03 -3.46661669e-05 9.99997283e-01 3.05163520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.30, Y:83.06, Z:0.30 [[ 3.58270078e-01 -9.33617586e-01 -8.68058456e-04 1.35299991e+02] [ 9.33615081e-01 3.58271128e-01 -2.16339203e-03 8.30608748e+01] [ 2.33078112e-03 -3.53538359e-05 9.99997283e-01 3.04089168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.31, Y:83.09, Z:0.30 [[ 3.57945369e-01 -9.33742127e-01 -8.67422724e-04 1.35311228e+02] [ 9.33739621e-01 3.57946419e-01 -2.16364690e-03 8.30856222e+01] [ 2.33077911e-03 -3.54795789e-05 9.99997283e-01 3.04711464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.32, Y:83.11, Z:0.30 [[ 3.57077215e-01 -9.34074467e-01 -8.67079210e-04 1.35322038e+02] [ 9.34071962e-01 3.57078266e-01 -2.16378455e-03 8.31105841e+01] [ 2.33075104e-03 -3.72762179e-05 9.99997283e-01 3.03556252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.34, Y:83.13, Z:0.30 [[ 3.58556399e-01 -9.33507663e-01 -8.66654081e-04 1.35336596e+02] [ 9.33505156e-01 3.58557445e-01 -2.16395481e-03 8.31349681e+01] [ 2.33081367e-03 -3.31262079e-05 9.99997283e-01 2.99215869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.35, Y:83.16, Z:0.30 [[ 3.57575706e-01 -9.33883752e-01 -8.66722516e-04 1.35348277e+02] [ 9.33881246e-01 3.57576755e-01 -2.16392742e-03 8.31610560e+01] [ 2.33077648e-03 -3.56480283e-05 9.99997283e-01 3.04919576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.36, Y:83.19, Z:0.30 [[ 3.56938031e-01 -9.34127664e-01 -8.65799329e-04 1.35358345e+02] [ 9.34125157e-01 3.56939079e-01 -2.16429672e-03 8.31867306e+01] [ 2.33076706e-03 -3.62451241e-05 9.99997283e-01 3.04520682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.37, Y:83.21, Z:0.30 [[ 3.58238737e-01 -9.33629615e-01 -8.65529990e-04 1.35373371e+02] [ 9.33627107e-01 3.58239781e-01 -2.16440443e-03 8.32138209e+01] [ 2.33081935e-03 -3.27087516e-05 9.99997283e-01 3.01428089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.39, Y:83.24, Z:0.30 [[ 3.58999776e-01 -9.33337232e-01 -8.78638610e-04 1.35385305e+02] [ 9.33334736e-01 3.59000849e-01 -2.15916338e-03 8.32396167e+01] [ 2.33065958e-03 -4.49247633e-05 9.99997283e-01 3.01755468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.39, Y:83.26, Z:0.31 [[ 3.58740298e-01 -9.33436994e-01 -8.81480048e-04 1.35394756e+02] [ 9.33434500e-01 3.58741378e-01 -2.15802773e-03 8.32626501e+01] [ 2.33060628e-03 -4.86323761e-05 9.99997283e-01 3.06166834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.41, Y:83.29, Z:0.30 [[ 3.60167431e-01 -9.32887279e-01 -8.64283230e-04 1.35410321e+02] [ 9.32884767e-01 3.60168467e-01 -2.16489316e-03 8.32905311e+01] [ 2.33088886e-03 -2.65526505e-05 9.99997283e-01 3.04161381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.42, Y:83.31, Z:0.31 [[ 3.59140761e-01 -9.33282988e-01 -8.82005848e-04 1.35418238e+02] [ 9.33280495e-01 3.59141840e-01 -2.15781893e-03 8.33132827e+01] [ 2.33062090e-03 -4.81981236e-05 9.99997283e-01 3.06955353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.43, Y:83.34, Z:0.30 [[ 3.60015076e-01 -9.32946086e-01 -8.63209072e-04 1.35432960e+02] [ 9.32943574e-01 3.60016110e-01 -2.16531232e-03 8.33403898e+01] [ 2.33088883e-03 -2.57802744e-05 9.99997283e-01 3.04202565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.45, Y:83.36, Z:0.30 [[ 3.60973152e-01 -9.32575795e-01 -8.77119335e-04 1.35445700e+02] [ 9.32573295e-01 3.60974216e-01 -2.15976875e-03 8.33630113e+01] [ 2.33076553e-03 -3.83595334e-05 9.99997283e-01 3.03266096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.46, Y:83.39, Z:0.30 [[ 3.60043112e-01 -9.32935263e-01 -8.67175691e-04 1.35457324e+02] [ 9.32932755e-01 3.60044155e-01 -2.16372677e-03 8.33900566e+01] [ 2.33083854e-03 -2.99816860e-05 9.99997283e-01 3.03927122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:135.47, Y:83.41, Z:0.30 [[ 3.60961691e-01 -9.32580236e-01 -8.71918972e-04 1.35470668e+02] [ 9.32577731e-01 3.60962743e-01 -2.16183929e-03 8.34143648e+01] [ 2.33081886e-03 -3.27910505e-05 9.99997283e-01 3.03956359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.49, Y:83.44, Z:0.31 [[ 3.64321538e-01 -9.31272816e-01 -8.71618635e-04 1.35487301e+02] [ 9.31270307e-01 3.64322579e-01 -2.16195873e-03 8.34425999e+01] [ 2.33092374e-03 -2.40644265e-05 9.99997283e-01 3.06238753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.50, Y:83.47, Z:0.30 [[ 3.62223468e-01 -9.32090856e-01 -8.91789950e-04 1.35495508e+02] [ 9.32088369e-01 3.62224562e-01 -2.15393548e-03 8.34658637e+01] [ 2.33069179e-03 -5.10210622e-05 9.99997283e-01 3.04211505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:135.51, Y:83.49, Z:0.30 [[ 3.61955449e-01 -9.32194981e-01 -8.77382131e-04 1.35509003e+02] [ 9.32192480e-01 3.61956511e-01 -2.15966120e-03 8.34909929e+01] [ 2.33079951e-03 -3.61878851e-05 9.99997283e-01 3.04907640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92361786499995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:135.53, Y:83.52, Z:0.31 [[ 3.64686295e-01 -9.31130032e-01 -8.77222904e-04 1.35525521e+02] [ 9.31127528e-01 3.64687348e-01 -2.15972440e-03 8.35188271e+01] [ 2.33089635e-03 -2.91845040e-05 9.99997283e-01 3.07705496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.53, Y:83.54, Z:0.30 [[ 3.61623318e-01 -9.32323856e-01 -8.96641431e-04 1.35533949e+02] [ 9.32321374e-01 3.61624425e-01 -2.15201512e-03 8.35399142e+01] [ 2.33062247e-03 -5.77391236e-05 9.99997282e-01 3.04542285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.55, Y:83.57, Z:0.31 [[ 3.60024640e-01 -9.32942391e-01 -8.67915513e-04 1.35547095e+02] [ 9.32939884e-01 3.60025684e-01 -2.16339298e-03 8.35678211e+01] [ 2.33079290e-03 -3.08382180e-05 9.99997283e-01 3.05770720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.55, Y:83.59, Z:0.31 [[ 3.57348809e-01 -9.33970583e-01 -8.82650570e-04 1.35553418e+02] [ 9.33968092e-01 3.57349895e-01 -2.15754995e-03 8.35887876e+01] [ 2.33050328e-03 -5.33695630e-05 9.99997283e-01 3.07690046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:135.58, Y:83.62, Z:0.31 [[ 3.62356533e-01 -9.32039171e-01 -8.52381051e-04 1.35576477e+02] [ 9.32036646e-01 3.62357535e-01 -2.16952789e-03 8.36205446e+01] [ 2.33095167e-03 -8.30777406e-06 9.99997283e-01 3.10370886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:135.59, Y:83.65, Z:0.31 [[ 3.61821846e-01 -9.32246815e-01 -9.09363438e-04 1.35586764e+02] [ 9.32244346e-01 3.61822982e-01 -2.14701625e-03 8.36471572e+01] [ 2.33057765e-03 -7.09115400e-05 9.99997282e-01 3.10459887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:135.59, Y:83.67, Z:0.31 [[ 3.56294660e-01 -9.34373208e-01 -9.07589962e-04 1.35593664e+02] [ 9.34370743e-01 3.56295807e-01 -2.14771609e-03 8.36694175e+01] [ 2.33013887e-03 -8.28057332e-05 9.99997282e-01 3.08138682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:135.60, Y:83.70, Z:0.31 [[ 3.55796547e-01 -9.34563022e-01 -8.80757563e-04 1.35603348e+02] [ 9.34560531e-01 3.55797633e-01 -2.15826818e-03 8.36952023e+01] [ 2.33040909e-03 -5.52168908e-05 9.99997283e-01 3.09322030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.61, Y:83.72, Z:0.31 [[ 3.56322157e-01 -9.34362757e-01 -8.70850243e-04 1.35614367e+02] [ 9.34360257e-01 3.56323218e-01 -2.16215482e-03 8.37224493e+01] [ 2.33054110e-03 -4.32641863e-05 9.99997283e-01 3.10573690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19361786499996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:135.62, Y:83.75, Z:0.31 [[ 3.56690597e-01 -9.34222165e-01 -8.73901267e-04 1.35624376e+02] [ 9.34219667e-01 3.56691665e-01 -2.16095923e-03 8.37485251e+01] [ 2.33052931e-03 -4.56219145e-05 9.99997283e-01 3.11004547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22361786499997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:135.64, Y:83.77, Z:0.31 [[ 3.58601149e-01 -9.33490469e-01 -8.71616866e-04 1.35635748e+02] [ 9.33487967e-01 3.58602206e-01 -2.16185337e-03 8.37743357e+01] [ 2.33063325e-03 -3.84007550e-05 9.99997283e-01 3.11482315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.65, Y:83.80, Z:0.31 [[ 3.59023313e-01 -9.33328185e-01 -8.71130098e-04 1.35645041e+02] [ 9.33325682e-01 3.59024368e-01 -2.16204369e-03 8.37997854e+01] [ 2.33065325e-03 -3.68240029e-05 9.99997283e-01 3.11870297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.65, Y:83.82, Z:0.31 [[ 3.61463825e-01 -9.32385732e-01 -8.65972780e-04 1.35654858e+02] [ 9.32383221e-01 3.61464861e-01 -2.16405848e-03 8.38249763e+01] [ 2.33075598e-03 -2.51896345e-05 9.99997283e-01 3.10284103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.31361786499997 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:135.66, Y:83.85, Z:0.31 [[ 3.61649353e-01 -9.32313788e-01 -8.63097895e-04 1.35663800e+02] [ 9.32311275e-01 3.61650383e-01 -2.16518091e-03 8.38514729e+01] [ 2.33076770e-03 -2.16396217e-05 9.99997284e-01 3.10948032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34361786499997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:135.68, Y:83.88, Z:0.31 [[ 3.63522828e-01 -9.31584896e-01 -8.57404989e-04 1.35675918e+02] [ 9.31582375e-01 3.63523839e-01 -2.16740128e-03 8.38789404e+01] [ 2.33080545e-03 -1.08435328e-05 9.99997284e-01 3.09242236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:135.68, Y:83.91, Z:0.31 [[ 3.63514010e-01 -9.31588329e-01 -8.65771980e-04 1.35684496e+02] [ 9.31585816e-01 3.63515040e-01 -2.16413972e-03 8.39059828e+01] [ 2.33080844e-03 -1.98457898e-05 9.99997283e-01 3.10271849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.69, Y:83.93, Z:0.31 [[ 3.62844996e-01 -9.31849114e-01 -8.59012342e-04 1.35694436e+02] [ 9.31846595e-01 3.62846013e-01 -2.16676893e-03 8.39324345e+01] [ 2.33079091e-03 -1.42664605e-05 9.99997284e-01 3.12299389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43361786499997 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:135.71, Y:83.96, Z:0.31 [[ 3.62787057e-01 -9.31871673e-01 -8.57581207e-04 1.35705035e+02] [ 9.31869153e-01 3.62788071e-01 -2.16732509e-03 8.39579958e+01] [ 2.33078909e-03 -1.28759812e-05 9.99997284e-01 3.12035245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:135.71, Y:83.98, Z:0.31 [[ 3.59217389e-01 -9.33253517e-01 -8.60609340e-04 1.35711109e+02] [ 9.33251003e-01 3.59218419e-01 -2.16614820e-03 8.39814148e+01] [ 2.33071216e-03 -2.50464277e-05 9.99997284e-01 3.14808720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49361786499998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:135.73, Y:84.01, Z:0.31 [[ 3.60328093e-01 -9.32825254e-01 -8.43337116e-04 1.35725816e+02] [ 9.32822723e-01 3.60329080e-01 -2.17285198e-03 8.40100020e+01] [ 2.33077009e-03 -3.74441534e-06 9.99997284e-01 3.14825506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52361786499998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:135.73, Y:84.03, Z:0.32 [[ 3.57157160e-01 -9.34043907e-01 -8.61966766e-04 1.35731609e+02] [ 9.34041397e-01 3.57158199e-01 -2.16561964e-03 8.40334488e+01] [ 2.33064233e-03 -3.16460828e-05 9.99997284e-01 3.17115130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55361786499998 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:135.75, Y:84.06, Z:0.32 [[ 3.58634613e-01 -9.33477640e-01 -8.42418302e-04 1.35746790e+02] [ 9.33475111e-01 3.58635602e-01 -2.17319741e-03 8.40621438e+01] [ 2.33075238e-03 -6.99270723e-06 9.99997284e-01 3.15500419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58361786499998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:135.75, Y:84.09, Z:0.32 [[ 3.54401928e-01 -9.35092791e-01 -8.63033724e-04 1.35751153e+02] [ 9.35090286e-01 3.54402977e-01 -2.16520404e-03 8.40857377e+01] [ 2.33052841e-03 -3.96619660e-05 9.99997284e-01 3.17265042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61361786499998 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:135.76, Y:84.11, Z:0.32 [[ 3.54306923e-01 -9.35128813e-01 -8.41421574e-04 1.35762936e+02] [ 9.35126287e-01 3.54307922e-01 -2.17357042e-03 8.41130191e+01] [ 2.33069066e-03 -1.67243829e-05 9.99997284e-01 3.15279078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64361786499995 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:135.77, Y:84.14, Z:0.32 [[ 3.51245731e-01 -9.36282924e-01 -8.50389413e-04 1.35771135e+02] [ 9.36280410e-01 3.51246759e-01 -2.17009990e-03 8.41379972e+01] [ 2.33052401e-03 -3.39646222e-05 9.99997284e-01 3.17186167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67361786499995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:135.78, Y:84.16, Z:0.32 [[ 3.48627998e-01 -9.37260803e-01 -8.40555429e-04 1.35780390e+02] [ 9.37258282e-01 3.48629010e-01 -2.17390228e-03 8.41645347e+01] [ 2.33055541e-03 -2.99343364e-05 9.99997284e-01 3.16687745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70361786499996 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:135.79, Y:84.19, Z:0.32 [[ 3.48807534e-01 -9.37194003e-01 -8.39945332e-04 1.35791387e+02] [ 9.37191481e-01 3.48808544e-01 -2.17413799e-03 8.41893293e+01] [ 2.33056919e-03 -2.88339001e-05 9.99997284e-01 3.17189370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73361786499996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:135.80, Y:84.22, Z:0.32 [[ 3.46772083e-01 -9.37949049e-01 -8.39417405e-04 1.35802669e+02] [ 9.37946529e-01 3.46773097e-01 -2.17434180e-03 8.42150464e+01] [ 2.33050919e-03 -3.33276091e-05 9.99997284e-01 3.17780703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.81, Y:84.24, Z:0.32 [[ 3.45911390e-01 -9.38266810e-01 -8.38829635e-04 1.35813172e+02] [ 9.38264291e-01 3.45912405e-01 -2.17456852e-03 8.42415990e+01] [ 2.33048705e-03 -3.48358721e-05 9.99997284e-01 3.17795438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79361786499996 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:135.82, Y:84.27, Z:0.32 [[ 3.45315597e-01 -9.38486247e-01 -8.38241004e-04 1.35823348e+02] [ 9.38483728e-01 3.45316613e-01 -2.17479540e-03 8.42681804e+01] [ 2.33047412e-03 -3.56847685e-05 9.99997284e-01 3.17842881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82361786499996 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:135.83, Y:84.29, Z:0.32 [[ 3.44604829e-01 -9.38747469e-01 -8.37643821e-04 1.35832766e+02] [ 9.38744950e-01 3.44605846e-01 -2.17502539e-03 8.42935793e+01] [ 2.33045654e-03 -3.68096527e-05 9.99997284e-01 3.17392604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85361786499996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:135.84, Y:84.32, Z:0.32 [[ 3.44059071e-01 -9.38947632e-01 -8.37101498e-04 1.35842800e+02] [ 9.38945113e-01 3.44060087e-01 -2.17523409e-03 8.43202250e+01] [ 2.33044412e-03 -3.75833386e-05 9.99997284e-01 3.17883721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.85, Y:84.35, Z:0.32 [[ 3.43589404e-01 -9.39119599e-01 -8.36508856e-04 1.35852876e+02] [ 9.39117080e-01 3.43590420e-01 -2.17546198e-03 8.43464166e+01] [ 2.33043541e-03 -3.81140716e-05 9.99997284e-01 3.18069471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:135.86, Y:84.37, Z:0.32 [[ 3.42766241e-01 -9.39420356e-01 -8.35915806e-04 1.35862663e+02] [ 9.39417837e-01 3.42767258e-01 -2.17568983e-03 8.43720233e+01] [ 2.33041188e-03 -3.95211941e-05 9.99997284e-01 3.17856255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.87, Y:84.40, Z:0.32 [[ 3.40974400e-01 -9.40072210e-01 -8.35384159e-04 1.35873313e+02] [ 9.40069693e-01 3.40975420e-01 -2.17589394e-03 8.43979496e+01] [ 2.33034289e-03 -4.33951983e-05 9.99997284e-01 3.18095755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.88, Y:84.42, Z:0.32 [[ 3.39709711e-01 -9.40529965e-01 -8.34801599e-04 1.35883814e+02] [ 9.40527449e-01 3.39710733e-01 -2.17611743e-03 8.44238871e+01] [ 2.33029471e-03 -4.59055969e-05 9.99997284e-01 3.18841455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.89, Y:84.45, Z:0.32 [[ 3.38423083e-01 -9.40993688e-01 -8.34212337e-04 1.35893939e+02] [ 9.40991173e-01 3.38424107e-01 -2.17634330e-03 8.44489203e+01] [ 2.33024287e-03 -4.84616379e-05 9.99997284e-01 3.19070650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.90, Y:84.47, Z:0.32 [[ 3.36891819e-01 -9.41542993e-01 -8.33592433e-04 1.35904373e+02] [ 9.41540479e-01 3.36892846e-01 -2.17658071e-03 8.44746586e+01] [ 2.33017564e-03 -5.15887850e-05 9.99997284e-01 3.19639367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.91, Y:84.50, Z:0.32 [[ 3.36577298e-01 -9.41655472e-01 -8.33011447e-04 1.35914386e+02] [ 9.41652958e-01 3.36578325e-01 -2.17680304e-03 8.45010217e+01] [ 2.33017209e-03 -5.17452077e-05 9.99997284e-01 3.19757671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.92, Y:84.53, Z:0.32 [[ 3.37006487e-01 -9.41501957e-01 -8.32417748e-04 1.35923822e+02] [ 9.41499441e-01 3.37007511e-01 -2.17703005e-03 8.45271598e+01] [ 2.33020908e-03 -5.00475961e-05 9.99997284e-01 3.19271968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:135.93, Y:84.55, Z:0.32 [[ 3.37321759e-01 -9.41389047e-01 -8.31821307e-04 1.35933616e+02] [ 9.41386531e-01 3.37322782e-01 -2.17725792e-03 8.45534787e+01] [ 2.33023903e-03 -4.86289034e-05 9.99997284e-01 3.19050467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.94, Y:84.58, Z:0.32 [[ 3.37651610e-01 -9.41270790e-01 -8.31226994e-04 1.35943474e+02] [ 9.41268272e-01 3.37652630e-01 -2.17748479e-03 8.45797758e+01] [ 2.33026881e-03 -4.71763519e-05 9.99997284e-01 3.18516128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.95, Y:84.61, Z:0.32 [[ 3.38043099e-01 -9.41130264e-01 -8.30636951e-04 1.35952951e+02] [ 9.41127745e-01 3.38044117e-01 -2.17770985e-03 8.46061142e+01] [ 2.33030058e-03 -4.55756950e-05 9.99997284e-01 3.17861359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21361786499997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:135.96, Y:84.63, Z:0.32 [[ 3.37504966e-01 -9.41323382e-01 -8.30043919e-04 1.35962725e+02] [ 9.41320863e-01 3.37505984e-01 -2.17793586e-03 8.46328442e+01] [ 2.33028674e-03 -4.62734891e-05 9.99997284e-01 3.17570531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:135.97, Y:84.66, Z:0.32 [[ 3.36977091e-01 -9.41512481e-01 -8.29448360e-04 1.35972416e+02] [ 9.41509963e-01 3.36978108e-01 -2.17816265e-03 8.46591386e+01] [ 2.33027326e-03 -4.69429812e-05 9.99997284e-01 3.17646849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.98, Y:84.68, Z:0.32 [[ 3.36305662e-01 -9.41752523e-01 -8.28856256e-04 1.35981581e+02] [ 9.41750005e-01 3.36306680e-01 -2.17838794e-03 8.46849639e+01] [ 2.33025223e-03 -4.79711843e-05 9.99997284e-01 3.17780000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.99, Y:84.71, Z:0.32 [[ 3.35845322e-01 -9.41916787e-01 -8.28230161e-04 1.35991420e+02] [ 9.41914269e-01 3.35846340e-01 -2.17862596e-03 8.47114481e+01] [ 2.33024243e-03 -4.84404689e-05 9.99997284e-01 3.18254434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.00, Y:84.74, Z:0.32 [[ 3.35542289e-01 -9.42024781e-01 -8.27640843e-04 1.36000524e+02] [ 9.42022262e-01 3.35543306e-01 -2.17884981e-03 8.47368878e+01] [ 2.33023986e-03 -4.85598472e-05 9.99997284e-01 3.18781522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36361786499998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:136.01, Y:84.77, Z:0.32 [[ 3.36100048e-01 -9.41825925e-01 -8.27019430e-04 1.36013746e+02] [ 9.41823406e-01 3.36101063e-01 -2.17908565e-03 8.47659671e+01] [ 2.33028147e-03 -4.65154630e-05 9.99997284e-01 3.16540347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.02, Y:84.79, Z:0.32 [[ 3.35662300e-01 -9.41982002e-01 -8.52895667e-04 1.36019091e+02] [ 9.41979508e-01 3.35663375e-01 -2.16925991e-03 8.47873059e+01] [ 2.32968963e-03 -7.52714689e-05 9.99997283e-01 3.19871050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.03, Y:84.81, Z:0.32 [[ 3.35846553e-01 -9.41916350e-01 -8.25670753e-04 1.36028618e+02] [ 9.41913830e-01 3.35847565e-01 -2.17957332e-03 8.48135572e+01] [ 2.33027525e-03 -4.57085162e-05 9.99997284e-01 3.19915450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.04, Y:84.84, Z:0.32 [[ 3.36217641e-01 -9.41783954e-01 -8.25088561e-04 1.36037162e+02] [ 9.41781433e-01 3.36218651e-01 -2.17979368e-03 8.48393162e+01] [ 2.33030488e-03 -4.41679956e-05 9.99997284e-01 3.19258604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.05, Y:84.87, Z:0.32 [[ 3.36200568e-01 -9.41790050e-01 -8.24474599e-04 1.36046628e+02] [ 9.41787528e-01 3.36201576e-01 -2.18002588e-03 8.48659040e+01] [ 2.33031634e-03 -4.35539543e-05 9.99997284e-01 3.19504742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.06, Y:84.89, Z:0.32 [[ 3.35889345e-01 -9.41901093e-01 -8.23880021e-04 1.36055946e+02] [ 9.41898571e-01 3.35890353e-01 -2.18025056e-03 8.48919915e+01] [ 2.33031374e-03 -4.36884809e-05 9.99997284e-01 3.19428553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.07, Y:84.92, Z:0.32 [[ 3.35855827e-01 -9.41913046e-01 -8.23284258e-04 1.36065351e+02] [ 9.41910523e-01 3.35856833e-01 -2.18047551e-03 8.49171429e+01] [ 2.33032397e-03 -4.31347015e-05 9.99997284e-01 3.19416381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57361786499996 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:136.07, Y:84.95, Z:0.32 [[ 3.35169473e-01 -9.42157496e-01 -8.22879453e-04 1.36074279e+02] [ 9.42154974e-01 3.35170480e-01 -2.18062826e-03 8.49452603e+01] [ 2.33030016e-03 -4.43999445e-05 9.99997284e-01 3.20397685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60361786499996 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:136.08, Y:84.97, Z:0.32 [[ 3.36138085e-01 -9.41812345e-01 -8.33257921e-04 1.36082319e+02] [ 9.41809831e-01 3.36139113e-01 -2.17671273e-03 8.49693948e+01] [ 2.33014550e-03 -5.30944540e-05 9.99997284e-01 3.19482653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.09, Y:85.00, Z:0.32 [[ 3.36920613e-01 -9.41532697e-01 -8.24669704e-04 1.36092832e+02] [ 9.41530175e-01 3.36921620e-01 -2.17994771e-03 8.49954396e+01] [ 2.33034110e-03 -4.19820897e-05 9.99997284e-01 3.19351642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.10, Y:85.02, Z:0.32 [[ 3.36698797e-01 -9.41612047e-01 -8.20631882e-04 1.36100993e+02] [ 9.41609521e-01 3.36699795e-01 -2.18146668e-03 8.50209475e+01] [ 2.33040189e-03 -3.82175879e-05 9.99997284e-01 3.21180180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.11, Y:85.05, Z:0.32 [[ 3.36340877e-01 -9.41739954e-01 -8.20226942e-04 1.36112943e+02] [ 9.41737428e-01 3.36341875e-01 -2.18161892e-03 8.50494892e+01] [ 2.33039437e-03 -3.86707887e-05 9.99997284e-01 3.17951833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.12, Y:85.07, Z:0.32 [[ 3.36220386e-01 -9.41782967e-01 -8.33776722e-04 1.36120228e+02] [ 9.41780454e-01 3.36221415e-01 -2.17652606e-03 8.50737801e+01] [ 2.33014876e-03 -5.34421877e-05 9.99997284e-01 3.21513836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75361786499997 meters Centerline goodness : 0.996105 Centerline is valid? [True, True] Translation: X:136.13, Y:85.10, Z:0.32 [[ 3.36341925e-01 -9.41739581e-01 -8.19021712e-04 1.36131208e+02] [ 9.41737054e-01 3.36342920e-01 -2.18206424e-03 8.51026597e+01] [ 2.33040842e-03 -3.73834056e-05 9.99997284e-01 3.16201316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.14, Y:85.13, Z:0.32 [[ 3.35544328e-01 -9.42024044e-01 -8.40004394e-04 1.36136247e+02] [ 9.42021537e-01 3.35545373e-01 -2.17418816e-03 8.51262095e+01] [ 2.32999711e-03 -6.17657266e-05 9.99997284e-01 3.19328982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.14, Y:85.15, Z:0.32 [[ 3.35417986e-01 -9.42069053e-01 -8.20713888e-04 1.36144464e+02] [ 9.42066529e-01 3.35418987e-01 -2.18140890e-03 8.51526731e+01] [ 2.33032084e-03 -4.14833039e-05 9.99997284e-01 3.18727794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84361786499997 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:136.15, Y:85.18, Z:0.31 [[ 3.36001996e-01 -9.41860920e-01 -8.16411192e-04 1.36154024e+02] [ 9.41858391e-01 3.36002986e-01 -2.18301804e-03 8.51774850e+01] [ 2.33041597e-03 -3.54453140e-05 9.99997284e-01 3.14806479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.16, Y:85.20, Z:0.32 [[ 3.34719030e-01 -9.42317622e-01 -8.19242835e-04 1.36161868e+02] [ 9.42315096e-01 3.34720030e-01 -2.18195997e-03 8.52029257e+01] [ 2.33031631e-03 -4.16413672e-05 9.99997284e-01 3.22562752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:136.17, Y:85.23, Z:0.32 [[ 3.33454382e-01 -9.42765884e-01 -8.14793189e-04 1.36172113e+02] [ 9.42763356e-01 3.33455375e-01 -2.18362030e-03 8.52306760e+01] [ 2.33033989e-03 -4.00194031e-05 9.99997284e-01 3.19940076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93361786499997 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:136.18, Y:85.26, Z:0.32 [[ 3.34748120e-01 -9.42307287e-01 -8.20270206e-04 1.36183227e+02] [ 9.42304763e-01 3.34749122e-01 -2.18157419e-03 8.52588483e+01] [ 2.33029799e-03 -4.26666613e-05 9.99997284e-01 3.20277795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96361786499997 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:136.19, Y:85.28, Z:0.32 [[ 3.34149499e-01 -9.42519714e-01 -8.36959358e-04 1.36192242e+02] [ 9.42517206e-01 3.34150541e-01 -2.17534152e-03 8.52841671e+01] [ 2.32997269e-03 -6.19593169e-05 9.99997284e-01 3.20346719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:136.20, Y:85.31, Z:0.32 [[ 3.32638154e-01 -9.43054166e-01 -8.35865111e-04 1.36197203e+02] [ 9.43051658e-01 3.32639198e-01 -2.17574951e-03 8.53079698e+01] [ 2.32989114e-03 -6.45266782e-05 9.99997284e-01 3.20032393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.21, Y:85.33, Z:0.32 [[ 3.32897000e-01 -9.42962841e-01 -8.17516229e-04 1.36205129e+02] [ 9.42960316e-01 3.32898001e-01 -2.18256373e-03 8.53345519e+01] [ 2.33022601e-03 -4.43164441e-05 9.99997284e-01 3.19861707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.21, Y:85.36, Z:0.32 [[ 3.34403891e-01 -9.42429505e-01 -8.16418286e-04 1.36212581e+02] [ 9.42426977e-01 3.34404885e-01 -2.18297109e-03 8.53608760e+01] [ 2.33031062e-03 -3.94205915e-05 9.99997284e-01 3.20840327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08361786499998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:136.22, Y:85.39, Z:0.32 [[ 3.33865052e-01 -9.42620534e-01 -8.10119766e-04 1.36220806e+02] [ 9.42618001e-01 3.33866033e-01 -2.18530603e-03 8.53888107e+01] [ 2.33038581e-03 -3.40361643e-05 9.99997284e-01 3.19570901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:136.23, Y:85.41, Z:0.32 [[ 3.34131164e-01 -9.42526233e-01 -8.15296032e-04 1.36229521e+02] [ 9.42523705e-01 3.34132157e-01 -2.18338790e-03 8.54136561e+01] [ 2.33031699e-03 -3.88978954e-05 9.99997284e-01 3.21301037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.24, Y:85.44, Z:0.32 [[ 3.34293308e-01 -9.42468742e-01 -8.09193262e-04 1.36236974e+02] [ 9.42466208e-01 3.34294286e-01 -2.18564733e-03 8.54396921e+01] [ 2.33041297e-03 -3.19900298e-05 9.99997284e-01 3.22761002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.25, Y:85.47, Z:0.32 [[ 3.33298572e-01 -9.42820984e-01 -8.08636909e-04 1.36245060e+02] [ 9.42818451e-01 3.33299551e-01 -2.18585315e-03 8.54666663e+01] [ 2.33038654e-03 -3.38560658e-05 9.99997284e-01 3.22456461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:136.25, Y:85.49, Z:0.32 [[ 3.33037299e-01 -9.42913307e-01 -8.08025767e-04 1.36253486e+02] [ 9.42910773e-01 3.33038278e-01 -2.18607904e-03 8.54921709e+01] [ 2.33038653e-03 -3.38503418e-05 9.99997284e-01 3.23423809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:136.26, Y:85.52, Z:0.33 [[ 3.32844501e-01 -9.42981382e-01 -8.07476919e-04 1.36262287e+02] [ 9.42978848e-01 3.32845479e-01 -2.18628175e-03 8.55187695e+01] [ 2.33038803e-03 -3.37417955e-05 9.99997284e-01 3.25441412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.27, Y:85.55, Z:0.32 [[ 3.31344320e-01 -9.43509560e-01 -8.06872769e-04 1.36267843e+02] [ 9.43507028e-01 3.31345301e-01 -2.18650470e-03 8.55465829e+01] [ 2.33034159e-03 -3.68042155e-05 9.99997284e-01 3.24110966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.28, Y:85.57, Z:0.33 [[ 3.30834681e-01 -9.43688379e-01 -8.10561094e-04 1.36276033e+02] [ 9.43685850e-01 3.30835671e-01 -2.18514396e-03 8.55733060e+01] [ 2.33025749e-03 -4.19936309e-05 9.99997284e-01 3.25640460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.28, Y:85.60, Z:0.33 [[ 3.29633545e-01 -9.44108614e-01 -8.06070061e-04 1.36282313e+02] [ 9.44106083e-01 3.29634529e-01 -2.18679939e-03 8.56020675e+01] [ 2.33028467e-03 -4.01732114e-05 9.99997284e-01 3.25662388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.29, Y:85.63, Z:0.33 [[ 3.29653818e-01 -9.44101536e-01 -8.06105595e-04 1.36290501e+02] [ 9.44099004e-01 3.29654801e-01 -2.18678630e-03 8.56290088e+01] [ 2.33028489e-03 -4.01610350e-05 9.99997284e-01 3.25670022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.30, Y:85.66, Z:0.33 [[ 3.29281518e-01 -9.44231451e-01 -8.05278112e-04 1.36297611e+02] [ 9.44228919e-01 3.29282500e-01 -2.18709082e-03 8.56555036e+01] [ 2.33028392e-03 -4.01982985e-05 9.99997284e-01 3.25949002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.30, Y:85.68, Z:0.33 [[ 3.28667704e-01 -9.44445286e-01 -8.01302587e-04 1.36302157e+02] [ 9.44442751e-01 3.28668679e-01 -2.18855282e-03 8.56823359e+01] [ 2.33033146e-03 -3.74777890e-05 9.99997284e-01 3.25336096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.31, Y:85.71, Z:0.32 [[ 3.28117556e-01 -9.44636562e-01 -7.97295889e-04 1.36311574e+02] [ 9.44634024e-01 3.28118523e-01 -2.19002579e-03 8.57111509e+01] [ 2.33038598e-03 -3.45669150e-05 9.99997284e-01 3.23566384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.32, Y:85.74, Z:0.32 [[ 3.28062844e-01 -9.44655555e-01 -8.08232583e-04 1.36318153e+02] [ 9.44653026e-01 3.28063837e-01 -2.18600501e-03 8.57374340e+01] [ 2.33017365e-03 -4.63523348e-05 9.99997284e-01 3.22721012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.33, Y:85.77, Z:0.32 [[ 3.28431507e-01 -9.44527452e-01 -7.98591443e-04 1.36325654e+02] [ 9.44524915e-01 3.28432476e-01 -2.18954659e-03 8.57651356e+01] [ 2.33037023e-03 -3.51734276e-05 9.99997284e-01 3.23682109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.33, Y:85.79, Z:0.32 [[ 3.28773740e-01 -9.44408376e-01 -8.04218383e-04 1.36332886e+02] [ 9.44405844e-01 3.28774721e-01 -2.18748017e-03 8.57911160e+01] [ 2.33028127e-03 -4.03225038e-05 9.99997284e-01 3.24554742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.34, Y:85.82, Z:0.32 [[ 3.27349940e-01 -9.44902844e-01 -7.94832384e-04 1.36338427e+02] [ 9.44900305e-01 3.27350903e-01 -2.19092379e-03 8.58163099e+01] [ 2.33039922e-03 -3.38385919e-05 9.99997284e-01 3.22775951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.35, Y:85.85, Z:0.32 [[ 3.26739396e-01 -9.45114152e-01 -7.78371959e-04 1.36348140e+02] [ 9.45111599e-01 3.26740323e-01 -2.19694118e-03 8.58456053e+01] [ 2.33068571e-03 -1.78211311e-05 9.99997284e-01 3.24451237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62361786499997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:136.35, Y:85.87, Z:0.32 [[ 3.26258000e-01 -9.45280422e-01 -8.00454353e-04 1.36353331e+02] [ 9.45277889e-01 3.26258979e-01 -2.18886579e-03 8.58722096e+01] [ 2.33024740e-03 -4.25168240e-05 9.99997284e-01 3.23993155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.36, Y:85.90, Z:0.32 [[ 3.26755016e-01 -9.45108743e-01 -7.89099793e-04 1.36360741e+02] [ 9.45106200e-01 3.26755967e-01 -2.19301338e-03 8.58980542e+01] [ 2.33047918e-03 -2.92049851e-05 9.99997284e-01 3.22452509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.37, Y:85.93, Z:0.32 [[ 3.24462638e-01 -9.45898190e-01 -7.81035975e-04 1.36368636e+02] [ 9.45895642e-01 3.24463577e-01 -2.19595387e-03 8.59275418e+01] [ 2.33056652e-03 -2.62735395e-05 9.99997284e-01 3.22720725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.37, Y:85.95, Z:0.33 [[ 3.23723333e-01 -9.46151455e-01 -7.92517932e-04 1.36374549e+02] [ 9.46148917e-01 3.23724300e-01 -2.19176455e-03 8.59543736e+01] [ 2.33029853e-03 -4.03146568e-05 9.99997284e-01 3.25560019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.39, Y:85.98, Z:0.33 [[ 3.23905828e-01 -9.46089002e-01 -7.84568623e-04 1.36385632e+02] [ 9.46086457e-01 3.23906777e-01 -2.19466295e-03 8.59829767e+01] [ 2.33047357e-03 -3.14056276e-05 9.99997284e-01 3.27454216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.39, Y:86.01, Z:0.33 [[ 3.18522530e-01 -9.47914954e-01 -7.98608533e-04 1.36389590e+02] [ 9.47912427e-01 3.18523526e-01 -2.18954207e-03 8.60087872e+01] [ 2.32987527e-03 -5.95924749e-05 9.99997284e-01 3.27004566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.40, Y:86.04, Z:0.33 [[ 3.17125235e-01 -9.48383345e-01 -7.84375128e-04 1.36398076e+02] [ 9.48380807e-01 3.17126202e-01 -2.19472780e-03 8.60358180e+01] [ 2.33018920e-03 -4.78827478e-05 9.99997284e-01 3.26273428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.41, Y:86.06, Z:0.33 [[ 3.15505816e-01 -9.48923316e-01 -7.87544097e-04 1.36406247e+02] [ 9.48920782e-01 3.15506794e-01 -2.19357351e-03 8.60625714e+01] [ 2.33000857e-03 -5.52317595e-05 9.99997284e-01 3.26422488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.41, Y:86.09, Z:0.32 [[ 3.12741952e-01 -9.49837804e-01 -7.86121320e-04 1.36413309e+02] [ 9.49835272e-01 3.12742934e-01 -2.19409140e-03 8.60898902e+01] [ 2.32988485e-03 -6.05013295e-05 9.99997284e-01 3.23087372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.42, Y:86.12, Z:0.33 [[ 3.12152173e-01 -9.50031790e-01 -7.86584774e-04 1.36422979e+02] [ 9.50029259e-01 3.12153158e-01 -2.19392295e-03 8.61179688e+01] [ 2.32983147e-03 -6.24407319e-05 9.99997284e-01 3.25828858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.43, Y:86.15, Z:0.33 [[ 3.10421218e-01 -9.50598778e-01 -7.94498541e-04 1.36432334e+02] [ 9.50596256e-01 3.10422226e-01 -2.19104663e-03 8.61461325e+01] [ 2.32943625e-03 -7.50999751e-05 9.99997284e-01 3.26294013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.44, Y:86.17, Z:0.33 [[ 3.08075419e-01 -9.51361599e-01 -8.02796338e-04 1.36437038e+02] [ 9.51359087e-01 3.08076452e-01 -2.18803502e-03 8.61720864e+01] [ 2.32893515e-03 -8.96677841e-05 9.99997284e-01 3.26732234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.44, Y:86.20, Z:0.33 [[ 3.06681670e-01 -9.51811817e-01 -7.86223536e-04 1.36444740e+02] [ 9.51809291e-01 3.06682669e-01 -2.19404191e-03 8.61985478e+01] [ 2.32943615e-03 -7.54624305e-05 9.99997284e-01 3.26421688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.45, Y:86.22, Z:0.33 [[ 3.04222413e-01 -9.52600707e-01 -7.85479844e-04 1.36451096e+02] [ 9.52598183e-01 3.04223417e-01 -2.19431132e-03 8.62248911e+01] [ 2.32926387e-03 -8.06879873e-05 9.99997284e-01 3.25747749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.46, Y:86.25, Z:0.33 [[ 3.06898909e-01 -9.51741802e-01 -7.75986074e-04 1.36464520e+02] [ 9.51739266e-01 3.06899884e-01 -2.19774747e-03 8.62524790e+01] [ 2.32983817e-03 -6.40501141e-05 9.99997284e-01 3.28430207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.47, Y:86.28, Z:0.33 [[ 3.01286701e-01 -9.53533269e-01 -7.93428832e-04 1.36467692e+02] [ 9.53530755e-01 3.01287730e-01 -2.19143216e-03 8.62790817e+01] [ 2.32865384e-03 -9.63094298e-05 9.99997284e-01 3.25553453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.48, Y:86.31, Z:0.33 [[ 3.02889044e-01 -9.53025513e-01 -7.74109308e-04 1.36478593e+02] [ 9.53022980e-01 3.02890025e-01 -2.19841611e-03 8.63061162e+01] [ 2.32961663e-03 -7.18678050e-05 9.99997284e-01 3.25156361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.49, Y:86.33, Z:0.32 [[ 3.02306300e-01 -9.53210520e-01 -7.77751650e-04 1.36485838e+02] [ 9.53207991e-01 3.02307291e-01 -2.19710139e-03 8.63316600e+01] [ 2.32942015e-03 -7.71614956e-05 9.99997284e-01 3.24985846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.50, Y:86.36, Z:0.33 [[ 3.03066103e-01 -9.52969223e-01 -7.72971457e-04 1.36495544e+02] [ 9.52966689e-01 3.03067081e-01 -2.19882809e-03 8.63606086e+01] [ 2.32967770e-03 -7.02257900e-05 9.99997284e-01 3.27459335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.50, Y:86.38, Z:0.33 [[ 3.04165727e-01 -9.52618807e-01 -7.86424244e-04 1.36502086e+02] [ 9.52616284e-01 3.04166733e-01 -2.19396901e-03 8.63845555e+01] [ 2.32922024e-03 -8.18303620e-05 9.99997284e-01 3.26421792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.52, Y:86.41, Z:0.33 [[ 3.09277556e-01 -9.50971501e-01 -7.72727069e-04 1.36517247e+02] [ 9.50968961e-01 3.09278516e-01 -2.19891389e-03 8.64128651e+01] [ 2.33009233e-03 -5.47647441e-05 9.99997284e-01 3.32502975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.52, Y:86.44, Z:0.33 [[ 3.11001815e-01 -9.50408988e-01 -7.91727575e-04 1.36520851e+02] [ 9.50406463e-01 3.11002814e-01 -2.19205127e-03 8.64388091e+01] [ 2.32957473e-03 -7.07310819e-05 9.99997284e-01 3.26541200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.53, Y:86.47, Z:0.33 [[ 3.14162880e-01 -9.49368775e-01 -7.83646299e-04 1.36533196e+02] [ 9.49366239e-01 3.14163853e-01 -2.19496895e-03 8.64659207e+01] [ 2.33002832e-03 -5.43895720e-05 9.99997284e-01 3.33312570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.54, Y:86.49, Z:0.33 [[ 3.14524992e-01 -9.49248863e-01 -7.91473465e-04 1.36538841e+02] [ 9.49246333e-01 3.14525982e-01 -2.19214295e-03 8.64934911e+01] [ 2.32982817e-03 -6.18195406e-05 9.99997284e-01 3.26578411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.55, Y:86.52, Z:0.33 [[ 3.15401115e-01 -9.48958117e-01 -7.93165360e-04 1.36547775e+02] [ 9.48955588e-01 3.15402107e-01 -2.19153231e-03 8.65200352e+01] [ 2.32983840e-03 -6.14669651e-05 9.99997284e-01 3.27074612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.56, Y:86.54, Z:0.33 [[ 3.16783760e-01 -9.48497457e-01 -7.89285007e-04 1.36555319e+02] [ 9.48494924e-01 3.16784739e-01 -2.19293147e-03 8.65432545e+01] [ 2.33002337e-03 -5.39477452e-05 9.99997284e-01 3.29137997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40361786499997 meters Centerline goodness : 0.995326 Centerline is valid? [True, True] Translation: X:136.56, Y:86.57, Z:0.33 [[ 3.14553074e-01 -9.49239577e-01 -7.67788079e-04 1.36564086e+02] [ 9.49237027e-01 3.14554009e-01 -2.20062559e-03 8.65729808e+01] [ 2.33043172e-03 -3.65993298e-05 9.99997284e-01 3.33111555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.57, Y:86.60, Z:0.33 [[ 3.14907214e-01 -9.49122135e-01 -7.87728809e-04 1.36572202e+02] [ 9.49119602e-01 3.14908194e-01 -2.19348833e-03 8.65963577e+01] [ 2.32995058e-03 -5.69035561e-05 9.99997284e-01 3.28046366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.58, Y:86.63, Z:0.33 [[ 3.12820665e-01 -9.49811891e-01 -7.76853960e-04 1.36581921e+02] [ 9.49809350e-01 3.12821625e-01 -2.19738584e-03 8.66250018e+01] [ 2.33011992e-03 -5.04754541e-05 9.99997284e-01 3.27179645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.59, Y:86.65, Z:0.33 [[ 3.12639145e-01 -9.49871649e-01 -7.84884145e-04 1.36592748e+02] [ 9.49869116e-01 3.12640124e-01 -2.19450794e-03 8.66517060e+01] [ 2.32988715e-03 -5.94481244e-05 9.99997284e-01 3.29111208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.60, Y:86.68, Z:0.33 [[ 3.09734322e-01 -9.50822815e-01 -7.89933775e-04 1.36601353e+02] [ 9.50820290e-01 3.09735321e-01 -2.19269891e-03 8.66770249e+01] [ 2.32953854e-03 -7.19309509e-05 9.99997284e-01 3.28209667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.61, Y:86.70, Z:0.33 [[ 3.08507995e-01 -9.51221425e-01 -7.85529034e-04 1.36610533e+02] [ 9.51218897e-01 3.08508987e-01 -2.19427542e-03 8.67030852e+01] [ 2.32958456e-03 -7.02585493e-05 9.99997284e-01 3.29217974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.62, Y:86.73, Z:0.33 [[ 3.09346130e-01 -9.50949188e-01 -7.83214128e-04 1.36620076e+02] [ 9.50946657e-01 3.09347115e-01 -2.19510349e-03 8.67274975e+01] [ 2.32971692e-03 -6.57480851e-05 9.99997284e-01 3.29411916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.63, Y:86.75, Z:0.33 [[ 3.05724002e-01 -9.52119861e-01 -7.77661284e-04 1.36627318e+02] [ 9.52117329e-01 3.05724983e-01 -2.19708967e-03 8.67538689e+01] [ 2.32964320e-03 -6.87217380e-05 9.99997284e-01 3.27833892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.64, Y:86.78, Z:0.33 [[ 3.04600446e-01 -9.52479907e-01 -7.71237019e-04 1.36636867e+02] [ 9.52477370e-01 3.04601415e-01 -2.19938619e-03 8.67798645e+01] [ 2.32979105e-03 -6.46517926e-05 9.99997284e-01 3.27482322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.65, Y:86.81, Z:0.33 [[ 3.04192436e-01 -9.52610289e-01 -7.73966850e-04 1.36648182e+02] [ 9.52607755e-01 3.04193413e-01 -2.19841026e-03 8.68063995e+01] [ 2.32966385e-03 -6.85470508e-05 9.99997284e-01 3.29370728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.66, Y:86.83, Z:0.33 [[ 3.03389474e-01 -9.52866317e-01 -7.79860775e-04 1.36657995e+02] [ 9.52863789e-01 3.03390467e-01 -2.19630395e-03 8.68333204e+01] [ 2.32938638e-03 -7.67655930e-05 9.99997284e-01 3.29408574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.67, Y:86.86, Z:0.33 [[ 3.04070323e-01 -9.52649266e-01 -7.83666928e-04 1.36669028e+02] [ 9.52646741e-01 3.04071323e-01 -2.19494400e-03 8.68605187e+01] [ 2.32930243e-03 -7.91404132e-05 9.99997284e-01 3.30797878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.68, Y:86.89, Z:0.33 [[ 3.04426340e-01 -9.52535552e-01 -7.91222126e-04 1.36678383e+02] [ 9.52533033e-01 3.04427356e-01 -2.19224621e-03 8.68862313e+01] [ 2.32906212e-03 -8.62877208e-05 9.99997284e-01 3.32340651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.69, Y:86.91, Z:0.33 [[ 3.04960429e-01 -9.52364701e-01 -7.82956636e-04 1.36686208e+02] [ 9.52362174e-01 3.04961425e-01 -2.19519425e-03 8.69143988e+01] [ 2.32939709e-03 -7.62109022e-05 9.99997284e-01 3.32267217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.69, Y:86.94, Z:0.33 [[ 3.05410458e-01 -9.52220474e-01 -7.88108306e-04 1.36694244e+02] [ 9.52217951e-01 3.05411464e-01 -2.19335754e-03 8.69396369e+01] [ 2.32925727e-03 -8.05765451e-05 9.99997284e-01 3.33217821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.70, Y:86.97, Z:0.33 [[ 3.06437452e-01 -9.51890472e-01 -7.85229045e-04 1.36703340e+02] [ 9.51887946e-01 3.06438449e-01 -2.19438354e-03 8.69660230e+01] [ 2.32943716e-03 -7.50087603e-05 9.99997284e-01 3.34058769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.71, Y:86.99, Z:0.33 [[ 3.06132928e-01 -9.51988449e-01 -7.89957936e-04 1.36712834e+02] [ 9.51985927e-01 3.06133937e-01 -2.19269899e-03 8.69929669e+01] [ 2.32925704e-03 -8.07714747e-05 9.99997284e-01 3.34126677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.72, Y:87.02, Z:0.33 [[ 3.07002179e-01 -9.51708484e-01 -7.89176263e-04 1.36719014e+02] [ 9.51705961e-01 3.07003184e-01 -2.19297715e-03 8.70175521e+01] [ 2.32935458e-03 -7.78149910e-05 9.99997284e-01 3.30960971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.73, Y:87.04, Z:0.33 [[ 3.08355226e-01 -9.51270972e-01 -7.69883297e-04 1.36728595e+02] [ 9.51268430e-01 3.08356182e-01 -2.19983343e-03 8.70444325e+01] [ 2.33003596e-03 -5.40355415e-05 9.99997284e-01 3.32833186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.74, Y:87.07, Z:0.33 [[ 3.08181871e-01 -9.51327147e-01 -7.71176766e-04 1.36736942e+02] [ 9.51324606e-01 3.08182830e-01 -2.19937391e-03 8.70712669e+01] [ 2.32998754e-03 -5.58322681e-05 9.99997284e-01 3.30959203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.74, Y:87.10, Z:0.33 [[ 3.09464963e-01 -9.50910533e-01 -7.71732751e-04 1.36743123e+02] [ 9.50907991e-01 3.09465921e-01 -2.19917642e-03 8.70977220e+01] [ 2.33004501e-03 -5.32787883e-05 9.99997284e-01 3.30697598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.75, Y:87.13, Z:0.33 [[ 3.11152200e-01 -9.50359789e-01 -7.61711194e-04 1.36753525e+02] [ 9.50357237e-01 3.11153130e-01 -2.20273177e-03 8.71251697e+01] [ 2.33039653e-03 -3.85129084e-05 9.99997284e-01 3.30672707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.76, Y:87.15, Z:0.33 [[ 3.11826527e-01 -9.50138738e-01 -7.71529424e-04 1.36761984e+02] [ 9.50136194e-01 3.11827478e-01 -2.19924910e-03 8.71519104e+01] [ 2.33017584e-03 -4.72738213e-05 9.99997284e-01 3.29320528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.77, Y:87.18, Z:0.33 [[ 3.16728051e-01 -9.48516075e-01 -7.72672530e-04 1.36769014e+02] [ 9.48513527e-01 3.16728992e-01 -2.19884360e-03 8.71769182e+01] [ 2.33036629e-03 -3.64548985e-05 9.99997284e-01 3.30959098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.78, Y:87.21, Z:0.33 [[ 3.16859091e-01 -9.48472321e-01 -7.57234996e-04 1.36779058e+02] [ 9.48469759e-01 3.16859995e-01 -2.20431579e-03 8.72068249e+01] [ 2.33066999e-03 -1.97569953e-05 9.99997284e-01 3.32400727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.79, Y:87.24, Z:0.33 [[ 3.18762009e-01 -9.47834469e-01 -7.75605377e-04 1.36787579e+02] [ 9.47831921e-01 3.18762950e-01 -2.19780182e-03 8.72363517e+01] [ 2.33038658e-03 -3.45678119e-05 9.99997284e-01 3.30139273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.80, Y:87.26, Z:0.33 [[ 3.22261395e-01 -9.46650394e-01 -7.90115954e-04 1.36795835e+02] [ 9.46647856e-01 3.22262361e-01 -2.19266480e-03 8.72593308e+01] [ 2.33031163e-03 -4.13503577e-05 9.99997284e-01 3.34363912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.80, Y:87.28, Z:0.33 [[ 3.23461988e-01 -9.46240856e-01 -7.64019455e-04 1.36804543e+02] [ 9.46238295e-01 3.23462890e-01 -2.20188536e-03 8.72844525e+01] [ 2.33064583e-03 -1.07182510e-05 9.99997284e-01 3.33563322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.81, Y:87.31, Z:0.34 [[ 3.26718505e-01 -9.45121391e-01 -7.57968976e-04 1.36812406e+02] [ 9.45118821e-01 3.26719384e-01 -2.20402108e-03 8.73076154e+01] [ 2.33071063e-03 3.72372830e-06 9.99997284e-01 3.36213821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27361786499998 meters Centerline goodness : 0.995237 Centerline is valid? [True, True] Translation: X:136.82, Y:87.35, Z:0.34 [[ 3.20011097e-01 -9.47413511e-01 -7.32418742e-04 1.36821366e+02] [ 9.47410927e-01 3.20011934e-01 -2.21290337e-03 8.73453833e+01] [ 2.33091729e-03 1.42521144e-05 9.99997283e-01 3.38918784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.82, Y:87.37, Z:0.33 [[ 3.15282054e-01 -9.48997665e-01 -8.10907307e-04 1.36824843e+02] [ 9.48995152e-01 3.15283086e-01 -2.18556418e-03 8.73714296e+01] [ 2.32976066e-03 -8.04779413e-05 9.99997283e-01 3.32029223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.83, Y:87.40, Z:0.33 [[ 3.13655454e-01 -9.49536535e-01 -7.90089695e-04 1.36834436e+02] [ 9.49534006e-01 3.13656443e-01 -2.19273668e-03 8.74000104e+01] [ 2.32990031e-03 -6.24532133e-05 9.99997284e-01 3.32005825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.84, Y:87.42, Z:0.33 [[ 3.13979203e-01 -9.49429525e-01 -7.98386541e-04 1.36839997e+02] [ 9.49427002e-01 3.13980210e-01 -2.18989346e-03 8.74162533e+01] [ 2.32982708e-03 -7.04287372e-05 9.99997283e-01 3.32330454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.85, Y:87.45, Z:0.34 [[ 3.12066771e-01 -9.50059890e-01 -7.32499945e-04 1.36853740e+02] [ 9.50057314e-01 3.12067630e-01 -2.21238463e-03 8.74468042e+01] [ 2.33048742e-03 -5.50520419e-06 9.99997284e-01 3.36219266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.86, Y:87.47, Z:0.34 [[ 3.09797584e-01 -9.50802225e-01 -7.64879707e-04 1.36863097e+02] [ 9.50799678e-01 3.09798525e-01 -2.20131265e-03 8.74739477e+01] [ 2.32997157e-03 -4.52860361e-05 9.99997285e-01 3.37413583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.87, Y:87.50, Z:0.34 [[ 3.07989684e-01 -9.51389386e-01 -7.67968539e-04 1.36870938e+02] [ 9.51386844e-01 3.07990637e-01 -2.20026044e-03 8.74973636e+01] [ 2.32983155e-03 -5.29776455e-05 9.99997285e-01 3.37060587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.88, Y:87.53, Z:0.34 [[ 3.04696636e-01 -9.52449165e-01 -7.40666651e-04 1.36882846e+02] [ 9.52446602e-01 3.04697534e-01 -2.20954008e-03 8.75264690e+01] [ 2.33015391e-03 -3.22060064e-05 9.99997285e-01 3.36400806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.89, Y:87.55, Z:0.34 [[ 3.02383496e-01 -9.53186045e-01 -7.64999198e-04 1.36889458e+02] [ 9.53183505e-01 3.02384457e-01 -2.20125349e-03 8.75475212e+01] [ 2.32952797e-03 -6.35618924e-05 9.99997285e-01 3.36662065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.90, Y:87.58, Z:0.34 [[ 2.97712439e-01 -9.54655315e-01 -7.30271534e-04 1.36903195e+02] [ 9.54652751e-01 2.97713332e-01 -2.21305984e-03 8.75766103e+01] [ 2.33012091e-03 -3.83002863e-05 9.99997285e-01 3.35910524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.91, Y:87.60, Z:0.34 [[ 2.94973871e-01 -9.55505025e-01 -7.50540617e-04 1.36910405e+02] [ 9.55502480e-01 2.94974819e-01 -2.20616735e-03 8.76011272e+01] [ 2.32939457e-03 -6.63816988e-05 9.99997285e-01 3.35815807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.92, Y:87.63, Z:0.34 [[ 2.93200711e-01 -9.56050626e-01 -7.37187094e-04 1.36920163e+02] [ 9.56048072e-01 2.93201632e-01 -2.21070718e-03 8.76279087e+01] [ 2.32969245e-03 -5.66053828e-05 9.99997285e-01 3.36522468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.93, Y:87.65, Z:0.33 [[ 2.90803822e-01 -9.56782417e-01 -7.37738377e-04 1.36930492e+02] [ 9.56779865e-01 2.90804750e-01 -2.21051980e-03 8.76533493e+01] [ 2.32952430e-03 -6.30256197e-05 9.99997285e-01 3.34236347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.94, Y:87.68, Z:0.34 [[ 2.90327897e-01 -9.56926944e-01 -7.31855742e-04 1.36939578e+02] [ 9.56924388e-01 2.90328813e-01 -2.21251569e-03 8.76784019e+01] [ 2.32969469e-03 -5.79755806e-05 9.99997285e-01 3.35247744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.95, Y:87.70, Z:0.34 [[ 2.90220315e-01 -9.56959582e-01 -7.26293965e-04 1.36949166e+02] [ 9.56957021e-01 2.90221220e-01 -2.21440159e-03 8.77041693e+01] [ 2.32987874e-03 -5.23677795e-05 9.99997284e-01 3.35197384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.96, Y:87.74, Z:0.34 [[ 2.87924426e-01 -9.57652860e-01 -7.24351822e-04 1.36960946e+02] [ 9.57650300e-01 2.87925331e-01 -2.21505979e-03 8.77350330e+01] [ 2.32981758e-03 -5.59059232e-05 9.99997284e-01 3.35265873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.97, Y:87.76, Z:0.34 [[ 2.89384024e-01 -9.57212787e-01 -7.53667848e-04 1.36969561e+02] [ 9.57210250e-01 2.89384993e-01 -2.20512090e-03 8.77593827e+01] [ 2.32887009e-03 -8.32918298e-05 9.99997285e-01 3.38180384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.98, Y:87.78, Z:0.34 [[ 2.90039058e-01 -9.57014526e-01 -7.36356908e-04 1.36976156e+02] [ 9.57011974e-01 2.90039986e-01 -2.21098290e-03 8.77829799e+01] [ 2.32951570e-03 -6.34309797e-05 9.99997285e-01 3.38715110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.99, Y:87.81, Z:0.34 [[ 2.90716702e-01 -9.56808903e-01 -7.22257797e-04 1.36985874e+02] [ 9.56806339e-01 2.90717595e-01 -2.21576165e-03 8.78105545e+01] [ 2.33003353e-03 -4.69019185e-05 9.99997284e-01 3.38027898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.00, Y:87.84, Z:0.34 [[ 2.95733140e-01 -9.55270315e-01 -7.30942954e-04 1.36996322e+02] [ 9.55267753e-01 2.95734040e-01 -2.21281776e-03 8.78357206e+01] [ 2.33000384e-03 -4.38426871e-05 9.99997285e-01 3.40336369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.01, Y:87.86, Z:0.34 [[ 2.98409094e-01 -9.54437785e-01 -7.26034059e-04 1.37005877e+02] [ 9.54435216e-01 2.98409976e-01 -2.21447795e-03 8.78610389e+01] [ 2.33023724e-03 -3.21321143e-05 9.99997284e-01 3.39709842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.02, Y:87.89, Z:0.34 [[ 3.00220059e-01 -9.53869692e-01 -7.26010107e-04 1.37015568e+02] [ 9.53867122e-01 3.00220935e-01 -2.21448605e-03 8.78870748e+01] [ 2.33029456e-03 -2.76840399e-05 9.99997284e-01 3.40061155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.02, Y:87.91, Z:0.34 [[ 3.04660389e-01 -9.52460766e-01 -7.31855925e-04 1.37024105e+02] [ 9.52458197e-01 3.04661267e-01 -2.21250862e-03 8.79112206e+01] [ 2.33029581e-03 -2.29984371e-05 9.99997285e-01 3.37549436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.04, Y:87.94, Z:0.34 [[ 3.06025846e-01 -9.52022933e-01 -7.18476538e-04 1.37035159e+02] [ 9.52020352e-01 3.06026689e-01 -2.21703545e-03 8.79414215e+01] [ 2.33054158e-03 -5.53413814e-06 9.99997284e-01 3.41139532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.04, Y:87.97, Z:0.34 [[ 3.07903147e-01 -9.51417417e-01 -7.41528634e-04 1.37043974e+02] [ 9.51414853e-01 3.07904039e-01 -2.20923173e-03 8.79673444e+01] [ 2.33022121e-03 -2.52719547e-05 9.99997285e-01 3.40482128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.06, Y:88.00, Z:0.34 [[ 3.12301254e-01 -9.49982831e-01 -7.39741886e-04 1.37055935e+02] [ 9.49980261e-01 3.12302130e-01 -2.20983695e-03 8.79963287e+01] [ 2.33033013e-03 -1.26053390e-05 9.99997285e-01 3.43067672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.07, Y:88.02, Z:0.34 [[ 3.15742261e-01 -9.48844695e-01 -7.53929823e-04 1.37066068e+02] [ 9.48842134e-01 3.15743161e-01 -2.20503148e-03 8.80215237e+01] [ 2.33028061e-03 -1.91387562e-05 9.99997285e-01 3.43903554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.08, Y:88.05, Z:0.35 [[ 3.18554304e-01 -9.47904318e-01 -7.48518129e-04 1.37079032e+02] [ 9.47901749e-01 3.18555183e-01 -2.20686291e-03 8.80495895e+01] [ 2.33033921e-03 -6.51596576e-06 9.99997285e-01 3.45318046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.09, Y:88.08, Z:0.34 [[ 3.16950943e-01 -9.48441626e-01 -7.62052275e-04 1.37091002e+02] [ 9.48439070e-01 3.16951859e-01 -2.20228413e-03 8.80800899e+01] [ 2.33027183e-03 -2.47441179e-05 9.99997285e-01 3.43296076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.10, Y:88.10, Z:0.34 [[ 3.17328910e-01 -9.48315209e-01 -7.92118210e-04 1.37100413e+02] [ 9.48312677e-01 3.17329893e-01 -2.19209808e-03 8.81044089e+01] [ 2.33016274e-03 -5.55596458e-05 9.99997284e-01 3.44016460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.11, Y:88.13, Z:0.34 [[ 3.16341153e-01 -9.48645170e-01 -7.85311430e-04 1.37108155e+02] [ 9.48642633e-01 3.16342124e-01 -2.19440195e-03 8.81259202e+01] [ 2.33013590e-03 -5.08002586e-05 9.99997284e-01 3.44766801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.12, Y:88.15, Z:0.35 [[ 3.15063060e-01 -9.49070433e-01 -7.62267623e-04 1.37118818e+02] [ 9.49067879e-01 3.15063980e-01 -2.20218041e-03 8.81534594e+01] [ 2.33018738e-03 -2.96180200e-05 9.99997285e-01 3.45214781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.13, Y:88.18, Z:0.35 [[ 3.12274428e-01 -9.49991629e-01 -7.66559762e-04 1.37130124e+02] [ 9.49989080e-01 3.12275366e-01 -2.20073264e-03 8.81835383e+01] [ 2.33005532e-03 -4.09908778e-05 9.99997285e-01 3.45247517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.14, Y:88.21, Z:0.35 [[ 3.11058464e-01 -9.50390452e-01 -7.87769262e-04 1.37140208e+02] [ 9.50387923e-01 3.11059454e-01 -2.19357819e-03 8.82083613e+01] [ 2.32979884e-03 -6.63553308e-05 9.99997284e-01 3.45145804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.15, Y:88.23, Z:0.34 [[ 3.10526866e-01 -9.50564287e-01 -7.75912082e-04 1.37149858e+02] [ 9.50561748e-01 3.10527830e-01 -2.19756450e-03 8.82317166e+01] [ 2.32986862e-03 -5.51495294e-05 9.99997284e-01 3.43469455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.16, Y:88.26, Z:0.35 [[ 3.07035622e-01 -9.51697725e-01 -7.52737582e-04 1.37163070e+02] [ 9.51695171e-01 3.07036542e-01 -2.20533806e-03 8.82585793e+01] [ 2.32993316e-03 -3.92593803e-05 9.99997285e-01 3.45526477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.17, Y:88.29, Z:0.34 [[ 3.04792116e-01 -9.52418600e-01 -7.59216218e-04 1.37174307e+02] [ 9.52416053e-01 3.04793057e-01 -2.20317042e-03 8.82867175e+01] [ 2.32974431e-03 -5.15807415e-05 9.99997285e-01 3.44368821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.18, Y:88.31, Z:0.35 [[ 3.00666200e-01 -9.53729128e-01 -7.65944879e-04 1.37179093e+02] [ 9.53726591e-01 3.00667168e-01 -2.20092108e-03 8.83091712e+01] [ 2.32937702e-03 -6.87594204e-05 9.99997285e-01 3.45794146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.20, Y:88.34, Z:0.34 [[ 3.01114152e-01 -9.53587816e-01 -7.37386327e-04 1.37198313e+02] [ 9.53585255e-01 3.01115053e-01 -2.21044797e-03 8.83394860e+01] [ 2.32989437e-03 -3.75635625e-05 9.99997285e-01 3.43675501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.21, Y:88.36, Z:0.34 [[ 2.99681677e-01 -9.54038938e-01 -7.72724098e-04 1.37208638e+02] [ 9.54036408e-01 2.99682663e-01 -2.19864737e-03 8.83649657e+01] [ 2.32916722e-03 -7.83125903e-05 9.99997284e-01 3.43848658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.22, Y:88.39, Z:0.34 [[ 2.96157623e-01 -9.55138768e-01 -7.71888638e-04 1.37219464e+02] [ 9.55136241e-01 2.96158617e-01 -2.19892610e-03 8.83885018e+01] [ 2.32888104e-03 -8.60300835e-05 9.99997284e-01 3.44606496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.23, Y:88.42, Z:0.34 [[ 2.94352393e-01 -9.55696651e-01 -7.61803030e-04 1.37230417e+02] [ 9.55694117e-01 2.94353368e-01 -2.20228191e-03 8.84152810e+01] [ 2.32895274e-03 -7.98037224e-05 9.99997285e-01 3.44542180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.24, Y:88.44, Z:0.34 [[ 2.93668533e-01 -9.55907009e-01 -7.63709158e-04 1.37241267e+02] [ 9.55904477e-01 2.93669514e-01 -2.20164824e-03 8.84405306e+01] [ 2.32884908e-03 -8.34781954e-05 9.99997285e-01 3.44659568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.25, Y:88.47, Z:0.34 [[ 2.91709847e-01 -9.56506550e-01 -7.65023473e-04 1.37253646e+02] [ 9.56504021e-01 2.91710836e-01 -2.20121094e-03 8.84668930e+01] [ 2.32863832e-03 -8.96331223e-05 9.99997285e-01 3.43605323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.26, Y:88.49, Z:0.34 [[ 2.91728162e-01 -9.56500966e-01 -7.62209506e-04 1.37264229e+02] [ 9.56498435e-01 2.91729144e-01 -2.20214341e-03 8.84934144e+01] [ 2.32871103e-03 -8.66249501e-05 9.99997285e-01 3.44883332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.27, Y:88.52, Z:0.35 [[ 2.91357826e-01 -9.56613843e-01 -7.56318309e-04 1.37274450e+02] [ 9.56611308e-01 2.91358796e-01 -2.20409288e-03 8.85201482e+01] [ 2.32882575e-03 -8.13229365e-05 9.99997285e-01 3.45970528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.28, Y:88.54, Z:0.35 [[ 2.91401693e-01 -9.56600483e-01 -7.53838670e-04 1.37284698e+02] [ 9.56597946e-01 2.91402658e-01 -2.20491229e-03 8.85449843e+01] [ 2.32889075e-03 -7.86053483e-05 9.99997285e-01 3.48266798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.29, Y:88.56, Z:0.35 [[ 2.91468733e-01 -9.56580066e-01 -7.45517269e-04 1.37291986e+02] [ 9.56577521e-01 2.91469678e-01 -2.20765798e-03 8.85645731e+01] [ 2.32909729e-03 -6.96817874e-05 9.99997285e-01 3.48283232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.30, Y:88.59, Z:0.35 [[ 2.92359019e-01 -9.56308370e-01 -7.10887544e-04 1.37302288e+02] [ 9.56305796e-01 2.92359881e-01 -2.21907516e-03 8.85947640e+01] [ 2.32995514e-03 -3.10592439e-05 9.99997285e-01 3.49308140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.31, Y:88.62, Z:0.35 [[ 2.93342861e-01 -9.56007024e-01 -7.32203240e-04 1.37312210e+02] [ 9.56004466e-01 2.93343771e-01 -2.21204587e-03 8.86208863e+01] [ 2.32951865e-03 -5.11017033e-05 9.99997285e-01 3.48056310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.32, Y:88.65, Z:0.35 [[ 2.93079874e-01 -9.56087681e-01 -7.29757960e-04 1.37321110e+02] [ 9.56085122e-01 2.93080779e-01 -2.21285167e-03 8.86480369e+01] [ 2.32955825e-03 -4.91684395e-05 9.99997285e-01 3.48122062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.33, Y:88.67, Z:0.35 [[ 2.94694672e-01 -9.55591188e-01 -7.29158494e-04 1.37330468e+02] [ 9.55588626e-01 2.94695571e-01 -2.21304903e-03 8.86718438e+01] [ 2.32964993e-03 -4.46018060e-05 9.99997285e-01 3.46000389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83361786499998 meters Centerline goodness : 0.996284 Centerline is valid? [True, True] Translation: X:137.34, Y:88.70, Z:0.35 [[ 2.98397378e-01 -9.54441453e-01 -7.18805177e-04 1.37341683e+02] [ 9.54438880e-01 2.98398243e-01 -2.21644406e-03 8.86954185e+01] [ 2.32995629e-03 -2.46745120e-05 9.99997285e-01 3.49197626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.35, Y:88.72, Z:0.35 [[ 2.99971281e-01 -9.53947969e-01 -7.08602984e-04 1.37351936e+02] [ 9.53945387e-01 2.99972118e-01 -2.21978885e-03 8.87232226e+01] [ 2.33012421e-03 -1.00956412e-05 9.99997285e-01 3.48170380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.36, Y:88.75, Z:0.35 [[ 3.01052723e-01 -9.53607224e-01 -7.21999987e-04 1.37361382e+02] [ 9.53604651e-01 3.01053588e-01 -2.21538971e-03 8.87490839e+01] [ 2.32997231e-03 -2.15534424e-05 9.99997285e-01 3.47535161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92361786499995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.37, Y:88.78, Z:0.35 [[ 3.02262212e-01 -9.53224547e-01 -7.19779871e-04 1.37371503e+02] [ 9.53221971e-01 3.02263068e-01 -2.21611829e-03 8.87753800e+01] [ 2.33002123e-03 -1.62611707e-05 9.99997285e-01 3.47328018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.38, Y:88.80, Z:0.35 [[ 3.03699295e-01 -9.52767663e-01 -7.19681570e-04 1.37382147e+02] [ 9.52765086e-01 3.03700148e-01 -2.21615052e-03 8.88000403e+01] [ 2.33004395e-03 -1.26441225e-05 9.99997285e-01 3.46873912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.40, Y:88.83, Z:0.35 [[ 3.06868081e-01 -9.51751789e-01 -7.16717531e-04 1.37395038e+02] [ 9.51749206e-01 3.06868918e-01 -2.21712164e-03 8.88263729e+01] [ 2.33008782e-03 -1.77147730e-06 9.99997285e-01 3.51161482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.40, Y:88.85, Z:0.35 [[ 3.03637827e-01 -9.52787250e-01 -7.25368836e-04 1.37401560e+02] [ 9.52784677e-01 3.03638693e-01 -2.21428760e-03 8.88521234e+01] [ 2.32999504e-03 -1.87788376e-05 9.99997285e-01 3.46350894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04361786499996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:137.41, Y:88.88, Z:0.35 [[ 3.03487775e-01 -9.52835065e-01 -7.13435586e-04 1.37411626e+02] [ 9.52832483e-01 3.03488613e-01 -2.21819451e-03 8.88786606e+01] [ 2.33009308e-03 -6.58968562e-06 9.99997285e-01 3.46589402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.42, Y:88.90, Z:0.35 [[ 3.01500419e-01 -9.53465779e-01 -7.11286569e-04 1.37421019e+02] [ 9.53463197e-01 3.01501257e-01 -2.21889764e-03 8.89036734e+01] [ 2.33009676e-03 -9.18699824e-06 9.99997285e-01 3.45500004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.43, Y:88.93, Z:0.35 [[ 3.00016629e-01 -9.53933710e-01 -7.06340606e-04 1.37430337e+02] [ 9.53931126e-01 3.00017461e-01 -2.22051459e-03 8.89300620e+01] [ 2.33013823e-03 -7.60898868e-06 9.99997285e-01 3.45211186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.44, Y:88.96, Z:0.35 [[ 2.99100667e-01 -9.54221304e-01 -7.02504181e-04 1.37440208e+02] [ 9.54218718e-01 2.99101492e-01 -2.22176969e-03 8.89563490e+01] [ 2.33018002e-03 -5.80984198e-06 9.99997285e-01 3.45449828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.45, Y:88.98, Z:0.35 [[ 2.95903894e-01 -9.55217460e-01 -6.99629892e-04 1.37451493e+02] [ 9.55214874e-01 2.95904721e-01 -2.22270971e-03 8.89816567e+01] [ 2.33019491e-03 -1.05884213e-05 9.99997285e-01 3.46024470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19361786499996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:137.47, Y:89.01, Z:0.35 [[ 2.97372315e-01 -9.54761340e-01 -6.99572963e-04 1.37468273e+02] [ 9.54758753e-01 2.97373138e-01 -2.22272830e-03 8.90109378e+01] [ 2.33020925e-03 -6.94555030e-06 9.99997285e-01 3.54792016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.48, Y:89.03, Z:0.35 [[ 2.96990885e-01 -9.54880027e-01 -7.40230345e-04 1.37476530e+02] [ 9.54877472e-01 2.96991803e-01 -2.20941059e-03 8.90343614e+01] [ 2.32956439e-03 -5.06544737e-05 9.99997285e-01 3.52928730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.48, Y:89.05, Z:0.35 [[ 2.93658354e-01 -9.55910167e-01 -7.24334832e-04 1.37479202e+02] [ 9.55907602e-01 2.93659244e-01 -2.21460955e-03 8.90513742e+01] [ 2.32967541e-03 -4.20585764e-05 9.99997285e-01 3.48325747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28361786499997 meters Centerline goodness : 0.995196 Centerline is valid? [True, True] Translation: X:137.49, Y:89.09, Z:0.35 [[ 2.88157717e-01 -9.57582730e-01 -6.67022672e-04 1.37489719e+02] [ 9.57580126e-01 2.88158489e-01 -2.23308425e-03 8.90859424e+01] [ 2.33057115e-03 4.75280384e-06 9.99997284e-01 3.53277340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.31361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.50, Y:89.11, Z:0.35 [[ 2.84083084e-01 -9.58799396e-01 -7.20276825e-04 1.37496462e+02] [ 9.58796838e-01 2.84083990e-01 -2.21589553e-03 8.91100545e+01] [ 2.32921841e-03 -6.11007063e-05 9.99997286e-01 3.47371115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.51, Y:89.14, Z:0.35 [[ 2.86786559e-01 -9.57994247e-01 -7.01711722e-04 1.37510251e+02] [ 9.57991671e-01 2.86787415e-01 -2.22190493e-03 8.91375113e+01] [ 2.32981424e-03 -3.50215148e-05 9.99997285e-01 3.52884577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.52, Y:89.16, Z:0.35 [[ 2.83389417e-01 -9.59004652e-01 -7.17639408e-04 1.37515134e+02] [ 9.59002092e-01 2.83390319e-01 -2.21674858e-03 8.91630223e+01] [ 2.32924427e-03 -6.00146057e-05 9.99997286e-01 3.47320003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:137.53, Y:89.19, Z:0.35 [[ 2.86278794e-01 -9.58146105e-01 -7.02199010e-04 1.37528385e+02] [ 9.58143530e-01 2.86279653e-01 -2.22174031e-03 8.91900871e+01] [ 2.32977712e-03 -3.67703015e-05 9.99997285e-01 3.51969053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.54, Y:89.22, Z:0.35 [[ 2.83587468e-01 -9.58946106e-01 -7.16943220e-04 1.37535587e+02] [ 9.58943545e-01 2.83588368e-01 -2.21697220e-03 8.92175493e+01] [ 2.32927362e-03 -5.88025392e-05 9.99997286e-01 3.45582980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.54, Y:89.25, Z:0.34 [[ 2.79573354e-01 -9.60124070e-01 -7.14091586e-04 1.37542722e+02] [ 9.60121511e-01 2.79574258e-01 -2.21789366e-03 8.92472281e+01] [ 2.32909471e-03 -6.55507242e-05 9.99997286e-01 3.44276361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.55, Y:89.27, Z:0.35 [[ 2.80930310e-01 -9.59727886e-01 -7.38566671e-04 1.37550010e+02] [ 9.59725346e-01 2.80931267e-01 -2.20997961e-03 8.92695980e+01] [ 2.32846553e-03 -8.79708982e-05 9.99997285e-01 3.45134391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.56, Y:89.29, Z:0.35 [[ 2.86391780e-01 -9.58112325e-01 -7.22099616e-04 1.37555752e+02] [ 9.58109765e-01 2.86392685e-01 -2.21529459e-03 8.92875287e+01] [ 2.32930510e-03 -5.74085314e-05 9.99997286e-01 3.48995704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.56, Y:89.31, Z:0.35 [[ 2.89923894e-01 -9.57049460e-01 -6.83598555e-04 1.37563035e+02] [ 9.57046867e-01 2.89924700e-01 -2.22769595e-03 8.93106612e+01] [ 2.33020731e-03 -8.37357065e-06 9.99997285e-01 3.49174561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.57, Y:89.34, Z:0.35 [[ 2.91143107e-01 -9.56679271e-01 -6.81596536e-04 1.37573027e+02] [ 9.56676676e-01 2.91143904e-01 -2.22834896e-03 8.93411181e+01] [ 2.33025793e-03 -3.29907053e-06 9.99997285e-01 3.51067906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.58, Y:89.36, Z:0.35 [[ 2.93164693e-01 -9.56061690e-01 -7.13005693e-04 1.37580396e+02] [ 9.56059117e-01 2.93165559e-01 -2.21809282e-03 8.93644835e+01] [ 2.32966228e-03 -3.14090921e-05 9.99997286e-01 3.49552405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64361786499995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.59, Y:89.39, Z:0.35 [[ 2.93431803e-01 -9.55979756e-01 -6.95130495e-04 1.37590151e+02] [ 9.55977169e-01 2.93432626e-01 -2.22393061e-03 8.93946740e+01] [ 2.33000661e-03 -1.19569132e-05 9.99997285e-01 3.50872795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.60, Y:89.42, Z:0.35 [[ 2.95406274e-01 -9.55371457e-01 -7.15579697e-04 1.37598691e+02] [ 9.55368885e-01 2.95407140e-01 -2.21724890e-03 8.94214580e+01] [ 2.32968367e-03 -2.86533397e-05 9.99997286e-01 3.50560733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.61, Y:89.45, Z:0.35 [[ 2.97043566e-01 -9.54863658e-01 -7.16554310e-04 1.37608073e+02] [ 9.54861085e-01 2.97044430e-01 -2.21693064e-03 8.94494583e+01] [ 2.32971497e-03 -2.56848415e-05 9.99997286e-01 3.51823410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.62, Y:89.48, Z:0.35 [[ 2.97156513e-01 -9.54828510e-01 -7.22949158e-04 1.37615738e+02] [ 9.54825942e-01 2.97157391e-01 -2.21484329e-03 8.94764763e+01] [ 2.32962521e-03 -3.21355004e-05 9.99997286e-01 3.51754722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.62, Y:89.50, Z:0.35 [[ 2.97880378e-01 -9.54602935e-01 -7.18418973e-04 1.37624521e+02] [ 9.54600363e-01 2.97881244e-01 -2.21632079e-03 8.95043086e+01] [ 2.32970987e-03 -2.56045359e-05 9.99997286e-01 3.51139896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.63, Y:89.53, Z:0.35 [[ 2.99710181e-01 -9.54030026e-01 -7.19050903e-04 1.37633864e+02] [ 9.54027452e-01 2.99711043e-01 -2.21611475e-03 8.95314343e+01] [ 2.32974751e-03 -2.18021469e-05 9.99997286e-01 3.50193042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:137.64, Y:89.56, Z:0.35 [[ 3.01025924e-01 -9.53615682e-01 -7.23731278e-04 1.37643002e+02] [ 9.53613111e-01 3.01026793e-01 -2.21458923e-03 8.95567918e+01] [ 2.32972952e-03 -2.35108670e-05 9.99997286e-01 3.53958910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.65, Y:89.59, Z:0.35 [[ 3.00776336e-01 -9.53694435e-01 -7.21491177e-04 1.37652216e+02] [ 9.53691862e-01 3.00777200e-01 -2.21531879e-03 8.95853040e+01] [ 2.32974530e-03 -2.17647966e-05 9.99997286e-01 3.50672136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.66, Y:89.61, Z:0.35 [[ 3.01004590e-01 -9.53622411e-01 -7.30956379e-04 1.37659697e+02] [ 9.53619846e-01 3.01005475e-01 -2.21223719e-03 8.96097193e+01] [ 2.32966083e-03 -3.11609628e-05 9.99997286e-01 3.54549290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91361786499996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:137.67, Y:89.64, Z:0.35 [[ 3.00156303e-01 -9.53889760e-01 -7.20623909e-04 1.37669201e+02] [ 9.53887187e-01 3.00157168e-01 -2.21559783e-03 8.96386891e+01] [ 2.32973651e-03 -2.23682599e-05 9.99997286e-01 3.50946475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.68, Y:89.67, Z:0.35 [[ 2.97615081e-01 -9.54685671e-01 -7.30568006e-04 1.37678069e+02] [ 9.54683108e-01 2.97615975e-01 -2.21236473e-03 8.96650495e+01] [ 2.32954161e-03 -3.90278276e-05 9.99997286e-01 3.50488364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97361786499997 meters Centerline goodness : 0.996611 Centerline is valid? [True, True] Translation: X:137.69, Y:89.69, Z:0.35 [[ 2.98183386e-01 -9.54508319e-01 -7.33129939e-04 1.37687400e+02] [ 9.54505758e-01 2.98184285e-01 -2.21152881e-03 8.96895353e+01] [ 2.32953047e-03 -4.03355992e-05 9.99997286e-01 3.54371865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:137.70, Y:89.71, Z:0.35 [[ 2.94272749e-01 -9.55721210e-01 -7.19797000e-04 1.37695067e+02] [ 9.55718642e-01 2.94273627e-01 -2.21587133e-03 8.97144715e+01] [ 2.32957250e-03 -3.58528636e-05 9.99997286e-01 3.54611538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.70, Y:89.74, Z:0.35 [[ 2.92057441e-01 -9.56400508e-01 -7.20953134e-04 1.37703731e+02] [ 9.56397943e-01 2.92058328e-01 -2.21549511e-03 8.97407423e+01] [ 2.32946101e-03 -4.24662623e-05 9.99997286e-01 3.54479046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:137.71, Y:89.77, Z:0.35 [[ 2.88501871e-01 -9.57479061e-01 -7.20379192e-04 1.37714134e+02] [ 9.57476498e-01 2.88502766e-01 -2.21568171e-03 8.97708051e+01] [ 2.32930024e-03 -5.05178266e-05 9.99997286e-01 3.49975938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.72, Y:89.79, Z:0.35 [[ 2.87697318e-01 -9.57721102e-01 -7.37736686e-04 1.37721766e+02] [ 9.57718555e-01 2.87698255e-01 -2.21003730e-03 8.97941841e+01] [ 2.32884491e-03 -7.07223095e-05 9.99997286e-01 3.54303616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:137.73, Y:89.82, Z:0.35 [[ 2.81499316e-01 -9.59561159e-01 -7.19407484e-04 1.37730291e+02] [ 9.59558602e-01 2.81500227e-01 -2.21598777e-03 8.98210129e+01] [ 2.32888916e-03 -6.65145992e-05 9.99997286e-01 3.50498533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.74, Y:89.85, Z:0.35 [[ 2.79926261e-01 -9.60021236e-01 -7.18081810e-04 1.37738316e+02] [ 9.60018680e-01 2.79927173e-01 -2.21641777e-03 8.98453876e+01] [ 2.32881874e-03 -6.89384121e-05 9.99997286e-01 3.49405700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.75, Y:89.87, Z:0.35 [[ 2.77218343e-01 -9.60806685e-01 -7.10981673e-04 1.37747627e+02] [ 9.60804125e-01 2.77219246e-01 -2.21871921e-03 8.98736460e+01] [ 2.32885805e-03 -6.80444614e-05 9.99997286e-01 3.50497523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.76, Y:89.90, Z:0.35 [[ 2.73357414e-01 -9.61912267e-01 -7.17641583e-04 1.37755354e+02] [ 9.61909717e-01 2.73358343e-01 -2.21656148e-03 8.99003779e+01] [ 2.32831100e-03 -8.43928978e-05 9.99997286e-01 3.50370565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.77, Y:89.93, Z:0.35 [[ 2.74787499e-01 -9.61504719e-01 -7.11494424e-04 1.37766277e+02] [ 9.61502162e-01 2.74788410e-01 -2.21855150e-03 8.99264261e+01] [ 2.32865815e-03 -7.44732083e-05 9.99997286e-01 3.54677160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27361786499998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:137.77, Y:89.95, Z:0.35 [[ 2.73399767e-01 -9.61900230e-01 -7.17245826e-04 1.37774634e+02] [ 9.61897680e-01 2.73400695e-01 -2.21669054e-03 8.99523182e+01] [ 2.32833065e-03 -8.38744182e-05 9.99997286e-01 3.54432319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30361786499998 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:137.78, Y:89.98, Z:0.35 [[ 2.72619730e-01 -9.62121598e-01 -7.16607751e-04 1.37783333e+02] [ 9.62119048e-01 2.72620658e-01 -2.21689679e-03 8.99770565e+01] [ 2.32828636e-03 -8.50921617e-05 9.99997286e-01 3.54110744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.79, Y:90.00, Z:0.35 [[ 2.69702594e-01 -9.62943407e-01 -7.10972638e-04 1.37790344e+02] [ 9.62940855e-01 2.69703518e-01 -2.21871671e-03 9.00047651e+01] [ 2.32825045e-03 -8.62309462e-05 9.99997286e-01 3.51263323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36361786499998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.80, Y:90.03, Z:0.35 [[ 2.70406477e-01 -9.62745983e-01 -7.14095455e-04 1.37798174e+02] [ 9.62743432e-01 2.70407406e-01 -2.21770859e-03 9.00292690e+01] [ 2.32818674e-03 -8.78079425e-05 9.99997286e-01 3.51412100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.81, Y:90.06, Z:0.35 [[ 2.71758078e-01 -9.62365341e-01 -7.05698618e-04 1.37807644e+02] [ 9.62362782e-01 2.71758984e-01 -2.22041864e-03 9.00575132e+01] [ 2.32863388e-03 -7.57213838e-05 9.99997286e-01 3.51658194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.82, Y:90.08, Z:0.35 [[ 2.72932754e-01 -9.62032848e-01 -7.15436574e-04 1.37815578e+02] [ 9.62030296e-01 2.72933679e-01 -2.21727654e-03 9.00841458e+01] [ 2.32835960e-03 -8.31042666e-05 9.99997286e-01 3.53217954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.82, Y:90.11, Z:0.36 [[ 2.76403689e-01 -9.61041355e-01 -7.17519421e-04 1.37824396e+02] [ 9.61038802e-01 2.76404610e-01 -2.21660486e-03 9.01095505e+01] [ 2.32857462e-03 -7.68862427e-05 9.99997286e-01 3.56685978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48361786499996 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:137.83, Y:90.13, Z:0.36 [[ 2.83513185e-01 -9.58968072e-01 -7.14626912e-04 1.37831127e+02] [ 9.58965510e-01 2.83514080e-01 -2.21753701e-03 9.01313293e+01] [ 2.32915398e-03 -5.66015815e-05 9.99997286e-01 3.56751449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.84, Y:90.16, Z:0.35 [[ 2.82423162e-01 -9.59289675e-01 -6.90526467e-04 1.37838356e+02] [ 9.59287095e-01 2.82424004e-01 -2.22530368e-03 9.01620843e+01] [ 2.32973209e-03 -3.39358292e-05 9.99997286e-01 3.53492187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.85, Y:90.19, Z:0.35 [[ 2.84822928e-01 -9.58579879e-01 -7.17583656e-04 1.37847173e+02] [ 9.58577318e-01 2.84823827e-01 -2.21659468e-03 9.01896532e+01] [ 2.32916798e-03 -5.65224298e-05 9.99997286e-01 3.53307790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:137.86, Y:90.22, Z:0.35 [[ 2.89182629e-01 -9.57273676e-01 -7.18809716e-04 1.37855071e+02] [ 9.57271112e-01 2.89183518e-01 -2.21620024e-03 9.02158663e+01] [ 2.32937808e-03 -4.72091642e-05 9.99997286e-01 3.52380029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.86, Y:90.24, Z:0.35 [[ 2.90870682e-01 -9.56762110e-01 -7.15693227e-04 1.37863599e+02] [ 9.56759541e-01 2.90871560e-01 -2.21720218e-03 9.02423484e+01] [ 2.32950984e-03 -3.98272126e-05 9.99997286e-01 3.52851424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.87, Y:90.27, Z:0.35 [[ 2.93365888e-01 -9.55999970e-01 -7.17047251e-04 1.37871386e+02] [ 9.55997400e-01 2.93366762e-01 -2.21676710e-03 9.02682856e+01] [ 2.32958711e-03 -3.51714602e-05 9.99997286e-01 3.53092320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:137.88, Y:90.29, Z:0.35 [[ 2.95039908e-01 -9.55484663e-01 -7.14821622e-04 1.37879568e+02] [ 9.55482091e-01 2.95040772e-01 -2.21748168e-03 9.02927012e+01] [ 2.32967126e-03 -2.87536669e-05 9.99997286e-01 3.50229175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:137.89, Y:90.32, Z:0.35 [[ 2.94785066e-01 -9.55563322e-01 -7.08787495e-04 1.37887931e+02] [ 9.55560745e-01 2.94785917e-01 -2.21941715e-03 9.03189784e+01] [ 2.32973419e-03 -2.30384757e-05 9.99997286e-01 3.50291198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72361786499997 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:137.90, Y:90.34, Z:0.35 [[ 2.95848067e-01 -9.55234746e-01 -7.08142982e-04 1.37896759e+02] [ 9.55232167e-01 2.95848914e-01 -2.21962353e-03 9.03440028e+01] [ 2.32976485e-03 -1.97696250e-05 9.99997286e-01 3.51372185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.90, Y:90.37, Z:0.35 [[ 2.94012709e-01 -9.55801244e-01 -7.13271867e-04 1.37903424e+02] [ 9.55798671e-01 2.94013573e-01 -2.21798272e-03 9.03710441e+01] [ 2.32966225e-03 -2.96291933e-05 9.99997286e-01 3.53189289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.91, Y:90.40, Z:0.35 [[ 2.94463786e-01 -9.55662372e-01 -7.13375164e-04 1.37912581e+02] [ 9.55659799e-01 2.94464649e-01 -2.21794975e-03 9.03960560e+01] [ 2.32967489e-03 -2.86380853e-05 9.99997286e-01 3.51304125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.92, Y:90.42, Z:0.35 [[ 2.93940663e-01 -9.55823404e-01 -7.11443432e-04 1.37919586e+02] [ 9.55820830e-01 2.93941523e-01 -2.21856585e-03 9.04203543e+01] [ 2.32967993e-03 -2.78857339e-05 9.99997286e-01 3.50997734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.93, Y:90.45, Z:0.35 [[ 2.91466850e-01 -9.56580676e-01 -6.96645262e-04 1.37929896e+02] [ 9.56578093e-01 2.91467682e-01 -2.22327925e-03 9.04501043e+01] [ 2.32979555e-03 -1.83833952e-05 9.99997286e-01 3.53804393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.94, Y:90.48, Z:0.35 [[ 2.88603505e-01 -9.57448436e-01 -7.13681873e-04 1.37938340e+02] [ 9.57445868e-01 2.88604384e-01 -2.21785344e-03 9.04761327e+01] [ 2.32945203e-03 -4.32314825e-05 9.99997286e-01 3.53459574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.95, Y:90.50, Z:0.35 [[ 2.86961446e-01 -9.57941870e-01 -7.09006344e-04 1.37946730e+02] [ 9.57939300e-01 2.86962318e-01 -2.21934100e-03 9.05023448e+01] [ 2.32945777e-03 -4.23197384e-05 9.99997286e-01 3.52753639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.96, Y:90.53, Z:0.35 [[ 2.85678627e-01 -9.58325217e-01 -7.07645181e-04 1.37956030e+02] [ 9.58322647e-01 2.85679500e-01 -2.21977368e-03 9.05296426e+01] [ 2.32942481e-03 -4.40105084e-05 9.99997286e-01 3.52280040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:137.96, Y:90.56, Z:0.35 [[ 2.83955891e-01 -9.58837082e-01 -7.09212116e-04 1.37964291e+02] [ 9.58834515e-01 2.83956772e-01 -2.21927586e-03 9.05553192e+01] [ 2.32930957e-03 -4.98406025e-05 9.99997286e-01 3.52090771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.97, Y:90.58, Z:0.35 [[ 2.80953005e-01 -9.59721266e-01 -7.07105265e-04 1.37973464e+02] [ 9.59718701e-01 2.80953889e-01 -2.21994477e-03 9.05817488e+01] [ 2.32919218e-03 -5.49219940e-05 9.99997286e-01 3.51453648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.98, Y:90.61, Z:0.35 [[ 2.78253614e-01 -9.60507379e-01 -7.07429482e-04 1.37982702e+02] [ 9.60504816e-01 2.78254506e-01 -2.21984188e-03 9.06097976e+01] [ 2.32901995e-03 -6.18103991e-05 9.99997286e-01 3.49169786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.99, Y:90.63, Z:0.35 [[ 2.74519066e-01 -9.61581394e-01 -7.10254783e-04 1.37991775e+02] [ 9.61578837e-01 2.74519975e-01 -2.21894595e-03 9.06346925e+01] [ 2.32867626e-03 -7.38229986e-05 9.99997286e-01 3.52254719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.00, Y:90.66, Z:0.36 [[ 2.74422882e-01 -9.61608852e-01 -7.05463948e-04 1.38001614e+02] [ 9.61606291e-01 2.74423780e-01 -2.22046378e-03 9.06602638e+01] [ 2.32881371e-03 -6.90324993e-05 9.99997286e-01 3.55684569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11361786499995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:138.01, Y:90.69, Z:0.35 [[ 2.71502031e-01 -9.62437612e-01 -7.00148499e-04 1.38009153e+02] [ 9.62435049e-01 2.71502924e-01 -2.22214632e-03 9.06854786e+01] [ 2.32876957e-03 -7.05302155e-05 9.99997286e-01 3.51214551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.02, Y:90.71, Z:0.35 [[ 2.69900506e-01 -9.62887965e-01 -6.95949663e-04 1.38017622e+02] [ 9.62885400e-01 2.69901394e-01 -2.22347439e-03 9.07091628e+01] [ 2.32879451e-03 -7.00029076e-05 9.99997286e-01 3.52278390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.03, Y:90.74, Z:0.36 [[ 2.69181870e-01 -9.63089117e-01 -6.87476322e-04 1.38027279e+02] [ 9.63086547e-01 2.69182741e-01 -2.22615144e-03 9.07369520e+01] [ 2.32903899e-03 -6.28595872e-05 9.99997286e-01 3.57078882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.03, Y:90.76, Z:0.36 [[ 2.68788038e-01 -9.63199096e-01 -7.01878545e-04 1.38034418e+02] [ 9.63196537e-01 2.68788943e-01 -2.22160130e-03 9.07633318e+01] [ 2.32850155e-03 -7.89071303e-05 9.99997286e-01 3.55235278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.04, Y:90.79, Z:0.36 [[ 2.69387733e-01 -9.63031551e-01 -6.94406028e-04 1.38042594e+02] [ 9.63028985e-01 2.69388619e-01 -2.22395921e-03 9.07913804e+01] [ 2.32880797e-03 -6.96258020e-05 9.99997286e-01 3.55677281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.05, Y:90.82, Z:0.35 [[ 2.68830480e-01 -9.63187250e-01 -7.02884116e-04 1.38051187e+02] [ 9.63184692e-01 2.68831387e-01 -2.22128461e-03 9.08198204e+01] [ 2.32847032e-03 -7.98582142e-05 9.99997286e-01 3.53249505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.06, Y:90.85, Z:0.35 [[ 2.70433805e-01 -9.62738310e-01 -7.09210276e-04 1.38059428e+02] [ 9.62735756e-01 2.70434722e-01 -2.21929009e-03 9.08458834e+01] [ 2.32839068e-03 -8.26110277e-05 9.99997286e-01 3.54016481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.07, Y:90.87, Z:0.36 [[ 2.73545465e-01 -9.61858818e-01 -7.01932885e-04 1.38069212e+02] [ 9.61856255e-01 2.73546358e-01 -2.22158066e-03 9.08734036e+01] [ 2.32885813e-03 -6.74552208e-05 9.99997286e-01 3.56264475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.08, Y:90.90, Z:0.36 [[ 2.75124340e-01 -9.61408395e-01 -7.04237323e-04 1.38078125e+02] [ 9.61405832e-01 2.75125233e-01 -2.22085589e-03 9.09005903e+01] [ 2.32890296e-03 -6.60463575e-05 9.99997286e-01 3.56878997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.09, Y:90.93, Z:0.36 [[ 2.77077815e-01 -9.60847223e-01 -7.05822529e-04 1.38086899e+02] [ 9.60844660e-01 2.77078707e-01 -2.22035768e-03 9.09277958e+01] [ 2.32899291e-03 -6.29739513e-05 9.99997286e-01 3.56859986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.09, Y:90.95, Z:0.36 [[ 2.81383799e-01 -9.59595049e-01 -7.06364902e-04 1.38094380e+02] [ 9.59592482e-01 2.81384681e-01 -2.22018730e-03 9.09530915e+01] [ 2.32924100e-03 -5.30977114e-05 9.99997286e-01 3.60138457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.10, Y:90.98, Z:0.36 [[ 2.82989927e-01 -9.59122628e-01 -6.97462024e-04 1.38103171e+02] [ 9.59120052e-01 2.82990784e-01 -2.22298059e-03 9.09807579e+01] [ 2.32948631e-03 -3.98686989e-05 9.99997286e-01 3.57286581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.11, Y:91.01, Z:0.36 [[ 2.84339191e-01 -9.58723491e-01 -7.00892861e-04 1.38111795e+02] [ 9.58720918e-01 2.84340052e-01 -2.22190503e-03 9.10081279e+01] [ 2.32948446e-03 -4.01859685e-05 9.99997286e-01 3.57696770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.12, Y:91.03, Z:0.36 [[ 2.87047317e-01 -9.57916144e-01 -7.05630160e-04 1.38119851e+02] [ 9.57913572e-01 2.87048182e-01 -2.22042047e-03 9.10339342e+01] [ 2.32952647e-03 -3.85669681e-05 9.99997286e-01 3.57868560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.13, Y:91.06, Z:0.36 [[ 2.89810267e-01 -9.57083861e-01 -7.01696251e-04 1.38128166e+02] [ 9.57081283e-01 2.89811115e-01 -2.22165245e-03 9.10587108e+01] [ 2.32966708e-03 -2.77226581e-05 9.99997286e-01 3.60816444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.13, Y:91.09, Z:0.36 [[ 2.87975526e-01 -9.57637516e-01 -6.95686422e-04 1.38132638e+02] [ 9.57634935e-01 2.87976365e-01 -2.22353277e-03 9.10856539e+01] [ 2.32967965e-03 -2.58906035e-05 9.99997286e-01 3.58399193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.14, Y:91.11, Z:0.36 [[ 2.89612774e-01 -9.57143651e-01 -6.86813145e-04 1.38141733e+02] [ 9.57141062e-01 2.89613588e-01 -2.22630681e-03 9.11136807e+01] [ 2.32980585e-03 -1.26101728e-05 9.99997286e-01 3.56470697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.15, Y:91.14, Z:0.36 [[ 2.91993492e-01 -9.56420057e-01 -6.89429353e-04 1.38150607e+02] [ 9.56417468e-01 2.91994306e-01 -2.22548931e-03 9.11415173e+01] [ 2.32981206e-03 -9.55388004e-06 9.99997286e-01 3.56637854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.16, Y:91.16, Z:0.36 [[ 2.94337220e-01 -9.55701375e-01 -6.94032114e-04 1.38157789e+02] [ 9.55698788e-01 2.94338039e-01 -2.22405152e-03 9.11642672e+01] [ 2.32980915e-03 -8.66450762e-06 9.99997286e-01 3.58439218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.17, Y:91.19, Z:0.36 [[ 2.95867440e-01 -9.55228772e-01 -6.72192169e-04 1.38170426e+02] [ 9.55226167e-01 2.95868203e-01 -2.23085498e-03 9.11942979e+01] [ 2.32985715e-03 1.79418030e-05 9.99997286e-01 3.60822594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.18, Y:91.22, Z:0.36 [[ 2.92706002e-01 -9.56202236e-01 -6.93287872e-04 1.38177215e+02] [ 9.56199649e-01 2.92706823e-01 -2.22427964e-03 9.12232066e+01] [ 2.32979126e-03 -1.18616186e-05 9.99997286e-01 3.57595805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.19, Y:91.25, Z:0.36 [[ 2.90804527e-01 -9.56782229e-01 -7.02250565e-04 1.38185280e+02] [ 9.56779650e-01 2.90805374e-01 -2.22148787e-03 9.12516909e+01] [ 2.32969835e-03 -2.58803209e-05 9.99997286e-01 3.56169408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.19, Y:91.28, Z:0.36 [[ 2.89751484e-01 -9.57101654e-01 -7.08582922e-04 1.38193346e+02] [ 9.57099081e-01 2.89752348e-01 -2.21951649e-03 9.12790902e+01] [ 2.32961647e-03 -3.50758677e-05 9.99997286e-01 3.55188072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.20, Y:91.30, Z:0.36 [[ 2.91161807e-01 -9.56673557e-01 -7.12515034e-04 1.38201383e+02] [ 9.56670986e-01 2.91162677e-01 -2.21829459e-03 9.13037614e+01] [ 2.32964156e-03 -3.57597988e-05 9.99997286e-01 3.57392165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.21, Y:91.33, Z:0.36 [[ 2.92264083e-01 -9.56337400e-01 -6.94902472e-04 1.38209666e+02] [ 9.56334815e-01 2.92264909e-01 -2.22375673e-03 9.13287907e+01] [ 2.32975734e-03 -1.46352040e-05 9.99997286e-01 3.61793811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.22, Y:91.36, Z:0.36 [[ 2.89609813e-01 -9.57144545e-01 -6.89457202e-04 1.38217012e+02] [ 9.57141958e-01 2.89610634e-01 -2.22544371e-03 9.13555167e+01] [ 2.32974545e-03 -1.53980784e-05 9.99997286e-01 3.56741447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.23, Y:91.38, Z:0.36 [[ 2.89224623e-01 -9.57261012e-01 -6.87050272e-04 1.38225414e+02] [ 9.57258424e-01 2.89225438e-01 -2.22618910e-03 9.13828947e+01] [ 2.32975645e-03 -1.38159567e-05 9.99997286e-01 3.59728319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.23, Y:91.41, Z:0.36 [[ 2.87432095e-01 -9.57800770e-01 -6.89132069e-04 1.38234279e+02] [ 9.57798185e-01 2.87432920e-01 -2.22554480e-03 9.14116652e+01] [ 2.32970777e-03 -2.03564395e-05 9.99997286e-01 3.57339426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.24, Y:91.44, Z:0.36 [[ 2.87755441e-01 -9.57703666e-01 -7.02608333e-04 1.38241400e+02] [ 9.57701091e-01 2.87756297e-01 -2.22137684e-03 9.14368806e+01] [ 2.32960072e-03 -3.36754944e-05 9.99997286e-01 3.59369025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.25, Y:91.46, Z:0.36 [[ 2.87034101e-01 -9.57920118e-01 -6.87199377e-04 1.38248746e+02] [ 9.57917532e-01 2.87034923e-01 -2.22613353e-03 9.14639024e+01] [ 2.32970831e-03 -1.93040954e-05 9.99997286e-01 3.60500981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.26, Y:91.49, Z:0.36 [[ 2.87248134e-01 -9.57855960e-01 -6.85932305e-04 1.38257458e+02] [ 9.57853372e-01 2.87248952e-01 -2.22652430e-03 9.14908307e+01] [ 2.32972290e-03 -1.74576216e-05 9.99997286e-01 3.59293621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.26, Y:91.52, Z:0.36 [[ 2.87671598e-01 -9.57728861e-01 -6.92917708e-04 1.38264317e+02] [ 9.57726279e-01 2.87672431e-01 -2.22436935e-03 9.15154793e+01] [ 2.32967604e-03 -2.37376148e-05 9.99997286e-01 3.63113538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.27, Y:91.54, Z:0.36 [[ 2.87942541e-01 -9.57647441e-01 -6.86173240e-04 1.38271060e+02] [ 9.57644853e-01 2.87943358e-01 -2.22644794e-03 9.15425983e+01] [ 2.32973120e-03 -1.60211947e-05 9.99997286e-01 3.63966633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.28, Y:91.57, Z:0.36 [[ 2.87878110e-01 -9.57666812e-01 -6.85561525e-04 1.38280458e+02] [ 9.57664224e-01 2.87878926e-01 -2.22663628e-03 9.15725222e+01] [ 2.32973438e-03 -1.55379015e-05 9.99997286e-01 3.61300593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:138.29, Y:91.60, Z:0.36 [[ 2.87600647e-01 -9.57750165e-01 -6.99964204e-04 1.38286833e+02] [ 9.57747587e-01 2.87601497e-01 -2.22220309e-03 9.15986177e+01] [ 2.32962613e-03 -3.12819813e-05 9.99997286e-01 3.60424680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:138.29, Y:91.63, Z:0.36 [[ 2.87229683e-01 -9.57861483e-01 -6.98343130e-04 1.38294537e+02] [ 9.57858905e-01 2.87230530e-01 -2.22270146e-03 9.16261710e+01] [ 2.32962559e-03 -3.04883499e-05 9.99997286e-01 3.60626764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.30, Y:91.65, Z:0.36 [[ 2.87335294e-01 -9.57829809e-01 -6.97311934e-04 1.38302747e+02] [ 9.57827229e-01 2.87336139e-01 -2.22301806e-03 9.16537752e+01] [ 2.32963588e-03 -2.91528090e-05 9.99997286e-01 3.61596350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22361786499997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:138.31, Y:91.68, Z:0.36 [[ 2.87544786e-01 -9.57766939e-01 -6.97793408e-04 1.38309358e+02] [ 9.57764360e-01 2.87545632e-01 -2.22287036e-03 9.16798532e+01] [ 2.32963918e-03 -2.91468744e-05 9.99997286e-01 3.61163402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.32, Y:91.71, Z:0.36 [[ 2.87001880e-01 -9.57929773e-01 -6.86934200e-04 1.38315745e+02] [ 9.57927186e-01 2.87002701e-01 -2.22619808e-03 9.17083648e+01] [ 2.32969340e-03 -1.91099106e-05 9.99997286e-01 3.60209718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.32, Y:91.73, Z:0.36 [[ 2.88465391e-01 -9.57490076e-01 -6.87835932e-04 1.38322483e+02] [ 9.57487488e-01 2.88466211e-01 -2.22592189e-03 9.17331407e+01] [ 2.32971554e-03 -1.64928704e-05 9.99997286e-01 3.61350067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.33, Y:91.76, Z:0.36 [[ 2.88337615e-01 -9.57528569e-01 -6.78301068e-04 1.38330222e+02] [ 9.57525975e-01 2.88338412e-01 -2.22883883e-03 9.17600986e+01] [ 2.32975711e-03 -6.83281826e-06 9.99997286e-01 3.63482130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34361786499997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:138.34, Y:91.79, Z:0.36 [[ 2.88705453e-01 -9.57417724e-01 -6.81102598e-04 1.38337954e+02] [ 9.57415131e-01 2.88706256e-01 -2.22798240e-03 9.17874521e+01] [ 2.32974841e-03 -8.86726685e-06 9.99997286e-01 3.62349334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37361786499997 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:138.34, Y:91.81, Z:0.36 [[ 2.87937238e-01 -9.57649040e-01 -6.80475164e-04 1.38344279e+02] [ 9.57646448e-01 2.87938042e-01 -2.22817401e-03 9.18126370e+01] [ 2.32974339e-03 -1.00803534e-05 9.99997286e-01 3.64704988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.35, Y:91.84, Z:0.36 [[ 2.86092956e-01 -9.58201630e-01 -6.75365338e-04 1.38351247e+02] [ 9.58199036e-01 2.86093753e-01 -2.22973211e-03 9.18411452e+01] [ 2.32975074e-03 -9.22376664e-06 9.99997286e-01 3.61094290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43361786499997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:138.36, Y:91.87, Z:0.36 [[ 2.86225940e-01 -9.58161909e-01 -6.83378104e-04 1.38357585e+02] [ 9.58159321e-01 2.86226756e-01 -2.22729548e-03 9.18660395e+01] [ 2.32971079e-03 -1.72753563e-05 9.99997286e-01 3.62001591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.37, Y:91.89, Z:0.36 [[ 2.86741673e-01 -9.58007701e-01 -6.77172773e-04 1.38366088e+02] [ 9.58005107e-01 2.86742472e-01 -2.22918051e-03 9.18925123e+01] [ 2.32974629e-03 -9.53602474e-06 9.99997286e-01 3.63934229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.37, Y:91.92, Z:0.36 [[ 2.86759647e-01 -9.58002321e-01 -6.76536244e-04 1.38373529e+02] [ 9.57999727e-01 2.86760445e-01 -2.22937368e-03 9.19189587e+01] [ 2.32974899e-03 -8.82712912e-06 9.99997286e-01 3.62178801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.38, Y:91.95, Z:0.36 [[ 2.85001541e-01 -9.58526823e-01 -6.71398048e-04 1.38379882e+02] [ 9.58524227e-01 2.85002332e-01 -2.23093096e-03 9.19473323e+01] [ 2.32975717e-03 -7.73253342e-06 9.99997286e-01 3.64594763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.40, Y:91.98, Z:0.36 [[ 2.91652876e-01 -9.56523990e-01 -6.75585224e-04 1.38399385e+02] [ 9.56521391e-01 2.91653659e-01 -2.22966225e-03 9.19822224e+01] [ 2.32976233e-03 4.07568894e-06 9.99997286e-01 3.64650838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.41, Y:92.01, Z:0.36 [[ 2.91087006e-01 -9.56696300e-01 -7.38261916e-04 1.38407449e+02] [ 9.56693748e-01 2.91087935e-01 -2.21064015e-03 9.20095925e+01] [ 2.32981039e-03 -6.28019380e-05 9.99997284e-01 3.64740291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.41, Y:92.03, Z:0.36 [[ 2.91390906e-01 -9.56603783e-01 -7.36269724e-04 1.38413688e+02] [ 9.56601229e-01 2.91391830e-01 -2.21124399e-03 9.20337617e+01] [ 2.32982735e-03 -5.99801346e-05 9.99997284e-01 3.60396655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.42, Y:92.06, Z:0.36 [[ 2.88432880e-01 -9.57499840e-01 -7.27710220e-04 1.38415599e+02] [ 9.57497283e-01 2.88433792e-01 -2.21384425e-03 9.20569173e+01] [ 2.32965174e-03 -5.82350838e-05 9.99997285e-01 3.63709634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.42, Y:92.08, Z:0.36 [[ 2.87631121e-01 -9.57741017e-01 -6.95237368e-04 1.38422410e+02] [ 9.57738435e-01 2.87631960e-01 -2.22367974e-03 9.20826311e+01] [ 2.32968179e-03 -2.62560514e-05 9.99997286e-01 3.64399449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.43, Y:92.11, Z:0.37 [[ 2.87789459e-01 -9.57693452e-01 -6.92164957e-04 1.38431542e+02] [ 9.57690869e-01 2.87790290e-01 -2.22460919e-03 9.21112906e+01] [ 2.32969201e-03 -2.26609852e-05 9.99997286e-01 3.65821733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.44, Y:92.14, Z:0.37 [[ 2.86666266e-01 -9.58030254e-01 -6.96510080e-04 1.38441514e+02] [ 9.58027674e-01 2.86667110e-01 -2.22330028e-03 9.21430504e+01] [ 2.32965546e-03 -2.99307432e-05 9.99997286e-01 3.65245305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.45, Y:92.17, Z:0.37 [[ 2.87957484e-01 -9.57642924e-01 -7.19506210e-04 1.38448895e+02] [ 9.57640360e-01 2.87958378e-01 -2.21636926e-03 9.21691402e+01] [ 2.32967818e-03 -5.08080707e-05 9.99997285e-01 3.66440142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.45, Y:92.19, Z:0.37 [[ 2.87255309e-01 -9.57853784e-01 -7.17796091e-04 1.38453845e+02] [ 9.57851220e-01 2.87256201e-01 -2.21688543e-03 9.21935730e+01] [ 2.32964347e-03 -5.07297539e-05 9.99997285e-01 3.67458980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.46, Y:92.22, Z:0.37 [[ 2.86080358e-01 -9.58205371e-01 -7.03492924e-04 1.38461300e+02] [ 9.58202798e-01 2.86081220e-01 -2.22119297e-03 9.22215686e+01] [ 2.32961515e-03 -3.86492090e-05 9.99997286e-01 3.65219327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.47, Y:92.25, Z:0.36 [[ 2.83944200e-01 -9.58840544e-01 -7.09236194e-04 1.38465135e+02] [ 9.58837976e-01 2.83945082e-01 -2.21946472e-03 9.22468551e+01] [ 2.32949688e-03 -4.98384621e-05 9.99997285e-01 3.63943373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:138.47, Y:92.27, Z:0.37 [[ 2.83905610e-01 -9.58851977e-01 -7.00689463e-04 1.38471510e+02] [ 9.58849403e-01 2.83906472e-01 -2.22203209e-03 9.22715495e+01] [ 2.32953013e-03 -4.10082970e-05 9.99997286e-01 3.65005993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.47, Y:92.30, Z:0.36 [[ 2.79505868e-01 -9.60143736e-01 -6.89429097e-04 1.38473477e+02] [ 9.60141158e-01 2.79506715e-01 -2.22540865e-03 9.22977889e+01] [ 2.32941223e-03 -3.99344778e-05 9.99997286e-01 3.62963006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:138.48, Y:92.32, Z:0.36 [[ 2.76861468e-01 -9.60909606e-01 -6.75214173e-04 1.38478593e+02] [ 9.60907020e-01 2.76862290e-01 -2.22966355e-03 9.23244113e+01] [ 2.32944647e-03 -3.15101138e-05 9.99997286e-01 3.63235714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.49, Y:92.35, Z:0.36 [[ 2.76597802e-01 -9.60985536e-01 -6.74862114e-04 1.38486628e+02] [ 9.60982950e-01 2.76598624e-01 -2.22976885e-03 9.23511844e+01] [ 2.32944154e-03 -3.17818215e-05 9.99997286e-01 3.64684935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.49, Y:92.38, Z:0.36 [[ 2.71710763e-01 -9.62378724e-01 -6.72312187e-04 1.38492337e+02] [ 9.62376140e-01 2.71711592e-01 -2.23053073e-03 9.23791785e+01] [ 2.32929033e-03 -4.09580001e-05 9.99997286e-01 3.62398542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.03361786499997 meters Centerline goodness : 0.995358 Centerline is valid? [True, True] Translation: X:138.50, Y:92.40, Z:0.37 [[ 2.70533183e-01 -9.62710415e-01 -6.73271394e-04 1.38498340e+02] [ 9.62707833e-01 2.70534017e-01 -2.23024370e-03 9.24014106e+01] [ 2.32922166e-03 -4.48087177e-05 9.99997286e-01 3.67155270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.51, Y:92.43, Z:0.36 [[ 2.69920797e-01 -9.62882304e-01 -6.56751329e-04 1.38506883e+02] [ 9.62879711e-01 2.69921594e-01 -2.23517153e-03 9.24284654e+01] [ 2.32947848e-03 -2.90532498e-05 9.99997286e-01 3.64740794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.51, Y:92.46, Z:0.36 [[ 2.68929981e-01 -9.63159499e-01 -6.67184596e-04 1.38514635e+02] [ 9.63156913e-01 2.68930805e-01 -2.23206372e-03 9.24552940e+01] [ 2.32925986e-03 -4.23346020e-05 9.99997286e-01 3.64965695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.52, Y:92.49, Z:0.36 [[ 2.64715900e-01 -9.64326217e-01 -6.63237926e-04 1.38522758e+02] [ 9.64323632e-01 2.64716726e-01 -2.23323821e-03 9.24861603e+01] [ 2.32914032e-03 -4.84023443e-05 9.99997286e-01 3.64962945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.53, Y:92.51, Z:0.37 [[ 2.64475455e-01 -9.64392177e-01 -6.80581923e-04 1.38529156e+02] [ 9.64389605e-01 2.64476322e-01 -2.22807931e-03 9.25110225e+01] [ 2.32874005e-03 -6.70738437e-05 9.99997286e-01 3.66008191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.54, Y:92.54, Z:0.37 [[ 2.62807348e-01 -9.64848101e-01 -6.63248128e-04 1.38535118e+02] [ 9.64845518e-01 2.62808180e-01 -2.23322728e-03 9.25371892e+01] [ 2.32903214e-03 -5.30234432e-05 9.99997286e-01 3.65017791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21361786499997 meters Centerline goodness : 0.994075 Centerline is valid? [True, True] Translation: X:138.54, Y:92.57, Z:0.37 [[ 2.59020750e-01 -9.65871530e-01 -6.62696018e-04 1.38540203e+02] [ 9.65868950e-01 2.59021591e-01 -2.23339111e-03 9.25655702e+01] [ 2.32882146e-03 -6.15828671e-05 9.99997286e-01 3.68415637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.55, Y:92.59, Z:0.36 [[ 2.59588882e-01 -9.65718987e-01 -6.71647003e-04 1.38546512e+02] [ 9.65716413e-01 2.59589742e-01 -2.23073767e-03 9.25895356e+01] [ 2.32861839e-03 -6.95458370e-05 9.99997286e-01 3.62255341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.55, Y:92.62, Z:0.36 [[ 2.59049539e-01 -9.65863809e-01 -6.62540575e-04 1.38552469e+02] [ 9.65861229e-01 2.59050379e-01 -2.23342813e-03 9.26165417e+01] [ 2.32881879e-03 -6.13537272e-05 9.99997286e-01 3.63477175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.56, Y:92.64, Z:0.37 [[ 2.62227485e-01 -9.65005859e-01 -6.61347273e-04 1.38560759e+02] [ 9.65003276e-01 2.62228314e-01 -2.23378034e-03 9.26434080e+01] [ 2.32903510e-03 -5.24436846e-05 9.99997286e-01 3.66967037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.57, Y:92.67, Z:0.37 [[ 2.62474696e-01 -9.64938651e-01 -6.59033549e-04 1.38566748e+02] [ 9.64936065e-01 2.62475519e-01 -2.23446275e-03 9.26731759e+01] [ 2.32909964e-03 -4.94353077e-05 9.99997286e-01 3.65607468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.57, Y:92.70, Z:0.37 [[ 2.63821571e-01 -9.64571270e-01 -6.66758918e-04 1.38571382e+02] [ 9.64568688e-01 2.63822408e-01 -2.23218435e-03 9.26998195e+01] [ 2.32900684e-03 -5.42363923e-05 9.99997286e-01 3.65791467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.58, Y:92.73, Z:0.36 [[ 2.64402982e-01 -9.64412062e-01 -6.61357190e-04 1.38578025e+02] [ 9.64409476e-01 2.64403805e-01 -2.23377581e-03 9.27254518e+01] [ 2.32914569e-03 -4.72021564e-05 9.99997286e-01 3.64046764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.59, Y:92.75, Z:0.37 [[ 2.64936856e-01 -9.64265541e-01 -6.54366035e-04 1.38585614e+02] [ 9.64262950e-01 2.64937661e-01 -2.23583358e-03 9.27543273e+01] [ 2.32930349e-03 -3.86262030e-05 9.99997286e-01 3.67400918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.59, Y:92.78, Z:0.37 [[ 2.66369431e-01 -9.63870784e-01 -6.62219474e-04 1.38592626e+02] [ 9.63868197e-01 2.66370251e-01 -2.23352205e-03 9.27798383e+01] [ 2.32922221e-03 -4.33502923e-05 9.99997286e-01 3.65092347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.60, Y:92.81, Z:0.37 [[ 2.69109451e-01 -9.63109381e-01 -6.50644013e-04 1.38602932e+02] [ 9.63106784e-01 2.69110236e-01 -2.23692475e-03 9.28123141e+01] [ 2.32949818e-03 -2.46620706e-05 9.99997286e-01 3.70062750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.61, Y:92.84, Z:0.37 [[ 2.69312566e-01 -9.63052584e-01 -6.79896822e-04 1.38610843e+02] [ 9.63050007e-01 2.69313419e-01 -2.22833028e-03 9.28406776e+01] [ 2.32910457e-03 -5.46572941e-05 9.99997286e-01 3.70328329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.62, Y:92.87, Z:0.37 [[ 2.69562197e-01 -9.62982738e-01 -6.84358656e-04 1.38618935e+02] [ 9.62980165e-01 2.69563059e-01 -2.22702009e-03 9.28692371e+01] [ 2.32905972e-03 -5.87033823e-05 9.99997286e-01 3.66972906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.63, Y:92.90, Z:0.37 [[ 2.70908489e-01 -9.62604847e-01 -7.07036506e-04 1.38626769e+02] [ 9.62602289e-01 2.70909400e-01 -2.22033261e-03 9.28952848e+01] [ 2.32884577e-03 -7.90880061e-05 9.99997285e-01 3.71682875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.63, Y:92.92, Z:0.37 [[ 2.70454240e-01 -9.62732578e-01 -6.98228308e-04 1.38634214e+02] [ 9.62730014e-01 2.70455132e-01 -2.22292538e-03 9.29218954e+01] [ 2.32892211e-03 -7.10057533e-05 9.99997286e-01 3.69820683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63361786499996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:138.64, Y:92.95, Z:0.37 [[ 2.69441215e-01 -9.63016588e-01 -6.94687763e-04 1.38642380e+02] [ 9.63014023e-01 2.69442102e-01 -2.22396242e-03 9.29510430e+01] [ 2.32889083e-03 -6.97669215e-05 9.99997286e-01 3.70440314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.65, Y:92.98, Z:0.37 [[ 2.67911658e-01 -9.63443227e-01 -7.00743626e-04 1.38649554e+02] [ 9.63440668e-01 2.67912562e-01 -2.22219199e-03 9.29792868e+01] [ 2.32869384e-03 -7.97737672e-05 9.99997285e-01 3.71197595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.66, Y:93.01, Z:0.37 [[ 2.64489200e-01 -9.64388392e-01 -7.02187361e-04 1.38656644e+02] [ 9.64385837e-01 2.64490117e-01 -2.22177026e-03 9.30122605e+01] [ 2.32837107e-03 -8.95453060e-05 9.99997285e-01 3.69335144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.66, Y:93.03, Z:0.37 [[ 2.68488850e-01 -9.63282500e-01 -7.50754823e-04 1.38664846e+02] [ 9.63279979e-01 2.68489868e-01 -2.20749136e-03 9.30298700e+01] [ 2.32800786e-03 -1.30500273e-04 9.99997282e-01 3.68540016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.67, Y:93.06, Z:0.37 [[ 2.67019337e-01 -9.63690923e-01 -6.92402690e-04 1.38671284e+02] [ 9.63688358e-01 2.67020225e-01 -2.22450839e-03 9.30597085e+01] [ 2.32862407e-03 -7.32736546e-05 9.99997286e-01 3.72314747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.68, Y:93.09, Z:0.37 [[ 2.67422887e-01 -9.63579010e-01 -7.00588248e-04 1.38679929e+02] [ 9.63576451e-01 2.67423793e-01 -2.22212384e-03 9.30868043e+01] [ 2.32854586e-03 -8.08235647e-05 9.99997286e-01 3.73703841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.69, Y:93.11, Z:0.37 [[ 2.67548987e-01 -9.63544001e-01 -7.05932180e-04 1.38685483e+02] [ 9.63541446e-01 2.67549905e-01 -2.22056864e-03 9.31090658e+01] [ 2.32848768e-03 -8.60840231e-05 9.99997285e-01 3.69181183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.69, Y:93.13, Z:0.37 [[ 2.68727770e-01 -9.63215924e-01 -6.84552064e-04 1.38692342e+02] [ 9.63213352e-01 2.68728635e-01 -2.22678087e-03 9.31332513e+01] [ 2.32882954e-03 -6.09718307e-05 9.99997286e-01 3.66980000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.70, Y:93.16, Z:0.37 [[ 2.67157158e-01 -9.63652739e-01 -6.71832670e-04 1.38699361e+02] [ 9.63650159e-01 2.67157998e-01 -2.23046731e-03 9.31582173e+01] [ 2.32888141e-03 -5.15263511e-05 9.99997287e-01 3.66764811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.71, Y:93.19, Z:0.37 [[ 2.64051828e-01 -9.64508267e-01 -6.59147922e-04 1.38707541e+02] [ 9.64505681e-01 2.64052647e-01 -2.23413575e-03 9.31939222e+01] [ 2.32889215e-03 -4.58242855e-05 9.99997287e-01 3.70777331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.71, Y:93.22, Z:0.37 [[ 2.64745073e-01 -9.64318178e-01 -7.05150552e-04 1.38712893e+02] [ 9.64315626e-01 2.64745996e-01 -2.22080916e-03 9.32173885e+01] [ 2.32825243e-03 -9.20394121e-05 9.99997285e-01 3.72712664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.71, Y:93.24, Z:0.37 [[ 2.57849254e-01 -9.66184915e-01 -6.86778404e-04 1.38709693e+02] [ 9.66182355e-01 2.57850153e-01 -2.22612150e-03 9.32401537e+01] [ 2.32793093e-03 -8.95494078e-05 9.99997286e-01 3.72019172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.73, Y:93.27, Z:0.37 [[ 2.61778354e-01 -9.65127804e-01 -6.44840559e-04 1.38726265e+02] [ 9.65125209e-01 2.61779146e-01 -2.23820406e-03 9.32726710e+01] [ 2.32895878e-03 -3.64385044e-05 9.99997287e-01 3.73188180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.73, Y:93.29, Z:0.37 [[ 2.61279979e-01 -9.65262813e-01 -6.88164061e-04 1.38730513e+02] [ 9.65260251e-01 2.61280872e-01 -2.22570716e-03 9.32949188e+01] [ 2.32819646e-03 -8.27246945e-05 9.99997286e-01 3.72523137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:138.74, Y:93.33, Z:0.37 [[ 2.56289910e-01 -9.66599736e-01 -6.58211486e-04 1.38738248e+02] [ 9.66597155e-01 2.56290747e-01 -2.23431903e-03 9.33270283e+01] [ 2.32838570e-03 -6.35919269e-05 9.99997287e-01 3.69345764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.74, Y:93.35, Z:0.37 [[ 2.60143255e-01 -9.65569791e-01 -6.81995658e-04 1.38744323e+02] [ 9.65567225e-01 2.60144137e-01 -2.22747768e-03 9.33492386e+01] [ 2.32820234e-03 -7.90493585e-05 9.99997287e-01 3.73084658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.75, Y:93.37, Z:0.37 [[ 2.59508391e-01 -9.65740629e-01 -6.56885090e-04 1.38750507e+02] [ 9.65738046e-01 2.59509217e-01 -2.23468881e-03 9.33730229e+01] [ 2.32859752e-03 -5.44584246e-05 9.99997287e-01 3.70322629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.76, Y:93.41, Z:0.37 [[ 2.58795292e-01 -9.65931977e-01 -6.42743048e-04 1.38760372e+02] [ 9.65929383e-01 2.58796087e-01 -2.23874266e-03 9.34055291e+01] [ 2.32881251e-03 -4.14683364e-05 9.99997287e-01 3.72502219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.77, Y:93.43, Z:0.37 [[ 2.58792729e-01 -9.65932642e-01 -6.73750838e-04 1.38768284e+02] [ 9.65930071e-01 2.58793596e-01 -2.22984795e-03 9.34332539e+01] [ 2.32824533e-03 -7.37277566e-05 9.99997287e-01 3.73192527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.78, Y:93.46, Z:0.37 [[ 2.58426289e-01 -9.66030746e-01 -6.72103188e-04 1.38775922e+02] [ 9.66028174e-01 2.58427153e-01 -2.23031997e-03 9.34599372e+01] [ 2.32824738e-03 -7.28973007e-05 9.99997287e-01 3.73099167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.78, Y:93.49, Z:0.37 [[ 2.57957795e-01 -9.66155954e-01 -6.70073685e-04 1.38783681e+02] [ 9.66153381e-01 2.57958655e-01 -2.23090057e-03 9.34874068e+01] [ 2.32824918e-03 -7.19157635e-05 9.99997287e-01 3.72761585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.79, Y:93.51, Z:0.37 [[ 2.54921879e-01 -9.66961420e-01 -6.68510055e-04 1.38786635e+02] [ 9.66958849e-01 2.54922744e-01 -2.23134729e-03 9.35101895e+01] [ 2.32804516e-03 -7.76024698e-05 9.99997287e-01 3.73075883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.80, Y:93.54, Z:0.37 [[ 2.55041066e-01 -9.66930011e-01 -6.38347700e-04 1.38799380e+02] [ 9.66927418e-01 2.55041861e-01 -2.23994307e-03 9.35407825e+01] [ 2.32867357e-03 -4.59584237e-05 9.99997288e-01 3.74511069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.81, Y:93.57, Z:0.38 [[ 2.52115641e-01 -9.67696886e-01 -6.63532800e-04 1.38806523e+02] [ 9.67694313e-01 2.52116502e-01 -2.23276993e-03 9.35668730e+01] [ 2.32793207e-03 -7.91806959e-05 9.99997287e-01 3.75522178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.81, Y:93.59, Z:0.38 [[ 2.51607662e-01 -9.67829097e-01 -6.51325295e-04 1.38814162e+02] [ 9.67826515e-01 2.51608496e-01 -2.23623687e-03 9.35926537e+01] [ 2.32817408e-03 -6.77155602e-05 9.99997288e-01 3.76192750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.82, Y:93.62, Z:0.38 [[ 2.51131542e-01 -9.67952756e-01 -6.41564736e-04 1.38823094e+02] [ 9.67950168e-01 2.51132354e-01 -2.23900504e-03 9.36204024e+01] [ 2.32836876e-03 -5.87179055e-05 9.99997288e-01 3.76448386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.83, Y:93.65, Z:0.38 [[ 2.48704340e-01 -9.68579236e-01 -6.43662065e-04 1.38830085e+02] [ 9.68576652e-01 2.48705164e-01 -2.23841075e-03 9.36451971e+01] [ 2.32816026e-03 -6.67335790e-05 9.99997288e-01 3.76164058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44361786499996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:138.84, Y:93.67, Z:0.37 [[ 2.47005168e-01 -9.69013958e-01 -6.28626903e-04 1.38837357e+02] [ 9.69011365e-01 2.47005962e-01 -2.24266418e-03 9.36722694e+01] [ 2.32844748e-03 -5.51969717e-05 9.99997288e-01 3.72445846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.85, Y:93.70, Z:0.37 [[ 2.46520040e-01 -9.69137493e-01 -6.24046310e-04 1.38845975e+02] [ 9.69134897e-01 2.46520824e-01 -2.24395941e-03 9.36993192e+01] [ 2.32854561e-03 -5.16040939e-05 9.99997288e-01 3.72669768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.85, Y:93.73, Z:0.37 [[ 2.46398520e-01 -9.69168397e-01 -6.22928789e-04 1.38853438e+02] [ 9.69165799e-01 2.46399303e-01 -2.24427517e-03 9.37258157e+01] [ 2.32856979e-03 -5.07351957e-05 9.99997288e-01 3.72733527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.86, Y:93.75, Z:0.37 [[ 2.44935311e-01 -9.69539224e-01 -6.22462113e-04 1.38862126e+02] [ 9.69536627e-01 2.44936096e-01 -2.24440695e-03 9.37512794e+01] [ 2.32850401e-03 -5.37653023e-05 9.99997288e-01 3.71463999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56361786499997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:138.87, Y:93.78, Z:0.37 [[ 2.45470564e-01 -9.69403846e-01 -6.20824483e-04 1.38872311e+02] [ 9.69401248e-01 2.45471344e-01 -2.24486910e-03 9.37792530e+01] [ 2.32857935e-03 -5.07787456e-05 9.99997288e-01 3.71175201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.88, Y:93.81, Z:0.37 [[ 2.44491309e-01 -9.69651279e-01 -6.30929308e-04 1.38880136e+02] [ 9.69648689e-01 2.44492114e-01 -2.24201820e-03 9.38055108e+01] [ 2.32823305e-03 -6.36258131e-05 9.99997288e-01 3.71128238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62361786499997 meters Centerline goodness : 0.996923 Centerline is valid? [True, True] Translation: X:138.89, Y:93.83, Z:0.37 [[ 2.45432278e-01 -9.69413537e-01 -6.25560791e-04 1.38890568e+02] [ 9.69410942e-01 2.45433069e-01 -2.24352861e-03 9.38338914e+01] [ 2.32844031e-03 -5.57911402e-05 9.99997288e-01 3.70306536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.89, Y:93.86, Z:0.37 [[ 2.42206048e-01 -9.70224623e-01 -6.41867951e-04 1.38894595e+02] [ 9.70222043e-01 2.42206885e-01 -2.23894204e-03 9.38576378e+01] [ 2.32774153e-03 -8.04691310e-05 9.99997288e-01 3.67679971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.90, Y:93.89, Z:0.37 [[ 2.42127145e-01 -9.70244334e-01 -6.15499605e-04 1.38903145e+02] [ 9.70241735e-01 2.42127921e-01 -2.24637482e-03 9.38856875e+01] [ 2.32856208e-03 -5.32750831e-05 9.99997287e-01 3.67297560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.91, Y:93.91, Z:0.37 [[ 2.40570691e-01 -9.70631424e-01 -6.17172999e-04 1.38909549e+02] [ 9.70628828e-01 2.40571476e-01 -2.24590339e-03 9.39114367e+01] [ 2.32841863e-03 -5.87473725e-05 9.99997288e-01 3.66396208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.92, Y:93.94, Z:0.37 [[ 2.40000403e-01 -9.70772595e-01 -6.12831699e-04 1.38918431e+02] [ 9.70769996e-01 2.40001179e-01 -2.24712593e-03 9.39391230e+01] [ 2.32852860e-03 -5.56074972e-05 9.99997287e-01 3.66293773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.93, Y:93.97, Z:0.38 [[ 2.42982078e-01 -9.70030583e-01 -6.15138194e-04 1.38930999e+02] [ 9.70027983e-01 2.42982851e-01 -2.24647670e-03 9.39672097e+01] [ 2.32861914e-03 -5.08476835e-05 9.99997287e-01 3.75180823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.94, Y:93.99, Z:0.38 [[ 2.42716359e-01 -9.70097093e-01 -6.31205809e-04 1.38938096e+02] [ 9.70094505e-01 2.42717170e-01 -2.24195298e-03 9.39939891e+01] [ 2.32811656e-03 -6.81706208e-05 9.99997288e-01 3.75083671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.95, Y:94.02, Z:0.37 [[ 2.42982686e-01 -9.70030420e-01 -6.30597451e-04 1.38945411e+02] [ 9.70027832e-01 2.42983495e-01 -2.24212408e-03 9.40215922e+01] [ 2.32815334e-03 -6.68997460e-05 9.99997288e-01 3.74830012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.95, Y:94.05, Z:0.37 [[ 2.43680071e-01 -9.69855467e-01 -6.29991899e-04 1.38952348e+02] [ 9.69852877e-01 2.43680877e-01 -2.24229422e-03 9.40480926e+01] [ 2.32821828e-03 -6.45970400e-05 9.99997288e-01 3.74487744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.96, Y:94.08, Z:0.37 [[ 2.46611190e-01 -9.69114299e-01 -6.29353540e-04 1.38959102e+02] [ 9.69111706e-01 2.46611987e-01 -2.24247338e-03 9.40754496e+01] [ 2.32841914e-03 -5.68948548e-05 9.99997288e-01 3.73829865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.97, Y:94.10, Z:0.37 [[ 2.48287177e-01 -9.68686266e-01 -6.28749451e-04 1.38965690e+02] [ 9.68683672e-01 2.48287967e-01 -2.24264274e-03 9.41017305e+01] [ 2.32852814e-03 -5.22398931e-05 9.99997288e-01 3.73584290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.97, Y:94.13, Z:0.37 [[ 2.50078895e-01 -9.68225259e-01 -6.28111653e-04 1.38972194e+02] [ 9.68222662e-01 2.50079680e-01 -2.24282136e-03 9.41276427e+01] [ 2.32863425e-03 -4.72696496e-05 9.99997288e-01 3.73514205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.98, Y:94.16, Z:0.37 [[ 2.52100393e-01 -9.67700883e-01 -6.27479613e-04 1.38979597e+02] [ 9.67698284e-01 2.52101170e-01 -2.24299817e-03 9.41552168e+01] [ 2.32873965e-03 -4.17502258e-05 9.99997288e-01 3.73649622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.99, Y:94.18, Z:0.37 [[ 2.55772278e-01 -9.66736856e-01 -6.26866858e-04 1.38985710e+02] [ 9.66734254e-01 2.55773045e-01 -2.24316941e-03 9.41812756e+01] [ 2.32889019e-03 -3.22731135e-05 9.99997288e-01 3.73666801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.99, Y:94.21, Z:0.37 [[ 2.57318232e-01 -9.66326516e-01 -6.26220492e-04 1.38992592e+02] [ 9.66323912e-01 2.57318992e-01 -2.24334984e-03 9.42083874e+01] [ 2.32894686e-03 -2.78770223e-05 9.99997288e-01 3.73514563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.00, Y:94.24, Z:0.37 [[ 2.58941707e-01 -9.65892748e-01 -6.25634265e-04 1.38999399e+02] [ 9.65890143e-01 2.58942461e-01 -2.24351332e-03 9.42357909e+01] [ 2.32899652e-03 -2.33548026e-05 9.99997288e-01 3.73724777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10361786499996 meters Centerline goodness : 0.995938 Centerline is valid? [True, True] Translation: X:139.01, Y:94.26, Z:0.37 [[ 2.61015058e-01 -9.65334527e-01 -6.25032708e-04 1.39005006e+02] [ 9.65331920e-01 2.61015806e-01 -2.24368089e-03 9.42622041e+01] [ 2.32904605e-03 -1.77295242e-05 9.99997288e-01 3.72868816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.01, Y:94.29, Z:0.37 [[ 2.62793400e-01 -9.64851921e-01 -6.32268562e-04 1.39011223e+02] [ 9.64849317e-01 2.62794160e-01 -2.24166690e-03 9.42866816e+01] [ 2.32903310e-03 -2.09486243e-05 9.99997288e-01 3.73627055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.02, Y:94.31, Z:0.37 [[ 2.62877141e-01 -9.64829116e-01 -6.21358506e-04 1.39018433e+02] [ 9.64826505e-01 2.62877875e-01 -2.24470050e-03 9.43145652e+01] [ 2.32909380e-03 -9.42270619e-06 9.99997288e-01 3.73938789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.03, Y:94.34, Z:0.37 [[ 2.62958999e-01 -9.64806808e-01 -6.23569063e-04 1.39025474e+02] [ 9.64804198e-01 2.62959738e-01 -2.24408625e-03 9.43413448e+01] [ 2.32908325e-03 -1.15193745e-05 9.99997288e-01 3.74193662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.03, Y:94.37, Z:0.37 [[ 2.62617973e-01 -9.64899690e-01 -6.22982777e-04 1.39032555e+02] [ 9.64897080e-01 2.62618712e-01 -2.24424900e-03 9.43677450e+01] [ 2.32908210e-03 -1.17341399e-05 9.99997288e-01 3.74202066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.04, Y:94.39, Z:0.37 [[ 2.61881021e-01 -9.65099966e-01 -6.22364285e-04 1.39039521e+02] [ 9.65097356e-01 2.61881760e-01 -2.24442050e-03 9.43944926e+01] [ 2.32907600e-03 -1.28709938e-05 9.99997288e-01 3.74061068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.05, Y:94.42, Z:0.37 [[ 2.60313393e-01 -9.65523977e-01 -6.21787719e-04 1.39046813e+02] [ 9.65521369e-01 2.60314135e-01 -2.24458022e-03 9.44220637e+01] [ 2.32905615e-03 -1.60550366e-05 9.99997288e-01 3.73459987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.05, Y:94.45, Z:0.37 [[ 2.56107150e-01 -9.66648200e-01 -6.21214183e-04 1.39049387e+02] [ 9.66645594e-01 2.56107902e-01 -2.24473894e-03 9.44481397e+01] [ 2.32897072e-03 -2.56002596e-05 9.99997288e-01 3.68914149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.06, Y:94.48, Z:0.37 [[ 2.55530351e-01 -9.66800844e-01 -6.06534060e-04 1.39057340e+02] [ 9.66798229e-01 2.55531071e-01 -2.24880202e-03 9.44756679e+01] [ 2.32913199e-03 -1.17588857e-05 9.99997288e-01 3.68834036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.07, Y:94.50, Z:0.37 [[ 2.55327678e-01 -9.66854388e-01 -6.06734107e-04 1.39069583e+02] [ 9.66851773e-01 2.55328399e-01 -2.24874666e-03 9.45030276e+01] [ 2.32912703e-03 -1.24546822e-05 9.99997288e-01 3.72316903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.08, Y:94.53, Z:0.37 [[ 2.53305130e-01 -9.67386234e-01 -6.21282158e-04 1.39077238e+02] [ 9.67383630e-01 2.53305890e-01 -2.24472013e-03 9.45298554e+01] [ 2.32888578e-03 -3.24190658e-05 9.99997288e-01 3.71961085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.08, Y:94.56, Z:0.37 [[ 2.47952411e-01 -9.68772015e-01 -6.20682721e-04 1.39080057e+02] [ 9.68769415e-01 2.47953184e-01 -2.24488587e-03 9.45557897e+01] [ 2.32868286e-03 -4.46735739e-05 9.99997288e-01 3.67422133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.09, Y:94.58, Z:0.37 [[ 2.46989052e-01 -9.69018083e-01 -6.02858955e-04 1.39093132e+02] [ 9.69015471e-01 2.46989786e-01 -2.24980737e-03 9.45839238e+01] [ 2.32900403e-03 -2.85018660e-05 9.99997287e-01 3.71975339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.10, Y:94.61, Z:0.37 [[ 2.44525103e-01 -9.69642764e-01 -6.19986143e-04 1.39100994e+02] [ 9.69640166e-01 2.44525883e-01 -2.24507763e-03 9.46110443e+01] [ 2.32852594e-03 -5.21856285e-05 9.99997288e-01 3.70957869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.11, Y:94.64, Z:0.37 [[ 2.42185999e-01 -9.70229642e-01 -6.19378082e-04 1.39108814e+02] [ 9.70227046e-01 2.42186784e-01 -2.24524537e-03 9.46383221e+01] [ 2.32840880e-03 -5.71703736e-05 9.99997288e-01 3.70730647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.12, Y:94.66, Z:0.37 [[ 2.38283560e-01 -9.71195429e-01 -6.18758621e-04 1.39116900e+02] [ 9.71192836e-01 2.38284355e-01 -2.24541608e-03 9.46640854e+01] [ 2.32817833e-03 -6.58882032e-05 9.99997288e-01 3.70795973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.12, Y:94.69, Z:0.37 [[ 2.36535766e-01 -9.71622586e-01 -6.18206005e-04 1.39124341e+02] [ 9.71619993e-01 2.36536563e-01 -2.24556821e-03 9.46902524e+01] [ 2.32807312e-03 -6.95041187e-05 9.99997288e-01 3.71515197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.13, Y:94.72, Z:0.37 [[ 2.35136388e-01 -9.71962189e-01 -6.17559945e-04 1.39132191e+02] [ 9.71959598e-01 2.35137188e-01 -2.24574587e-03 9.47176782e+01] [ 2.32799138e-03 -7.21867433e-05 9.99997288e-01 3.70713182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.14, Y:94.74, Z:0.37 [[ 2.34105836e-01 -9.72210922e-01 -6.16946947e-04 1.39139732e+02] [ 9.72208331e-01 2.34106637e-01 -2.24591426e-03 9.47445755e+01] [ 2.32793375e-03 -7.40193263e-05 9.99997288e-01 3.70476207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.15, Y:94.77, Z:0.37 [[ 2.33169778e-01 -9.72435846e-01 -6.16328632e-04 1.39146643e+02] [ 9.72433255e-01 2.33170581e-01 -2.24608393e-03 9.47703121e+01] [ 2.32788223e-03 -7.56195662e-05 9.99997288e-01 3.71700246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.15, Y:94.80, Z:0.37 [[ 2.33083576e-01 -9.72456512e-01 -6.15779728e-04 1.39154040e+02] [ 9.72453920e-01 2.33084378e-01 -2.24623440e-03 9.47970660e+01] [ 2.32789391e-03 -7.52570625e-05 9.99997288e-01 3.71105682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.16, Y:94.82, Z:0.37 [[ 2.33141106e-01 -9.72442721e-01 -6.15172426e-04 1.39161221e+02] [ 9.72440130e-01 2.33141906e-01 -2.24640071e-03 9.48232694e+01] [ 2.32791849e-03 -7.44900081e-05 9.99997288e-01 3.72219335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:139.17, Y:94.85, Z:0.37 [[ 2.34609266e-01 -9.72089561e-01 -6.14531924e-04 1.39169435e+02] [ 9.72086968e-01 2.34610060e-01 -2.24657592e-03 9.48510854e+01] [ 2.32804837e-03 -7.03109480e-05 9.99997288e-01 3.69978517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.18, Y:94.88, Z:0.37 [[ 2.35872854e-01 -9.71783730e-01 -6.15994262e-04 1.39177332e+02] [ 9.71781136e-01 2.35873648e-01 -2.24617614e-03 9.48780707e+01] [ 2.32809424e-03 -6.87996269e-05 9.99997288e-01 3.70533236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.18, Y:94.90, Z:0.37 [[ 2.37179129e-01 -9.71465735e-01 -6.22190985e-04 1.39182528e+02] [ 9.71463144e-01 2.37179935e-01 -2.24448265e-03 9.49037911e+01] [ 2.32800920e-03 -7.20911707e-05 9.99997288e-01 3.71184077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.19, Y:94.93, Z:0.37 [[ 2.40064833e-01 -9.70756664e-01 -6.13215845e-04 1.39191904e+02] [ 9.70754065e-01 2.40065609e-01 -2.24693208e-03 9.49317723e+01] [ 2.32843632e-03 -5.58724011e-05 9.99997288e-01 3.72796934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.20, Y:94.96, Z:0.37 [[ 2.40648675e-01 -9.70612092e-01 -6.18666334e-04 1.39197359e+02] [ 9.70609496e-01 2.40649463e-01 -2.24544534e-03 9.49567789e+01] [ 2.32833812e-03 -6.01199727e-05 9.99997288e-01 3.72347491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.20, Y:94.99, Z:0.37 [[ 2.41963129e-01 -9.70285256e-01 -6.05646831e-04 1.39204076e+02] [ 9.70282650e-01 2.41963883e-01 -2.24898991e-03 9.49850996e+01] [ 2.32870641e-03 -4.34759770e-05 9.99997288e-01 3.71477843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:139.21, Y:95.01, Z:0.37 [[ 2.46215814e-01 -9.69214836e-01 -6.11544938e-04 1.39211157e+02] [ 9.69212232e-01 2.46216571e-01 -2.24738495e-03 9.50127756e+01] [ 2.32877134e-03 -3.93751173e-05 9.99997288e-01 3.70919308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.22, Y:95.04, Z:0.38 [[ 2.50669753e-01 -9.68072467e-01 -6.10942767e-04 1.39222586e+02] [ 9.68069859e-01 2.50670496e-01 -2.24754864e-03 9.50423809e+01] [ 2.32893528e-03 -2.80428155e-05 9.99997288e-01 3.75366806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:139.23, Y:95.07, Z:0.37 [[ 2.52218059e-01 -9.67670221e-01 -6.28344562e-04 1.39226201e+02] [ 9.67667622e-01 2.52218838e-01 -2.24281942e-03 9.50669503e+01] [ 2.32878990e-03 -4.23491270e-05 9.99997287e-01 3.69465547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.23, Y:95.09, Z:0.37 [[ 2.53301976e-01 -9.67387068e-01 -6.07358948e-04 1.39233084e+02] [ 9.67384455e-01 2.53302703e-01 -2.24851075e-03 9.50936196e+01] [ 2.32902589e-03 -1.79973887e-05 9.99997288e-01 3.71456296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.24, Y:95.12, Z:0.37 [[ 2.54786570e-01 -9.66997121e-01 -6.09225293e-04 1.39240826e+02] [ 9.66994508e-01 2.54787298e-01 -2.24800496e-03 9.51205028e+01] [ 2.32903719e-03 -1.63560397e-05 9.99997288e-01 3.69639807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.25, Y:95.15, Z:0.37 [[ 2.59640863e-01 -9.65705054e-01 -6.08615150e-04 1.39254050e+02] [ 9.65702437e-01 2.59641576e-01 -2.24817014e-03 9.51510371e+01] [ 2.32909106e-03 -4.02429947e-06 9.99997288e-01 3.72565893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.26, Y:95.18, Z:0.37 [[ 2.57548573e-01 -9.66265146e-01 -6.33235680e-04 1.39258119e+02] [ 9.66262546e-01 2.57549349e-01 -2.24150846e-03 9.51755835e+01] [ 2.32898093e-03 -3.45746162e-05 9.99997287e-01 3.68855582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.27, Y:95.21, Z:0.37 [[ 2.59239723e-01 -9.65812813e-01 -6.12926685e-04 1.39269230e+02] [ 9.65810200e-01 2.59240447e-01 -2.24699177e-03 9.52051053e+01] [ 2.32906883e-03 -9.46132047e-06 9.99997288e-01 3.71238542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.27, Y:95.23, Z:0.37 [[ 2.56841195e-01 -9.66453417e-01 -6.26655093e-04 1.39273352e+02] [ 9.66450814e-01 2.56841958e-01 -2.24328634e-03 9.52290668e+01] [ 2.32898307e-03 -2.94629813e-05 9.99997287e-01 3.69134460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.29, Y:95.26, Z:0.37 [[ 2.58109170e-01 -9.66115567e-01 -6.05800854e-04 1.39285444e+02] [ 9.66112950e-01 2.58109881e-01 -2.24890397e-03 9.52574530e+01] [ 2.32906432e-03 -4.80931442e-06 9.99997288e-01 3.69937619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.29, Y:95.28, Z:0.37 [[ 2.56097386e-01 -9.66650783e-01 -6.25787741e-04 1.39289526e+02] [ 9.66648180e-01 2.56098149e-01 -2.24351938e-03 9.52805094e+01] [ 2.32896285e-03 -3.03571321e-05 9.99997288e-01 3.69513447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27361786499998 meters Centerline goodness : 0.996180 Centerline is valid? [True, True] Translation: X:139.30, Y:95.31, Z:0.37 [[ 2.54702600e-01 -9.67019245e-01 -6.04829267e-04 1.39298280e+02] [ 9.67016629e-01 2.54703318e-01 -2.24915541e-03 9.53061879e+01] [ 2.32902859e-03 -1.20142296e-05 9.99997288e-01 3.72409205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.31, Y:95.34, Z:0.37 [[ 2.53682627e-01 -9.67287320e-01 -6.04583985e-04 1.39307510e+02] [ 9.67284705e-01 2.53683347e-01 -2.24922127e-03 9.53351625e+01] [ 2.32901610e-03 -1.42164827e-05 9.99997288e-01 3.69036309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.31, Y:95.36, Z:0.37 [[ 2.50607321e-01 -9.68088624e-01 -6.21511211e-04 1.39312480e+02] [ 9.68086023e-01 2.50608089e-01 -2.24471396e-03 9.53578948e+01] [ 2.32883778e-03 -3.91345648e-05 9.99997287e-01 3.68724834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.32, Y:95.38, Z:0.37 [[ 2.48174703e-01 -9.68715107e-01 -5.98005032e-04 1.39319319e+02] [ 9.68712492e-01 2.48175422e-01 -2.25095877e-03 9.53841802e+01] [ 2.32894792e-03 -2.06639219e-05 9.99997288e-01 3.68984788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.33, Y:95.41, Z:0.37 [[ 2.47923144e-01 -9.68779521e-01 -5.94700147e-04 1.39326325e+02] [ 9.68776904e-01 2.47923856e-01 -2.25183613e-03 9.54108398e+01] [ 2.32897308e-03 -1.78494753e-05 9.99997288e-01 3.69047893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.34, Y:95.44, Z:0.37 [[ 2.48097013e-01 -9.68735010e-01 -5.94119293e-04 1.39336659e+02] [ 9.68732392e-01 2.48097724e-01 -2.25199017e-03 9.54395958e+01] [ 2.32898136e-03 -1.68305700e-05 9.99997288e-01 3.67541327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.35, Y:95.47, Z:0.37 [[ 2.48283002e-01 -9.68687352e-01 -6.04986346e-04 1.39346608e+02] [ 9.68684741e-01 2.48283737e-01 -2.24910979e-03 9.54658977e+01] [ 2.32889247e-03 -2.76253135e-05 9.99997288e-01 3.66890611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48361786499996 meters Centerline goodness : 0.994144 Centerline is valid? [True, True] Translation: X:139.35, Y:95.49, Z:0.37 [[ 2.47779028e-01 -9.68816387e-01 -6.02056378e-04 1.39353789e+02] [ 9.68813774e-01 2.47779758e-01 -2.24988743e-03 9.54896955e+01] [ 2.32890519e-03 -2.58055920e-05 9.99997288e-01 3.72057662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.36, Y:95.51, Z:0.37 [[ 2.47133714e-01 -9.68981204e-01 -5.94889423e-04 1.39362486e+02] [ 9.68978588e-01 2.47134429e-01 -2.25178658e-03 9.55149777e+01] [ 2.32895653e-03 -1.99427329e-05 9.99997288e-01 3.66579374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.37, Y:95.54, Z:0.36 [[ 2.46148670e-01 -9.69231901e-01 -5.96011623e-04 1.39371492e+02] [ 9.69229286e-01 2.46149390e-01 -2.25148951e-03 9.55446978e+01] [ 2.32892336e-03 -2.34707701e-05 9.99997288e-01 3.63196318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57361786499996 meters Centerline goodness : 0.995759 Centerline is valid? [True, True] Translation: X:139.38, Y:95.57, Z:0.37 [[ 2.46285581e-01 -9.69197109e-01 -6.13459710e-04 1.39379940e+02] [ 9.69194506e-01 2.46286341e-01 -2.24684240e-03 9.55677174e+01] [ 2.32871991e-03 -4.11968949e-05 9.99997288e-01 3.69467397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.39, Y:95.59, Z:0.36 [[ 2.46375545e-01 -9.69174252e-01 -5.99687660e-04 1.39388653e+02] [ 9.69171640e-01 2.46376273e-01 -2.25050203e-03 9.55918811e+01] [ 2.32887743e-03 -2.67316098e-05 9.99997288e-01 3.64389138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.40, Y:95.62, Z:0.37 [[ 2.46691625e-01 -9.69093848e-01 -5.97313257e-04 1.39397750e+02] [ 9.69091233e-01 2.46692347e-01 -2.25113205e-03 9.56181265e+01] [ 2.32891083e-03 -2.35156176e-05 9.99997288e-01 3.66464663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.41, Y:95.65, Z:0.37 [[ 2.43137114e-01 -9.69991746e-01 -5.96714261e-04 1.39406062e+02] [ 9.69989134e-01 2.43137844e-01 -2.25129082e-03 9.56453579e+01] [ 2.32881733e-03 -3.14339977e-05 9.99997288e-01 3.65486194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69361786499996 meters Centerline goodness : 0.996013 Centerline is valid? [True, True] Translation: X:139.41, Y:95.67, Z:0.37 [[ 2.43184910e-01 -9.69979760e-01 -6.04245746e-04 1.39413355e+02] [ 9.69977153e-01 2.43185657e-01 -2.24928982e-03 9.56686408e+01] [ 2.32870950e-03 -3.91112256e-05 9.99997288e-01 3.70847089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.42, Y:95.70, Z:0.37 [[ 2.43229553e-01 -9.69968575e-01 -5.89481197e-04 1.39423046e+02] [ 9.69965958e-01 2.43230267e-01 -2.25320329e-03 9.56957923e+01] [ 2.32891605e-03 -2.37310641e-05 9.99997288e-01 3.67933748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.43, Y:95.72, Z:0.37 [[ 2.40188203e-01 -9.70726152e-01 -6.03978356e-04 1.39429941e+02] [ 9.70723547e-01 2.40188958e-01 -2.24937316e-03 9.57213566e+01] [ 2.32859429e-03 -4.60231131e-05 9.99997288e-01 3.66436836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.44, Y:95.75, Z:0.37 [[ 2.38775712e-01 -9.71074563e-01 -5.93913964e-04 1.39436933e+02] [ 9.71071952e-01 2.38776447e-01 -2.25202739e-03 9.57488840e+01] [ 2.32869918e-03 -3.90037505e-05 9.99997288e-01 3.65631406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.45, Y:95.78, Z:0.37 [[ 2.40182648e-01 -9.70727533e-01 -5.94347684e-04 1.39449191e+02] [ 9.70724921e-01 2.40183381e-01 -2.25191306e-03 9.57788583e+01] [ 2.32874644e-03 -3.60776666e-05 9.99997288e-01 3.66358305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.45, Y:95.80, Z:0.37 [[ 2.38448857e-01 -9.71154861e-01 -6.15036900e-04 1.39452706e+02] [ 9.71152265e-01 2.38449642e-01 -2.24645271e-03 9.58015876e+01] [ 2.32830880e-03 -6.16303980e-05 9.99997288e-01 3.70006880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.46, Y:95.83, Z:0.37 [[ 2.38953606e-01 -9.71030806e-01 -5.88943958e-04 1.39462151e+02] [ 9.71028193e-01 2.38954330e-01 -2.25332026e-03 9.58314439e+01] [ 2.32877409e-03 -3.34421856e-05 9.99997288e-01 3.66390043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.47, Y:95.86, Z:0.37 [[ 2.41214009e-01 -9.70471761e-01 -6.02078332e-04 1.39469977e+02] [ 9.70469154e-01 2.41214757e-01 -2.24986578e-03 9.58559338e+01] [ 2.32866138e-03 -4.15993063e-05 9.99997288e-01 3.65890240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.48, Y:95.88, Z:0.37 [[ 2.41156756e-01 -9.70485995e-01 -5.93250048e-04 1.39476966e+02] [ 9.70483383e-01 2.41157483e-01 -2.25218455e-03 9.58819241e+01] [ 2.32878026e-03 -3.26097938e-05 9.99997288e-01 3.67214665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.48, Y:95.91, Z:0.37 [[ 2.41586859e-01 -9.70379018e-01 -5.92012624e-04 1.39484832e+02] [ 9.70376404e-01 2.41587583e-01 -2.25250922e-03 9.59095072e+01] [ 2.32881058e-03 -3.02984526e-05 9.99997288e-01 3.66963623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.49, Y:95.94, Z:0.37 [[ 2.41349105e-01 -9.70438178e-01 -5.94062412e-04 1.39491953e+02] [ 9.70435565e-01 2.41349834e-01 -2.25197180e-03 9.59367952e+01] [ 2.32877628e-03 -3.29879133e-05 9.99997288e-01 3.67527342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02361786499998 meters Centerline goodness : 0.995854 Centerline is valid? [True, True] Translation: X:139.50, Y:95.96, Z:0.37 [[ 2.42807027e-01 -9.70074428e-01 -5.93591386e-04 1.39499591e+02] [ 9.70071814e-01 2.42807751e-01 -2.25209530e-03 9.59606670e+01] [ 2.32882865e-03 -2.90017081e-05 9.99997288e-01 3.71503233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05361786499998 meters Centerline goodness : 0.994401 Centerline is valid? [True, True] Translation: X:139.51, Y:95.99, Z:0.37 [[ 2.42552188e-01 -9.70138185e-01 -5.81652548e-04 1.39506586e+02] [ 9.70135564e-01 2.42552885e-01 -2.25522097e-03 9.59866361e+01] [ 2.32895748e-03 -1.72730415e-05 9.99997288e-01 3.71353058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08361786499998 meters Centerline goodness : 0.995409 Centerline is valid? [True, True] Translation: X:139.51, Y:96.01, Z:0.37 [[ 2.44490811e-01 -9.69651433e-01 -5.84253191e-04 1.39514277e+02] [ 9.69648812e-01 2.44491509e-01 -2.25454090e-03 9.60085635e+01] [ 2.32896376e-03 -1.53058789e-05 9.99997288e-01 3.70113886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.52, Y:96.04, Z:0.36 [[ 2.43492645e-01 -9.69902578e-01 -5.66004135e-04 1.39522444e+02] [ 9.69899947e-01 2.43493303e-01 -2.25931007e-03 9.60378771e+01] [ 2.32912888e-03 1.15800420e-06 9.99997288e-01 3.64873800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14361786499995 meters Centerline goodness : 0.993206 Centerline is valid? [True, True] Translation: X:139.53, Y:96.06, Z:0.37 [[ 2.44581863e-01 -9.69628466e-01 -5.91041715e-04 1.39529357e+02] [ 9.69625850e-01 2.44582576e-01 -2.25276500e-03 9.60605461e+01] [ 2.32890358e-03 -2.21038641e-05 9.99997288e-01 3.71451529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17361786499995 meters Centerline goodness : 0.997650 Centerline is valid? [True, True] Translation: X:139.54, Y:96.09, Z:0.37 [[ 2.45477796e-01 -9.69402046e-01 -5.70431378e-04 1.39538611e+02] [ 9.69399416e-01 2.45478459e-01 -2.25813327e-03 9.60877521e+01] [ 2.32906762e-03 1.34573308e-06 9.99997288e-01 3.71228515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:139.55, Y:96.11, Z:0.36 [[ 2.44778624e-01 -9.69578817e-01 -5.85030165e-04 1.39545271e+02] [ 9.69576197e-01 2.44779323e-01 -2.25433002e-03 9.61144992e+01] [ 2.32895392e-03 -1.54195223e-05 9.99997288e-01 3.64353718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.55, Y:96.14, Z:0.36 [[ 2.44245997e-01 -9.69713127e-01 -5.87461887e-04 1.39553683e+02] [ 9.69710508e-01 2.44246703e-01 -2.25369754e-03 9.61427560e+01] [ 2.32892572e-03 -1.92113625e-05 9.99997288e-01 3.63770997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26361786499996 meters Centerline goodness : 0.995780 Centerline is valid? [True, True] Translation: X:139.56, Y:96.17, Z:0.37 [[ 2.43398979e-01 -9.69926073e-01 -5.92218651e-04 1.39561102e+02] [ 9.69923457e-01 2.43399698e-01 -2.25245826e-03 9.61688867e+01] [ 2.32886383e-03 -2.61607210e-05 9.99997288e-01 3.68954565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.57, Y:96.19, Z:0.37 [[ 2.45160198e-01 -9.69482394e-01 -6.03484258e-04 1.39569692e+02] [ 9.69479785e-01 2.45160939e-01 -2.24952486e-03 9.61911471e+01] [ 2.32882552e-03 -3.35718284e-05 9.99997288e-01 3.67672061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:139.58, Y:96.22, Z:0.36 [[ 2.43887834e-01 -9.69803270e-01 -5.85259223e-04 1.39578460e+02] [ 9.69800650e-01 2.43888535e-01 -2.25425652e-03 9.62194292e+01] [ 2.32892336e-03 -1.77990361e-05 9.99997288e-01 3.64442735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:139.59, Y:96.25, Z:0.36 [[ 2.44172202e-01 -9.69731707e-01 -5.93573987e-04 1.39586988e+02] [ 9.69729092e-01 2.44172922e-01 -2.25210237e-03 9.62465244e+01] [ 2.32886977e-03 -2.57051681e-05 9.99997288e-01 3.62473927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.60, Y:96.27, Z:0.37 [[ 2.44605685e-01 -9.69622457e-01 -5.92282845e-04 1.39595777e+02] [ 9.69619841e-01 2.44606401e-01 -2.25243647e-03 9.62715441e+01] [ 2.32888916e-03 -2.33304329e-05 9.99997288e-01 3.66443675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.60, Y:96.30, Z:0.36 [[ 2.44361883e-01 -9.69683933e-01 -5.82622754e-04 1.39604475e+02] [ 9.69681312e-01 2.44362578e-01 -2.25493241e-03 9.62985993e+01] [ 2.32894293e-03 -1.39388645e-05 9.99997288e-01 3.63352277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:139.61, Y:96.32, Z:0.36 [[ 2.43970703e-01 -9.69782428e-01 -5.81963602e-04 1.39612515e+02] [ 9.69779806e-01 2.43971397e-01 -2.25510252e-03 9.63248733e+01] [ 2.32894127e-03 -1.41976023e-05 9.99997288e-01 3.63544593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.62, Y:96.35, Z:0.36 [[ 2.43223060e-01 -9.69970208e-01 -5.81372202e-04 1.39622865e+02] [ 9.69967587e-01 2.43223755e-01 -2.25525497e-03 9.63512286e+01] [ 2.32893366e-03 -1.53821763e-05 9.99997288e-01 3.63473125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:139.63, Y:96.38, Z:0.36 [[ 2.43199910e-01 -9.69976013e-01 -5.80727358e-04 1.39632250e+02] [ 9.69973391e-01 2.43200603e-01 -2.25542101e-03 9.63774396e+01] [ 2.32893752e-03 -1.47718986e-05 9.99997288e-01 3.64581869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.64, Y:96.40, Z:0.36 [[ 2.41634017e-01 -9.70367284e-01 -5.80143080e-04 1.39641657e+02] [ 9.70364662e-01 2.41634713e-01 -2.25557129e-03 9.64033390e+01] [ 2.32891529e-03 -1.79275932e-05 9.99997288e-01 3.64153155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:139.65, Y:96.43, Z:0.36 [[ 2.41537015e-01 -9.70391434e-01 -5.79704823e-04 1.39650517e+02] [ 9.70388812e-01 2.41537710e-01 -2.25568392e-03 9.64291359e+01] [ 2.32891692e-03 -1.77079147e-05 9.99997288e-01 3.64970657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59361786499997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:139.66, Y:96.46, Z:0.37 [[ 2.41591370e-01 -9.70377903e-01 -5.79130741e-04 1.39658424e+02] [ 9.70375281e-01 2.41592063e-01 -2.25583130e-03 9.64556304e+01] [ 2.32892224e-03 -1.69847826e-05 9.99997288e-01 3.66274479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.66, Y:96.48, Z:0.37 [[ 2.42344765e-01 -9.70190023e-01 -5.78502041e-04 1.39663527e+02] [ 9.70187400e-01 2.42345455e-01 -2.25599252e-03 9.64834001e+01] [ 2.32893877e-03 -1.45274153e-05 9.99997288e-01 3.66457097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:139.67, Y:96.51, Z:0.37 [[ 2.43638352e-01 -9.69865980e-01 -5.77856663e-04 1.39671765e+02] [ 9.69863356e-01 2.43639037e-01 -2.25615781e-03 9.65131531e+01] [ 2.32895915e-03 -1.07554302e-05 9.99997288e-01 3.66294220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:139.68, Y:96.54, Z:0.37 [[ 2.44705968e-01 -9.69597152e-01 -5.93249593e-04 1.39678593e+02] [ 9.69594537e-01 2.44706686e-01 -2.25221457e-03 9.65407459e+01] [ 2.32891298e-03 -2.40812187e-05 9.99997288e-01 3.67334829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.69, Y:96.57, Z:0.37 [[ 2.49797191e-01 -9.68297997e-01 -5.93735291e-04 1.39691578e+02] [ 9.68295378e-01 2.49797897e-01 -2.25209026e-03 9.65717772e+01] [ 2.32900832e-03 -1.23453159e-05 9.99997288e-01 3.71398594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.69, Y:96.60, Z:0.37 [[ 2.44604061e-01 -9.69622849e-01 -6.19997565e-04 1.39690904e+02] [ 9.69620250e-01 2.44604841e-01 -2.24536707e-03 9.65951403e+01] [ 2.32881362e-03 -5.19362908e-05 9.99997287e-01 3.66560869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:139.70, Y:96.62, Z:0.37 [[ 2.45006553e-01 -9.69521243e-01 -5.90117088e-04 1.39696699e+02] [ 9.69518625e-01 2.45007263e-01 -2.25299763e-03 9.66214297e+01] [ 2.32891203e-03 -2.01303254e-05 9.99997288e-01 3.66900636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:139.71, Y:96.65, Z:0.37 [[ 2.48545078e-01 -9.68620151e-01 -5.89765695e-04 1.39708493e+02] [ 9.68617530e-01 2.48545778e-01 -2.25308734e-03 9.66504510e+01] [ 2.32896957e-03 -1.12636220e-05 9.99997288e-01 3.69783820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:139.71, Y:96.67, Z:0.37 [[ 2.49101904e-01 -9.68477086e-01 -6.13270870e-04 1.39712720e+02] [ 9.68474479e-01 2.49102657e-01 -2.24708413e-03 9.66725551e+01] [ 2.32901689e-03 -3.41842508e-05 9.99997287e-01 3.70043002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.72, Y:96.70, Z:0.37 [[ 2.42702147e-01 -9.70100681e-01 -5.80129160e-04 1.39716822e+02] [ 9.70098059e-01 2.42702840e-01 -2.25551230e-03 9.67032780e+01] [ 2.32887302e-03 -1.53644931e-05 9.99997288e-01 3.67787019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89361786499995 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:139.73, Y:96.73, Z:0.36 [[ 2.42780302e-01 -9.70081118e-01 -5.90900666e-04 1.39727674e+02] [ 9.70078503e-01 2.42781019e-01 -2.25277406e-03 9.67324250e+01] [ 2.32883305e-03 -2.62908665e-05 9.99997288e-01 3.63836869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92361786499995 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:139.73, Y:96.75, Z:0.37 [[ 2.41361139e-01 -9.70435170e-01 -6.17297935e-04 1.39729827e+02] [ 9.70432573e-01 2.41361921e-01 -2.24604347e-03 9.67540403e+01] [ 2.32863180e-03 -5.69384130e-05 9.99997287e-01 3.68914829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:139.74, Y:96.78, Z:0.37 [[ 2.38643171e-01 -9.71107154e-01 -5.77002629e-04 1.39736850e+02] [ 9.71104533e-01 2.38643868e-01 -2.25627331e-03 9.67847357e+01] [ 2.32878129e-03 -2.18856500e-05 9.99997288e-01 3.69251081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98361786499996 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:139.74, Y:96.81, Z:0.37 [[ 2.36384089e-01 -9.71659513e-01 -5.94753965e-04 1.39743655e+02] [ 9.71656905e-01 2.36384832e-01 -2.25176915e-03 9.68134147e+01] [ 2.32854373e-03 -4.56143992e-05 9.99997288e-01 3.69783643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01361786499996 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:139.75, Y:96.84, Z:0.37 [[ 2.34929182e-01 -9.72012307e-01 -5.95552560e-04 1.39750352e+02] [ 9.72009700e-01 2.34929932e-01 -2.25156678e-03 9.68411776e+01] [ 2.32846374e-03 -4.99241231e-05 9.99997288e-01 3.69086934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:139.76, Y:96.87, Z:0.37 [[ 2.32463734e-01 -9.72604883e-01 -5.94592394e-04 1.39756135e+02] [ 9.72602278e-01 2.32464488e-01 -2.25180965e-03 9.68682078e+01] [ 2.32834268e-03 -5.48378354e-05 9.99997288e-01 3.69516996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:139.76, Y:96.90, Z:0.37 [[ 2.31900388e-01 -9.72739360e-01 -5.89995262e-04 1.39762931e+02] [ 9.72736752e-01 2.31901133e-01 -2.25297008e-03 9.68951020e+01] [ 2.32837324e-03 -5.14454387e-05 9.99997288e-01 3.70373460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:139.77, Y:96.92, Z:0.37 [[ 2.27283008e-01 -9.73828572e-01 -5.88293568e-04 1.39766501e+02] [ 9.73825967e-01 2.27283761e-01 -2.25339896e-03 9.69212914e+01] [ 2.32813386e-03 -6.07362602e-05 9.99997288e-01 3.67571277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13361786499996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:139.77, Y:96.95, Z:0.37 [[ 2.25928237e-01 -9.74143778e-01 -5.74820613e-04 1.39772921e+02] [ 9.74141166e-01 2.25928963e-01 -2.25678726e-03 9.69489774e+01] [ 2.32830389e-03 -5.00844534e-05 9.99997288e-01 3.67617382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16361786499996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:139.78, Y:96.98, Z:0.37 [[ 2.24346321e-01 -9.74509311e-01 -5.74839594e-04 1.39777901e+02] [ 9.74506700e-01 2.24347051e-01 -2.25678249e-03 9.69752137e+01] [ 2.32821912e-03 -5.38841866e-05 9.99997288e-01 3.66678671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.78, Y:97.00, Z:0.37 [[ 2.24435676e-01 -9.74488739e-01 -5.69496963e-04 1.39783959e+02] [ 9.74486124e-01 2.24436393e-01 -2.25812248e-03 9.70017299e+01] [ 2.32833077e-03 -4.81636440e-05 9.99997288e-01 3.67278449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:139.79, Y:97.03, Z:0.37 [[ 2.23162024e-01 -9.74781203e-01 -5.63386245e-04 1.39789151e+02] [ 9.74778585e-01 2.23162731e-01 -2.25965345e-03 9.70295177e+01] [ 2.32839453e-03 -4.49080072e-05 9.99997288e-01 3.67456156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25361786499997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:139.80, Y:97.06, Z:0.37 [[ 2.22607232e-01 -9.74908051e-01 -5.58859672e-04 1.39795130e+02] [ 9.74905431e-01 2.22607930e-01 -2.26078625e-03 9.70567200e+01] [ 2.32846531e-03 -4.15679593e-05 9.99997288e-01 3.68110646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28361786499997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:139.80, Y:97.09, Z:0.36 [[ 2.20790362e-01 -9.75321131e-01 -5.53832911e-04 1.39801607e+02] [ 9.75318509e-01 2.20791053e-01 -2.26204306e-03 9.70858444e+01] [ 2.32849975e-03 -4.07261822e-05 9.99997288e-01 3.64632737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.31361786499997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:139.81, Y:97.11, Z:0.36 [[ 2.20572947e-01 -9.75370320e-01 -5.59666814e-04 1.39808256e+02] [ 9.75367702e-01 2.20573652e-01 -2.26058499e-03 9.71125973e+01] [ 2.32835526e-03 -4.72570411e-05 9.99997288e-01 3.64699131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.82, Y:97.14, Z:0.37 [[ 2.21071274e-01 -9.75257494e-01 -5.59517631e-04 1.39815511e+02] [ 9.75254875e-01 2.21071977e-01 -2.26062225e-03 9.71402298e+01] [ 2.32838246e-03 -4.59136564e-05 9.99997288e-01 3.65331624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:139.82, Y:97.17, Z:0.37 [[ 2.20825282e-01 -9.75313219e-01 -5.65038791e-04 1.39821515e+02] [ 9.75310604e-01 2.20825998e-01 -2.25924391e-03 9.71671103e+01] [ 2.32824571e-03 -5.21901523e-05 9.99997288e-01 3.65046830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40361786499997 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:139.83, Y:97.20, Z:0.37 [[ 2.21483664e-01 -9.75163919e-01 -5.64288009e-04 1.39829764e+02] [ 9.75161302e-01 2.21484377e-01 -2.25943112e-03 9.71960325e+01] [ 2.32829668e-03 -4.98447478e-05 9.99997288e-01 3.65563391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.84, Y:97.22, Z:0.37 [[ 2.23100602e-01 -9.74795256e-01 -5.74893583e-04 1.39838455e+02] [ 9.74792645e-01 2.23101335e-01 -2.25678800e-03 9.72244367e+01] [ 2.32816576e-03 -5.69112758e-05 9.99997288e-01 3.66036225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.84, Y:97.25, Z:0.37 [[ 2.20953425e-01 -9.75284182e-01 -5.90832505e-04 1.39840783e+02] [ 9.75281583e-01 2.20954201e-01 -2.25281512e-03 9.72478156e+01] [ 2.32768187e-03 -7.84608439e-05 9.99997288e-01 3.68312009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49361786499998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:139.85, Y:97.27, Z:0.37 [[ 2.20633810e-01 -9.75356553e-01 -5.61887596e-04 1.39847155e+02] [ 9.75353936e-01 2.20634520e-01 -2.26001145e-03 9.72742737e+01] [ 2.32828878e-03 -4.94043413e-05 9.99997288e-01 3.67917112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52361786499998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:139.86, Y:97.30, Z:0.36 [[ 2.19734126e-01 -9.75559634e-01 -5.61223316e-04 1.39855044e+02] [ 9.75557017e-01 2.19734837e-01 -2.26017640e-03 9.73040438e+01] [ 2.32825717e-03 -5.08674591e-05 9.99997288e-01 3.63505026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.86, Y:97.33, Z:0.36 [[ 2.19503583e-01 -9.75611524e-01 -5.75165469e-04 1.39862516e+02] [ 9.75608916e-01 2.19504327e-01 -2.25671580e-03 9.73323547e+01] [ 2.32792925e-03 -6.57793540e-05 9.99997288e-01 3.63587693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.87, Y:97.36, Z:0.37 [[ 2.19320333e-01 -9.75652734e-01 -5.77526898e-04 1.39867402e+02] [ 9.75650128e-01 2.19321082e-01 -2.25613030e-03 9.73563069e+01] [ 2.32786352e-03 -6.86489435e-05 9.99997288e-01 3.67831126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.87, Y:97.38, Z:0.37 [[ 2.17673917e-01 -9.76021390e-01 -5.59471027e-04 1.39873600e+02] [ 9.76018773e-01 2.17674629e-01 -2.26059891e-03 9.73826246e+01] [ 2.32817554e-03 -5.39808047e-05 9.99997288e-01 3.67219352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.88, Y:97.41, Z:0.37 [[ 2.16587070e-01 -9.76263145e-01 -5.58813850e-04 1.39880541e+02] [ 9.76260529e-01 2.16587783e-01 -2.26076135e-03 9.74103282e+01] [ 2.32813024e-03 -5.58962280e-05 9.99997288e-01 3.66640240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.89, Y:97.44, Z:0.37 [[ 2.14855800e-01 -9.76645623e-01 -5.58205909e-04 1.39887376e+02] [ 9.76643008e-01 2.14856517e-01 -2.26091145e-03 9.74369591e+01] [ 2.32804345e-03 -5.93979595e-05 9.99997288e-01 3.66464452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.89, Y:97.46, Z:0.37 [[ 2.11365270e-01 -9.77406984e-01 -5.57565067e-04 1.39894253e+02] [ 9.77404371e-01 2.11365995e-01 -2.26106948e-03 9.74646436e+01] [ 2.32783539e-03 -6.70549716e-05 9.99997288e-01 3.66340098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:139.90, Y:97.49, Z:0.37 [[ 2.09538430e-01 -9.77800254e-01 -5.56956118e-04 1.39900848e+02] [ 9.77797642e-01 2.09539158e-01 -2.26121947e-03 9.74904944e+01] [ 2.32772508e-03 -7.07780018e-05 9.99997288e-01 3.66292527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.91, Y:97.52, Z:0.37 [[ 2.07439176e-01 -9.78247760e-01 -5.56314838e-04 1.39907724e+02] [ 9.78245149e-01 2.07439908e-01 -2.26137723e-03 9.75177916e+01] [ 2.32758910e-03 -7.51140644e-05 9.99997288e-01 3.66638370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:139.91, Y:97.55, Z:0.37 [[ 2.05493897e-01 -9.78658239e-01 -5.55702657e-04 1.39914610e+02] [ 9.78655630e-01 2.05494633e-01 -2.26152765e-03 9.75453067e+01] [ 2.32745658e-03 -7.91114045e-05 9.99997288e-01 3.66685184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.92, Y:97.57, Z:0.37 [[ 2.02410716e-01 -9.79300564e-01 -5.55092158e-04 1.39920956e+02] [ 9.79297956e-01 2.02411459e-01 -2.26167749e-03 9.75728093e+01] [ 2.32721905e-03 -8.58128552e-05 9.99997288e-01 3.67105355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.93, Y:97.60, Z:0.37 [[ 2.01399926e-01 -9.79508939e-01 -5.54481619e-04 1.39927685e+02] [ 9.79506332e-01 2.01400670e-01 -2.26182716e-03 9.75999254e+01] [ 2.32715289e-03 -8.75864333e-05 9.99997288e-01 3.67362659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.94, Y:97.63, Z:0.37 [[ 2.02934186e-01 -9.79192223e-01 -5.53866134e-04 1.39939691e+02] [ 9.79189614e-01 2.02934924e-01 -2.26197787e-03 9.76323215e+01] [ 2.32730992e-03 -8.33073290e-05 9.99997288e-01 3.66229481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:139.95, Y:97.66, Z:0.37 [[ 2.02076461e-01 -9.79369573e-01 -5.85839976e-04 1.39945301e+02] [ 9.79366986e-01 2.02077275e-01 -2.25414780e-03 9.76608546e+01] [ 2.32602871e-03 -1.18242123e-04 9.99997288e-01 3.65664386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.95, Y:97.68, Z:0.37 [[ 2.00598176e-01 -9.79673430e-01 -5.85264843e-04 1.39945537e+02] [ 9.79670844e-01 2.00598994e-01 -2.25428842e-03 9.76828630e+01] [ 2.32587001e-03 -1.21160755e-04 9.99997288e-01 3.67456737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.96, Y:97.72, Z:0.37 [[ 2.04118890e-01 -9.78945951e-01 -5.51536836e-04 1.39957292e+02] [ 9.78943339e-01 2.04119620e-01 -2.26251037e-03 9.77158398e+01] [ 2.32745486e-03 -7.81022068e-05 9.99997288e-01 3.66446349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:139.96, Y:97.74, Z:0.37 [[ 2.03175434e-01 -9.79142174e-01 -5.87816272e-04 1.39955043e+02] [ 9.79139588e-01 2.03176250e-01 -2.25365904e-03 9.77385152e+01] [ 2.32608292e-03 -1.17666029e-04 9.99997288e-01 3.67162432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.97, Y:97.77, Z:0.37 [[ 2.07555594e-01 -9.78223069e-01 -5.50138928e-04 1.39965346e+02] [ 9.78220454e-01 2.07556312e-01 -2.26281919e-03 9.77677807e+01] [ 2.32772674e-03 -6.84963709e-05 9.99997288e-01 3.65755733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06361786499997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:139.97, Y:97.79, Z:0.37 [[ 2.07931315e-01 -9.78143266e-01 -5.65508641e-04 1.39965309e+02] [ 9.78140661e-01 2.07932068e-01 -2.25908288e-03 9.77921989e+01] [ 2.32729409e-03 -8.34129210e-05 9.99997288e-01 3.66652802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.97, Y:97.82, Z:0.37 [[ 2.09462842e-01 -9.77816453e-01 -5.49158941e-04 1.39971191e+02] [ 9.77813837e-01 2.09463552e-01 -2.26305035e-03 9.78193898e+01] [ 2.32787665e-03 -6.29502537e-05 9.99997289e-01 3.66868365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.98, Y:97.85, Z:0.37 [[ 2.13342303e-01 -9.76977360e-01 -5.48553843e-04 1.39982136e+02] [ 9.76974740e-01 2.13343001e-01 -2.26319701e-03 9.78502518e+01] [ 2.32812237e-03 -5.30875861e-05 9.99997289e-01 3.66830042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15361786499997 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:139.99, Y:97.88, Z:0.37 [[ 2.17349362e-01 -9.76093707e-01 -5.75279261e-04 1.39988694e+02] [ 9.76091100e-01 2.17350112e-01 -2.25671948e-03 9.78798738e+01] [ 2.32780669e-03 -7.10284285e-05 9.99997288e-01 3.67565037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.99, Y:97.90, Z:0.37 [[ 2.18032430e-01 -9.75941352e-01 -5.81035774e-04 1.39991985e+02] [ 9.75938749e-01 2.18033191e-01 -2.25532546e-03 9.79048131e+01] [ 2.32775046e-03 -7.53212375e-05 9.99997288e-01 3.66138000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.00, Y:97.93, Z:0.37 [[ 2.20552423e-01 -9.75374957e-01 -5.67022762e-04 1.39997497e+02] [ 9.75372343e-01 2.20553145e-01 -2.25872131e-03 9.79281231e+01] [ 2.32815886e-03 -5.48918612e-05 9.99997288e-01 3.68459534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.00, Y:97.96, Z:0.37 [[ 2.22056773e-01 -9.75033584e-01 -5.47027241e-04 1.40002739e+02] [ 9.75030957e-01 2.22057445e-01 -2.26355358e-03 9.79561066e+01] [ 2.32851223e-03 -3.07310907e-05 9.99997289e-01 3.68864520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.01, Y:97.98, Z:0.37 [[ 2.23763917e-01 -9.74643222e-01 -5.46409829e-04 1.40009864e+02] [ 9.74640594e-01 2.23764582e-01 -2.26370261e-03 9.79838307e+01] [ 2.32856958e-03 -2.60182378e-05 9.99997289e-01 3.66187480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.02, Y:98.01, Z:0.37 [[ 2.25632598e-01 -9.74212309e-01 -5.54462100e-04 1.40016032e+02] [ 9.74209684e-01 2.25633277e-01 -2.26176281e-03 9.80146653e+01] [ 2.32854227e-03 -2.98349303e-05 9.99997289e-01 3.69282667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.02, Y:98.04, Z:0.37 [[ 2.27547808e-01 -9.73766742e-01 -5.71768275e-04 1.40020698e+02] [ 9.73764126e-01 2.27548522e-01 -2.25759354e-03 9.80374127e+01] [ 2.32847453e-03 -4.30569727e-05 9.99997288e-01 3.69000011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36361786499995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:140.03, Y:98.07, Z:0.37 [[ 2.27900846e-01 -9.73684191e-01 -5.47594643e-04 1.40029179e+02] [ 9.73681561e-01 2.27901503e-01 -2.26340267e-03 9.80696627e+01] [ 2.32863704e-03 -1.73514230e-05 9.99997289e-01 3.69716783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39361786499995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:140.04, Y:98.10, Z:0.37 [[ 2.27164175e-01 -9.73856309e-01 -5.71538175e-04 1.40035661e+02] [ 9.73853693e-01 2.27164890e-01 -2.25766191e-03 9.80984595e+01] [ 2.32847170e-03 -4.37346580e-05 9.99997288e-01 3.68962413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.04, Y:98.13, Z:0.37 [[ 2.26034245e-01 -9.74119189e-01 -5.69881803e-04 1.40041920e+02] [ 9.74116573e-01 2.26034959e-01 -2.25805806e-03 9.81259886e+01] [ 2.32843090e-03 -4.47328585e-05 9.99997288e-01 3.68982521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45361786499996 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:140.05, Y:98.15, Z:0.37 [[ 2.25491258e-01 -9.74245026e-01 -5.68216116e-04 1.40047270e+02] [ 9.74242409e-01 2.25491969e-01 -2.25845577e-03 9.81460522e+01] [ 2.32841747e-03 -4.43182044e-05 9.99997288e-01 3.70832280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48361786499996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:140.06, Y:98.18, Z:0.37 [[ 2.22829953e-01 -9.74857187e-01 -5.26722500e-04 1.40055607e+02] [ 9.74854548e-01 2.22830576e-01 -2.26832813e-03 9.81793648e+01] [ 2.32866585e-03 -8.02637438e-06 9.99997289e-01 3.70177419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:140.06, Y:98.20, Z:0.37 [[ 2.21225328e-01 -9.75222556e-01 -5.66347133e-04 1.40061535e+02] [ 9.75219941e-01 2.21226046e-01 -2.25888593e-03 9.82012551e+01] [ 2.32820725e-03 -5.25902374e-05 9.99997288e-01 3.69517486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54361786499996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:140.07, Y:98.23, Z:0.37 [[ 2.17598144e-01 -9.76038296e-01 -5.40865791e-04 1.40068292e+02] [ 9.76035669e-01 2.17598813e-01 -2.26494202e-03 9.82320158e+01] [ 2.32836191e-03 -3.50571251e-05 9.99997289e-01 3.68530635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.07, Y:98.26, Z:0.37 [[ 2.17073653e-01 -9.76155067e-01 -5.60068292e-04 1.40074534e+02] [ 9.76152452e-01 2.17074368e-01 -2.26037653e-03 9.82554509e+01] [ 2.32805448e-03 -5.60438463e-05 9.99997289e-01 3.67980953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.08, Y:98.29, Z:0.37 [[ 2.14005444e-01 -9.76832317e-01 -5.41756519e-04 1.40081488e+02] [ 9.76829693e-01 2.14006126e-01 -2.26471933e-03 9.82859970e+01] [ 2.32819025e-03 -4.45415870e-05 9.99997289e-01 3.67193541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63361786499996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:140.09, Y:98.31, Z:0.37 [[ 2.10118160e-01 -9.77675841e-01 -5.55895974e-04 1.40087635e+02] [ 9.77673228e-01 2.10118884e-01 -2.26136674e-03 9.83113328e+01] [ 2.32768787e-03 -6.83303931e-05 9.99997289e-01 3.65280053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66361786499996 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:140.09, Y:98.34, Z:0.37 [[ 2.06478889e-01 -9.78450901e-01 -5.49846446e-04 1.40093740e+02] [ 9.78448287e-01 2.06479609e-01 -2.26280005e-03 9.83387006e+01] [ 2.32757083e-03 -7.07758724e-05 9.99997289e-01 3.67606924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69361786499996 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:140.10, Y:98.36, Z:0.37 [[ 2.05097717e-01 -9.78741344e-01 -5.55440892e-04 1.40099503e+02] [ 9.78738734e-01 2.05098454e-01 -2.26147659e-03 9.83641735e+01] [ 2.32732070e-03 -7.98078296e-05 9.99997289e-01 3.65671390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72361786499997 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:140.10, Y:98.39, Z:0.36 [[ 2.02313921e-01 -9.79320575e-01 -5.38097789e-04 1.40104592e+02] [ 9.79317956e-01 2.02314625e-01 -2.26557125e-03 9.83904952e+01] [ 2.32758559e-03 -6.86122245e-05 9.99997289e-01 3.63510190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:140.11, Y:98.42, Z:0.36 [[ 1.99885449e-01 -9.79819131e-01 -5.27722553e-04 1.40111710e+02] [ 9.79816508e-01 1.99886136e-01 -2.26801797e-03 9.84179046e+01] [ 2.32773181e-03 -6.37274784e-05 9.99997289e-01 3.63300662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:140.12, Y:98.44, Z:0.36 [[ 1.99107727e-01 -9.79977465e-01 -5.30742428e-04 1.40118011e+02] [ 9.79974844e-01 1.99108422e-01 -2.26730639e-03 9.84446158e+01] [ 2.32758445e-03 -6.86760082e-05 9.99997289e-01 3.63631348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.81361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:140.12, Y:98.47, Z:0.36 [[ 1.98209545e-01 -9.80159527e-01 -5.26625232e-04 1.40124275e+02] [ 9.80156905e-01 1.98210234e-01 -2.26827537e-03 9.84723144e+01] [ 2.32765422e-03 -6.65815278e-05 9.99997289e-01 3.63525633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84361786499997 meters Centerline goodness : 0.993886 Centerline is valid? [True, True] Translation: X:140.13, Y:98.50, Z:0.37 [[ 1.99292460e-01 -9.79939917e-01 -5.24520998e-04 1.40132416e+02] [ 9.79937292e-01 1.99293140e-01 -2.26876842e-03 9.84980226e+01] [ 2.32779017e-03 -6.18492470e-05 9.99997289e-01 3.67949917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:140.14, Y:98.53, Z:0.37 [[ 1.97901889e-01 -9.80221692e-01 -5.26287386e-04 1.40138261e+02] [ 9.80219070e-01 1.97902577e-01 -2.26835520e-03 9.85250467e+01] [ 2.32764460e-03 -6.69651535e-05 9.99997289e-01 3.69179616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:140.14, Y:98.55, Z:0.37 [[ 1.97354249e-01 -9.80332097e-01 -5.29670897e-04 1.40144979e+02] [ 9.80329477e-01 1.97354947e-01 -2.26756486e-03 9.85512682e+01] [ 2.32749978e-03 -7.17384343e-05 9.99997289e-01 3.70235023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.15, Y:98.58, Z:0.37 [[ 1.97057996e-01 -9.80391690e-01 -5.29223872e-04 1.40151079e+02] [ 9.80389070e-01 1.97058693e-01 -2.26766918e-03 9.85784600e+01] [ 2.32749219e-03 -7.19829558e-05 9.99997289e-01 3.70619218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.16, Y:98.61, Z:0.37 [[ 1.97671076e-01 -9.80268262e-01 -5.28607746e-04 1.40157162e+02] [ 9.80265642e-01 1.97671771e-01 -2.26781280e-03 9.86056668e+01] [ 2.32755574e-03 -6.98950147e-05 9.99997289e-01 3.71076435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.16, Y:98.63, Z:0.37 [[ 1.95705936e-01 -9.80662484e-01 -5.27987262e-04 1.40160731e+02] [ 9.80659864e-01 1.95706634e-01 -2.26795725e-03 9.86336203e+01] [ 2.32743120e-03 -7.39232204e-05 9.99997289e-01 3.67230609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02361786499998 meters Centerline goodness : 0.995221 Centerline is valid? [True, True] Translation: X:140.17, Y:98.66, Z:0.37 [[ 1.98150336e-01 -9.80171500e-01 -5.23960103e-04 1.40167332e+02] [ 9.80168876e-01 1.98151019e-01 -2.26889218e-03 9.86619742e+01] [ 2.32772668e-03 -6.39876366e-05 9.99997289e-01 3.70550494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.17, Y:98.69, Z:0.37 [[ 2.01362088e-01 -9.79516723e-01 -5.47099184e-04 1.40172309e+02] [ 9.79514111e-01 2.01362816e-01 -2.26351831e-03 9.86856674e+01] [ 2.32731947e-03 -8.01045975e-05 9.99997289e-01 3.71014641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.18, Y:98.71, Z:0.37 [[ 2.05099648e-01 -9.78740956e-01 -5.24927074e-04 1.40176671e+02] [ 9.78738328e-01 2.05100314e-01 -2.26864856e-03 9.87121685e+01] [ 2.32808197e-03 -4.84672261e-05 9.99997289e-01 3.70351033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.18, Y:98.74, Z:0.37 [[ 2.06913561e-01 -9.78359087e-01 -5.24469582e-04 1.40182049e+02] [ 9.78356457e-01 2.06914222e-01 -2.26875432e-03 9.87387938e+01] [ 2.32817662e-03 -4.36821658e-05 9.99997289e-01 3.70023520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.19, Y:98.77, Z:0.37 [[ 2.08577988e-01 -9.78005598e-01 -5.23816860e-04 1.40187539e+02] [ 9.78002966e-01 2.08578642e-01 -2.26890501e-03 9.87664219e+01] [ 2.32825881e-03 -3.90508010e-05 9.99997289e-01 3.69320185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17361786499995 meters Centerline goodness : 0.995599 Centerline is valid? [True, True] Translation: X:140.19, Y:98.80, Z:0.37 [[ 2.10613475e-01 -9.77569277e-01 -5.23191995e-04 1.40192115e+02] [ 9.77566644e-01 2.10614122e-01 -2.26904909e-03 9.87950097e+01] [ 2.32834430e-03 -3.35627279e-05 9.99997289e-01 3.68424196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20361786499996 meters Centerline goodness : 0.995599 Centerline is valid? [True, True] Translation: X:140.20, Y:98.82, Z:0.37 [[ 2.10163147e-01 -9.77666184e-01 -5.33850001e-04 1.40198030e+02] [ 9.77663557e-01 2.10163821e-01 -2.26659280e-03 9.88221873e+01] [ 2.32816709e-03 -4.55714146e-05 9.99997289e-01 3.68492802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:140.20, Y:98.85, Z:0.37 [[ 2.12144539e-01 -9.77238154e-01 -5.32978461e-04 1.40202895e+02] [ 9.77235526e-01 2.12145205e-01 -2.26679329e-03 9.88457468e+01] [ 2.32826571e-03 -3.99576702e-05 9.99997289e-01 3.69299477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.21, Y:98.87, Z:0.37 [[ 2.12791103e-01 -9.77097577e-01 -5.20898707e-04 1.40208327e+02] [ 9.77094942e-01 2.12791739e-01 -2.26956577e-03 9.88731122e+01] [ 2.32843015e-03 -2.60240895e-05 9.99997289e-01 3.69269640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29361786499996 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:140.21, Y:98.90, Z:0.37 [[ 2.11710396e-01 -9.77332307e-01 -5.20293838e-04 1.40213411e+02] [ 9.77329672e-01 2.11711033e-01 -2.26970442e-03 9.89001481e+01] [ 2.32840741e-03 -2.79785841e-05 9.99997289e-01 3.68665609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.22, Y:98.92, Z:0.37 [[ 2.13610346e-01 -9.76918802e-01 -5.23774424e-04 1.40218485e+02] [ 9.76916168e-01 2.13610986e-01 -2.26890767e-03 9.89244958e+01] [ 2.32842254e-03 -2.70215509e-05 9.99997289e-01 3.68786722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.22, Y:98.95, Z:0.37 [[ 2.13935754e-01 -9.76847595e-01 -5.18493537e-04 1.40223962e+02] [ 9.76844958e-01 2.13936381e-01 -2.27011383e-03 9.89521251e+01] [ 2.32847986e-03 -2.08292844e-05 9.99997289e-01 3.68471774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38361786499996 meters Centerline goodness : 0.997075 Centerline is valid? [True, True] Translation: X:140.23, Y:98.98, Z:0.37 [[ 2.12918234e-01 -9.77069884e-01 -5.17884075e-04 1.40229632e+02] [ 9.77067246e-01 2.12918863e-01 -2.27025285e-03 9.89793058e+01] [ 2.32846298e-03 -2.26293376e-05 9.99997289e-01 3.69915572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.23, Y:99.01, Z:0.37 [[ 2.13512345e-01 -9.76940228e-01 -5.18280747e-04 1.40234129e+02] [ 9.76937591e-01 2.13512973e-01 -2.27016254e-03 9.90051882e+01] [ 2.32847277e-03 -2.16202184e-05 9.99997289e-01 3.68043696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44361786499996 meters Centerline goodness : 0.996799 Centerline is valid? [True, True] Translation: X:140.24, Y:99.03, Z:0.37 [[ 2.13262457e-01 -9.76994810e-01 -5.16146912e-04 1.40239027e+02] [ 9.76992171e-01 2.13263081e-01 -2.27064758e-03 9.90300224e+01] [ 2.32848598e-03 -2.00276103e-05 9.99997289e-01 3.68108197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.24, Y:99.06, Z:0.37 [[ 2.12670951e-01 -9.77123739e-01 -5.14115174e-04 1.40244188e+02] [ 9.77121100e-01 2.12671572e-01 -2.27110867e-03 9.90565280e+01] [ 2.32849188e-03 -1.93539423e-05 9.99997289e-01 3.67609188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.25, Y:99.08, Z:0.37 [[ 2.11539088e-01 -9.77369403e-01 -5.14399332e-04 1.40249686e+02] [ 9.77366765e-01 2.11539713e-01 -2.27104431e-03 9.90837901e+01] [ 2.32846511e-03 -2.23421682e-05 9.99997289e-01 3.66576875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.26, Y:99.11, Z:0.37 [[ 2.10567114e-01 -9.77579269e-01 -5.13792383e-04 1.40255651e+02] [ 9.77576631e-01 2.10567739e-01 -2.27118161e-03 9.91103161e+01] [ 2.32844816e-03 -2.40352692e-05 9.99997289e-01 3.66048268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.26, Y:99.14, Z:0.37 [[ 2.09576313e-01 -9.77792159e-01 -5.13152206e-04 1.40261758e+02] [ 9.77789521e-01 2.09576939e-01 -2.27132625e-03 9.91376656e+01] [ 2.32842986e-03 -2.57386697e-05 9.99997289e-01 3.65893100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:140.27, Y:99.16, Z:0.37 [[ 2.06932783e-01 -9.78355028e-01 -5.12544548e-04 1.40267661e+02] [ 9.78352392e-01 2.06933415e-01 -2.27146336e-03 9.91647177e+01] [ 2.32836020e-03 -3.14089505e-05 9.99997289e-01 3.65342273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.27, Y:99.19, Z:0.37 [[ 2.05636050e-01 -9.78628404e-01 -5.11942443e-04 1.40273555e+02] [ 9.78625768e-01 2.05636685e-01 -2.27159906e-03 9.91908515e+01] [ 2.32832551e-03 -3.38774094e-05 9.99997289e-01 3.65411121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.28, Y:99.22, Z:0.36 [[ 2.03783138e-01 -9.79015920e-01 -5.11307473e-04 1.40279676e+02] [ 9.79013285e-01 2.03783776e-01 -2.27174197e-03 9.92183613e+01] [ 2.32826772e-03 -3.76341013e-05 9.99997289e-01 3.64973772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.29, Y:99.24, Z:0.36 [[ 2.00491107e-01 -9.79695389e-01 -5.10692198e-04 1.40286452e+02] [ 9.79692756e-01 2.00491752e-01 -2.27188028e-03 9.92449703e+01] [ 2.32814021e-03 -4.48296563e-05 9.99997289e-01 3.64917640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:140.29, Y:99.27, Z:0.36 [[ 1.99700660e-01 -9.79856819e-01 -5.10043451e-04 1.40288818e+02] [ 9.79854186e-01 1.99701306e-01 -2.27202591e-03 9.92659482e+01] [ 2.32811643e-03 -4.60431346e-05 9.99997289e-01 3.61692922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74361786499998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:140.30, Y:99.30, Z:0.36 [[ 1.96437281e-01 -9.80516273e-01 -4.82218017e-04 1.40295969e+02] [ 9.80513627e-01 1.96437872e-01 -2.27831891e-03 9.92954530e+01] [ 2.32865465e-03 -2.52745639e-05 9.99997288e-01 3.59386250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.30, Y:99.32, Z:0.36 [[ 1.95299538e-01 -9.80743514e-01 -5.00087786e-04 1.40302992e+02] [ 9.80740878e-01 1.95300173e-01 -2.27427664e-03 9.93221011e+01] [ 2.32814930e-03 -4.62913569e-05 9.99997289e-01 3.61061895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.31, Y:99.35, Z:0.36 [[ 1.93213796e-01 -9.81156549e-01 -5.04449628e-04 1.40310164e+02] [ 9.81153918e-01 1.93214446e-01 -2.27329030e-03 9.93489170e+01] [ 2.32792063e-03 -5.57116793e-05 9.99997289e-01 3.60903783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83361786499995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:140.32, Y:99.38, Z:0.36 [[ 1.95301379e-01 -9.80743146e-01 -5.03307829e-04 1.40319823e+02] [ 9.80740512e-01 1.95302021e-01 -2.27354822e-03 9.93761190e+01] [ 2.32806387e-03 -4.95872766e-05 9.99997289e-01 3.64728328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86361786499995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:140.33, Y:99.40, Z:0.37 [[ 1.96520599e-01 -9.80499562e-01 -5.13048811e-04 1.40326191e+02] [ 9.80496933e-01 1.96521260e-01 -2.27134794e-03 9.94018865e+01] [ 2.32788066e-03 -5.66761290e-05 9.99997289e-01 3.65171365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89361786499995 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:140.33, Y:99.43, Z:0.37 [[ 1.97309800e-01 -9.80341059e-01 -5.01660114e-04 1.40332027e+02] [ 9.80338422e-01 1.97310433e-01 -2.27390909e-03 9.94256984e+01] [ 2.32818922e-03 -4.31321355e-05 9.99997289e-01 3.65324764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92361786499995 meters Centerline goodness : 0.997082 Centerline is valid? [True, True] Translation: X:140.34, Y:99.45, Z:0.36 [[ 2.00614310e-01 -9.79670178e-01 -4.90645313e-04 1.40338842e+02] [ 9.79667534e-01 2.00614908e-01 -2.27637816e-03 9.94478434e+01] [ 2.32853056e-03 -2.39952512e-05 9.99997289e-01 3.64506526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.34, Y:99.48, Z:0.36 [[ 1.98642109e-01 -9.80071984e-01 -4.67836138e-04 1.40344388e+02] [ 9.80069328e-01 1.98642660e-01 -2.28148623e-03 9.94784762e+01] [ 2.32895295e-03 -5.31261245e-06 9.99997288e-01 3.64416258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98361786499996 meters Centerline goodness : 0.995681 Centerline is valid? [True, True] Translation: X:140.35, Y:99.50, Z:0.36 [[ 2.01542691e-01 -9.79479599e-01 -5.09703669e-04 1.40350506e+02] [ 9.79476964e-01 2.01543331e-01 -2.27209400e-03 9.95021478e+01] [ 2.32819710e-03 -4.13190628e-05 9.99997289e-01 3.64189697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:99.53, Z:0.36 [[ 2.00150742e-01 -9.79764990e-01 -4.94041091e-04 1.40355031e+02] [ 9.79762348e-01 2.00151350e-01 -2.27560675e-03 9.95305978e+01] [ 2.32844281e-03 -2.85784803e-05 9.99997289e-01 3.59016767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:99.56, Z:0.36 [[ 2.05466514e-01 -9.78664016e-01 -5.06131585e-04 1.40363402e+02] [ 9.78661377e-01 2.05467136e-01 -2.27289208e-03 9.95572090e+01] [ 2.32839110e-03 -2.83282211e-05 9.99997289e-01 3.63279088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07361786499996 meters Centerline goodness : 0.995752 Centerline is valid? [True, True] Translation: X:140.37, Y:99.58, Z:0.36 [[ 2.08059664e-01 -9.78116003e-01 -5.09982596e-04 1.40369565e+02] [ 9.78113365e-01 2.08060288e-01 -2.27202768e-03 9.95808276e+01] [ 2.32841376e-03 -2.61034770e-05 9.99997289e-01 3.62800329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10361786499996 meters Centerline goodness : 0.996257 Centerline is valid? [True, True] Translation: X:140.38, Y:99.61, Z:0.36 [[ 2.07683080e-01 -9.78196038e-01 -5.00123585e-04 1.40376944e+02] [ 9.78193394e-01 2.07683682e-01 -2.27424000e-03 9.96113963e+01] [ 2.32852006e-03 -1.68964202e-05 9.99997289e-01 3.64128442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13361786499996 meters Centerline goodness : 0.996790 Centerline is valid? [True, True] Translation: X:140.39, Y:99.63, Z:0.37 [[ 2.16941011e-01 -9.76184572e-01 -5.29106262e-04 1.40386362e+02] [ 9.76181938e-01 2.16941655e-01 -2.26774092e-03 9.96338440e+01] [ 2.32851888e-03 -2.45379684e-05 9.99997289e-01 3.68063015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.39, Y:99.66, Z:0.36 [[ 2.07061364e-01 -9.78327825e-01 -5.08220759e-04 1.40387622e+02] [ 9.78325186e-01 2.07061986e-01 -2.27241192e-03 9.96613299e+01] [ 2.32839701e-03 -2.66764571e-05 9.99997289e-01 3.57592280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.39, Y:99.68, Z:0.36 [[ 2.07504596e-01 -9.78233912e-01 -5.05319143e-04 1.40393694e+02] [ 9.78231272e-01 2.07505210e-01 -2.27306062e-03 9.96834366e+01] [ 2.32844133e-03 -2.26484626e-05 9.99997289e-01 3.57554693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22361786499997 meters Centerline goodness : 0.995846 Centerline is valid? [True, True] Translation: X:140.40, Y:99.72, Z:0.36 [[ 2.01890243e-01 -9.79408041e-01 -4.67883689e-04 1.40398370e+02] [ 9.79405384e-01 2.01890785e-01 -2.28124047e-03 9.97185935e+01] [ 2.32872666e-03 2.31238898e-06 9.99997289e-01 3.61917362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25361786499997 meters Centerline goodness : 0.995436 Centerline is valid? [True, True] Translation: X:140.40, Y:99.75, Z:0.36 [[ 1.97469243e-01 -9.80308945e-01 -5.19956285e-04 1.40404682e+02] [ 9.80306319e-01 1.97469918e-01 -2.26983774e-03 9.97482317e+01] [ 2.32781797e-03 -6.14932916e-05 9.99997289e-01 3.61847969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:140.41, Y:99.77, Z:0.36 [[ 1.98919099e-01 -9.80015763e-01 -5.45205697e-04 1.40411339e+02] [ 9.80013150e-01 1.98919829e-01 -2.26434372e-03 9.97676705e+01] [ 2.32754476e-03 -8.38875391e-05 9.99997288e-01 3.61727282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.41, Y:99.79, Z:0.36 [[ 1.93662297e-01 -9.81068128e-01 -4.92006065e-04 1.40413942e+02] [ 9.81065490e-01 1.93662918e-01 -2.27584475e-03 9.97936629e+01] [ 2.32804208e-03 -4.19448485e-05 9.99997289e-01 3.56517367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.43, Y:99.82, Z:0.36 [[ 1.94387410e-01 -9.80924722e-01 -4.74997436e-04 1.40425865e+02] [ 9.80922073e-01 1.94387989e-01 -2.27951491e-03 9.98214363e+01] [ 2.32836633e-03 -2.28264714e-05 9.99997289e-01 3.62510562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.43, Y:99.85, Z:0.36 [[ 1.92471209e-01 -9.81302498e-01 -4.91434672e-04 1.40432709e+02] [ 9.81299859e-01 1.92471831e-01 -2.27596573e-03 9.98489339e+01] [ 2.32799818e-03 -4.41868995e-05 9.99997289e-01 3.62091797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.44, Y:99.87, Z:0.36 [[ 1.86522988e-01 -9.82450474e-01 -4.90813286e-04 1.40435578e+02] [ 9.82447839e-01 1.86523625e-01 -2.27609972e-03 9.98713760e+01] [ 2.32770352e-03 -5.76535312e-05 9.99997289e-01 3.59145975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.45, Y:99.90, Z:0.36 [[ 1.87771627e-01 -9.82212604e-01 -4.64935989e-04 1.40446926e+02] [ 9.82209954e-01 1.87772201e-01 -2.28166696e-03 9.99023705e+01] [ 2.32838410e-03 -2.82324395e-05 9.99997289e-01 3.62374957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:140.45, Y:99.93, Z:0.36 [[ 1.86259908e-01 -9.82500385e-01 -4.90293262e-04 1.40453265e+02] [ 9.82497750e-01 1.86260544e-01 -2.27620501e-03 9.99295977e+01] [ 2.32769459e-03 -5.77462908e-05 9.99997289e-01 3.62250170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.46, Y:99.96, Z:0.36 [[ 1.84753011e-01 -9.82784862e-01 -4.89674526e-04 1.40459244e+02] [ 9.82782228e-01 1.84753650e-01 -2.27633811e-03 9.99559466e+01] [ 2.32761979e-03 -6.06831023e-05 9.99997289e-01 3.62376226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52361786499998 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:140.47, Y:99.98, Z:0.37 [[ 1.83175625e-01 -9.83080084e-01 -4.89021314e-04 1.40465936e+02] [ 9.83077450e-01 1.83176267e-01 -2.27647843e-03 9.99829394e+01] [ 2.32753771e-03 -6.37504655e-05 9.99997289e-01 3.66923966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.47, Y:100.01, Z:0.36 [[ 1.81806873e-01 -9.83334134e-01 -4.92268007e-04 1.40471043e+02] [ 9.83331503e-01 1.81807526e-01 -2.27578172e-03 1.00008204e+02] [ 2.32735187e-03 -7.03098811e-05 9.99997289e-01 3.63016655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.48, Y:100.04, Z:0.36 [[ 1.81107811e-01 -9.83463128e-01 -4.87532189e-04 1.40476788e+02] [ 9.83460494e-01 1.81108455e-01 -2.27679580e-03 1.00036167e+02] [ 2.32744092e-03 -6.71231442e-05 9.99997289e-01 3.63071078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.48, Y:100.06, Z:0.36 [[ 1.80309748e-01 -9.83609759e-01 -4.86927422e-04 1.40482393e+02] [ 9.83607126e-01 1.80310392e-01 -2.27692513e-03 1.00062496e+02] [ 2.32740385e-03 -6.83934857e-05 9.99997289e-01 3.62561004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:140.49, Y:100.09, Z:0.36 [[ 1.77788301e-01 -9.84068638e-01 -4.86288557e-04 1.40485282e+02] [ 9.84066006e-01 1.77788951e-01 -2.27706157e-03 1.00088192e+02] [ 2.32724161e-03 -7.37051305e-05 9.99997289e-01 3.58805974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.49, Y:100.12, Z:0.36 [[ 1.79515976e-01 -9.83754942e-01 -4.77148341e-04 1.40493222e+02] [ 9.83752304e-01 1.79516600e-01 -2.27901075e-03 1.00115810e+02] [ 2.32764413e-03 -6.02769411e-05 9.99997289e-01 3.62886713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.50, Y:100.14, Z:0.36 [[ 1.76296608e-01 -9.84336970e-01 -4.85416063e-04 1.40495524e+02] [ 9.84334339e-01 1.76297260e-01 -2.27724841e-03 1.00142863e+02] [ 2.32715732e-03 -7.63405290e-05 9.99997289e-01 3.58333948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:140.50, Y:100.17, Z:0.36 [[ 1.77048351e-01 -9.84202040e-01 -4.75959591e-04 1.40499512e+02] [ 9.84199403e-01 1.77048979e-01 -2.27926130e-03 1.00166848e+02] [ 2.32752178e-03 -6.48996909e-05 9.99997289e-01 3.61399165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.51, Y:100.20, Z:0.36 [[ 1.76512763e-01 -9.84298244e-01 -4.59099518e-04 1.40505013e+02] [ 9.84295598e-01 1.76513353e-01 -2.28285345e-03 1.00196235e+02] [ 2.32804584e-03 -4.89368641e-05 9.99997289e-01 3.57519983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79361786499996 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:140.51, Y:100.22, Z:0.37 [[ 1.78912131e-01 -9.83864944e-01 -4.71416507e-04 1.40512418e+02] [ 9.83862303e-01 1.78912743e-01 -2.28024495e-03 1.00224492e+02] [ 2.32779549e-03 -5.58454482e-05 9.99997289e-01 3.67846451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:140.51, Y:100.25, Z:0.36 [[ 1.77588337e-01 -9.84104742e-01 -4.88832824e-04 1.40514090e+02] [ 9.84102112e-01 1.77588993e-01 -2.27655317e-03 1.00247181e+02] [ 2.32717810e-03 -7.67721235e-05 9.99997289e-01 3.61554744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.52, Y:100.28, Z:0.36 [[ 1.82466434e-01 -9.83211971e-01 -4.69704464e-04 1.40523001e+02] [ 9.83209327e-01 1.82467033e-01 -2.28062182e-03 1.00277449e+02] [ 2.32804025e-03 -4.56808786e-05 9.99997289e-01 3.63899411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.53, Y:100.30, Z:0.36 [[ 1.82680598e-01 -9.83172195e-01 -4.84652836e-04 1.40527778e+02] [ 9.83169559e-01 1.82681231e-01 -2.27744071e-03 1.00304941e+02] [ 2.32765336e-03 -6.04516824e-05 9.99997289e-01 3.63209919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.53, Y:100.33, Z:0.36 [[ 1.79292972e-01 -9.83795607e-01 -4.84034860e-04 1.40526612e+02] [ 9.83792973e-01 1.79293613e-01 -2.27757205e-03 1.00330495e+02] [ 2.32744973e-03 -6.78374317e-05 9.99997289e-01 3.57323506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.53, Y:100.36, Z:0.36 [[ 1.79390066e-01 -9.83777918e-01 -4.60390315e-04 1.40532006e+02] [ 9.83775271e-01 1.79390651e-01 -2.28258806e-03 1.00358138e+02] [ 2.32814945e-03 -4.34469854e-05 9.99997289e-01 3.56717090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:140.54, Y:100.38, Z:0.36 [[ 1.79790146e-01 -9.83704881e-01 -4.59143701e-04 1.40537168e+02] [ 9.83702233e-01 1.79790727e-01 -2.28285228e-03 1.00384257e+02] [ 2.32820271e-03 -4.12263392e-05 9.99997289e-01 3.57880216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00361786499997 meters Centerline goodness : 0.995161 Centerline is valid? [True, True] Translation: X:140.54, Y:100.41, Z:0.36 [[ 1.80252152e-01 -9.83620330e-01 -4.56324466e-04 1.40544569e+02] [ 9.83617680e-01 1.80252726e-01 -2.28344213e-03 1.00412735e+02] [ 2.32829383e-03 -3.72534550e-05 9.99997289e-01 3.62967445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.55, Y:100.44, Z:0.36 [[ 1.76342368e-01 -9.84328777e-01 -4.77471551e-04 1.40546546e+02] [ 9.84326141e-01 1.76343001e-01 -2.27902013e-03 1.00437499e+02] [ 2.32750386e-03 -6.80999238e-05 9.99997289e-01 3.55957690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:140.56, Y:100.47, Z:0.36 [[ 1.78822375e-01 -9.83881265e-01 -4.62534152e-04 1.40556398e+02] [ 9.83878620e-01 1.78822967e-01 -2.28215741e-03 1.00465913e+02] [ 2.32808365e-03 -4.69766551e-05 9.99997289e-01 3.60731106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.56, Y:100.49, Z:0.36 [[ 1.76454564e-01 -9.84308670e-01 -4.78718334e-04 1.40561263e+02] [ 9.84306035e-01 1.76455200e-01 -2.27875746e-03 1.00492304e+02] [ 2.32747306e-03 -6.91081908e-05 9.99997289e-01 3.61194200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.57, Y:100.52, Z:0.36 [[ 1.76169192e-01 -9.84359786e-01 -4.78070279e-04 1.40566848e+02] [ 9.84357150e-01 1.76169827e-01 -2.27889341e-03 1.00519490e+02] [ 2.32747259e-03 -6.91210871e-05 9.99997289e-01 3.61258584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:140.57, Y:100.55, Z:0.36 [[ 1.74975615e-01 -9.84572652e-01 -4.77409553e-04 1.40572067e+02] [ 9.84570017e-01 1.74976251e-01 -2.27903182e-03 1.00547362e+02] [ 2.32740773e-03 -7.12681383e-05 9.99997289e-01 3.60855586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18361786499997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:140.58, Y:100.58, Z:0.36 [[ 1.72801418e-01 -9.84956569e-01 -4.76802371e-04 1.40575847e+02] [ 9.84953935e-01 1.72802059e-01 -2.27915884e-03 1.00575652e+02] [ 2.32726490e-03 -7.57864916e-05 9.99997289e-01 3.57061927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.58, Y:100.60, Z:0.35 [[ 1.72777364e-01 -9.84960789e-01 -4.76184944e-04 1.40577614e+02] [ 9.84958155e-01 1.72778004e-01 -2.27928783e-03 1.00597583e+02] [ 2.32728343e-03 -7.52129004e-05 9.99997289e-01 3.54634810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24361786499998 meters Centerline goodness : 0.993913 Centerline is valid? [True, True] Translation: X:140.58, Y:100.63, Z:0.36 [[ 1.72859020e-01 -9.84946475e-01 -4.47995950e-04 1.40583941e+02] [ 9.84943825e-01 1.72859594e-01 -2.28509377e-03 1.00628146e+02] [ 2.32813546e-03 -4.62517738e-05 9.99997289e-01 3.62555435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.59, Y:100.65, Z:0.36 [[ 1.69821989e-01 -9.85474643e-01 -4.69630737e-04 1.40586419e+02] [ 9.85472007e-01 1.69822621e-01 -2.28063872e-03 1.00653373e+02] [ 2.32726555e-03 -7.55053411e-05 9.99997289e-01 3.60381385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.59, Y:100.68, Z:0.35 [[ 1.67680868e-01 -9.85841218e-01 -4.68621986e-04 1.40588005e+02] [ 9.85838583e-01 1.67681504e-01 -2.28084598e-03 1.00681008e+02] [ 2.32713122e-03 -7.95314012e-05 9.99997289e-01 3.53296397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.60, Y:100.71, Z:0.36 [[ 1.70424233e-01 -9.85370676e-01 -4.61080062e-04 1.40595799e+02] [ 9.85368034e-01 1.70424844e-01 -2.28239276e-03 1.00708970e+02] [ 2.32758240e-03 -6.53585190e-05 9.99997289e-01 3.59678558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.60, Y:100.73, Z:0.36 [[ 1.68228324e-01 -9.85747946e-01 -4.67455714e-04 1.40595439e+02] [ 9.85745309e-01 1.68228956e-01 -2.28108622e-03 1.00733273e+02] [ 2.32721564e-03 -7.70489655e-05 9.99997289e-01 3.55899356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39361786499995 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:140.60, Y:100.76, Z:0.36 [[ 1.68687863e-01 -9.85669420e-01 -4.46050471e-04 1.40601267e+02] [ 9.85666772e-01 1.68688444e-01 -2.28542824e-03 1.00764884e+02] [ 2.32792029e-03 -5.41331227e-05 9.99997289e-01 3.61950096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42361786499995 meters Centerline goodness : 0.995211 Centerline is valid? [True, True] Translation: X:140.61, Y:100.79, Z:0.36 [[ 1.69231148e-01 -9.85576273e-01 -4.77392505e-04 1.40605291e+02] [ 9.85573642e-01 1.69231801e-01 -2.27907708e-03 1.00791503e+02] [ 2.32699429e-03 -8.48146376e-05 9.99997289e-01 3.61668342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45361786499996 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:140.61, Y:100.82, Z:0.36 [[ 1.71966066e-01 -9.85102760e-01 -4.72769167e-04 1.40609820e+02] [ 9.85100125e-01 1.71966700e-01 -2.28001089e-03 1.00815059e+02] [ 2.32734558e-03 -7.36404620e-05 9.99997289e-01 3.62784683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.61, Y:100.84, Z:0.36 [[ 1.71272568e-01 -9.85223577e-01 -4.59665225e-04 1.40611470e+02] [ 9.85220934e-01 1.71273174e-01 -2.28264968e-03 1.00843736e+02] [ 2.32764860e-03 -6.19165301e-05 9.99997289e-01 3.60637960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.61, Y:100.87, Z:0.35 [[ 1.70429427e-01 -9.85369774e-01 -4.67915899e-04 1.40612932e+02] [ 9.85367137e-01 1.70430054e-01 -2.28099708e-03 1.00870449e+02] [ 2.32737251e-03 -7.23199235e-05 9.99997289e-01 3.54576548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54361786499996 meters Centerline goodness : 0.994889 Centerline is valid? [True, True] Translation: X:140.62, Y:100.90, Z:0.36 [[ 1.73564911e-01 -9.84822326e-01 -4.56207835e-04 1.40619681e+02] [ 9.84819680e-01 1.73565502e-01 -2.28333634e-03 1.00897487e+02] [ 2.32786255e-03 -5.29753867e-05 9.99997289e-01 3.64427957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57361786499996 meters Centerline goodness : 0.996649 Centerline is valid? [True, True] Translation: X:140.62, Y:100.92, Z:0.37 [[ 1.76322732e-01 -9.84332301e-01 -4.64704917e-04 1.40622921e+02] [ 9.84329658e-01 1.76323336e-01 -2.28164091e-03 1.00924175e+02] [ 2.32783116e-03 -5.51176731e-05 9.99997289e-01 3.65219708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.62, Y:100.95, Z:0.36 [[ 1.75680713e-01 -9.84447089e-01 -4.65064271e-04 1.40624393e+02] [ 9.84444447e-01 1.75681319e-01 -2.28156941e-03 1.00949323e+02] [ 2.32778747e-03 -5.70021987e-05 9.99997289e-01 3.56645301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63361786499996 meters Centerline goodness : 0.994036 Centerline is valid? [True, True] Translation: X:140.63, Y:100.98, Z:0.37 [[ 1.77711231e-01 -9.84082575e-01 -4.51206221e-04 1.40630351e+02] [ 9.84079925e-01 1.77711800e-01 -2.28431811e-03 1.00978062e+02] [ 2.32814232e-03 -3.80740009e-05 9.99997289e-01 3.65047720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.63, Y:101.00, Z:0.36 [[ 1.80020986e-01 -9.83662656e-01 -4.73747406e-04 1.40632282e+02] [ 9.83660015e-01 1.80021601e-01 -2.27985095e-03 1.01003944e+02] [ 2.32788900e-03 -5.55853649e-05 9.99997289e-01 3.59379531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.64, Y:101.03, Z:0.36 [[ 1.81345768e-01 -9.83419290e-01 -4.62001705e-04 1.40636474e+02] [ 9.83416642e-01 1.81346352e-01 -2.28215985e-03 1.01031031e+02] [ 2.32810234e-03 -4.04801360e-05 9.99997289e-01 3.61643054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.64, Y:101.06, Z:0.35 [[ 1.79879919e-01 -9.83688468e-01 -4.60116814e-04 1.40636896e+02] [ 9.83685821e-01 1.79880503e-01 -2.28252963e-03 1.01056477e+02] [ 2.32806412e-03 -4.20291405e-05 9.99997289e-01 3.54359378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.64, Y:101.08, Z:0.35 [[ 1.81114836e-01 -9.83461853e-01 -4.46693562e-04 1.40642226e+02] [ 9.83459199e-01 1.81115385e-01 -2.28515696e-03 1.01083238e+02] [ 2.32826778e-03 -2.54290647e-05 9.99997289e-01 3.51810748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.65, Y:101.11, Z:0.35 [[ 1.80608944e-01 -9.83554888e-01 -4.38167064e-04 1.40647367e+02] [ 9.83552229e-01 1.80609475e-01 -2.28682314e-03 1.01110920e+02] [ 2.32835320e-03 -1.79394806e-05 9.99997289e-01 3.51332329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.81361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:140.65, Y:101.14, Z:0.35 [[ 1.79570506e-01 -9.83745009e-01 -4.35645153e-04 1.40653606e+02] [ 9.83742351e-01 1.79571033e-01 -2.28731549e-03 1.01139442e+02] [ 2.32836444e-03 -1.78281886e-05 9.99997289e-01 3.51651039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.66, Y:101.17, Z:0.35 [[ 1.77426745e-01 -9.84133909e-01 -4.45572727e-04 1.40659082e+02] [ 9.84131256e-01 1.77427302e-01 -2.28537825e-03 1.01166749e+02] [ 2.32817499e-03 -3.30148243e-05 9.99997289e-01 3.52358073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.67, Y:101.20, Z:0.36 [[ 1.78254969e-01 -9.83984231e-01 -4.45269835e-04 1.40667455e+02] [ 9.83981578e-01 1.78255523e-01 -2.28543726e-03 1.01195131e+02] [ 2.32820603e-03 -3.07467669e-05 9.99997289e-01 3.55469284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.67, Y:101.22, Z:0.35 [[ 1.71791225e-01 -9.85133276e-01 -4.50174399e-04 1.40670880e+02] [ 9.85130629e-01 1.71791807e-01 -2.28448238e-03 1.01222897e+02] [ 2.32785589e-03 -5.10265615e-05 9.99997289e-01 3.53403153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.68, Y:101.25, Z:0.35 [[ 1.69303558e-01 -9.85563853e-01 -4.44352105e-04 1.40676646e+02] [ 9.85561204e-01 1.69304134e-01 -2.28561431e-03 1.01250276e+02] [ 2.32784949e-03 -5.09735604e-05 9.99997289e-01 3.53793432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.68, Y:101.28, Z:0.35 [[ 1.66919796e-01 -9.85970377e-01 -4.43688873e-04 1.40682095e+02] [ 9.85967729e-01 1.66920376e-01 -2.28574305e-03 1.01275850e+02] [ 2.32773565e-03 -5.59271465e-05 9.99997289e-01 3.54003781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.69, Y:101.31, Z:0.35 [[ 1.63014255e-01 -9.86623618e-01 -4.33994962e-04 1.40688906e+02] [ 9.86620968e-01 1.63014823e-01 -2.28761827e-03 1.01306494e+02] [ 2.32776583e-03 -5.52741408e-05 9.99997289e-01 3.54499610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.70, Y:101.33, Z:0.36 [[ 1.62252761e-01 -9.86749124e-01 -4.56277665e-04 1.40695033e+02] [ 9.86746485e-01 1.62253383e-01 -2.28330591e-03 1.01331564e+02] [ 2.32708271e-03 -7.97576933e-05 9.99997289e-01 3.56049369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.70, Y:101.35, Z:0.35 [[ 1.59263226e-01 -9.87236056e-01 -4.41347798e-04 1.40698445e+02] [ 9.87233411e-01 1.59263821e-01 -2.28618812e-03 1.01353664e+02] [ 2.32729808e-03 -7.16075977e-05 9.99997289e-01 3.50858785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.70, Y:101.39, Z:0.35 [[ 1.55375321e-01 -9.87855427e-01 -4.07197620e-04 1.40704505e+02] [ 9.87852767e-01 1.55375847e-01 -2.29278748e-03 1.01387068e+02] [ 2.32821123e-03 -4.60087066e-05 9.99997289e-01 3.52517651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.71, Y:101.41, Z:0.35 [[ 1.51629800e-01 -9.88437256e-01 -4.42497031e-04 1.40708785e+02] [ 9.88434616e-01 1.51630418e-01 -2.28595450e-03 1.01413200e+02] [ 2.32661860e-03 -9.07605606e-05 9.99997289e-01 3.51561827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.71, Y:101.43, Z:0.35 [[ 1.53210867e-01 -9.88193426e-01 -4.27843668e-04 1.40713323e+02] [ 9.88190778e-01 1.53211448e-01 -2.28878486e-03 1.01434646e+02] [ 2.32731270e-03 -7.21244545e-05 9.99997289e-01 3.49590438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.72, Y:101.47, Z:0.35 [[ 1.50146292e-01 -9.88663711e-01 -3.98234218e-04 1.40719914e+02] [ 9.88661049e-01 1.50146812e-01 -2.29449579e-03 1.01469045e+02] [ 2.32827832e-03 -4.92086255e-05 9.99997288e-01 3.51851027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.72, Y:101.49, Z:0.35 [[ 1.49666646e-01 -9.88736416e-01 -4.41922934e-04 1.40724419e+02] [ 9.88733777e-01 1.49667269e-01 -2.28605020e-03 1.01494501e+02] [ 2.32644248e-03 -9.47986660e-05 9.99997289e-01 3.50552550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.73, Y:101.52, Z:0.35 [[ 1.49826031e-01 -9.88712282e-01 -4.28966639e-04 1.40729624e+02] [ 9.88709637e-01 1.49826623e-01 -2.28855026e-03 1.01522520e+02] [ 2.32698837e-03 -8.12390470e-05 9.99997289e-01 3.51052646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.74, Y:101.55, Z:0.35 [[ 1.50958254e-01 -9.88540046e-01 -4.28700554e-04 1.40735515e+02] [ 9.88537399e-01 1.50958843e-01 -2.28860153e-03 1.01550993e+02] [ 2.32709040e-03 -7.83032398e-05 9.99997289e-01 3.52731983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.74, Y:101.57, Z:0.35 [[ 1.54327594e-01 -9.88019635e-01 -4.40555582e-04 1.40738515e+02] [ 9.88016993e-01 1.54328201e-01 -2.28631715e-03 1.01573902e+02] [ 2.32691639e-03 -8.24345766e-05 9.99997289e-01 3.50657630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.74, Y:101.60, Z:0.35 [[ 1.54817545e-01 -9.87942993e-01 -4.13354643e-04 1.40743747e+02] [ 9.87940337e-01 1.54818087e-01 -2.29153331e-03 1.01603935e+02] [ 2.32789906e-03 -5.36001640e-05 9.99997289e-01 3.53105863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.75, Y:101.63, Z:0.35 [[ 1.56884453e-01 -9.87616871e-01 -4.30013600e-04 1.40747967e+02] [ 9.87614222e-01 1.56885028e-01 -2.28833421e-03 1.01631310e+02] [ 2.32746017e-03 -6.56834869e-05 9.99997289e-01 3.52526917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:140.75, Y:101.66, Z:0.35 [[ 1.60812011e-01 -9.86984961e-01 -4.29912578e-04 1.40750767e+02] [ 9.86982309e-01 1.60812575e-01 -2.28835361e-03 1.01659061e+02] [ 2.32770594e-03 -5.63213649e-05 9.99997289e-01 3.51732179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.76, Y:101.69, Z:0.35 [[ 1.63194152e-01 -9.86593882e-01 -4.24658577e-04 1.40755766e+02] [ 9.86591227e-01 1.63194698e-01 -2.28936087e-03 1.01686256e+02] [ 2.32797146e-03 -4.53541207e-05 9.99997289e-01 3.52590255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:140.76, Y:101.71, Z:0.35 [[ 1.65007602e-01 -9.86292201e-01 -4.30010621e-04 1.40759216e+02] [ 9.86289548e-01 1.65008155e-01 -2.28833580e-03 1.01713240e+02] [ 2.32792302e-03 -4.65221784e-05 9.99997289e-01 3.53065728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.76, Y:101.74, Z:0.35 [[ 1.69781730e-01 -9.85481601e-01 -4.22562239e-04 1.40762928e+02] [ 9.85478941e-01 1.69782254e-01 -2.28976111e-03 1.01741022e+02] [ 2.32826102e-03 -2.76665853e-05 9.99997289e-01 3.52112291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.77, Y:101.77, Z:0.36 [[ 1.76578776e-01 -9.84286421e-01 -4.20629533e-04 1.40771693e+02] [ 9.84283757e-01 1.76579277e-01 -2.29013055e-03 1.01767032e+02] [ 2.32841887e-03 -9.63036653e-06 9.99997289e-01 3.56989849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.77, Y:101.80, Z:0.35 [[ 1.76812412e-01 -9.84244480e-01 -4.17780089e-04 1.40773240e+02] [ 9.84241814e-01 1.76812906e-01 -2.29067515e-03 1.01796696e+02] [ 2.32845328e-03 -6.17683366e-06 9.99997289e-01 3.51625514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.78, Y:101.82, Z:0.35 [[ 1.78256363e-01 -9.83983988e-01 -4.24965520e-04 1.40777892e+02] [ 9.83981325e-01 1.78256869e-01 -2.28930196e-03 1.01824265e+02] [ 2.32838950e-03 -1.00754944e-05 9.99997289e-01 3.52311095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.78, Y:101.85, Z:0.35 [[ 1.79589865e-01 -9.83741481e-01 -4.22080270e-04 1.40782067e+02] [ 9.83738816e-01 1.79590361e-01 -2.28985289e-03 1.01851258e+02] [ 2.32842482e-03 -3.98237473e-06 9.99997289e-01 3.53435018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62361786499997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:140.79, Y:101.88, Z:0.35 [[ 1.80620453e-01 -9.83552783e-01 -4.19071868e-04 1.40786662e+02] [ 9.83550116e-01 1.80620940e-01 -2.29042689e-03 1.01878874e+02] [ 2.32844890e-03 1.51975880e-06 9.99997289e-01 3.53937156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.79, Y:101.91, Z:0.35 [[ 1.82413118e-01 -9.83221888e-01 -4.16026558e-04 1.40791883e+02] [ 9.83219219e-01 1.82413592e-01 -2.29100776e-03 1.01905940e+02] [ 2.32845787e-03 8.86456230e-06 9.99997289e-01 3.53924709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.80, Y:101.93, Z:0.35 [[ 1.84532460e-01 -9.82826333e-01 -4.12046930e-04 1.40797086e+02] [ 9.82823661e-01 1.84532919e-01 -2.29176579e-03 1.01930778e+02] [ 2.32844399e-03 1.79357067e-05 9.99997289e-01 3.54958305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.81, Y:101.96, Z:0.36 [[ 1.88299131e-01 -9.82111646e-01 -3.89265784e-04 1.40809049e+02] [ 9.82108964e-01 1.88299527e-01 -2.29606916e-03 1.01962412e+02] [ 2.32829483e-03 5.00464125e-05 9.99997288e-01 3.57179806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.81, Y:101.98, Z:0.36 [[ 1.92398621e-01 -9.81316764e-01 -4.24125141e-04 1.40812946e+02] [ 9.81314093e-01 1.92399087e-01 -2.28947195e-03 1.01979023e+02] [ 2.32829849e-03 2.42912666e-05 9.99997289e-01 3.57579225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.81, Y:102.01, Z:0.35 [[ 1.88101390e-01 -9.82149545e-01 -3.71321823e-04 1.40813955e+02] [ 9.82146856e-01 1.88101744e-01 -2.29940398e-03 1.02005482e+02] [ 2.32820485e-03 6.78285224e-05 9.99997287e-01 3.52534695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.82, Y:102.04, Z:0.35 [[ 1.85567418e-01 -9.82631466e-01 -3.67423153e-04 1.40821571e+02] [ 9.82628776e-01 1.85567770e-01 -2.30014220e-03 1.02035843e+02] [ 2.32837399e-03 6.57908851e-05 9.99997287e-01 3.53449076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.83, Y:102.06, Z:0.35 [[ 1.83814809e-01 -9.82960815e-01 -3.90444589e-04 1.40827868e+02] [ 9.82958135e-01 1.83815220e-01 -2.29575910e-03 1.02064834e+02] [ 2.32841089e-03 3.82038364e-05 9.99997289e-01 3.52032509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.83, Y:102.09, Z:0.35 [[ 1.83450845e-01 -9.83028803e-01 -3.99655051e-04 1.40834707e+02] [ 9.83026127e-01 1.83451279e-01 -2.29400536e-03 1.02093228e+02] [ 2.32839058e-03 2.79658665e-05 9.99997289e-01 3.48410220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.84, Y:102.12, Z:0.35 [[ 1.79540474e-01 -9.83750503e-01 -4.06481501e-04 1.40843584e+02] [ 9.83747832e-01 1.79540934e-01 -2.29270670e-03 1.02123499e+02] [ 2.32843144e-03 1.17583521e-05 9.99997289e-01 3.48215324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.85, Y:102.15, Z:0.35 [[ 1.79455006e-01 -9.83766090e-01 -4.25179427e-04 1.40849682e+02] [ 9.83763427e-01 1.79455510e-01 -2.28914359e-03 1.02147488e+02] [ 2.32828263e-03 -7.47769407e-06 9.99997290e-01 3.49744934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.86, Y:102.17, Z:0.35 [[ 1.77652677e-01 -9.84093167e-01 -4.06471449e-04 1.40857113e+02] [ 9.84090496e-01 1.77653142e-01 -2.29270048e-03 1.02173743e+02] [ 2.32844180e-03 7.29968751e-06 9.99997289e-01 3.50067328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:140.87, Y:102.20, Z:0.35 [[ 1.70818309e-01 -9.85302462e-01 -4.05030719e-04 1.40865976e+02] [ 9.85299794e-01 1.70818789e-01 -2.29297380e-03 1.02204373e+02] [ 2.32845959e-03 -7.39477754e-06 9.99997289e-01 3.49052781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:140.87, Y:102.23, Z:0.35 [[ 1.70580086e-01 -9.85343721e-01 -4.30978037e-04 1.40871047e+02] [ 9.85341065e-01 1.70580627e-01 -2.28804874e-03 1.02231638e+02] [ 2.32803097e-03 -3.43648062e-05 9.99997290e-01 3.49126400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.88, Y:102.26, Z:0.35 [[ 1.70979139e-01 -9.85274555e-01 -4.30888505e-04 1.40877978e+02] [ 9.85271899e-01 1.70979679e-01 -2.28806572e-03 1.02256121e+02] [ 2.32804612e-03 -3.33308278e-05 9.99997290e-01 3.51191524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.89, Y:102.29, Z:0.35 [[ 1.67072323e-01 -9.85944554e-01 -4.18849970e-04 1.40887437e+02] [ 9.85941894e-01 1.67072845e-01 -2.29035623e-03 1.02285443e+02] [ 2.32814271e-03 -3.03065963e-05 9.99997289e-01 3.54047511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:140.89, Y:102.31, Z:0.36 [[ 1.64692252e-01 -9.86344906e-01 -4.35369776e-04 1.40894681e+02] [ 9.86342255e-01 1.64692819e-01 -2.28721169e-03 1.02312962e+02] [ 2.32768188e-03 -5.27375623e-05 9.99997290e-01 3.55013170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:140.90, Y:102.34, Z:0.35 [[ 1.62396827e-01 -9.86725434e-01 -4.34706755e-04 1.40901181e+02] [ 9.86722784e-01 1.62397398e-01 -2.28733770e-03 1.02339233e+02] [ 2.32756953e-03 -5.74786752e-05 9.99997290e-01 3.54034220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:140.91, Y:102.37, Z:0.35 [[ 1.60403609e-01 -9.87051414e-01 -4.34257369e-04 1.40907968e+02] [ 9.87048765e-01 1.60404185e-01 -2.28742302e-03 1.02366190e+02] [ 2.32746082e-03 -6.17222927e-05 9.99997290e-01 3.54003221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:140.92, Y:102.39, Z:0.36 [[ 1.58254055e-01 -9.87398332e-01 -4.33615448e-04 1.40916829e+02] [ 9.87395684e-01 1.58254635e-01 -2.28754469e-03 1.02392950e+02] [ 2.32733947e-03 -6.61367992e-05 9.99997290e-01 3.55490724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:140.92, Y:102.42, Z:0.36 [[ 1.57165501e-01 -9.87572184e-01 -4.32971927e-04 1.40923283e+02] [ 9.87569536e-01 1.57166082e-01 -2.28766649e-03 1.02420424e+02] [ 2.32728429e-03 -6.80476354e-05 9.99997290e-01 3.55558581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.93, Y:102.45, Z:0.36 [[ 1.56550811e-01 -9.87669812e-01 -4.32328601e-04 1.40929752e+02] [ 9.87667164e-01 1.56551393e-01 -2.28778806e-03 1.02447120e+02] [ 2.32726085e-03 -6.88416873e-05 9.99997290e-01 3.56081389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.94, Y:102.47, Z:0.36 [[ 1.56734632e-01 -9.87640658e-01 -4.31751616e-04 1.40937523e+02] [ 9.87638010e-01 1.56735212e-01 -2.28789694e-03 1.02474318e+02] [ 2.32729072e-03 -6.78216218e-05 9.99997290e-01 3.55752098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.94, Y:102.50, Z:0.36 [[ 1.57265334e-01 -9.87556291e-01 -4.31109247e-04 1.40944432e+02] [ 9.87553643e-01 1.57265911e-01 -2.28801798e-03 1.02501485e+02] [ 2.32734534e-03 -6.59175945e-05 9.99997290e-01 3.56484619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.95, Y:102.53, Z:0.36 [[ 1.57959252e-01 -9.87445537e-01 -4.30464958e-04 1.40950967e+02] [ 9.87442888e-01 1.57959826e-01 -2.28813919e-03 1.02529008e+02] [ 2.32740900e-03 -6.36268063e-05 9.99997290e-01 3.55865169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.96, Y:102.56, Z:0.36 [[ 1.60406931e-01 -9.87050876e-01 -4.29821974e-04 1.40959587e+02] [ 9.87048225e-01 1.60407496e-01 -2.28825997e-03 1.02555953e+02] [ 2.32757567e-03 -5.72022596e-05 9.99997290e-01 3.58785689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:140.97, Y:102.58, Z:0.36 [[ 1.61464086e-01 -9.86878495e-01 -4.29180521e-04 1.40966227e+02] [ 9.86875844e-01 1.61464648e-01 -2.28838027e-03 1.02583123e+02] [ 2.32765076e-03 -5.40566599e-05 9.99997290e-01 3.58722764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.97, Y:102.61, Z:0.36 [[ 1.60738385e-01 -9.86996954e-01 -4.28539034e-04 1.40970421e+02] [ 9.86994303e-01 1.60738947e-01 -2.28850039e-03 1.02610919e+02] [ 2.32762583e-03 -5.51157282e-05 9.99997290e-01 3.55255128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.98, Y:102.64, Z:0.36 [[ 1.62964665e-01 -9.86631813e-01 -4.27896654e-04 1.40977575e+02] [ 9.86629160e-01 1.62965220e-01 -2.28862050e-03 1.02638351e+02] [ 2.32775806e-03 -4.92110426e-05 9.99997290e-01 3.55871290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.99, Y:102.67, Z:0.36 [[ 1.64953020e-01 -9.86301333e-01 -4.27253924e-04 1.40985372e+02] [ 9.86298678e-01 1.64953568e-01 -2.28874048e-03 1.02665153e+02] [ 2.32786484e-03 -4.38653261e-05 9.99997290e-01 3.59382456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:140.99, Y:102.69, Z:0.36 [[ 1.64762385e-01 -9.86333196e-01 -4.26610614e-04 1.40990134e+02] [ 9.86330542e-01 1.64762932e-01 -2.28886038e-03 1.02692746e+02] [ 2.32786859e-03 -4.36609812e-05 9.99997290e-01 3.56745569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.00, Y:102.72, Z:0.36 [[ 1.66718954e-01 -9.86004366e-01 -4.25966723e-04 1.40995666e+02] [ 9.86001710e-01 1.66719493e-01 -2.28898021e-03 1.02720589e+02] [ 2.32796143e-03 -3.83875319e-05 9.99997290e-01 3.56367776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.00, Y:102.75, Z:0.36 [[ 1.67123241e-01 -9.85935922e-01 -4.25322798e-04 1.41000533e+02] [ 9.85933265e-01 1.67123778e-01 -2.28909985e-03 1.02748351e+02] [ 2.32798732e-03 -3.67781092e-05 9.99997290e-01 3.57189843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.01, Y:102.78, Z:0.36 [[ 1.72609563e-01 -9.84990233e-01 -4.24674485e-04 1.41012803e+02] [ 9.84987573e-01 1.72610083e-01 -2.28922012e-03 1.02779585e+02] [ 2.32816256e-03 -2.31578070e-05 9.99997290e-01 3.61380342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.02, Y:102.80, Z:0.36 [[ 1.72241774e-01 -9.85054600e-01 -4.54007996e-04 1.41017819e+02] [ 9.85051954e-01 1.72242364e-01 -2.28377501e-03 1.02803898e+02] [ 2.32784249e-03 -5.38600049e-05 9.99997289e-01 3.59285268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.02, Y:102.83, Z:0.36 [[ 1.67098450e-01 -9.85940118e-01 -4.39043203e-04 1.41015680e+02] [ 9.85937467e-01 1.67099019e-01 -2.28654563e-03 1.02830167e+02] [ 2.32776076e-03 -5.07909135e-05 9.99997289e-01 3.56658644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.02, Y:102.86, Z:0.36 [[ 1.67618682e-01 -9.85851814e-01 -4.22733152e-04 1.41022042e+02] [ 9.85849156e-01 1.67619212e-01 -2.28955704e-03 1.02856105e+02] [ 2.32802216e-03 -3.29785877e-05 9.99997290e-01 3.58574278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.03, Y:102.88, Z:0.36 [[ 1.65454664e-01 -9.86217307e-01 -4.22052277e-04 1.41027045e+02] [ 9.86214649e-01 1.65455198e-01 -2.28968255e-03 1.02883878e+02] [ 2.32795530e-03 -3.73954817e-05 9.99997290e-01 3.57708068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.03, Y:102.91, Z:0.36 [[ 1.65761486e-01 -9.86165783e-01 -4.21422375e-04 1.41034913e+02] [ 9.86163126e-01 1.65762018e-01 -2.28979848e-03 1.02914449e+02] [ 2.32797673e-03 -3.60308086e-05 9.99997290e-01 3.56990739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.04, Y:102.94, Z:0.36 [[ 1.61905955e-01 -9.86806094e-01 -4.40839274e-04 1.41036254e+02] [ 9.86803448e-01 1.61906542e-01 -2.28622475e-03 1.02938490e+02] [ 2.32743528e-03 -6.48683126e-05 9.99997289e-01 3.56813202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.04, Y:102.96, Z:0.36 [[ 1.60012889e-01 -9.87114836e-01 -4.20314070e-04 1.41040718e+02] [ 9.87112181e-01 1.60013434e-01 -2.28999203e-03 1.02964916e+02] [ 2.32774100e-03 -4.84688974e-05 9.99997290e-01 3.56646519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.04, Y:102.99, Z:0.36 [[ 1.55109455e-01 -9.87897202e-01 -4.19664169e-04 1.41042910e+02] [ 9.87894549e-01 1.55110011e-01 -2.29011113e-03 1.02992630e+02] [ 2.32748849e-03 -5.93660565e-05 9.99997290e-01 3.55831416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88361786499996 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:141.05, Y:103.02, Z:0.35 [[ 1.52602717e-01 -9.88287527e-01 -4.19018901e-04 1.41046408e+02] [ 9.88284875e-01 1.52603278e-01 -2.29022918e-03 1.03020345e+02] [ 2.32734859e-03 -6.46148471e-05 9.99997290e-01 3.54585279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.05, Y:103.05, Z:0.35 [[ 1.49450908e-01 -9.88769059e-01 -4.18358162e-04 1.41050027e+02] [ 9.88766408e-01 1.49451477e-01 -2.29034987e-03 1.03047396e+02] [ 2.32715133e-03 -7.13636285e-05 9.99997290e-01 3.54758615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.05, Y:103.07, Z:0.35 [[ 1.47061683e-01 -9.89127235e-01 -4.17768822e-04 1.41054033e+02] [ 9.89124586e-01 1.47062256e-01 -2.29045737e-03 1.03074418e+02] [ 2.32699179e-03 -7.63868987e-05 9.99997290e-01 3.53644503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.06, Y:103.10, Z:0.35 [[ 1.45480043e-01 -9.89361098e-01 -4.17327581e-04 1.41057884e+02] [ 9.89358450e-01 1.45480619e-01 -2.29053776e-03 1.03102079e+02] [ 2.32688203e-03 -7.96590379e-05 9.99997290e-01 3.53519564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.06, Y:103.13, Z:0.35 [[ 1.44116969e-01 -9.89560572e-01 -4.16733019e-04 1.41061442e+02] [ 9.89557924e-01 1.44117548e-01 -2.29064593e-03 1.03129198e+02] [ 2.32679144e-03 -8.22605136e-05 9.99997290e-01 3.54884859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.07, Y:103.16, Z:0.36 [[ 1.44096289e-01 -9.89563588e-01 -4.06650398e-04 1.41066754e+02] [ 9.89560935e-01 1.44096845e-01 -2.29247808e-03 1.03159110e+02] [ 2.32714987e-03 -7.20677635e-05 9.99997290e-01 3.56255475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.07, Y:103.19, Z:0.36 [[ 1.43555275e-01 -9.89642213e-01 -4.16112496e-04 1.41070240e+02] [ 9.89639565e-01 1.43555854e-01 -2.29075930e-03 1.03186013e+02] [ 2.32676749e-03 -8.29508091e-05 9.99997290e-01 3.55321470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.07, Y:103.21, Z:0.36 [[ 1.43044802e-01 -9.89716131e-01 -4.05936516e-04 1.41074186e+02] [ 9.89713478e-01 1.43045359e-01 -2.29260503e-03 1.03214382e+02] [ 2.32709551e-03 -7.38156095e-05 9.99997290e-01 3.56392638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.07, Y:103.24, Z:0.35 [[ 1.42702178e-01 -9.89765590e-01 -4.07457413e-04 1.41074715e+02] [ 9.89762938e-01 1.42702739e-01 -2.29232983e-03 1.03240940e+02] [ 2.32701447e-03 -7.61657881e-05 9.99997290e-01 3.52601297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.08, Y:103.27, Z:0.35 [[ 1.45370775e-01 -9.89377166e-01 -4.02394769e-04 1.41077996e+02] [ 9.89374510e-01 1.45371317e-01 -2.29324936e-03 1.03267591e+02] [ 2.32738521e-03 -6.47476900e-05 9.99997290e-01 3.54315337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.08, Y:103.30, Z:0.36 [[ 1.47064979e-01 -9.89126755e-01 -3.94052453e-04 1.41082100e+02] [ 9.89124094e-01 1.47065498e-01 -2.29476189e-03 1.03295678e+02] [ 2.32776190e-03 -5.22876651e-05 9.99997289e-01 3.56107291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.08, Y:103.32, Z:0.35 [[ 1.49546950e-01 -9.88754547e-01 -3.94089203e-04 1.41084297e+02] [ 9.88751885e-01 1.49547462e-01 -2.29475524e-03 1.03323133e+02] [ 2.32788471e-03 -4.64827961e-05 9.99997289e-01 3.54006782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24361786499998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.09, Y:103.35, Z:0.36 [[ 1.52597069e-01 -9.88288410e-01 -3.91640665e-04 1.41089152e+02] [ 9.88285745e-01 1.52597567e-01 -2.29519924e-03 1.03350987e+02] [ 2.32808222e-03 -3.68122086e-05 9.99997289e-01 3.55786905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.09, Y:103.38, Z:0.36 [[ 1.56021595e-01 -9.87753566e-01 -3.92406734e-04 1.41092172e+02] [ 9.87750900e-01 1.56022086e-01 -2.29506036e-03 1.03377626e+02] [ 2.32817817e-03 -2.95211263e-05 9.99997289e-01 3.55094969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.10, Y:103.41, Z:0.36 [[ 1.59220814e-01 -9.87242919e-01 -3.87946701e-04 1.41097933e+02] [ 9.87240250e-01 1.59221286e-01 -2.29586750e-03 1.03406508e+02] [ 2.32834831e-03 -1.74467052e-05 9.99997289e-01 3.56135525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.11, Y:103.44, Z:0.36 [[ 1.64618816e-01 -9.86357181e-01 -3.95894544e-04 1.41107228e+02] [ 9.86354513e-01 1.64619292e-01 -2.29442879e-03 1.03436489e+02] [ 2.32829819e-03 -1.27862201e-05 9.99997289e-01 3.62046862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.11, Y:103.46, Z:0.36 [[ 1.67417441e-01 -9.85886012e-01 -4.15083795e-04 1.41110967e+02] [ 9.85883350e-01 1.67417954e-01 -2.29095200e-03 1.03464457e+02] [ 2.32811001e-03 -2.56788801e-05 9.99997290e-01 3.62492002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.12, Y:103.49, Z:0.36 [[ 1.68600593e-01 -9.85684365e-01 -4.14451732e-04 1.41115467e+02] [ 9.85681703e-01 1.68601101e-01 -2.29106634e-03 1.03491520e+02] [ 2.32814529e-03 -2.22423452e-05 9.99997290e-01 3.62560220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.12, Y:103.52, Z:0.36 [[ 1.69230428e-01 -9.85576426e-01 -4.13785005e-04 1.41119905e+02] [ 9.85573763e-01 1.69230933e-01 -2.29118675e-03 1.03518301e+02] [ 2.32816487e-03 -2.00771295e-05 9.99997290e-01 3.62354951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.12, Y:103.54, Z:0.36 [[ 1.69169153e-01 -9.85586945e-01 -4.13128224e-04 1.41124549e+02] [ 9.85584282e-01 1.69169657e-01 -2.29130517e-03 1.03544926e+02] [ 2.32816922e-03 -1.95545292e-05 9.99997290e-01 3.61813013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48361786499996 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:141.13, Y:103.57, Z:0.36 [[ 1.67256072e-01 -9.85913402e-01 -4.12684322e-04 1.41129172e+02] [ 9.85910740e-01 1.67256579e-01 -2.29138512e-03 1.03572814e+02] [ 2.32813146e-03 -2.36218315e-05 9.99997290e-01 3.61113646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.13, Y:103.60, Z:0.36 [[ 1.66762615e-01 -9.85996983e-01 -4.24635926e-04 1.41133689e+02] [ 9.85994326e-01 1.66763151e-01 -2.28923707e-03 1.03597299e+02] [ 2.32799447e-03 -3.69294540e-05 9.99997290e-01 3.62931008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.14, Y:103.62, Z:0.36 [[ 1.65661755e-01 -9.86182546e-01 -4.10373801e-04 1.41138736e+02] [ 9.86179884e-01 1.65662261e-01 -2.29179088e-03 1.03624975e+02] [ 2.32810762e-03 -2.50402880e-05 9.99997290e-01 3.62935944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.14, Y:103.65, Z:0.36 [[ 1.65130819e-01 -9.86271588e-01 -4.09746245e-04 1.41143904e+02] [ 9.86268925e-01 1.65131326e-01 -2.29190307e-03 1.03651780e+02] [ 2.32810082e-03 -2.56561571e-05 9.99997290e-01 3.61913096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.15, Y:103.68, Z:0.36 [[ 1.61526455e-01 -9.86868298e-01 -4.09033441e-04 1.41148197e+02] [ 9.86865637e-01 1.61526969e-01 -2.29203028e-03 1.03678641e+02] [ 2.32800195e-03 -3.34375223e-05 9.99997290e-01 3.63288443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.15, Y:103.71, Z:0.36 [[ 1.58374011e-01 -9.87379110e-01 -4.08275244e-04 1.41154194e+02] [ 9.87376450e-01 1.58374532e-01 -2.29216533e-03 1.03706273e+02] [ 2.32789656e-03 -4.01019439e-05 9.99997290e-01 3.63956262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.16, Y:103.73, Z:0.36 [[ 1.56571663e-01 -9.87666517e-01 -4.07649890e-04 1.41159567e+02] [ 9.87663858e-01 1.56572187e-01 -2.29227654e-03 1.03733971e+02] [ 2.32783142e-03 -4.37155134e-05 9.99997290e-01 3.63938908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.16, Y:103.76, Z:0.36 [[ 1.54675177e-01 -9.87965295e-01 -4.07028914e-04 1.41164947e+02] [ 9.87962637e-01 1.54675705e-01 -2.29238680e-03 1.03761677e+02] [ 2.32775608e-03 -4.75540255e-05 9.99997290e-01 3.64055033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:141.17, Y:103.79, Z:0.36 [[ 1.51004174e-01 -9.88533042e-01 -4.06399096e-04 1.41170572e+02] [ 9.88530385e-01 1.51004711e-01 -2.29249845e-03 1.03789593e+02] [ 2.32757864e-03 -5.55610200e-05 9.99997290e-01 3.63499968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75361786499997 meters Centerline goodness : 0.995832 Centerline is valid? [True, True] Translation: X:141.18, Y:103.82, Z:0.36 [[ 1.48787923e-01 -9.88869046e-01 -4.05774831e-04 1.41175815e+02] [ 9.88866390e-01 1.48788465e-01 -2.29260894e-03 1.03817547e+02] [ 2.32746463e-03 -6.01445692e-05 9.99997290e-01 3.60825100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78361786499997 meters Centerline goodness : 0.996635 Centerline is valid? [True, True] Translation: X:141.18, Y:103.84, Z:0.36 [[ 1.47465471e-01 -9.89067119e-01 -4.09810664e-04 1.41180693e+02] [ 9.89064466e-01 1.47466025e-01 -2.29189531e-03 1.03842105e+02] [ 2.32727145e-03 -6.73537431e-05 9.99997290e-01 3.59556519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.81361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.18, Y:103.87, Z:0.36 [[ 1.44239514e-01 -9.89542722e-01 -4.04498705e-04 1.41184205e+02] [ 9.89540068e-01 1.44240064e-01 -2.29283244e-03 1.03868869e+02] [ 2.32720058e-03 -6.95506395e-05 9.99997290e-01 3.59023896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84361786499997 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:141.19, Y:103.89, Z:0.36 [[ 1.42638054e-01 -9.89774834e-01 -4.03623953e-04 1.41190367e+02] [ 9.89772181e-01 1.42638607e-01 -2.29298642e-03 1.03893575e+02] [ 2.32711261e-03 -7.24286392e-05 9.99997290e-01 3.57394442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.19, Y:103.92, Z:0.36 [[ 1.41409905e-01 -9.89951048e-01 -4.01474805e-04 1.41194841e+02] [ 9.89948394e-01 1.41410456e-01 -2.29336378e-03 1.03920420e+02] [ 2.32709061e-03 -7.31349859e-05 9.99997290e-01 3.62575473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.20, Y:103.95, Z:0.36 [[ 1.40319635e-01 -9.90106175e-01 -4.01695433e-04 1.41200030e+02] [ 9.90103522e-01 1.40320189e-01 -2.29332513e-03 1.03948196e+02] [ 2.32700135e-03 -7.59215173e-05 9.99997290e-01 3.63323211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.20, Y:103.98, Z:0.36 [[ 1.40055035e-01 -9.90143639e-01 -4.01081754e-04 1.41204885e+02] [ 9.90140986e-01 1.40055589e-01 -2.29343245e-03 1.03976359e+02] [ 2.32700130e-03 -7.59207201e-05 9.99997290e-01 3.63389523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.21, Y:104.00, Z:0.36 [[ 1.36613628e-01 -9.90624326e-01 -4.00468830e-04 1.41209740e+02] [ 9.90621675e-01 1.36614190e-01 -2.29353948e-03 1.04004885e+02] [ 2.32674572e-03 -8.33843530e-05 9.99997290e-01 3.61070596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:141.21, Y:104.03, Z:0.36 [[ 1.36286390e-01 -9.90669398e-01 -4.05479378e-04 1.41214629e+02] [ 9.90666749e-01 1.36286964e-01 -2.29266589e-03 1.04032172e+02] [ 2.32653549e-03 -8.92357779e-05 9.99997290e-01 3.60514203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.22, Y:104.06, Z:0.37 [[ 1.37398992e-01 -9.90515703e-01 -3.99312817e-04 1.41221153e+02] [ 9.90513050e-01 1.37399549e-01 -2.29373945e-03 1.04058522e+02] [ 2.32685034e-03 -8.03670673e-05 9.99997290e-01 3.65133399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.23, Y:104.09, Z:0.36 [[ 1.35710689e-01 -9.90748429e-01 -3.98664808e-04 1.41225138e+02] [ 9.90745777e-01 1.35711249e-01 -2.29385207e-03 1.04086967e+02] [ 2.32673363e-03 -8.36752294e-05 9.99997290e-01 3.62361981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.23, Y:104.11, Z:0.37 [[ 1.38240342e-01 -9.90398632e-01 -3.98059972e-04 1.41231755e+02] [ 9.90395978e-01 1.38240894e-01 -2.29395702e-03 1.04113318e+02] [ 2.32696006e-03 -7.71195918e-05 9.99997290e-01 3.66547442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.24, Y:104.14, Z:0.37 [[ 1.38908666e-01 -9.90305117e-01 -3.97388544e-04 1.41236874e+02] [ 9.90302463e-01 1.38909214e-01 -2.29407333e-03 1.04141064e+02] [ 2.32703349e-03 -7.48681873e-05 9.99997290e-01 3.66357305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14361786499995 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:141.24, Y:104.15, Z:0.36 [[ 1.45948722e-01 -9.89292077e-01 -3.96789825e-04 1.41242756e+02] [ 9.89289418e-01 1.45949250e-01 -2.29417688e-03 1.04154059e+02] [ 2.32752219e-03 -5.77077911e-05 9.99997290e-01 3.64676720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17361786499995 meters Centerline goodness : 0.995887 Centerline is valid? [True, True] Translation: X:141.25, Y:104.19, Z:0.36 [[ 1.43490528e-01 -9.89651635e-01 -3.30654385e-04 1.41247133e+02] [ 9.89648949e-01 1.43490909e-01 -2.30574504e-03 1.04190766e+02] [ 2.32933025e-03 3.62080951e-06 9.99997287e-01 3.60054907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.25, Y:104.21, Z:0.37 [[ 1.46367105e-01 -9.89230253e-01 -4.20414686e-04 1.41250917e+02] [ 9.89227606e-01 1.46367687e-01 -2.28997068e-03 1.04213901e+02] [ 2.32684340e-03 -8.07094345e-05 9.99997290e-01 3.65723399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.26, Y:104.24, Z:0.37 [[ 1.47301456e-01 -9.89091563e-01 -4.01292803e-04 1.41255788e+02] [ 9.89088906e-01 1.47301990e-01 -2.29331670e-03 1.04240833e+02] [ 2.32741142e-03 -5.91053721e-05 9.99997290e-01 3.65549666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.26, Y:104.27, Z:0.37 [[ 1.47303835e-01 -9.89091209e-01 -4.00632776e-04 1.41261369e+02] [ 9.89088552e-01 1.47304369e-01 -2.29343199e-03 1.04269294e+02] [ 2.32742838e-03 -5.84299631e-05 9.99997290e-01 3.66778976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.27, Y:104.29, Z:0.37 [[ 1.49547192e-01 -9.88754504e-01 -4.11328685e-04 1.41266053e+02] [ 9.88751850e-01 1.49547744e-01 -2.29156457e-03 1.04293886e+02] [ 2.32730807e-03 -6.40049520e-05 9.99997290e-01 3.65946911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32361786499996 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:141.27, Y:104.32, Z:0.36 [[ 1.50719292e-01 -9.88576520e-01 -3.99307140e-04 1.41271304e+02] [ 9.88573860e-01 1.50719813e-01 -2.29365742e-03 1.04320300e+02] [ 2.32763937e-03 -4.90461772e-05 9.99997290e-01 3.64860001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:141.28, Y:104.35, Z:0.37 [[ 1.50938160e-01 -9.88543127e-01 -3.97977285e-04 1.41275777e+02] [ 9.88540466e-01 1.50938677e-01 -2.29388843e-03 1.04347321e+02] [ 2.32767781e-03 -4.71813520e-05 9.99997290e-01 3.65200465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.28, Y:104.38, Z:0.36 [[ 1.48725446e-01 -9.88878447e-01 -3.97502924e-04 1.41280509e+02] [ 9.88875788e-01 1.48725968e-01 -2.29397063e-03 1.04375622e+02] [ 2.32757712e-03 -5.19092120e-05 9.99997290e-01 3.61211082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41361786499996 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:141.29, Y:104.40, Z:0.36 [[ 1.49357441e-01 -9.88783190e-01 -3.96864273e-04 1.41288177e+02] [ 9.88780530e-01 1.49357959e-01 -2.29408111e-03 1.04403884e+02] [ 2.32762368e-03 -4.97735826e-05 9.99997290e-01 3.58060892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.29, Y:104.43, Z:0.36 [[ 1.47587907e-01 -9.89048853e-01 -4.19496337e-04 1.41291117e+02] [ 9.89046205e-01 1.47588483e-01 -2.29015895e-03 1.04426711e+02] [ 2.32699191e-03 -7.69014941e-05 9.99997290e-01 3.64896252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:141.30, Y:104.45, Z:0.36 [[ 1.43751574e-01 -9.89613727e-01 -3.96086340e-04 1.41296313e+02] [ 9.89611069e-01 1.43752106e-01 -2.29420061e-03 1.04454833e+02] [ 2.32731066e-03 -6.21764779e-05 9.99997290e-01 3.59124732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50361786499997 meters Centerline goodness : 0.995829 Centerline is valid? [True, True] Translation: X:141.30, Y:104.48, Z:0.36 [[ 1.43390496e-01 -9.89666108e-01 -4.00681364e-04 1.41302984e+02] [ 9.89663453e-01 1.43391040e-01 -2.29340706e-03 1.04482933e+02] [ 2.32716136e-03 -6.76869271e-05 9.99997290e-01 3.59835476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:141.31, Y:104.51, Z:0.36 [[ 1.42266958e-01 -9.89828238e-01 -4.15518690e-04 1.41305877e+02] [ 9.89825590e-01 1.42267539e-01 -2.29084700e-03 1.04506230e+02] [ 2.32665987e-03 -8.53791999e-05 9.99997290e-01 3.64811305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.31, Y:104.53, Z:0.36 [[ 1.40051633e-01 -9.90144123e-01 -3.94359929e-04 1.41309918e+02] [ 9.90141467e-01 1.40052172e-01 -2.29448362e-03 1.04534293e+02] [ 2.32710044e-03 -6.91259391e-05 9.99997290e-01 3.64714282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.31, Y:104.56, Z:0.36 [[ 1.39022096e-01 -9.90289201e-01 -3.93731637e-04 1.41314212e+02] [ 9.90286545e-01 1.39022635e-01 -2.29459143e-03 1.04561772e+02] [ 2.32704672e-03 -7.09082331e-05 9.99997290e-01 3.64667517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:141.32, Y:104.59, Z:0.36 [[ 1.37583657e-01 -9.90490072e-01 -3.93105989e-04 1.41317979e+02] [ 9.90487417e-01 1.37584199e-01 -2.29469861e-03 1.04588560e+02] [ 2.32696136e-03 -7.36535096e-05 9.99997290e-01 3.63962222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.65361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.32, Y:104.62, Z:0.36 [[ 1.36191232e-01 -9.90682489e-01 -3.92445814e-04 1.41322588e+02] [ 9.90679834e-01 1.36191776e-01 -2.29481151e-03 1.04616119e+02] [ 2.32687747e-03 -7.62549465e-05 9.99997290e-01 3.64203822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.33, Y:104.64, Z:0.36 [[ 1.36446282e-01 -9.90647395e-01 -3.89574762e-04 1.41326260e+02] [ 9.90644738e-01 1.36446819e-01 -2.29530194e-03 1.04643646e+02] [ 2.32699112e-03 -7.27447713e-05 9.99997290e-01 3.63507474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.33, Y:104.67, Z:0.36 [[ 1.36205352e-01 -9.90680548e-01 -3.91587367e-04 1.41329447e+02] [ 9.90677893e-01 1.36205894e-01 -2.29495853e-03 1.04671481e+02] [ 2.32690728e-03 -7.53513134e-05 9.99997290e-01 3.62512064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74361786499998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:141.33, Y:104.70, Z:0.36 [[ 1.36376184e-01 -9.90657046e-01 -3.90959166e-04 1.41333061e+02] [ 9.90654391e-01 1.36376725e-01 -2.29506554e-03 1.04699812e+02] [ 2.32694058e-03 -7.43131321e-05 9.99997290e-01 3.62185998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77361786499998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:141.34, Y:104.73, Z:0.36 [[ 1.36629751e-01 -9.90622107e-01 -3.90332055e-04 1.41336678e+02] [ 9.90619451e-01 1.36630289e-01 -2.29517219e-03 1.04727958e+02] [ 2.32697950e-03 -7.30817199e-05 9.99997290e-01 3.61747998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:141.34, Y:104.75, Z:0.36 [[ 1.36908610e-01 -9.90583606e-01 -3.89709275e-04 1.41340711e+02] [ 9.90580949e-01 1.36909146e-01 -2.29527793e-03 1.04754340e+02] [ 2.32701946e-03 -7.17952716e-05 9.99997290e-01 3.60076016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:141.34, Y:104.78, Z:0.36 [[ 1.39138243e-01 -9.90272891e-01 -3.89090329e-04 1.41342610e+02] [ 9.90270233e-01 1.39138771e-01 -2.29538285e-03 1.04782278e+02] [ 2.32719296e-03 -6.59290346e-05 9.99997290e-01 3.61821678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.35, Y:104.81, Z:0.36 [[ 1.40140341e-01 -9.90131574e-01 -3.88470558e-04 1.41345912e+02] [ 9.90128915e-01 1.40140866e-01 -2.29548774e-03 1.04810612e+02] [ 2.32727549e-03 -6.29454965e-05 9.99997290e-01 3.62641362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:141.35, Y:104.84, Z:0.36 [[ 1.41611738e-01 -9.89922202e-01 -3.87847249e-04 1.41349368e+02] [ 9.89919542e-01 1.41612257e-01 -2.29559305e-03 1.04838132e+02] [ 2.32738245e-03 -5.88546498e-05 9.99997290e-01 3.63075458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92361786499995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:141.35, Y:104.87, Z:0.36 [[ 1.44785022e-01 -9.89463060e-01 -3.87210707e-04 1.41352191e+02] [ 9.89460398e-01 1.44785531e-01 -2.29570041e-03 1.04865474e+02] [ 2.32757326e-03 -5.07466261e-05 9.99997290e-01 3.63736733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:141.36, Y:104.89, Z:0.36 [[ 1.45876121e-01 -9.89302789e-01 -3.86538953e-04 1.41355887e+02] [ 9.89300126e-01 1.45876625e-01 -2.29581351e-03 1.04892922e+02] [ 2.32764171e-03 -4.74986656e-05 9.99997290e-01 3.64120373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.36, Y:104.92, Z:0.36 [[ 1.48317024e-01 -9.88939792e-01 -3.85913270e-04 1.41359374e+02] [ 9.88937127e-01 1.48317520e-01 -2.29591868e-03 1.04921219e+02] [ 2.32776304e-03 -4.11201350e-05 9.99997290e-01 3.64289937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01361786499996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:141.36, Y:104.95, Z:0.36 [[ 1.49255251e-01 -9.88798625e-01 -3.85291457e-04 1.41363135e+02] [ 9.88795960e-01 1.49255743e-01 -2.29602303e-03 1.04949015e+02] [ 2.32781138e-03 -3.82811443e-05 9.99997290e-01 3.64328443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04361786499996 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:141.36, Y:104.98, Z:0.36 [[ 1.46761909e-01 -9.89171772e-01 -3.84664085e-04 1.41362866e+02] [ 9.89169108e-01 1.46762406e-01 -2.29612813e-03 1.04977239e+02] [ 2.32771936e-03 -4.35136838e-05 9.99997290e-01 3.62213886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.37, Y:105.00, Z:0.36 [[ 1.51025138e-01 -9.88529848e-01 -3.84017826e-04 1.41368971e+02] [ 9.88527181e-01 1.51025623e-01 -2.29623621e-03 1.05004062e+02] [ 2.32789456e-03 -3.28226681e-05 9.99997290e-01 3.63500755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.37, Y:105.03, Z:0.36 [[ 1.51048038e-01 -9.88526349e-01 -3.83382409e-04 1.41372560e+02] [ 9.88523683e-01 1.51048521e-01 -2.29634229e-03 1.05032093e+02] [ 2.32790421e-03 -3.21245934e-05 9.99997290e-01 3.62498086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.38, Y:105.06, Z:0.36 [[ 1.51359974e-01 -9.88478635e-01 -3.82742113e-04 1.41376464e+02] [ 9.88475968e-01 1.51360455e-01 -2.29644901e-03 1.05059250e+02] [ 2.32792280e-03 -3.07409186e-05 9.99997290e-01 3.62126814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.38, Y:105.09, Z:0.36 [[ 1.50788688e-01 -9.88565944e-01 -3.82067479e-04 1.41380067e+02] [ 9.88563277e-01 1.50789168e-01 -2.29656124e-03 1.05087336e+02] [ 2.32791387e-03 -3.14024229e-05 9.99997290e-01 3.61714429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.38, Y:105.11, Z:0.36 [[ 1.50508098e-01 -9.88608703e-01 -3.81439960e-04 1.41383926e+02] [ 9.88606035e-01 1.50508578e-01 -2.29666547e-03 1.05114024e+02] [ 2.32791345e-03 -3.14270957e-05 9.99997290e-01 3.61849015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.39, Y:105.14, Z:0.36 [[ 1.49204306e-01 -9.88806316e-01 -3.80778527e-04 1.41387354e+02] [ 9.88803649e-01 1.49204788e-01 -2.29677512e-03 1.05141458e+02] [ 2.32787973e-03 -3.38264587e-05 9.99997290e-01 3.61551050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.39, Y:105.17, Z:0.36 [[ 1.48491614e-01 -9.88913594e-01 -3.80170146e-04 1.41391401e+02] [ 9.88910927e-01 1.48492097e-01 -2.29687582e-03 1.05169142e+02] [ 2.32786398e-03 -3.48876134e-05 9.99997290e-01 3.61403295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.39, Y:105.19, Z:0.36 [[ 1.43429727e-01 -9.89660431e-01 -3.79540226e-04 1.41390118e+02] [ 9.89657767e-01 1.43430222e-01 -2.29697990e-03 1.05191547e+02] [ 2.32766766e-03 -4.61597321e-05 9.99997290e-01 3.56315164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.40, Y:105.22, Z:0.36 [[ 1.45467985e-01 -9.89362900e-01 -3.42321607e-04 1.41399138e+02] [ 9.89360220e-01 1.45468388e-01 -2.30309499e-03 1.05222985e+02] [ 2.32839372e-03 -3.65279254e-06 9.99997289e-01 3.60732073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.40, Y:105.25, Z:0.36 [[ 1.40927848e-01 -9.90019797e-01 -3.78076887e-04 1.41398485e+02] [ 9.90017133e-01 1.40928346e-01 -2.29721036e-03 1.05248525e+02] [ 2.32756549e-03 -5.05616831e-05 9.99997290e-01 3.58352756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.37361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.41, Y:105.28, Z:0.36 [[ 1.43511583e-01 -9.89648574e-01 -3.55539424e-04 1.41407941e+02] [ 9.89645899e-01 1.43512022e-01 -2.30090517e-03 1.05277360e+02] [ 2.32811170e-03 -2.16515883e-05 9.99997290e-01 3.60509419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.41, Y:105.30, Z:0.36 [[ 1.42437800e-01 -9.89803683e-01 -3.76789141e-04 1.41411862e+02] [ 9.89801018e-01 1.42438291e-01 -2.29742011e-03 1.05303891e+02] [ 2.32766408e-03 -4.57068099e-05 9.99997290e-01 3.60465193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.42, Y:105.33, Z:0.36 [[ 1.40801269e-01 -9.90037808e-01 -3.76138952e-04 1.41415492e+02] [ 9.90035143e-01 1.40801763e-01 -2.29752655e-03 1.05331565e+02] [ 2.32759918e-03 -4.88961266e-05 9.99997290e-01 3.59679691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.42, Y:105.36, Z:0.36 [[ 1.39782539e-01 -9.90182155e-01 -3.75520992e-04 1.41418718e+02] [ 9.90179491e-01 1.39783034e-01 -2.29762755e-03 1.05358893e+02] [ 2.32756126e-03 -5.06649733e-05 9.99997290e-01 3.60469383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.42, Y:105.38, Z:0.35 [[ 1.35932224e-01 -9.90718069e-01 -3.70661987e-04 1.41419889e+02] [ 9.90715405e-01 1.35932718e-01 -2.29841997e-03 1.05383427e+02] [ 2.32747128e-03 -5.47912030e-05 9.99997290e-01 3.54942157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.42, Y:105.41, Z:0.36 [[ 1.34569585e-01 -9.90904082e-01 -3.56660945e-04 1.41423753e+02] [ 9.90901412e-01 1.34570050e-01 -2.30070881e-03 1.05410624e+02] [ 2.32777763e-03 -4.38104051e-05 9.99997290e-01 3.56576170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.43, Y:105.44, Z:0.36 [[ 1.33436380e-01 -9.91057318e-01 -3.52569481e-04 1.41427507e+02] [ 9.91054647e-01 1.33436839e-01 -2.30137739e-03 1.05437937e+02] [ 2.32784266e-03 -4.23281555e-05 9.99997290e-01 3.56761374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.44, Y:105.47, Z:0.36 [[ 1.35494147e-01 -9.90778085e-01 -3.49712076e-04 1.41437727e+02] [ 9.90775412e-01 1.35494594e-01 -2.30184413e-03 1.05469644e+02] [ 2.32800082e-03 -3.45997188e-05 9.99997290e-01 3.60472110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.44, Y:105.49, Z:0.36 [[ 1.31120227e-01 -9.91366403e-01 -3.75861011e-04 1.41436029e+02] [ 9.91363743e-01 1.31120746e-01 -2.29756640e-03 1.05493308e+02] [ 2.32701332e-03 -7.13575504e-05 9.99997290e-01 3.57305281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.44, Y:105.52, Z:0.35 [[ 1.31304500e-01 -9.91342022e-01 -3.51929457e-04 1.41441646e+02] [ 9.91339352e-01 1.31304963e-01 -2.30147196e-03 1.05522724e+02] [ 2.32775595e-03 -4.66878949e-05 9.99997290e-01 3.54895137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.45, Y:105.55, Z:0.36 [[ 1.32133468e-01 -9.91231869e-01 -3.58006227e-04 1.41448029e+02] [ 9.91229201e-01 1.32133943e-01 -2.30048089e-03 1.05550818e+02] [ 2.32761474e-03 -5.08957096e-05 9.99997290e-01 3.60576199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.45, Y:105.58, Z:0.36 [[ 1.30263485e-01 -9.91479345e-01 -3.64811893e-04 1.41449876e+02] [ 9.91476681e-01 1.30263981e-01 -2.29937226e-03 1.05576674e+02] [ 2.32730195e-03 -6.21782416e-05 9.99997290e-01 3.56790935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.46, Y:105.61, Z:0.36 [[ 1.30788162e-01 -9.91410271e-01 -3.61881959e-04 1.41455380e+02] [ 9.91407605e-01 1.30788650e-01 -2.29985078e-03 1.05607021e+02] [ 2.32742574e-03 -5.79792699e-05 9.99997290e-01 3.57800523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.46, Y:105.64, Z:0.36 [[ 1.31085514e-01 -9.91370994e-01 -3.75273836e-04 1.41459215e+02] [ 9.91368334e-01 1.31086032e-01 -2.29766351e-03 1.05635046e+02] [ 2.32703011e-03 -7.08441954e-05 9.99997290e-01 3.57580037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.46, Y:105.66, Z:0.36 [[ 1.31433447e-01 -9.91324926e-01 -3.74608711e-04 1.41462602e+02] [ 9.91322265e-01 1.31433962e-01 -2.29777194e-03 1.05662401e+02] [ 2.32707491e-03 -6.93538698e-05 9.99997290e-01 3.57561177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.47, Y:105.69, Z:0.36 [[ 1.31148705e-01 -9.91362637e-01 -3.74013676e-04 1.41467156e+02] [ 9.91359976e-01 1.31149220e-01 -2.29786879e-03 1.05690616e+02] [ 2.32707287e-03 -6.94196725e-05 9.99997290e-01 3.57627511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.47, Y:105.72, Z:0.36 [[ 1.31749500e-01 -9.91282972e-01 -3.73353631e-04 1.41469268e+02] [ 9.91280310e-01 1.31750012e-01 -2.29797603e-03 1.05717726e+02] [ 2.32713385e-03 -6.73409099e-05 9.99997290e-01 3.57451114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88361786499996 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:141.47, Y:105.75, Z:0.36 [[ 1.31485652e-01 -9.91318004e-01 -3.72766527e-04 1.41472737e+02] [ 9.91315342e-01 1.31486163e-01 -2.29807126e-03 1.05745595e+02] [ 2.32713306e-03 -6.73657777e-05 9.99997290e-01 3.57995417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.48, Y:105.77, Z:0.36 [[ 1.32117071e-01 -9.91234050e-01 -3.72111247e-04 1.41476795e+02] [ 9.91231388e-01 1.32117579e-01 -2.29817736e-03 1.05772426e+02] [ 2.32719409e-03 -6.52198842e-05 9.99997290e-01 3.57614848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:141.48, Y:105.80, Z:0.36 [[ 1.30841186e-01 -9.91403271e-01 -3.71443780e-04 1.41479466e+02] [ 9.91400610e-01 1.30841696e-01 -2.29828524e-03 1.05800066e+02] [ 2.32712784e-03 -6.75392238e-05 9.99997290e-01 3.57068285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.48, Y:105.83, Z:0.35 [[ 1.28896412e-01 -9.91657994e-01 -3.70751689e-04 1.41481182e+02] [ 9.91655333e-01 1.28896925e-01 -2.29839688e-03 1.05825367e+02] [ 2.32701239e-03 -7.14027791e-05 9.99997290e-01 3.54359010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.49, Y:105.86, Z:0.36 [[ 1.28305561e-01 -9.91734620e-01 -3.56798172e-04 1.41485653e+02] [ 9.91731953e-01 1.28306044e-01 -2.30064490e-03 1.05855670e+02] [ 2.32740855e-03 -5.86626138e-05 9.99997290e-01 3.56240448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:141.49, Y:105.88, Z:0.36 [[ 1.29533399e-01 -9.91574990e-01 -3.70311789e-04 1.41492099e+02] [ 9.91572329e-01 1.29533909e-01 -2.29846768e-03 1.05882124e+02] [ 2.32707101e-03 -6.94625928e-05 9.99997290e-01 3.59268268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.49, Y:105.91, Z:0.36 [[ 1.24587114e-01 -9.92208604e-01 -3.69726267e-04 1.41492460e+02] [ 9.92205945e-01 1.24587637e-01 -2.29856187e-03 1.05910684e+02] [ 2.32671618e-03 -8.04734102e-05 9.99997290e-01 3.55335565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.50, Y:105.94, Z:0.36 [[ 1.25592939e-01 -9.92081790e-01 -3.69109469e-04 1.41499066e+02] [ 9.92079130e-01 1.25593457e-01 -2.29866091e-03 1.05938436e+02] [ 2.32681736e-03 -7.74902211e-05 9.99997290e-01 3.58302474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.50, Y:105.97, Z:0.36 [[ 1.23672466e-01 -9.92323025e-01 -3.68497843e-04 1.41502010e+02] [ 9.92320365e-01 1.23672988e-01 -2.29875895e-03 1.05966630e+02] [ 2.32668467e-03 -8.13747249e-05 9.99997290e-01 3.58105053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.50, Y:105.99, Z:0.35 [[ 1.21034355e-01 -9.92648251e-01 -3.67873499e-04 1.41502765e+02] [ 9.92645593e-01 1.21034883e-01 -2.29885886e-03 1.05994254e+02] [ 2.32648376e-03 -8.69271078e-05 9.99997290e-01 3.54319873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.51, Y:106.02, Z:0.36 [[ 1.22018983e-01 -9.92527703e-01 -3.57041765e-04 1.41509086e+02] [ 9.92525039e-01 1.22019483e-01 -2.30058867e-03 1.06024027e+02] [ 2.32696404e-03 -7.36574027e-05 9.99997290e-01 3.57210965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.51, Y:106.05, Z:0.36 [[ 1.21347228e-01 -9.92610047e-01 -3.80570495e-04 1.41508380e+02] [ 9.92607395e-01 1.21347784e-01 -2.29682108e-03 1.06050355e+02] [ 2.32602907e-03 -9.90442163e-05 9.99997290e-01 3.56437284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.51, Y:106.08, Z:0.36 [[ 1.21778488e-01 -9.92557235e-01 -3.67215244e-04 1.41511196e+02] [ 9.92554576e-01 1.21779012e-01 -2.29895434e-03 1.06075064e+02] [ 2.32656287e-03 -8.45179890e-05 9.99997290e-01 3.55823331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.51, Y:106.10, Z:0.36 [[ 1.21354679e-01 -9.92609145e-01 -3.56114762e-04 1.41514518e+02] [ 9.92606482e-01 1.21355179e-01 -2.30072688e-03 1.06104514e+02] [ 2.32693891e-03 -7.42778498e-05 9.99997290e-01 3.55271866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.52, Y:106.13, Z:0.36 [[ 1.20797957e-01 -9.92677047e-01 -3.66863382e-04 1.41515032e+02] [ 9.92674388e-01 1.20798483e-01 -2.29901167e-03 1.06129384e+02] [ 2.32649266e-03 -8.64599694e-05 9.99997290e-01 3.55220214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.52, Y:106.16, Z:0.35 [[ 1.21351615e-01 -9.92609521e-01 -3.52828523e-04 1.41518121e+02] [ 9.92606856e-01 1.21352108e-01 -2.30124976e-03 1.06156536e+02] [ 2.32705891e-03 -7.09596350e-05 9.99997290e-01 3.53847391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.52, Y:106.18, Z:0.35 [[ 1.21761933e-01 -9.92559273e-01 -3.49158407e-04 1.41519117e+02] [ 9.92556606e-01 1.21762416e-01 -2.30183460e-03 1.06183588e+02] [ 2.32722165e-03 -6.62836526e-05 9.99997290e-01 3.53284487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.52, Y:106.21, Z:0.35 [[ 1.23188178e-01 -9.92383270e-01 -3.44158838e-04 1.41522434e+02] [ 9.92380600e-01 1.23188645e-01 -2.30263121e-03 1.06211168e+02] [ 2.32748915e-03 -5.78796103e-05 9.99997290e-01 3.52435080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.52, Y:106.24, Z:0.35 [[ 1.23192381e-01 -9.92382750e-01 -3.38944998e-04 1.41524741e+02] [ 9.92380078e-01 1.23192836e-01 -2.30346059e-03 1.06238815e+02] [ 2.32767015e-03 -5.25934680e-05 9.99997290e-01 3.52794893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.53, Y:106.27, Z:0.35 [[ 1.25452040e-01 -9.92099629e-01 -3.33574152e-04 1.41529065e+02] [ 9.92096954e-01 1.25452476e-01 -2.30430736e-03 1.06266891e+02] [ 2.32795018e-03 -4.18578408e-05 9.99997289e-01 3.52725166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.53, Y:106.29, Z:0.35 [[ 1.27235756e-01 -9.91872445e-01 -3.38252514e-04 1.41530809e+02] [ 9.91869771e-01 1.27236198e-01 -2.30356558e-03 1.06294265e+02] [ 2.32788119e-03 -4.24065361e-05 9.99997290e-01 3.52523613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.53, Y:106.32, Z:0.35 [[ 1.28294682e-01 -9.91736036e-01 -3.31856796e-04 1.41534570e+02] [ 9.91733359e-01 1.28295107e-01 -2.30457859e-03 1.06321608e+02] [ 2.32810923e-03 -3.34482785e-05 9.99997289e-01 3.53661086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.54, Y:106.35, Z:0.35 [[ 1.29737416e-01 -9.91548331e-01 -3.32886493e-04 1.41538416e+02] [ 9.91545653e-01 1.29737839e-01 -2.30441520e-03 1.06349010e+02] [ 2.32812702e-03 -3.11032822e-05 9.99997289e-01 3.53549819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.54, Y:106.38, Z:0.35 [[ 1.32360493e-01 -9.91201589e-01 -3.31376757e-04 1.41542556e+02] [ 9.91198910e-01 1.32360906e-01 -2.30465449e-03 1.06376212e+02] [ 2.32823852e-03 -2.34150749e-05 9.99997289e-01 3.53630145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.55, Y:106.40, Z:0.35 [[ 1.33163604e-01 -9.91094013e-01 -3.34762764e-04 1.41546970e+02] [ 9.91091335e-01 1.33164022e-01 -2.30411817e-03 1.06404393e+02] [ 2.32817608e-03 -2.49557953e-05 9.99997289e-01 3.54264130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.56, Y:106.44, Z:0.36 [[ 1.37611724e-01 -9.90486193e-01 -3.38008302e-04 1.41557228e+02] [ 9.90483515e-01 1.37612138e-01 -2.30360482e-03 1.06435582e+02] [ 2.32820282e-03 -1.77886202e-05 9.99997290e-01 3.57986482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.56, Y:106.46, Z:0.36 [[ 1.39040717e-01 -9.90286598e-01 -3.65298495e-04 1.41561417e+02] [ 9.90283929e-01 1.39041191e-01 -2.29928274e-03 1.06463706e+02] [ 2.32774042e-03 -4.20553075e-05 9.99997290e-01 3.57450004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.56, Y:106.49, Z:0.35 [[ 1.35927832e-01 -9.90718675e-01 -3.63638412e-04 1.41561432e+02] [ 9.90716007e-01 1.35928310e-01 -2.29954526e-03 1.06489894e+02] [ 2.32763119e-03 -4.76901948e-05 9.99997290e-01 3.53593350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.57, Y:106.52, Z:0.36 [[ 1.39634160e-01 -9.90203101e-01 -3.46696349e-04 1.41570516e+02] [ 9.90200425e-01 1.39634589e-01 -2.30221856e-03 1.06518731e+02] [ 2.32807476e-03 -2.18305168e-05 9.99997290e-01 3.57682501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:106.55, Z:0.36 [[ 1.39345392e-01 -9.90243773e-01 -3.62929463e-04 1.41575179e+02] [ 9.90241104e-01 1.39345859e-01 -2.29965667e-03 1.06546485e+02] [ 2.32779341e-03 -3.89411122e-05 9.99997290e-01 3.57776393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:106.57, Z:0.36 [[ 1.39010393e-01 -9.90290856e-01 -3.62301249e-04 1.41580340e+02] [ 9.90288186e-01 1.39010860e-01 -2.29975563e-03 1.06574159e+02] [ 2.32779078e-03 -3.90927126e-05 9.99997290e-01 3.57139730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:106.60, Z:0.35 [[ 1.34811288e-01 -9.90871226e-01 -3.62042282e-04 1.41582700e+02] [ 9.90868558e-01 1.34811766e-01 -2.29979636e-03 1.06601720e+02] [ 2.32760959e-03 -4.86978046e-05 9.99997290e-01 3.53054829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.59, Y:106.63, Z:0.36 [[ 1.35973938e-01 -9.90712349e-01 -3.61025611e-04 1.41590324e+02] [ 9.90709680e-01 1.35974410e-01 -2.29995594e-03 1.06628693e+02] [ 2.32768500e-03 -4.49375008e-05 9.99997290e-01 3.57234132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.59, Y:106.66, Z:0.35 [[ 1.28329741e-01 -9.91731490e-01 -3.60407144e-04 1.41593642e+02] [ 9.91728824e-01 1.28330232e-01 -2.30005285e-03 1.06661430e+02] [ 2.32728598e-03 -6.22609656e-05 9.99997290e-01 3.51209974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.60, Y:106.68, Z:0.35 [[ 1.26867544e-01 -9.91919593e-01 -3.85090542e-04 1.41599180e+02] [ 9.91916939e-01 1.26868096e-01 -2.29622050e-03 1.06683569e+02] [ 2.32652181e-03 -9.06619770e-05 9.99997290e-01 3.51183252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.61, Y:106.71, Z:0.36 [[ 1.27476539e-01 -9.91841527e-01 -3.42912015e-04 1.41607754e+02] [ 9.91838855e-01 1.27476992e-01 -2.30271528e-03 1.06711228e+02] [ 2.32764203e-03 -4.65712857e-05 9.99997290e-01 3.57103838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.61, Y:106.74, Z:0.35 [[ 1.22527606e-01 -9.92465044e-01 -3.50182565e-04 1.41610090e+02] [ 9.92462377e-01 1.22528088e-01 -2.30159778e-03 1.06737048e+02] [ 2.32716255e-03 -6.55337556e-05 9.99997290e-01 3.53445981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.62, Y:106.77, Z:0.35 [[ 1.19468489e-01 -9.92837933e-01 -3.45474535e-04 1.41617239e+02] [ 9.92835266e-01 1.19468969e-01 -2.30232127e-03 1.06766560e+02] [ 2.32710538e-03 -6.79444579e-05 9.99997290e-01 3.54087339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.62, Y:106.79, Z:0.36 [[ 1.19561860e-01 -9.92826690e-01 -3.53606249e-04 1.41624168e+02] [ 9.92824026e-01 1.19562359e-01 -2.30107175e-03 1.06793094e+02] [ 2.32684345e-03 -7.59483609e-05 9.99997290e-01 3.55002796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.63, Y:106.82, Z:0.36 [[ 1.21736096e-01 -9.92562441e-01 -3.52924280e-04 1.41629313e+02] [ 9.92559776e-01 1.21736587e-01 -2.30117634e-03 1.06817328e+02] [ 2.32702501e-03 -7.01622209e-05 9.99997290e-01 3.58206291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.64, Y:106.85, Z:0.36 [[ 1.18220154e-01 -9.92987353e-01 -3.34700829e-04 1.41635713e+02] [ 9.92984682e-01 1.18220613e-01 -2.30396608e-03 1.06848216e+02] [ 2.32737772e-03 -5.99775714e-05 9.99997290e-01 3.56196599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.64, Y:106.87, Z:0.35 [[ 1.16946045e-01 -9.93138207e-01 -3.52302466e-04 1.41639295e+02] [ 9.93135544e-01 1.16946547e-01 -2.30127144e-03 1.06874837e+02] [ 2.32668115e-03 -8.07595089e-05 9.99997290e-01 3.53738378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14361786499995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:141.64, Y:106.90, Z:0.36 [[ 1.19393480e-01 -9.92846957e-01 -3.43086301e-04 1.41644025e+02] [ 9.92844289e-01 1.19393955e-01 -2.30267931e-03 1.06903249e+02] [ 2.32717058e-03 -6.57063779e-05 9.99997290e-01 3.56215519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.65, Y:106.93, Z:0.35 [[ 1.17988219e-01 -9.93014933e-01 -3.51473039e-04 1.41649175e+02] [ 9.93012269e-01 1.17988717e-01 -2.30139848e-03 1.06930787e+02] [ 2.32679291e-03 -7.74791332e-05 9.99997290e-01 3.53915605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.66, Y:106.96, Z:0.36 [[ 1.20516246e-01 -9.92711293e-01 -3.50808335e-04 1.41655964e+02] [ 9.92708628e-01 1.20516735e-01 -2.30149979e-03 1.06957000e+02] [ 2.32700311e-03 -7.08823468e-05 9.99997290e-01 3.58155990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.66, Y:106.99, Z:0.36 [[ 1.20982640e-01 -9.92654561e-01 -3.50205510e-04 1.41660735e+02] [ 9.92651896e-01 1.20983127e-01 -2.30159152e-03 1.06985069e+02] [ 2.32705428e-03 -6.91795450e-05 9.99997290e-01 3.56698977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:107.01, Z:0.36 [[ 1.22435230e-01 -9.92476444e-01 -3.49544231e-04 1.41666278e+02] [ 9.92473777e-01 1.22435712e-01 -2.30169194e-03 1.07011527e+02] [ 2.32717173e-03 -6.51053005e-05 9.99997290e-01 3.58702770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:107.04, Z:0.36 [[ 1.22890648e-01 -9.92420156e-01 -3.48960169e-04 1.41671418e+02] [ 9.92417489e-01 1.22891127e-01 -2.30178049e-03 1.07039028e+02] [ 2.32721746e-03 -6.34468783e-05 9.99997290e-01 3.57966749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.68, Y:107.07, Z:0.36 [[ 1.23825038e-01 -9.92304005e-01 -3.48309869e-04 1.41676985e+02] [ 9.92301337e-01 1.23825513e-01 -2.30187889e-03 1.07066181e+02] [ 2.32729329e-03 -6.05981079e-05 9.99997290e-01 3.58170270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.68, Y:107.09, Z:0.36 [[ 1.23893897e-01 -9.92295408e-01 -3.53576077e-04 1.41682224e+02] [ 9.92292742e-01 1.23894384e-01 -2.30108218e-03 1.07094781e+02] [ 2.32715938e-03 -6.57609354e-05 9.99997290e-01 3.58212139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.69, Y:107.12, Z:0.36 [[ 1.25322307e-01 -9.92116016e-01 -3.60130388e-04 1.41686834e+02] [ 9.92113352e-01 1.25322805e-01 -2.30009499e-03 1.07121390e+02] [ 2.32709363e-03 -6.90369567e-05 9.99997290e-01 3.59398138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.69, Y:107.15, Z:0.36 [[ 1.25038004e-01 -9.92151891e-01 -3.49188411e-04 1.41690880e+02] [ 9.92149223e-01 1.25038478e-01 -2.30173915e-03 1.07148674e+02] [ 2.32733684e-03 -5.86421407e-05 9.99997290e-01 3.59458640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.70, Y:107.18, Z:0.36 [[ 1.25520437e-01 -9.92090973e-01 -3.48555741e-04 1.41695776e+02] [ 9.92088304e-01 1.25520908e-01 -2.30183403e-03 1.07176201e+02] [ 2.32737980e-03 -5.68708603e-05 9.99997290e-01 3.59226493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.70, Y:107.20, Z:0.36 [[ 1.26657246e-01 -9.91946483e-01 -3.43172551e-04 1.41701279e+02] [ 9.91943811e-01 1.26657701e-01 -2.30263980e-03 1.07203529e+02] [ 2.32756089e-03 -4.87618739e-05 9.99997290e-01 3.60283276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.71, Y:107.23, Z:0.36 [[ 1.25921156e-01 -9.92040193e-01 -3.44335929e-04 1.41705922e+02] [ 9.92037522e-01 1.25921617e-01 -2.30246581e-03 1.07231442e+02] [ 2.32749796e-03 -5.16650046e-05 9.99997290e-01 3.61272348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.71, Y:107.26, Z:0.36 [[ 1.26835540e-01 -9.91923700e-01 -3.43696068e-04 1.41712829e+02] [ 9.91921029e-01 1.26835997e-01 -2.30256132e-03 1.07259113e+02] [ 2.32755818e-03 -4.88727484e-05 9.99997290e-01 3.60288981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.72, Y:107.29, Z:0.36 [[ 1.27199031e-01 -9.91877154e-01 -3.43640149e-04 1.41717822e+02] [ 9.91874482e-01 1.27199486e-01 -2.30256965e-03 1.07285367e+02] [ 2.32757708e-03 -4.79632658e-05 9.99997290e-01 3.60261369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.73, Y:107.32, Z:0.36 [[ 1.29922551e-01 -9.91524086e-01 -3.42418286e-04 1.41728197e+02] [ 9.91521413e-01 1.29922996e-01 -2.30275134e-03 1.07316015e+02] [ 2.32772143e-03 -4.03357339e-05 9.99997290e-01 3.62379894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.73, Y:107.35, Z:0.36 [[ 1.29677421e-01 -9.91556169e-01 -3.62177063e-04 1.41734242e+02] [ 9.91553503e-01 1.29677913e-01 -2.29982123e-03 1.07345266e+02] [ 2.32736830e-03 -6.08830493e-05 9.99997290e-01 3.62550031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.74, Y:107.37, Z:0.36 [[ 1.28906317e-01 -9.91656708e-01 -3.66967441e-04 1.41739480e+02] [ 9.91654045e-01 1.28906822e-01 -2.29911189e-03 1.07372556e+02] [ 2.32723433e-03 -6.75347010e-05 9.99997290e-01 3.62076920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.74, Y:107.40, Z:0.36 [[ 1.24734359e-01 -9.92190106e-01 -3.66162103e-04 1.41742411e+02] [ 9.92187444e-01 1.24734873e-01 -2.29923084e-03 1.07396867e+02] [ 2.32694728e-03 -7.65083546e-05 9.99997290e-01 3.58750125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:141.75, Y:107.42, Z:0.36 [[ 1.23844694e-01 -9.92301553e-01 -3.46152000e-04 1.41746994e+02] [ 9.92298884e-01 1.23845164e-01 -2.30217593e-03 1.07423166e+02] [ 2.32732200e-03 -5.83739686e-05 9.99997290e-01 3.58481017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:141.75, Y:107.45, Z:0.36 [[ 1.23598219e-01 -9.92332284e-01 -3.43384498e-04 1.41750746e+02] [ 9.92329614e-01 1.23598683e-01 -2.30258317e-03 1.07449642e+02] [ 2.32736949e-03 -5.61554277e-05 9.99997290e-01 3.58542287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.76, Y:107.48, Z:0.36 [[ 1.23193034e-01 -9.92382668e-01 -3.42242889e-04 1.41757232e+02] [ 9.92379998e-01 1.23193497e-01 -2.30275071e-03 1.07476595e+02] [ 2.32737199e-03 -5.59521504e-05 9.99997290e-01 3.59677483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.76, Y:107.50, Z:0.36 [[ 1.22149127e-01 -9.92511701e-01 -3.37412661e-04 1.41762718e+02] [ 9.92509030e-01 1.22149581e-01 -2.30345825e-03 1.07503870e+02] [ 2.32742408e-03 -5.35196984e-05 9.99997290e-01 3.60135868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.77, Y:107.53, Z:0.36 [[ 1.23620722e-01 -9.92329483e-01 -3.36743503e-04 1.41770281e+02] [ 9.92326811e-01 1.23621171e-01 -2.30355607e-03 1.07532447e+02] [ 2.32751523e-03 -4.93923418e-05 9.99997290e-01 3.59951625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.78, Y:107.56, Z:0.36 [[ 1.23494430e-01 -9.92345204e-01 -3.49861009e-04 1.41777844e+02] [ 9.92342536e-01 1.23494910e-01 -2.30163756e-03 1.07560745e+02] [ 2.32722505e-03 -6.29425411e-05 9.99997290e-01 3.60232942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.78, Y:107.58, Z:0.36 [[ 1.22360995e-01 -9.92485598e-01 -3.52318932e-04 1.41779848e+02] [ 9.92482933e-01 1.22361484e-01 -2.30127867e-03 1.07584906e+02] [ 2.32709621e-03 -6.80837785e-05 9.99997290e-01 3.60576093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.79, Y:107.62, Z:0.36 [[ 1.27735545e-01 -9.91808206e-01 -3.35299760e-04 1.41790882e+02] [ 9.91805532e-01 1.27735979e-01 -2.30375572e-03 1.07617847e+02] [ 2.32771368e-03 -3.82806643e-05 9.99997290e-01 3.60611762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.79, Y:107.64, Z:0.36 [[ 1.24284870e-01 -9.92246510e-01 -3.66782079e-04 1.41789959e+02] [ 9.92243849e-01 1.24285386e-01 -2.29918603e-03 1.07643855e+02] [ 2.32694496e-03 -7.81832263e-05 9.99997290e-01 3.60299902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.79, Y:107.67, Z:0.36 [[ 1.26957608e-01 -9.91908084e-01 -3.45817290e-04 1.41790779e+02] [ 9.91905413e-01 1.26958068e-01 -2.30221714e-03 1.07669515e+02] [ 2.32749208e-03 -5.07340619e-05 9.99997290e-01 3.61434055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.79, Y:107.70, Z:0.36 [[ 1.27735948e-01 -9.91808156e-01 -3.32225578e-04 1.41794769e+02] [ 9.91805480e-01 1.27736375e-01 -2.30417684e-03 1.07697652e+02] [ 2.32773868e-03 -3.51769362e-05 9.99997290e-01 3.60996716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:141.80, Y:107.72, Z:0.36 [[ 1.28437888e-01 -9.91717500e-01 -3.31585275e-04 1.41798870e+02] [ 9.91714823e-01 1.28438311e-01 -2.30426898e-03 1.07724867e+02] [ 2.32777213e-03 -3.28825919e-05 9.99997290e-01 3.60920356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.81, Y:107.75, Z:0.36 [[ 1.30499188e-01 -9.91448361e-01 -3.30911019e-04 1.41805354e+02] [ 9.91445683e-01 1.30499604e-01 -2.30436581e-03 1.07753810e+02] [ 2.32784346e-03 -2.73624353e-05 9.99997290e-01 3.57148010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.81, Y:107.78, Z:0.36 [[ 1.29681182e-01 -9.91555685e-01 -3.38557322e-04 1.41808392e+02] [ 9.91553011e-01 1.29681619e-01 -2.30326913e-03 1.07783238e+02] [ 2.32772426e-03 -3.70068697e-05 9.99997290e-01 3.58989989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.81, Y:107.81, Z:0.36 [[ 1.28174497e-01 -9.91751572e-01 -3.44284825e-04 1.41810862e+02] [ 9.91748900e-01 1.28174951e-01 -2.30244918e-03 1.07811589e+02] [ 2.32758628e-03 -4.63288314e-05 9.99997290e-01 3.59476890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.81, Y:107.84, Z:0.36 [[ 1.25648056e-01 -9.92074820e-01 -3.41678557e-04 1.41812371e+02] [ 9.92072149e-01 1.25648511e-01 -2.30282068e-03 1.07838376e+02] [ 2.32750181e-03 -4.96248384e-05 9.99997290e-01 3.62681634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.81, Y:107.87, Z:0.36 [[ 1.23507662e-01 -9.92343565e-01 -3.27596381e-04 1.41814787e+02] [ 9.92340889e-01 1.23508090e-01 -2.30482225e-03 1.07866489e+02] [ 2.32763633e-03 -4.04240768e-05 9.99997290e-01 3.62137491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.82, Y:107.89, Z:0.36 [[ 1.19739909e-01 -9.92805241e-01 -3.26918712e-04 1.41817217e+02] [ 9.92802567e-01 1.19740346e-01 -2.30491837e-03 1.07893212e+02] [ 2.32748040e-03 -4.85750200e-05 9.99997290e-01 3.62713018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.25361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.82, Y:107.92, Z:0.36 [[ 1.17738922e-01 -9.93044531e-01 -3.26306298e-04 1.41820615e+02] [ 9.93041857e-01 1.17739362e-01 -2.30500506e-03 1.07920537e+02] [ 2.32739177e-03 -5.26470012e-05 9.99997290e-01 3.63534173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.82, Y:107.95, Z:0.36 [[ 1.14950895e-01 -9.93371122e-01 -3.25715507e-04 1.41823137e+02] [ 9.93368449e-01 1.14951341e-01 -2.30508854e-03 1.07948339e+02] [ 2.32724983e-03 -5.85835179e-05 9.99997290e-01 3.63466760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.83, Y:107.98, Z:0.36 [[ 1.10949525e-01 -9.93825990e-01 -3.22886005e-04 1.41826749e+02] [ 9.93823318e-01 1.10949976e-01 -2.30548787e-03 1.07977508e+02] [ 2.32707796e-03 -6.50988562e-05 9.99997290e-01 3.64388920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.83, Y:108.01, Z:0.36 [[ 1.09086888e-01 -9.94032165e-01 -3.24165741e-04 1.41830133e+02] [ 9.94029495e-01 1.09087347e-01 -2.30530740e-03 1.08005805e+02] [ 2.32691209e-03 -7.07514976e-05 9.99997290e-01 3.64203683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.83, Y:108.04, Z:0.36 [[ 1.07902749e-01 -9.94161401e-01 -3.23894213e-04 1.41833686e+02] [ 9.94158731e-01 1.07903210e-01 -2.30534561e-03 1.08035143e+02] [ 2.32683484e-03 -7.32491326e-05 9.99997290e-01 3.64978440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.84, Y:108.06, Z:0.37 [[ 1.07357465e-01 -9.94220430e-01 -3.32471060e-04 1.41836435e+02] [ 9.94217764e-01 1.07357948e-01 -2.30413900e-03 1.08062488e+02] [ 2.32651548e-03 -8.31821122e-05 9.99997290e-01 3.65075580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.84, Y:108.09, Z:0.37 [[ 1.08840411e-01 -9.94059181e-01 -3.30822815e-04 1.41841920e+02] [ 9.94056513e-01 1.08840886e-01 -2.30437074e-03 1.08090888e+02] [ 2.32668794e-03 -7.80479157e-05 9.99997290e-01 3.65719549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:108.12, Z:0.36 [[ 1.12219358e-01 -9.93683401e-01 -3.38960275e-04 1.41846776e+02] [ 9.93680734e-01 1.12219843e-01 -2.30323272e-03 1.08122889e+02] [ 2.32672219e-03 -7.83509981e-05 9.99997290e-01 3.64548928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:108.15, Z:0.37 [[ 1.10235833e-01 -9.93905394e-01 -3.60069812e-04 1.41845228e+02] [ 9.93902737e-01 1.10236371e-01 -2.30027922e-03 1.08146021e+02] [ 2.32595271e-03 -1.04301177e-04 9.99997290e-01 3.65491265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:108.17, Z:0.37 [[ 1.11614618e-01 -9.93751511e-01 -3.32868365e-04 1.41849165e+02] [ 9.93748843e-01 1.11615090e-01 -2.30406735e-03 1.08174579e+02] [ 2.32682354e-03 -7.36199550e-05 9.99997290e-01 3.65895854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:108.20, Z:0.37 [[ 1.15442427e-01 -9.93314116e-01 -3.36004809e-04 1.41852621e+02] [ 9.93311447e-01 1.15442896e-01 -2.30363132e-03 1.08202423e+02] [ 2.32701888e-03 -6.78206317e-05 9.99997290e-01 3.66192125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:108.23, Z:0.36 [[ 1.15296900e-01 -9.93331017e-01 -3.39059523e-04 1.41853722e+02] [ 9.93328350e-01 1.15297377e-01 -2.30320716e-03 1.08229657e+02] [ 2.32693978e-03 -7.12447900e-05 9.99997290e-01 3.63263080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.86, Y:108.26, Z:0.37 [[ 1.17774536e-01 -9.93040307e-01 -3.27766691e-04 1.41858307e+02] [ 9.93037634e-01 1.17774980e-01 -2.30476927e-03 1.08259837e+02] [ 2.32733150e-03 -5.40415262e-05 9.99997290e-01 3.65955661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.86, Y:108.29, Z:0.36 [[ 1.18485167e-01 -9.92955765e-01 -3.36615188e-04 1.41858516e+02] [ 9.92953095e-01 1.18485629e-01 -2.30354681e-03 1.08286796e+02] [ 2.32720414e-03 -6.13069648e-05 9.99997290e-01 3.61709199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.86, Y:108.32, Z:0.36 [[ 1.19553169e-01 -9.92827746e-01 -3.26205790e-04 1.41862989e+02] [ 9.92825072e-01 1.19553604e-01 -2.30498157e-03 1.08315547e+02] [ 2.32744873e-03 -4.82974368e-05 9.99997290e-01 3.63014346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.87, Y:108.34, Z:0.36 [[ 1.18586697e-01 -9.92943646e-01 -3.32962124e-04 1.41865479e+02] [ 9.92940975e-01 1.18587151e-01 -2.30405103e-03 1.08341988e+02] [ 2.32727786e-03 -5.73819338e-05 9.99997290e-01 3.61747986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73361786499996 meters Centerline goodness : 0.996761 Centerline is valid? [True, True] Translation: X:141.87, Y:108.37, Z:0.36 [[ 1.19044964e-01 -9.92888810e-01 -3.27631921e-04 1.41871064e+02] [ 9.92886136e-01 1.19045404e-01 -2.30478750e-03 1.08369665e+02] [ 2.32740079e-03 -5.09278472e-05 9.99997290e-01 3.61074572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76361786499996 meters Centerline goodness : 0.997351 Centerline is valid? [True, True] Translation: X:141.88, Y:108.40, Z:0.36 [[ 1.18032263e-01 -9.93009703e-01 -3.39985762e-04 1.41875737e+02] [ 9.93007034e-01 1.18032734e-01 -2.30308237e-03 1.08395121e+02] [ 2.32711259e-03 -6.57702284e-05 9.99997290e-01 3.63866347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79361786499996 meters Centerline goodness : 0.997350 Centerline is valid? [True, True] Translation: X:141.88, Y:108.42, Z:0.37 [[ 1.14832447e-01 -9.93384816e-01 -3.40003527e-04 1.41879864e+02] [ 9.93382149e-01 1.14832927e-01 -2.30307993e-03 1.08420569e+02] [ 2.32688824e-03 -7.32851297e-05 9.99997290e-01 3.65246794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.88, Y:108.44, Z:0.37 [[ 1.14284193e-01 -9.93448041e-01 -3.37309457e-04 1.41882049e+02] [ 9.93445373e-01 1.14284668e-01 -2.30344935e-03 1.08442634e+02] [ 2.32690655e-03 -7.18506688e-05 9.99997290e-01 3.71979832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85361786499996 meters Centerline goodness : 0.997260 Centerline is valid? [True, True] Translation: X:141.89, Y:108.47, Z:0.37 [[ 1.13725753e-01 -9.93512131e-01 -3.14708396e-04 1.41887885e+02] [ 9.93509455e-01 1.13726177e-01 -2.30653309e-03 1.08473892e+02] [ 2.32735919e-03 -5.03535545e-05 9.99997290e-01 3.66223309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88361786499996 meters Centerline goodness : 0.996054 Centerline is valid? [True, True] Translation: X:141.89, Y:108.50, Z:0.36 [[ 1.13579526e-01 -9.93528849e-01 -3.43790915e-04 1.41889818e+02] [ 9.93526184e-01 1.13580018e-01 -2.30255510e-03 1.08498693e+02] [ 2.32670270e-03 -8.00421591e-05 9.99997290e-01 3.64507704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.89, Y:108.52, Z:0.37 [[ 1.14315249e-01 -9.93444467e-01 -3.37704606e-04 1.41891113e+02] [ 9.93441800e-01 1.14315725e-01 -2.30338562e-03 1.08522016e+02] [ 2.32689065e-03 -7.21777700e-05 9.99997290e-01 3.70896040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94361786499996 meters Centerline goodness : 0.996260 Centerline is valid? [True, True] Translation: X:141.90, Y:108.55, Z:0.36 [[ 1.14419727e-01 -9.93432448e-01 -3.13060007e-04 1.41895375e+02] [ 9.93429771e-01 1.14420146e-01 -2.30673029e-03 1.08552940e+02] [ 2.32740109e-03 -4.70676811e-05 9.99997290e-01 3.64695305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:108.58, Z:0.37 [[ 1.16833309e-01 -9.93151480e-01 -3.40464970e-04 1.41896208e+02] [ 9.93148812e-01 1.16833784e-01 -2.30300538e-03 1.08575599e+02] [ 2.32701102e-03 -6.90646421e-05 9.99997290e-01 3.69085390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:108.60, Z:0.37 [[ 1.17602252e-01 -9.93060730e-01 -3.11818775e-04 1.41899442e+02] [ 9.93058051e-01 1.17602659e-01 -2.30687747e-03 1.08603839e+02] [ 2.32754014e-03 -3.83601610e-05 9.99997291e-01 3.68217687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03361786499997 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:141.90, Y:108.63, Z:0.37 [[ 1.18514664e-01 -9.92952253e-01 -3.11208495e-04 1.41902888e+02] [ 9.92949574e-01 1.18515067e-01 -2.30695979e-03 1.08631970e+02] [ 2.32758382e-03 -3.56057770e-05 9.99997291e-01 3.68232568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.91, Y:108.66, Z:0.37 [[ 1.20031949e-01 -9.92769981e-01 -3.10563999e-04 1.41905621e+02] [ 9.92767301e-01 1.20032347e-01 -2.30704655e-03 1.08658812e+02] [ 2.32764429e-03 -3.13984882e-05 9.99997291e-01 3.66362798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.91, Y:108.68, Z:0.37 [[ 1.20789793e-01 -9.92678060e-01 -3.09884464e-04 1.41908807e+02] [ 9.92675379e-01 1.20790187e-01 -2.30713783e-03 1.08684831e+02] [ 2.32767610e-03 -2.89359777e-05 9.99997291e-01 3.65991932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.91, Y:108.71, Z:0.37 [[ 1.22566626e-01 -9.92460239e-01 -3.09186967e-04 1.41911699e+02] [ 9.92457558e-01 1.22567014e-01 -2.30723130e-03 1.08711927e+02] [ 2.32773145e-03 -2.40653867e-05 9.99997291e-01 3.67292507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.91, Y:108.74, Z:0.37 [[ 1.23275397e-01 -9.92372451e-01 -3.08527774e-04 1.41914833e+02] [ 9.92369769e-01 1.23275781e-01 -2.30731944e-03 1.08739333e+02] [ 2.32775425e-03 -2.17379162e-05 9.99997291e-01 3.67861854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.92, Y:108.77, Z:0.37 [[ 1.23814638e-01 -9.92305316e-01 -3.07886862e-04 1.41918022e+02] [ 9.92302634e-01 1.23815019e-01 -2.30740496e-03 1.08766775e+02] [ 2.32777123e-03 -1.98264337e-05 9.99997291e-01 3.68533715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.92, Y:108.79, Z:0.37 [[ 1.24796166e-01 -9.92182353e-01 -3.07252398e-04 1.41920929e+02] [ 9.92179670e-01 1.24796543e-01 -2.30748944e-03 1.08793426e+02] [ 2.32779434e-03 -1.68837467e-05 9.99997291e-01 3.68531624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24361786499998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:141.92, Y:108.82, Z:0.37 [[ 1.24994640e-01 -9.92157370e-01 -3.06583028e-04 1.41924387e+02] [ 9.92154686e-01 1.24995015e-01 -2.30757837e-03 1.08821364e+02] [ 2.32780224e-03 -1.57428586e-05 9.99997291e-01 3.68717948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.93, Y:108.85, Z:0.37 [[ 1.24845594e-01 -9.92176136e-01 -3.05953025e-04 1.41928108e+02] [ 9.92173452e-01 1.24845968e-01 -2.30766190e-03 1.08848910e+02] [ 2.32780407e-03 -1.54570481e-05 9.99997291e-01 3.68817409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.93, Y:108.88, Z:0.37 [[ 1.24056196e-01 -9.92275147e-01 -3.05321806e-04 1.41932087e+02] [ 9.92272463e-01 1.24056570e-01 -2.30774541e-03 1.08876015e+02] [ 2.32779560e-03 -1.66723047e-05 9.99997291e-01 3.69061551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.94, Y:108.90, Z:0.37 [[ 1.23201193e-01 -9.92381667e-01 -3.04655999e-04 1.41936369e+02] [ 9.92378984e-01 1.23201568e-01 -2.30783331e-03 1.08903929e+02] [ 2.32778556e-03 -1.80063954e-05 9.99997291e-01 3.69367349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.94, Y:108.93, Z:0.37 [[ 1.22028098e-01 -9.92526600e-01 -3.04023454e-04 1.41940336e+02] [ 9.92523917e-01 1.22028475e-01 -2.30791663e-03 1.08930247e+02] [ 2.32776817e-03 -2.01198724e-05 9.99997291e-01 3.69428408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:108.96, Z:0.37 [[ 1.20247360e-01 -9.92743915e-01 -3.03356568e-04 1.41945137e+02] [ 9.92741232e-01 1.20247740e-01 -2.30800429e-03 1.08957922e+02] [ 2.32773515e-03 -2.36231509e-05 9.99997291e-01 3.68640385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:108.99, Z:0.37 [[ 1.19160852e-01 -9.92874916e-01 -3.02737386e-04 1.41949152e+02] [ 9.92872234e-01 1.19161234e-01 -2.30808550e-03 1.08985588e+02] [ 2.32771476e-03 -2.55461101e-05 9.99997291e-01 3.68396564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:109.01, Z:0.37 [[ 1.18284411e-01 -9.92979711e-01 -3.02099231e-04 1.41953398e+02] [ 9.92977029e-01 1.18284793e-01 -2.30816902e-03 1.09012150e+02] [ 2.32769875e-03 -2.69571840e-05 9.99997291e-01 3.67818257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.96, Y:109.04, Z:0.37 [[ 1.16953932e-01 -9.93137295e-01 -3.01426154e-04 1.41958544e+02] [ 9.93134613e-01 1.16954316e-01 -2.30825692e-03 1.09040033e+02] [ 2.32766912e-03 -2.93970253e-05 9.99997291e-01 3.67703686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:141.96, Y:109.07, Z:0.37 [[ 1.15702891e-01 -9.93283822e-01 -3.00816280e-04 1.41962604e+02] [ 9.93281140e-01 1.15703277e-01 -2.30833639e-03 1.09068207e+02] [ 2.32763863e-03 -3.17139437e-05 9.99997291e-01 3.66668149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:141.97, Y:109.09, Z:0.37 [[ 1.15362677e-01 -9.93323393e-01 -3.00179583e-04 1.41966990e+02] [ 9.93320711e-01 1.15363063e-01 -2.30841919e-03 1.09094767e+02] [ 2.32763642e-03 -3.18691796e-05 9.99997291e-01 3.67773197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.97, Y:109.12, Z:0.37 [[ 1.14630564e-01 -9.93408146e-01 -2.99508360e-04 1.41971013e+02] [ 9.93405464e-01 1.14630951e-01 -2.30850627e-03 1.09122305e+02] [ 2.32762187e-03 -3.29078649e-05 9.99997291e-01 3.68390041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.98, Y:109.15, Z:0.37 [[ 1.14041910e-01 -9.93475895e-01 -2.98871770e-04 1.41975150e+02] [ 9.93473213e-01 1.14042297e-01 -2.30858869e-03 1.09149454e+02] [ 2.32761123e-03 -3.36452330e-05 9.99997291e-01 3.68507941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.98, Y:109.18, Z:0.37 [[ 1.13770813e-01 -9.93506977e-01 -2.98200498e-04 1.41978745e+02] [ 9.93504295e-01 1.13771199e-01 -2.30867539e-03 1.09177805e+02] [ 2.32761174e-03 -3.36035997e-05 9.99997291e-01 3.68574232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66361786499996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:141.98, Y:109.21, Z:0.37 [[ 1.13549042e-01 -9.93532348e-01 -2.97570497e-04 1.41982440e+02] [ 9.93529666e-01 1.13549427e-01 -2.30875659e-03 1.09205327e+02] [ 2.32761332e-03 -3.34880171e-05 9.99997291e-01 3.68521989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.99, Y:109.23, Z:0.37 [[ 1.13252437e-01 -9.93566202e-01 -2.96931848e-04 1.41986236e+02] [ 9.93563520e-01 1.13252821e-01 -2.30883873e-03 1.09232573e+02] [ 2.32761249e-03 -3.35390394e-05 9.99997291e-01 3.68018353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.99, Y:109.26, Z:0.37 [[ 1.13279232e-01 -9.93563147e-01 -2.96466261e-04 1.41990940e+02] [ 9.93560465e-01 1.13279615e-01 -2.30889851e-03 1.09260239e+02] [ 2.32762005e-03 -3.30069070e-05 9.99997291e-01 3.69425143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:109.29, Z:0.37 [[ 1.14486305e-01 -9.93424783e-01 -2.95823336e-04 1.41996404e+02] [ 9.93422100e-01 1.14486683e-01 -2.30898088e-03 1.09289678e+02] [ 2.32766666e-03 -2.95307517e-05 9.99997291e-01 3.66895108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.00, Y:109.32, Z:0.37 [[ 1.13511598e-01 -9.93536623e-01 -3.08793707e-04 1.41998233e+02] [ 9.93533945e-01 1.13512009e-01 -2.30731922e-03 1.09315008e+02] [ 2.32745795e-03 -4.48895385e-05 9.99997290e-01 3.68804071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:109.34, Z:0.37 [[ 1.14098426e-01 -9.93469407e-01 -2.94971566e-04 1.42001773e+02] [ 9.93466724e-01 1.14098803e-01 -2.30908492e-03 1.09343024e+02] [ 2.32766113e-03 -2.95814811e-05 9.99997291e-01 3.70180551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:109.37, Z:0.37 [[ 1.13937127e-01 -9.93487919e-01 -2.94336183e-04 1.42004653e+02] [ 9.93485235e-01 1.13937504e-01 -2.30916591e-03 1.09370212e+02] [ 2.32766436e-03 -2.93189220e-05 9.99997291e-01 3.70374854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:109.40, Z:0.37 [[ 1.12149852e-01 -9.93691262e-01 -2.93666328e-04 1.42004833e+02] [ 9.93688579e-01 1.12150231e-01 -2.30925109e-03 1.09397957e+02] [ 2.32761738e-03 -3.28307088e-05 9.99997291e-01 3.67143149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.01, Y:109.43, Z:0.37 [[ 1.12283676e-01 -9.93676151e-01 -2.87767579e-04 1.42008173e+02] [ 9.93673466e-01 1.12284042e-01 -2.31000002e-03 1.09425430e+02] [ 2.32770364e-03 -2.65717123e-05 9.99997291e-01 3.67891351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.01, Y:109.45, Z:0.37 [[ 1.10958995e-01 -9.93824944e-01 -2.87536797e-04 1.42010631e+02] [ 9.93822259e-01 1.10959364e-01 -2.31002927e-03 1.09452922e+02] [ 2.32766961e-03 -2.94419425e-05 9.99997291e-01 3.66153686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.01, Y:109.48, Z:0.37 [[ 1.11569683e-01 -9.93756572e-01 -2.85672828e-04 1.42014233e+02] [ 9.93753887e-01 1.11570045e-01 -2.31026514e-03 1.09480234e+02] [ 2.32771369e-03 -2.61329349e-05 9.99997291e-01 3.68215138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.02, Y:109.51, Z:0.37 [[ 1.11603008e-01 -9.93752830e-01 -2.85015347e-04 1.42018030e+02] [ 9.93750145e-01 1.11603369e-01 -2.31034817e-03 1.09509159e+02] [ 2.32772371e-03 -2.53922377e-05 9.99997291e-01 3.68857785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02361786499998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:142.02, Y:109.54, Z:0.37 [[ 1.11999805e-01 -9.93708187e-01 -2.88394442e-04 1.42021783e+02] [ 9.93705502e-01 1.12000173e-01 -2.30992214e-03 1.09537496e+02] [ 2.32768876e-03 -2.78683156e-05 9.99997291e-01 3.69045771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.02, Y:109.56, Z:0.37 [[ 1.11568769e-01 -9.93756673e-01 -2.90532269e-04 1.42023958e+02] [ 9.93753990e-01 1.11569143e-01 -2.30965296e-03 1.09564213e+02] [ 2.32764747e-03 -3.10324639e-05 9.99997291e-01 3.71247909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.03, Y:109.59, Z:0.37 [[ 1.11380235e-01 -9.93777822e-01 -2.89967999e-04 1.42026953e+02] [ 9.93775138e-01 1.11380608e-01 -2.30972384e-03 1.09593221e+02] [ 2.32764914e-03 -3.09054036e-05 9.99997291e-01 3.71010893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.03, Y:109.62, Z:0.37 [[ 1.11035135e-01 -9.93816439e-01 -2.90935374e-04 1.42029201e+02] [ 9.93813756e-01 1.11035512e-01 -2.30960243e-03 1.09621515e+02] [ 2.32762502e-03 -3.26885583e-05 9.99997291e-01 3.72349882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.03, Y:109.65, Z:0.37 [[ 1.09794042e-01 -9.93954318e-01 -2.85853112e-04 1.42030636e+02] [ 9.93951634e-01 1.09794410e-01 -2.31023926e-03 1.09649511e+02] [ 2.32765736e-03 -3.04736605e-05 9.99997291e-01 3.72028820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.03, Y:109.68, Z:0.37 [[ 1.08787894e-01 -9.94064944e-01 -2.84393900e-04 1.42032094e+02] [ 9.94062260e-01 1.08788262e-01 -2.31042180e-03 1.09676353e+02] [ 2.32764803e-03 -3.13593206e-05 9.99997291e-01 3.72838837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.03, Y:109.70, Z:0.37 [[ 1.08236820e-01 -9.94125100e-01 -2.77000354e-04 1.42034066e+02] [ 9.94122413e-01 1.08237171e-01 -2.31134410e-03 1.09702989e+02] [ 2.32774691e-03 -2.51997263e-05 9.99997290e-01 3.73444028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:142.04, Y:109.73, Z:0.37 [[ 1.09142548e-01 -9.94026070e-01 -2.77992793e-04 1.42037231e+02] [ 9.94023383e-01 1.09142899e-01 -2.31122041e-03 1.09728218e+02] [ 2.32775428e-03 -2.40788523e-05 9.99997290e-01 3.70669054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.04, Y:109.76, Z:0.37 [[ 1.06877030e-01 -9.94272211e-01 -2.65990390e-04 1.42039515e+02] [ 9.94269521e-01 1.06877360e-01 -2.31271874e-03 1.09758391e+02] [ 2.32790033e-03 -1.72896275e-05 9.99997290e-01 3.72239173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29361786499996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:142.04, Y:109.79, Z:0.37 [[ 1.06691440e-01 -9.94292140e-01 -2.79152000e-04 1.42042826e+02] [ 9.94289454e-01 1.06691800e-01 -2.31107561e-03 1.09786028e+02] [ 2.32766755e-03 -3.09859057e-05 9.99997291e-01 3.72931919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.04, Y:109.81, Z:0.37 [[ 1.07639777e-01 -9.94189921e-01 -2.82474959e-04 1.42044850e+02] [ 9.94187236e-01 1.07640143e-01 -2.31066142e-03 1.09810030e+02] [ 2.32764194e-03 -3.21139185e-05 9.99997291e-01 3.68517224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.05, Y:109.84, Z:0.37 [[ 1.06342763e-01 -9.94329495e-01 -2.70034796e-04 1.42047388e+02] [ 9.94326806e-01 1.06343103e-01 -2.31222511e-03 1.09839372e+02] [ 2.32782996e-03 -2.26144306e-05 9.99997290e-01 3.71272838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.05, Y:109.87, Z:0.37 [[ 1.05338463e-01 -9.94436389e-01 -2.77317104e-04 1.42049776e+02] [ 9.94433703e-01 1.05338823e-01 -2.31131020e-03 1.09867290e+02] [ 2.32766323e-03 -3.23036101e-05 9.99997290e-01 3.72146208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.05, Y:109.90, Z:0.37 [[ 1.04910782e-01 -9.94481600e-01 -2.73990084e-04 1.42052742e+02] [ 9.94478914e-01 1.04911136e-01 -2.31172772e-03 1.09895596e+02] [ 2.32771529e-03 -2.99521980e-05 9.99997290e-01 3.73594040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.06, Y:109.92, Z:0.37 [[ 1.05284937e-01 -9.94442058e-01 -2.73855949e-04 1.42055259e+02] [ 9.94439372e-01 1.05285289e-01 -2.31174448e-03 1.09923614e+02] [ 2.32772894e-03 -2.89412660e-05 9.99997290e-01 3.72979487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.06, Y:109.95, Z:0.37 [[ 1.05712212e-01 -9.94396729e-01 -2.72419833e-04 1.42058354e+02] [ 9.94394042e-01 1.05712559e-01 -2.31192371e-03 1.09950957e+02] [ 2.32776758e-03 -2.64940894e-05 9.99997290e-01 3.72180543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50361786499997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.06, Y:109.98, Z:0.37 [[ 1.05273244e-01 -9.94443296e-01 -2.74095981e-04 1.42060423e+02] [ 9.94440610e-01 1.05273596e-01 -2.31171462e-03 1.09978598e+02] [ 2.32772418e-03 -2.92104776e-05 9.99997290e-01 3.71557553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.53361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.06, Y:110.01, Z:0.37 [[ 1.05614651e-01 -9.94407095e-01 -2.74207022e-04 1.42062736e+02] [ 9.94404408e-01 1.05615003e-01 -2.31170074e-03 1.10007245e+02] [ 2.32773200e-03 -2.85232048e-05 9.99997290e-01 3.69672434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.07, Y:110.03, Z:0.37 [[ 1.04994195e-01 -9.94472796e-01 -2.76648232e-04 1.42065137e+02] [ 9.94470111e-01 1.04994554e-01 -2.31139602e-03 1.10034073e+02] [ 2.32766702e-03 -3.24352345e-05 9.99997290e-01 3.70419058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.07, Y:110.06, Z:0.37 [[ 1.03390366e-01 -9.94640818e-01 -2.75834382e-04 1.42068487e+02] [ 9.94638132e-01 1.03390727e-01 -2.31149745e-03 1.10064047e+02] [ 2.32762843e-03 -3.53688288e-05 9.99997290e-01 3.69639058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.07, Y:110.09, Z:0.37 [[ 1.02069744e-01 -9.94777204e-01 -2.85896033e-04 1.42069439e+02] [ 9.94774523e-01 1.02070133e-01 -2.31024427e-03 1.10089739e+02] [ 2.32735978e-03 -4.85960492e-05 9.99997291e-01 3.70439021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.07, Y:110.12, Z:0.37 [[ 1.00647015e-01 -9.94922159e-01 -2.74832038e-04 1.42071017e+02] [ 9.94919475e-01 1.00647382e-01 -2.31161913e-03 1.10117740e+02] [ 2.32754222e-03 -4.07781813e-05 9.99997290e-01 3.70982233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.07, Y:110.14, Z:0.37 [[ 9.99245208e-02 -9.94994983e-01 -2.70465636e-04 1.42073356e+02] [ 9.94992298e-01 9.99248795e-02 -2.31216056e-03 1.10144515e+02] [ 2.32761441e-03 -3.80696881e-05 9.99997290e-01 3.69728364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.07, Y:110.17, Z:0.37 [[ 9.85895208e-02 -9.95128150e-01 -2.67783282e-04 1.42073957e+02] [ 9.95125464e-01 9.85898769e-02 -2.31249168e-03 1.10170985e+02] [ 2.32762629e-03 -3.84905160e-05 9.99997290e-01 3.71531264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.07, Y:110.20, Z:0.37 [[ 9.69079360e-02 -9.95293314e-01 -2.66622119e-04 1.42074893e+02] [ 9.95290628e-01 9.69082940e-02 -2.31263511e-03 1.10198940e+02] [ 2.32758816e-03 -4.12538012e-05 9.99997290e-01 3.71721474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.23, Z:0.37 [[ 9.49183827e-02 -9.95485023e-01 -2.65333014e-04 1.42075095e+02] [ 9.95482337e-01 9.49187431e-02 -2.31279424e-03 1.10225579e+02] [ 2.32753710e-03 -4.46076401e-05 9.99997290e-01 3.72705158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.25, Z:0.37 [[ 9.30324016e-02 -9.95663049e-01 -2.55944526e-04 1.42076702e+02] [ 9.95660361e-01 9.30327453e-02 -2.31395504e-03 1.10254527e+02] [ 2.32773075e-03 -3.95610245e-05 9.99997290e-01 3.73238652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.28, Z:0.37 [[ 9.19119390e-02 -9.95767106e-01 -2.57793017e-04 1.42078833e+02] [ 9.95764419e-01 9.19122900e-02 -2.31372665e-03 1.10282858e+02] [ 2.32762724e-03 -4.40420112e-05 9.99997290e-01 3.73467200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.31, Z:0.37 [[ 8.96766351e-02 -9.95970900e-01 -2.58893262e-04 1.42077843e+02] [ 9.95968214e-01 8.96769946e-02 -2.31359109e-03 1.10309402e+02] [ 2.32748618e-03 -5.03743959e-05 9.99997290e-01 3.73085715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.34, Z:0.37 [[ 8.80014703e-02 -9.96120312e-01 -2.53917551e-04 1.42078523e+02] [ 9.96117625e-01 8.80018228e-02 -2.31420421e-03 1.10337276e+02] [ 2.32757103e-03 -4.92783748e-05 9.99997290e-01 3.73291115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.36, Z:0.37 [[ 8.80223334e-02 -9.96118469e-01 -2.52481486e-04 1.42081068e+02] [ 9.96115782e-01 8.80226825e-02 -2.31438094e-03 1.10364842e+02] [ 2.32762169e-03 -4.77835829e-05 9.99997290e-01 3.72148752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.39, Z:0.37 [[ 8.69486530e-02 -9.96212761e-01 -2.58931523e-04 1.42080450e+02] [ 9.96210076e-01 8.69490200e-02 -2.31358565e-03 1.10394063e+02] [ 2.32733739e-03 -5.67870364e-05 9.99997290e-01 3.71239013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.42, Z:0.37 [[ 8.70439648e-02 -9.96204437e-01 -2.62091859e-04 1.42081669e+02] [ 9.96201753e-01 8.70443389e-02 -2.31319643e-03 1.10420789e+02] [ 2.32723015e-03 -5.97465812e-05 9.99997290e-01 3.71612167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.45, Z:0.37 [[ 8.81561677e-02 -9.96106632e-01 -2.60731164e-04 1.42080211e+02] [ 9.96103947e-01 8.81565356e-02 -2.31336406e-03 1.10448872e+02] [ 2.32734243e-03 -5.57780319e-05 9.99997290e-01 3.71557321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.48, Z:0.37 [[ 8.90594010e-02 -9.96026283e-01 -2.60042965e-04 1.42081809e+02] [ 9.96023597e-01 8.90597649e-02 -2.31344890e-03 1.10479144e+02] [ 2.32741528e-03 -5.29745554e-05 9.99997290e-01 3.71109175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.50, Z:0.37 [[ 9.10207740e-02 -9.95848958e-01 -2.67844872e-04 1.42082369e+02] [ 9.95846275e-01 9.10211507e-02 -2.31248654e-03 1.10504533e+02] [ 2.32726686e-03 -5.62480037e-05 9.99997290e-01 3.71088012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.54, Z:0.37 [[ 9.06264933e-02 -9.95884921e-01 -2.52481269e-04 1.42083517e+02] [ 9.95882232e-01 9.06268354e-02 -2.31438029e-03 1.10535161e+02] [ 2.32773801e-03 -4.16974405e-05 9.99997290e-01 3.71828941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.56, Z:0.37 [[ 9.10143491e-02 -9.95849545e-01 -2.68943456e-04 1.42083890e+02] [ 9.95846862e-01 9.10147284e-02 -2.31235006e-03 1.10561911e+02] [ 2.32723058e-03 -5.73694603e-05 9.99997290e-01 3.71767855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.59, Z:0.37 [[ 9.20396555e-02 -9.95755307e-01 -2.66249248e-04 1.42080787e+02] [ 9.95752622e-01 9.20400257e-02 -2.31268173e-03 1.10589243e+02] [ 2.32737069e-03 -5.22599575e-05 9.99997290e-01 3.71990607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.61, Z:0.37 [[ 9.20796219e-02 -9.95751613e-01 -2.62063565e-04 1.42079634e+02] [ 9.95748927e-01 9.20799823e-02 -2.31319719e-03 1.10614182e+02] [ 2.32750064e-03 -4.79511910e-05 9.99997290e-01 3.69360264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.64, Z:0.37 [[ 9.64457826e-02 -9.95338210e-01 -2.41710794e-04 1.42079248e+02] [ 9.95335517e-01 9.64460840e-02 -2.31569739e-03 1.10643294e+02] [ 2.32821416e-03 -1.72440908e-05 9.99997290e-01 3.71205904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.67, Z:0.37 [[ 9.75039141e-02 -9.95235112e-01 -2.43338395e-04 1.42081249e+02] [ 9.95232418e-01 9.75042164e-02 -2.31549739e-03 1.10672675e+02] [ 2.32819082e-03 -1.64082001e-05 9.99997290e-01 3.72521187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.70, Z:0.37 [[ 9.65712403e-02 -9.95326042e-01 -2.57466969e-04 1.42080989e+02] [ 9.95323353e-01 9.65715779e-02 -2.31375225e-03 1.10701543e+02] [ 2.32780186e-03 -3.28209624e-05 9.99997290e-01 3.71919788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.73, Z:0.37 [[ 9.95188703e-02 -9.95035642e-01 -2.57338430e-04 1.42081272e+02] [ 9.95032952e-01 9.95191997e-02 -2.31376810e-03 1.10729423e+02] [ 2.32789184e-03 -2.57966303e-05 9.99997290e-01 3.72735132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.76, Z:0.37 [[ 9.97463862e-02 -9.95012860e-01 -2.57272936e-04 1.42081703e+02] [ 9.95010170e-01 9.97467148e-02 -2.31377615e-03 1.10757453e+02] [ 2.32789916e-03 -2.51983785e-05 9.99997290e-01 3.73087146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.79, Z:0.37 [[ 1.00785931e-01 -9.94908101e-01 -2.58712056e-04 1.42080807e+02] [ 9.94905411e-01 1.00786260e-01 -2.31359828e-03 1.10787111e+02] [ 2.32789230e-03 -2.42158667e-05 9.99997290e-01 3.72827875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.81, Z:0.37 [[ 1.01561276e-01 -9.94829249e-01 -2.68491943e-04 1.42081312e+02] [ 9.94826562e-01 1.01561625e-01 -2.31239002e-03 1.10812870e+02] [ 2.32770171e-03 -3.22536364e-05 9.99997290e-01 3.72141362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:110.84, Z:0.37 [[ 1.03410084e-01 -9.94638772e-01 -2.61293911e-04 1.42083384e+02] [ 9.94636082e-01 1.03410412e-01 -2.31327741e-03 1.10838926e+02] [ 2.32789592e-03 -2.06761410e-05 9.99997290e-01 3.72976895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.09, Y:110.87, Z:0.38 [[ 1.07331579e-01 -9.94223248e-01 -2.55812808e-04 1.42090809e+02] [ 9.94220555e-01 1.07331884e-01 -2.31395457e-03 1.10870886e+02] [ 2.32804430e-03 -5.97395405e-06 9.99997290e-01 3.79355835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:110.90, Z:0.37 [[ 1.09763229e-01 -9.93957721e-01 -2.86147231e-04 1.42095551e+02] [ 9.93955037e-01 1.09763597e-01 -2.31019727e-03 1.10903281e+02] [ 2.32764696e-03 -3.08427707e-05 9.99997291e-01 3.74492738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.09, Y:110.92, Z:0.37 [[ 1.05305868e-01 -9.94439828e-01 -3.21563331e-04 1.42090059e+02] [ 9.94437157e-01 1.05306331e-01 -2.30580107e-03 1.10924491e+02] [ 2.32684308e-03 -7.69601418e-05 9.99997290e-01 3.74994859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.09, Y:110.95, Z:0.38 [[ 1.05165346e-01 -9.94454712e-01 -2.75991076e-04 1.42093365e+02] [ 9.94452026e-01 1.05165704e-01 -2.31142111e-03 1.10951814e+02] [ 2.32762841e-03 -3.13784827e-05 9.99997291e-01 3.75047861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.09, Y:110.98, Z:0.38 [[ 1.04643526e-01 -9.94509757e-01 -2.75321277e-04 1.42094770e+02] [ 9.94507071e-01 1.04643884e-01 -2.31150360e-03 1.10978529e+02] [ 2.32762357e-03 -3.19250698e-05 9.99997291e-01 3.75058978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:111.01, Z:0.37 [[ 1.05321805e-01 -9.94438154e-01 -2.74456891e-04 1.42097335e+02] [ 9.94435468e-01 1.05322159e-01 -2.31160995e-03 1.11006032e+02] [ 2.32765952e-03 -2.94667337e-05 9.99997291e-01 3.74743671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64361786499995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.10, Y:111.04, Z:0.38 [[ 1.06201444e-01 -9.94344597e-01 -2.73353054e-04 1.42100830e+02] [ 9.94341911e-01 1.06201793e-01 -2.31174553e-03 1.11036340e+02] [ 2.32770227e-03 -2.62956833e-05 9.99997291e-01 3.75968289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:111.06, Z:0.38 [[ 1.05617721e-01 -9.94406766e-01 -2.83600887e-04 1.42103819e+02] [ 9.94404083e-01 1.05618095e-01 -2.31048780e-03 1.11064186e+02] [ 2.32751808e-03 -3.79854234e-05 9.99997291e-01 3.77376135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:111.10, Z:0.38 [[ 1.03358565e-01 -9.94644121e-01 -2.82626001e-04 1.42111483e+02] [ 9.94641438e-01 1.03358943e-01 -2.31060719e-03 1.11099508e+02] [ 2.32744378e-03 -4.22904883e-05 9.99997291e-01 3.78501118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:111.13, Z:0.38 [[ 1.02449581e-01 -9.94738143e-01 -3.33217091e-04 1.42114319e+02] [ 9.94735478e-01 1.02450078e-01 -2.30439401e-03 1.11125807e+02] [ 2.32640674e-03 -9.53786615e-05 9.99997289e-01 3.76724322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.12, Y:111.15, Z:0.38 [[ 1.00764761e-01 -9.94910228e-01 -3.16990351e-04 1.42116305e+02] [ 9.94907559e-01 1.00765225e-01 -2.30637638e-03 1.11150872e+02] [ 2.32657905e-03 -8.29746317e-05 9.99997290e-01 3.77839972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.12, Y:111.18, Z:0.38 [[ 9.73888564e-02 -9.95246362e-01 -2.98010841e-04 1.42120898e+02] [ 9.95243687e-01 9.73892860e-02 -2.30867485e-03 1.11180935e+02] [ 2.32672331e-03 -7.17542048e-05 9.99997291e-01 3.78951811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.12, Y:111.21, Z:0.38 [[ 9.50873458e-02 -9.95468885e-01 -3.08677576e-04 1.42124307e+02] [ 9.95466215e-01 9.50878062e-02 -2.30738500e-03 1.11207670e+02] [ 2.32628145e-03 -8.78749821e-05 9.99997290e-01 3.80048814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.13, Y:111.24, Z:0.38 [[ 9.25571430e-02 -9.95707328e-01 -3.03461385e-04 1.42128069e+02] [ 9.95704657e-01 9.25575981e-02 -2.30801326e-03 1.11236458e+02] [ 2.32619337e-03 -8.85348006e-05 9.99997290e-01 3.79204344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.13, Y:111.27, Z:0.38 [[ 9.06994203e-02 -9.95878267e-01 -3.02871832e-04 1.42132921e+02] [ 9.95875597e-01 9.06998790e-02 -2.30808407e-03 1.11265469e+02] [ 2.32604120e-03 -9.22807792e-05 9.99997291e-01 3.78787725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:111.29, Z:0.38 [[ 8.78799208e-02 -9.96131028e-01 -3.07665980e-04 1.42137193e+02] [ 9.96128361e-01 8.78803982e-02 -2.30751343e-03 1.11293371e+02] [ 2.32562353e-03 -1.03690711e-04 9.99997290e-01 3.81975072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:111.32, Z:0.38 [[ 8.64894841e-02 -9.96252718e-01 -3.01540507e-04 1.42140784e+02] [ 9.96250049e-01 8.64899511e-02 -2.30823995e-03 1.11320553e+02] [ 2.32567055e-03 -1.00771262e-04 9.99997291e-01 3.78838054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:111.34, Z:0.38 [[ 8.24391793e-02 -9.96596051e-01 -3.03202768e-04 1.42140258e+02] [ 9.96593385e-01 8.24396610e-02 -2.30804263e-03 1.11343324e+02] [ 2.32518210e-03 -1.11896732e-04 9.99997291e-01 3.81159297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:111.37, Z:0.38 [[ 8.21396816e-02 -9.96620790e-01 -2.72882404e-04 1.42144369e+02] [ 9.96618112e-01 8.21400938e-02 -2.31162189e-03 1.11370307e+02] [ 2.32622502e-03 -8.20836601e-05 9.99997291e-01 3.81012305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.15, Y:111.40, Z:0.38 [[ 8.62750570e-02 -9.96271319e-01 -2.72417450e-04 1.42154568e+02] [ 9.96268639e-01 8.62754571e-02 -2.31167668e-03 1.11402171e+02] [ 2.32656011e-03 -7.19609250e-05 9.99997291e-01 3.80521014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.16, Y:111.43, Z:0.38 [[ 8.62174992e-02 -9.96276294e-01 -2.99630394e-04 1.42159253e+02] [ 9.96273624e-01 8.62179625e-02 -2.30846931e-03 1.11429130e+02] [ 2.32570677e-03 -9.94834084e-05 9.99997291e-01 3.79631325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.16, Y:111.46, Z:0.38 [[ 8.65145945e-02 -9.96250539e-01 -2.97515925e-04 1.42163689e+02] [ 9.96247869e-01 8.65150521e-02 -2.30871731e-03 1.11458269e+02] [ 2.32580047e-03 -9.66618641e-05 9.99997291e-01 3.80609957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.17, Y:111.49, Z:0.38 [[ 8.62030827e-02 -9.96277541e-01 -2.99392826e-04 1.42166557e+02] [ 9.96274872e-01 8.62035454e-02 -2.30849762e-03 1.11485303e+02] [ 2.32571305e-03 -9.92779389e-05 9.99997291e-01 3.81072044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.17, Y:111.51, Z:0.38 [[ 8.79959246e-02 -9.96120792e-01 -2.92584303e-04 1.42171715e+02] [ 9.96118119e-01 8.79963668e-02 -2.30929258e-03 1.11511895e+02] [ 2.32608071e-03 -8.82401895e-05 9.99997291e-01 3.80560457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.18, Y:111.54, Z:0.38 [[ 8.88259907e-02 -9.96047117e-01 -2.91488119e-04 1.42175797e+02] [ 9.96044443e-01 8.88264281e-02 -2.30942040e-03 1.11539511e+02] [ 2.32618338e-03 -8.51985658e-05 9.99997291e-01 3.80931481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.18, Y:111.57, Z:0.38 [[ 9.11499039e-02 -9.95837141e-01 -2.89162587e-04 1.42180635e+02] [ 9.95834466e-01 9.11503297e-02 -2.30969093e-03 1.11565886e+02] [ 2.32643328e-03 -7.74299637e-05 9.99997291e-01 3.81338971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.19, Y:111.59, Z:0.38 [[ 9.24414653e-02 -9.95718081e-01 -2.81009861e-04 1.42185164e+02] [ 9.95715402e-01 9.24418687e-02 -2.31063330e-03 1.11594365e+02] [ 2.32671643e-03 -6.62075190e-05 9.99997291e-01 3.83599511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.19, Y:111.62, Z:0.38 [[ 9.43599798e-02 -9.95538103e-01 -2.82183420e-04 1.42189326e+02] [ 9.95535424e-01 9.43603807e-02 -2.31049784e-03 1.11620944e+02] [ 2.32681557e-03 -6.29050609e-05 9.99997291e-01 3.82807651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.19, Y:111.65, Z:0.38 [[ 9.64012791e-02 -9.95342511e-01 -2.80148833e-04 1.42193881e+02] [ 9.95339831e-01 9.64016699e-02 -2.31073204e-03 1.11648334e+02] [ 2.32697664e-03 -5.60857676e-05 9.99997291e-01 3.82300377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.20, Y:111.68, Z:0.38 [[ 9.90186386e-02 -9.95085540e-01 -2.78713822e-04 1.42200272e+02] [ 9.95082858e-01 9.90190190e-02 -2.31089682e-03 1.11677536e+02] [ 2.32713798e-03 -4.85214889e-05 9.99997291e-01 3.82741992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.20, Y:111.70, Z:0.38 [[ 9.82677274e-02 -9.95159972e-01 -2.89211114e-04 1.42202741e+02] [ 9.95157294e-01 9.82681342e-02 -2.30969160e-03 1.11702882e+02] [ 2.32693287e-03 -6.08424045e-05 9.99997291e-01 3.81841974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39361786499995 meters Centerline goodness : 0.996385 Centerline is valid? [True, True] Translation: X:142.21, Y:111.73, Z:0.38 [[ 9.91018475e-02 -9.95077256e-01 -2.79051491e-04 1.42207478e+02] [ 9.95074574e-01 9.91022284e-02 -2.31086369e-03 1.11729796e+02] [ 2.32714253e-03 -4.86661820e-05 9.99997291e-01 3.77558552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.21, Y:111.75, Z:0.38 [[ 9.81265350e-02 -9.95173905e-01 -2.84804107e-04 1.42211164e+02] [ 9.95171226e-01 9.81269319e-02 -2.31020139e-03 1.11754536e+02] [ 2.32699909e-03 -5.67367952e-05 9.99997291e-01 3.75434380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.21, Y:111.78, Z:0.38 [[ 9.75643552e-02 -9.95229182e-01 -2.69683219e-04 1.42214422e+02] [ 9.95226497e-01 9.75647186e-02 -2.31192854e-03 1.11781657e+02] [ 2.32721031e-03 -4.28340679e-05 9.99997291e-01 3.76052078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.22, Y:111.81, Z:0.38 [[ 1.00803005e-01 -9.94906370e-01 -2.62229771e-04 1.42221346e+02] [ 9.94903682e-01 1.00803342e-01 -2.31277815e-03 1.11809040e+02] [ 2.32743136e-03 -2.77583775e-05 9.99997291e-01 3.82637994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.23, Y:111.84, Z:0.38 [[ 1.00999788e-01 -9.94886412e-01 -2.63280774e-04 1.42225481e+02] [ 9.94883725e-01 1.01000127e-01 -2.31265850e-03 1.11836443e+02] [ 2.32742391e-03 -2.83557394e-05 9.99997291e-01 3.82776439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.23, Y:111.86, Z:0.38 [[ 1.01149200e-01 -9.94871233e-01 -2.62626039e-04 1.42230752e+02] [ 9.94868545e-01 1.01149537e-01 -2.31273285e-03 1.11863152e+02] [ 2.32743589e-03 -2.73473079e-05 9.99997291e-01 3.81825525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.23, Y:111.89, Z:0.38 [[ 1.01193984e-01 -9.94866679e-01 -2.62037815e-04 1.42234606e+02] [ 9.94863991e-01 1.01194320e-01 -2.31279950e-03 1.11890122e+02] [ 2.32744390e-03 -2.66505899e-05 9.99997291e-01 3.82651699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:111.92, Z:0.38 [[ 1.00084577e-01 -9.94978901e-01 -2.53938328e-04 1.42238675e+02] [ 9.94976211e-01 1.00084897e-01 -2.31371504e-03 1.11919806e+02] [ 2.32751304e-03 -2.10954041e-05 9.99997291e-01 3.81850525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:111.95, Z:0.38 [[ 9.93659051e-02 -9.95050928e-01 -2.61071586e-04 1.42242384e+02] [ 9.95048240e-01 9.93662435e-02 -2.31290987e-03 1.11946108e+02] [ 2.32740481e-03 -2.99544399e-05 9.99997291e-01 3.81724523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.25, Y:111.97, Z:0.38 [[ 9.79038133e-02 -9.95195848e-01 -2.60603979e-04 1.42247240e+02] [ 9.95193161e-01 9.79041546e-02 -2.31296255e-03 1.11972517e+02] [ 2.32736494e-03 -3.29034439e-05 9.99997291e-01 3.81842124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.25, Y:112.00, Z:0.38 [[ 9.73486231e-02 -9.95250309e-01 -2.59933899e-04 1.42251073e+02] [ 9.95247622e-01 9.73489643e-02 -2.31303786e-03 1.12000148e+02] [ 2.32735594e-03 -3.35275447e-05 9.99997291e-01 3.82015516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.25, Y:112.03, Z:0.38 [[ 9.66078146e-02 -9.95322492e-01 -2.59310174e-04 1.42254424e+02] [ 9.95319805e-01 9.66081564e-02 -2.31310778e-03 1.12028168e+02] [ 2.32733968e-03 -3.46322645e-05 9.99997291e-01 3.81839559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.26, Y:112.05, Z:0.38 [[ 9.62982222e-02 -9.95352493e-01 -2.58680757e-04 1.42257883e+02] [ 9.95349806e-01 9.62985634e-02 -2.31317817e-03 1.12054951e+02] [ 2.32733824e-03 -3.47228966e-05 9.99997291e-01 3.81325342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.26, Y:112.08, Z:0.38 [[ 9.63246086e-02 -9.95349940e-01 -2.58017523e-04 1.42262072e+02] [ 9.95347253e-01 9.63249481e-02 -2.31325214e-03 1.12083215e+02] [ 2.32734891e-03 -3.39939254e-05 9.99997291e-01 3.80463642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.27, Y:112.11, Z:0.38 [[ 9.63988321e-02 -9.95342754e-01 -2.57431471e-04 1.42265640e+02] [ 9.95340067e-01 9.63991701e-02 -2.31331736e-03 1.12111389e+02] [ 2.32735985e-03 -3.32307660e-05 9.99997291e-01 3.80297207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.27, Y:112.14, Z:0.38 [[ 9.66210560e-02 -9.95321207e-01 -2.56806867e-04 1.42269721e+02] [ 9.95318519e-01 9.66213920e-02 -2.31338670e-03 1.12137740e+02] [ 2.32737588e-03 -3.20827648e-05 9.99997291e-01 3.80039966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.27, Y:112.17, Z:0.38 [[ 9.68498526e-02 -9.95298970e-01 -2.56148661e-04 1.42273646e+02] [ 9.95296282e-01 9.68501864e-02 -2.31345957e-03 1.12165403e+02] [ 2.32739198e-03 -3.08855916e-05 9.99997291e-01 3.81013909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90361786499997 meters Centerline goodness : 0.995716 Centerline is valid? [True, True] Translation: X:142.28, Y:112.19, Z:0.38 [[ 9.61443307e-02 -9.95367371e-01 -2.55511394e-04 1.42276669e+02] [ 9.95364682e-01 9.61446649e-02 -2.31352995e-03 1.12193372e+02] [ 2.32737829e-03 -3.18942283e-05 9.99997291e-01 3.81397825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.28, Y:112.22, Z:0.38 [[ 9.70502360e-02 -9.95279447e-01 -2.72262695e-04 1.42279764e+02] [ 9.95276763e-01 9.70506067e-02 -2.31168023e-03 1.12218330e+02] [ 2.32719108e-03 -4.66276218e-05 9.99997291e-01 3.82391435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.28, Y:112.25, Z:0.38 [[ 9.67645059e-02 -9.95307272e-01 -2.53967977e-04 1.42282966e+02] [ 9.95304583e-01 9.67648349e-02 -2.31368840e-03 1.12246125e+02] [ 2.32740606e-03 -2.88925772e-05 9.99997291e-01 3.82689888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:112.27, Z:0.38 [[ 9.63838902e-02 -9.95344203e-01 -2.53346624e-04 1.42286586e+02] [ 9.95341514e-01 9.63842187e-02 -2.31375643e-03 1.12274257e+02] [ 2.32740267e-03 -2.91575663e-05 9.99997291e-01 3.82856201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:112.30, Z:0.38 [[ 9.53059749e-02 -9.95447993e-01 -2.52724668e-04 1.42291349e+02] [ 9.95445305e-01 9.53063049e-02 -2.31382437e-03 1.12301906e+02] [ 2.32737808e-03 -3.10522975e-05 9.99997291e-01 3.83910905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:112.33, Z:0.38 [[ 9.44391958e-02 -9.95530600e-01 -2.52098973e-04 1.42295301e+02] [ 9.95527911e-01 9.44395267e-02 -2.31389254e-03 1.12330111e+02] [ 2.32735893e-03 -3.24494138e-05 9.99997291e-01 3.84164850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:112.36, Z:0.38 [[ 9.30633860e-02 -9.95660154e-01 -2.51455820e-04 1.42298937e+02] [ 9.95657466e-01 9.30637191e-02 -2.31396243e-03 1.12356975e+02] [ 2.32732160e-03 -3.50186858e-05 9.99997291e-01 3.83469549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:112.39, Z:0.38 [[ 9.35172052e-02 -9.95617632e-01 -2.50778013e-04 1.42303848e+02] [ 9.95614944e-01 9.35175356e-02 -2.31403588e-03 1.12387820e+02] [ 2.32734707e-03 -3.32761684e-05 9.99997291e-01 3.80302798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.31, Y:112.42, Z:0.38 [[ 9.35510035e-02 -9.95614453e-01 -2.66148399e-04 1.42307559e+02] [ 9.95611769e-01 9.35513694e-02 -2.31237145e-03 1.12415739e+02] [ 2.32712898e-03 -4.86558090e-05 9.99997291e-01 3.80047207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17361786499995 meters Centerline goodness : 0.994741 Centerline is valid? [True, True] Translation: X:142.31, Y:112.44, Z:0.38 [[ 9.33463727e-02 -9.95633659e-01 -2.69283280e-04 1.42310816e+02] [ 9.95630976e-01 9.33467465e-02 -2.31202715e-03 1.12440785e+02] [ 2.32706876e-03 -5.22874275e-05 9.99997291e-01 3.82886880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.31, Y:112.47, Z:0.38 [[ 9.36258744e-02 -9.95607418e-01 -2.56550729e-04 1.42314676e+02] [ 9.95604731e-01 9.36262179e-02 -2.31341827e-03 1.12466445e+02] [ 2.32727626e-03 -3.88273113e-05 9.99997291e-01 3.83674165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:112.49, Z:0.38 [[ 9.34522113e-02 -9.95623735e-01 -2.51580537e-04 1.42318424e+02] [ 9.95621046e-01 9.34525437e-02 -2.31395864e-03 1.12492827e+02] [ 2.32734299e-03 -3.42343255e-05 9.99997291e-01 3.83645909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:112.52, Z:0.38 [[ 9.29859350e-02 -9.95667391e-01 -2.50991672e-04 1.42323453e+02] [ 9.95664702e-01 9.29862673e-02 -2.31402251e-03 1.12520647e+02] [ 2.32733554e-03 -3.47320012e-05 9.99997291e-01 3.83874111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:112.55, Z:0.38 [[ 9.28117716e-02 -9.95683641e-01 -2.50357586e-04 1.42327149e+02] [ 9.95680952e-01 9.28121029e-02 -2.31409111e-03 1.12548376e+02] [ 2.32733888e-03 -3.45013834e-05 9.99997291e-01 3.83420755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:112.58, Z:0.38 [[ 9.25626057e-02 -9.95706835e-01 -2.49727602e-04 1.42330599e+02] [ 9.95704147e-01 9.25629362e-02 -2.31415910e-03 1.12576422e+02] [ 2.32733955e-03 -3.44502130e-05 9.99997291e-01 3.83192959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:112.60, Z:0.38 [[ 9.26655144e-02 -9.95697263e-01 -2.49099899e-04 1.42334146e+02] [ 9.95694575e-01 9.26658431e-02 -2.31422666e-03 1.12603382e+02] [ 2.32735221e-03 -3.35784136e-05 9.99997291e-01 3.82603131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:112.63, Z:0.38 [[ 9.27427368e-02 -9.95690074e-01 -2.48438232e-04 1.42338021e+02] [ 9.95687385e-01 9.27430638e-02 -2.31429769e-03 1.12631610e+02] [ 2.32736416e-03 -3.27325117e-05 9.99997291e-01 3.82916485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:112.66, Z:0.38 [[ 9.26678417e-02 -9.95697047e-01 -2.47802031e-04 1.42342756e+02] [ 9.95694358e-01 9.26681674e-02 -2.31436581e-03 1.12659281e+02] [ 2.32737056e-03 -3.22677991e-05 9.99997291e-01 3.83727920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:112.69, Z:0.38 [[ 9.23910231e-02 -9.95722772e-01 -2.47158746e-04 1.42345731e+02] [ 9.95720082e-01 9.23913481e-02 -2.31443451e-03 1.12687691e+02] [ 2.32737047e-03 -3.22679551e-05 9.99997291e-01 3.83794218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:112.72, Z:0.38 [[ 9.44304468e-02 -9.95531431e-01 -2.46515287e-04 1.42354590e+02] [ 9.95528741e-01 9.44307648e-02 -2.31450304e-03 1.12721308e+02] [ 2.32743915e-03 -2.68534965e-05 9.99997291e-01 3.81002298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:112.74, Z:0.38 [[ 9.16642834e-02 -9.95789928e-01 -2.78369989e-04 1.42353437e+02] [ 9.95787249e-01 9.16646828e-02 -2.31111076e-03 1.12744738e+02] [ 2.32689752e-03 -6.53509739e-05 9.99997291e-01 3.84607340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:112.78, Z:0.38 [[ 9.38168180e-02 -9.95589446e-01 -2.44604276e-04 1.42362259e+02] [ 9.95586756e-01 9.38171332e-02 -2.31467896e-03 1.12778485e+02] [ 2.32741802e-03 -2.63689626e-05 9.99997291e-01 3.82518728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.37, Y:112.81, Z:0.38 [[ 9.47845971e-02 -9.95497767e-01 -2.77226856e-04 1.42367180e+02] [ 9.95495085e-01 9.47849854e-02 -2.31122971e-03 1.12808273e+02] [ 2.32710096e-03 -5.69089964e-05 9.99997291e-01 3.84135049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:112.83, Z:0.39 [[ 9.16024613e-02 -9.95795615e-01 -2.85389330e-04 1.42364298e+02] [ 9.95792938e-01 9.16028771e-02 -2.31036792e-03 1.12828823e+02] [ 2.32679673e-03 -7.25532919e-05 9.99997290e-01 3.85759375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.37, Y:112.86, Z:0.39 [[ 9.14994194e-02 -9.95805100e-01 -2.42356136e-04 1.42367764e+02] [ 9.95802410e-01 9.14997356e-02 -2.31487329e-03 1.12856010e+02] [ 2.32733815e-03 -2.95292623e-05 9.99997291e-01 3.85861400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:112.89, Z:0.38 [[ 9.52484779e-02 -9.95453499e-01 -2.41688607e-04 1.42377938e+02] [ 9.95450808e-01 9.52487824e-02 -2.31494298e-03 1.12889691e+02] [ 2.32743864e-03 -2.00943241e-05 9.99997291e-01 3.84216027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:112.91, Z:0.39 [[ 9.20746341e-02 -9.95752070e-01 -2.76333286e-04 1.42375334e+02] [ 9.95749390e-01 9.20750277e-02 -2.31131943e-03 1.12912059e+02] [ 2.32694451e-03 -6.23448100e-05 9.99997291e-01 3.86056243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:112.94, Z:0.38 [[ 9.45919456e-02 -9.95516100e-01 -2.40176938e-04 1.42384373e+02] [ 9.95513409e-01 9.45922484e-02 -2.31507047e-03 1.12944925e+02] [ 2.32740881e-03 -2.01123418e-05 9.99997291e-01 3.83755108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74361786499998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.38, Y:112.97, Z:0.39 [[ 9.24965630e-02 -9.95712966e-01 -2.73127514e-04 1.42383619e+02] [ 9.95710285e-01 9.24969480e-02 -2.31164458e-03 1.12966832e+02] [ 2.32699794e-03 -5.81366965e-05 9.99997291e-01 3.86292218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:112.99, Z:0.39 [[ 9.22737896e-02 -9.95733644e-01 -2.39145347e-04 1.42389069e+02] [ 9.95730953e-01 9.22740963e-02 -2.31515479e-03 1.12994933e+02] [ 2.32734443e-03 -2.44963191e-05 9.99997291e-01 3.86488619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:113.02, Z:0.39 [[ 9.21817421e-02 -9.95742170e-01 -2.38520759e-04 1.42393244e+02] [ 9.95739479e-01 9.21820475e-02 -2.31521913e-03 1.13021541e+02] [ 2.32734866e-03 -2.40836028e-05 9.99997291e-01 3.86598255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83361786499995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.40, Y:113.05, Z:0.39 [[ 9.37871956e-02 -9.95592239e-01 -2.37862354e-04 1.42402177e+02] [ 9.95589547e-01 9.37874952e-02 -2.31528677e-03 1.13053061e+02] [ 2.32739006e-03 -1.96690194e-05 9.99997291e-01 3.85181504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:113.09, Z:0.38 [[ 9.49620558e-02 -9.95480860e-01 -2.56448521e-04 1.42409414e+02] [ 9.95478172e-01 9.49623954e-02 -2.31339616e-03 1.13085084e+02] [ 2.32729456e-03 -3.56040496e-05 9.99997291e-01 3.84625394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:113.11, Z:0.39 [[ 9.36988106e-02 -9.95600551e-01 -2.73710285e-04 1.42412853e+02] [ 9.95597869e-01 9.36991937e-02 -2.31164680e-03 1.13113237e+02] [ 2.32712326e-03 -5.59068206e-05 9.99997291e-01 3.85915704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:113.14, Z:0.39 [[ 9.20093291e-02 -9.95758109e-01 -2.68881556e-04 1.42414991e+02] [ 9.95755426e-01 9.20097055e-02 -2.31214229e-03 1.13135992e+02] [ 2.32707415e-03 -5.50016076e-05 9.99997291e-01 3.89468710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.42, Y:113.17, Z:0.39 [[ 9.25939314e-02 -9.95703925e-01 -2.38374218e-04 1.42421440e+02] [ 9.95701234e-01 9.25942354e-02 -2.31524952e-03 1.13165149e+02] [ 2.32737511e-03 -2.29714475e-05 9.99997291e-01 3.88068513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.43, Y:113.19, Z:0.39 [[ 9.20618247e-02 -9.95753261e-01 -2.52245228e-04 1.42425542e+02] [ 9.95750573e-01 9.20621623e-02 -2.31385057e-03 1.13192929e+02] [ 2.32724649e-03 -3.81560246e-05 9.99997291e-01 3.89066529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.43, Y:113.22, Z:0.39 [[ 9.12952350e-02 -9.95823838e-01 -2.50647856e-04 1.42429383e+02] [ 9.95821151e-01 9.12955710e-02 -2.31401113e-03 1.13221055e+02] [ 2.32723049e-03 -3.83422468e-05 9.99997291e-01 3.87792960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.43, Y:113.25, Z:0.39 [[ 9.17542010e-02 -9.95781655e-01 -2.48626665e-04 1.42432594e+02] [ 9.95778967e-01 9.17545311e-02 -2.31421372e-03 1.13247011e+02] [ 2.32726419e-03 -3.52383728e-05 9.99997291e-01 3.87308844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.44, Y:113.28, Z:0.39 [[ 9.20789176e-02 -9.95751684e-01 -2.36518205e-04 1.42438614e+02] [ 9.95748993e-01 9.20792187e-02 -2.31542197e-03 1.13276729e+02] [ 2.32736373e-03 -2.23112164e-05 9.99997291e-01 3.88376187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.44, Y:113.30, Z:0.39 [[ 9.28149842e-02 -9.95683342e-01 -2.46076619e-04 1.42441850e+02] [ 9.95680653e-01 9.28153055e-02 -2.31447087e-03 1.13303326e+02] [ 2.32731976e-03 -3.01961520e-05 9.99997291e-01 3.88532149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.45, Y:113.33, Z:0.39 [[ 9.31968664e-02 -9.95647673e-01 -2.34416720e-04 1.42446187e+02] [ 9.95644981e-01 9.31971595e-02 -2.31562601e-03 1.13331282e+02] [ 2.32739462e-03 -1.75867433e-05 9.99997291e-01 3.89011253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.45, Y:113.36, Z:0.39 [[ 9.41997528e-02 -9.95553288e-01 -2.41026034e-04 1.42452081e+02] [ 9.95550596e-01 9.42000586e-02 -2.31497238e-03 1.13358553e+02] [ 2.32738303e-03 -2.18837860e-05 9.99997291e-01 3.89443491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.46, Y:113.39, Z:0.39 [[ 9.47053660e-02 -9.95505316e-01 -2.42289132e-04 1.42456501e+02] [ 9.95502625e-01 9.47056733e-02 -2.31484763e-03 1.13385254e+02] [ 2.32738928e-03 -2.19709751e-05 9.99997291e-01 3.90993272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.46, Y:113.42, Z:0.39 [[ 9.54359793e-02 -9.95435541e-01 -2.40713344e-04 1.42464272e+02] [ 9.95432849e-01 9.54362810e-02 -2.31500242e-03 1.13415797e+02] [ 2.32740848e-03 -1.86794462e-05 9.99997291e-01 3.91285765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:113.44, Z:0.39 [[ 9.52548548e-02 -9.95452886e-01 -2.55480708e-04 1.42468877e+02] [ 9.95450198e-01 9.52551913e-02 -2.31355339e-03 1.13443329e+02] [ 2.32736927e-03 -3.39411284e-05 9.99997291e-01 3.90486079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:113.47, Z:0.39 [[ 9.38161280e-02 -9.95589508e-01 -2.56709201e-04 1.42472807e+02] [ 9.95586821e-01 9.38164713e-02 -2.31343349e-03 1.13472657e+02] [ 2.32731366e-03 -3.85389245e-05 9.99997291e-01 3.90936802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.48, Y:113.50, Z:0.39 [[ 9.35143553e-02 -9.95617898e-01 -2.58716273e-04 1.42479923e+02] [ 9.95615211e-01 9.35147041e-02 -2.31323843e-03 1.13501858e+02] [ 2.32729536e-03 -4.12608565e-05 9.99997291e-01 3.90701811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.49, Y:113.53, Z:0.39 [[ 9.45711724e-02 -9.95518068e-01 -2.64716334e-04 1.42487430e+02] [ 9.95515383e-01 9.45715323e-02 -2.31265745e-03 1.13533875e+02] [ 2.32732691e-03 -4.48184558e-05 9.99997291e-01 3.88656406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.49, Y:113.56, Z:0.39 [[ 9.02916554e-02 -9.95915326e-01 -2.83468465e-04 1.42487677e+02] [ 9.95912648e-01 9.02920703e-02 -2.31086265e-03 1.13558507e+02] [ 2.32701848e-03 -7.36582155e-05 9.99997290e-01 3.92793920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.49, Y:113.58, Z:0.39 [[ 8.88649147e-02 -9.96043654e-01 -2.58742371e-04 1.42491249e+02] [ 9.96040969e-01 8.88652761e-02 -2.31320869e-03 1.13584561e+02] [ 2.32705005e-03 -5.21549093e-05 9.99997291e-01 3.92790080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:142.49, Y:113.61, Z:0.40 [[ 8.43677185e-02 -9.96434656e-01 -2.54434854e-04 1.42490456e+02] [ 9.96431972e-01 8.43680820e-02 -2.31361630e-03 1.13606424e+02] [ 2.32683365e-03 -5.83324939e-05 9.99997291e-01 3.95946899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:142.50, Y:113.64, Z:0.39 [[ 8.72271113e-02 -9.96188428e-01 -2.17424581e-04 1.42501378e+02] [ 9.96185733e-01 8.72273811e-02 -2.31708917e-03 1.13642023e+02] [ 2.32722280e-03 -1.44822707e-05 9.99997292e-01 3.94280435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.50, Y:113.67, Z:0.40 [[ 8.50641156e-02 -9.96375444e-01 -2.64780930e-04 1.42503823e+02] [ 9.96372763e-01 8.50645012e-02 -2.31262388e-03 1.13668702e+02] [ 2.32676511e-03 -6.70992018e-05 9.99997291e-01 3.95320846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:113.70, Z:0.40 [[ 8.36571193e-02 -9.96494565e-01 -2.60756824e-04 1.42506270e+02] [ 9.96491883e-01 8.36574994e-02 -2.31300225e-03 1.13696069e+02] [ 2.32670844e-03 -6.63429536e-05 9.99997291e-01 3.95673744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:113.73, Z:0.40 [[ 8.22528472e-02 -9.96611460e-01 -2.59595846e-04 1.42508936e+02] [ 9.96608778e-01 8.22532283e-02 -2.31311079e-03 1.13725007e+02] [ 2.32662532e-03 -6.84555510e-05 9.99997291e-01 3.97043582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:113.75, Z:0.40 [[ 8.17718969e-02 -9.96651037e-01 -2.60856170e-04 1.42512356e+02] [ 9.96648355e-01 8.17722823e-02 -2.31299331e-03 1.13751229e+02] [ 2.32657798e-03 -7.08440226e-05 9.99997291e-01 3.96585581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:113.78, Z:0.40 [[ 8.04525209e-02 -9.96758410e-01 -2.53645208e-04 1.42514000e+02] [ 9.96755727e-01 8.04528931e-02 -2.31366257e-03 1.13778098e+02] [ 2.32656912e-03 -6.66823268e-05 9.99997291e-01 3.97044749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:113.81, Z:0.40 [[ 8.03574947e-02 -9.96766077e-01 -2.47903179e-04 1.42517471e+02] [ 9.96763392e-01 8.03578539e-02 -2.31419329e-03 1.13805975e+02] [ 2.32663033e-03 -6.11380386e-05 9.99997292e-01 3.96549351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.52, Y:113.83, Z:0.40 [[ 7.91045156e-02 -9.96866296e-01 -2.52806286e-04 1.42521105e+02] [ 9.96863613e-01 7.91048894e-02 -2.31374132e-03 1.13833705e+02] [ 2.32648895e-03 -6.89860014e-05 9.99997291e-01 3.95846909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:113.85, Z:0.40 [[ 7.61746484e-02 -9.97094458e-01 -2.55045309e-04 1.42518305e+02] [ 9.97091777e-01 7.61750353e-02 -2.31353390e-03 1.13854608e+02] [ 2.32623991e-03 -7.80709490e-05 9.99997291e-01 3.96767225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.53, Y:113.89, Z:0.40 [[ 7.99936270e-02 -9.96795353e-01 -2.10299551e-04 1.42527761e+02] [ 9.96792659e-01 7.99938998e-02 -2.31763691e-03 1.13887793e+02] [ 2.32703238e-03 -2.42288660e-05 9.99997292e-01 3.95104561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.53, Y:113.91, Z:0.39 [[ 8.12955239e-02 -9.96690007e-01 -2.59775909e-04 1.42529929e+02] [ 9.96687325e-01 8.12959080e-02 -2.31313214e-03 1.13909240e+02] [ 2.32659441e-03 -7.08680670e-05 9.99997291e-01 3.93128936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.53, Y:113.94, Z:0.39 [[ 7.80586467e-02 -9.96948742e-01 -2.30938500e-04 1.42533026e+02] [ 9.96946054e-01 7.80589726e-02 -2.31573904e-03 1.13941793e+02] [ 2.32669995e-03 -4.94697703e-05 9.99997292e-01 3.94954970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:113.97, Z:0.40 [[ 7.60336805e-02 -9.97105220e-01 -2.45587595e-04 1.42535391e+02] [ 9.97102536e-01 7.60340459e-02 -2.31445232e-03 1.13973851e+02] [ 2.32642551e-03 -6.88996858e-05 9.99997292e-01 3.97746845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:142.54, Y:114.00, Z:0.40 [[ 7.54452377e-02 -9.97149913e-01 -2.57354611e-04 1.42537870e+02] [ 9.97147233e-01 7.54456320e-02 -2.31342286e-03 1.14002276e+02] [ 2.32624569e-03 -8.20837009e-05 9.99997291e-01 3.97952378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:114.03, Z:0.40 [[ 7.71924958e-02 -9.97016175e-01 -2.55958777e-04 1.42540914e+02] [ 9.97013494e-01 7.71928822e-02 -2.31354439e-03 1.14026208e+02] [ 2.32639937e-03 -7.66060886e-05 9.99997291e-01 3.97512962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:114.05, Z:0.40 [[ 7.72167560e-02 -9.97014299e-01 -2.45753216e-04 1.42541495e+02] [ 9.97011615e-01 7.72171186e-02 -2.31444199e-03 1.14050640e+02] [ 2.32650812e-03 -6.63051079e-05 9.99997291e-01 3.96162640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.54, Y:114.08, Z:0.40 [[ 7.57961574e-02 -9.97123309e-01 -2.20498277e-04 1.42544377e+02] [ 9.97120619e-01 7.57964652e-02 -2.31661812e-03 1.14084337e+02] [ 2.32666691e-03 -4.42726266e-05 9.99997292e-01 3.99588183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.55, Y:114.11, Z:0.40 [[ 7.63250544e-02 -9.97082958e-01 -2.48068334e-04 1.42547222e+02] [ 9.97080275e-01 7.63254248e-02 -2.31424057e-03 1.14113609e+02] [ 2.32642375e-03 -7.07095052e-05 9.99997291e-01 3.97695410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:114.14, Z:0.40 [[ 7.60357130e-02 -9.97105063e-01 -2.51620888e-04 1.42547895e+02] [ 9.97102381e-01 7.60360924e-02 -2.31393555e-03 1.14137359e+02] [ 2.32636912e-03 -7.49500473e-05 9.99997291e-01 4.00639527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:114.17, Z:0.40 [[ 7.63274976e-02 -9.97082775e-01 -2.31768517e-04 1.42549720e+02] [ 9.97080087e-01 7.63278301e-02 -2.31561787e-03 1.14166609e+02] [ 2.32655308e-03 -5.43464558e-05 9.99997292e-01 4.00222411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:114.19, Z:0.40 [[ 7.70956759e-02 -9.97023671e-01 -2.35369918e-04 1.42552003e+02] [ 9.97020985e-01 7.70960147e-02 -2.31531396e-03 1.14193399e+02] [ 2.32656890e-03 -5.61680525e-05 9.99997292e-01 4.00221884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:114.22, Z:0.40 [[ 7.79548564e-02 -9.96956862e-01 -2.36048935e-04 1.42552968e+02] [ 9.96954175e-01 7.79551945e-02 -2.31525685e-03 1.14221558e+02] [ 2.32661245e-03 -5.48444561e-05 9.99997292e-01 4.00179305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12361786499997 meters Centerline goodness : 0.997158 Centerline is valid? [True, True] Translation: X:142.55, Y:114.24, Z:0.40 [[ 7.80822672e-02 -9.96946893e-01 -2.28965519e-04 1.42552592e+02] [ 9.96944204e-01 7.80825885e-02 -2.31586988e-03 1.14243195e+02] [ 2.32667750e-03 -4.74374759e-05 9.99997292e-01 3.96929724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.15361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.55, Y:114.27, Z:0.40 [[ 7.86076222e-02 -9.96905614e-01 -1.98843222e-04 1.42554328e+02] [ 9.96902918e-01 7.86078721e-02 -2.31845334e-03 1.14269392e+02] [ 2.32690979e-03 -1.59792846e-05 9.99997293e-01 4.00288734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.56, Y:114.31, Z:0.40 [[ 7.91486814e-02 -9.96862803e-01 -1.97882673e-04 1.42562892e+02] [ 9.96860106e-01 7.91489276e-02 -2.31853532e-03 1.14306862e+02] [ 2.32692382e-03 -1.37523296e-05 9.99997293e-01 3.99738296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:114.33, Z:0.40 [[ 7.96532678e-02 -9.96822597e-01 -2.57220070e-04 1.42565623e+02] [ 9.96819915e-01 7.96536504e-02 -2.31355063e-03 1.14331933e+02] [ 2.32668806e-03 -7.21202208e-05 9.99997291e-01 3.99198688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24361786499998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.57, Y:114.36, Z:0.40 [[ 7.87737659e-02 -9.96892492e-01 -2.28714084e-04 1.42567044e+02] [ 9.96889803e-01 7.87740847e-02 -2.31592118e-03 1.14357350e+02] [ 2.32674118e-03 -4.55689054e-05 9.99997292e-01 3.98217590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.57, Y:114.39, Z:0.40 [[ 7.76986367e-02 -9.96976867e-01 -2.19171456e-04 1.42571182e+02] [ 9.96974176e-01 7.76989363e-02 -2.31671107e-03 1.14387614e+02] [ 2.32673673e-03 -3.85029908e-05 9.99997292e-01 3.97286316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.57, Y:114.42, Z:0.40 [[ 7.60811511e-02 -9.97101603e-01 -2.29438771e-04 1.42573762e+02] [ 9.97098915e-01 7.60814789e-02 -2.31586309e-03 1.14416396e+02] [ 2.32660684e-03 -5.25796196e-05 9.99997292e-01 3.96544069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:114.45, Z:0.40 [[ 7.52395531e-02 -9.97165461e-01 -2.30546277e-04 1.42576431e+02] [ 9.97162773e-01 7.52398857e-02 -2.31577376e-03 1.14446223e+02] [ 2.32655589e-03 -5.56543826e-05 9.99997292e-01 3.97811588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:114.47, Z:0.40 [[ 7.46606189e-02 -9.97208975e-01 -2.27937460e-04 1.42578483e+02] [ 9.97206287e-01 7.46609471e-02 -2.31598286e-03 1.14473843e+02] [ 2.32653692e-03 -5.43879545e-05 9.99997292e-01 3.97875062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39361786499995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:142.58, Y:114.50, Z:0.40 [[ 7.15924142e-02 -9.97433945e-01 -2.27377192e-04 1.42579190e+02] [ 9.97431258e-01 7.15927493e-02 -2.31602754e-03 1.14501891e+02] [ 2.32636304e-03 -6.09831157e-05 9.99997292e-01 3.98701871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:114.53, Z:0.40 [[ 7.18863573e-02 -9.97412799e-01 -2.44929537e-04 1.42580906e+02] [ 9.97410116e-01 7.18867323e-02 -2.31460485e-03 1.14525355e+02] [ 2.32622368e-03 -7.79066865e-05 9.99997291e-01 3.96932226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.58, Y:114.56, Z:0.40 [[ 6.94159659e-02 -9.97587780e-01 -2.10112236e-04 1.42584607e+02] [ 9.97585090e-01 6.94162668e-02 -2.31736251e-03 1.14556868e+02] [ 2.32635773e-03 -4.87428771e-05 9.99997293e-01 3.98020430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48361786499996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:142.59, Y:114.58, Z:0.39 [[ 6.86731604e-02 -9.97639186e-01 -2.25693329e-04 1.42587466e+02] [ 9.97636500e-01 6.86734994e-02 -2.31613113e-03 1.14584565e+02] [ 2.32616232e-03 -6.61038583e-05 9.99997292e-01 3.94740413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51361786499996 meters Centerline goodness : 0.994946 Centerline is valid? [True, True] Translation: X:142.59, Y:114.60, Z:0.40 [[ 6.74830519e-02 -9.97720392e-01 -2.39046735e-04 1.42587525e+02] [ 9.97717710e-01 6.74834251e-02 -2.31499488e-03 1.14604433e+02] [ 2.32584929e-03 -8.22782412e-05 9.99997292e-01 3.98960738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.59, Y:114.64, Z:0.40 [[ 6.83764628e-02 -9.97659571e-01 -1.98844470e-04 1.42592897e+02] [ 9.97656878e-01 6.83767403e-02 -2.31837327e-03 1.14636962e+02] [ 2.32654362e-03 -3.98563899e-05 9.99997293e-01 3.97837060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.59, Y:114.67, Z:0.40 [[ 6.51253049e-02 -9.97877069e-01 -2.21696417e-04 1.42594347e+02] [ 9.97874383e-01 6.51256442e-02 -2.31655647e-03 1.14666564e+02] [ 2.32607670e-03 -7.03587291e-05 9.99997292e-01 4.00065216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.59, Y:114.69, Z:0.40 [[ 6.38125776e-02 -9.97961875e-01 -2.26068755e-04 1.42589874e+02] [ 9.97959190e-01 6.38129306e-02 -2.31620703e-03 1.14687141e+02] [ 2.32591243e-03 -7.78042507e-05 9.99997292e-01 4.02108405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.60, Y:114.72, Z:0.40 [[ 6.39950527e-02 -9.97950199e-01 -1.83131234e-04 1.42596358e+02] [ 9.97947504e-01 6.39953056e-02 -2.31959694e-03 1.14720204e+02] [ 2.32656176e-03 -3.43126293e-05 9.99997293e-01 4.02098615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.60, Y:114.75, Z:0.40 [[ 6.28674191e-02 -9.98021864e-01 -2.17470719e-04 1.42597721e+02] [ 9.98019177e-01 6.28677547e-02 -2.31690534e-03 1.14748140e+02] [ 2.32599408e-03 -7.13820895e-05 9.99997292e-01 4.02152016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.59, Y:114.77, Z:0.40 [[ 5.89624660e-02 -9.98260177e-01 -2.15960487e-04 1.42593227e+02] [ 9.98257491e-01 5.89628086e-02 -2.31702305e-03 1.14770601e+02] [ 2.32572548e-03 -7.89667804e-05 9.99997292e-01 4.02655169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:142.60, Y:114.80, Z:0.40 [[ 6.28157548e-02 -9.98025124e-01 -1.79027349e-04 1.42600482e+02] [ 9.98022429e-01 6.28160012e-02 -2.31987323e-03 1.14803881e+02] [ 2.32653755e-03 -3.29487214e-05 9.99997293e-01 4.01803347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.60, Y:114.83, Z:0.40 [[ 5.92829393e-02 -9.98241197e-01 -2.15127957e-04 1.42596359e+02] [ 9.98238511e-01 5.92832791e-02 -2.31707733e-03 1.14825326e+02] [ 2.32575553e-03 -7.73858573e-05 9.99997292e-01 4.03020663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78361786499997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:142.60, Y:114.86, Z:0.40 [[ 6.10593519e-02 -9.98134121e-01 -1.77835739e-04 1.42601108e+02] [ 9.98131426e-01 6.10596004e-02 -2.31993598e-03 1.14858336e+02] [ 2.32646584e-03 -3.58496528e-05 9.99997293e-01 4.00468325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.60, Y:114.88, Z:0.40 [[ 5.83320849e-02 -9.98297214e-01 -2.03376037e-04 1.42599723e+02] [ 9.98294525e-01 5.83324000e-02 -2.31795567e-03 1.14883274e+02] [ 2.32587210e-03 -6.78179969e-05 9.99997293e-01 4.01956944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.60, Y:114.91, Z:0.40 [[ 6.13016891e-02 -9.98119265e-01 -1.88114803e-04 1.42603880e+02] [ 9.98116572e-01 6.13019608e-02 -2.31913140e-03 1.14912700e+02] [ 2.32630154e-03 -4.55938299e-05 9.99997293e-01 3.97924526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.60, Y:114.94, Z:0.40 [[ 5.86337297e-02 -9.98279543e-01 -2.01965430e-04 1.42601626e+02] [ 9.98276853e-01 5.86340407e-02 -2.31806397e-03 1.14936754e+02] [ 2.32591789e-03 -6.57006780e-05 9.99997293e-01 4.00355748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90361786499997 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:142.60, Y:114.96, Z:0.40 [[ 5.70001889e-02 -9.98374152e-01 -1.77079330e-04 1.42602955e+02] [ 9.98371457e-01 5.70004465e-02 -2.31996349e-03 1.14963875e+02] [ 2.32628519e-03 -4.45525916e-05 9.99997293e-01 4.01050187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.61, Y:114.99, Z:0.40 [[ 5.84535174e-02 -9.98290115e-01 -1.77991497e-04 1.42607766e+02] [ 9.98287421e-01 5.84537733e-02 -2.31989401e-03 1.14994195e+02] [ 2.32633154e-03 -4.20807073e-05 9.99997293e-01 3.99526006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.61, Y:115.03, Z:0.40 [[ 5.67189887e-02 -9.98390164e-01 -1.92042866e-04 1.42609286e+02] [ 9.98387473e-01 5.67192819e-02 -2.31885443e-03 1.15025626e+02] [ 2.32601399e-03 -6.02101137e-05 9.99997293e-01 4.03008031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:115.05, Z:0.40 [[ 5.62244221e-02 -9.98418135e-01 -2.07052264e-04 1.42610274e+02] [ 9.98415447e-01 5.62247514e-02 -2.31774601e-03 1.15053341e+02] [ 2.32572111e-03 -7.64102485e-05 9.99997293e-01 4.03160962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:115.08, Z:0.40 [[ 5.20496794e-02 -9.98644475e-01 -2.08058990e-04 1.42605161e+02] [ 9.98641789e-01 5.20500222e-02 -2.31767185e-03 1.15075112e+02] [ 2.32535966e-03 -8.71423253e-05 9.99997293e-01 4.02242637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.60, Y:115.10, Z:0.40 [[ 5.21223203e-02 -9.98640694e-01 -1.69095025e-04 1.42604989e+02] [ 9.98637999e-01 5.21225726e-02 -2.32051114e-03 1.15103393e+02] [ 2.32617053e-03 -4.79142921e-05 9.99997293e-01 4.01420396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.61, Y:115.13, Z:0.40 [[ 5.23674437e-02 -9.98627870e-01 -1.68475526e-04 1.42606131e+02] [ 9.98625175e-01 5.23676939e-02 -2.32055612e-03 1.15130939e+02] [ 2.32619469e-03 -4.67223100e-05 9.99997293e-01 4.01139071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:115.17, Z:0.40 [[ 5.86639162e-02 -9.98277775e-01 -1.67822131e-04 1.42615561e+02] [ 9.98275079e-01 5.86641478e-02 -2.32060337e-03 1.15167078e+02] [ 2.32645191e-03 -3.13969693e-05 9.99997293e-01 4.02664324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14361786499995 meters Centerline goodness : 0.995373 Centerline is valid? [True, True] Translation: X:142.61, Y:115.19, Z:0.40 [[ 5.73549733e-02 -9.98353824e-01 -2.22012843e-04 1.42612382e+02] [ 9.98351141e-01 5.73553343e-02 -2.31640812e-03 1.15185975e+02] [ 2.32532853e-03 -8.87892492e-05 9.99997292e-01 4.01024550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:115.22, Z:0.40 [[ 5.81713191e-02 -9.98306600e-01 -1.76184989e-04 1.42614930e+02] [ 9.98303905e-01 5.81715715e-02 -2.31990531e-03 1.15220253e+02] [ 2.32622574e-03 -4.09342100e-05 9.99997294e-01 4.01026689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.61, Y:115.25, Z:0.40 [[ 5.93927265e-02 -9.98234670e-01 -2.19626770e-04 1.42614769e+02] [ 9.98231984e-01 5.93930765e-02 -2.31682648e-03 1.15248532e+02] [ 2.32578083e-03 -8.16358248e-05 9.99997292e-01 4.03681068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:115.28, Z:0.41 [[ 6.03431732e-02 -9.98177667e-01 -2.16437414e-04 1.42615405e+02] [ 9.98174981e-01 6.03435132e-02 -2.31705017e-03 1.15277199e+02] [ 2.32588833e-03 -7.62242513e-05 9.99997292e-01 4.06128200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:115.31, Z:0.40 [[ 5.94288278e-02 -9.98232523e-01 -2.12309008e-04 1.42615602e+02] [ 9.98229836e-01 5.94291607e-02 -2.31733505e-03 1.15305133e+02] [ 2.32585656e-03 -7.42166803e-05 9.99997292e-01 4.04414877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.62, Y:115.33, Z:0.40 [[ 5.98736731e-02 -9.98205940e-01 -2.09855028e-04 1.42615739e+02] [ 9.98203253e-01 5.98739991e-02 -2.31750340e-03 1.15331098e+02] [ 2.32591052e-03 -7.07205307e-05 9.99997293e-01 4.03984037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:115.36, Z:0.40 [[ 6.17786148e-02 -9.98089857e-01 -2.02491316e-04 1.42616248e+02] [ 9.98087167e-01 6.17789186e-02 -2.31800554e-03 1.15361716e+02] [ 2.32608751e-03 -5.89008123e-05 9.99997293e-01 4.03345653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.61, Y:115.39, Z:0.40 [[ 6.09551421e-02 -9.98140485e-01 -2.07436756e-04 1.42614724e+02] [ 9.98137796e-01 6.09554596e-02 -2.31766930e-03 1.15386833e+02] [ 2.32600397e-03 -6.57766050e-05 9.99997293e-01 4.03222009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.61, Y:115.41, Z:0.40 [[ 5.87338007e-02 -9.98273661e-01 -1.93618008e-04 1.42609821e+02] [ 9.98270970e-01 5.87340921e-02 -2.31860618e-03 1.15408424e+02] [ 2.32597546e-03 -5.71026835e-05 9.99997293e-01 4.02651305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:115.44, Z:0.40 [[ 6.10001379e-02 -9.98137746e-01 -1.55577081e-04 1.42609569e+02] [ 9.98135047e-01 6.10003348e-02 -2.32115590e-03 1.15436349e+02] [ 2.32632357e-03 -1.36961066e-05 9.99997294e-01 4.02841631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:115.47, Z:0.40 [[ 6.49139728e-02 -9.97890852e-01 -1.54953729e-04 1.42615526e+02] [ 9.97888152e-01 6.49141576e-02 -2.32119751e-03 1.15470006e+02] [ 2.32636045e-03 -3.94833815e-06 9.99997294e-01 4.03177549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.61, Y:115.50, Z:0.40 [[ 6.47588703e-02 -9.97900924e-01 -1.86334030e-04 1.42614525e+02] [ 9.97898230e-01 6.47591285e-02 -2.31912367e-03 1.15497674e+02] [ 2.32632248e-03 -3.57585695e-05 9.99997293e-01 4.04716121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:115.53, Z:0.41 [[ 6.47572866e-02 -9.97901029e-01 -1.76184548e-04 1.42615180e+02] [ 9.97898333e-01 6.47575212e-02 -2.31978902e-03 1.15525881e+02] [ 2.32632912e-03 -2.55910239e-05 9.99997294e-01 4.05313775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:115.55, Z:0.41 [[ 6.58337232e-02 -9.97830592e-01 -1.74021486e-04 1.42615652e+02] [ 9.97827895e-01 6.58339499e-02 -2.31993022e-03 1.15551241e+02] [ 2.32635386e-03 -2.09138499e-05 9.99997294e-01 4.05790794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.62, Y:115.58, Z:0.41 [[ 6.37552926e-02 -9.97965549e-01 -1.57731886e-04 1.42615505e+02] [ 9.97962850e-01 6.37554870e-02 -2.32098458e-03 1.15581881e+02] [ 2.32631893e-03 -9.43551138e-06 9.99997294e-01 4.07085134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.59361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.61, Y:115.60, Z:0.40 [[ 5.83261617e-02 -9.98297566e-01 -1.69507394e-04 1.42609917e+02] [ 9.98294870e-01 5.83263982e-02 -2.32022532e-03 1.15601115e+02] [ 2.32616204e-03 -3.38885246e-05 9.99997294e-01 4.04661683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:115.63, Z:0.40 [[ 5.55922485e-02 -9.98453548e-01 -1.18493785e-04 1.42610576e+02] [ 9.98450845e-01 5.55923737e-02 -2.32348720e-03 1.15630672e+02] [ 2.32648139e-03 1.08576578e-05 9.99997294e-01 4.02601534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.65361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.62, Y:115.66, Z:0.41 [[ 5.63517847e-02 -9.98410968e-01 -1.26086359e-04 1.42615277e+02] [ 9.98408265e-01 5.63519255e-02 -2.32300133e-03 1.15661444e+02] [ 2.32641522e-03 5.01960816e-06 9.99997294e-01 4.06282283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.62, Y:115.69, Z:0.41 [[ 5.33191280e-02 -9.98577512e-01 -1.48931992e-04 1.42617496e+02] [ 9.98574814e-01 5.33193301e-02 -2.32153573e-03 1.15691665e+02] [ 2.32617433e-03 -2.49374753e-05 9.99997294e-01 4.07435620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:115.72, Z:0.41 [[ 4.94181126e-02 -9.98778166e-01 -1.60599736e-04 1.42616088e+02] [ 9.98775470e-01 4.94183524e-02 -2.32078969e-03 1.15716647e+02] [ 2.32589065e-03 -4.57140306e-05 9.99997294e-01 4.06003038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74361786499998 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:142.62, Y:115.74, Z:0.41 [[ 4.62196188e-02 -9.98931291e-01 -1.47465703e-04 1.42617086e+02] [ 9.98928594e-01 4.62198368e-02 -2.32162395e-03 1.15744188e+02] [ 2.32595865e-03 -4.00031340e-05 9.99997294e-01 4.05654172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:115.77, Z:0.41 [[ 4.39691936e-02 -9.99032875e-01 -1.59353913e-04 1.42617574e+02] [ 9.99030180e-01 4.39694452e-02 -2.32087470e-03 1.15770032e+02] [ 2.32563682e-03 -5.71523794e-05 9.99997294e-01 4.08216158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:115.80, Z:0.41 [[ 3.94500070e-02 -9.99221535e-01 -1.47082762e-04 1.42617554e+02] [ 9.99218839e-01 3.94502423e-02 -2.32163852e-03 1.15796662e+02] [ 2.32563365e-03 -5.53792106e-05 9.99997294e-01 4.06535084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.62, Y:115.82, Z:0.41 [[ 3.61247591e-02 -9.99347278e-01 -1.44062760e-04 1.42617195e+02] [ 9.99344582e-01 3.61249964e-02 -2.32182590e-03 1.15824994e+02] [ 2.32551466e-03 -6.00929371e-05 9.99997294e-01 4.06837679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:115.85, Z:0.41 [[ 3.54394249e-02 -9.99371816e-01 -1.43396020e-04 1.42619488e+02] [ 9.99369121e-01 3.54396625e-02 -2.32186708e-03 1.15853284e+02] [ 2.32549043e-03 -6.10199206e-05 9.99997294e-01 4.07077504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:115.88, Z:0.41 [[ 3.39991547e-02 -9.99421851e-01 -1.43895312e-04 1.42620743e+02] [ 9.99419156e-01 3.39993973e-02 -2.32183630e-03 1.15883668e+02] [ 2.32538629e-03 -6.48712601e-05 9.99997294e-01 4.07581902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:115.91, Z:0.41 [[ 3.24484840e-02 -9.99473398e-01 -1.52307811e-04 1.42621321e+02] [ 9.99470705e-01 3.24487503e-02 -2.32131961e-03 1.15913105e+02] [ 2.32503940e-03 -7.69038928e-05 9.99997294e-01 4.06459586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:115.94, Z:0.40 [[ 3.00566314e-02 -9.99548186e-01 -1.52165745e-04 1.42619255e+02] [ 9.99545494e-01 3.00569039e-02 -2.32132829e-03 1.15939272e+02] [ 2.32485311e-03 -8.23252755e-05 9.99997294e-01 4.04337895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:115.97, Z:0.41 [[ 3.18466019e-02 -9.99492758e-01 -1.41180688e-04 1.42622184e+02] [ 9.99490063e-01 3.18468440e-02 -2.32199620e-03 1.15970310e+02] [ 2.32531455e-03 -6.71610064e-05 9.99997294e-01 4.06284707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01361786499996 meters Centerline goodness : 0.993442 Centerline is valid? [True, True] Translation: X:142.62, Y:116.00, Z:0.41 [[ 3.05730354e-02 -9.99532523e-01 -1.56167661e-04 1.42621839e+02] [ 9.99529832e-01 3.05733158e-02 -2.32106535e-03 1.15995431e+02] [ 2.32475487e-03 -8.51322226e-05 9.99997294e-01 4.05595982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:116.02, Z:0.40 [[ 3.11474003e-02 -9.99514791e-01 -1.50943824e-04 1.42620869e+02] [ 9.99512098e-01 3.11476670e-02 -2.32138783e-03 1.16021333e+02] [ 2.32496302e-03 -7.85649822e-05 9.99997294e-01 4.03790449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:116.06, Z:0.41 [[ 3.70196763e-02 -9.99314527e-01 -1.41888095e-04 1.42628402e+02] [ 9.99311831e-01 3.70199061e-02 -2.32194120e-03 1.16055665e+02] [ 2.32560226e-03 -5.58329405e-05 9.99997294e-01 4.08341466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:116.08, Z:0.40 [[ 3.26718156e-02 -9.99466117e-01 -1.85413998e-04 1.42621261e+02] [ 9.99463432e-01 3.26721581e-02 -2.31925389e-03 1.16076652e+02] [ 2.32407355e-03 -1.09540276e-04 9.99997293e-01 4.03816328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:116.11, Z:0.41 [[ 3.96638961e-02 -9.99213068e-01 -1.44071684e-04 1.42629363e+02] [ 9.99210372e-01 3.96641238e-02 -2.32176981e-03 1.16111349e+02] [ 2.32565722e-03 -5.18674843e-05 9.99997294e-01 4.08359388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:116.13, Z:0.40 [[ 3.39819826e-02 -9.99422428e-01 -1.89348446e-04 1.42622214e+02] [ 9.99419743e-01 3.39823306e-02 -2.31901680e-03 1.16130698e+02] [ 2.32411190e-03 -1.10433787e-04 9.99997293e-01 4.02786013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:116.16, Z:0.40 [[ 3.55786028e-02 -9.99366871e-01 -1.39211202e-04 1.42621051e+02] [ 9.99364175e-01 3.55788303e-02 -2.32201765e-03 1.16158417e+02] [ 2.32550048e-03 -5.65085449e-05 9.99997294e-01 4.03774551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:116.19, Z:0.40 [[ 3.60240436e-02 -9.99350914e-01 -1.38368728e-04 1.42621047e+02] [ 9.99348218e-01 3.60242680e-02 -2.32206785e-03 1.16185091e+02] [ 2.32554526e-03 -5.46282681e-05 9.99997294e-01 4.04010351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:116.21, Z:0.40 [[ 3.57569771e-02 -9.99360505e-01 -1.37707700e-04 1.42622666e+02] [ 9.99357809e-01 3.57572006e-02 -2.32210705e-03 1.16213608e+02] [ 2.32554611e-03 -5.45877366e-05 9.99997294e-01 4.04076596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:116.24, Z:0.41 [[ 3.92126049e-02 -9.99230881e-01 -1.37087131e-04 1.42625821e+02] [ 9.99228183e-01 3.92128176e-02 -2.32214368e-03 1.16243602e+02] [ 2.32573325e-03 -4.59240225e-05 9.99997294e-01 4.07129056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:116.27, Z:0.41 [[ 3.95001029e-02 -9.99219556e-01 -1.44694684e-04 1.42627534e+02] [ 9.99216860e-01 3.95003326e-02 -2.32169578e-03 1.16274187e+02] [ 2.32559931e-03 -5.28741462e-05 9.99997294e-01 4.07081506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:116.30, Z:0.40 [[ 3.64852038e-02 -9.99334181e-01 -1.57492843e-04 1.42623420e+02] [ 9.99331488e-01 3.64854713e-02 -2.32094272e-03 1.16298178e+02] [ 2.32514359e-03 -7.27074888e-05 9.99997294e-01 4.03739364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:116.33, Z:0.41 [[ 3.98143359e-02 -9.99207086e-01 -1.35476226e-04 1.42628217e+02] [ 9.99204388e-01 3.98145432e-02 -2.32222715e-03 1.16330379e+02] [ 2.32577974e-03 -4.29105084e-05 9.99997294e-01 4.07227071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:116.35, Z:0.40 [[ 3.60938717e-02 -9.99348391e-01 -1.61527623e-04 1.42624944e+02] [ 9.99345699e-01 3.60941496e-02 -2.32070650e-03 1.16353027e+02] [ 2.32502451e-03 -7.76586523e-05 9.99997294e-01 4.03287965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:116.38, Z:0.40 [[ 3.52581438e-02 -9.99378230e-01 -1.28586927e-04 1.42624993e+02] [ 9.99375532e-01 3.52583475e-02 -2.32260011e-03 1.16380981e+02] [ 2.32568975e-03 -4.66160596e-05 9.99997295e-01 4.03215577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:116.41, Z:0.41 [[ 3.65681083e-02 -9.99331155e-01 -1.30134742e-04 1.42628670e+02] [ 9.99328457e-01 3.65683120e-02 -2.32251128e-03 1.16414747e+02] [ 2.32571668e-03 -4.51175077e-05 9.99997295e-01 4.05212853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49361786499998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:116.44, Z:0.41 [[ 3.76649514e-02 -9.99290411e-01 -1.61080726e-04 1.42629670e+02] [ 9.99287719e-01 3.76652240e-02 -2.32076996e-03 1.16444354e+02] [ 2.32519031e-03 -7.35543035e-05 9.99997294e-01 4.06491235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:116.47, Z:0.41 [[ 3.71554744e-02 -9.99309484e-01 -1.61753983e-04 1.42630357e+02] [ 9.99306792e-01 3.71557500e-02 -2.32073253e-03 1.16472954e+02] [ 2.32514011e-03 -7.54139360e-05 9.99997294e-01 4.06798033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:116.50, Z:0.41 [[ 3.71093075e-02 -9.99311200e-01 -1.60849850e-04 1.42630542e+02] [ 9.99308507e-01 3.71095811e-02 -2.32078250e-03 1.16499659e+02] [ 2.32515301e-03 -7.46159926e-05 9.99997294e-01 4.05967772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:116.53, Z:0.40 [[ 3.59736354e-02 -9.99352727e-01 -1.58583977e-04 1.42627707e+02] [ 9.99350034e-01 3.59739068e-02 -2.32090752e-03 1.16525992e+02] [ 2.32511014e-03 -7.49894223e-05 9.99997294e-01 4.04355035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:116.56, Z:0.40 [[ 3.61003355e-02 -9.99348160e-01 -1.44454553e-04 1.42628397e+02] [ 9.99345465e-01 3.61005737e-02 -2.32167962e-03 1.16555010e+02] [ 2.32538115e-03 -6.05465894e-05 9.99997294e-01 4.03880102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:116.58, Z:0.40 [[ 3.63079389e-02 -9.99340639e-01 -1.45055825e-04 1.42628966e+02] [ 9.99337944e-01 3.63081780e-02 -2.32164688e-03 1.16583759e+02] [ 2.32538279e-03 -6.06655769e-05 9.99997294e-01 4.03760507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:116.61, Z:0.40 [[ 3.32515490e-02 -9.99447004e-01 -1.46558896e-04 1.42625952e+02] [ 9.99444310e-01 3.32517998e-02 -2.32156536e-03 1.16608137e+02] [ 2.32515489e-03 -6.92818106e-05 9.99997294e-01 4.04158643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:116.64, Z:0.40 [[ 3.35915262e-02 -9.99435638e-01 -1.24802275e-04 1.42625438e+02] [ 9.99432940e-01 3.35917256e-02 -2.32273436e-03 1.16635686e+02] [ 2.32561582e-03 -4.67073130e-05 9.99997295e-01 4.04273032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:116.66, Z:0.40 [[ 3.34062676e-02 -9.99441847e-01 -1.24120312e-04 1.42626035e+02] [ 9.99439149e-01 3.34064658e-02 -2.32277080e-03 1.16664079e+02] [ 2.32562076e-03 -4.64555967e-05 9.99997295e-01 4.04445998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:116.69, Z:0.40 [[ 3.38865755e-02 -9.99425677e-01 -1.23491693e-04 1.42625956e+02] [ 9.99422979e-01 3.38867710e-02 -2.32280422e-03 1.16691326e+02] [ 2.32565491e-03 -4.47085552e-05 9.99997295e-01 4.04833901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:116.72, Z:0.41 [[ 3.42884540e-02 -9.99411971e-01 -1.23033219e-04 1.42627117e+02] [ 9.99409272e-01 3.42886474e-02 -2.32282850e-03 1.16719643e+02] [ 2.32568125e-03 -4.33143416e-05 9.99997295e-01 4.05217775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:116.75, Z:0.41 [[ 3.44523493e-02 -9.99406334e-01 -1.22408326e-04 1.42627886e+02] [ 9.99403636e-01 3.44525408e-02 -2.32286143e-03 1.16747567e+02] [ 2.32569971e-03 -4.23072924e-05 9.99997295e-01 4.05402885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:116.78, Z:0.41 [[ 3.55506612e-02 -9.99367868e-01 -1.21765095e-04 1.42628919e+02] [ 9.99365169e-01 3.55508482e-02 -2.32289515e-03 1.16775916e+02] [ 2.32575563e-03 -3.91073359e-05 9.99997295e-01 4.06232744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88361786499996 meters Centerline goodness : 0.995627 Centerline is valid? [True, True] Translation: X:142.63, Y:116.80, Z:0.41 [[ 3.86128785e-02 -9.99254237e-01 -1.21119992e-04 1.42630957e+02] [ 9.99251538e-01 3.86130558e-02 -2.32292879e-03 1.16798602e+02] [ 2.32587325e-03 -3.13343712e-05 9.99997295e-01 4.06195556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:116.83, Z:0.40 [[ 3.79491396e-02 -9.99279667e-01 -9.72147766e-05 1.42632342e+02] [ 9.99276964e-01 3.79492631e-02 -2.32416240e-03 1.16830384e+02] [ 2.32617745e-03 -8.94452365e-06 9.99997294e-01 4.04790523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:116.85, Z:0.41 [[ 3.69693880e-02 -9.99316389e-01 -1.34712903e-04 1.42632206e+02] [ 9.99313692e-01 3.69696013e-02 -2.32228212e-03 1.16854395e+02] [ 2.32567486e-03 -4.87670996e-05 9.99997294e-01 4.07084417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:116.88, Z:0.41 [[ 3.89030152e-02 -9.99242985e-01 -1.15155757e-04 1.42635011e+02] [ 9.99240284e-01 3.89031778e-02 -2.32325150e-03 1.16882023e+02] [ 2.32597269e-03 -2.46867824e-05 9.99997295e-01 4.07443482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:116.91, Z:0.41 [[ 4.00703529e-02 -9.99196854e-01 -1.14520288e-04 1.42637205e+02] [ 9.99194154e-01 4.00705109e-02 -2.32328282e-03 1.16910323e+02] [ 2.32600578e-03 -2.13332394e-05 9.99997295e-01 4.07914893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:116.94, Z:0.41 [[ 4.11220347e-02 -9.99154125e-01 -1.13885336e-04 1.42639547e+02] [ 9.99151424e-01 4.11221883e-02 -2.32331395e-03 1.16937323e+02] [ 2.32603193e-03 -1.82492988e-05 9.99997295e-01 4.08173391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:116.97, Z:0.41 [[ 4.20758745e-02 -9.99114412e-01 -1.13215921e-04 1.42642147e+02] [ 9.99111711e-01 4.20760240e-02 -2.32334657e-03 1.16965390e+02] [ 2.32605272e-03 -1.53585143e-05 9.99997295e-01 4.08487404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:116.99, Z:0.41 [[ 4.38666982e-02 -9.99037387e-01 -1.12574718e-04 1.42646613e+02] [ 9.99034685e-01 4.38668414e-02 -2.32337764e-03 1.16991796e+02] [ 2.32607942e-03 -1.05471422e-05 9.99997295e-01 4.09304040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:117.02, Z:0.41 [[ 4.46908831e-02 -9.99000857e-01 -1.12106808e-04 1.42649670e+02] [ 9.98998155e-01 4.46910229e-02 -2.32340021e-03 1.17018901e+02] [ 2.32608897e-03 -8.15968660e-06 9.99997295e-01 4.09820253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:117.05, Z:0.41 [[ 4.49324966e-02 -9.98990019e-01 -1.11653906e-04 1.42652404e+02] [ 9.98987317e-01 4.49326347e-02 -2.32342198e-03 1.17046989e+02] [ 2.32609227e-03 -7.14368619e-06 9.99997295e-01 4.10253359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:117.07, Z:0.41 [[ 4.54128297e-02 -9.98968299e-01 -1.11029148e-04 1.42656897e+02] [ 9.98965597e-01 4.54129651e-02 -2.32345183e-03 1.17074416e+02] [ 2.32609689e-03 -5.39977685e-06 9.99997295e-01 4.10782580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:117.10, Z:0.41 [[ 4.52009304e-02 -9.98977910e-01 -1.10391808e-04 1.42659763e+02] [ 9.98975207e-01 4.52010649e-02 -2.32348212e-03 1.17102152e+02] [ 2.32609713e-03 -5.25512551e-06 9.99997295e-01 4.10783313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24361786499998 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:142.67, Y:117.13, Z:0.41 [[ 4.53115467e-02 -9.98972898e-01 -1.09757781e-04 1.42665099e+02] [ 9.98970196e-01 4.53116794e-02 -2.32351207e-03 1.17129310e+02] [ 2.32609889e-03 -4.36282632e-06 9.99997295e-01 4.10569036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:117.16, Z:0.41 [[ 4.62999339e-02 -9.98927577e-01 -1.07423833e-04 1.42670971e+02] [ 9.98924875e-01 4.63000585e-02 -2.32362156e-03 1.17161193e+02] [ 2.32610338e-03 2.75185165e-07 9.99997295e-01 4.13510641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:117.18, Z:0.41 [[ 4.01088880e-02 -9.99195303e-01 -1.52263700e-04 1.42665734e+02] [ 9.99192608e-01 4.01091336e-02 -2.32167186e-03 1.17180740e+02] [ 2.32591078e-03 -5.90210863e-05 9.99997293e-01 4.11796702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33361786499995 meters Centerline goodness : 0.995883 Centerline is valid? [True, True] Translation: X:142.67, Y:117.21, Z:0.41 [[ 4.03022382e-02 -9.99187530e-01 -9.86083660e-05 1.42669074e+02] [ 9.99184827e-01 4.03023585e-02 -2.32394854e-03 1.17207426e+02] [ 2.32603455e-03 -4.86765575e-06 9.99997295e-01 4.11809780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36361786499995 meters Centerline goodness : 0.996444 Centerline is valid? [True, True] Translation: X:142.67, Y:117.23, Z:0.41 [[ 3.91101387e-02 -9.99234901e-01 -9.37711587e-05 1.42674106e+02] [ 9.99232199e-01 3.91102511e-02 -2.32415205e-03 1.17234735e+02] [ 2.32604126e-03 -2.80125205e-06 9.99997295e-01 4.11606796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:117.26, Z:0.41 [[ 3.86501619e-02 -9.99252798e-01 -1.00879222e-04 1.42677282e+02] [ 9.99250096e-01 3.86502920e-02 -2.32385395e-03 1.17261428e+02] [ 2.32601657e-03 -1.09862408e-05 9.99997295e-01 4.11781686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:117.29, Z:0.41 [[ 3.80089355e-02 -9.99277395e-01 -9.62544044e-05 1.42680767e+02] [ 9.99274692e-01 3.80090566e-02 -2.32404549e-03 1.17288698e+02] [ 2.32602467e-03 -7.85009508e-06 9.99997295e-01 4.11635234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:117.32, Z:0.41 [[ 3.74964893e-02 -9.99296755e-01 -9.55697086e-05 1.42687022e+02] [ 9.99294052e-01 3.74966102e-02 -2.32407365e-03 1.17316799e+02] [ 2.32602280e-03 -8.35763852e-06 9.99997295e-01 4.11928348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.70, Y:117.35, Z:0.41 [[ 4.19013629e-02 -9.99121748e-01 -9.49306778e-05 1.42697541e+02] [ 9.99119045e-01 4.19014704e-02 -2.32409975e-03 1.17352804e+02] [ 2.32603634e-03 2.53589904e-06 9.99997295e-01 4.11762703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.70, Y:117.38, Z:0.41 [[ 4.02561766e-02 -9.99189381e-01 -1.45184997e-04 1.42703253e+02] [ 9.99186684e-01 4.02564054e-02 -2.32201935e-03 1.17379186e+02] [ 2.32598171e-03 -5.15912949e-05 9.99997294e-01 4.11310728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.70, Y:117.40, Z:0.41 [[ 3.44638940e-02 -9.99405933e-01 -1.43089726e-04 1.42699867e+02] [ 9.99403238e-01 3.44641335e-02 -2.32210529e-03 1.17398500e+02] [ 2.32565727e-03 -6.29755447e-05 9.99997294e-01 4.11998446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:117.44, Z:0.41 [[ 3.84469341e-02 -9.99260639e-01 -9.29964712e-05 1.42711152e+02] [ 9.99257936e-01 3.84470464e-02 -2.32410972e-03 1.17435286e+02] [ 2.32596680e-03 -3.57256879e-06 9.99997295e-01 4.11927328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.72, Y:117.46, Z:0.41 [[ 3.58252914e-02 -9.99358057e-01 -1.46895079e-04 1.42716620e+02] [ 9.99355362e-01 3.58255361e-02 -2.32193613e-03 1.17462714e+02] [ 2.32570818e-03 -6.36163465e-05 9.99997294e-01 4.10988997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:142.72, Y:117.49, Z:0.41 [[ 3.27839643e-02 -9.99462451e-01 -1.41404344e-04 1.42718398e+02] [ 9.99459756e-01 3.27842044e-02 -2.32215451e-03 1.17488924e+02] [ 2.32554207e-03 -6.51985205e-05 9.99997294e-01 4.11467861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66361786499996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:142.72, Y:117.52, Z:0.41 [[ 3.10094510e-02 -9.99519083e-01 -1.26255852e-04 1.42721904e+02] [ 9.99516386e-01 3.10096607e-02 -2.32274631e-03 1.17518998e+02] [ 2.32554441e-03 -5.41677053e-05 9.99997294e-01 4.13939998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:117.54, Z:0.41 [[ 2.85708580e-02 -9.99591761e-01 -1.32609450e-04 1.42726605e+02] [ 9.99589065e-01 2.85710890e-02 -2.32249954e-03 1.17544026e+02] [ 2.32534020e-03 -6.61991519e-05 9.99997294e-01 4.13472870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:117.57, Z:0.41 [[ 2.73498870e-02 -9.99625914e-01 -1.21816225e-04 1.42728855e+02] [ 9.99623217e-01 2.73500963e-02 -2.32291666e-03 1.17569464e+02] [ 2.32537938e-03 -5.82388183e-05 9.99997295e-01 4.12670921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.75361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:142.73, Y:117.60, Z:0.41 [[ 2.67599085e-02 -9.99641883e-01 -1.10590015e-04 1.42732759e+02] [ 9.99639185e-01 2.67600933e-02 -2.32333963e-03 1.17599508e+02] [ 2.32546701e-03 -4.83777569e-05 9.99997295e-01 4.13598611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:117.63, Z:0.41 [[ 2.60898199e-02 -9.99659596e-01 -1.19634760e-04 1.42734478e+02] [ 9.99656898e-01 2.60900275e-02 -2.32299973e-03 1.17625300e+02] [ 2.32533024e-03 -5.89870691e-05 9.99997295e-01 4.12420876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:117.65, Z:0.41 [[ 2.46087051e-02 -9.99697154e-01 -1.13050737e-04 1.42736919e+02] [ 9.99694456e-01 2.46089014e-02 -2.32324657e-03 1.17654139e+02] [ 2.32532503e-03 -5.58441057e-05 9.99997295e-01 4.13388130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:117.68, Z:0.41 [[ 2.54868958e-02 -9.99675150e-01 -1.11224500e-04 1.42739104e+02] [ 9.99672452e-01 2.54870855e-02 -2.32331354e-03 1.17681960e+02] [ 2.32539360e-03 -5.19740183e-05 9.99997295e-01 4.12834549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.87361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.74, Y:117.71, Z:0.41 [[ 2.56765550e-02 -9.99670297e-01 -1.05886992e-04 1.42741707e+02] [ 9.99667598e-01 2.56767318e-02 -2.32350746e-03 1.17710466e+02] [ 2.32546023e-03 -4.61921275e-05 9.99997295e-01 4.12406019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:117.74, Z:0.41 [[ 2.58642596e-02 -9.99665458e-01 -1.10947589e-04 1.42744345e+02] [ 9.99662759e-01 2.58644476e-02 -2.32332656e-03 1.17738770e+02] [ 2.32541891e-03 -5.08190519e-05 9.99997295e-01 4.12459761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:117.77, Z:0.41 [[ 2.64658170e-02 -9.99649713e-01 -1.06563402e-04 1.42746770e+02] [ 9.99647014e-01 2.64659933e-02 -2.32348142e-03 1.17765983e+02] [ 2.32548784e-03 -4.50329527e-05 9.99997295e-01 4.13129678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:117.79, Z:0.41 [[ 2.81232518e-02 -9.99604458e-01 -1.06149661e-04 1.42749889e+02] [ 9.99601758e-01 2.81234226e-02 -2.32349590e-03 1.17793363e+02] [ 2.32556215e-03 -4.07631278e-05 9.99997295e-01 4.12072731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99361786499995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:142.75, Y:117.82, Z:0.41 [[ 2.70944666e-02 -9.99632872e-01 -1.08510038e-04 1.42749966e+02] [ 9.99630173e-01 2.70946456e-02 -2.32341273e-03 1.17818468e+02] [ 2.32549978e-03 -4.55182797e-05 9.99997295e-01 4.13819532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:117.85, Z:0.41 [[ 2.66560752e-02 -9.99644660e-01 -9.01876561e-05 1.42751719e+02] [ 9.99641958e-01 2.66562128e-02 -2.32404626e-03 1.17848338e+02] [ 2.32562450e-03 -2.82054133e-05 9.99997295e-01 4.14612913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.75, Y:117.88, Z:0.41 [[ 2.67323009e-02 -9.99642624e-01 -9.65833304e-05 1.42753433e+02] [ 9.99639923e-01 2.67324532e-02 -2.32382656e-03 1.17876919e+02] [ 2.32557798e-03 -3.44273222e-05 9.99997295e-01 4.14995321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.76, Y:117.90, Z:0.42 [[ 2.73305220e-02 -9.99626447e-01 -9.74910853e-05 1.42755808e+02] [ 9.99623746e-01 2.73306748e-02 -2.32379552e-03 1.17903797e+02] [ 2.32559196e-03 -3.39438593e-05 9.99997295e-01 4.15012262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:117.93, Z:0.42 [[ 2.90028269e-02 -9.99579325e-01 -9.71738884e-05 1.42757128e+02] [ 9.99576624e-01 2.90029744e-02 -2.32380630e-03 1.17927554e+02] [ 2.32564706e-03 -2.97357956e-05 9.99997295e-01 4.16038464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:117.96, Z:0.41 [[ 2.81443921e-02 -9.99603865e-01 -7.76547894e-05 1.42758513e+02] [ 9.99601163e-01 2.81444965e-02 -2.32445838e-03 1.17959369e+02] [ 2.32572314e-03 -1.22033497e-05 9.99997295e-01 4.14442963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:117.99, Z:0.41 [[ 2.78135297e-02 -9.99613124e-01 -9.75905576e-05 1.42759298e+02] [ 9.99610424e-01 2.78136814e-02 -2.32379214e-03 1.17986969e+02] [ 2.32560747e-03 -3.29196771e-05 9.99997295e-01 4.14514577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.76, Y:118.02, Z:0.41 [[ 3.02474015e-02 -9.99542438e-01 -9.68631487e-05 1.42760870e+02] [ 9.99539737e-01 3.02475450e-02 -2.32381625e-03 1.18016470e+02] [ 2.32568283e-03 -2.65291631e-05 9.99997295e-01 4.12892019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.76, Y:118.04, Z:0.41 [[ 3.22943721e-02 -9.99478396e-01 -1.01720908e-04 1.42761582e+02] [ 9.99475695e-01 3.22945214e-02 -2.32365599e-03 1.18041432e+02] [ 2.32572899e-03 -2.66265636e-05 9.99997295e-01 4.13046743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.76, Y:118.07, Z:0.41 [[ 3.52410348e-02 -9.99378838e-01 -9.19398833e-05 1.42764882e+02] [ 9.99376136e-01 3.52411533e-02 -2.32397600e-03 1.18071272e+02] [ 2.32577251e-03 -9.98320594e-06 9.99997295e-01 4.11537868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29361786499996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:142.76, Y:118.09, Z:0.41 [[ 3.27455912e-02 -9.99463714e-01 -1.04188752e-04 1.42759197e+02] [ 9.99461013e-01 3.27457450e-02 -2.32357613e-03 1.18093060e+02] [ 2.32574177e-03 -2.80457210e-05 9.99997295e-01 4.12464037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32361786499996 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:142.76, Y:118.12, Z:0.41 [[ 3.83722965e-02 -9.99263509e-01 -7.44551653e-05 1.42763856e+02] [ 9.99260806e-01 3.83723658e-02 -2.32452851e-03 1.18122707e+02] [ 2.32567354e-03 1.47973686e-05 9.99997296e-01 4.09992762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.76, Y:118.16, Z:0.41 [[ 3.79668876e-02 -9.99278994e-01 -8.58179486e-05 1.42763744e+02] [ 9.99276291e-01 3.79669845e-02 -2.32416908e-03 1.18155189e+02] [ 2.32575159e-03 2.48562507e-06 9.99997295e-01 4.10296340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:118.18, Z:0.41 [[ 3.98887065e-02 -9.99204123e-01 -1.09815414e-04 1.42764755e+02] [ 9.99201422e-01 3.98888540e-02 -2.32340746e-03 1.18180484e+02] [ 2.32593873e-03 -1.70499995e-05 9.99997295e-01 4.08142164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41361786499996 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:142.76, Y:118.21, Z:0.41 [[ 3.79817986e-02 -9.99278426e-01 -9.99968217e-05 1.42764903e+02] [ 9.99275724e-01 3.79819284e-02 -2.32372067e-03 1.18209619e+02] [ 2.32584201e-03 -1.16653059e-05 9.99997295e-01 4.08699038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44361786499996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:142.76, Y:118.23, Z:0.41 [[ 3.91739526e-02 -9.99232400e-01 -1.09794084e-04 1.42764981e+02] [ 9.99229699e-01 3.91741020e-02 -2.32341267e-03 1.18233989e+02] [ 2.32593031e-03 -1.86922519e-05 9.99997295e-01 4.09556594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47361786499997 meters Centerline goodness : 0.997610 Centerline is valid? [True, True] Translation: X:142.76, Y:118.26, Z:0.41 [[ 3.22029010e-02 -9.99481348e-01 -9.11946317e-05 1.42761477e+02] [ 9.99478646e-01 3.22030260e-02 -2.32400871e-03 1.18257185e+02] [ 2.32574010e-03 -1.63072645e-05 9.99997295e-01 4.10905602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50361786499997 meters Centerline goodness : 0.997981 Centerline is valid? [True, True] Translation: X:142.76, Y:118.28, Z:0.41 [[ 3.06576359e-02 -9.99529942e-01 -6.70603150e-05 1.42762333e+02] [ 9.99527238e-01 3.06577090e-02 -2.32476366e-03 1.18282766e+02] [ 2.32572680e-03 4.24314653e-06 9.99997295e-01 4.11573180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:118.32, Z:0.41 [[ 2.72892143e-02 -9.99627578e-01 -5.90946362e-05 1.42767572e+02] [ 9.99624874e-01 2.72892779e-02 -2.32501332e-03 1.18318294e+02] [ 2.32576009e-03 4.37531851e-06 9.99997295e-01 4.10148425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.77, Y:118.34, Z:0.41 [[ 2.49735853e-02 -9.99688105e-01 -1.16391702e-04 1.42768097e+02] [ 9.99685406e-01 2.49737884e-02 -2.32340607e-03 1.18344356e+02] [ 2.32558815e-03 -5.83313066e-05 9.99997294e-01 4.12321806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.59361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.77, Y:118.37, Z:0.41 [[ 2.29697616e-02 -9.99736154e-01 -1.11462065e-04 1.42768912e+02] [ 9.99733456e-01 2.29699586e-02 -2.32354800e-03 1.18369834e+02] [ 2.32549522e-03 -5.80610118e-05 9.99997294e-01 4.10684505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.76, Y:118.39, Z:0.41 [[ 1.47063966e-02 -9.99891850e-01 -1.01337070e-04 1.42762093e+02] [ 9.99889152e-01 1.47065924e-02 -2.32384129e-03 1.18389562e+02] [ 2.32508029e-03 -6.71505050e-05 9.99997295e-01 4.13478127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.65361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.76, Y:118.42, Z:0.41 [[ 1.01354595e-02 -9.99948633e-01 -5.70892988e-05 1.42761817e+02] [ 9.99945931e-01 1.01355649e-02 -2.32508091e-03 1.18417791e+02] [ 2.32554011e-03 -3.35204486e-05 9.99997295e-01 4.13069987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:118.45, Z:0.41 [[ 1.22895640e-02 -9.99924478e-01 -6.43485429e-05 1.42767860e+02] [ 9.99921776e-01 1.22896804e-02 -2.32487917e-03 1.18454056e+02] [ 2.32549441e-03 -3.57717581e-05 9.99997295e-01 4.09711383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.77, Y:118.48, Z:0.41 [[ 9.66877374e-03 -9.99953250e-01 -1.08660437e-04 1.42767027e+02] [ 9.99950554e-01 9.66900019e-03 -2.32382599e-03 1.18484814e+02] [ 2.32476799e-03 -8.61865160e-05 9.99997294e-01 4.09159399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:118.51, Z:0.41 [[ 8.41692167e-03 -9.99964571e-01 -1.14386600e-04 1.42766252e+02] [ 9.99961875e-01 8.41716479e-03 -2.32369181e-03 1.18512175e+02] [ 2.32457230e-03 -9.48239075e-05 9.99997294e-01 4.08811047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:118.54, Z:0.41 [[ 7.32124549e-03 -9.99973193e-01 -1.09881314e-04 1.42765744e+02] [ 9.99970498e-01 7.32148110e-03 -2.32379586e-03 1.18538860e+02] [ 2.32453806e-03 -9.28649926e-05 9.99997294e-01 4.08347617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:118.56, Z:0.41 [[ 6.34718713e-03 -9.99979851e-01 -1.05684485e-04 1.42764378e+02] [ 9.99977155e-01 6.34741563e-03 -2.32389118e-03 1.18564964e+02] [ 2.32451518e-03 -9.09318984e-05 9.99997294e-01 4.08291185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.76, Y:118.59, Z:0.41 [[ 6.86563703e-03 -9.99976426e-01 -9.83820459e-05 1.42764166e+02] [ 9.99973729e-01 6.86584716e-03 -2.32405468e-03 1.18589417e+02] [ 2.32467537e-03 -8.24233455e-05 9.99997295e-01 4.08291003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:118.62, Z:0.41 [[ 5.59779666e-03 -9.99984329e-01 -8.34745520e-05 1.42763705e+02] [ 9.99981630e-01 5.59797558e-03 -2.32437563e-03 1.18619286e+02] [ 2.32480650e-03 -7.04616364e-05 9.99997295e-01 4.08920981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:118.65, Z:0.41 [[ 6.19754157e-03 -9.99980791e-01 -9.07352713e-05 1.42764190e+02] [ 9.99978093e-01 6.19773574e-03 -2.32422107e-03 1.18646926e+02] [ 2.32473877e-03 -7.63288269e-05 9.99997295e-01 4.08783486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:118.67, Z:0.41 [[ 4.89791624e-03 -9.99988001e-01 -9.28941327e-05 1.42760124e+02] [ 9.99985303e-01 4.89811893e-03 -2.32417071e-03 1.18667823e+02] [ 2.32459783e-03 -8.15091740e-05 9.99997295e-01 4.13014212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:118.70, Z:0.41 [[ 7.81405363e-03 -9.99969469e-01 -5.16991660e-05 1.42763645e+02] [ 9.99966766e-01 7.81415272e-03 -2.32508860e-03 1.18697846e+02] [ 2.32542160e-03 -3.35290808e-05 9.99997296e-01 4.11256175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.76, Y:118.73, Z:0.41 [[ 7.08171698e-03 -9.99974922e-01 -7.20448023e-05 1.42764437e+02] [ 9.99972221e-01 7.08186534e-03 -2.32465775e-03 1.18728160e+02] [ 2.32510966e-03 -5.55802327e-05 9.99997295e-01 4.11783646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:118.76, Z:0.41 [[ 8.39371847e-03 -9.99964769e-01 -8.13776198e-05 1.42764601e+02] [ 9.99962069e-01 8.39388498e-03 -2.32446509e-03 1.18757248e+02] [ 2.32506627e-03 -6.18636275e-05 9.99997295e-01 4.12578718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.77, Y:118.79, Z:0.41 [[ 1.04100270e-02 -9.99945811e-01 -8.20724961e-05 1.42766029e+02] [ 9.99943111e-01 1.04101897e-02 -2.32445112e-03 1.18786441e+02] [ 2.32517955e-03 -5.78702282e-05 9.99997295e-01 4.11161799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.76, Y:118.81, Z:0.41 [[ 8.97207331e-03 -9.99959746e-01 -8.61566559e-05 1.42762118e+02] [ 9.99957047e-01 8.97224936e-03 -2.32436341e-03 1.18807041e+02] [ 2.32504286e-03 -6.52985963e-05 9.99997295e-01 4.13625454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:118.84, Z:0.41 [[ 1.34995555e-02 -9.99908876e-01 -5.18868212e-05 1.42765173e+02] [ 9.99906172e-01 1.34996397e-02 -2.32507218e-03 1.18837993e+02] [ 2.32556077e-03 -2.04945118e-05 9.99997296e-01 4.11183354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:142.77, Y:118.86, Z:0.41 [[ 1.44215599e-02 -9.99896001e-01 -7.57845641e-05 1.42765572e+02] [ 9.99893300e-01 1.44216971e-02 -2.32461217e-03 1.18864966e+02] [ 2.32546336e-03 -4.22519443e-05 9.99997295e-01 4.11084026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:118.89, Z:0.41 [[ 1.86544562e-02 -9.99825988e-01 -7.73834650e-05 1.42768298e+02] [ 9.99823286e-01 1.86545857e-02 -2.32458173e-03 1.18894216e+02] [ 2.32562078e-03 -3.40059821e-05 9.99997295e-01 4.10263440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:142.77, Y:118.92, Z:0.41 [[ 1.67443121e-02 -9.99859801e-01 -8.05218592e-05 1.42766491e+02] [ 9.99857100e-01 1.67444541e-02 -2.32452537e-03 1.18921837e+02] [ 2.32554777e-03 -4.15877743e-05 9.99997295e-01 4.10262948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:118.95, Z:0.41 [[ 1.72459796e-02 -9.99851275e-01 -6.83951886e-05 1.42768334e+02] [ 9.99848573e-01 1.72460921e-02 -2.32472874e-03 1.18953101e+02] [ 2.32556255e-03 -2.82926071e-05 9.99997295e-01 4.12016812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:118.98, Z:0.41 [[ 1.59847529e-02 -9.99872232e-01 -8.59331821e-05 1.42769035e+02] [ 9.99869531e-01 1.59849095e-02 -2.32443774e-03 1.18982567e+02] [ 2.32551439e-03 -4.87664076e-05 9.99997295e-01 4.10853393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:119.01, Z:0.41 [[ 1.54387160e-02 -9.99880812e-01 -8.89263292e-05 1.42767631e+02] [ 9.99878112e-01 1.54388810e-02 -2.32438942e-03 1.19005134e+02] [ 2.32548531e-03 -5.30299020e-05 9.99997295e-01 4.10493091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:119.03, Z:0.41 [[ 1.53693591e-02 -9.99881883e-01 -6.09896282e-05 1.42768146e+02] [ 9.99879180e-01 1.53694594e-02 -2.32482896e-03 1.19033138e+02] [ 2.32549173e-03 -2.52511283e-05 9.99997296e-01 4.11625040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.77, Y:119.06, Z:0.41 [[ 1.13404056e-02 -9.99935694e-01 -5.63698709e-05 1.42767604e+02] [ 9.99932992e-01 1.13405060e-02 -2.32489965e-03 1.19062508e+02] [ 2.32538940e-03 -3.00007888e-05 9.99997296e-01 4.11736614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.37361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.77, Y:119.09, Z:0.41 [[ 1.06987460e-02 -9.99942765e-01 -5.82378496e-05 1.42768742e+02] [ 9.99940063e-01 1.06988525e-02 -2.32487149e-03 1.19088776e+02] [ 2.32536150e-03 -3.33611494e-05 9.99997296e-01 4.11483153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.77, Y:119.11, Z:0.41 [[ 5.58316608e-03 -9.99984413e-01 -5.03111397e-05 1.42765727e+02] [ 9.99981711e-01 5.58326797e-03 -2.32498940e-03 1.19114054e+02] [ 2.32523406e-03 -3.73294176e-05 9.99997296e-01 4.12962529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:142.77, Y:119.15, Z:0.41 [[ 5.33214904e-03 -9.99985783e-01 -3.36058054e-05 1.42771867e+02] [ 9.99983080e-01 5.33221276e-03 -2.32523083e-03 1.19148010e+02] [ 2.32537697e-03 -2.12067595e-05 9.99997296e-01 4.11739088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:119.17, Z:0.41 [[ 3.34426032e-03 -9.99994406e-01 -6.77695970e-05 1.42771998e+02] [ 9.99991705e-01 3.34440883e-03 -2.32472996e-03 1.19174283e+02] [ 2.32494361e-03 -5.99945327e-05 9.99997296e-01 4.12124830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:119.20, Z:0.41 [[ 2.41957522e-03 -9.99997071e-01 -6.00579294e-05 1.42773731e+02] [ 9.99994370e-01 2.41970831e-03 -2.32483975e-03 1.19203751e+02] [ 2.32497827e-03 -5.44324666e-05 9.99997296e-01 4.12410550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.77, Y:119.23, Z:0.41 [[-1.06156548e-04 -9.99999992e-01 -6.40763655e-05 1.42774710e+02] [ 9.99997292e-01 -1.06007298e-04 -2.32478382e-03 1.19230680e+02] [ 2.32477701e-03 -6.43229830e-05 9.99997296e-01 4.12610359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:119.25, Z:0.41 [[ 1.46833186e-03 -9.99998920e-01 -6.37274284e-05 1.42776245e+02] [ 9.99996219e-01 1.46847605e-03 -2.32478878e-03 1.19254210e+02] [ 2.32487985e-03 -6.03136261e-05 9.99997296e-01 4.13918861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:119.28, Z:0.41 [[-6.26154897e-04 -9.99999803e-01 -4.60604381e-05 1.42776166e+02] [ 9.99997101e-01 -6.26046113e-04 -2.32503199e-03 1.19281289e+02] [ 2.32500269e-03 -4.75161347e-05 9.99997296e-01 4.12911127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61361786499995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:142.78, Y:119.31, Z:0.41 [[-1.91970776e-03 -9.99998156e-01 -4.27475933e-05 1.42777409e+02] [ 9.99995455e-01 -1.91960318e-03 -2.32507456e-03 1.19312315e+02] [ 2.32498821e-03 -4.72108627e-05 9.99997296e-01 4.12560033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:119.34, Z:0.41 [[-3.15709745e-03 -9.99995015e-01 -5.86522567e-05 1.42777432e+02] [ 9.99992314e-01 -3.15695256e-03 -2.32487175e-03 1.19340842e+02] [ 2.32467499e-03 -6.59916526e-05 9.99997296e-01 4.13284912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.78, Y:119.37, Z:0.41 [[-3.19703324e-03 -9.99994888e-01 -5.35983043e-05 1.42777927e+02] [ 9.99992187e-01 -3.19690000e-03 -2.32493388e-03 1.19368848e+02] [ 2.32475065e-03 -6.10307765e-05 9.99997296e-01 4.13414786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:142.78, Y:119.39, Z:0.42 [[-4.17863516e-03 -9.99991268e-01 -5.12991828e-05 1.42775431e+02] [ 9.99988567e-01 -4.17850461e-03 -2.32496144e-03 1.19391951e+02] [ 2.32472678e-03 -6.10137619e-05 9.99997296e-01 4.15818988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73361786499996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:142.78, Y:119.42, Z:0.41 [[-8.56975495e-04 -9.99999632e-01 -2.65264891e-05 1.42777560e+02] [ 9.99996929e-01 -8.56911498e-04 -2.32524404e-03 1.19424361e+02] [ 2.32522046e-03 -2.85190848e-05 9.99997296e-01 4.14183770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:142.78, Y:119.45, Z:0.42 [[-6.64114058e-04 -9.99999778e-01 -4.72656179e-05 1.42776049e+02] [ 9.99997077e-01 -6.64002371e-04 -2.32500523e-03 1.19448343e+02] [ 2.32497333e-03 -4.88095484e-05 9.99997296e-01 4.16739264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:119.48, Z:0.41 [[ 4.22227465e-04 -9.99999911e-01 -2.55267017e-05 1.42776484e+02] [ 9.99997207e-01 4.22285679e-04 -2.32524388e-03 1.19479628e+02] [ 2.32525446e-03 -2.45448486e-05 9.99997296e-01 4.14028349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.78, Y:119.51, Z:0.42 [[ 1.27044589e-03 -9.99999192e-01 -3.89659753e-05 1.42776078e+02] [ 9.99996490e-01 1.27053306e-03 -2.32508719e-03 1.19505414e+02] [ 2.32513482e-03 -3.60119411e-05 9.99997296e-01 4.17140063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:119.53, Z:0.41 [[ 3.02489977e-03 -9.99995425e-01 -3.12276215e-05 1.42774974e+02] [ 9.99992722e-01 3.02496421e-03 -2.32517496e-03 1.19533767e+02] [ 2.32525878e-03 -2.41939730e-05 9.99997296e-01 4.14686802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.77, Y:119.56, Z:0.42 [[ 4.52352612e-03 -9.99989768e-01 -3.34964596e-05 1.42773903e+02] [ 9.99987065e-01 4.52359178e-03 -2.32515089e-03 1.19559363e+02] [ 2.32527863e-03 -2.29781455e-05 9.99997296e-01 4.17770146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91361786499996 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:142.77, Y:119.59, Z:0.42 [[ 4.55336499e-03 -9.99989633e-01 -2.39823446e-05 1.42773620e+02] [ 9.99986930e-01 4.55340845e-03 -2.32524902e-03 1.19587454e+02] [ 2.32533412e-03 -1.33943236e-05 9.99997296e-01 4.17580090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.77, Y:119.62, Z:0.42 [[ 4.65783767e-03 -9.99989152e-01 -2.33595006e-05 1.42773619e+02] [ 9.99986449e-01 4.65787939e-03 -2.32525528e-03 1.19615937e+02] [ 2.32533886e-03 -1.25285224e-05 9.99997296e-01 4.17836313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:142.77, Y:119.65, Z:0.41 [[ 3.26193011e-03 -9.99994680e-01 -2.27299180e-05 1.42772477e+02] [ 9.99991976e-01 3.26197414e-03 -2.32526143e-03 1.19645480e+02] [ 2.32532321e-03 -1.51448954e-05 9.99997296e-01 4.14547872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.77, Y:119.67, Z:0.41 [[ 2.45694267e-03 -9.99996981e-01 -2.87015856e-05 1.42772217e+02] [ 9.99994278e-01 2.45700276e-03 -2.32520426e-03 1.19673558e+02] [ 2.32526776e-03 -2.29885279e-05 9.99997296e-01 4.14961313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:119.70, Z:0.42 [[ 2.21333537e-03 -9.99997550e-01 -2.65436261e-05 1.42772372e+02] [ 9.99994847e-01 2.21339110e-03 -2.32522440e-03 1.19700804e+02] [ 2.32527745e-03 -2.13969879e-05 9.99997296e-01 4.17876840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:119.73, Z:0.42 [[ 1.93824608e-03 -9.99998121e-01 -2.10251819e-05 1.42772563e+02] [ 9.99995418e-01 1.93828973e-03 -2.32527430e-03 1.19729386e+02] [ 2.32531068e-03 -1.65181318e-05 9.99997296e-01 4.17941305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.09361786499997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:142.77, Y:119.76, Z:0.42 [[ 1.15100512e-04 -9.99999993e-01 -2.03855192e-05 1.42772682e+02] [ 9.99997290e-01 1.15147602e-04 -2.32527991e-03 1.19758157e+02] [ 2.32528224e-03 -2.01178230e-05 9.99997296e-01 4.15433239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:142.77, Y:119.79, Z:0.41 [[-2.13976666e-03 -9.99997710e-01 -2.63567836e-05 1.42772328e+02] [ 9.99995007e-01 -2.13969959e-03 -2.32522941e-03 1.19786214e+02] [ 2.32516769e-03 -3.13321004e-05 9.99997296e-01 4.14740015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.15361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.77, Y:119.81, Z:0.41 [[-3.05629211e-03 -9.99995329e-01 -2.31113540e-05 1.42772627e+02] [ 9.99992626e-01 -3.05623011e-03 -2.32525621e-03 1.19814448e+02] [ 2.32517472e-03 -3.02178458e-05 9.99997296e-01 4.14348833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.77, Y:119.84, Z:0.41 [[-4.16338793e-03 -9.99991333e-01 -2.41279779e-05 1.42772969e+02] [ 9.99988630e-01 -4.16332058e-03 -2.32524794e-03 1.19843928e+02] [ 2.32512733e-03 -3.38086128e-05 9.99997296e-01 4.13824693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.77, Y:119.87, Z:0.41 [[-5.87283310e-03 -9.99982754e-01 -2.75218099e-05 1.42773413e+02] [ 9.99980052e-01 -5.87275324e-03 -2.32522124e-03 1.19870969e+02] [ 2.32501951e-03 -4.11768972e-05 9.99997296e-01 4.13416690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:119.90, Z:0.41 [[-7.01789336e-03 -9.99975374e-01 -1.75496551e-05 1.42774069e+02] [ 9.99972671e-01 -7.01783358e-03 -2.32529650e-03 1.19898617e+02] [ 2.32511608e-03 -3.38678584e-05 9.99997296e-01 4.13513828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27361786499995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:142.77, Y:119.93, Z:0.41 [[-6.99199545e-03 -9.99975556e-01 -1.68909515e-05 1.42774339e+02] [ 9.99972853e-01 -6.99193727e-03 -2.32530129e-03 1.19925958e+02] [ 2.32512635e-03 -3.31489890e-05 9.99997296e-01 4.14804291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30361786499995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:142.78, Y:119.95, Z:0.41 [[-9.37139622e-03 -9.99956087e-01 -1.61974540e-05 1.42775016e+02] [ 9.99953384e-01 -9.37133323e-03 -2.32530612e-03 1.19953580e+02] [ 2.32505222e-03 -3.79880640e-05 9.99997296e-01 4.14198381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.77, Y:119.98, Z:0.41 [[-1.17523295e-02 -9.99930939e-01 -1.55709499e-05 1.42774548e+02] [ 9.99928236e-01 -1.17522615e-02 -2.32531031e-03 1.19980653e+02] [ 2.32496673e-03 -4.28976455e-05 9.99997296e-01 4.13648592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36361786499995 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:142.78, Y:120.01, Z:0.41 [[-1.37649879e-02 -9.99905258e-01 -1.49103770e-05 1.42776210e+02] [ 9.99902555e-01 -1.37649160e-02 -2.32531455e-03 1.20008825e+02] [ 2.32488900e-03 -4.69168506e-05 9.99997296e-01 4.13733546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:120.04, Z:0.41 [[-1.51094857e-02 -9.99885845e-01 -1.42325936e-05 1.42776086e+02] [ 9.99883142e-01 -1.51094117e-02 -2.32531870e-03 1.20036332e+02] [ 2.32483821e-03 -4.93653000e-05 9.99997296e-01 4.14358301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.78, Y:120.06, Z:0.41 [[-1.71592394e-02 -9.99852769e-01 -1.56364565e-05 1.42775681e+02] [ 9.99850067e-01 -1.71591567e-02 -2.32531028e-03 1.20064132e+02] [ 2.32469962e-03 -5.55346680e-05 9.99997296e-01 4.12262646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.78, Y:120.09, Z:0.42 [[-1.74198379e-02 -9.99848263e-01 -1.34278012e-05 1.42776792e+02] [ 9.99845561e-01 -1.74197596e-02 -2.32532304e-03 1.20091976e+02] [ 2.32473629e-03 -5.39324777e-05 9.99997296e-01 4.15061330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48361786499996 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:142.78, Y:120.12, Z:0.41 [[-1.92978869e-02 -9.99813778e-01 -1.89684527e-05 1.42776879e+02] [ 9.99811076e-01 -1.92977906e-02 -2.32529049e-03 1.20118716e+02] [ 2.32449142e-03 -6.38380621e-05 9.99997296e-01 4.14873471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.78, Y:120.14, Z:0.42 [[-1.88352719e-02 -9.99822600e-01 -2.35442975e-05 1.42777268e+02] [ 9.99819899e-01 -1.88351663e-02 -2.32526492e-03 1.20143265e+02] [ 2.32440895e-03 -6.73370541e-05 9.99997296e-01 4.15474319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54361786499996 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:142.78, Y:120.17, Z:0.42 [[-1.70477956e-02 -9.99854676e-01 -1.17772019e-05 1.42778069e+02] [ 9.99851973e-01 -1.70477222e-02 -2.32532451e-03 1.20169668e+02] [ 2.32478581e-03 -5.14171156e-05 9.99997296e-01 4.15260045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.78, Y:120.20, Z:0.41 [[-1.88564826e-02 -9.99822201e-01 -1.08485270e-05 1.42777568e+02] [ 9.99819498e-01 -1.88564064e-02 -2.32532885e-03 1.20197326e+02] [ 2.32471084e-03 -5.46940917e-05 9.99997296e-01 4.11256254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60361786499996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:142.78, Y:120.22, Z:0.42 [[-1.89955033e-02 -9.99819569e-01 -2.35014079e-05 1.42775048e+02] [ 9.99816867e-01 -1.89953973e-02 -2.32529641e-03 1.20222917e+02] [ 2.32443044e-03 -6.76672796e-05 9.99997296e-01 4.15963262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.78, Y:120.25, Z:0.42 [[-1.69964498e-02 -9.99855550e-01 -4.68782008e-06 1.42775698e+02] [ 9.99852847e-01 -1.69963929e-02 -2.32533434e-03 1.20250972e+02] [ 2.32491877e-03 -4.42095585e-05 9.99997296e-01 4.15219854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.78, Y:120.28, Z:0.42 [[-1.58866435e-02 -9.99873799e-01 -4.03032178e-06 1.42775397e+02] [ 9.99871096e-01 -1.58865911e-02 -2.32533548e-03 1.20279249e+02] [ 2.32497799e-03 -4.09715779e-05 9.99997296e-01 4.15908906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:120.31, Z:0.42 [[-1.49846484e-02 -9.99887724e-01 -3.35184096e-06 1.42774091e+02] [ 9.99885021e-01 -1.49846001e-02 -2.32533646e-03 1.20306262e+02] [ 2.32502515e-03 -3.81958049e-05 9.99997296e-01 4.15675183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.77, Y:120.33, Z:0.41 [[-1.23507734e-02 -9.99923726e-01 -2.73674503e-06 1.42772852e+02] [ 9.99921023e-01 -1.23507336e-02 -2.32533718e-03 1.20334633e+02] [ 2.32512602e-03 -3.14562414e-05 9.99997296e-01 4.12883190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.75361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.77, Y:120.36, Z:0.41 [[-1.22493925e-02 -9.99924973e-01 -2.07640822e-06 1.42771191e+02] [ 9.99922270e-01 -1.22493546e-02 -2.32533777e-03 1.20363639e+02] [ 2.32513787e-03 -3.05602219e-05 9.99997296e-01 4.11935753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.77, Y:120.39, Z:0.41 [[-8.31252624e-03 -9.99965450e-01 -9.49749794e-06 1.42770397e+02] [ 9.99962747e-01 -8.31248169e-03 -2.32533115e-03 1.20385062e+02] [ 2.32517186e-03 -2.88265203e-05 9.99997296e-01 4.10903526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81361786499997 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:142.77, Y:120.41, Z:0.42 [[-7.17063141e-03 -9.99974290e-01 2.35675424e-05 1.42767671e+02] [ 9.99971587e-01 -7.17066683e-03 -2.32528363e-03 1.20414648e+02] [ 2.32539285e-03 6.89312085e-06 9.99997296e-01 4.15616044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:142.77, Y:119.64, Z:0.41 [[-7.86955615e-03 -9.99969035e-01 3.40783738e-06 1.42765312e+02] [ 9.99966331e-01 -7.86954280e-03 -2.32531318e-03 1.19642803e+02] [ 2.32526799e-03 -1.48914600e-05 9.99997296e-01 4.10549778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:119.64, Z:0.41 [[-8.09573692e-03 -9.99967229e-01 2.25930958e-06 1.42765651e+02] [ 9.99964525e-01 -8.09572029e-03 -2.32531430e-03 1.19642797e+02] [ 2.32525638e-03 -1.65659034e-05 9.99997296e-01 4.09460141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.76, Y:119.65, Z:0.41 [[-6.77272290e-03 -9.99977065e-01 2.47945733e-05 1.42763901e+02] [ 9.99974361e-01 -6.77276224e-03 -2.32528144e-03 1.19651014e+02] [ 2.32539603e-03 9.04545072e-06 9.99997296e-01 4.11558216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:119.66, Z:0.41 [[-3.32236694e-03 -9.99994481e-01 1.12064745e-05 1.42766170e+02] [ 9.99991777e-01 -3.32238402e-03 -2.32530287e-03 1.19659583e+02] [ 2.32532726e-03 3.48087295e-06 9.99997296e-01 4.14245318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:142.76, Y:119.64, Z:0.41 [[-5.55097049e-03 -9.99984593e-01 3.91002779e-06 1.42763664e+02] [ 9.99981890e-01 -5.55096457e-03 -2.32531513e-03 1.19641484e+02] [ 2.32530101e-03 -8.99779871e-06 9.99997296e-01 4.12649730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.76, Y:119.64, Z:0.41 [[-5.84361463e-03 -9.99982926e-01 4.05472621e-07 1.42761663e+02] [ 9.99980222e-01 -5.84359977e-03 -2.32532183e-03 1.19635482e+02] [ 2.32528449e-03 -1.31828201e-05 9.99997296e-01 4.10849783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.76, Y:119.63, Z:0.41 [[-6.84336942e-03 -9.99976584e-01 -2.84039919e-06 1.42761280e+02] [ 9.99973880e-01 -6.84334431e-03 -2.32532874e-03 1.19630434e+02] [ 2.32525486e-03 -1.87534086e-05 9.99997296e-01 4.10052991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05361786499995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:142.76, Y:119.63, Z:0.41 [[-7.84784222e-03 -9.99969205e-01 5.73525520e-06 1.42760623e+02] [ 9.99966502e-01 -7.84783434e-03 -2.32530759e-03 1.19631996e+02] [ 2.32528100e-03 -1.25135840e-05 9.99997296e-01 4.10479120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:119.63, Z:0.41 [[-9.17442470e-03 -9.99957914e-01 6.57812950e-06 1.42760490e+02] [ 9.99955211e-01 -9.17441520e-03 -2.32530521e-03 1.19626104e+02] [ 2.32526770e-03 -1.47555027e-05 9.99997296e-01 4.11430385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.76, Y:119.63, Z:0.41 [[-1.15559063e-02 -9.99933228e-01 7.42100287e-06 1.42759752e+02] [ 9.99930525e-01 -1.15558924e-02 -2.32530252e-03 1.19625389e+02] [ 2.32523301e-03 -1.94504908e-05 9.99997296e-01 4.12712749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:119.62, Z:0.41 [[-1.29129680e-02 -9.99916624e-01 8.26334107e-06 1.42758992e+02] [ 9.99913921e-01 -1.29129523e-02 -2.32529953e-03 1.19617127e+02] [ 2.32521236e-03 -2.17638885e-05 9.99997296e-01 4.11083404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:119.62, Z:0.41 [[-1.71483358e-02 -9.99852956e-01 9.10448967e-06 1.42757667e+02] [ 9.99850253e-01 -1.71483106e-02 -2.32529623e-03 1.19617409e+02] [ 2.32511044e-03 -3.07718344e-05 9.99997296e-01 4.11745810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:119.97, Z:0.42 [[-1.35162783e-02 -9.99908651e-01 1.56121083e-05 1.42758022e+02] [ 9.99905947e-01 -1.35162781e-02 -2.32527140e-03 1.19969187e+02] [ 2.32527000e-03 -1.58183755e-05 9.99997296e-01 4.15210567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:119.59, Z:1.48 [[-6.81790765e-02 9.97673100e-01 -4.43920756e-06 1.42107182e+02] [ 9.97670402e-01 6.81789025e-02 2.32530838e-03 1.19587137e+02] [ 2.32020028e-03 1.54108512e-04 -9.99997296e-01 1.47864197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:119.84, Z:1.48 [[-1.47849106e-01 9.89009912e-01 -1.90017189e-04 1.42108280e+02] [ 9.89007226e-01 1.47849149e-01 2.31004334e-03 1.19841283e+02] [ 2.31274963e-03 1.53609470e-04 -9.99997314e-01 1.47781727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.21, Y:119.54, Z:1.48 [[-2.21389796e-01 9.75185321e-01 -3.84843080e-04 1.42207753e+02] [ 9.75182668e-01 2.21390093e-01 2.27838334e-03 1.19535221e+02] [ 2.30704643e-03 1.29118523e-04 -9.99997330e-01 1.47938536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.25, Y:119.52, Z:1.48 [[-2.97330189e-01 9.54774559e-01 -5.47591650e-04 1.42251130e+02] [ 9.54771945e-01 2.97330659e-01 2.23873050e-03 1.19521361e+02] [ 2.30029871e-03 1.42817017e-04 -9.99997344e-01 1.47741404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:119.51, Z:1.48 [[-3.70110525e-01 9.28987452e-01 -7.16932296e-04 1.42297376e+02] [ 9.28984897e-01 3.70111192e-01 2.18311938e-03 1.19510380e+02] [ 2.29343518e-03 1.41976186e-04 -9.99997360e-01 1.47815907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:119.50, Z:1.48 [[-4.43166200e-01 8.96439033e-01 -8.82949847e-04 1.42345106e+02] [ 8.96436552e-01 4.43167056e-01 2.11377174e-03 1.19497794e+02] [ 2.28616178e-03 1.45243674e-04 -9.99997376e-01 1.47742497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:119.50, Z:1.48 [[-5.11152245e-01 8.59489556e-01 -1.04254029e-03 1.42391707e+02] [ 8.59487166e-01 5.11153288e-01 2.03188759e-03 1.19495731e+02] [ 2.27928406e-03 1.42553905e-04 -9.99997392e-01 1.47918965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.44, Y:119.50, Z:1.48 [[-5.76846088e-01 8.16851983e-01 -1.19484132e-03 1.42436361e+02] [ 8.16849697e-01 5.76847308e-01 1.93798844e-03 1.19501333e+02] [ 2.27229070e-03 1.41915277e-04 -9.99997408e-01 1.48108871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.49, Y:119.49, Z:1.48 [[-6.38456960e-01 7.69656347e-01 -1.34824552e-03 1.42493943e+02] [ 7.69654192e-01 6.38458371e-01 1.82582244e-03 1.19490589e+02] [ 2.26605447e-03 1.28026225e-04 -9.99997424e-01 1.48057047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50361786499997 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:142.11, Y:119.95, Z:1.48 [[-6.97303902e-01 7.16774089e-01 -1.47420799e-03 1.42107918e+02] [ 7.16772045e-01 6.97305446e-01 1.71771684e-03 1.19951301e+02] [ 2.25918819e-03 1.41099579e-04 -9.99997438e-01 1.48029932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.99, Z:0.41 [[-7.20220424e-01 -6.93743450e-01 1.60171289e-03 1.43019919e+02] [ 6.93741630e-01 -7.20222205e-01 -1.58964526e-03 1.19987986e+02] [ 2.25639518e-03 -3.37200746e-05 9.99997454e-01 4.13861922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.98, Z:0.41 [[-7.21370553e-01 -6.92547451e-01 1.59818412e-03 1.43020154e+02] [ 6.92545619e-01 -7.21372322e-01 -1.59318510e-03 1.19983289e+02] [ 2.25624207e-03 -4.24614038e-05 9.99997454e-01 4.13298153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.98, Z:0.41 [[-7.21937363e-01 -6.91956565e-01 1.59875906e-03 1.43024630e+02] [ 6.91954733e-01 -7.21939132e-01 -1.59260795e-03 1.19977744e+02] [ 2.25622225e-03 -4.34942874e-05 9.99997454e-01 4.14057219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.02, Y:119.98, Z:0.41 [[-7.23903047e-01 -6.89899863e-01 1.59933261e-03 1.43020953e+02] [ 6.89898028e-01 -7.23904812e-01 -1.59203176e-03 1.19977113e+02] [ 2.25610707e-03 -4.91002321e-05 9.99997454e-01 4.11880936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.97, Z:0.41 [[-7.23783650e-01 -6.90025121e-01 1.59990596e-03 1.43020161e+02] [ 6.90023287e-01 -7.23785417e-01 -1.59145537e-03 1.19974146e+02] [ 2.25613279e-03 -4.78970113e-05 9.99997454e-01 4.12349669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.97, Z:0.41 [[-7.24033268e-01 -6.89763195e-01 1.60048027e-03 1.43016160e+02] [ 6.89761362e-01 -7.24035036e-01 -1.59087760e-03 1.19974945e+02] [ 2.25613260e-03 -4.78988602e-05 9.99997454e-01 4.13250980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.03, Y:119.97, Z:0.42 [[-7.21187907e-01 -6.92737641e-01 1.60105554e-03 1.43025999e+02] [ 6.92735817e-01 -7.21189683e-01 -1.59029844e-03 1.19967686e+02] [ 2.25632432e-03 -3.77954859e-05 9.99997454e-01 4.16938418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.96, Z:0.41 [[-7.24120580e-01 -6.89671550e-01 1.59312190e-03 1.43022885e+02] [ 6.89669701e-01 -7.24122330e-01 -1.59828600e-03 1.19962897e+02] [ 2.25590753e-03 -5.86238829e-05 9.99997454e-01 4.14875593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.96, Z:0.41 [[-7.25633593e-01 -6.88079445e-01 1.60165415e-03 1.43022396e+02] [ 6.88077611e-01 -7.25635359e-01 -1.58968954e-03 1.19959458e+02] [ 2.25604958e-03 -5.14697721e-05 9.99997454e-01 4.12196354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.96, Z:0.41 [[-7.24697508e-01 -6.89065276e-01 1.60222621e-03 1.43022395e+02] [ 6.89063446e-01 -7.24699277e-01 -1.58911276e-03 1.19959086e+02] [ 2.25613460e-03 -4.75905449e-05 9.99997454e-01 4.13431417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.95, Z:0.41 [[-7.25502854e-01 -6.88217292e-01 1.60279868e-03 1.43023276e+02] [ 6.88215460e-01 -7.25504622e-01 -1.58853514e-03 1.19953976e+02] [ 2.25609521e-03 -4.94159471e-05 9.99997454e-01 4.13958112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.95, Z:0.41 [[-7.26083615e-01 -6.87604547e-01 1.60337095e-03 1.43022116e+02] [ 6.87602715e-01 -7.26085384e-01 -1.58795732e-03 1.19953135e+02] [ 2.25607088e-03 -5.05075743e-05 9.99997454e-01 4.11765406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.95, Z:0.41 [[-7.26469963e-01 -6.87196347e-01 1.60394319e-03 1.43022096e+02] [ 6.87194516e-01 -7.26471732e-01 -1.58737911e-03 1.19950695e+02] [ 2.25606051e-03 -5.09622820e-05 9.99997454e-01 4.11826746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.03, Y:119.94, Z:0.41 [[-7.27602464e-01 -6.85997144e-01 1.60412176e-03 1.43025104e+02] [ 6.85995310e-01 -7.27604230e-01 -1.58719863e-03 1.19942471e+02] [ 2.25597951e-03 -5.44296317e-05 9.99997454e-01 4.13732863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.94, Z:0.41 [[-7.28076299e-01 -6.85494222e-01 1.60469355e-03 1.43024053e+02] [ 6.85492388e-01 -7.28078065e-01 -1.58662033e-03 1.19941051e+02] [ 2.25596124e-03 -5.51754486e-05 9.99997454e-01 4.14104218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.03, Y:119.94, Z:0.41 [[-7.28323211e-01 -6.85231876e-01 1.60526450e-03 1.43025818e+02] [ 6.85230043e-01 -7.28324978e-01 -1.58604246e-03 1.19939412e+02] [ 2.25596108e-03 -5.51760746e-05 9.99997454e-01 4.14098540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.94, Z:0.42 [[-7.28839760e-01 -6.84682427e-01 1.60583569e-03 1.43024752e+02] [ 6.84680594e-01 -7.28841527e-01 -1.58546393e-03 1.19936288e+02] [ 2.25593903e-03 -5.60646184e-05 9.99997454e-01 4.15241390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.03, Y:119.93, Z:0.41 [[-7.29967422e-01 -6.83480053e-01 1.60640685e-03 1.43026244e+02] [ 6.83478218e-01 -7.29969187e-01 -1.58488502e-03 1.19931677e+02] [ 2.25586480e-03 -5.89703404e-05 9.99997454e-01 4.13604732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.03, Y:119.93, Z:0.42 [[-7.29042957e-01 -6.84466058e-01 1.60697762e-03 1.43025377e+02] [ 6.84464227e-01 -7.29044726e-01 -1.58430608e-03 1.19931473e+02] [ 2.25596229e-03 -5.51084927e-05 9.99997454e-01 4.15443814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.93, Z:0.41 [[-7.29284001e-01 -6.84209238e-01 1.60105597e-03 1.43021857e+02] [ 6.84207393e-01 -7.29285756e-01 -1.59031453e-03 1.19932738e+02] [ 2.25573521e-03 -6.43366124e-05 9.99997454e-01 4.12799740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.93, Z:0.41 [[-7.31935453e-01 -6.81372097e-01 1.59961861e-03 1.43020870e+02] [ 6.81370242e-01 -7.31937197e-01 -1.59177353e-03 1.19927635e+02] [ 2.25541043e-03 -7.51429658e-05 9.99997454e-01 4.14470816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.92, Z:0.41 [[-7.32296053e-01 -6.80984511e-01 1.60820490e-03 1.43022235e+02] [ 6.80982674e-01 -7.32297816e-01 -1.58305081e-03 1.19922858e+02] [ 2.25571802e-03 -6.41021882e-05 9.99997454e-01 4.13842452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.92, Z:0.42 [[-7.32919248e-01 -6.80313749e-01 1.60590127e-03 1.43018348e+02] [ 6.80311905e-01 -7.32921004e-01 -1.58539216e-03 1.19920001e+02] [ 2.25556286e-03 -6.94506725e-05 9.99997454e-01 4.15019694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.91, Z:0.41 [[-7.33193062e-01 -6.80018637e-01 1.60829434e-03 1.43019876e+02] [ 6.80016798e-01 -7.33194823e-01 -1.58295869e-03 1.19914658e+02] [ 2.25563450e-03 -6.69471621e-05 9.99997454e-01 4.13560849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.91, Z:0.41 [[-7.33691692e-01 -6.79480615e-01 1.61084901e-03 1.43018828e+02] [ 6.79478781e-01 -7.33693457e-01 -1.58035965e-03 1.19911641e+02] [ 2.25569313e-03 -6.49590269e-05 9.99997454e-01 4.12685763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.91, Z:0.41 [[-7.33356295e-01 -6.79842583e-01 1.61435887e-03 1.43018248e+02] [ 6.79840757e-01 -7.33358070e-01 -1.57678577e-03 1.19908358e+02] [ 2.25586922e-03 -5.88388189e-05 9.99997454e-01 4.12593405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.01, Y:119.91, Z:0.41 [[-7.32489454e-01 -6.80776459e-01 1.61627593e-03 1.43013605e+02] [ 6.80774640e-01 -7.32491235e-01 -1.57483265e-03 1.19905452e+02] [ 2.25601695e-03 -5.32286400e-05 9.99997454e-01 4.09248226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.01, Y:119.90, Z:0.41 [[-7.33012803e-01 -6.80212926e-01 1.61421601e-03 1.43013072e+02] [ 6.80211100e-01 -7.33014578e-01 -1.57693227e-03 1.19902735e+02] [ 2.25589358e-03 -5.79038909e-05 9.99997454e-01 4.11026748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.01, Y:119.90, Z:0.41 [[-7.30461310e-01 -6.82952155e-01 1.62151928e-03 1.43013397e+02] [ 6.82950352e-01 -7.30463109e-01 -1.56948096e-03 1.19902703e+02] [ 2.25634042e-03 -3.90279582e-05 9.99997454e-01 4.11425729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.89, Z:0.41 [[-7.32029911e-01 -6.81270573e-01 1.61727867e-03 1.43016046e+02] [ 6.81268757e-01 -7.32031696e-01 -1.57380821e-03 1.19893950e+02] [ 2.25608847e-03 -5.02732577e-05 9.99997454e-01 4.09631515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.01, Y:119.89, Z:0.41 [[-7.34244789e-01 -6.78882869e-01 1.62482387e-03 1.43013192e+02] [ 6.78881064e-01 -7.34246585e-01 -1.56610147e-03 1.19892893e+02] [ 2.25622084e-03 -4.68396898e-05 9.99997454e-01 4.08873931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.89, Z:0.41 [[-7.34249572e-01 -6.78877679e-01 1.63171875e-03 1.43017277e+02] [ 6.78875890e-01 -7.34251384e-01 -1.55905147e-03 1.19887881e+02] [ 2.25649699e-03 -3.69983540e-05 9.99997453e-01 4.09440158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.95, Y:119.96, Z:0.42 [[-7.28736238e-01 -6.84792553e-01 1.62968433e-03 1.42947011e+02] [ 6.84790773e-01 -7.28738060e-01 -1.56113079e-03 1.19961713e+02] [ 2.25666373e-03 -2.16597818e-05 9.99997454e-01 4.17445906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.89, Z:0.42 [[-7.28788415e-01 -6.84737061e-01 1.61351056e-03 1.43016406e+02] [ 6.84735245e-01 -7.28790200e-01 -1.57765895e-03 1.19892763e+02] [ 2.25619224e-03 -4.49520117e-05 9.99997454e-01 4.18458136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:119.89, Z:0.42 [[-7.28692053e-01 -6.84839609e-01 1.61308626e-03 1.43015335e+02] [ 6.84837792e-01 -7.28693837e-01 -1.57809266e-03 1.19891725e+02] [ 2.25618638e-03 -4.52411516e-05 9.99997454e-01 4.19333710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.01, Y:119.89, Z:0.42 [[-7.28618120e-01 -6.84918266e-01 1.61365906e-03 1.43014719e+02] [ 6.84916451e-01 -7.28619905e-01 -1.57750673e-03 1.19891060e+02] [ 2.25620729e-03 -4.41783517e-05 9.99997454e-01 4.19671365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61361786499995 meters Centerline goodness : 0.995346 Centerline is valid? [True, True] Translation: X:142.48, Y:120.42, Z:0.42 [[-7.28360392e-01 -6.85192333e-01 1.61423265e-03 1.42475806e+02] [ 6.85190520e-01 -7.28362180e-01 -1.57691957e-03 1.20416095e+02] [ 2.25623921e-03 -4.25088534e-05 9.99997454e-01 4.20387174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.01, Y:119.89, Z:0.42 [[-7.27199245e-01 -6.86424538e-01 1.61586396e-03 1.43010143e+02] [ 6.86422732e-01 -7.27201040e-01 -1.57524820e-03 1.19892243e+02] [ 2.25634697e-03 -3.63535488e-05 9.99997454e-01 4.19021435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.01, Y:119.89, Z:0.42 [[-7.26765175e-01 -6.86884109e-01 1.61291346e-03 1.43010349e+02] [ 6.86882297e-01 -7.26766963e-01 -1.57826349e-03 1.19890456e+02] [ 2.25629632e-03 -3.91452401e-05 9.99997454e-01 4.18843549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.01, Y:119.89, Z:0.42 [[-7.26934854e-01 -6.86704533e-01 1.61348713e-03 1.43011926e+02] [ 6.86702722e-01 -7.26936643e-01 -1.57767679e-03 1.19888064e+02] [ 2.25630072e-03 -3.88822385e-05 9.99997454e-01 4.18459376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.91, Y:119.98, Z:0.41 [[-7.28801664e-01 -6.84722959e-01 1.61406060e-03 1.42914371e+02] [ 6.84721144e-01 -7.28803450e-01 -1.57708988e-03 1.19980133e+02] [ 2.25620258e-03 -4.42043080e-05 9.99997454e-01 4.13569104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:120.13, Z:0.42 [[-7.26649101e-01 -6.87006888e-01 1.61845650e-03 1.42758396e+02] [ 6.87005089e-01 -7.26650903e-01 -1.57259236e-03 1.20134417e+02] [ 2.25643466e-03 -3.08349759e-05 9.99997454e-01 4.18247667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79361786499996 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:142.45, Y:120.44, Z:0.42 [[-7.26137695e-01 -6.87547409e-01 1.61487544e-03 1.42445438e+02] [ 6.87545603e-01 -7.26139490e-01 -1.57625638e-03 1.20439176e+02] [ 2.25637582e-03 -3.42786663e-05 9.99997454e-01 4.18417280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.44, Y:119.79, Z:1.47 [[-7.49377308e-01 6.62141256e-01 -1.61487544e-03 1.42436754e+02] [ 6.62139389e-01 7.49379039e-01 1.57625638e-03 1.19789840e+02] [ 2.25385819e-03 1.11938124e-04 -9.99997454e-01 1.47485207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:119.64, Z:1.48 [[-7.98933502e-01 6.01416955e-01 -1.70434465e-03 1.42686438e+02] [ 6.01415174e-01 7.98935306e-01 1.47161702e-03 1.19635618e+02] [ 2.24671655e-03 1.50705406e-04 -9.99997465e-01 1.47500680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:119.76, Z:1.48 [[-8.42796718e-01 5.38228945e-01 -1.81506049e-03 1.42568947e+02] [ 5.38227345e-01 8.42798662e-01 1.31929657e-03 1.19757018e+02] [ 2.23981415e-03 1.34983636e-04 -9.99997483e-01 1.48122025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:119.75, Z:1.47 [[-8.82746825e-01 4.69845115e-01 -1.90032502e-03 1.42652101e+02] [ 4.69843656e-01 8.82748858e-01 1.18040815e-03 1.19746280e+02] [ 2.23211875e-03 1.49145888e-04 -9.99997498e-01 1.47359390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:119.71, Z:1.47 [[-9.16745372e-01 3.99467137e-01 -1.98209670e-03 1.42808967e+02] [ 3.99465860e-01 9.16747504e-01 1.02024488e-03 1.19712266e+02] [ 2.22463650e-03 1.43524813e-04 -9.99997515e-01 1.47437567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:119.74, Z:1.47 [[-9.45135872e-01 3.26671045e-01 -2.05212176e-03 1.42842218e+02] [ 3.26669963e-01 9.45138091e-01 8.51480076e-04 1.19739384e+02] [ 2.21769233e-03 1.34397826e-04 -9.99997532e-01 1.47459485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.87, Y:119.77, Z:1.48 [[-9.67941340e-01 2.51167529e-01 -2.10601764e-03 1.42873023e+02] [ 2.51166628e-01 9.67943621e-01 6.86026379e-04 1.19768865e+02] [ 2.21081389e-03 1.35071943e-04 -9.99997547e-01 1.47505765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:119.80, Z:1.48 [[-9.84716614e-01 1.74151035e-01 -2.14667048e-03 1.42901002e+02] [ 1.74150319e-01 9.84718944e-01 5.17340058e-04 1.19799757e+02] [ 2.20396240e-03 1.35590000e-04 -9.99997562e-01 1.47502975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.92, Y:119.83, Z:1.48 [[-9.95356313e-01 9.62345227e-02 -2.17390262e-03 1.42922943e+02] [ 9.62339946e-02 9.95358678e-01 3.46478052e-04 1.19833642e+02] [ 2.19715599e-03 1.35665784e-04 -9.99997577e-01 1.47508412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.95, Y:119.87, Z:1.47 [[-9.99843054e-01 1.75806958e-02 -2.18762079e-03 1.42948918e+02] [ 1.75803559e-02 9.99845438e-01 1.74532774e-04 1.19868838e+02] [ 2.19035108e-03 1.36046230e-04 -9.99997592e-01 1.47488083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.95, Y:120.39, Z:0.42 [[-9.99891215e-01 1.45867243e-02 2.18783342e-03 1.42950259e+02] [-1.45867651e-02 -9.99893607e-01 -2.70703760e-06 1.20387260e+02] [ 2.18756117e-03 -3.46201554e-05 9.99997607e-01 4.17124045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.95, Y:120.39, Z:0.42 [[-9.99898605e-01 1.40709963e-02 2.18783375e-03 1.42953333e+02] [-1.40710352e-02 -9.99900998e-01 -2.40894842e-06 1.20388649e+02] [ 2.18758326e-03 -3.31937899e-05 9.99997607e-01 4.17540410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.53, Y:120.39, Z:0.42 [[-9.99900704e-01 1.39210340e-02 2.18783404e-03 1.42526485e+02] [-1.39210719e-02 -9.99903097e-01 -2.11101873e-06 1.20390082e+02] [ 2.18759265e-03 -3.25678042e-05 9.99997607e-01 4.18496101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.95, Y:120.39, Z:0.42 [[-9.99915533e-01 1.28117376e-02 2.18783710e-03 1.42948446e+02] [-1.28117633e-02 -9.99917926e-01 2.24521951e-06 1.20390401e+02] [ 2.18768630e-03 -2.57850213e-05 9.99997607e-01 4.17924676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.95, Y:120.39, Z:0.42 [[-9.99918011e-01 1.26168163e-02 2.18782915e-03 1.42954874e+02] [-1.26168535e-02 -9.99920404e-01 -3.19557066e-06 1.20393107e+02] [ 2.18761469e-03 -3.07988285e-05 9.99997607e-01 4.15280520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.95, Y:120.39, Z:0.42 [[-9.99905796e-01 1.35503923e-02 2.18782992e-03 1.42952904e+02] [-1.35504305e-02 -9.99908189e-01 -2.64015081e-06 1.20394315e+02] [ 2.18759328e-03 -3.22859394e-05 9.99997607e-01 4.17637570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.95, Y:120.40, Z:0.42 [[-9.99891384e-01 1.45751038e-02 2.18782972e-03 1.42952237e+02] [-1.45751448e-02 -9.99893777e-01 -2.79805708e-06 1.20395721e+02] [ 2.18755654e-03 -3.46856881e-05 9.99997607e-01 4.17122107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.96, Y:120.40, Z:0.42 [[-9.99871384e-01 1.58879949e-02 2.18783006e-03 1.42955903e+02] [-1.58880384e-02 -9.99873777e-01 -2.49993018e-06 1.20397082e+02] [ 2.18751419e-03 -3.72599366e-05 9.99997607e-01 4.16554816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36361786499995 meters Centerline goodness : 0.996229 Centerline is valid? [True, True] Translation: X:142.27, Y:119.86, Z:1.48 [[-9.98367682e-01 -5.70717578e-02 -2.18783036e-03 1.42265362e+02] [-5.70718992e-02 9.98370071e-01 2.20148349e-06 1.19855383e+02] [ 2.18413871e-03 1.27061524e-04 -9.99997607e-01 1.47737161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:119.95, Z:1.48 [[-9.92218873e-01 -1.24486630e-01 -2.18783036e-03 1.42864350e+02] [-1.24486933e-01 9.92221247e-01 2.20148349e-06 1.19948704e+02] [ 2.17053771e-03 2.74540644e-04 -9.99997607e-01 1.47616918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:119.98, Z:1.48 [[-9.79798253e-01 -1.99976996e-01 -2.14129811e-03 1.42861872e+02] [-1.99976784e-01 9.79800585e-01 -3.14558667e-04 1.19984192e+02] [ 2.16094964e-03 1.20005879e-04 -9.99997658e-01 1.47609989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:120.53, Z:0.42 [[-9.69417461e-01 2.45408561e-01 2.10319994e-03 1.42754289e+02] [-2.45408093e-01 -9.69419742e-01 4.81766883e-04 1.20527260e+02] [ 2.15711326e-03 -4.91090587e-05 9.99997672e-01 4.15847344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48361786499996 meters Centerline goodness : 0.994490 Centerline is valid? [True, True] Translation: X:142.11, Y:119.80, Z:1.48 [[-9.62566036e-01 -2.71039110e-01 -2.10384964e-03 1.42110037e+02] [-2.71038709e-01 9.62568329e-01 -4.78912762e-04 1.19803397e+02] [ 2.15490312e-03 1.09239532e-04 -9.99997672e-01 1.48018416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:120.06, Z:1.48 [[-9.41667625e-01 -3.36537751e-01 -2.10384964e-03 1.42773393e+02] [-3.36537508e-01 9.41669940e-01 -4.78912762e-04 1.20061353e+02] [ 2.14230419e-03 2.57047672e-04 -9.99997672e-01 1.47954637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:119.98, Z:1.48 [[-9.12588608e-01 -4.08874127e-01 -1.99519970e-03 1.42508769e+02] [-4.08873441e-01 9.12590781e-01 -7.58960989e-04 1.19982166e+02] [ 2.13112036e-03 1.23165015e-04 -9.99997722e-01 1.47997393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:120.61, Z:0.42 [[-8.88610354e-01 4.58658902e-01 1.91040876e-03 1.42514330e+02] [-4.58657951e-01 -8.88612407e-01 9.35095932e-04 1.20614454e+02] [ 2.12650300e-03 -4.52882382e-05 9.99997738e-01 4.15599175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:120.14, Z:1.48 [[-8.78820212e-01 -4.77149200e-01 -1.91714464e-03 1.42760373e+02] [-4.77148323e-01 8.78822297e-01 -9.21075734e-04 1.20143486e+02] [ 2.12432001e-03 1.05302378e-04 -9.99997738e-01 1.47697753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:120.63, Z:0.42 [[-8.50437047e-01 5.26073632e-01 1.83386922e-03 1.42470737e+02] [-5.26072558e-01 -8.50439022e-01 1.06453407e-03 1.20634477e+02] [ 2.11961725e-03 -5.94290607e-05 9.99997752e-01 4.15875575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:120.64, Z:0.42 [[-8.53892266e-01 5.20446572e-01 1.83425415e-03 1.42471978e+02] [-5.20445487e-01 -8.53894235e-01 1.06387041e-03 1.20639677e+02] [ 2.11994675e-03 -4.61985772e-05 9.99997752e-01 4.15393321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:120.17, Z:1.48 [[-8.35958216e-01 -5.48790000e-01 -1.84347161e-03 1.42750186e+02] [-5.48789016e-01 8.35960237e-01 -1.04788129e-03 1.20174678e+02] [ 2.11613573e-03 1.35691994e-04 -9.99997752e-01 1.47659822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:120.64, Z:0.42 [[-8.09937641e-01 5.86513447e-01 1.73055344e-03 1.42410772e+02] [-5.86512195e-01 -8.09939489e-01 1.21215856e-03 1.20640985e+02] [ 2.11259087e-03 -3.32178487e-05 9.99997768e-01 4.17436415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:120.64, Z:0.42 [[-8.12119557e-01 5.83488467e-01 1.74168262e-03 1.42408522e+02] [-5.83487243e-01 -8.12121424e-01 1.19595096e-03 1.20639023e+02] [ 2.11228136e-03 -4.49944305e-05 9.99997768e-01 4.17447371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.40, Y:120.64, Z:0.42 [[-8.13435687e-01 5.81652257e-01 1.74211627e-03 1.42404756e+02] [-5.81651030e-01 -8.13437552e-01 1.19531894e-03 1.20635819e+02] [ 2.11236275e-03 -4.09886369e-05 9.99997768e-01 4.17273853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.40, Y:120.63, Z:0.42 [[-8.14816726e-01 5.79716022e-01 1.74255016e-03 1.42401759e+02] [-5.79714793e-01 -8.14818588e-01 1.19468607e-03 1.20633200e+02] [ 2.11244092e-03 -3.67319108e-05 9.99997768e-01 4.17092650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.40, Y:120.63, Z:0.42 [[-8.17104049e-01 5.76487585e-01 1.74298444e-03 1.42397473e+02] [-5.76486349e-01 -8.17105907e-01 1.19405215e-03 1.20629756e+02] [ 2.11255912e-03 -2.91418906e-05 9.99997768e-01 4.17321814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.40, Y:120.63, Z:0.42 [[-8.17314228e-01 5.76189563e-01 1.74341924e-03 1.42395523e+02] [-5.76188328e-01 -8.17316087e-01 1.19341696e-03 1.20628331e+02] [ 2.11255899e-03 -2.91411529e-05 9.99997768e-01 4.17327135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:120.63, Z:0.42 [[-8.18474025e-01 5.74540886e-01 1.74385422e-03 1.42393205e+02] [-5.74539648e-01 -8.18475882e-01 1.19278101e-03 1.20626746e+02] [ 2.11260408e-03 -2.56531176e-05 9.99997768e-01 4.17691529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:120.62, Z:0.42 [[-8.19736864e-01 5.72737664e-01 1.74428898e-03 1.42388799e+02] [-5.72736423e-01 -8.19738719e-01 1.19214490e-03 1.20623891e+02] [ 2.11264750e-03 -2.17727079e-05 9.99997768e-01 4.17890470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:120.62, Z:0.42 [[-8.21823905e-01 5.69738909e-01 1.74472398e-03 1.42385806e+02] [-5.69737664e-01 -8.21825757e-01 1.19150793e-03 1.20621378e+02] [ 2.11270753e-03 -1.48252641e-05 9.99997768e-01 4.17651369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:120.62, Z:0.42 [[-8.22996382e-01 5.68043933e-01 1.74515951e-03 1.42381557e+02] [-5.68042685e-01 -8.22998232e-01 1.19086969e-03 1.20618219e+02] [ 2.11272949e-03 -1.12436480e-05 9.99997768e-01 4.17587362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:120.62, Z:0.42 [[-8.24137719e-01 5.66386770e-01 1.74559542e-03 1.42377453e+02] [-5.66385520e-01 -8.24139567e-01 1.19023037e-03 1.20615276e+02] [ 2.11274499e-03 -7.76622784e-06 9.99997768e-01 4.17752656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:120.61, Z:0.42 [[-8.25524254e-01 5.64363941e-01 1.74603187e-03 1.42375336e+02] [-5.64362687e-01 -8.25526100e-01 1.18958978e-03 1.20614692e+02] [ 2.11275645e-03 -3.36002323e-06 9.99997768e-01 4.18141373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.37, Y:120.61, Z:0.42 [[-8.25981951e-01 5.63693858e-01 1.74646849e-03 1.42371710e+02] [-5.63692604e-01 -8.25983798e-01 1.18894840e-03 1.20612820e+02] [ 2.11275759e-03 -2.42145111e-06 9.99997768e-01 4.18222468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.37, Y:120.61, Z:0.42 [[-8.26351055e-01 5.63152628e-01 1.74690509e-03 1.42368687e+02] [-5.63151374e-01 -8.26352902e-01 1.18830657e-03 1.20611743e+02] [ 2.11275806e-03 -1.81361531e-06 9.99997768e-01 4.18052345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14361786499995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:142.37, Y:120.61, Z:0.42 [[-8.26572801e-01 5.62827106e-01 1.74734174e-03 1.42365010e+02] [-5.62825853e-01 -8.26574648e-01 1.18766416e-03 1.20610188e+02] [ 2.11275796e-03 -1.75820844e-06 9.99997768e-01 4.18025153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.37, Y:120.61, Z:0.42 [[-8.26311125e-01 5.63211213e-01 1.74777863e-03 1.42365320e+02] [-5.63209962e-01 -8.26312973e-01 1.18702088e-03 1.20612259e+02] [ 2.11275562e-03 -3.51777628e-06 9.99997768e-01 4.17970046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:120.61, Z:0.42 [[-8.26228135e-01 5.63332950e-01 1.74821480e-03 1.42363891e+02] [-5.63331701e-01 -8.26229985e-01 1.18637815e-03 1.20612219e+02] [ 2.11275339e-03 -4.60580822e-06 9.99997768e-01 4.17615150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:120.61, Z:0.42 [[-8.26019592e-01 5.63638693e-01 1.74864997e-03 1.42361721e+02] [-5.63637446e-01 -8.26021443e-01 1.18573639e-03 1.20611634e+02] [ 2.11274928e-03 -6.16311230e-06 9.99997768e-01 4.17432664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:120.61, Z:0.41 [[-8.26660416e-01 5.62698407e-01 1.74908476e-03 1.42362790e+02] [-5.62697159e-01 -8.26662267e-01 1.18509467e-03 1.20614129e+02] [ 2.11275326e-03 -4.53416973e-06 9.99997768e-01 4.14649258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:120.15, Z:1.48 [[-7.86364811e-01 -6.17759910e-01 -1.75403473e-03 1.42656900e+02] [-6.17758808e-01 7.86366752e-01 -1.17776692e-03 1.20145694e+02] [ 2.10689178e-03 1.57415939e-04 -9.99997768e-01 1.47689266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:120.61, Z:0.42 [[-7.79531864e-01 6.26360402e-01 1.64941962e-03 1.42286973e+02] [-6.26359033e-01 -7.79533609e-01 1.30953455e-03 1.20607214e+02] [ 2.10601862e-03 -1.23049692e-05 9.99997782e-01 4.16232125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35361786499996 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:141.68, Y:120.13, Z:0.42 [[-7.78703015e-01 6.27390542e-01 1.64989916e-03 1.41682380e+02] [-6.27389177e-01 -7.78704763e-01 1.30893009e-03 1.20130552e+02] [ 2.10599470e-03 -1.58610697e-05 9.99997782e-01 4.17534152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:120.12, Z:1.48 [[-7.45274931e-01 -6.66755244e-01 -1.64989916e-03 1.42555428e+02] [-6.66753970e-01 7.45276747e-01 -1.30893009e-03 1.20122307e+02] [ 2.10236748e-03 1.24564034e-04 -9.99997782e-01 1.47859500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.13, Y:120.55, Z:0.42 [[-7.32789715e-01 6.80453394e-01 1.55323764e-03 1.42132526e+02] [-6.80451923e-01 -7.32791361e-01 1.41503250e-03 1.20550562e+02] [ 2.10106279e-03 -1.99822800e-05 9.99997793e-01 4.17241880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.13, Y:120.55, Z:0.42 [[-7.31569471e-01 6.81765131e-01 1.55375136e-03 1.42128599e+02] [-6.81763664e-01 -7.31571121e-01 1.41446820e-03 1.20549999e+02] [ 2.10101472e-03 -2.45094658e-05 9.99997793e-01 4.18032486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.13, Y:120.55, Z:0.42 [[-7.30903530e-01 6.82479021e-01 1.55426845e-03 1.42127714e+02] [-6.82477557e-01 -7.30905182e-01 1.41389977e-03 1.20551023e+02] [ 2.10097980e-03 -2.73290021e-05 9.99997793e-01 4.18289113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.13, Y:120.55, Z:0.42 [[-7.30460988e-01 6.82952654e-01 1.55478501e-03 1.42125399e+02] [-6.82951192e-01 -7.30462642e-01 1.41333151e-03 1.20551241e+02] [ 2.10095087e-03 -2.94587404e-05 9.99997793e-01 4.18145134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.12, Y:120.55, Z:0.42 [[-7.29258391e-01 6.84236641e-01 1.55530079e-03 1.42123353e+02] [-6.84235183e-01 -7.29260048e-01 1.41276370e-03 1.20553054e+02] [ 2.10088341e-03 -3.39217387e-05 9.99997793e-01 4.17990038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56361786499997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:142.21, Y:119.81, Z:1.48 [[-6.97962813e-01 -7.16132314e-01 -1.55581579e-03 1.42208477e+02] [-7.16130933e-01 6.97964536e-01 -1.41219632e-03 1.19811266e+02] [ 2.09722366e-03 1.28507295e-04 -9.99997793e-01 1.47814971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.83, Y:120.32, Z:0.42 [[-6.72833344e-01 7.39792695e-01 1.43484742e-03 1.41830087e+02] [-7.39791122e-01 -6.72834873e-01 1.52617739e-03 1.20318092e+02] [ 2.09447027e-03 -3.46243432e-05 9.99997806e-01 4.17556764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.06, Y:120.57, Z:0.42 [[-6.73486823e-01 7.39197833e-01 1.43614940e-03 1.42062980e+02] [-7.39196261e-01 -6.73488353e-01 1.52494951e-03 1.20567896e+02] [ 2.09446927e-03 -3.45628631e-05 9.99997806e-01 4.17371053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.07, Y:120.57, Z:0.41 [[-6.72836715e-01 7.39789622e-01 1.43880452e-03 1.42066559e+02] [-7.39788057e-01 -6.72838252e-01 1.52244025e-03 1.20572326e+02] [ 2.09436822e-03 -4.00567047e-05 9.99997806e-01 4.12629669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.44, Y:120.10, Z:1.48 [[-6.48463921e-01 -7.61244027e-01 -1.44005177e-03 1.42441155e+02] [-7.61242515e-01 6.48465511e-01 -1.52126057e-03 1.20095294e+02] [ 2.09187443e-03 1.09746036e-04 -9.99997806e-01 1.47605998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:120.50, Z:0.42 [[-6.20735735e-01 7.84018743e-01 1.32586145e-03 1.41948039e+02] [-7.84017081e-01 -6.20737150e-01 1.61500668e-03 1.20497797e+02] [ 2.08920697e-03 -3.70056685e-05 9.99997817e-01 4.18882419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:120.51, Z:0.42 [[-6.21563251e-01 7.83362857e-01 1.32652481e-03 1.41950760e+02] [-7.83361194e-01 -6.21564666e-01 1.61446163e-03 1.20505697e+02] [ 2.08923023e-03 -3.56580340e-05 9.99997817e-01 4.15485437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:120.06, Z:1.48 [[-5.91706737e-01 -8.06152201e-01 -1.32873787e-03 1.42376384e+02] [-8.06150597e-01 5.91708218e-01 -1.61264160e-03 1.20055021e+02] [ 2.08625969e-03 1.16951933e-04 -9.99997817e-01 1.47684905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80361786499995 meters Centerline goodness : 0.995741 Centerline is valid? [True, True] Translation: X:141.39, Y:119.79, Z:0.42 [[-5.68639205e-01 8.22586165e-01 1.20648756e-03 1.41392140e+02] [-8.22584408e-01 -5.68640485e-01 1.70026880e-03 1.19794819e+02] [ 2.08467526e-03 -2.55983577e-05 9.99997827e-01 4.21148703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83361786499995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:142.25, Y:119.96, Z:1.48 [[-5.39856359e-01 -8.41756293e-01 -1.20648756e-03 1.42250416e+02] [-8.41754581e-01 5.39857698e-01 -1.70026880e-03 1.19958934e+02] [ 2.08254356e-03 9.76655080e-05 -9.99997827e-01 1.47518770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.70, Y:120.31, Z:0.42 [[-5.12678903e-01 8.58579726e-01 1.09435929e-03 1.41695318e+02] [-8.58577902e-01 -5.12680070e-01 1.76961096e-03 1.20307632e+02] [ 2.08040829e-03 -3.23505011e-05 9.99997835e-01 4.17335691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89361786499995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:141.70, Y:120.31, Z:0.42 [[-5.14610579e-01 8.57423322e-01 1.09508823e-03 1.41696695e+02] [-8.57421497e-01 -5.14611743e-01 1.76915976e-03 1.20311753e+02] [ 2.08046410e-03 -2.85238606e-05 9.99997835e-01 4.16992242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92361786499995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:142.18, Y:119.89, Z:1.48 [[-4.78851343e-01 -8.77895318e-01 -1.09673416e-03 1.42180153e+02] [-8.77893545e-01 4.78852585e-01 -1.76813841e-03 1.19894198e+02] [ 2.07741442e-03 1.16140385e-04 -9.99997835e-01 1.47737247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.59, Y:120.20, Z:0.42 [[-4.57724291e-01 8.89093657e-01 9.70994158e-04 1.41591900e+02] [-8.89091764e-01 -4.57725321e-01 1.83468543e-03 1.20204956e+02] [ 2.07565579e-03 -2.35228182e-05 9.99997846e-01 4.17888310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98361786499996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:142.10, Y:119.81, Z:1.48 [[-4.16939352e-01 -9.08933789e-01 -9.71674241e-04 1.42103958e+02] [-9.08931946e-01 4.16940467e-01 -1.83432460e-03 1.19812414e+02] [ 2.07240992e-03 1.18383649e-04 -9.99997846e-01 1.47881403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01361786499996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:141.49, Y:120.07, Z:0.42 [[-4.00258499e-01 9.16401896e-01 8.36130599e-04 1.41485063e+02] [-9.16399937e-01 -4.00259373e-01 1.89481565e-03 1.20068256e+02] [ 2.07108176e-03 -7.81396090e-06 9.99997855e-01 4.21279395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.49, Y:120.08, Z:0.42 [[-4.02894803e-01 9.15245903e-01 8.44916994e-04 1.41486461e+02] [-9.15243950e-01 -4.02895689e-01 1.89088957e-03 1.20075643e+02] [ 2.07104235e-03 -1.14755854e-05 9.99997855e-01 4.18258310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.03, Y:119.71, Z:1.48 [[-3.51403166e-01 -9.36223852e-01 -8.44916994e-04 1.42027142e+02] [-9.36221951e-01 3.51404159e-01 -1.89088957e-03 1.19707694e+02] [ 2.06720326e-03 1.26565255e-04 -9.99997855e-01 1.47598461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10361786499996 meters Centerline goodness : 0.993996 Centerline is valid? [True, True] Translation: X:141.11, Y:119.17, Z:0.42 [[-3.40989418e-01 9.40066863e-01 7.14102293e-04 1.41106531e+02] [-9.40064863e-01 -3.40990166e-01 1.93906492e-03 1.19165477e+02] [ 2.06635253e-03 -1.01018560e-05 9.99997865e-01 4.22289441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.95, Y:119.63, Z:1.48 [[-2.81788444e-01 -9.59476296e-01 -7.14102292e-04 1.41948357e+02] [-9.59474347e-01 2.81789315e-01 -1.93906492e-03 1.19629918e+02] [ 2.06171322e-03 1.38756744e-04 -9.99997865e-01 1.47717662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.29, Y:119.81, Z:0.42 [[-2.82763116e-01 9.59189606e-01 5.66159559e-04 1.41286599e+02] [-9.59187558e-01 -2.82763683e-01 1.98210094e-03 1.19811977e+02] [ 2.06129998e-03 1.74118348e-05 9.99997875e-01 4.17962423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19361786499996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:141.89, Y:119.52, Z:1.48 [[-2.19075800e-01 -9.75707678e-01 -5.66159559e-04 1.41886948e+02] [-9.75705672e-01 2.19076500e-01 -1.98210094e-03 1.19523362e+02] [ 2.05798336e-03 1.18174742e-04 -9.99997875e-01 1.47764217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.22, Y:119.67, Z:0.42 [[-2.08340054e-01 9.78056352e-01 4.41079168e-04 1.41216171e+02] [-9.78054287e-01 -2.08340521e-01 2.00955497e-03 1.19667841e+02] [ 2.05735267e-03 -1.27285785e-05 9.99997884e-01 4.18770976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.84, Y:119.42, Z:1.47 [[-1.54746379e-01 -9.87954130e-01 -4.41079168e-04 1.41836177e+02] [-9.87952094e-01 1.54746958e-01 -2.00955497e-03 1.19421112e+02] [ 2.05360380e-03 1.24793731e-04 -9.99997884e-01 1.47492009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.15, Y:119.52, Z:0.42 [[-1.41528203e-01 9.89934177e-01 3.04319098e-04 1.41149492e+02] [-9.89932096e-01 -1.41528529e-01 2.03005625e-03 1.19519226e+02] [ 2.05269190e-03 -1.39450307e-05 9.99997893e-01 4.21174167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.79, Y:119.31, Z:1.48 [[-9.12929120e-02 -9.95824036e-01 -3.04319098e-04 1.41788943e+02] [-9.95821974e-01 9.12933433e-02 -2.03005625e-03 1.19310924e+02] [ 2.04936112e-03 1.17717899e-04 -9.99997893e-01 1.47685623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.09, Y:119.36, Z:0.42 [[-7.06891990e-02 9.97498376e-01 1.66545956e-04 1.41092651e+02] [-9.97496287e-01 -7.06893918e-02 2.04129695e-03 1.19363440e+02] [ 2.04796342e-03 -2.18313271e-05 9.99997903e-01 4.24286492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.09, Y:119.35, Z:0.42 [[-7.08895243e-02 9.97484159e-01 1.67476584e-04 1.41092018e+02] [-9.97482071e-01 -7.08897186e-02 2.04122059e-03 1.19354454e+02] [ 2.04795757e-03 -2.23537330e-05 9.99997903e-01 4.23098932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.75, Y:119.19, Z:1.48 [[-2.87227441e-02 -9.99587403e-01 -1.67476584e-04 1.41753271e+02] [-9.99585325e-01 2.87230264e-02 -2.04122059e-03 1.19194883e+02] [ 2.04518882e-03 1.08777679e-04 -9.99997903e-01 1.47618809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.05, Y:119.17, Z:0.42 [[-2.02682065e-03 9.99997946e-01 2.98596964e-05 1.41047424e+02] [-9.99995858e-01 -2.02687743e-03 2.04323174e-03 1.19170403e+02] [ 2.04328806e-03 -2.57183085e-05 9.99997912e-01 4.22928646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.05, Y:119.16, Z:0.42 [[-2.99515344e-03 9.99995514e-01 3.10790931e-05 1.41046301e+02] [-9.99993427e-01 -2.99521069e-03 2.04320942e-03 1.19164011e+02] [ 2.04329335e-03 -2.49591631e-05 9.99997912e-01 4.21309396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.05, Y:119.16, Z:0.42 [[-2.96105016e-03 9.99995615e-01 3.49344563e-05 1.41045943e+02] [-9.99993529e-01 -2.96111536e-03 2.04313670e-03 1.19161218e+02] [ 2.04323118e-03 -2.88844000e-05 9.99997912e-01 4.20638382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.04, Y:119.16, Z:0.42 [[-2.03099052e-03 9.99997937e-01 3.84894690e-05 1.41044864e+02] [-9.99995850e-01 -2.03106492e-03 2.04306758e-03 1.19157985e+02] [ 2.04314154e-03 -3.43398585e-05 9.99997912e-01 4.19812555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.04, Y:119.15, Z:0.42 [[-3.40999533e-03 9.99994185e-01 3.41757506e-05 1.41043810e+02] [-9.99992098e-01 -3.41005804e-03 2.04315326e-03 1.19154265e+02] [ 2.04325792e-03 -2.72083374e-05 9.99997912e-01 4.20511480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.04, Y:119.15, Z:0.42 [[-4.59680535e-03 9.99989434e-01 3.43729484e-05 1.41042630e+02] [-9.99987347e-01 -4.59686599e-03 2.04314924e-03 1.19147812e+02] [ 2.04328566e-03 -2.49805541e-05 9.99997912e-01 4.20222657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.04, Y:119.14, Z:0.42 [[-6.50497270e-03 9.99978842e-01 3.58294218e-05 1.41040120e+02] [-9.99976755e-01 -6.50503233e-03 2.04311894e-03 1.19144478e+02] [ 2.04330878e-03 -2.25381560e-05 9.99997912e-01 4.21814837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.04, Y:119.13, Z:0.42 [[-6.80263336e-03 9.99976861e-01 4.00226013e-05 1.41038793e+02] [-9.99974774e-01 -6.80270093e-03 2.04302936e-03 1.19133464e+02] [ 2.04325435e-03 -2.61236120e-05 9.99997912e-01 4.23287597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67361786499995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:141.04, Y:119.13, Z:0.42 [[-7.69184090e-03 9.99970416e-01 4.47130695e-05 1.41037086e+02] [-9.99968330e-01 -7.69191620e-03 2.04292670e-03 1.19134605e+02] [ 2.04321019e-03 -2.89977863e-05 9.99997912e-01 4.24426072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.73, Y:119.00, Z:1.48 [[ 2.91279819e-02 -9.99575689e-01 -4.47130694e-05 1.41729279e+02] [-9.99573607e-01 -2.91278299e-02 -2.04292670e-03 1.19003064e+02] [ 2.04075747e-03 1.04200336e-04 -9.99997912e-01 1.47678780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.00, Y:118.94, Z:0.42 [[ 6.28037484e-02 9.98025891e-01 -9.99829928e-05 1.41003291e+02] [-9.98023814e-01 6.28038217e-02 2.03625636e-03 1.18935476e+02] [ 2.03851588e-03 -2.80991241e-05 9.99997922e-01 4.24421730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.72, Y:118.97, Z:1.48 [[ 1.07371015e-01 -9.94219019e-01 8.43066513e-05 1.41722855e+02] [-9.94216942e-01 -1.07370963e-01 -2.03695945e-03 1.18969668e+02] [ 2.03423592e-03 1.34891302e-04 -9.99997922e-01 1.47509476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.00, Y:118.84, Z:0.43 [[ 1.39898336e-01 9.90165839e-01 -2.58291331e-04 1.41000977e+02] [-9.90163789e-01 1.39898572e-01 2.01527951e-03 1.18844985e+02] [ 2.03159552e-03 -2.61835282e-05 9.99997936e-01 4.26098592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82361786499996 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:141.75, Y:118.94, Z:1.47 [[ 1.80633053e-01 -9.83550528e-01 2.43903957e-04 1.41754162e+02] [-9.83548467e-01 -1.80633175e-01 -2.01704941e-03 1.18942346e+02] [ 2.02792716e-03 1.24454430e-04 -9.99997936e-01 1.47373830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.05, Y:118.76, Z:0.43 [[ 2.17434903e-01 9.76074740e-01 -4.06622394e-04 1.41047307e+02] [-9.76072724e-01 2.17435281e-01 1.98383638e-03 1.18760454e+02] [ 2.02478663e-03 -3.44622428e-05 9.99997950e-01 4.29667737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.76, Y:118.91, Z:1.48 [[ 2.62434114e-01 -9.64949838e-01 3.82770164e-04 1.41764056e+02] [-9.64947800e-01 -2.62434349e-01 -1.98868940e-03 1.18907513e+02] [ 2.01943755e-03 1.52546713e-04 -9.99997949e-01 1.47515067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.07, Y:118.67, Z:0.43 [[ 2.94497810e-01 9.55651981e-01 -5.75862042e-04 1.41068389e+02] [-9.55650026e-01 2.94498373e-01 1.93274648e-03 1.18667174e+02] [ 2.01662344e-03 -1.88670321e-05 9.99997966e-01 4.25202061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.77, Y:118.87, Z:1.47 [[ 3.35364099e-01 -9.42088437e-01 5.45156674e-04 1.41770621e+02] [-9.42086447e-01 -3.35364514e-01 -1.94155193e-03 1.18869982e+02] [ 2.01193982e-03 1.37542098e-04 -9.99997967e-01 1.47453654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.09, Y:118.58, Z:0.42 [[ 3.65179663e-01 9.30936781e-01 -7.23341726e-04 1.41093818e+02] [-9.30934894e-01 3.65180379e-01 1.87470847e-03 1.18578764e+02] [ 2.00938528e-03 -1.12213557e-05 9.99997981e-01 4.24549944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.78, Y:118.84, Z:1.48 [[ 4.08623054e-01 -9.12702966e-01 7.04403774e-04 1.41778624e+02] [-9.12701034e-01 -4.08623642e-01 -1.88180550e-03 1.18837223e+02] [ 2.00536550e-03 1.26039058e-04 -9.99997981e-01 1.47619135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03361786499997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:141.13, Y:118.49, Z:0.42 [[ 4.37864767e-01 8.99040439e-01 -8.57171380e-04 1.41129159e+02] [-8.99038616e-01 4.37865605e-01 1.81054828e-03 1.18489428e+02] [ 2.00308199e-03 -2.21451294e-05 9.99997994e-01 4.24173172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.14, Y:118.46, Z:0.43 [[ 4.36614133e-01 8.99648501e-01 -8.20584079e-04 1.41141811e+02] [-8.99646647e-01 4.36614900e-01 1.82760203e-03 1.18461210e+02] [ 2.00247866e-03 -5.97211613e-05 9.99997993e-01 4.25030445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.80, Y:118.76, Z:1.48 [[ 4.75783075e-01 -8.79562267e-01 8.26799717e-04 1.41804716e+02] [-8.79560386e-01 -4.75783772e-01 -1.82472164e-03 1.18763750e+02] [ 1.99833419e-03 1.40951395e-04 -9.99997993e-01 1.47771683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.18, Y:118.36, Z:0.43 [[ 5.03871165e-01 8.63778231e-01 -1.00832232e-03 1.41183482e+02] [-8.63776514e-01 5.03872174e-01 1.72231892e-03 1.18363197e+02] [ 1.99576715e-03 3.13830121e-06 9.99998008e-01 4.26601505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.20, Y:118.33, Z:0.43 [[ 5.04727317e-01 8.63278290e-01 -9.63991493e-04 1.41199737e+02] [-8.63276523e-01 5.04728236e-01 1.74729850e-03 1.18334150e+02] [ 1.99495859e-03 -4.97180623e-05 9.99998009e-01 4.26876860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.21, Y:118.31, Z:0.43 [[ 5.05384270e-01 8.62893858e-01 -9.63735393e-04 1.41214252e+02] [-8.62892090e-01 5.05385187e-01 1.74744275e-03 1.18307321e+02] [ 1.99491521e-03 -5.15304305e-05 9.99998009e-01 4.27478434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.23, Y:118.28, Z:0.43 [[ 5.05754008e-01 8.62677199e-01 -9.65920068e-04 1.41229712e+02] [-8.62675434e-01 5.05754928e-01 1.74621288e-03 1.18280449e+02] [ 1.99493688e-03 -4.98786519e-05 9.99998009e-01 4.28056961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.25, Y:118.25, Z:0.43 [[ 5.05962319e-01 8.62555037e-01 -9.69871911e-04 1.41246156e+02] [-8.62553275e-01 5.05963247e-01 1.74398815e-03 1.18251691e+02] [ 1.99500531e-03 -4.58260975e-05 9.99998009e-01 4.28780480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.26, Y:118.22, Z:0.43 [[ 5.05936136e-01 8.62570393e-01 -9.71256874e-04 1.41263007e+02] [-8.62568633e-01 5.05937066e-01 1.74320772e-03 1.18223183e+02] [ 1.99503422e-03 -4.41760624e-05 9.99998009e-01 4.29219582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.28, Y:118.20, Z:0.43 [[ 5.05601254e-01 8.62766729e-01 -9.70971555e-04 1.41279108e+02] [-8.62764969e-01 5.05602184e-01 1.74336840e-03 1.18196230e+02] [ 1.99504559e-03 -4.37290038e-05 9.99998009e-01 4.29897214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.30, Y:118.17, Z:0.43 [[ 5.05801623e-01 8.62649273e-01 -9.74340697e-04 1.41295223e+02] [-8.62647516e-01 5.05802560e-01 1.74147197e-03 1.18169712e+02] [ 1.99510355e-03 -4.03267685e-05 9.99998009e-01 4.27707871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.31, Y:118.14, Z:0.43 [[ 5.04560475e-01 8.63375795e-01 -9.81506242e-04 1.41310100e+02] [-8.63374048e-01 5.04561429e-01 1.73743940e-03 1.18141765e+02] [ 1.99529331e-03 -2.92362290e-05 9.99998009e-01 4.29528614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.33, Y:118.11, Z:0.43 [[ 5.03107733e-01 8.64223150e-01 -9.77210129e-04 1.41326129e+02] [-8.64221400e-01 5.03108682e-01 1.73985588e-03 1.18113403e+02] [ 1.99526663e-03 -3.08090437e-05 9.99998009e-01 4.30552394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.34, Y:118.09, Z:0.43 [[ 5.01962050e-01 8.64889095e-01 -9.76803291e-04 1.41340970e+02] [-8.64887345e-01 5.01963000e-01 1.74008458e-03 1.18089081e+02] [ 1.99529928e-03 -2.86316162e-05 9.99998009e-01 4.26519480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45361786499996 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:141.36, Y:118.06, Z:0.43 [[ 5.02271329e-01 8.64709508e-01 -9.89945442e-04 1.41357409e+02] [-8.64707772e-01 5.02272304e-01 1.73267414e-03 1.18058457e+02] [ 1.99548198e-03 -1.42590266e-05 9.99998009e-01 4.28495208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.02, Y:118.44, Z:1.48 [[ 5.47408077e-01 -8.36865261e-01 9.65009533e-04 1.42020990e+02] [-8.36863452e-01 -5.47408908e-01 -1.74664759e-03 1.18436508e+02] [ 1.98996350e-03 1.48547788e-04 -9.99998009e-01 1.47727010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.01, Y:118.43, Z:1.48 [[ 6.10428421e-01 -7.92070658e-01 1.10255965e-03 1.42012888e+02] [-7.92068942e-01 -6.10429402e-01 -1.65428550e-03 1.18427112e+02] [ 1.98334583e-03 1.36519634e-04 -9.99998024e-01 1.47764282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.01, Y:118.42, Z:1.48 [[ 6.71336230e-01 -7.41151902e-01 1.23455328e-03 1.42008847e+02] [-7.41150293e-01 -6.71337353e-01 -1.54967191e-03 1.18419386e+02] [ 1.97734402e-03 1.25361372e-04 -9.99998037e-01 1.47722062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57361786499996 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:141.49, Y:117.90, Z:0.43 [[ 6.88387885e-01 7.25341514e-01 -1.34463572e-03 1.41491950e+02] [-7.25340070e-01 6.88389198e-01 1.44748823e-03 1.17897272e+02] [ 1.97555601e-03 -2.11151980e-05 9.99998048e-01 4.29238150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:142.05, Y:118.42, Z:1.48 [[ 7.22999741e-01 -6.90847000e-01 1.34101612e-03 1.42050914e+02] [-6.90845487e-01 -7.23000974e-01 -1.45084555e-03 1.18416377e+02] [ 1.97186825e-03 1.22526023e-04 -9.99998048e-01 1.47899571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63361786499996 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:141.58, Y:117.86, Z:0.43 [[ 7.43981786e-01 6.68198304e-01 -1.45913631e-03 1.41580617e+02] [-6.68196995e-01 7.43983217e-01 1.32263064e-03 1.17855869e+02] [ 1.96935248e-03 -9.02261142e-06 9.99998061e-01 4.30232428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:118.42, Z:1.48 [[ 7.77224146e-01 -6.29222177e-01 1.44165435e-03 1.42097665e+02] [-6.29220762e-01 -7.77225471e-01 -1.34155493e-03 1.18416603e+02] [ 1.96462659e-03 1.35570043e-04 -9.99998061e-01 1.47748894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.09, Y:118.40, Z:1.48 [[ 8.24121746e-01 -5.66410612e-01 1.53847595e-03 1.42090868e+02] [-5.66409317e-01 -8.24123171e-01 -1.21839295e-03 1.18403881e+02] [ 1.95800437e-03 1.32697011e-04 -9.99998074e-01 1.47722049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.09, Y:118.39, Z:1.48 [[ 8.65436420e-01 -5.01016139e-01 1.62215161e-03 1.42087145e+02] [-5.01014965e-01 -8.65437930e-01 -1.09292543e-03 1.18393754e+02] [ 1.95144481e-03 1.33135239e-04 -9.99998087e-01 1.47854395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:118.38, Z:1.48 [[ 9.01294013e-01 -4.33204595e-01 1.69750474e-03 1.42080319e+02] [-4.33203555e-01 -9.01295602e-01 -9.58090489e-04 1.18375771e+02] [ 1.94500276e-03 1.28156132e-04 -9.99998100e-01 1.47734806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78361786499997 meters Centerline goodness : 0.994184 Centerline is valid? [True, True] Translation: X:142.09, Y:118.40, Z:1.47 [[ 9.33132310e-01 -3.59528845e-01 1.76095209e-03 1.42091877e+02] [-3.59527934e-01 -9.33133962e-01 -8.20438802e-04 1.18399957e+02] [ 1.93817561e-03 1.32466490e-04 -9.99998113e-01 1.47284656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:118.43, Z:1.48 [[ 9.57620512e-01 -2.88027236e-01 1.80724875e-03 1.42104722e+02] [-2.88026433e-01 -9.57622206e-01 -6.95624906e-04 1.18428818e+02] [ 1.93102045e-03 1.45609269e-04 -9.99998125e-01 1.47654480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:118.41, Z:1.48 [[ 9.76968626e-01 -2.13374936e-01 1.85474431e-03 1.42102549e+02] [-2.13374318e-01 -9.76970379e-01 -5.27541495e-04 1.18409542e+02] [ 1.92459439e-03 1.19636688e-04 -9.99998141e-01 1.47632374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.87361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.10, Y:118.39, Z:1.48 [[ 9.91056754e-01 -1.33427729e-01 1.88482306e-03 1.42097198e+02] [-1.33427252e-01 -9.91058538e-01 -3.76794537e-04 1.18393982e+02] [ 1.91824483e-03 1.21938009e-04 -9.99998153e-01 1.47790382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90361786499997 meters Centerline goodness : 0.995135 Centerline is valid? [True, True] Translation: X:142.10, Y:118.42, Z:1.47 [[ 9.98404844e-01 -5.64283266e-02 1.90032177e-03 1.42099136e+02] [-5.64279528e-02 -9.98406642e-01 -2.49792819e-04 1.18423408e+02] [ 1.91138927e-03 1.42163093e-04 -9.99998163e-01 1.47389944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.10, Y:118.45, Z:1.48 [[ 9.99760061e-01 2.18216629e-02 1.90690017e-03 1.42098129e+02] [ 2.18218847e-02 -9.99761870e-01 -9.55976542e-05 1.18453629e+02] [ 1.90435998e-03 1.37186872e-04 -9.99998177e-01 1.47713150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96361786499995 meters Centerline goodness : 0.995908 Centerline is valid? [True, True] Translation: X:142.10, Y:118.48, Z:1.48 [[ 9.95037440e-01 9.94830536e-02 1.90145274e-03 1.42096135e+02] [ 9.94831276e-02 -9.95039248e-01 5.58785124e-05 1.18482038e+02] [ 1.89757907e-03 1.33561254e-04 -9.99998191e-01 1.47861508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.09, Y:118.51, Z:1.48 [[ 9.83977023e-01 1.78285397e-01 1.88034350e-03 1.42089322e+02] [ 1.78285269e-01 -9.83978814e-01 2.36895138e-04 1.18514528e+02] [ 1.89245311e-03 1.02138174e-04 -9.99998204e-01 1.47733369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.09, Y:118.50, Z:1.48 [[ 9.67106172e-01 2.54366294e-01 1.85496618e-03 1.42092025e+02] [ 2.54366057e-01 -9.67107944e-01 3.66370609e-04 1.18504647e+02] [ 1.88714486e-03 1.17521155e-04 -9.99998212e-01 1.47759991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:118.49, Z:1.48 [[ 9.43821115e-01 3.30451842e-01 1.81184389e-03 1.42098603e+02] [ 3.30451449e-01 -9.43822848e-01 5.20965422e-04 1.18487775e+02] [ 1.88221364e-03 1.07028274e-04 -9.99998223e-01 1.47599363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.10, Y:118.47, Z:1.48 [[ 9.14456798e-01 4.04679726e-01 1.75620417e-03 1.42102903e+02] [ 4.04679178e-01 -9.14458479e-01 6.72886371e-04 1.18469080e+02] [ 1.87827926e-03 9.53737413e-05 -9.99998231e-01 1.47574716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:118.46, Z:1.48 [[ 8.80097514e-01 4.74789901e-01 1.70779421e-03 1.42108817e+02] [ 4.74789278e-01 -8.80099162e-01 7.79013273e-04 1.18458300e+02] [ 1.87289589e-03 1.25234737e-04 -9.99998238e-01 1.47523812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.12, Y:118.44, Z:1.48 [[ 8.40441573e-01 5.41899716e-01 1.63109539e-03 1.42118681e+02] [ 5.41898952e-01 -8.40443148e-01 9.17203207e-04 1.18443989e+02] [ 1.86787510e-03 1.13033174e-04 -9.99998249e-01 1.47551133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.13, Y:118.43, Z:1.48 [[ 7.92919076e-01 6.09325000e-01 1.54372818e-03 1.42125511e+02] [ 6.09324107e-01 -7.92920571e-01 1.04893347e-03 1.18427869e+02] [ 1.86319522e-03 1.08911435e-04 -9.99998258e-01 1.47544610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.13, Y:118.42, Z:1.48 [[ 7.42765347e-01 6.69550175e-01 1.48406081e-03 1.42132284e+02] [ 6.69549247e-01 -7.42766813e-01 1.12566471e-03 1.18419261e+02] [ 1.85600012e-03 1.57547060e-04 -9.99998265e-01 1.47542608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:118.41, Z:1.48 [[ 6.88915955e-01 7.24839937e-01 1.36846505e-03 1.42139474e+02] [ 7.24838867e-01 -6.88917302e-01 1.25201235e-03 1.18411158e+02] [ 1.85026780e-03 1.29385371e-04 -9.99998280e-01 1.47587283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.15, Y:118.40, Z:1.48 [[ 6.29794302e-01 7.76760950e-01 1.25063957e-03 1.42153207e+02] [ 7.76759764e-01 -6.29795534e-01 1.36200979e-03 1.18399745e+02] [ 1.84560323e-03 1.13660490e-04 -9.99998290e-01 1.47552889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.17, Y:118.39, Z:1.47 [[ 5.67280710e-01 8.23523724e-01 1.12782629e-03 1.42166931e+02] [ 8.23522436e-01 -5.67281823e-01 1.45973015e-03 1.18387537e+02] [ 1.84191776e-03 1.00713494e-04 -9.99998299e-01 1.47483983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.18, Y:118.38, Z:1.48 [[ 5.00222008e-01 8.65896591e-01 1.01803791e-03 1.42178214e+02] [ 8.65895240e-01 -5.00223031e-01 1.53390852e-03 1.18380127e+02] [ 1.83745217e-03 1.14219386e-04 -9.99998305e-01 1.47559676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.19, Y:118.37, Z:1.48 [[ 4.27740565e-01 9.03901119e-01 8.81027873e-04 1.42187995e+02] [ 9.03899689e-01 -4.27741459e-01 1.61148676e-03 1.18371043e+02] [ 1.83347683e-03 1.07062565e-04 -9.99998313e-01 1.47564940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.20, Y:118.37, Z:1.47 [[ 3.56127443e-01 9.34437071e-01 7.78077992e-04 1.42197082e+02] [ 9.34435607e-01 -3.56128267e-01 1.65974891e-03 1.18365156e+02] [ 1.82802648e-03 1.35981646e-04 -9.99998320e-01 1.47399599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41361786499996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:142.21, Y:118.36, Z:1.47 [[ 2.82482768e-01 9.59272157e-01 6.43718843e-04 1.42207076e+02] [ 9.59270642e-01 -2.82483470e-01 1.71031818e-03 1.18361988e+02] [ 1.82250055e-03 1.34365172e-04 -9.99998330e-01 1.47411440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.21, Y:118.36, Z:1.48 [[ 2.03386645e-01 9.79098381e-01 4.82259599e-04 1.42211919e+02] [ 9.79096812e-01 -2.03387184e-01 1.75683224e-03 1.18364560e+02] [ 1.81819703e-03 1.14862621e-04 -9.99998340e-01 1.47780256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:142.23, Y:118.36, Z:1.47 [[ 1.32895500e-01 9.91130019e-01 2.66337993e-04 1.42234019e+02] [ 9.91128384e-01 -1.32895765e-01 1.80078689e-03 1.18359741e+02] [ 1.82020914e-03 2.46586695e-05 -9.99998343e-01 1.47471961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.25, Y:118.36, Z:1.47 [[ 5.51658523e-02 9.98477186e-01 1.94361540e-04 1.42248706e+02] [ 9.98475550e-01 -5.51661142e-02 1.80978323e-03 1.18358337e+02] [ 1.81774944e-03 9.42270109e-05 -9.99998343e-01 1.47462435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.26, Y:118.36, Z:1.47 [[-2.52587230e-02 9.99680947e-01 2.80869566e-05 1.42257126e+02] [ 9.99679298e-01 2.52586303e-02 1.81733279e-03 1.18359253e+02] [ 1.81604353e-03 7.39814546e-05 -9.99998348e-01 1.47344996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.30, Y:118.32, Z:1.47 [[-9.43897336e-02 9.95535316e-01 -1.10348587e-04 1.42301707e+02] [ 9.95533666e-01 9.43897782e-02 1.81360699e-03 1.18315354e+02] [ 1.81592559e-03 6.13301470e-05 -9.99998349e-01 1.47433402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59361786499997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:142.34, Y:118.30, Z:1.47 [[-1.70811012e-01 9.85303789e-01 -2.03023451e-04 1.42341409e+02] [ 9.85302144e-01 1.70811099e-01 1.80403345e-03 1.18296178e+02] [ 1.81219966e-03 1.08109339e-04 -9.99998352e-01 1.47409554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62361786499997 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:142.38, Y:118.28, Z:1.48 [[-2.45530593e-01 9.69388778e-01 -3.54692368e-04 1.42382896e+02] [ 9.69387155e-01 2.45530832e-01 1.77617637e-03 1.18279648e+02] [ 1.80889335e-03 9.22714127e-05 -9.99998360e-01 1.47586159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.65361786499997 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:142.43, Y:118.26, Z:1.48 [[-3.19463238e-01 9.47598545e-01 -4.87347073e-04 1.42426246e+02] [ 9.47596950e-01 3.19463595e-01 1.74090626e-03 1.18259195e+02] [ 1.80536988e-03 9.43469487e-05 -9.99998366e-01 1.47562920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68361786499997 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:142.47, Y:118.24, Z:1.48 [[-3.92699288e-01 9.19666726e-01 -6.17395977e-04 1.42471640e+02] [ 9.19665169e-01 3.92699762e-01 1.69519389e-03 1.18244508e+02] [ 1.80146467e-03 9.79038604e-05 -9.99998373e-01 1.47562770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:118.24, Z:1.48 [[-4.63991157e-01 8.85839516e-01 -7.46765520e-04 1.42515756e+02] [ 8.85838007e-01 4.63991748e-01 1.63797936e-03 1.18235211e+02] [ 1.79747988e-03 9.84946574e-05 -9.99998380e-01 1.47707465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74361786499995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:142.57, Y:118.22, Z:1.47 [[-5.28340176e-01 8.49032325e-01 -8.77322921e-04 1.42567377e+02] [ 8.49030882e-01 5.28340898e-01 1.56747978e-03 1.18221726e+02] [ 1.79436658e-03 8.32882876e-05 -9.99998387e-01 1.47450849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:118.22, Z:1.48 [[-5.94692057e-01 8.03952993e-01 -9.70400490e-04 1.42616565e+02] [ 8.03951588e-01 5.94692838e-01 1.50756702e-03 1.18216486e+02] [ 1.78910324e-03 1.16383117e-04 -9.99998393e-01 1.47673259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80361786499995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:142.67, Y:118.21, Z:1.48 [[-6.55870853e-01 7.54872302e-01 -1.11018635e-03 1.42669402e+02] [ 7.54871006e-01 6.55871788e-01 1.40084566e-03 1.18209905e+02] [ 1.78559949e-03 8.07263506e-05 -9.99998403e-01 1.47527800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83361786499995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:142.71, Y:118.22, Z:1.47 [[-7.12598165e-01 7.01571376e-01 -1.20783700e-03 1.42708790e+02] [ 7.01570152e-01 7.12599183e-01 1.31341431e-03 1.18223167e+02] [ 1.78215755e-03 8.85542388e-05 -9.99998408e-01 1.47412557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.76, Y:118.23, Z:1.48 [[-7.64402137e-01 6.44738464e-01 -1.29852720e-03 1.42762046e+02] [ 6.44737320e-01 7.64403234e-01 1.21850481e-03 1.18228234e+02] [ 1.77821531e-03 9.42187325e-05 -9.99998415e-01 1.47716055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.81, Y:118.24, Z:1.48 [[-8.13012019e-01 5.82245220e-01 -1.40057753e-03 1.42805615e+02] [ 5.82244198e-01 8.13013222e-01 1.09315216e-03 1.18241862e+02] [ 1.77517066e-03 7.32677016e-05 -9.99998422e-01 1.47742478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92361786499995 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:142.85, Y:118.26, Z:1.48 [[-8.55434374e-01 5.17909110e-01 -1.47827271e-03 1.42854032e+02] [ 5.17908186e-01 8.55435649e-01 9.80747322e-04 1.18255936e+02] [ 1.77250514e-03 7.33554360e-05 -9.99998426e-01 1.48026361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95361786499996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:142.52, Y:118.47, Z:1.48 [[-8.92421366e-01 4.51200349e-01 -1.53324834e-03 1.42518789e+02] [ 4.51199489e-01 8.92422678e-01 8.86586944e-04 1.18473437e+02] [ 1.76833393e-03 9.94082647e-05 -9.99998432e-01 1.47700514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98361786499996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:142.85, Y:118.36, Z:1.48 [[-9.21410821e-01 3.88586860e-01 -1.53324834e-03 1.42854320e+02] [ 3.88585912e-01 9.21412070e-01 8.86586944e-04 1.18357583e+02] [ 1.75726956e-03 2.21112100e-04 -9.99998432e-01 1.47700729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01361786499996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:142.89, Y:118.38, Z:1.48 [[-9.49581956e-01 3.13514693e-01 -1.62652786e-03 1.42886802e+02] [ 3.13514029e-01 9.49583343e-01 6.54923949e-04 1.18384807e+02] [ 1.74985204e-03 1.11964663e-04 -9.99998463e-01 1.47994866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.49, Y:118.52, Z:1.48 [[-9.72054473e-01 2.34749456e-01 -1.67169913e-03 1.42494890e+02] [ 2.34748923e-01 9.72055905e-01 5.11173622e-04 1.18522602e+02] [ 1.74498274e-03 1.04459037e-04 -9.99998472e-01 1.47987552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:143.09, Y:119.14, Z:0.43 [[-9.76663008e-01 -2.14770738e-01 1.70251084e-03 1.43086124e+02] [ 2.14770406e-01 -9.76664492e-01 -3.77939916e-04 1.19137015e+02] [ 1.74395232e-03 -3.47099131e-06 9.99998479e-01 4.30975927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10361786499996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:143.09, Y:119.14, Z:0.43 [[-9.76261327e-01 -2.16589326e-01 1.69866636e-03 1.43088228e+02] [ 2.16588967e-01 -9.76262805e-01 -3.94494006e-04 1.19135921e+02] [ 1.74378797e-03 -1.72168501e-05 9.99998479e-01 4.30551257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13361786499996 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:142.47, Y:119.28, Z:0.43 [[-9.76214921e-01 -2.16798391e-01 1.69881044e-03 1.42469885e+02] [ 2.16798034e-01 -9.76216399e-01 -3.93872558e-04 1.19278546e+02] [ 1.74379755e-03 -1.62055040e-05 9.99998479e-01 4.31406828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16361786499996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:142.46, Y:118.56, Z:1.48 [[-9.87772653e-01 1.55891952e-01 -1.69846251e-03 1.42460992e+02] [ 1.55891502e-01 9.87774105e-01 3.95376493e-04 1.18562935e+02] [ 1.73933330e-03 1.25766216e-04 -9.99998479e-01 1.47863713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19361786499996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:143.06, Y:119.21, Z:0.43 [[-9.89977633e-01 -1.41213773e-01 1.71943170e-03 1.43056122e+02] [ 1.41213543e-01 -9.89979126e-01 -2.55044500e-04 1.19208536e+02] [ 1.73821729e-03 -9.68130696e-06 9.99998489e-01 4.30124513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.06, Y:119.21, Z:0.43 [[-9.90018497e-01 -1.40927005e-01 1.71891936e-03 1.43057089e+02] [ 1.40926768e-01 -9.90019989e-01 -2.58451962e-04 1.19207761e+02] [ 1.73818739e-03 -1.36304718e-05 9.99998489e-01 4.29441269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:142.80, Y:118.54, Z:1.48 [[-9.96936316e-01 7.81986342e-02 -1.71901440e-03 1.42802024e+02] [ 7.81983053e-02 9.96937791e-01 2.57818290e-04 1.18541885e+02] [ 1.73391146e-03 1.22604403e-04 -9.99998489e-01 1.48089342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28361786499997 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:142.31, Y:118.58, Z:1.48 [[-9.99998365e-01 5.31876569e-04 -1.72860028e-03 1.42305161e+02] [ 5.31666433e-04 9.99999851e-01 1.22021042e-04 1.18582807e+02] [ 1.72866492e-03 1.21101804e-04 -9.99998499e-01 1.47964624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.91, Y:118.64, Z:1.48 [[-9.97718759e-01 -6.74854861e-02 -1.72860028e-03 1.42913295e+02] [-6.74857969e-02 9.97720228e-01 1.22021043e-04 1.18635190e+02] [ 1.71642481e-03 2.38398651e-04 -9.99998499e-01 1.48067110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.52, Y:118.62, Z:1.48 [[-9.89489297e-01 -1.44596022e-01 -1.70944537e-03 1.42515158e+02] [-1.44596012e-01 9.89490766e-01 -1.29951907e-04 1.18620856e+02] [ 1.71027094e-03 1.18592963e-04 -9.99998530e-01 1.48043606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.37361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.82, Y:119.40, Z:0.43 [[-9.86843432e-01 1.61670003e-01 1.68871356e-03 1.42820705e+02] [-1.61669789e-01 -9.86844876e-01 2.63275290e-04 1.19399127e+02] [ 1.70906204e-03 -1.32024742e-05 9.99998539e-01 4.27469645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.60, Y:118.65, Z:1.48 [[-9.75531126e-01 -2.19854880e-01 -1.68907719e-03 1.42597453e+02] [-2.19854757e-01 9.75532582e-01 -2.60921303e-04 1.18653421e+02] [ 1.70511466e-03 1.16814803e-04 -9.99998539e-01 1.48241761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:118.69, Z:1.48 [[-9.55542923e-01 -2.94847371e-01 -1.65860671e-03 1.42619701e+02] [-2.94847136e-01 9.55544355e-01 -3.90075315e-04 1.18688197e+02] [ 1.69988496e-03 1.16301731e-04 -9.99998548e-01 1.48322865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:119.36, Z:0.43 [[-9.49014998e-01 3.15226771e-01 1.61756618e-03 1.42360698e+02] [-3.15226346e-01 -9.49016376e-01 5.18195341e-04 1.19361640e+02] [ 1.69844584e-03 -1.81243258e-05 9.99998557e-01 4.27670170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:118.80, Z:1.48 [[-9.30331596e-01 -3.66715837e-01 -1.61756618e-03 1.42847761e+02] [-3.66715488e-01 9.30332995e-01 -5.18195341e-04 1.18798529e+02] [ 1.69490563e-03 1.11093073e-04 -9.99998557e-01 1.48410135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.57, Y:119.47, Z:0.42 [[-9.26840488e-01 3.75452067e-01 1.56695425e-03 1.42569114e+02] [-3.75451512e-01 -9.26841813e-01 6.45429478e-04 1.19472383e+02] [ 1.69464655e-03 9.89483113e-06 9.99998564e-01 4.24179391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:118.69, Z:1.49 [[-9.03909628e-01 -4.27720580e-01 -1.57766268e-03 1.42510104e+02] [-4.27720149e-01 9.03910998e-01 -6.18381604e-04 1.18690583e+02] [ 1.69056118e-03 1.15837029e-04 -9.99998564e-01 1.48525906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.42, Y:118.67, Z:1.49 [[-8.67353377e-01 -4.97690477e-01 -1.51946261e-03 1.42421400e+02] [-4.97689946e-01 8.67354700e-01 -7.36744985e-04 1.18672088e+02] [ 1.68458400e-03 1.17203011e-04 -9.99998574e-01 1.48768352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.46, Y:119.53, Z:0.42 [[-8.52148333e-01 5.23298319e-01 1.44474356e-03 1.42460308e+02] [-5.23297608e-01 -8.52149558e-01 8.62497967e-04 1.19532027e+02] [ 1.68248132e-03 -2.10546444e-05 9.99998584e-01 4.23316739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:119.43, Z:0.42 [[-8.50844378e-01 5.25415786e-01 1.44789041e-03 1.42290359e+02] [-5.25415088e-01 -8.50845609e-01 8.57182531e-04 1.19432312e+02] [ 1.68230843e-03 -3.14145307e-05 9.99998584e-01 4.24243317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:118.89, Z:1.49 [[-8.31999347e-01 -5.54774720e-01 -1.44789041e-03 1.42725738e+02] [-5.54774065e-01 8.32000602e-01 -8.57182529e-04 1.18889810e+02] [ 1.68018889e-03 9.00767454e-05 -9.99998584e-01 1.48978585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:119.34, Z:0.43 [[-8.12919865e-01 5.82373933e-01 1.37692275e-03 1.42104258e+02] [-5.82373141e-01 -8.12921031e-01 9.60530678e-04 1.19341909e+02] [ 1.67871749e-03 -2.10483590e-05 9.99998591e-01 4.25834614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.31, Y:119.48, Z:0.42 [[-8.12757637e-01 5.82600304e-01 1.38161991e-03 1.42309040e+02] [-5.82599524e-01 -8.12758811e-01 9.53690001e-04 1.19481095e+02] [ 1.67854384e-03 -2.98122680e-05 9.99998591e-01 4.22681563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.31, Y:119.48, Z:0.42 [[-8.12586016e-01 5.82839643e-01 1.38455825e-03 1.42307783e+02] [-5.82838871e-01 -8.12587195e-01 9.49404892e-04 1.19479143e+02] [ 1.67842511e-03 -3.55012259e-05 9.99998591e-01 4.24010794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.31, Y:119.48, Z:0.42 [[-8.12491745e-01 5.82971052e-01 1.38490396e-03 1.42305836e+02] [-5.82970281e-01 -8.12492924e-01 9.48900326e-04 1.19476242e+02] [ 1.67840609e-03 -3.63841699e-05 9.99998591e-01 4.23710252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:118.70, Z:1.49 [[-7.91518277e-01 -6.11143925e-01 -1.38524960e-03 1.42406387e+02] [-6.11143197e-01 7.91519484e-01 -9.48395473e-04 1.18698992e+02] [ 1.67605818e-03 9.59135202e-05 -9.99998591e-01 1.48771796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.25, Y:119.49, Z:0.42 [[-7.65430057e-01 6.43517779e-01 1.30273162e-03 1.42247325e+02] [-6.43516922e-01 -7.65431164e-01 1.05070646e-03 1.19489066e+02] [ 1.67329966e-03 -3.40875369e-05 9.99998599e-01 4.22321106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:142.34, Y:118.66, Z:1.49 [[-7.42759246e-01 -6.69557318e-01 -1.30403961e-03 1.42337388e+02] [-6.69556503e-01 7.42760385e-01 -1.04908058e-03 1.18662138e+02] [ 1.67100854e-03 9.39138983e-05 -9.99998599e-01 1.48513396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.57, Y:118.94, Z:1.49 [[-6.92962273e-01 -7.20972667e-01 -1.30403961e-03 1.42569414e+02] [-7.20971936e-01 6.92963468e-01 -1.04908058e-03 1.18942485e+02] [ 1.66001024e-03 2.13202697e-04 -9.99998599e-01 1.48925765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.76, Y:119.11, Z:0.42 [[-6.64317131e-01 7.47449989e-01 1.12405507e-03 1.41759849e+02] [-7.47449002e-01 -6.64318081e-01 1.21552157e-03 1.19108403e+02] [ 1.65527170e-03 -3.26820374e-05 9.99998630e-01 4.24032205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:142.05, Y:119.42, Z:0.42 [[-6.67672673e-01 7.44454122e-01 1.12312246e-03 1.42045525e+02] [-7.44453129e-01 -6.67673618e-01 1.21638333e-03 1.19418129e+02] [ 1.65542082e-03 -2.39661211e-05 9.99998630e-01 4.20709375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:142.05, Y:119.42, Z:0.42 [[-6.67580053e-01 7.44537176e-01 1.12554179e-03 1.42045740e+02] [-7.44536187e-01 -6.67581001e-01 1.21414054e-03 1.19415381e+02] [ 1.65536308e-03 -2.74705899e-05 9.99998630e-01 4.20072576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.05, Y:119.43, Z:0.42 [[-6.71424232e-01 7.41072353e-01 1.12598337e-03 1.42054268e+02] [-7.41071359e-01 -6.71425176e-01 1.21373089e-03 1.19425102e+02] [ 1.65547599e-03 -1.95056951e-05 9.99998630e-01 4.21749055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.48, Y:118.89, Z:1.49 [[-6.41458604e-01 -7.67156814e-01 -1.13214613e-03 1.42476455e+02] [-7.67155869e-01 6.41459596e-01 -1.20799167e-03 1.18893483e+02] [ 1.65294505e-03 9.36558976e-05 -9.99998630e-01 1.48985024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.93, Y:119.32, Z:0.42 [[-6.13122192e-01 7.89987406e-01 1.03713464e-03 1.41926587e+02] [-7.89986362e-01 -6.13123068e-01 1.28469452e-03 1.19322355e+02] [ 1.65078367e-03 -3.16475015e-05 9.99998637e-01 4.20437032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:141.93, Y:119.32, Z:0.42 [[-6.13063018e-01 7.90033328e-01 1.03760443e-03 1.41926688e+02] [-7.90032285e-01 -6.13063895e-01 1.28431498e-03 1.19320768e+02] [ 1.65076945e-03 -3.23749864e-05 9.99998637e-01 4.19470251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.93, Y:119.32, Z:0.42 [[-6.12950013e-01 7.90121006e-01 1.03819344e-03 1.41926727e+02] [-7.90119964e-01 -6.12950891e-01 1.28383867e-03 1.19319353e+02] [ 1.65074949e-03 -3.33684310e-05 9.99998637e-01 4.19696198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.93, Y:119.33, Z:0.42 [[-6.15834241e-01 7.87875059e-01 1.03866291e-03 1.41934082e+02] [-7.87874014e-01 -6.15835117e-01 1.28345874e-03 1.19328662e+02] [ 1.65085022e-03 -2.79376816e-05 9.99998637e-01 4.17365263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21361786499995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:142.38, Y:118.84, Z:1.50 [[-5.90129586e-01 -8.07307862e-01 -1.04271063e-03 1.42383956e+02] [-8.07306852e-01 5.90130501e-01 -1.28017338e-03 1.18838933e+02] [ 1.64882938e-03 8.63192452e-05 -9.99998637e-01 1.49669622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.82, Y:119.23, Z:0.41 [[-5.60755419e-01 8.27980961e-01 9.42140679e-04 1.41820070e+02] [-8.27979860e-01 -5.60756210e-01 1.35086916e-03 1.19233522e+02] [ 1.64680518e-03 -2.25663060e-05 9.99998644e-01 4.14934347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27361786499995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:142.31, Y:118.77, Z:1.49 [[-5.28679226e-01 -8.48821168e-01 -9.48829860e-04 1.42305349e+02] [-8.48820106e-01 5.28680069e-01 -1.34615188e-03 1.18774905e+02] [ 1.64426965e-03 9.37033299e-05 -9.99998644e-01 1.49184407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30361786499995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:141.71, Y:119.12, Z:0.42 [[-5.01883174e-01 8.64935019e-01 8.32153720e-04 1.41708644e+02] [-8.64933858e-01 -5.01883864e-01 1.41707303e-03 1.19122571e+02] [ 1.64332061e-03 -8.55282059e-06 9.99998650e-01 4.15065570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.70, Y:119.10, Z:0.42 [[-5.01512480e-01 8.65149988e-01 8.54735791e-04 1.41695898e+02] [-8.65148851e-01 -5.01513207e-01 1.40331870e-03 1.19099156e+02] [ 1.64274244e-03 -3.56918466e-05 9.99998650e-01 4.15318602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.71, Y:119.12, Z:0.41 [[-5.01046226e-01 8.65420099e-01 8.55310437e-04 1.41707620e+02] [-8.65418963e-01 -5.01046954e-01 1.40296837e-03 1.19115297e+02] [ 1.64270772e-03 -3.72498647e-05 9.99998650e-01 4.12344934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.70, Y:119.10, Z:0.42 [[-5.01336326e-01 8.65252077e-01 8.55853126e-04 1.41698785e+02] [-8.65250941e-01 -5.01337055e-01 1.40263723e-03 1.19101874e+02] [ 1.64270567e-03 -3.73347246e-05 9.99998650e-01 4.15037733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.70, Y:119.10, Z:0.41 [[-5.01463698e-01 8.65178263e-01 8.56360830e-04 1.41700944e+02] [-8.65177127e-01 -5.01464427e-01 1.40232719e-03 1.19104900e+02] [ 1.64269750e-03 -3.76876230e-05 9.99998650e-01 4.12259902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45361786499996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:141.70, Y:119.11, Z:0.41 [[-5.03158281e-01 8.64193850e-01 8.56871404e-04 1.41701619e+02] [-8.64192713e-01 -5.03159009e-01 1.40201515e-03 1.19107385e+02] [ 1.64275543e-03 -3.50664923e-05 9.99998650e-01 4.14787667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.69, Y:119.08, Z:0.41 [[-5.03088476e-01 8.64234488e-01 8.57379856e-04 1.41687193e+02] [-8.64233352e-01 -5.03089205e-01 1.40170414e-03 1.19081715e+02] [ 1.64273961e-03 -3.57950663e-05 9.99998650e-01 4.14075712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.70, Y:119.10, Z:0.41 [[-5.04713349e-01 8.63286569e-01 8.57890592e-04 1.41696188e+02] [-8.63285432e-01 -5.04714077e-01 1.40139148e-03 1.19099302e+02] [ 1.64279190e-03 -3.33034609e-05 9.99998650e-01 4.12881780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.70, Y:119.10, Z:0.41 [[-5.05751522e-01 8.62678771e-01 8.58467258e-04 1.41695065e+02] [-8.62677634e-01 -5.05752249e-01 1.40103814e-03 1.19096051e+02] [ 1.64281761e-03 -3.20033316e-05 9.99998650e-01 4.13709073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.45, Y:118.70, Z:0.42 [[-5.05952001e-01 8.62561207e-01 8.58976237e-04 1.41453540e+02] [-8.62560070e-01 -5.05952729e-01 1.40072602e-03 1.18699348e+02] [ 1.64281329e-03 -3.22184728e-05 9.99998650e-01 4.15596437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.98, Y:118.29, Z:1.50 [[-4.80197444e-01 -8.77160006e-01 -8.58976237e-04 1.41975855e+02] [-8.77158892e-01 4.80198206e-01 -1.40072602e-03 1.18292590e+02] [ 1.64113969e-03 8.08335913e-05 -9.99998650e-01 1.49804598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:119.00, Z:0.41 [[-4.47106736e-01 8.94480292e-01 7.57358749e-04 1.41577900e+02] [-8.94479111e-01 -4.47107376e-01 1.45382606e-03 1.18996816e+02] [ 1.63903944e-03 -2.74261557e-05 9.99998656e-01 4.13493843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.99, Y:118.35, Z:1.50 [[-4.11104191e-01 -9.11588045e-01 -7.61532739e-04 1.41985088e+02] [-9.11586895e-01 4.11104884e-01 -1.45163637e-03 1.18345394e+02] [ 1.63636419e-03 9.74294676e-05 -9.99998656e-01 1.49930513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.47, Y:118.86, Z:0.41 [[-3.78212303e-01 9.25718661e-01 6.43522091e-04 1.41467441e+02] [-9.25717443e-01 -3.78212849e-01 1.50219086e-03 1.18860857e+02] [ 1.63399443e-03 -2.75725611e-05 9.99998665e-01 4.13026802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:142.07, Y:118.62, Z:1.50 [[-3.49307457e-01 -9.37007944e-01 -6.43522091e-04 1.42066973e+02] [-9.37006743e-01 3.49308041e-01 -1.50219086e-03 1.18624415e+02] [ 1.63235221e-03 7.82580705e-05 -9.99998665e-01 1.50246353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.43, Y:118.86, Z:0.41 [[-3.16244017e-01 9.48677726e-01 5.41794250e-04 1.41430105e+02] [-9.48676480e-01 -3.16244480e-01 1.53802612e-03 1.18859293e+02] [ 1.63043057e-03 -2.75959032e-05 9.99998670e-01 4.07743590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.43, Y:118.87, Z:0.41 [[-3.16521056e-01 9.48585329e-01 5.42424339e-04 1.41432594e+02] [-9.48584083e-01 -3.16521520e-01 1.53780387e-03 1.18865387e+02] [ 1.63042717e-03 -2.77877880e-05 9.99998670e-01 4.09108719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.42, Y:118.84, Z:0.41 [[-3.16796608e-01 9.48493339e-01 5.43048907e-04 1.41424172e+02] [-9.48492093e-01 -3.16797072e-01 1.53758329e-03 1.18837799e+02] [ 1.63042381e-03 -2.79764249e-05 9.99998670e-01 4.07936882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84361786499997 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:141.42, Y:118.83, Z:0.41 [[-3.17024677e-01 9.48417133e-01 5.43820331e-04 1.41423219e+02] [-9.48415888e-01 -3.17025142e-01 1.53731040e-03 1.18834741e+02] [ 1.63041624e-03 -2.84025115e-05 9.99998670e-01 4.08736459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.87361786499997 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:141.43, Y:118.84, Z:0.40 [[-3.14808900e-01 9.49154919e-01 5.44452995e-04 1.41428591e+02] [-9.49153675e-01 -3.14809369e-01 1.53708630e-03 1.18844901e+02] [ 1.63033193e-03 -3.28811146e-05 9.99998670e-01 4.04166647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.43, Y:118.85, Z:0.41 [[-3.14800208e-01 9.49157801e-01 5.45154131e-04 1.41430663e+02] [-9.49156558e-01 -3.14800679e-01 1.53683759e-03 1.18852348e+02] [ 1.63031628e-03 -3.36398253e-05 9.99998670e-01 4.05841489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:141.42, Y:118.82, Z:0.41 [[-3.15724685e-01 9.48850687e-01 5.45777442e-04 1.41418485e+02] [-9.48849443e-01 -3.15725155e-01 1.53661620e-03 1.18820944e+02] [ 1.63033500e-03 -3.27129561e-05 9.99998670e-01 4.07143192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.42, Y:118.83, Z:0.41 [[-3.22399499e-01 9.46603541e-01 5.46335990e-04 1.41419614e+02] [-9.46602295e-01 -3.22399961e-01 1.53641759e-03 1.18832337e+02] [ 1.63051703e-03 -2.18226420e-05 9.99998670e-01 4.10083815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.00, Y:118.52, Z:1.50 [[-2.86189505e-01 -9.58172880e-01 -5.46335990e-04 1.42001067e+02] [-9.58171652e-01 2.86190014e-01 -1.53641759e-03 1.18523576e+02] [ 1.62850957e-03 8.37770691e-05 -9.99998670e-01 1.50199086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02361786499995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:141.34, Y:118.68, Z:0.41 [[-2.50625470e-01 9.68084033e-01 4.23456720e-04 1.41340024e+02] [-9.68082758e-01 -2.50625827e-01 1.57117357e-03 1.18678003e+02] [ 1.62715723e-03 -1.61650368e-05 9.99998676e-01 4.08233232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.34, Y:118.68, Z:0.40 [[-2.46845261e-01 9.69054808e-01 4.44260478e-04 1.41344593e+02] [-9.69053544e-01 -2.46845656e-01 1.56526897e-03 1.18680651e+02] [ 1.62649519e-03 -4.41329654e-05 9.99998676e-01 4.03034300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.34, Y:118.67, Z:0.41 [[-2.50984742e-01 9.67990944e-01 4.38026791e-04 1.41338813e+02] [-9.67989676e-01 -2.50985123e-01 1.56704005e-03 1.18666871e+02] [ 1.62681878e-03 -3.07022690e-05 9.99998676e-01 4.07341296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.35, Y:118.69, Z:0.40 [[-2.47614075e-01 9.68858644e-01 4.45506227e-04 1.41347842e+02] [-9.68857381e-01 -2.47614472e-01 1.56491077e-03 1.18686362e+02] [ 1.62649111e-03 -4.41380652e-05 9.99998676e-01 4.02714610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14361786499995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.35, Y:118.68, Z:0.40 [[-2.48730026e-01 9.68572755e-01 4.38886947e-04 1.41346789e+02] [-9.68571488e-01 -2.48730411e-01 1.56679692e-03 1.18680760e+02] [ 1.62672134e-03 -3.53839443e-05 9.99998676e-01 4.02365671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.35, Y:118.68, Z:0.40 [[-2.48738177e-01 9.68570661e-01 4.40252357e-04 1.41346275e+02] [-9.68569395e-01 -2.48738564e-01 1.56640730e-03 1.18676994e+02] [ 1.62668389e-03 -3.67896639e-05 9.99998676e-01 4.01114039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.34, Y:118.66, Z:0.41 [[-2.53108754e-01 9.67437732e-01 4.39240016e-04 1.41339760e+02] [-9.67436464e-01 -2.53109134e-01 1.56669645e-03 1.18661904e+02] [ 1.62685692e-03 -2.83922216e-05 9.99998676e-01 4.05674361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.34, Y:118.66, Z:0.41 [[-2.54126842e-01 9.67170796e-01 4.47599851e-04 1.41338932e+02] [-9.67169531e-01 -2.54127233e-01 1.56430442e-03 1.18655748e+02] [ 1.62669686e-03 -3.53731968e-05 9.99998676e-01 4.05332056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26361786499996 meters Centerline goodness : 0.995718 Centerline is valid? [True, True] Translation: X:141.13, Y:117.93, Z:0.41 [[-2.54056314e-01 9.67189324e-01 4.48242520e-04 1.41132153e+02] [-9.67188060e-01 -2.54056707e-01 1.56412025e-03 1.17933163e+02] [ 1.62667942e-03 -3.61601894e-05 9.99998676e-01 4.09703264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29361786499996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:141.32, Y:118.58, Z:0.41 [[-2.56894101e-01 9.66439455e-01 4.46910574e-04 1.41319919e+02] [-9.66438190e-01 -2.56894488e-01 1.56450132e-03 1.18584053e+02] [ 1.62680467e-03 -3.00002858e-05 9.99998676e-01 4.06588201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32361786499996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:141.34, Y:118.64, Z:0.40 [[-2.58499590e-01 9.66011262e-01 4.50783806e-04 1.41336289e+02] [-9.66009998e-01 -2.58499982e-01 1.56338360e-03 1.18636474e+02] [ 1.62677377e-03 -3.13276422e-05 9.99998676e-01 4.04589422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.34, Y:118.65, Z:0.40 [[-2.57914415e-01 9.66167662e-01 4.51827059e-04 1.41343719e+02] [-9.66166398e-01 -2.57914809e-01 1.56308204e-03 1.18651501e+02] [ 1.62673221e-03 -3.33987322e-05 9.99998676e-01 4.01506090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.34, Y:118.63, Z:0.41 [[-2.60823292e-01 9.65386454e-01 4.52466100e-04 1.41336368e+02] [-9.65385189e-01 -2.60823683e-01 1.56289703e-03 1.18630291e+02] [ 1.62681350e-03 -2.91641226e-05 9.99998676e-01 4.05915971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.31, Y:118.54, Z:0.41 [[-2.62105302e-01 9.65039173e-01 4.53034574e-04 1.41312308e+02] [-9.65037908e-01 -2.62105692e-01 1.56273223e-03 1.18543521e+02] [ 1.62684076e-03 -2.75951334e-05 9.99998676e-01 4.05628852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:118.36, Z:1.51 [[-2.29185769e-01 -9.73382596e-01 -4.53034574e-04 1.41903221e+02] [-9.73381345e-01 2.29186202e-01 -1.56273223e-03 1.18361516e+02] [ 1.62496563e-03 8.28194139e-05 -9.99998676e-01 1.51136454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.47361786499997 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:141.75, Y:117.62, Z:1.51 [[-1.49811829e-01 -9.88714467e-01 -3.45725681e-04 1.41745895e+02] [-9.88713200e-01 1.49812192e-01 -1.58612227e-03 1.17621786e+02] [ 1.62001595e-03 1.04203666e-04 -9.99998682e-01 1.50744814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.76, Y:118.00, Z:1.51 [[-8.63117798e-02 -9.96268115e-01 -3.45725681e-04 1.41763436e+02] [-9.96266874e-01 8.63122227e-02 -1.58612227e-03 1.18004938e+02] [ 1.61004339e-03 2.07534008e-04 -9.99998682e-01 1.50908562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.73, Y:118.19, Z:1.51 [[-1.79821920e-02 -9.99838248e-01 -3.45725681e-04 1.41734715e+02] [-9.99837040e-01 1.79827187e-02 -1.58612227e-03 1.18191065e+02] [ 1.59208280e-03 3.17147387e-04 -9.99998682e-01 1.51420197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.70, Y:118.08, Z:1.51 [[ 5.06048673e-02 -9.98718693e-01 -3.45725681e-04 1.41702590e+02] [-9.98717524e-01 -5.06042590e-02 -1.58612227e-03 1.18080710e+02] [ 1.56659477e-03 4.25547803e-04 -9.99998682e-01 1.51468453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.70, Y:118.08, Z:1.51 [[ 1.30202506e-01 -9.91487419e-01 7.14974999e-05 1.41702676e+02] [-9.91486201e-01 -1.30202458e-01 -1.55999672e-03 1.18077804e+02] [ 1.55602627e-03 1.32226697e-04 -9.99998781e-01 1.51182661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.07, Y:117.96, Z:0.40 [[ 1.54225575e-01 9.88035639e-01 -2.19498408e-04 1.41071481e+02] [-9.88034441e-01 1.54225730e-01 1.53888670e-03 1.17957603e+02] [ 1.55432720e-03 -2.04636986e-05 9.99998792e-01 3.99596189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:141.08, Y:117.93, Z:0.40 [[ 1.54065190e-01 9.88060660e-01 -2.22420549e-04 1.41075119e+02] [-9.88059462e-01 1.54065349e-01 1.53846892e-03 1.17928586e+02] [ 1.55436791e-03 -1.72597770e-05 9.99998792e-01 4.03257708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.72, Y:118.02, Z:1.52 [[ 2.05713475e-01 -9.78612241e-01 2.19918858e-04 1.41715554e+02] [-9.78611036e-01 -2.05713568e-01 -1.53882678e-03 1.18018569e+02] [ 1.55115501e-03 1.01342383e-04 -9.99998792e-01 1.51539443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.10, Y:117.85, Z:0.40 [[ 2.35375458e-01 9.71904460e-01 -3.38902140e-04 1.41098819e+02] [-9.71903284e-01 2.35375700e-01 1.51216051e-03 1.17847772e+02] [ 1.54944488e-03 -2.65453703e-05 9.99998799e-01 4.01184479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74361786499995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.71, Y:117.98, Z:1.52 [[ 2.76735452e-01 -9.60946086e-01 3.31644590e-04 1.41713620e+02] [-9.60944899e-01 -2.76735632e-01 -1.51377741e-03 1.17983489e+02] [ 1.54643635e-03 1.00223698e-04 -9.99998799e-01 1.51840014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.11, Y:117.77, Z:0.40 [[ 3.12603395e-01 9.49883630e-01 -4.54248365e-04 1.41113879e+02] [-9.49882484e-01 3.12603724e-01 1.47604652e-03 1.17766747e+02] [ 1.54407216e-03 -2.99345896e-05 9.99998807e-01 4.00752033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80361786499995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:141.72, Y:117.95, Z:1.51 [[ 3.46409471e-01 -9.38083297e-01 4.53423356e-04 1.41717750e+02] [-9.38082140e-01 -3.46409757e-01 -1.47630037e-03 1.17951643e+02] [ 1.54196300e-03 8.60560790e-05 -9.99998807e-01 1.51397185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83361786499995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:141.14, Y:117.69, Z:0.40 [[ 3.90446526e-01 9.20625432e-01 -5.69881204e-04 1.41135671e+02] [-9.20624322e-01 3.90446940e-01 1.43019912e-03 1.17686805e+02] [ 1.53918605e-03 -3.37697788e-05 9.99998815e-01 4.00047953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.15, Y:117.66, Z:0.40 [[ 3.90772560e-01 9.20487091e-01 -5.66791397e-04 1.41145623e+02] [-9.20485979e-01 3.90772969e-01 1.43142257e-03 1.17662029e+02] [ 1.53909275e-03 -3.76371272e-05 9.99998815e-01 3.99609637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.16, Y:117.64, Z:0.40 [[ 3.91661933e-01 9.20109016e-01 -5.73749909e-04 1.41156450e+02] [-9.20107907e-01 3.91662352e-01 1.42866422e-03 1.17637082e+02] [ 1.53924307e-03 -3.16415605e-05 9.99998815e-01 4.00340582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.17, Y:117.61, Z:0.40 [[ 3.93172862e-01 9.19464392e-01 -5.75911554e-04 1.41167819e+02] [-9.19463284e-01 3.93173282e-01 1.42780695e-03 1.17609617e+02] [ 1.53925068e-03 -3.18454146e-05 9.99998815e-01 3.99492788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.18, Y:117.58, Z:0.40 [[ 3.91712244e-01 9.20087602e-01 -5.67406114e-04 1.41177548e+02] [-9.20086490e-01 3.91712653e-01 1.43117902e-03 1.17580356e+02] [ 1.53907023e-03 -3.85476452e-05 9.99998815e-01 3.99922358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.19, Y:117.56, Z:0.40 [[ 3.91948219e-01 9.19987108e-01 -5.61383413e-04 1.41190544e+02] [-9.19985992e-01 3.91948618e-01 1.43356972e-03 1.17556622e+02] [ 1.53889911e-03 -4.54202204e-05 9.99998815e-01 3.96030229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.20, Y:117.53, Z:0.40 [[ 3.91281878e-01 9.20270704e-01 -5.68345823e-04 1.41201626e+02] [-9.20269593e-01 3.91282289e-01 1.43080410e-03 1.17529908e+02] [ 1.53911075e-03 -3.68163345e-05 9.99998815e-01 3.95608448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.21, Y:117.50, Z:0.40 [[ 3.90605228e-01 9.20558109e-01 -5.68443945e-04 1.41212158e+02] [-9.20556998e-01 3.90605640e-01 1.43076511e-03 1.17504353e+02] [ 1.53913984e-03 -3.55792819e-05 9.99998815e-01 3.97206530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07361786499996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:141.22, Y:117.48, Z:0.40 [[ 3.87887332e-01 9.21706620e-01 -5.68835494e-04 1.41221321e+02] [-9.21705511e-01 3.87887748e-01 1.43060952e-03 1.17480024e+02] [ 1.53924658e-03 -3.06165000e-05 9.99998815e-01 3.96297801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.23, Y:117.45, Z:0.39 [[ 3.88575472e-01 9.21416719e-01 -5.76346923e-04 1.41233285e+02] [-9.21415614e-01 3.88575899e-01 1.42762452e-03 1.17452032e+02] [ 1.53939162e-03 -2.36848156e-05 9.99998815e-01 3.94600104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.24, Y:117.43, Z:0.39 [[ 3.88567470e-01 9.21420099e-01 -5.68543160e-04 1.41243815e+02] [-9.21418988e-01 3.88567884e-01 1.43072558e-03 1.17426543e+02] [ 1.53921692e-03 -3.20669558e-05 9.99998815e-01 3.94681961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.25, Y:117.39, Z:0.40 [[ 3.86692976e-01 9.22208338e-01 -5.68689821e-04 1.41254515e+02] [-9.22207229e-01 3.86693394e-01 1.43066728e-03 1.17393221e+02] [ 1.53928190e-03 -2.87791269e-05 9.99998815e-01 3.95611124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.27, Y:117.36, Z:0.40 [[ 3.85801205e-01 9.22581767e-01 -5.59961149e-04 1.41266151e+02] [-9.22580653e-01 3.85801609e-01 1.43413490e-03 1.17361829e+02] [ 1.53914062e-03 -3.66816493e-05 9.99998815e-01 3.96592281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.28, Y:117.34, Z:0.40 [[ 3.85462806e-01 9.22723206e-01 -5.57433130e-04 1.41277411e+02] [-9.22722091e-01 3.85463207e-01 1.43513835e-03 1.17339332e+02] [ 1.53910542e-03 -3.88365922e-05 9.99998815e-01 3.95492173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.29, Y:117.30, Z:0.40 [[ 3.84536388e-01 9.23109654e-01 -5.76945784e-04 1.41288323e+02] [-9.23108551e-01 3.84536820e-01 1.42738815e-03 1.17304267e+02] [ 1.53949268e-03 -1.62990981e-05 9.99998815e-01 3.96214934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.30, Y:117.28, Z:0.40 [[ 3.85311414e-01 9.22786434e-01 -5.58336363e-04 1.41300332e+02] [-9.22785319e-01 3.85311817e-01 1.43477068e-03 1.17279012e+02] [ 1.53912052e-03 -3.76089222e-05 9.99998815e-01 3.95419972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.31, Y:117.25, Z:0.40 [[ 3.85445516e-01 9.22730422e-01 -5.67957545e-04 1.41310205e+02] [-9.22729313e-01 3.85445933e-01 1.43095195e-03 1.17252235e+02] [ 1.53929982e-03 -2.74829371e-05 9.99998815e-01 3.95102524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.32, Y:117.22, Z:0.40 [[ 3.79927283e-01 9.25016182e-01 -5.68295260e-04 1.41318975e+02] [-9.25015075e-01 3.79927708e-01 1.43081782e-03 1.17216865e+02] [ 1.53944075e-03 -1.79250432e-05 9.99998815e-01 3.97459793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.33, Y:117.19, Z:0.39 [[ 3.83412999e-01 9.23576835e-01 -5.49215879e-04 1.41331560e+02] [-9.23575716e-01 3.83413389e-01 1.43838650e-03 1.17194040e+02] [ 1.53903717e-03 -4.42536307e-05 9.99998815e-01 3.94806483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.34, Y:117.16, Z:0.39 [[ 3.84321753e-01 9.23199040e-01 -5.68047638e-04 1.41343053e+02] [-9.23197931e-01 3.84322172e-01 1.43091060e-03 1.17164566e+02] [ 1.53932860e-03 -2.55096680e-05 9.99998815e-01 3.93204402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.35, Y:117.13, Z:0.40 [[ 3.81125287e-01 9.24523223e-01 -5.70893439e-04 1.41352064e+02] [-9.24522118e-01 3.81125714e-01 1.42978151e-03 1.17129367e+02] [ 1.53944838e-03 -1.71222753e-05 9.99998815e-01 3.96310687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.36, Y:117.10, Z:0.39 [[ 3.86167038e-01 9.22428703e-01 -5.52922024e-04 1.41364478e+02] [-9.22427585e-01 3.86167432e-01 1.43690075e-03 1.17104543e+02] [ 1.53895897e-03 -4.48531787e-05 9.99998815e-01 3.94464126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.38, Y:117.08, Z:0.39 [[ 3.86414018e-01 9.22325260e-01 -5.67138005e-04 1.41375078e+02] [-9.22324150e-01 3.86414433e-01 1.43126768e-03 1.17078013e+02] [ 1.53924465e-03 -2.99768185e-05 9.99998815e-01 3.94503182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.39, Y:117.05, Z:0.39 [[ 3.87895060e-01 9.21703369e-01 -5.67521207e-04 1.41385240e+02] [-9.21702259e-01 3.87895474e-01 1.43111572e-03 1.17051739e+02] [ 1.53920309e-03 -3.20371402e-05 9.99998815e-01 3.94518649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.40, Y:117.02, Z:0.39 [[ 3.90123398e-01 9.20762408e-01 -5.67906924e-04 1.41398141e+02] [-9.20761297e-01 3.90123810e-01 1.43096264e-03 1.17022366e+02] [ 1.53913062e-03 -3.53452923e-05 9.99998815e-01 3.94583046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.41, Y:116.99, Z:0.39 [[ 3.89925035e-01 9.20846428e-01 -5.67552272e-04 1.41408287e+02] [-9.20845317e-01 3.89925447e-01 1.43110329e-03 1.16992876e+02] [ 1.53912943e-03 -3.53951499e-05 9.99998815e-01 3.94901488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.42, Y:116.97, Z:0.39 [[ 3.91895775e-01 9.20009445e-01 -5.67352562e-04 1.41418733e+02] [-9.20008333e-01 3.91896184e-01 1.43118246e-03 1.16966064e+02] [ 1.53904469e-03 -3.89052755e-05 9.99998815e-01 3.93857846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.43, Y:116.94, Z:0.40 [[ 3.92810860e-01 9.19619109e-01 -5.67450413e-04 1.41430564e+02] [-9.19617997e-01 3.92811268e-01 1.43114366e-03 1.16936352e+02] [ 1.53900798e-03 -4.03311606e-05 9.99998815e-01 3.95290418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.44, Y:116.91, Z:0.39 [[ 3.93285241e-01 9.19416335e-01 -5.67096512e-04 1.41441573e+02] [-9.19415222e-01 3.93285647e-01 1.43128388e-03 1.16907428e+02] [ 1.53897670e-03 -4.15056614e-05 9.99998815e-01 3.94790483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.45, Y:116.88, Z:0.39 [[ 3.94324246e-01 9.18971200e-01 -5.68105210e-04 1.41452753e+02] [-9.18970087e-01 3.94324653e-01 1.43088439e-03 1.16878680e+02] [ 1.53895943e-03 -4.21607134e-05 9.99998815e-01 3.92416201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.46, Y:116.85, Z:0.39 [[ 3.94761793e-01 9.18783329e-01 -5.66753021e-04 1.41464921e+02] [-9.18782215e-01 3.94762197e-01 1.43141977e-03 1.16848572e+02] [ 1.53889729e-03 -4.43472380e-05 9.99998815e-01 3.93753398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.48, Y:116.82, Z:0.39 [[ 3.94477522e-01 9.18905416e-01 -5.66405077e-04 1.41476883e+02] [-9.18904302e-01 3.94477926e-01 1.43155744e-03 1.16817500e+02] [ 1.53890018e-03 -4.42451666e-05 9.99998815e-01 3.93044838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.49, Y:116.79, Z:0.39 [[ 3.93414430e-01 9.19361064e-01 -5.65997384e-04 1.41487852e+02] [-9.19359950e-01 3.93414835e-01 1.43171861e-03 1.16787904e+02] [ 1.53893811e-03 -4.29034327e-05 9.99998815e-01 3.92830019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.50, Y:116.76, Z:0.39 [[ 3.92750776e-01 9.19644773e-01 -5.65617985e-04 1.41500244e+02] [-9.19643659e-01 3.92751181e-01 1.43186848e-03 1.16757141e+02] [ 1.53895749e-03 -4.22004624e-05 9.99998815e-01 3.92936106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.51, Y:116.73, Z:0.39 [[ 3.91671937e-01 9.20104763e-01 -5.65215431e-04 1.41512550e+02] [-9.20103649e-01 3.91672343e-01 1.43202736e-03 1.16726676e+02] [ 1.53899445e-03 -4.08281517e-05 9.99998815e-01 3.92044926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.52, Y:116.70, Z:0.39 [[ 3.88164847e-01 9.21589785e-01 -5.64814251e-04 1.41524021e+02] [-9.21588673e-01 3.88165256e-01 1.43218558e-03 1.16697708e+02] [ 1.53912887e-03 -3.53976802e-05 9.99998815e-01 3.91553050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.54, Y:116.67, Z:0.39 [[ 3.88485543e-01 9.21454646e-01 -5.64490690e-04 1.41538759e+02] [-9.21453533e-01 3.88485951e-01 1.43231310e-03 1.16667761e+02] [ 1.53910826e-03 -3.62809907e-05 9.99998815e-01 3.91274659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.55, Y:116.64, Z:0.39 [[ 3.87019798e-01 9.22071233e-01 -5.64085637e-04 1.41551244e+02] [-9.22070121e-01 3.87020207e-01 1.43247260e-03 1.16637058e+02] [ 1.53915432e-03 -3.42687452e-05 9.99998815e-01 3.89398287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.56, Y:116.61, Z:0.39 [[ 3.84453257e-01 9.23144288e-01 -5.63682913e-04 1.41561100e+02] [-9.23143176e-01 3.84453669e-01 1.43263106e-03 1.16613090e+02] [ 1.53923514e-03 -3.04196406e-05 9.99998815e-01 3.87467813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.57, Y:116.58, Z:0.39 [[ 3.83142025e-01 9.23689260e-01 -5.82315025e-04 1.41572807e+02] [-9.23688161e-01 3.83142467e-01 1.42530683e-03 1.16582011e+02] [ 1.53965022e-03 -8.21744921e-06 9.99998815e-01 3.86956999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:116.55, Z:0.39 [[ 3.81405883e-01 9.24407495e-01 -5.79011404e-04 1.41583774e+02] [-9.24406394e-01 3.81406322e-01 1.42660353e-03 1.16551371e+02] [ 1.53960160e-03 -8.87313333e-06 9.99998815e-01 3.87087774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.59, Y:116.52, Z:0.39 [[ 3.79751007e-01 9.25088557e-01 -5.78206913e-04 1.41594738e+02] [-9.25087457e-01 3.79751447e-01 1.42691896e-03 1.16522278e+02] [ 1.53960132e-03 -6.98194995e-06 9.99998815e-01 3.87208319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.61, Y:116.49, Z:0.39 [[ 3.78561093e-01 9.25576126e-01 -5.78881521e-04 1.41605937e+02] [-9.25575026e-01 3.78561535e-01 1.42665463e-03 1.16491592e+02] [ 1.53961974e-03 -4.27765721e-06 9.99998815e-01 3.86760346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.61, Y:116.46, Z:0.39 [[ 3.74297929e-01 9.27308324e-01 -5.77538967e-04 1.41613885e+02] [-9.27307225e-01 3.74298374e-01 1.42718018e-03 1.16456247e+02] [ 1.53960795e-03 1.36547298e-06 9.99998815e-01 3.91314288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.63, Y:116.43, Z:0.39 [[ 3.76022758e-01 9.26610259e-01 -5.60307019e-04 1.41626291e+02] [-9.26609150e-01 3.76023175e-01 1.43391362e-03 1.16429699e+02] [ 1.53936750e-03 -1.99985451e-05 9.99998815e-01 3.86120093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.64, Y:116.40, Z:0.39 [[ 3.74897936e-01 9.27065914e-01 -5.72993744e-04 1.41637414e+02] [-9.27064813e-01 3.74898374e-01 1.42896421e-03 1.16395916e+02] [ 1.53955844e-03 -4.51339674e-06 9.99998815e-01 3.88717050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.65, Y:116.37, Z:0.39 [[ 3.74646962e-01 9.27167375e-01 -5.58862363e-04 1.41646856e+02] [-9.27166266e-01 3.74647378e-01 1.43446973e-03 1.16368288e+02] [ 1.53936986e-03 -1.92613966e-05 9.99998815e-01 3.86329739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24361786499995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:141.65, Y:116.34, Z:0.39 [[ 3.73781437e-01 9.27516638e-01 -5.69431972e-04 1.41652738e+02] [-9.27515535e-01 3.73781870e-01 1.43034640e-03 1.16337739e+02] [ 1.53951343e-03 -6.47993275e-06 9.99998815e-01 3.91512433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.66, Y:116.31, Z:0.39 [[ 3.75851062e-01 9.26679916e-01 -5.59427902e-04 1.41664044e+02] [-9.26678806e-01 3.75851478e-01 1.43424848e-03 1.16309652e+02] [ 1.53935107e-03 -2.06538357e-05 9.99998815e-01 3.89230263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30361786499995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:141.67, Y:116.28, Z:0.39 [[ 3.75531137e-01 9.26809604e-01 -5.67653958e-04 1.41673175e+02] [-9.26808500e-01 3.75531566e-01 1.43104074e-03 1.16277383e+02] [ 1.53947428e-03 -1.12938434e-05 9.99998815e-01 3.89321100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.68, Y:116.25, Z:0.39 [[ 3.77532562e-01 9.25996141e-01 -5.58855331e-04 1.41680901e+02] [-9.25995030e-01 3.77532975e-01 1.43446860e-03 1.16250582e+02] [ 1.53929871e-03 -2.40613481e-05 9.99998815e-01 3.90335066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36361786499995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:141.69, Y:116.22, Z:0.39 [[ 3.81005162e-01 9.24572742e-01 -5.58978144e-04 1.41694544e+02] [-9.24571629e-01 3.81005571e-01 1.43442074e-03 1.16221555e+02] [ 1.53920011e-03 -2.97063744e-05 9.99998815e-01 3.88493987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39361786499995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:141.70, Y:116.19, Z:0.39 [[ 3.78466688e-01 9.25614744e-01 -5.58850348e-04 1.41701115e+02] [-9.25613632e-01 3.78467100e-01 1.43447053e-03 1.16190561e+02] [ 1.53927354e-03 -2.56198115e-05 9.99998815e-01 3.89827597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.72, Y:116.16, Z:0.39 [[ 3.82451917e-01 9.23975226e-01 -5.58518476e-04 1.41717108e+02] [-9.23974113e-01 3.82452324e-01 1.43459974e-03 1.16161351e+02] [ 1.53914131e-03 -3.26088064e-05 9.99998815e-01 3.86021114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.72, Y:116.13, Z:0.39 [[ 3.78807163e-01 9.25475457e-01 -5.58112576e-04 1.41722774e+02] [-9.25474346e-01 3.78807573e-01 1.43475763e-03 1.16129284e+02] [ 1.53925024e-03 -2.69775960e-05 9.99998815e-01 3.88912795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:141.74, Y:116.10, Z:0.38 [[ 3.82943071e-01 9.23771776e-01 -5.57735009e-04 1.41739060e+02] [-9.23770662e-01 3.82943475e-01 1.43490439e-03 1.16099784e+02] [ 1.53910516e-03 -3.42674538e-05 9.99998815e-01 3.84175389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51361786499996 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:141.75, Y:116.07, Z:0.39 [[ 3.78174131e-01 9.25734312e-01 -5.57316110e-04 1.41745407e+02] [-9.25733200e-01 3.78174541e-01 1.43506707e-03 1.16067564e+02] [ 1.53925359e-03 -2.67792156e-05 9.99998815e-01 3.88109628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.76, Y:116.04, Z:0.39 [[ 3.77330748e-01 9.26078396e-01 -5.56925015e-04 1.41757506e+02] [-9.26077285e-01 3.77331159e-01 1.43521883e-03 1.16037214e+02] [ 1.53927031e-03 -2.57965892e-05 9.99998815e-01 3.87499574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.77, Y:116.01, Z:0.39 [[ 3.76383476e-01 9.26463798e-01 -5.56530333e-04 1.41767823e+02] [-9.26462686e-01 3.76383887e-01 1.43537186e-03 1.16011831e+02] [ 1.53928911e-03 -2.46456621e-05 9.99998815e-01 3.87598691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60361786499996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:141.78, Y:115.99, Z:0.39 [[ 3.75542060e-01 9.26805185e-01 -5.56664202e-04 1.41778003e+02] [-9.26804074e-01 3.75542472e-01 1.43531994e-03 1.15985872e+02] [ 1.53931301e-03 -2.31043573e-05 9.99998815e-01 3.87232551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.79, Y:115.96, Z:0.39 [[ 3.74146185e-01 9.27369572e-01 -5.56784568e-04 1.41787946e+02] [-9.27368461e-01 3.74146599e-01 1.43527325e-03 1.15959615e+02] [ 1.53934779e-03 -2.06575610e-05 9.99998815e-01 3.86323775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.80, Y:115.93, Z:0.38 [[ 3.76096330e-01 9.26580402e-01 -5.56903455e-04 1.41802843e+02] [-9.26579290e-01 3.76096741e-01 1.43522711e-03 1.15934242e+02] [ 1.53930289e-03 -2.37684421e-05 9.99998815e-01 3.79957265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.69361786499996 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:141.81, Y:115.90, Z:0.39 [[ 3.71956405e-01 9.28250024e-01 -5.70697852e-04 1.41810744e+02] [-9.28248923e-01 3.71956843e-01 1.42987604e-03 1.15899416e+02] [ 1.53955744e-03 -2.10188659e-06 9.99998815e-01 3.86217555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72361786499997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:141.82, Y:115.87, Z:0.38 [[ 3.71827091e-01 9.28301840e-01 -5.55998381e-04 1.41821265e+02] [-9.28300730e-01 3.71827506e-01 1.43556918e-03 1.15873280e+02] [ 1.53937700e-03 -1.76498066e-05 9.99998815e-01 3.84994427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.75361786499997 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:141.83, Y:115.85, Z:0.39 [[ 3.72306238e-01 9.28109774e-01 -5.58552700e-04 1.41832275e+02] [-9.28108666e-01 3.72306657e-01 1.43457906e-03 1.15847161e+02] [ 1.53939973e-03 -1.57051307e-05 9.99998815e-01 3.85797489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78361786499997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:141.85, Y:115.82, Z:0.39 [[ 3.73731258e-01 9.27536866e-01 -5.56477788e-04 1.41845443e+02] [-9.27535755e-01 3.73731671e-01 1.43538347e-03 1.15817841e+02] [ 1.53934446e-03 -2.02946240e-05 9.99998815e-01 3.85271071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81361786499997 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:141.86, Y:115.79, Z:0.39 [[ 3.73491619e-01 9.27633388e-01 -5.56123557e-04 1.41856004e+02] [-9.27632277e-01 3.73492032e-01 1.43552070e-03 1.15788067e+02] [ 1.53934465e-03 -2.02767879e-05 9.99998815e-01 3.85086031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.87, Y:115.76, Z:0.39 [[ 3.74559348e-01 9.27202775e-01 -5.55774694e-04 1.41866185e+02] [-9.27201664e-01 3.74559759e-01 1.43565575e-03 1.15762562e+02] [ 1.53931483e-03 -2.24230609e-05 9.99998815e-01 3.86261066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.87361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.88, Y:115.74, Z:0.39 [[ 3.75432334e-01 9.26849639e-01 -5.56004449e-04 1.41875907e+02] [-9.26848528e-01 3.75432745e-01 1.43556677e-03 1.15737646e+02] [ 1.53929682e-03 -2.36262773e-05 9.99998815e-01 3.86835112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90361786499997 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:141.89, Y:115.71, Z:0.39 [[ 3.77944120e-01 9.25828241e-01 -5.56165305e-04 1.41885675e+02] [-9.25827129e-01 3.77944529e-01 1.43550445e-03 1.15711859e+02] [ 1.53923019e-03 -2.76275377e-05 9.99998815e-01 3.86003439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93361786499995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:141.90, Y:115.68, Z:0.39 [[ 3.78779988e-01 9.25486581e-01 -5.56308712e-04 1.41897032e+02] [-9.25485468e-01 3.78780395e-01 1.43544887e-03 1.15681254e+02] [ 1.53920750e-03 -2.88636759e-05 9.99998815e-01 3.85668354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:141.91, Y:115.66, Z:0.39 [[ 3.80295749e-01 9.24864766e-01 -5.55913448e-04 1.41907136e+02] [-9.24863652e-01 3.80296154e-01 1.43560193e-03 1.15655458e+02] [ 1.53914939e-03 -3.18091686e-05 9.99998815e-01 3.85996992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99361786499995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:141.92, Y:115.63, Z:0.39 [[ 3.81989838e-01 9.24166351e-01 -5.65316974e-04 1.41917840e+02] [-9.24165242e-01 3.81990255e-01 1.43195957e-03 1.15628066e+02] [ 1.53931442e-03 -2.45477046e-05 9.99998815e-01 3.86813312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.93, Y:115.60, Z:0.39 [[ 3.83725247e-01 9.23447140e-01 -5.60216813e-04 1.41928416e+02] [-9.23446028e-01 3.83725655e-01 1.43393521e-03 1.15600804e+02] [ 1.53913293e-03 -3.29071529e-05 9.99998815e-01 3.85517983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.94, Y:115.58, Z:0.39 [[ 3.84651307e-01 9.23061787e-01 -5.56032495e-04 1.41938616e+02] [-9.23060672e-01 3.84651707e-01 1.43555592e-03 1.15575588e+02] [ 1.53898566e-03 -3.89367320e-05 9.99998815e-01 3.85153924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:115.55, Z:0.38 [[ 3.85934150e-01 9.22526164e-01 -5.56200676e-04 1.41950902e+02] [-9.22525048e-01 3.85934548e-01 1.43549076e-03 1.15546464e+02] [ 1.53893484e-03 -4.08958496e-05 9.99998815e-01 3.84337904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.96, Y:115.52, Z:0.38 [[ 3.86259186e-01 9.22390119e-01 -5.56151772e-04 1.41961541e+02] [-9.22389003e-01 3.86259584e-01 1.43550970e-03 1.15519395e+02] [ 1.53891892e-03 -4.14905305e-05 9.99998815e-01 3.84328265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.98, Y:115.49, Z:0.38 [[ 3.88073995e-01 9.21628051e-01 -5.56248827e-04 1.41975899e+02] [-9.21626934e-01 3.88074391e-01 1.43547209e-03 1.15489425e+02] [ 1.53883727e-03 -4.44154896e-05 9.99998815e-01 3.82757942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.99, Y:115.46, Z:0.38 [[ 3.86850137e-01 9.22142431e-01 -5.55845604e-04 1.41985594e+02] [-9.22141314e-01 3.86850534e-01 1.43562821e-03 1.15458840e+02] [ 1.53888286e-03 -4.28047761e-05 9.99998815e-01 3.84102512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:115.43, Z:0.38 [[ 3.87168614e-01 9.22008761e-01 -5.55472890e-04 1.41996378e+02] [-9.22007644e-01 3.87169010e-01 1.43577241e-03 1.15432250e+02] [ 1.53885663e-03 -4.37357631e-05 9.99998815e-01 3.83685685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.01, Y:115.41, Z:0.38 [[ 3.87482107e-01 9.21877057e-01 -5.55569618e-04 1.42007001e+02] [-9.21875940e-01 3.87482503e-01 1.43573498e-03 1.15406971e+02] [ 1.53884464e-03 -4.41553512e-05 9.99998815e-01 3.83281923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.02, Y:115.38, Z:0.38 [[ 3.88089645e-01 9.21621462e-01 -5.55737538e-04 1.42018784e+02] [-9.21620345e-01 3.88090040e-01 1.43566998e-03 1.15381122e+02] [ 1.53882047e-03 -4.49896305e-05 9.99998815e-01 3.82169173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.03, Y:115.35, Z:0.38 [[ 3.85167812e-01 9.22846383e-01 -5.55856019e-04 1.42029691e+02] [-9.22845268e-01 3.85168211e-01 1.43562410e-03 1.15346483e+02] [ 1.53895858e-03 -3.99870997e-05 9.99998815e-01 3.82226328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.04, Y:115.32, Z:0.38 [[ 3.88244847e-01 9.21556103e-01 -5.36672370e-04 1.42043167e+02] [-9.21554975e-01 3.88245213e-01 1.44304405e-03 1.15323853e+02] [ 1.53820653e-03 -6.56813231e-05 9.99998815e-01 3.81359994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.06, Y:115.29, Z:0.38 [[ 3.87707205e-01 9.21782412e-01 -5.55986922e-04 1.42056126e+02] [-9.21781295e-01 3.87707601e-01 1.43556361e-03 1.15293689e+02] [ 1.53883765e-03 -4.40800107e-05 9.99998815e-01 3.81407971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.07, Y:115.27, Z:0.38 [[ 3.87734849e-01 9.21770784e-01 -5.55593085e-04 1.42067223e+02] [-9.21769667e-01 3.87735244e-01 1.43571602e-03 1.15268442e+02] [ 1.53882410e-03 -4.45482812e-05 9.99998815e-01 3.81617876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:115.24, Z:0.38 [[ 3.87977617e-01 9.21668628e-01 -5.55715108e-04 1.42077608e+02] [-9.21667511e-01 3.87978013e-01 1.43566879e-03 1.15241825e+02] [ 1.53881613e-03 -4.48227952e-05 9.99998815e-01 3.81661817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.09, Y:115.21, Z:0.38 [[ 3.88081121e-01 9.21625051e-01 -5.56093206e-04 1.42089257e+02] [-9.21623934e-01 3.88081517e-01 1.43552232e-03 1.15214992e+02] [ 1.53882283e-03 -4.45903038e-05 9.99998815e-01 3.81569257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:115.18, Z:0.38 [[ 3.87504897e-01 9.21867477e-01 -5.56191020e-04 1.42102279e+02] [-9.21866360e-01 3.87505294e-01 1.43548442e-03 1.15183142e+02] [ 1.53885337e-03 -4.35234524e-05 9.99998815e-01 3.78971621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:115.16, Z:0.38 [[ 3.88955500e-01 9.21256381e-01 -5.47113030e-04 1.42114647e+02] [-9.21255259e-01 3.88955880e-01 1.43899921e-03 1.15156812e+02] [ 1.53849003e-03 -5.56759001e-05 9.99998815e-01 3.80315003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.13, Y:115.13, Z:0.38 [[ 3.89830454e-01 9.20886480e-01 -5.55842948e-04 1.42125657e+02] [-9.20885362e-01 3.89830847e-01 1.43561916e-03 1.15131039e+02] [ 1.53872700e-03 -4.77804345e-05 9.99998815e-01 3.80044827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:115.11, Z:0.38 [[ 3.90507310e-01 9.20599659e-01 -5.55986002e-04 1.42136192e+02] [-9.20598541e-01 3.90507702e-01 1.43556376e-03 1.15105493e+02] [ 1.53869632e-03 -4.87582376e-05 9.99998815e-01 3.80163864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.15, Y:115.08, Z:0.38 [[ 3.92078598e-01 9.19931554e-01 -5.56128828e-04 1.42147275e+02] [-9.19930435e-01 3.92078989e-01 1.43550842e-03 1.15080986e+02] [ 1.53861592e-03 -5.12322952e-05 9.99998815e-01 3.80237947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.16, Y:115.05, Z:0.38 [[ 3.92575875e-01 9.19719453e-01 -5.56294268e-04 1.42158353e+02] [-9.19718334e-01 3.92576266e-01 1.43544431e-03 1.15053897e+02] [ 1.53859398e-03 -5.18867682e-05 9.99998815e-01 3.80509646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.17, Y:115.03, Z:0.38 [[ 3.93201767e-01 9.19452044e-01 -5.56392077e-04 1.42170035e+02] [-9.19450925e-01 3.93202158e-01 1.43540640e-03 1.15027495e+02] [ 1.53856191e-03 -5.28291226e-05 9.99998815e-01 3.80894552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.18, Y:115.00, Z:0.38 [[ 3.92940273e-01 9.19563827e-01 -5.56489795e-04 1.42181119e+02] [-9.19562708e-01 3.92940663e-01 1.43536851e-03 1.15001118e+02] [ 1.53858043e-03 -5.22868314e-05 9.99998815e-01 3.80943047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.19, Y:114.98, Z:0.38 [[ 3.92424009e-01 9.19784261e-01 -5.56587335e-04 1.42191571e+02] [-9.19783143e-01 3.92424400e-01 1.43533069e-03 1.14976023e+02] [ 1.53861303e-03 -5.13185744e-05 9.99998815e-01 3.80672908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.20, Y:114.94, Z:0.38 [[ 3.88425809e-01 9.21479832e-01 -5.56756789e-04 1.42202346e+02] [-9.21478716e-01 3.88426205e-01 1.43526495e-03 1.14942857e+02] [ 1.53882664e-03 -4.44544198e-05 9.99998815e-01 3.79038736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.22, Y:114.92, Z:0.38 [[ 3.89220365e-01 9.21144512e-01 -5.42926884e-04 1.42215469e+02] [-9.21143388e-01 3.89220739e-01 1.44062401e-03 1.14917578e+02] [ 1.53834130e-03 -6.06066936e-05 9.99998815e-01 3.80631191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.23, Y:114.89, Z:0.38 [[ 3.87999325e-01 9.21659489e-01 -5.56432875e-04 1.42227980e+02] [-9.21658372e-01 3.87999722e-01 1.43538837e-03 1.14886646e+02] [ 1.53883511e-03 -4.40887014e-05 9.99998815e-01 3.77471162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:114.86, Z:0.38 [[ 3.86300989e-01 9.22372613e-01 -5.56020625e-04 1.42240008e+02] [-9.22371497e-01 3.86301387e-01 1.43554804e-03 1.14857271e+02] [ 1.53890174e-03 -4.16960520e-05 9.99998815e-01 3.79982809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.25, Y:114.83, Z:0.38 [[ 3.84211946e-01 9.23244752e-01 -5.55765552e-04 1.42252276e+02] [-9.23243636e-01 3.84212346e-01 1.43564679e-03 1.14826685e+02] [ 1.53898535e-03 -3.84856359e-05 9.99998815e-01 3.76114875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.26, Y:114.80, Z:0.38 [[ 3.82710455e-01 9.23868174e-01 -5.50977227e-04 1.42262918e+02] [-9.23867057e-01 3.82710850e-01 1.43749879e-03 1.14797687e+02] [ 1.53892434e-03 -4.11161058e-05 9.99998815e-01 3.78163917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.28, Y:114.77, Z:0.38 [[ 3.82292092e-01 9.24041367e-01 -5.55144811e-04 1.42275282e+02] [-9.24040252e-01 3.82292493e-01 1.43588751e-03 1.14766664e+02] [ 1.53904715e-03 -3.59522886e-05 9.99998815e-01 3.77213939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:114.74, Z:0.38 [[ 3.81850032e-01 9.24224132e-01 -5.54746906e-04 1.42286050e+02] [-9.24223017e-01 3.81850433e-01 1.43604122e-03 1.14740560e+02] [ 1.53905430e-03 -3.56425278e-05 9.99998815e-01 3.79136443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:114.71, Z:0.38 [[ 3.81675878e-01 9.24296065e-01 -5.54870288e-04 1.42294931e+02] [-9.24294950e-01 3.81676280e-01 1.43599355e-03 1.14714380e+02] [ 1.53906401e-03 -3.52202927e-05 9.99998815e-01 3.77242651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.31, Y:114.68, Z:0.38 [[ 3.81199999e-01 9.24492430e-01 -5.55017622e-04 1.42305456e+02] [-9.24491315e-01 3.81200402e-01 1.43593660e-03 1.14683178e+02] [ 1.53908546e-03 -3.42700591e-05 9.99998815e-01 3.77184291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04361786499996 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:142.93, Y:114.93, Z:1.55 [[ 4.12702871e-01 -9.10865544e-01 5.48651637e-04 1.42933858e+02] [-9.10864413e-01 -4.12703225e-01 -1.43838313e-03 1.14926060e+02] [ 1.53660393e-03 9.38775957e-05 -9.99998815e-01 1.54888606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.36, Y:114.62, Z:0.38 [[ 4.51770762e-01 8.92133813e-01 -6.61881370e-04 1.42362772e+02] [-8.92132740e-01 4.51771245e-01 1.38424185e-03 1.14618403e+02] [ 1.53394793e-03 -3.48739535e-05 9.99998823e-01 3.79978819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.96, Y:114.90, Z:1.55 [[ 4.80945770e-01 -8.76750095e-01 6.60923366e-04 1.42960275e+02] [-8.76749006e-01 -4.80946217e-01 -1.38469996e-03 1.14903956e+02] [ 1.53190441e-03 8.65016829e-05 -9.99998823e-01 1.54989532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13361786499996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:142.41, Y:114.55, Z:0.38 [[ 5.18420510e-01 8.55125478e-01 -7.69433969e-04 1.42411717e+02] [-8.55124456e-01 5.18421080e-01 1.32196332e-03 1.14552316e+02] [ 1.52933531e-03 -2.73710953e-05 9.99998830e-01 3.75495408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.43, Y:114.52, Z:0.38 [[ 5.19273922e-01 8.54607513e-01 -7.70013183e-04 1.42428990e+02] [-8.54606492e-01 5.19274492e-01 1.32162879e-03 1.14521675e+02] [ 1.52932210e-03 -2.82290983e-05 9.99998830e-01 3.77139883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19361786499996 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:143.02, Y:114.86, Z:1.55 [[ 5.48726615e-01 -8.36001507e-01 7.62884601e-04 1.43017591e+02] [-8.36000461e-01 -5.48727138e-01 -1.32573719e-03 1.14862824e+02] [ 1.52693377e-03 8.96954030e-05 -9.99998830e-01 1.54950627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.05, Y:114.88, Z:1.55 [[ 6.12715682e-01 -7.90302957e-01 8.53699183e-04 1.43045434e+02] [-7.90301953e-01 -6.12716269e-01 -1.26355519e-03 1.14879476e+02] [ 1.52166678e-03 9.95199489e-05 -9.99998837e-01 1.54609967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.04, Y:114.87, Z:1.55 [[ 6.72495962e-01 -7.40100175e-01 9.54723686e-04 1.43039032e+02] [-7.40099237e-01 -6.72496634e-01 -1.18195253e-03 1.14865696e+02] [ 1.51681174e-03 8.82680356e-05 -9.99998846e-01 1.54855861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28361786499997 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:142.59, Y:114.40, Z:0.38 [[ 7.00314848e-01 7.13833334e-01 -1.04204066e-03 1.42585379e+02] [-7.13832488e-01 7.00315623e-01 1.09931489e-03 1.14395027e+02] [ 1.51448497e-03 -2.60240632e-05 9.99998853e-01 3.78398723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:142.61, Y:114.37, Z:0.38 [[ 7.00420302e-01 7.13729861e-01 -1.04192015e-03 1.42606331e+02] [-7.13729015e-01 7.00421077e-01 1.09942895e-03 1.14373653e+02] [ 1.51447811e-03 -2.64137128e-05 9.99998853e-01 3.79681031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:114.35, Z:0.38 [[ 6.99574568e-01 7.14558846e-01 -1.03895447e-03 1.42627986e+02] [-7.14557996e-01 6.99575339e-01 1.10224017e-03 1.14349238e+02] [ 1.51444239e-03 -2.87059723e-05 9.99998853e-01 3.80153325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:114.33, Z:0.38 [[ 6.99164060e-01 7.14960518e-01 -1.03674271e-03 1.42649096e+02] [-7.14959665e-01 6.99164828e-01 1.10433562e-03 1.14325503e+02] [ 1.51441040e-03 -3.08825568e-05 9.99998853e-01 3.80198476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:114.30, Z:0.38 [[ 6.99247791e-01 7.14878629e-01 -1.03513951e-03 1.42670136e+02] [-7.14877775e-01 6.99248557e-01 1.10585368e-03 1.14303378e+02] [ 1.51437097e-03 -3.32675188e-05 9.99998853e-01 3.80521004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:114.28, Z:0.38 [[ 7.00561804e-01 7.13590975e-01 -1.03912485e-03 1.42693269e+02] [-7.13590124e-01 7.00562574e-01 1.10207939e-03 1.14280122e+02] [ 1.51440588e-03 -3.05654934e-05 9.99998853e-01 3.82049351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:114.25, Z:0.38 [[ 6.98580676e-01 7.15530547e-01 -1.03670136e-03 1.42714665e+02] [-7.15529696e-01 6.98581445e-01 1.10437338e-03 1.14250951e+02] [ 1.51443322e-03 -2.97032901e-05 9.99998853e-01 3.76157818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:114.23, Z:0.38 [[ 7.01840270e-01 7.12333626e-01 -1.02066557e-03 1.42736344e+02] [-7.12332748e-01 7.01841009e-01 1.11954436e-03 1.14233008e+02] [ 1.51383405e-03 -5.86878028e-05 9.99998852e-01 3.82766808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:114.21, Z:0.38 [[ 7.02666734e-01 7.11518373e-01 -1.03304588e-03 1.42758805e+02] [-7.11517511e-01 7.02667492e-01 1.10781176e-03 1.14208962e+02] [ 1.51411617e-03 -4.33922409e-05 9.99998853e-01 3.84196718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:114.19, Z:0.39 [[ 7.01849179e-01 7.12324831e-01 -1.03234189e-03 1.42777177e+02] [-7.12323970e-01 7.01849937e-01 1.10847868e-03 1.14187424e+02] [ 1.51414598e-03 -4.26229731e-05 9.99998853e-01 3.85634312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.80, Y:114.16, Z:0.39 [[ 7.01539885e-01 7.12629430e-01 -1.04191403e-03 1.42798311e+02] [-7.12628582e-01 7.01540658e-01 1.09940712e-03 1.14163948e+02] [ 1.51441492e-03 -2.87802243e-05 9.99998853e-01 3.86393097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61361786499995 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:143.30, Y:114.64, Z:1.54 [[ 7.27303071e-01 -6.86315640e-01 1.04166022e-03 1.43302289e+02] [-6.86314764e-01 -7.27303812e-01 -1.09964754e-03 1.14641884e+02] [ 1.51230875e-03 8.48702422e-05 -9.99998853e-01 1.54487392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.33, Y:114.67, Z:1.54 [[ 7.79721032e-01 -6.26126075e-01 1.11781672e-03 1.43326551e+02] [-6.26125259e-01 -7.79721828e-01 -1.01529255e-03 1.14665887e+02] [ 1.50728723e-03 9.17516717e-05 -9.99998860e-01 1.54408078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.32, Y:114.65, Z:1.55 [[ 8.25621622e-01 -5.64222921e-01 1.19704854e-03 1.43324998e+02] [-5.64222189e-01 -8.25622486e-01 -9.12302220e-04 1.14650052e+02] [ 1.50305202e-03 7.78150887e-05 -9.99998867e-01 1.54509348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.32, Y:114.64, Z:1.54 [[ 8.69130136e-01 -4.94581828e-01 1.27353607e-03 1.43322640e+02] [-4.94581194e-01 -8.69131067e-01 -7.94591861e-04 1.14639695e+02] [ 1.49986046e-03 6.07367411e-05 -9.99998873e-01 1.54227555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.33, Y:114.63, Z:1.54 [[ 9.03844374e-01 -4.27859343e-01 1.31529320e-03 1.43325007e+02] [-4.27858749e-01 -9.03845327e-01 -7.18109283e-04 1.14626009e+02] [ 1.49607137e-03 8.62993334e-05 -9.99998877e-01 1.54469354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.33, Y:114.61, Z:1.54 [[ 9.34305063e-01 -3.56471821e-01 1.37453961e-03 1.43325405e+02] [-3.56471344e-01 -9.34306073e-01 -5.85748651e-04 1.14605526e+02] [ 1.49304359e-03 5.72839477e-05 -9.99998884e-01 1.54389826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.32, Y:114.58, Z:1.54 [[ 9.59223728e-01 -2.82644363e-01 1.41557834e-03 1.43322482e+02] [-2.82643976e-01 -9.59224771e-01 -4.70545185e-04 1.14583724e+02] [ 1.49085475e-03 5.12534162e-05 -9.99998887e-01 1.54230790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82361786499996 meters Centerline goodness : 0.994502 Centerline is valid? [True, True] Translation: X:143.34, Y:114.61, Z:1.54 [[ 9.78441157e-01 -2.06520790e-01 1.43704313e-03 1.43335790e+02] [-2.06520436e-01 -9.78442209e-01 -3.91820895e-04 1.14613708e+02] [ 1.48698281e-03 8.65949170e-05 -9.99998891e-01 1.54184993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.34, Y:114.65, Z:1.54 [[ 9.91689449e-01 -1.28646459e-01 1.45809123e-03 1.43342793e+02] [-1.28646184e-01 -9.91690516e-01 -2.81314198e-04 1.14647711e+02] [ 1.48216532e-03 9.13984494e-05 -9.99998897e-01 1.54088768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.34, Y:114.64, Z:1.54 [[ 9.98771807e-01 -4.95248764e-02 1.47123402e-03 1.43343513e+02] [-4.95246916e-02 -9.98772886e-01 -1.61830583e-04 1.14640802e+02] [ 1.47744329e-03 8.87694133e-05 -9.99998905e-01 1.54089880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91361786499996 meters Centerline goodness : 0.994535 Centerline is valid? [True, True] Translation: X:143.35, Y:114.68, Z:1.54 [[ 9.99478998e-01 3.22421676e-02 1.47484583e-03 1.43346189e+02] [ 3.22422704e-02 -9.99480082e-01 -4.59806479e-05 1.14678159e+02] [ 1.47259652e-03 9.35090701e-05 -9.99998911e-01 1.54358385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.35, Y:114.70, Z:1.54 [[ 9.94269688e-01 1.06890731e-01 1.46939318e-03 1.43349707e+02] [ 1.06890745e-01 -9.94270770e-01 6.94253692e-05 1.14704433e+02] [ 1.46839562e-03 8.80369910e-05 -9.99998918e-01 1.54379643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.36, Y:114.69, Z:1.54 [[ 9.82617687e-01 1.85635066e-01 1.45022884e-03 1.43357365e+02] [ 1.85634940e-01 -9.82618756e-01 2.22229557e-04 1.14689108e+02] [ 1.46627565e-03 5.08464504e-05 -9.99998924e-01 1.54224340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:143.36, Y:114.67, Z:1.55 [[ 9.64584960e-01 2.63768497e-01 1.42668929e-03 1.43361566e+02] [ 2.63768288e-01 -9.64586013e-01 3.36255684e-04 1.14672289e+02] [ 1.46485819e-03 5.19682166e-05 -9.99998926e-01 1.54583789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03361786499997 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:143.37, Y:114.66, Z:1.54 [[ 9.42106136e-01 3.35311872e-01 1.40581507e-03 1.43366354e+02] [ 3.35311633e-01 -9.42107181e-01 4.08931563e-04 1.14662709e+02] [ 1.46154808e-03 8.61292137e-05 -9.99998928e-01 1.54066418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.37, Y:114.66, Z:1.54 [[ 9.13006290e-01 4.07943188e-01 1.36764398e-03 1.43374434e+02] [ 4.07942878e-01 -9.13007309e-01 5.11077482e-04 1.14663203e+02] [ 1.45715953e-03 9.13036657e-05 -9.99998934e-01 1.54138100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.39, Y:114.65, Z:1.54 [[ 8.78623487e-01 4.77513443e-01 1.29578483e-03 1.43386537e+02] [ 4.77512981e-01 -8.78624442e-01 6.64906719e-04 1.14648711e+02] [ 1.45601012e-03 3.45514186e-05 -9.99998939e-01 1.54092386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12361786499997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:143.40, Y:114.64, Z:1.54 [[ 8.38821872e-01 5.44404535e-01 1.25283576e-03 1.43397337e+02] [ 5.44404034e-01 -8.38822805e-01 7.40870745e-04 1.14637225e+02] [ 1.45424060e-03 6.05902567e-05 -9.99998941e-01 1.54177079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.41, Y:114.63, Z:1.54 [[ 7.93931179e-01 6.08006487e-01 1.18132202e-03 1.43408115e+02] [ 6.08005899e-01 -7.93932056e-01 8.46887810e-04 1.14625349e+02] [ 1.45280270e-03 4.58801208e-05 -9.99998944e-01 1.54165954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18361786499995 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:143.84, Y:114.13, Z:0.39 [[ 7.71634942e-01 -6.36064650e-01 -1.13026649e-03 1.43844481e+02] [ 6.36063997e-01 7.71635770e-01 -9.11228102e-04 1.14125735e+02] [ 1.45175403e-03 -1.57863758e-05 9.99998946e-01 3.87120223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.87, Y:114.15, Z:0.39 [[ 7.72590280e-01 -6.34903896e-01 -1.14127072e-03 1.43868664e+02] [ 6.34903262e-01 7.72591122e-01 -8.97346774e-04 1.14145266e+02] [ 1.45146459e-03 -3.13151078e-05 9.99998946e-01 3.87471075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.89, Y:114.16, Z:0.39 [[ 7.72742181e-01 -6.34719000e-01 -1.14582542e-03 1.43889479e+02] [ 6.34718375e-01 7.72743030e-01 -8.91628532e-04 1.14163254e+02] [ 1.45136218e-03 -3.82774712e-05 9.99998946e-01 3.88068748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.91, Y:114.18, Z:0.38 [[ 7.73548693e-01 -6.33735838e-01 -1.14323507e-03 1.43910464e+02] [ 6.33735207e-01 7.73549537e-01 -8.94876998e-04 1.14179786e+02] [ 1.45146458e-03 -3.22773820e-05 9.99998946e-01 3.83243473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.93, Y:114.20, Z:0.38 [[ 7.73438631e-01 -6.33870167e-01 -1.13858383e-03 1.43932022e+02] [ 6.33869527e-01 7.73439468e-01 -9.00704560e-04 1.14197159e+02] [ 1.45155542e-03 -2.50738925e-05 9.99998946e-01 3.83281190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.96, Y:114.22, Z:0.39 [[ 7.70653986e-01 -6.37252806e-01 -1.13843712e-03 1.43956216e+02] [ 6.37252170e-01 7.70654826e-01 -9.00888300e-04 1.14218603e+02] [ 1.45143566e-03 -3.11983693e-05 9.99998946e-01 3.86127273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.98, Y:114.24, Z:0.39 [[ 7.69486115e-01 -6.38662518e-01 -1.14316980e-03 1.43980104e+02] [ 6.38661892e-01 7.69486963e-01 -8.94976154e-04 1.14237079e+02] [ 1.45124198e-03 -4.14272639e-05 9.99998946e-01 3.86662742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.01, Y:114.26, Z:0.38 [[ 7.68416028e-01 -6.39949603e-01 -1.14645978e-03 1.44005264e+02] [ 6.39948985e-01 7.68416881e-01 -8.90867978e-04 1.14255312e+02] [ 1.45106966e-03 -4.91185395e-05 9.99998946e-01 3.84554859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.02, Y:114.27, Z:0.39 [[ 7.66641053e-01 -6.42074896e-01 -1.15031179e-03 1.44024735e+02] [ 6.42074288e-01 7.66641914e-01 -8.86059873e-04 1.14274220e+02] [ 1.45079403e-03 -5.92957472e-05 9.99998946e-01 3.85895792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.04, Y:114.29, Z:0.39 [[ 7.67343083e-01 -6.41235742e-01 -1.14717433e-03 1.44041651e+02] [ 6.41235127e-01 7.67343939e-01 -8.89973729e-04 1.14289424e+02] [ 1.45096023e-03 -5.26932886e-05 9.99998946e-01 3.85565165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.07, Y:114.31, Z:0.39 [[ 7.64997964e-01 -6.44031700e-01 -1.13393787e-03 1.44069068e+02] [ 6.44031063e-01 7.64998803e-01 -9.06462154e-04 1.14313422e+02] [ 1.45125148e-03 -3.68495119e-05 9.99998946e-01 3.87681633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51361786499996 meters Centerline goodness : 0.994796 Centerline is valid? [True, True] Translation: X:144.08, Y:114.33, Z:0.38 [[ 7.64165009e-01 -6.45019779e-01 -1.15050888e-03 1.44082203e+02] [ 6.45019175e-01 7.64165872e-01 -8.85632191e-04 1.14327209e+02] [ 1.45042990e-03 -6.53311548e-05 9.99998946e-01 3.83544435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.11, Y:114.35, Z:0.39 [[ 7.61767217e-01 -6.47849864e-01 -1.12309730e-03 1.44105574e+02] [ 6.47849211e-01 7.61768044e-01 -9.19911882e-04 1.14349034e+02] [ 1.45150442e-03 -2.68389848e-05 9.99998946e-01 3.85731308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.14, Y:114.37, Z:0.39 [[ 7.65415815e-01 -6.43535037e-01 -1.13400977e-03 1.44141121e+02] [ 6.43534400e-01 7.65416654e-01 -9.06256974e-04 1.14366203e+02] [ 1.45119808e-03 -3.61108796e-05 9.99998946e-01 3.89599170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.16, Y:114.38, Z:0.38 [[ 7.64238665e-01 -6.44932496e-01 -1.15729976e-03 1.44158872e+02] [ 6.44931904e-01 7.64239537e-01 -8.77074757e-04 1.14383265e+02] [ 1.45010824e-03 -7.60850940e-05 9.99998946e-01 3.82750933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.18, Y:114.40, Z:0.39 [[ 7.64055852e-01 -6.45149077e-01 -1.15055845e-03 1.44180689e+02] [ 6.45148473e-01 7.64056715e-01 -8.85523328e-04 1.14402311e+02] [ 1.45038647e-03 -6.56917478e-05 9.99998946e-01 3.86050407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.19, Y:114.42, Z:0.39 [[ 7.60787317e-01 -6.49000259e-01 -1.14987102e-03 1.44191487e+02] [ 6.48999657e-01 7.60788183e-01 -8.86384299e-04 1.14421744e+02] [ 1.45007192e-03 -7.19159640e-05 9.99998946e-01 3.87452167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.23, Y:114.45, Z:0.39 [[ 7.61824906e-01 -6.47782006e-01 -1.13372588e-03 1.44229639e+02] [ 6.47781373e-01 7.61825749e-01 -9.06574761e-04 1.14446078e+02] [ 1.45096438e-03 -4.37552737e-05 9.99998946e-01 3.88320953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.25, Y:114.46, Z:0.39 [[ 7.62151773e-01 -6.47397339e-01 -1.16596059e-03 1.44248398e+02] [ 6.47396767e-01 7.62152659e-01 -8.66420819e-04 1.14460050e+02] [ 1.44955850e-03 -9.44949517e-05 9.99998945e-01 3.87381789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.26, Y:114.48, Z:0.39 [[ 7.58433929e-01 -6.51748920e-01 -1.14886439e-03 1.44259216e+02] [ 6.51748320e-01 7.58434796e-01 -8.87669779e-04 1.14479147e+02] [ 1.44987655e-03 -7.55315565e-05 9.99998946e-01 3.88135230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.28, Y:114.50, Z:0.39 [[ 7.58088575e-01 -6.52150623e-01 -1.13015107e-03 1.44280838e+02] [ 6.52149988e-01 7.58089416e-01 -9.10887659e-04 1.14497501e+02] [ 1.45079152e-03 -4.64944778e-05 9.99998947e-01 3.88250866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.30, Y:114.51, Z:0.39 [[ 7.57897790e-01 -6.52372335e-01 -1.12991371e-03 1.44301247e+02] [ 6.52371701e-01 7.57898630e-01 -9.11181999e-04 1.14514765e+02] [ 1.45078998e-03 -4.65409031e-05 9.99998947e-01 3.88307760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.33, Y:114.53, Z:0.39 [[ 7.60542089e-01 -6.49287652e-01 -1.12975228e-03 1.44325553e+02] [ 6.49287013e-01 7.60542927e-01 -9.11382106e-04 1.14530841e+02] [ 1.45097425e-03 -4.03890321e-05 9.99998947e-01 3.88694874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.35, Y:114.55, Z:0.39 [[ 7.59866299e-01 -6.50078404e-01 -1.12956099e-03 1.44352580e+02] [ 6.50077766e-01 7.59867138e-01 -9.11619161e-04 1.14552225e+02] [ 1.45094021e-03 -4.15938092e-05 9.99998947e-01 3.91250314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.37, Y:114.57, Z:0.39 [[ 7.58968889e-01 -6.51125885e-01 -1.14339933e-03 1.44372715e+02] [ 6.51125274e-01 7.58969747e-01 -8.94459574e-04 1.14570411e+02] [ 1.45021128e-03 -6.56292140e-05 9.99998946e-01 3.90060336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.39, Y:114.59, Z:0.39 [[ 7.58119649e-01 -6.52114481e-01 -1.14130580e-03 1.44391654e+02] [ 6.52113867e-01 7.58120505e-01 -8.97054187e-04 1.14588620e+02] [ 1.45022935e-03 -6.41869315e-05 9.99998946e-01 3.89252312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.42, Y:114.61, Z:0.39 [[ 7.58557035e-01 -6.51605655e-01 -1.13784622e-03 1.44417317e+02] [ 6.51605034e-01 7.58557887e-01 -9.01339144e-04 1.14607908e+02] [ 1.45043990e-03 -5.77091744e-05 9.99998946e-01 3.85863788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.44, Y:114.63, Z:0.39 [[ 7.56423288e-01 -6.54081419e-01 -1.14332551e-03 1.44436017e+02] [ 6.54080811e-01 7.56424148e-01 -8.94558530e-04 1.14628087e+02] [ 1.44995314e-03 -7.11623706e-05 9.99998946e-01 3.90239298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.46, Y:114.65, Z:0.39 [[ 7.56309488e-01 -6.54213013e-01 -1.13693832e-03 1.44456256e+02] [ 6.54212393e-01 7.56310340e-01 -9.02449947e-04 1.14647569e+02] [ 1.45027271e-03 -6.12676815e-05 9.99998946e-01 3.92987218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.48, Y:114.67, Z:0.39 [[ 7.56344752e-01 -6.54172246e-01 -1.13529872e-03 1.44476849e+02] [ 6.54171624e-01 7.56345601e-01 -9.04474042e-04 1.14665695e+02] [ 1.45036001e-03 -5.85860098e-05 9.99998947e-01 3.90968638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.50, Y:114.69, Z:0.39 [[ 7.55483749e-01 -6.55166404e-01 -1.13488121e-03 1.44496542e+02] [ 6.55165782e-01 7.55484599e-01 -9.04988991e-04 1.14685415e+02] [ 1.45030366e-03 -5.98308565e-05 9.99998947e-01 3.91316735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.52, Y:114.71, Z:0.39 [[ 7.56141019e-01 -6.54407732e-01 -1.13125426e-03 1.44515320e+02] [ 6.54407102e-01 7.56141863e-01 -9.09458956e-04 1.14705896e+02] [ 1.45054567e-03 -5.26215981e-05 9.99998947e-01 3.93912758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14361786499995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.53, Y:114.73, Z:0.39 [[ 7.55808781e-01 -6.54791422e-01 -1.13137673e-03 1.44533064e+02] [ 6.54790793e-01 7.55809626e-01 -9.09308049e-04 1.14725081e+02] [ 1.45051254e-03 -5.35520601e-05 9.99998947e-01 3.91809124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.56, Y:114.75, Z:0.39 [[ 7.58190902e-01 -6.52031661e-01 -1.12675936e-03 1.44557586e+02] [ 6.52031021e-01 7.58191738e-01 -9.14994061e-04 1.14746837e+02] [ 1.45090474e-03 -4.09418844e-05 9.99998947e-01 3.90495883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.58, Y:114.77, Z:0.39 [[ 7.57778337e-01 -6.52511076e-01 -1.13484914e-03 1.44576966e+02] [ 6.52510451e-01 7.57779185e-01 -9.05030693e-04 1.14767218e+02] [ 1.45050761e-03 -5.46882682e-05 9.99998947e-01 3.91613938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.60, Y:114.79, Z:0.39 [[ 7.58231436e-01 -6.51984516e-01 -1.13130081e-03 1.44597423e+02] [ 6.51983884e-01 7.58232279e-01 -9.09395814e-04 1.14787110e+02] [ 1.45070078e-03 -4.80574045e-05 9.99998947e-01 3.91822945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.62, Y:114.81, Z:0.39 [[ 7.58902587e-01 -6.51203184e-01 -1.13005100e-03 1.44619571e+02] [ 6.51202549e-01 7.58903427e-01 -9.10932180e-04 1.14806657e+02] [ 1.45080152e-03 -4.45833062e-05 9.99998947e-01 3.90724299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.64, Y:114.83, Z:0.39 [[ 7.60534766e-01 -6.49296227e-01 -1.13113661e-03 1.44640795e+02] [ 6.49295591e-01 7.60535606e-01 -9.09598875e-04 1.14827655e+02] [ 1.45086879e-03 -4.26604490e-05 9.99998947e-01 3.91708408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.66, Y:114.85, Z:0.39 [[ 7.61551703e-01 -6.48103169e-01 -1.13383908e-03 1.44661752e+02] [ 6.48102537e-01 7.61552546e-01 -9.06281062e-04 1.14846520e+02] [ 1.45084167e-03 -4.46640977e-05 9.99998947e-01 3.90963612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.68, Y:114.87, Z:0.39 [[ 7.62153063e-01 -6.47395876e-01 -1.13555926e-03 1.44679612e+02] [ 6.47395246e-01 7.62153907e-01 -9.04169266e-04 1.14865334e+02] [ 1.45082638e-03 -4.60402926e-05 9.99998946e-01 3.90620386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.69, Y:114.89, Z:0.39 [[ 7.62023993e-01 -6.47547803e-01 -1.13025942e-03 1.44694691e+02] [ 6.47547164e-01 7.62024830e-01 -9.10674135e-04 1.14888301e+02] [ 1.45099078e-03 -3.79407398e-05 9.99998947e-01 3.93677218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.72, Y:114.91, Z:0.39 [[ 7.62807973e-01 -6.46624103e-01 -1.12495858e-03 1.44715136e+02] [ 6.46623453e-01 7.62808802e-01 -9.17175857e-04 1.14908401e+02] [ 1.45119632e-03 -2.77955461e-05 9.99998947e-01 3.93839770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.73, Y:114.93, Z:0.39 [[ 7.63456085e-01 -6.45858763e-01 -1.12471043e-03 1.44734559e+02] [ 6.45858112e-01 7.63456913e-01 -9.17480055e-04 1.14927457e+02] [ 1.45123049e-03 -2.59476254e-05 9.99998947e-01 3.93392016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.75, Y:114.95, Z:0.39 [[ 7.65030375e-01 -6.43993215e-01 -1.12454185e-03 1.44753301e+02] [ 6.43992561e-01 7.65031201e-01 -9.17686632e-04 1.14948155e+02] [ 1.45129357e-03 -2.21384408e-05 9.99998947e-01 3.94296257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.78, Y:114.97, Z:0.39 [[ 7.67561438e-01 -6.40974395e-01 -1.12429705e-03 1.44780528e+02] [ 6.40973737e-01 7.67562261e-01 -9.17986458e-04 1.14968165e+02] [ 1.45137380e-03 -1.60338738e-05 9.99998947e-01 3.92796339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.80, Y:114.99, Z:0.39 [[ 7.67754478e-01 -6.40743142e-01 -1.13453167e-03 1.44799964e+02] [ 6.40742503e-01 7.67755316e-01 -9.05447894e-04 1.14986610e+02] [ 1.45120225e-03 -3.17809860e-05 9.99998947e-01 3.92443638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.82, Y:115.01, Z:0.40 [[ 7.66676266e-01 -6.42032879e-01 -1.13385808e-03 1.44815624e+02] [ 6.42032240e-01 7.66677103e-01 -9.06272724e-04 1.15007164e+02] [ 1.45115991e-03 -3.31556559e-05 9.99998947e-01 3.97723450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.83, Y:115.03, Z:0.39 [[ 7.65368173e-01 -6.43591717e-01 -1.12375644e-03 1.44834886e+02] [ 6.43591061e-01 7.65368997e-01 -9.18630023e-04 1.15028059e+02] [ 1.45131101e-03 -2.01494162e-05 9.99998947e-01 3.94997058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.86, Y:115.05, Z:0.39 [[ 7.67307189e-01 -6.41278734e-01 -1.12363692e-03 1.44863069e+02] [ 6.41278076e-01 7.67308012e-01 -9.18776192e-04 1.15047571e+02] [ 1.45136724e-03 -1.55801428e-05 9.99998947e-01 3.93722920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.88, Y:115.07, Z:0.39 [[ 7.64042243e-01 -6.45165220e-01 -1.13578899e-03 1.44876335e+02] [ 6.45164588e-01 7.64043086e-01 -9.03904056e-04 1.15068530e+02] [ 1.45095918e-03 -4.21499512e-05 9.99998946e-01 3.94350945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.90, Y:115.09, Z:0.39 [[ 7.63358294e-01 -6.45974344e-01 -1.12336642e-03 1.44896830e+02] [ 6.45973691e-01 7.63359120e-01 -9.19087696e-04 1.15087685e+02] [ 1.45123907e-03 -2.40719365e-05 9.99998947e-01 3.94282309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.92, Y:115.11, Z:0.39 [[ 7.62639089e-01 -6.46823282e-01 -1.12311581e-03 1.44917446e+02] [ 6.46822629e-01 7.62639916e-01 -9.19393835e-04 1.15106658e+02] [ 1.45121828e-03 -2.52910447e-05 9.99998947e-01 3.93724487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.94, Y:115.13, Z:0.39 [[ 7.61704839e-01 -6.47923203e-01 -1.12286362e-03 1.44937832e+02] [ 6.47922551e-01 7.61705666e-01 -9.19701728e-04 1.15125119e+02] [ 1.45118767e-03 -2.69874074e-05 9.99998947e-01 3.93169997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.96, Y:115.14, Z:0.39 [[ 7.60091535e-01 -6.49815050e-01 -1.12269225e-03 1.44957604e+02] [ 6.49814399e-01 7.60092363e-01 -9.19910876e-04 1.15144634e+02] [ 1.45112174e-03 -3.03251224e-05 9.99998947e-01 3.92628034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.98, Y:115.16, Z:0.39 [[ 7.59071601e-01 -6.51006178e-01 -1.12243732e-03 1.44978214e+02] [ 6.51005529e-01 7.59072431e-01 -9.20221835e-04 1.15163307e+02] [ 1.45108132e-03 -3.21986363e-05 9.99998947e-01 3.92338941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.00, Y:115.18, Z:0.39 [[ 7.57717920e-01 -6.52581255e-01 -1.12218324e-03 1.44997504e+02] [ 6.52580606e-01 7.57718750e-01 -9.20531570e-04 1.15181841e+02] [ 1.45102093e-03 -3.48117524e-05 9.99998947e-01 3.91195295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.02, Y:115.20, Z:0.39 [[ 7.56798010e-01 -6.53647851e-01 -1.12201070e-03 1.45018607e+02] [ 6.53647204e-01 7.56798841e-01 -9.20741827e-04 1.15200206e+02] [ 1.45097731e-03 -3.65835722e-05 9.99998947e-01 3.90776436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.04, Y:115.22, Z:0.39 [[ 7.56226059e-01 -6.54309476e-01 -1.12175997e-03 1.45039441e+02] [ 6.54308829e-01 7.56226890e-01 -9.21047199e-04 1.15217948e+02] [ 1.45095496e-03 -3.74575556e-05 9.99998947e-01 3.90641648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.06, Y:115.24, Z:0.39 [[ 7.54650169e-01 -6.56126409e-01 -1.12165129e-03 1.45058981e+02] [ 6.56125763e-01 7.54651002e-01 -9.21179521e-04 1.15236192e+02] [ 1.45086548e-03 -4.07760292e-05 9.99998947e-01 3.90144900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.08, Y:115.26, Z:0.39 [[ 7.53656083e-01 -6.57268020e-01 -1.12154430e-03 1.45079922e+02] [ 6.57267376e-01 7.53656916e-01 -9.21309767e-04 1.15255027e+02] [ 1.45080707e-03 -4.28037696e-05 9.99998947e-01 3.90418214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.10, Y:115.27, Z:0.39 [[ 7.52313492e-01 -6.58804335e-01 -1.12129997e-03 1.45099155e+02] [ 6.58803692e-01 7.52314327e-01 -9.21607040e-04 1.15273529e+02] [ 1.45072874e-03 -4.53791481e-05 9.99998947e-01 3.89991908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.12, Y:115.29, Z:0.39 [[ 7.51703010e-01 -6.59500817e-01 -1.12119401e-03 1.45120055e+02] [ 6.59500174e-01 7.51703845e-01 -9.21735926e-04 1.15291950e+02] [ 1.45069145e-03 -4.65559758e-05 9.99998947e-01 3.89989091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.15, Y:115.31, Z:0.39 [[ 7.56506823e-01 -6.53984839e-01 -1.12095080e-03 1.45150052e+02] [ 6.53984190e-01 7.56507653e-01 -9.22031610e-04 1.15306537e+02] [ 1.45100255e-03 -3.55608964e-05 9.99998947e-01 3.92351979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.16, Y:115.33, Z:0.39 [[ 7.50093083e-01 -6.61331300e-01 -1.13080007e-03 1.45163547e+02] [ 6.61330677e-01 7.50093933e-01 -9.10069510e-04 1.15329878e+02] [ 1.45006372e-03 -6.51959306e-05 9.99998947e-01 3.90262354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.18, Y:115.35, Z:0.39 [[ 7.49842283e-01 -6.61615671e-01 -1.12002416e-03 1.45184338e+02] [ 6.61615029e-01 7.49843118e-01 -9.23143617e-04 1.15347814e+02] [ 1.45060869e-03 -4.88127006e-05 9.99998947e-01 3.90188580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.20, Y:115.37, Z:0.39 [[ 7.49523737e-01 -6.61976520e-01 -1.11991524e-03 1.45204699e+02] [ 6.61975878e-01 7.49524572e-01 -9.23275734e-04 1.15366444e+02] [ 1.45059085e-03 -4.93397968e-05 9.99998947e-01 3.90706514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.23, Y:115.39, Z:0.39 [[ 7.49633108e-01 -6.61852664e-01 -1.11966283e-03 1.45226098e+02] [ 6.61852022e-01 7.49633943e-01 -9.23581728e-04 1.15385238e+02] [ 1.45061229e-03 -4.87036680e-05 9.99998947e-01 3.90669677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.25, Y:115.40, Z:0.39 [[ 7.50848762e-01 -6.60473226e-01 -1.11941082e-03 1.45245029e+02] [ 6.60472582e-01 7.50849596e-01 -9.23887076e-04 1.15404222e+02] [ 1.45071184e-03 -4.56406870e-05 9.99998947e-01 3.90689983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.27, Y:115.42, Z:0.39 [[ 7.50673937e-01 -6.60671921e-01 -1.11930159e-03 1.45266995e+02] [ 6.60671276e-01 7.50674770e-01 -9.24019396e-04 1.15422449e+02] [ 1.45070513e-03 -4.58531286e-05 9.99998947e-01 3.90731372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.29, Y:115.44, Z:0.39 [[ 7.51259710e-01 -6.60005754e-01 -1.11905696e-03 1.45287705e+02] [ 6.60005109e-01 7.51260542e-01 -9.24315563e-04 1.15440961e+02] [ 1.45075693e-03 -4.41822677e-05 9.99998947e-01 3.90849027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.31, Y:115.46, Z:0.39 [[ 7.51925431e-01 -6.59247218e-01 -1.11881038e-03 1.45308974e+02] [ 6.59246571e-01 7.51926262e-01 -9.24613926e-04 1.15459676e+02] [ 1.45081207e-03 -4.23311834e-05 9.99998947e-01 3.91182113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.33, Y:115.48, Z:0.39 [[ 7.53032675e-01 -6.57982173e-01 -1.11856278e-03 1.45330272e+02] [ 6.57981524e-01 7.53033505e-01 -9.24913368e-04 1.15478447e+02] [ 1.45089176e-03 -3.95036563e-05 9.99998947e-01 3.91374603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.35, Y:115.50, Z:0.39 [[ 7.53398192e-01 -6.57563619e-01 -1.11831567e-03 1.45351617e+02] [ 6.57562970e-01 7.53399021e-01 -9.25212050e-04 1.15496728e+02] [ 1.45092372e-03 -3.83098905e-05 9.99998947e-01 3.91396661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.37, Y:115.51, Z:0.39 [[ 7.53807779e-01 -6.57094044e-01 -1.11807005e-03 1.45372964e+02] [ 6.57093393e-01 7.53808607e-01 -9.25508774e-04 1.15514847e+02] [ 1.45095713e-03 -3.70207324e-05 9.99998947e-01 3.91288282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.39, Y:115.53, Z:0.39 [[ 7.54614710e-01 -6.56167197e-01 -1.11781850e-03 1.45393148e+02] [ 6.56166544e-01 7.54615537e-01 -9.25812500e-04 1.15532723e+02] [ 1.45101100e-03 -3.48433706e-05 9.99998947e-01 3.91282524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.41, Y:115.55, Z:0.39 [[ 7.54877212e-01 -6.55865188e-01 -1.11770931e-03 1.45414533e+02] [ 6.55864535e-01 7.54878039e-01 -9.25944305e-04 1.15550795e+02] [ 1.45102885e-03 -3.40916401e-05 9.99998947e-01 3.91286095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.44, Y:115.57, Z:0.39 [[ 7.55334238e-01 -6.55338798e-01 -1.11746040e-03 1.45435168e+02] [ 6.55338144e-01 7.55335064e-01 -9.26244603e-04 1.15568029e+02] [ 1.45106104e-03 -3.26901608e-05 9.99998947e-01 3.91160186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.46, Y:115.59, Z:0.39 [[ 7.55931911e-01 -6.54649294e-01 -1.11735250e-03 1.45457394e+02] [ 6.54648639e-01 7.55932736e-01 -9.26374742e-04 1.15585539e+02] [ 1.45109390e-03 -3.11970646e-05 9.99998947e-01 3.91622168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.48, Y:115.60, Z:0.39 [[ 7.55969986e-01 -6.54605326e-01 -1.11709997e-03 1.45478592e+02] [ 6.54604671e-01 7.55970811e-01 -9.26679168e-04 1.15602684e+02] [ 1.45110409e-03 -3.07172176e-05 9.99998947e-01 3.91570600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.50, Y:115.62, Z:0.39 [[ 7.56148213e-01 -6.54399444e-01 -1.11692851e-03 1.45500650e+02] [ 6.54398788e-01 7.56149037e-01 -9.26885784e-04 1.15620648e+02] [ 1.45111796e-03 -3.00536319e-05 9.99998947e-01 3.91485242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.52, Y:115.64, Z:0.39 [[ 7.56554613e-01 -6.53929561e-01 -1.11667148e-03 1.45521579e+02] [ 6.53928904e-01 7.56555437e-01 -9.27195330e-04 1.15637483e+02] [ 1.45114432e-03 -2.87498547e-05 9.99998947e-01 3.91155520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.54, Y:115.65, Z:0.39 [[ 7.56656507e-01 -6.53811658e-01 -1.11656003e-03 1.45543141e+02] [ 6.53811001e-01 7.56657330e-01 -9.27329524e-04 1.15654891e+02] [ 1.45115219e-03 -2.83493141e-05 9.99998947e-01 3.90910640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.57, Y:115.67, Z:0.39 [[ 7.56733213e-01 -6.53722876e-01 -1.11631165e-03 1.45565103e+02] [ 6.53722218e-01 7.56734036e-01 -9.27628432e-04 1.15672506e+02] [ 1.45116294e-03 -2.77904814e-05 9.99998947e-01 3.90851897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67361786499995 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:145.59, Y:115.69, Z:0.39 [[ 7.56726363e-01 -6.53730805e-01 -1.11606146e-03 1.45586650e+02] [ 6.53730147e-01 7.56727186e-01 -9.27929339e-04 1.15688874e+02] [ 1.45117004e-03 -2.74144303e-05 9.99998947e-01 3.90743699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.61, Y:115.71, Z:0.39 [[ 7.56486377e-01 -6.54008499e-01 -1.11595301e-03 1.45609176e+02] [ 6.54007841e-01 7.56487199e-01 -9.28059749e-04 1.15706295e+02] [ 1.45116313e-03 -2.77774610e-05 9.99998947e-01 3.91003828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.63, Y:115.72, Z:0.39 [[ 7.56313598e-01 -6.54208298e-01 -1.11569917e-03 1.45630542e+02] [ 6.54207639e-01 7.56314421e-01 -9.28364806e-04 1.15723013e+02] [ 1.45116333e-03 -2.77639959e-05 9.99998947e-01 3.91102112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.65, Y:115.74, Z:0.39 [[ 7.55866798e-01 -6.54724476e-01 -1.11558927e-03 1.45652495e+02] [ 6.54723818e-01 7.55867620e-01 -9.28496858e-04 1.15740532e+02] [ 1.45114742e-03 -2.85829185e-05 9.99998947e-01 3.90847845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.68, Y:115.76, Z:0.39 [[ 7.54940452e-01 -6.55792398e-01 -1.11534221e-03 1.45675367e+02] [ 6.55791741e-01 7.54941275e-01 -9.28793541e-04 1.15757045e+02] [ 1.45111361e-03 -3.02483924e-05 9.99998947e-01 3.90783343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.70, Y:115.77, Z:0.39 [[ 7.54197682e-01 -6.56646490e-01 -1.11509074e-03 1.45696878e+02] [ 6.56645833e-01 7.54198506e-01 -9.29095352e-04 1.15773207e+02] [ 1.45108697e-03 -3.14981259e-05 9.99998947e-01 3.90711004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.73, Y:115.79, Z:0.40 [[ 7.56586357e-01 -6.53892837e-01 -1.11492003e-03 1.45730188e+02] [ 6.53892177e-01 7.56587178e-01 -9.29300161e-04 1.15788150e+02] [ 1.45119692e-03 -2.59416605e-05 9.99998947e-01 3.97015319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.74, Y:115.81, Z:0.39 [[ 7.52578314e-01 -6.58501788e-01 -1.12943404e-03 1.45744515e+02] [ 6.58501160e-01 7.52579160e-01 -9.11880318e-04 1.15806416e+02] [ 1.45046334e-03 -5.74722698e-05 9.99998946e-01 3.91278280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.77, Y:115.82, Z:0.39 [[ 7.52023370e-01 -6.59135501e-01 -1.11447374e-03 1.45766710e+02] [ 6.59134846e-01 7.52024195e-01 -9.29811750e-04 1.15823152e+02] [ 1.45098315e-03 -3.53483124e-05 9.99998947e-01 3.91301705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.79, Y:115.84, Z:0.39 [[ 7.51430590e-01 -6.59811206e-01 -1.11422167e-03 1.45788712e+02] [ 6.59810551e-01 7.51431415e-01 -9.30113715e-04 1.15838249e+02] [ 1.45096062e-03 -3.62593168e-05 9.99998947e-01 3.90966368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.82, Y:115.86, Z:0.40 [[ 7.54247267e-01 -6.56589536e-01 -1.11405038e-03 1.45819275e+02] [ 6.56588878e-01 7.54248089e-01 -9.30318840e-04 1.15855146e+02] [ 1.45110798e-03 -2.97826426e-05 9.99998947e-01 3.96005941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.83, Y:115.87, Z:0.39 [[ 7.51168147e-01 -6.60109950e-01 -1.12641439e-03 1.45833887e+02] [ 6.60109318e-01 7.51168989e-01 -9.15507530e-04 1.15873559e+02] [ 1.45046319e-03 -5.58565368e-05 9.99998947e-01 3.90502414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.86, Y:115.89, Z:0.39 [[ 7.51939467e-01 -6.59231217e-01 -1.11362135e-03 1.45856059e+02] [ 6.59230561e-01 7.51940291e-01 -9.30813075e-04 1.15888879e+02] [ 1.45099780e-03 -3.42181374e-05 9.99998947e-01 3.90587940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.89, Y:115.91, Z:0.40 [[ 7.55483306e-01 -6.55166952e-01 -1.11351213e-03 1.45886439e+02] [ 6.55166291e-01 7.55484126e-01 -9.30943712e-04 1.15905570e+02] [ 1.45116429e-03 -2.62231787e-05 9.99998947e-01 3.95051687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.91, Y:115.92, Z:0.40 [[ 7.55987818e-01 -6.54584721e-01 -1.12337568e-03 1.45909412e+02] [ 6.54584077e-01 7.55988651e-01 -9.19153161e-04 1.15923328e+02] [ 1.45092288e-03 -4.04752375e-05 9.99998947e-01 3.96110939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.93, Y:115.94, Z:0.39 [[ 7.55038760e-01 -6.55679198e-01 -1.12225313e-03 1.45926353e+02] [ 6.55678553e-01 7.55039593e-01 -9.20494269e-04 1.15941317e+02] [ 1.45089449e-03 -4.08284583e-05 9.99998947e-01 3.91295292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.95, Y:115.96, Z:0.39 [[ 7.55607652e-01 -6.55023540e-01 -1.11254183e-03 1.45948326e+02] [ 6.55022877e-01 7.55608471e-01 -9.32085730e-04 1.15958425e+02] [ 1.45118412e-03 -2.44492377e-05 9.99998947e-01 3.91483281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.97, Y:115.98, Z:0.39 [[ 7.56117339e-01 -6.54435125e-01 -1.11229109e-03 1.45970510e+02] [ 6.54434461e-01 7.56118157e-01 -9.32384849e-04 1.15975455e+02] [ 1.45120888e-03 -2.29292661e-05 9.99998947e-01 3.91831743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.99, Y:115.99, Z:0.39 [[ 7.57096486e-01 -6.53302131e-01 -1.11203725e-03 1.45993160e+02] [ 6.53301465e-01 7.57097303e-01 -9.32687502e-04 1.15990053e+02] [ 1.45124713e-03 -2.03611307e-05 9.99998947e-01 3.91302354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.02, Y:116.01, Z:0.39 [[ 7.58467966e-01 -6.51709374e-01 -1.11192720e-03 1.46018750e+02] [ 6.51708707e-01 7.58468781e-01 -9.32818677e-04 1.16006962e+02] [ 1.45128874e-03 -1.71395525e-05 9.99998947e-01 3.93142429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.04, Y:116.02, Z:0.39 [[ 7.58205599e-01 -6.52014592e-01 -1.11370181e-03 1.46040471e+02] [ 6.52013928e-01 7.58206417e-01 -9.30703481e-04 1.16023679e+02] [ 1.45124811e-03 -2.04845022e-05 9.99998947e-01 3.91954215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.06, Y:116.04, Z:0.39 [[ 7.58235588e-01 -6.51979721e-01 -1.11220628e-03 1.46064804e+02] [ 6.51979054e-01 7.58236403e-01 -9.32485516e-04 1.16039622e+02] [ 1.45127694e-03 -1.80914979e-05 9.99998947e-01 3.91194331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.09, Y:116.06, Z:0.39 [[ 7.57674980e-01 -6.52631127e-01 -1.11189685e-03 1.46086962e+02] [ 6.52630461e-01 7.57675796e-01 -9.32854058e-04 1.16056958e+02] [ 1.45126692e-03 -1.88575703e-05 9.99998947e-01 3.91614168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.11, Y:116.07, Z:0.39 [[ 7.57017734e-01 -6.53393387e-01 -1.10995307e-03 1.46111691e+02] [ 6.53392718e-01 7.57018548e-01 -9.35168124e-04 1.16073019e+02] [ 1.45128773e-03 -1.72963997e-05 9.99998947e-01 3.91564340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.14, Y:116.09, Z:0.39 [[ 7.57284334e-01 -6.53084381e-01 -1.10874961e-03 1.46136272e+02] [ 6.53083710e-01 7.57285145e-01 -9.36600537e-04 1.16089510e+02] [ 1.45131879e-03 -1.48333960e-05 9.99998947e-01 3.91859083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.16, Y:116.11, Z:0.39 [[ 7.57036767e-01 -6.53371333e-01 -1.11092627e-03 1.46159832e+02] [ 6.53370666e-01 7.57037582e-01 -9.34010265e-04 1.16105564e+02] [ 1.45126847e-03 -1.87665273e-05 9.99998947e-01 3.92831898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.18, Y:116.12, Z:0.39 [[ 7.56164544e-01 -6.54380581e-01 -1.11234650e-03 1.46182745e+02] [ 6.54379918e-01 7.56165362e-01 -9.32320448e-04 1.16122269e+02] [ 1.45121029e-03 -2.29095447e-05 9.99998947e-01 3.92115578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.21, Y:116.14, Z:0.39 [[ 7.55187568e-01 -6.55507822e-01 -1.10994683e-03 1.46207778e+02] [ 6.55507156e-01 7.55188383e-01 -9.35174195e-04 1.16137302e+02] [ 1.45123295e-03 -2.13461633e-05 9.99998947e-01 3.92887019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.23, Y:116.15, Z:0.39 [[ 7.54220128e-01 -6.56620714e-01 -1.11219157e-03 1.46229818e+02] [ 6.56620052e-01 7.54220947e-01 -9.32505414e-04 1.16153916e+02] [ 1.45114055e-03 -2.69729360e-05 9.99998947e-01 3.92506258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.25, Y:116.17, Z:0.39 [[ 7.53352130e-01 -6.57616402e-01 -1.11141482e-03 1.46253199e+02] [ 6.57615741e-01 7.53352950e-01 -9.33428665e-04 1.16171230e+02] [ 1.45112563e-03 -2.76834034e-05 9.99998947e-01 3.92544989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.28, Y:116.19, Z:0.39 [[ 7.52342127e-01 -6.58771652e-01 -1.11063024e-03 1.46278989e+02] [ 6.58770990e-01 7.52342947e-01 -9.34360881e-04 1.16186080e+02] [ 1.45110529e-03 -2.86919285e-05 9.99998947e-01 3.91589882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.30, Y:116.20, Z:0.39 [[ 7.51640799e-01 -6.59571734e-01 -1.11235985e-03 1.46301899e+02] [ 6.59571075e-01 7.51641622e-01 -9.32306271e-04 1.16202064e+02] [ 1.45101882e-03 -3.29209507e-05 9.99998947e-01 3.89703451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.33, Y:116.22, Z:0.39 [[ 7.50321730e-01 -6.61071906e-01 -1.11220974e-03 1.46327343e+02] [ 6.61071249e-01 7.50322553e-01 -9.32484545e-04 1.16216930e+02] [ 1.45095538e-03 -3.55864634e-05 9.99998947e-01 3.91254001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.35, Y:116.23, Z:0.39 [[ 7.49898691e-01 -6.61551749e-01 -1.11220775e-03 1.46351654e+02] [ 6.61551093e-01 7.49899515e-01 -9.32486908e-04 1.16233804e+02] [ 1.45093239e-03 -3.65115381e-05 9.99998947e-01 3.91477463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.37, Y:116.25, Z:0.40 [[ 7.48812323e-01 -6.62781160e-01 -1.11304814e-03 1.46373970e+02] [ 6.62780507e-01 7.48813149e-01 -9.31489894e-04 1.16250650e+02] [ 1.45083904e-03 -4.01954997e-05 9.99998947e-01 3.96920115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.40, Y:116.27, Z:0.39 [[ 7.48068460e-01 -6.63620635e-01 -1.10941682e-03 1.46398691e+02] [ 6.63619977e-01 7.48069282e-01 -9.35794949e-04 1.16265026e+02] [ 1.45093348e-03 -3.61924762e-05 9.99998947e-01 3.94361655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.42, Y:116.28, Z:0.39 [[ 7.47564168e-01 -6.64188666e-01 -1.10928944e-03 1.46421630e+02] [ 6.64188007e-01 7.47564990e-01 -9.35945921e-04 1.16281044e+02] [ 1.45091062e-03 -3.70971075e-05 9.99998947e-01 3.94209489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.44, Y:116.30, Z:0.39 [[ 7.46084342e-01 -6.65850527e-01 -1.10903869e-03 1.46444133e+02] [ 6.65849870e-01 7.46085165e-01 -9.36242952e-04 1.16298571e+02] [ 1.45083518e-03 -3.99370591e-05 9.99998947e-01 3.93370763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.47, Y:116.31, Z:0.39 [[ 7.46948775e-01 -6.64880664e-01 -1.10876542e-03 1.46469035e+02] [ 6.64880006e-01 7.46949597e-01 -9.36566465e-04 1.16311427e+02] [ 1.45089682e-03 -3.76287841e-05 9.99998947e-01 3.90871361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.49, Y:116.33, Z:0.40 [[ 7.48588154e-01 -6.63034349e-01 -1.10816596e-03 1.46493201e+02] [ 6.63033687e-01 7.48588974e-01 -9.37275787e-04 1.16326958e+02] [ 1.45100686e-03 -3.31178111e-05 9.99998947e-01 3.95510419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.52, Y:116.34, Z:0.40 [[ 7.49443002e-01 -6.62067941e-01 -1.10844517e-03 1.46516244e+02] [ 6.62067278e-01 7.49443821e-01 -9.36945471e-04 1.16343529e+02] [ 1.45103894e-03 -3.16780500e-05 9.99998947e-01 3.96013599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.54, Y:116.36, Z:0.39 [[ 7.50820453e-01 -6.60505427e-01 -1.10819991e-03 1.46541334e+02] [ 6.60504762e-01 7.50821271e-01 -9.37235466e-04 1.16360950e+02] [ 1.45110918e-03 -2.82757626e-05 9.99998947e-01 3.91355003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.56, Y:116.38, Z:0.40 [[ 7.52883195e-01 -6.58153218e-01 -1.11151514e-03 1.46564569e+02] [ 6.58152557e-01 7.52884015e-01 -9.33315639e-04 1.16375890e+02] [ 1.45110667e-03 -2.88688732e-05 9.99998947e-01 3.97117384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.59, Y:116.39, Z:0.40 [[ 7.53008961e-01 -6.58009329e-01 -1.10796717e-03 1.46586921e+02] [ 6.58008661e-01 7.53009776e-01 -9.37508706e-04 1.16393526e+02] [ 1.45119958e-03 -2.30995372e-05 9.99998947e-01 3.97274472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.61, Y:116.41, Z:0.40 [[ 7.55977181e-01 -6.54597033e-01 -1.10773826e-03 1.46612125e+02] [ 6.54596361e-01 7.55977992e-01 -9.37779105e-04 1.16407085e+02] [ 1.45129316e-03 -1.61818286e-05 9.99998947e-01 3.99185629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.63, Y:116.42, Z:0.40 [[ 7.56675955e-01 -6.53789165e-01 -1.10765750e-03 1.46634634e+02] [ 6.53788492e-01 7.56676766e-01 -9.37874488e-04 1.16423268e+02] [ 1.45131087e-03 -1.45066495e-05 9.99998947e-01 4.00882902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.66, Y:116.44, Z:0.40 [[ 7.56946679e-01 -6.53475706e-01 -1.10740428e-03 1.46657009e+02] [ 6.53475033e-01 7.56947489e-01 -9.38173375e-04 1.16439617e+02] [ 1.45132040e-03 -1.35138306e-05 9.99998947e-01 4.01823046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.68, Y:116.45, Z:0.40 [[ 7.57325560e-01 -6.53036577e-01 -1.10714735e-03 1.46681265e+02] [ 6.53035903e-01 7.57326369e-01 -9.38476489e-04 1.16454474e+02] [ 1.45133135e-03 -1.22747359e-05 9.99998947e-01 4.01448500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.70, Y:116.47, Z:0.40 [[ 7.57157210e-01 -6.53231761e-01 -1.10706799e-03 1.46703003e+02] [ 6.53231087e-01 7.57158019e-01 -9.38570088e-04 1.16473014e+02] [ 1.45132920e-03 -1.25261211e-05 9.99998947e-01 4.01489924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.73, Y:116.49, Z:0.40 [[ 7.56901692e-01 -6.53527814e-01 -1.10682600e-03 1.46726209e+02] [ 6.53527140e-01 7.56902501e-01 -9.38855380e-04 1.16490080e+02] [ 1.45132747e-03 -1.27196035e-05 9.99998947e-01 4.02029836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.75, Y:116.51, Z:0.40 [[ 7.56570586e-01 -6.53911098e-01 -1.10661580e-03 1.46748369e+02] [ 6.53910424e-01 7.56571395e-01 -9.39103069e-04 1.16506917e+02] [ 1.45132378e-03 -1.31298497e-05 9.99998947e-01 4.04285355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.77, Y:116.53, Z:0.40 [[ 7.56971228e-01 -6.53447271e-01 -1.10635880e-03 1.46769139e+02] [ 6.53446596e-01 7.56972037e-01 -9.39405750e-04 1.16525760e+02] [ 1.45133480e-03 -1.18432658e-05 9.99998947e-01 4.04977050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:146.79, Y:116.54, Z:0.41 [[ 7.56736910e-01 -6.53718614e-01 -1.10574748e-03 1.46792356e+02] [ 6.53717938e-01 7.56737718e-01 -9.40125457e-04 1.16543035e+02] [ 1.45133833e-03 -1.14193264e-05 9.99998947e-01 4.05422065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.81, Y:116.56, Z:0.41 [[ 7.55897409e-01 -6.54689150e-01 -1.10608557e-03 1.46814487e+02] [ 6.54688476e-01 7.55898218e-01 -9.39727514e-04 1.16560410e+02] [ 1.45131752e-03 -1.38038824e-05 9.99998947e-01 4.05324964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.84, Y:116.58, Z:0.40 [[ 7.54352856e-01 -6.56468237e-01 -1.10582602e-03 1.46836544e+02] [ 6.56467564e-01 7.54353666e-01 -9.40032841e-04 1.16578031e+02] [ 1.45128561e-03 -1.68224537e-05 9.99998947e-01 4.04489039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.86, Y:116.60, Z:0.41 [[ 7.53275325e-01 -6.57704388e-01 -1.10574559e-03 1.46859175e+02] [ 6.57703716e-01 7.53276137e-01 -9.40127437e-04 1.16596322e+02] [ 1.45125771e-03 -1.90781834e-05 9.99998947e-01 4.06328954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.88, Y:116.61, Z:0.41 [[ 7.52178238e-01 -6.58958781e-01 -1.10577110e-03 1.46880644e+02] [ 6.58958111e-01 7.52179051e-01 -9.40097440e-04 1.16614906e+02] [ 1.45122332e-03 -2.15360006e-05 9.99998947e-01 4.05664470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.90, Y:116.63, Z:0.41 [[ 7.50355992e-01 -6.61033027e-01 -1.10539463e-03 1.46900885e+02] [ 6.61032359e-01 7.50356806e-01 -9.40539902e-04 1.16634362e+02] [ 1.45116832e-03 -2.49618676e-05 9.99998947e-01 4.05992172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.92, Y:116.65, Z:0.41 [[ 7.49371490e-01 -6.62148887e-01 -1.10514226e-03 1.46920264e+02] [ 6.62148219e-01 7.49372304e-01 -9.40836338e-04 1.16652859e+02] [ 1.45113674e-03 -2.67320542e-05 9.99998947e-01 4.05175264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.94, Y:116.67, Z:0.40 [[ 7.48416230e-01 -6.63228411e-01 -1.10503286e-03 1.46941240e+02] [ 6.63227745e-01 7.48417045e-01 -9.40964816e-04 1.16670893e+02] [ 1.45110003e-03 -2.86551121e-05 9.99998947e-01 4.04889910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.96, Y:116.69, Z:0.41 [[ 7.46391430e-01 -6.65506283e-01 -1.10478520e-03 1.46963659e+02] [ 6.65505618e-01 7.46392247e-01 -9.41255504e-04 1.16689834e+02] [ 1.45101456e-03 -3.26957165e-05 9.99998947e-01 4.05506654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.98, Y:116.71, Z:0.40 [[ 7.45658500e-01 -6.66327382e-01 -1.10528511e-03 1.46983803e+02] [ 6.66326719e-01 7.45659318e-01 -9.40668891e-04 1.16707892e+02] [ 1.45095958e-03 -3.50632477e-05 9.99998947e-01 4.04668650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53361786499997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:147.00, Y:116.73, Z:0.40 [[ 7.44700711e-01 -6.67397656e-01 -1.10445020e-03 1.47004931e+02] [ 6.67396993e-01 7.44701529e-01 -9.41648152e-04 1.16726729e+02] [ 1.45093952e-03 -3.58606934e-05 9.99998947e-01 4.04528278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.03, Y:116.75, Z:0.40 [[ 7.42947096e-01 -6.69349231e-01 -1.10419624e-03 1.47026137e+02] [ 6.69348569e-01 7.42947916e-01 -9.41945859e-04 1.16745565e+02] [ 1.45085103e-03 -3.92762300e-05 9.99998947e-01 4.04773357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.05, Y:116.76, Z:0.40 [[ 7.42019754e-01 -6.70377107e-01 -1.10394121e-03 1.47045901e+02] [ 6.70376446e-01 7.42020574e-01 -9.42244652e-04 1.16763363e+02] [ 1.45080633e-03 -4.08920391e-05 9.99998947e-01 4.04688759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.07, Y:116.78, Z:0.41 [[ 7.41134705e-01 -6.71355443e-01 -1.10383056e-03 1.47066697e+02] [ 6.71354783e-01 7.41135526e-01 -9.42374256e-04 1.16782271e+02] [ 1.45075613e-03 -4.26356604e-05 9.99998947e-01 4.05533688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.09, Y:116.80, Z:0.41 [[ 7.39442008e-01 -6.73219354e-01 -1.10357533e-03 1.47087262e+02] [ 6.73218695e-01 7.39442830e-01 -9.42673052e-04 1.16801215e+02] [ 1.45065661e-03 -4.58954887e-05 9.99998947e-01 4.06233011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.11, Y:116.82, Z:0.41 [[ 7.38572358e-01 -6.74173312e-01 -1.10331923e-03 1.47108265e+02] [ 6.74172654e-01 7.38573180e-01 -9.42972697e-04 1.16819372e+02] [ 1.45060902e-03 -4.73740882e-05 9.99998947e-01 4.07125574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.13, Y:116.84, Z:0.41 [[ 7.37873313e-01 -6.74938336e-01 -1.10306138e-03 1.47128515e+02] [ 6.74937679e-01 7.37874136e-01 -9.43274226e-04 1.16837258e+02] [ 1.45057240e-03 -4.84808107e-05 9.99998947e-01 4.07355529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.15, Y:116.86, Z:0.41 [[ 7.36765269e-01 -6.76147707e-01 -1.10295269e-03 1.47149016e+02] [ 6.76147051e-01 7.36766093e-01 -9.43401304e-04 1.16856516e+02] [ 1.45049677e-03 -5.06928915e-05 9.99998947e-01 4.08543346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.17, Y:116.87, Z:0.41 [[ 7.36434266e-01 -6.76508208e-01 -1.10269566e-03 1.47169307e+02] [ 6.76507552e-01 7.36435090e-01 -9.43701630e-04 1.16874578e+02] [ 1.45048568e-03 -5.10077280e-05 9.99998947e-01 4.08647415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.19, Y:116.89, Z:0.41 [[ 7.35703774e-01 -6.77302548e-01 -1.10258432e-03 1.47190038e+02] [ 6.77301892e-01 7.35704599e-01 -9.43831702e-04 1.16893679e+02] [ 1.45043597e-03 -5.24019005e-05 9.99998947e-01 4.07701961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.21, Y:116.91, Z:0.41 [[ 7.34948197e-01 -6.78122358e-01 -1.10232730e-03 1.47209262e+02] [ 6.78121703e-01 7.34949022e-01 -9.44131784e-04 1.16913522e+02] [ 1.45039124e-03 -5.36241158e-05 9.99998947e-01 4.05023884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.23, Y:116.93, Z:0.41 [[ 7.36020381e-01 -6.76958483e-01 -1.10017706e-03 1.47231096e+02] [ 6.76957823e-01 7.36021202e-01 -9.46641004e-04 1.16931119e+02] [ 1.45059030e-03 -4.80263933e-05 9.99998947e-01 4.09361955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.25, Y:116.95, Z:0.41 [[ 7.36435093e-01 -6.76507310e-01 -1.10199363e-03 1.47252285e+02] [ 6.76506652e-01 7.36435915e-01 -9.44521570e-04 1.16949515e+02] [ 1.45052343e-03 -4.99271913e-05 9.99998947e-01 4.09240562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.27, Y:116.97, Z:0.41 [[ 7.36642234e-01 -6.76281750e-01 -1.10173724e-03 1.47273426e+02] [ 6.76281092e-01 7.36643056e-01 -9.44820539e-04 1.16968419e+02] [ 1.45055198e-03 -4.90893531e-05 9.99998947e-01 4.09137214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.29, Y:116.99, Z:0.41 [[ 7.37445049e-01 -6.75406238e-01 -1.10148228e-03 1.47292764e+02] [ 6.75405578e-01 7.37445870e-01 -9.45117687e-04 1.16987382e+02] [ 1.45062194e-03 -4.69749147e-05 9.99998947e-01 4.08554801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.31, Y:117.01, Z:0.41 [[ 7.37484371e-01 -6.75363302e-01 -1.10137176e-03 1.47312323e+02] [ 6.75362642e-01 7.37485192e-01 -9.45246456e-04 1.17005542e+02] [ 1.45063013e-03 -4.67208541e-05 9.99998947e-01 4.08065262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.33, Y:117.02, Z:0.41 [[ 7.37743243e-01 -6.75080510e-01 -1.10119988e-03 1.47332415e+02] [ 6.75079850e-01 7.37744063e-01 -9.45446655e-04 1.17024721e+02] [ 1.45065628e-03 -4.59009675e-05 9.99998947e-01 4.07381559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.35, Y:117.04, Z:0.41 [[ 7.37575451e-01 -6.75263831e-01 -1.10095059e-03 1.47353364e+02] [ 6.75263171e-01 7.37576271e-01 -9.45736862e-04 1.17043931e+02] [ 1.45065692e-03 -4.58790903e-05 9.99998947e-01 4.07342734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.37, Y:117.06, Z:0.41 [[ 7.37520195e-01 -6.75324182e-01 -1.10070173e-03 1.47374028e+02] [ 6.75323521e-01 7.37521015e-01 -9.46026408e-04 1.17062502e+02] [ 1.45066517e-03 -4.56161849e-05 9.99998947e-01 4.06855693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.39, Y:117.08, Z:0.41 [[ 7.37228041e-01 -6.75643104e-01 -1.10045440e-03 1.47394767e+02] [ 6.75642443e-01 7.37228861e-01 -9.46314017e-04 1.17081221e+02] [ 1.45065729e-03 -4.58644728e-05 9.99998947e-01 4.06537767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.41, Y:117.10, Z:0.40 [[ 7.36120540e-01 -6.76849570e-01 -1.10020868e-03 1.47413563e+02] [ 6.76848910e-01 7.36121361e-01 -9.46599619e-04 1.17100931e+02] [ 1.45059265e-03 -4.78636213e-05 9.99998947e-01 4.02705920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.43, Y:117.12, Z:0.40 [[ 7.35951355e-01 -6.77033531e-01 -1.09579142e-03 1.47431489e+02] [ 6.77032863e-01 7.35952170e-01 -9.51730159e-04 1.17118853e+02] [ 1.45080330e-03 -4.14597009e-05 9.99998947e-01 4.01381256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.46, Y:117.14, Z:0.40 [[ 7.35517688e-01 -6.77504640e-01 -1.09220560e-03 1.47455862e+02] [ 6.77503967e-01 7.35518498e-01 -9.55902818e-04 1.17139497e+02] [ 1.45096602e-03 -3.68901974e-05 9.99998947e-01 4.04035362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.48, Y:117.16, Z:0.41 [[ 7.35933927e-01 -6.77052467e-01 -1.10087878e-03 1.47477052e+02] [ 6.77051808e-01 7.35934749e-01 -9.45807614e-04 1.17156199e+02] [ 1.45053633e-03 -4.93000589e-05 9.99998947e-01 4.06796562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.50, Y:117.18, Z:0.40 [[ 7.34258313e-01 -6.78869294e-01 -1.10069316e-03 1.47496514e+02] [ 6.78868637e-01 7.34259136e-01 -9.46023587e-04 1.17176542e+02] [ 1.45042037e-03 -5.26003819e-05 9.99998947e-01 4.02934055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.52, Y:117.19, Z:0.41 [[ 7.35561760e-01 -6.77456778e-01 -1.10041819e-03 1.47518910e+02] [ 6.77456119e-01 7.35562581e-01 -9.46343328e-04 1.17192796e+02] [ 1.45053314e-03 -4.93910704e-05 9.99998947e-01 4.07700095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.54, Y:117.21, Z:0.41 [[ 7.35270207e-01 -6.77773201e-01 -1.10033358e-03 1.47538930e+02] [ 6.77772542e-01 7.35271029e-01 -9.46441694e-04 1.17212254e+02] [ 1.45051622e-03 -4.98855054e-05 9.99998947e-01 4.05918795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.56, Y:117.23, Z:0.41 [[ 7.36314084e-01 -6.76639017e-01 -1.10006706e-03 1.47560129e+02] [ 6.76638357e-01 7.36314904e-01 -9.46751372e-04 1.17229645e+02] [ 1.45060469e-03 -4.72411984e-05 9.99998947e-01 4.07565273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.58, Y:117.25, Z:0.41 [[ 7.37197081e-01 -6.75676886e-01 -1.09995153e-03 1.47579957e+02] [ 6.75676224e-01 7.37197900e-01 -9.46885573e-04 1.17247527e+02] [ 1.45067066e-03 -4.51698178e-05 9.99998947e-01 4.07445593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.60, Y:117.27, Z:0.41 [[ 7.38751459e-01 -6.73977056e-01 -1.09983831e-03 1.47599249e+02] [ 6.73976392e-01 7.38752277e-01 -9.47017068e-04 1.17267328e+02] [ 1.45077583e-03 -4.16548151e-05 9.99998947e-01 4.05756657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.62, Y:117.28, Z:0.41 [[ 7.40343078e-01 -6.72228323e-01 -1.09971928e-03 1.47620091e+02] [ 6.72227657e-01 7.40343893e-01 -9.47155276e-04 1.17284933e+02] [ 1.45087505e-03 -3.80418595e-05 9.99998947e-01 4.07529255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.65, Y:117.30, Z:0.41 [[ 7.42760418e-01 -6.69556384e-01 -1.09960161e-03 1.47645950e+02] [ 6.69555715e-01 7.42761232e-01 -9.47291855e-04 1.17304155e+02] [ 1.45100676e-03 -3.26336502e-05 9.99998947e-01 4.08519407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.66, Y:117.32, Z:0.41 [[ 7.42953512e-01 -6.69342105e-01 -1.10718235e-03 1.47662634e+02] [ 6.69341449e-01 7.42954335e-01 -9.38493508e-04 1.17322782e+02] [ 1.45075915e-03 -4.38259916e-05 9.99998947e-01 4.07620179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.69, Y:117.34, Z:0.41 [[ 7.45697761e-01 -6.66283454e-01 -1.09913504e-03 1.47689521e+02] [ 6.66282780e-01 7.45698571e-01 -9.47825480e-04 1.17341247e+02] [ 1.45114386e-03 -2.55434115e-05 9.99998947e-01 4.08997908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.71, Y:117.36, Z:0.41 [[ 7.44216697e-01 -6.67937332e-01 -1.10851712e-03 1.47705814e+02] [ 6.67936676e-01 7.44217521e-01 -9.36941904e-04 1.17360113e+02] [ 1.45079634e-03 -4.31314332e-05 9.99998947e-01 4.08009016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.73, Y:117.38, Z:0.41 [[ 7.45410978e-01 -6.66604280e-01 -1.09876320e-03 1.47727318e+02] [ 6.66603606e-01 7.45411788e-01 -9.48244110e-04 1.17378638e+02] [ 1.45113462e-03 -2.56079415e-05 9.99998947e-01 4.07589627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.75, Y:117.40, Z:0.41 [[ 7.45157964e-01 -6.66887098e-01 -1.09850519e-03 1.47748900e+02] [ 6.66886424e-01 7.45158774e-01 -9.48542905e-04 1.17396903e+02] [ 1.45113181e-03 -2.57639005e-05 9.99998947e-01 4.09670481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.77, Y:117.41, Z:0.41 [[ 7.45576612e-01 -6.66419020e-01 -1.09823296e-03 1.47768773e+02] [ 6.66418344e-01 7.45577420e-01 -9.48857996e-04 1.17414556e+02] [ 1.45115471e-03 -2.44362616e-05 9.99998947e-01 4.10469742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.79, Y:117.43, Z:0.41 [[ 7.45952451e-01 -6.65998299e-01 -1.09811488e-03 1.47788945e+02] [ 6.65997624e-01 7.45953259e-01 -9.48994633e-04 1.17432887e+02] [ 1.45117118e-03 -2.34370268e-05 9.99998947e-01 4.09166696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.81, Y:117.45, Z:0.41 [[ 7.44573975e-01 -6.67539055e-01 -1.09799789e-03 1.47810225e+02] [ 6.67538380e-01 7.44574785e-01 -9.49129969e-04 1.17450984e+02] [ 1.45112287e-03 -2.62582603e-05 9.99998947e-01 4.09521825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.83, Y:117.47, Z:0.41 [[ 7.43927698e-01 -6.68259213e-01 -1.09773276e-03 1.47831824e+02] [ 6.68258539e-01 7.43928507e-01 -9.49436517e-04 1.17468536e+02] [ 1.45110439e-03 -2.72571660e-05 9.99998947e-01 4.10431583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.85, Y:117.49, Z:0.41 [[ 7.44488389e-01 -6.67634506e-01 -1.09746660e-03 1.47852757e+02] [ 6.67633831e-01 7.44489198e-01 -9.49744071e-04 1.17485916e+02] [ 1.45113394e-03 -2.56323977e-05 9.99998947e-01 4.10534340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.87, Y:117.50, Z:0.41 [[ 7.43130744e-01 -6.69145345e-01 -1.09735148e-03 1.47873407e+02] [ 6.69144672e-01 7.43131554e-01 -9.49877069e-04 1.17504580e+02] [ 1.45108233e-03 -2.84040395e-05 9.99998947e-01 4.09211183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.89, Y:117.52, Z:0.41 [[ 7.42158778e-01 -6.70223205e-01 -1.09708922e-03 1.47893660e+02] [ 6.70222532e-01 7.42159588e-01 -9.50179878e-04 1.17522094e+02] [ 1.45104788e-03 -3.01095754e-05 9.99998947e-01 4.10078563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.91, Y:117.54, Z:0.41 [[ 7.41326507e-01 -6.71143656e-01 -1.09697564e-03 1.47913270e+02] [ 6.71142984e-01 7.41327318e-01 -9.50310977e-04 1.17540612e+02] [ 1.45101320e-03 -3.17367897e-05 9.99998947e-01 4.09649516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.93, Y:117.56, Z:0.41 [[ 7.40190210e-01 -6.72396646e-01 -1.09686304e-03 1.47934406e+02] [ 6.72395976e-01 7.40191022e-01 -9.50440928e-04 1.17558233e+02] [ 1.45096147e-03 -3.40192241e-05 9.99998947e-01 4.09865179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.96, Y:117.58, Z:0.41 [[ 7.39498271e-01 -6.73157563e-01 -1.09675096e-03 1.47958072e+02] [ 6.73156893e-01 7.39499083e-01 -9.50570249e-04 1.17578018e+02] [ 1.45092988e-03 -3.53404105e-05 9.99998947e-01 4.08599504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.98, Y:117.60, Z:0.41 [[ 7.37162791e-01 -6.75714291e-01 -1.10258194e-03 1.47975520e+02] [ 6.75713634e-01 7.37163614e-01 -9.43843916e-04 1.17595714e+02] [ 1.45055211e-03 -4.92630310e-05 9.99998947e-01 4.08758973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.00, Y:117.62, Z:0.41 [[ 7.37057957e-01 -6.75828651e-01 -1.09629974e-03 1.48000288e+02] [ 6.75827983e-01 7.37058771e-01 -9.51085299e-04 1.17615822e+02] [ 1.45080803e-03 -3.99050522e-05 9.99998947e-01 4.07409550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.02, Y:117.64, Z:0.41 [[ 7.35308723e-01 -6.77731412e-01 -1.10256544e-03 1.48018677e+02] [ 6.77730757e-01 7.35309547e-01 -9.43870411e-04 1.17635026e+02] [ 1.45041752e-03 -5.32063655e-05 9.99998947e-01 4.09448695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.04, Y:117.65, Z:0.41 [[ 7.35120142e-01 -6.77935968e-01 -1.09541601e-03 1.48040205e+02] [ 6.77935301e-01 7.35120957e-01 -9.52096057e-04 1.17653814e+02] [ 1.45072343e-03 -4.27161930e-05 9.99998947e-01 4.09486636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.06, Y:117.67, Z:0.41 [[ 7.35109929e-01 -6.77947043e-01 -1.09515104e-03 1.48059905e+02] [ 6.77946375e-01 7.35110744e-01 -9.52400740e-04 1.17672445e+02] [ 1.45073456e-03 -4.23344377e-05 9.99998947e-01 4.10238584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.08, Y:117.69, Z:0.41 [[ 7.33996861e-01 -6.79151978e-01 -1.09504053e-03 1.48079034e+02] [ 6.79151312e-01 7.33997676e-01 -9.52527781e-04 1.17693212e+02] [ 1.45066833e-03 -4.45458129e-05 9.99998947e-01 4.09511959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.10, Y:117.71, Z:0.41 [[ 7.34484143e-01 -6.78624966e-01 -1.09496274e-03 1.48101189e+02] [ 6.78624299e-01 7.34484958e-01 -9.52617202e-04 1.17711187e+02] [ 1.45070348e-03 -4.33860908e-05 9.99998947e-01 4.09943769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.12, Y:117.73, Z:0.41 [[ 7.34817040e-01 -6.78264491e-01 -1.09474894e-03 1.48119877e+02] [ 6.78263823e-01 7.34817854e-01 -9.52862834e-04 1.17732270e+02] [ 1.45073409e-03 -4.23487542e-05 9.99998947e-01 4.10308456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.15, Y:117.75, Z:0.41 [[ 7.36852915e-01 -6.76052204e-01 -1.09463558e-03 1.48145762e+02] [ 6.76051534e-01 7.36853727e-01 -9.52993039e-04 1.17751885e+02] [ 1.45085935e-03 -3.78143661e-05 9.99998947e-01 4.09682333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21361786499995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.17, Y:117.77, Z:0.41 [[ 7.37506211e-01 -6.75339450e-01 -1.10300321e-03 1.48167462e+02] [ 6.75338792e-01 7.37507034e-01 -9.43381712e-04 1.17771549e+02] [ 1.45057552e-03 -4.91509869e-05 9.99998947e-01 4.09798706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.19, Y:117.79, Z:0.41 [[ 7.38986834e-01 -6.73718964e-01 -1.10338191e-03 1.48187684e+02] [ 6.73718306e-01 7.38987656e-01 -9.42947004e-04 1.17791828e+02] [ 1.45066689e-03 -4.65431674e-05 9.99998947e-01 4.09889436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.20, Y:117.81, Z:0.41 [[ 7.38894138e-01 -6.73820626e-01 -1.10321546e-03 1.48204299e+02] [ 6.73819968e-01 7.38894960e-01 -9.43137920e-04 1.17809986e+02] [ 1.45066613e-03 -4.64895249e-05 9.99998947e-01 4.11136479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.22, Y:117.83, Z:0.41 [[ 7.39509642e-01 -6.73145076e-01 -1.09355527e-03 1.48224922e+02] [ 6.73144400e-01 7.39510450e-01 -9.54208826e-04 1.17829169e+02] [ 1.45101652e-03 -3.04739754e-05 9.99998947e-01 4.13113043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.24, Y:117.85, Z:0.41 [[ 7.39236165e-01 -6.73445393e-01 -1.09328884e-03 1.48244083e+02] [ 6.73444717e-01 7.39236973e-01 -9.54513984e-04 1.17850260e+02] [ 1.45101258e-03 -3.06583384e-05 9.99998947e-01 4.11118358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.26, Y:117.87, Z:0.41 [[ 7.39489226e-01 -6.73167505e-01 -1.09320632e-03 1.48264557e+02] [ 6.73166828e-01 7.39490034e-01 -9.54608487e-04 1.17869681e+02] [ 1.45102659e-03 -2.99875406e-05 9.99998947e-01 4.11011380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.28, Y:117.89, Z:0.41 [[ 7.39211531e-01 -6.73472433e-01 -1.09293428e-03 1.48283949e+02] [ 6.73471757e-01 7.39212338e-01 -9.54919846e-04 1.17888375e+02] [ 1.45102270e-03 -3.01726076e-05 9.99998947e-01 4.12020273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.30, Y:117.91, Z:0.41 [[ 7.38618218e-01 -6.74123085e-01 -1.09275006e-03 1.48304999e+02] [ 6.74122409e-01 7.38619025e-01 -9.55130606e-04 1.17907330e+02] [ 1.45100158e-03 -3.11704397e-05 9.99998947e-01 4.12299841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.33, Y:117.93, Z:0.41 [[ 7.37349563e-01 -6.75510495e-01 -1.09248189e-03 1.48325311e+02] [ 6.75509820e-01 7.37350372e-01 -9.55437248e-04 1.17926794e+02] [ 1.45094981e-03 -3.34910049e-05 9.99998947e-01 4.11158784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.34, Y:117.95, Z:0.41 [[ 7.36799222e-01 -6.76110726e-01 -1.09221441e-03 1.48344802e+02] [ 6.76110051e-01 7.36800031e-01 -9.55742921e-04 1.17945066e+02] [ 1.45093165e-03 -3.42664989e-05 9.99998947e-01 4.11794260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.36, Y:117.96, Z:0.41 [[ 7.35011545e-01 -6.78053712e-01 -1.09209871e-03 1.48364054e+02] [ 6.78053040e-01 7.35012355e-01 -9.55875108e-04 1.17964172e+02] [ 1.45084071e-03 -3.79216097e-05 9.99998947e-01 4.11570530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.38, Y:117.98, Z:0.41 [[ 7.33994257e-01 -6.79154797e-01 -1.09192449e-03 1.48383623e+02] [ 6.79154125e-01 7.33995068e-01 -9.56074077e-04 1.17982682e+02] [ 1.45078949e-03 -3.98321430e-05 9.99998947e-01 4.11433432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.40, Y:118.00, Z:0.41 [[ 7.33137907e-01 -6.80079126e-01 -1.09181429e-03 1.48404419e+02] [ 6.80078455e-01 7.33138719e-01 -9.56199913e-04 1.18001897e+02] [ 1.45074293e-03 -4.14929714e-05 9.99998947e-01 4.11631139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.42, Y:118.02, Z:0.41 [[ 7.32022682e-01 -6.81279386e-01 -1.09155546e-03 1.48423822e+02] [ 6.81278716e-01 7.32023494e-01 -9.56495283e-04 1.18020280e+02] [ 1.45068476e-03 -4.34772628e-05 9.99998947e-01 4.11443670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.45, Y:118.04, Z:0.41 [[ 7.31469813e-01 -6.81872951e-01 -1.09144338e-03 1.48449718e+02] [ 6.81872282e-01 7.31470626e-01 -9.56623167e-04 1.18040434e+02] [ 1.45065423e-03 -4.44840168e-05 9.99998947e-01 4.06723731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.47, Y:118.06, Z:0.41 [[ 7.31077212e-01 -6.82293850e-01 -1.10084773e-03 1.48472164e+02] [ 6.82293197e-01 7.31078039e-01 -9.45891736e-04 1.18059613e+02] [ 1.45018171e-03 -5.95810198e-05 9.99998947e-01 4.05519467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.49, Y:118.08, Z:0.41 [[ 7.29548437e-01 -6.83928258e-01 -1.10266644e-03 1.48487816e+02] [ 6.83927610e-01 7.29549268e-01 -9.43816925e-04 1.18076144e+02] [ 1.44995256e-03 -6.55838625e-05 9.99998947e-01 4.08852021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.51, Y:118.10, Z:0.41 [[ 7.26899620e-01 -6.86742858e-01 -1.09082359e-03 1.48506669e+02] [ 6.86742193e-01 7.26900436e-01 -9.57311450e-04 1.18096823e+02] [ 1.45034695e-03 -5.32452553e-05 9.99998947e-01 4.09492893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.53, Y:118.12, Z:0.41 [[ 7.27859467e-01 -6.85725460e-01 -1.09070726e-03 1.48533468e+02] [ 6.85724794e-01 7.27860282e-01 -9.57443971e-04 1.18115962e+02] [ 1.45042620e-03 -5.10403538e-05 9.99998947e-01 4.05060701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.55, Y:118.14, Z:0.41 [[ 7.25825383e-01 -6.87878114e-01 -1.10135608e-03 1.48548767e+02] [ 6.87877468e-01 7.25826215e-01 -9.45312189e-04 1.18135046e+02] [ 1.44965268e-03 -7.14664501e-05 9.99998947e-01 4.09977749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.57, Y:118.15, Z:0.41 [[ 7.25442477e-01 -6.88281936e-01 -1.09028721e-03 1.48571374e+02] [ 6.88281272e-01 7.25443294e-01 -9.57910703e-04 1.18154754e+02] [ 1.45025418e-03 -5.55151532e-05 9.99998947e-01 4.07983737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.59, Y:118.17, Z:0.41 [[ 7.25184528e-01 -6.88553702e-01 -1.09490595e-03 1.48589986e+02] [ 6.88553046e-01 7.25185352e-01 -9.52655284e-04 1.18172987e+02] [ 1.44996408e-03 -6.30499534e-05 9.99998947e-01 4.10389114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.61, Y:118.19, Z:0.41 [[ 7.25421039e-01 -6.88304532e-01 -1.08989131e-03 1.48610782e+02] [ 6.88303867e-01 7.25421856e-01 -9.58358177e-04 1.18191739e+02] [ 1.45027325e-03 -5.49632158e-05 9.99998947e-01 4.11041341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.63, Y:118.21, Z:0.41 [[ 7.25884648e-01 -6.87815593e-01 -1.08962607e-03 1.48631016e+02] [ 6.87814927e-01 7.25885464e-01 -9.58659648e-04 1.18209722e+02] [ 1.45032478e-03 -5.35847554e-05 9.99998947e-01 4.11163821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.66, Y:118.23, Z:0.41 [[ 7.28633492e-01 -6.84902947e-01 -1.08951123e-03 1.48658892e+02] [ 6.84902277e-01 7.28634305e-01 -9.58790142e-04 1.18229388e+02] [ 1.45053345e-03 -4.76021145e-05 9.99998947e-01 4.07960815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.67, Y:118.25, Z:0.41 [[ 7.28223459e-01 -6.85338884e-01 -1.09904513e-03 1.48674793e+02] [ 6.85338232e-01 7.28224285e-01 -9.47970227e-04 1.18249508e+02] [ 1.45003221e-03 -6.28834873e-05 9.99998947e-01 4.10405545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.69, Y:118.27, Z:0.41 [[ 7.29485003e-01 -6.83995940e-01 -1.08836359e-03 1.48694102e+02] [ 6.83995267e-01 7.29485814e-01 -9.60079021e-04 1.18268049e+02] [ 1.45063595e-03 -4.40722966e-05 9.99998947e-01 4.11595064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.71, Y:118.29, Z:0.41 [[ 7.30602680e-01 -6.82801977e-01 -1.08824123e-03 1.48714657e+02] [ 6.82801303e-01 7.30603490e-01 -9.60217689e-04 1.18287106e+02] [ 1.45071138e-03 -4.15149156e-05 9.99998947e-01 4.12452426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.73, Y:118.31, Z:0.41 [[ 7.31825571e-01 -6.81491123e-01 -1.08798371e-03 1.48734972e+02] [ 6.81490447e-01 7.31826379e-01 -9.60509385e-04 1.18305809e+02] [ 1.45079380e-03 -3.85251786e-05 9.99998947e-01 4.12822347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.76, Y:118.33, Z:0.41 [[ 7.34553370e-01 -6.78550045e-01 -1.08772787e-03 1.48755486e+02] [ 6.78549365e-01 7.34554175e-01 -9.60799023e-04 1.18325083e+02] [ 1.45094527e-03 -3.23188980e-05 9.99998947e-01 4.14395292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.78, Y:118.34, Z:0.41 [[ 7.36080848e-01 -6.76892756e-01 -1.08745761e-03 1.48775525e+02] [ 6.76892074e-01 7.36081650e-01 -9.61104815e-04 1.18342992e+02] [ 1.45102248e-03 -2.86405923e-05 9.99998947e-01 4.14133239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.80, Y:118.36, Z:0.41 [[ 7.37322771e-01 -6.75539746e-01 -1.08734034e-03 1.48795097e+02] [ 6.75539063e-01 7.37323573e-01 -9.61237478e-04 1.18360961e+02] [ 1.45107578e-03 -2.57985898e-05 9.99998947e-01 4.13913057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.81, Y:118.38, Z:0.41 [[ 7.39509516e-01 -6.73145225e-01 -1.08722798e-03 1.48814342e+02] [ 6.73144539e-01 7.39510315e-01 -9.61364544e-04 1.18379348e+02] [ 1.45115426e-03 -2.09233483e-05 9.99998947e-01 4.13938496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.83, Y:118.40, Z:0.41 [[ 7.40169160e-01 -6.72419833e-01 -1.08711873e-03 1.48834806e+02] [ 6.72419146e-01 7.40169958e-01 -9.61488070e-04 1.18398082e+02] [ 1.45117627e-03 -1.93356303e-05 9.99998947e-01 4.13848212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23361786499996 meters Centerline goodness : 0.993398 Centerline is valid? [True, True] Translation: X:148.86, Y:118.42, Z:0.41 [[ 7.40463778e-01 -6.72095389e-01 -1.08685616e-03 1.48857133e+02] [ 6.72094701e-01 7.40464575e-01 -9.61784782e-04 1.18418763e+02] [ 1.45118960e-03 -1.83034739e-05 9.99998947e-01 4.12522050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26361786499996 meters Centerline goodness : 0.995382 Centerline is valid? [True, True] Translation: X:148.88, Y:118.44, Z:0.41 [[ 7.40164277e-01 -6.72425203e-01 -1.09013717e-03 1.48878288e+02] [ 6.72424521e-01 7.40165080e-01 -9.58078457e-04 1.18438141e+02] [ 1.45111756e-03 -2.38995125e-05 9.99998947e-01 4.12730698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29361786499996 meters Centerline goodness : 0.995020 Centerline is valid? [True, True] Translation: X:148.90, Y:118.46, Z:0.41 [[ 7.40011805e-01 -6.72592996e-01 -1.09105184e-03 1.48898408e+02] [ 6.72592316e-01 7.40012609e-01 -9.57045926e-04 1.18455879e+02] [ 1.45109450e-03 -2.56078002e-05 9.99998947e-01 4.13465407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.92, Y:118.47, Z:0.42 [[ 7.38775736e-01 -6.73950462e-01 -1.08982700e-03 1.48919103e+02] [ 6.73949781e-01 7.38776539e-01 -9.58427981e-04 1.18474547e+02] [ 1.45107160e-03 -2.64253331e-05 9.99998947e-01 4.15811516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.94, Y:118.49, Z:0.42 [[ 7.38147794e-01 -6.74638164e-01 -1.08739068e-03 1.48939822e+02] [ 6.74637480e-01 7.38148594e-01 -9.61172722e-04 1.18492961e+02] [ 1.45109970e-03 -2.41069808e-05 9.99998947e-01 4.15334489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.96, Y:118.51, Z:0.42 [[ 7.37026155e-01 -6.75863351e-01 -1.08514879e-03 1.48960972e+02] [ 6.75862664e-01 7.37026954e-01 -9.63697150e-04 1.18511733e+02] [ 1.45111149e-03 -2.31415447e-05 9.99998947e-01 4.16177244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.98, Y:118.53, Z:0.42 [[ 7.34537401e-01 -6.78567337e-01 -1.08428422e-03 1.48982268e+02] [ 6.78566652e-01 7.34538201e-01 -9.64670299e-04 1.18530675e+02] [ 1.45104193e-03 -2.71726955e-05 9.99998947e-01 4.15544649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.00, Y:118.55, Z:0.42 [[ 7.33129792e-01 -6.80087885e-01 -1.08482979e-03 1.49003503e+02] [ 6.80087202e-01 7.33130594e-01 -9.64056365e-04 1.18549544e+02] [ 1.45096496e-03 -3.10004153e-05 9.99998947e-01 4.15339225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.03, Y:118.57, Z:0.41 [[ 7.30268169e-01 -6.83159736e-01 -1.08460979e-03 1.49026334e+02] [ 6.83159056e-01 7.30268974e-01 -9.64303815e-04 1.18569911e+02] [ 1.45083042e-03 -3.67606176e-05 9.99998947e-01 4.14962141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.04, Y:118.59, Z:0.41 [[ 7.28794780e-01 -6.84731320e-01 -1.09057040e-03 1.49044901e+02] [ 6.84730652e-01 7.28795594e-01 -9.57609892e-04 1.18587775e+02] [ 1.45050838e-03 -4.88458887e-05 9.99998947e-01 4.12004372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.07, Y:118.60, Z:0.41 [[ 7.27425838e-01 -6.86185454e-01 -1.08347899e-03 1.49065187e+02] [ 6.86184775e-01 7.27426643e-01 -9.65567281e-04 1.18604926e+02] [ 1.45070970e-03 -4.10881971e-05 9.99998947e-01 4.14838931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.09, Y:118.62, Z:0.42 [[ 7.25993066e-01 -6.87701167e-01 -1.08335660e-03 1.49087201e+02] [ 6.87700490e-01 7.25993873e-01 -9.65704576e-04 1.18624604e+02] [ 1.45062642e-03 -4.39300391e-05 9.99998947e-01 4.16064241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.11, Y:118.64, Z:0.41 [[ 7.25409705e-01 -6.88316483e-01 -1.08596320e-03 1.49107158e+02] [ 6.88315812e-01 7.25410516e-01 -9.62781828e-04 1.18643468e+02] [ 1.45046773e-03 -4.90743586e-05 9.99998947e-01 4.14480997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.13, Y:118.66, Z:0.42 [[ 7.25370305e-01 -6.88358009e-01 -1.08274842e-03 1.49126950e+02] [ 6.88357332e-01 7.25371111e-01 -9.66383704e-04 1.18661815e+02] [ 1.45061239e-03 -4.43317737e-05 9.99998947e-01 4.15005776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.15, Y:118.68, Z:0.42 [[ 7.25576324e-01 -6.88140847e-01 -1.08263489e-03 1.49147425e+02] [ 6.88140170e-01 7.25577131e-01 -9.66510881e-04 1.18680452e+02] [ 1.45063073e-03 -4.37271417e-05 9.99998947e-01 4.15334492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.17, Y:118.70, Z:0.42 [[ 7.27185653e-01 -6.86439986e-01 -1.08237869e-03 1.49167320e+02] [ 6.86439306e-01 7.27186458e-01 -9.66797703e-04 1.18698943e+02] [ 1.45073973e-03 -3.99458587e-05 9.99998947e-01 4.15748149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71361786499995 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:149.19, Y:118.72, Z:0.42 [[ 7.28033890e-01 -6.85540286e-01 -1.08226768e-03 1.49188913e+02] [ 6.85539605e-01 7.28034694e-01 -9.66921958e-04 1.18718885e+02] [ 1.45079237e-03 -3.79854023e-05 9.99998947e-01 4.16047429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.21, Y:118.74, Z:0.42 [[ 7.29231987e-01 -6.84265690e-01 -1.08369667e-03 1.49208260e+02] [ 6.84265010e-01 7.29232792e-01 -9.65323182e-04 1.18737460e+02] [ 1.45080468e-03 -3.75911685e-05 9.99998947e-01 4.17533225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.23, Y:118.76, Z:0.42 [[ 7.30419871e-01 -6.82997541e-01 -1.08185797e-03 1.49229091e+02] [ 6.82996857e-01 7.30420672e-01 -9.67379468e-04 1.18756784e+02] [ 1.45092922e-03 -3.23124076e-05 9.99998947e-01 4.18224597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.25, Y:118.78, Z:0.42 [[ 7.32035987e-01 -6.81265106e-01 -1.08158982e-03 1.49248531e+02] [ 6.81264419e-01 7.32036785e-01 -9.67679184e-04 1.18776852e+02] [ 1.45100960e-03 -2.84726751e-05 9.99998947e-01 4.15789735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.27, Y:118.80, Z:0.42 [[ 7.33126855e-01 -6.80091056e-01 -1.08131862e-03 1.49269794e+02] [ 6.80090368e-01 7.33127652e-01 -9.67982138e-04 1.18795921e+02] [ 1.45106058e-03 -2.57406777e-05 9.99998947e-01 4.17093668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.29, Y:118.81, Z:0.42 [[ 7.35037481e-01 -6.78025613e-01 -1.08103787e-03 1.49289715e+02] [ 6.78024922e-01 7.35038276e-01 -9.68295573e-04 1.18813518e+02] [ 1.45113341e-03 -2.12370812e-05 9.99998947e-01 4.17332747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.31, Y:118.83, Z:0.42 [[ 7.35391530e-01 -6.77641593e-01 -1.08091643e-03 1.49310038e+02] [ 6.77640902e-01 7.35392324e-01 -9.68431118e-04 1.18832236e+02] [ 1.45114685e-03 -2.02971462e-05 9.99998947e-01 4.17867857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.33, Y:118.85, Z:0.42 [[ 7.35288421e-01 -6.77753475e-01 -1.07916738e-03 1.49331246e+02] [ 6.77752781e-01 7.35289213e-01 -9.70382146e-04 1.18851325e+02] [ 1.45118000e-03 -1.78979350e-05 9.99998947e-01 4.17908519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.35, Y:118.87, Z:0.42 [[ 7.35338513e-01 -6.77699127e-01 -1.07899189e-03 1.49352754e+02] [ 6.77698432e-01 7.35339305e-01 -9.70577834e-04 1.18870235e+02] [ 1.45118489e-03 -1.75278491e-05 9.99998947e-01 4.19088888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.37, Y:118.89, Z:0.42 [[ 7.36881490e-01 -6.76021076e-01 -1.08341801e-03 1.49374007e+02] [ 6.76020387e-01 7.36882287e-01 -9.65641405e-04 1.18887214e+02] [ 1.45114548e-03 -2.08493812e-05 9.99998947e-01 4.22480382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.39, Y:118.91, Z:0.42 [[ 7.37326165e-01 -6.75536049e-01 -1.08266814e-03 1.49394644e+02] [ 6.75535358e-01 7.37326960e-01 -9.66477334e-04 1.18905907e+02] [ 1.45117069e-03 -1.87715837e-05 9.99998947e-01 4.22195272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04361786499996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.42, Y:118.93, Z:0.42 [[ 7.36322593e-01 -6.76629789e-01 -1.08008958e-03 1.49415030e+02] [ 6.76629095e-01 7.36323385e-01 -9.69350469e-04 1.18925343e+02] [ 1.45118662e-03 -1.70653846e-05 9.99998947e-01 4.20782738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07361786499996 meters Centerline goodness : 0.995498 Centerline is valid? [True, True] Translation: X:149.44, Y:118.94, Z:0.42 [[ 7.36667969e-01 -6.76253752e-01 -1.07981595e-03 1.49437568e+02] [ 6.76253057e-01 7.36668760e-01 -9.69655190e-04 1.18942794e+02] [ 1.45119964e-03 -1.59149161e-05 9.99998947e-01 4.21155146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10361786499996 meters Centerline goodness : 0.995413 Centerline is valid? [True, True] Translation: X:149.46, Y:118.96, Z:0.42 [[ 7.35795464e-01 -6.77202973e-01 -1.08113676e-03 1.49458538e+02] [ 6.77202281e-01 7.35796258e-01 -9.68184818e-04 1.18960945e+02] [ 1.45115402e-03 -1.97622802e-05 9.99998947e-01 4.22447841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.48, Y:118.98, Z:0.42 [[ 7.35198731e-01 -6.77850762e-01 -1.08176116e-03 1.49479418e+02] [ 6.77850072e-01 7.35199526e-01 -9.67489942e-04 1.18979022e+02] [ 1.45112409e-03 -2.19745058e-05 9.99998947e-01 4.22656389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.51, Y:119.00, Z:0.42 [[ 7.34786848e-01 -6.78297223e-01 -1.07917689e-03 1.49507562e+02] [ 6.78296530e-01 7.34787640e-01 -9.70364011e-04 1.18997294e+02] [ 1.45116105e-03 -1.89912230e-05 9.99998947e-01 4.17075561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.53, Y:119.01, Z:0.42 [[ 7.33267286e-01 -6.79939630e-01 -1.08990459e-03 1.49525786e+02] [ 6.79938955e-01 7.33268095e-01 -9.58432789e-04 1.19012566e+02] [ 1.45086870e-03 -3.82811813e-05 9.99998947e-01 4.23157609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22361786499997 meters Centerline goodness : 0.993830 Centerline is valid? [True, True] Translation: X:149.54, Y:119.03, Z:0.42 [[ 7.31387322e-01 -6.81961451e-01 -1.07859032e-03 1.49544294e+02] [ 6.81960761e-01 7.31388117e-01 -9.71000713e-04 1.19032825e+02] [ 1.45105320e-03 -2.53786666e-05 9.99998947e-01 4.17872036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.57, Y:119.05, Z:0.42 [[ 7.27787324e-01 -6.85802051e-01 -1.07631880e-03 1.49569233e+02] [ 6.85801360e-01 7.27788119e-01 -9.73524282e-04 1.19053657e+02] [ 1.45097698e-03 -2.96222624e-05 9.99998947e-01 4.15622533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.59, Y:119.07, Z:0.42 [[ 7.30674170e-01 -6.82725478e-01 -1.08618051e-03 1.49593172e+02] [ 6.82724800e-01 7.30674976e-01 -9.62614982e-04 1.19067460e+02] [ 1.45084669e-03 -3.82044658e-05 9.99998947e-01 4.18330801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.61, Y:119.09, Z:0.42 [[ 7.26836766e-01 -6.86809389e-01 -1.08565568e-03 1.49611819e+02] [ 6.86808715e-01 7.26837576e-01 -9.63196207e-04 1.19085127e+02] [ 1.45062754e-03 -4.55513696e-05 9.99998947e-01 4.21558460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.64, Y:119.10, Z:0.42 [[ 7.28203567e-01 -6.85360056e-01 -1.07663208e-03 1.49636582e+02] [ 6.85359365e-01 7.28204362e-01 -9.73179064e-04 1.19101231e+02] [ 1.45098623e-03 -2.92074096e-05 9.99998947e-01 4.21132784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.66, Y:119.12, Z:0.42 [[ 7.24008276e-01 -6.89790440e-01 -1.07924635e-03 1.49658055e+02] [ 6.89789759e-01 7.24009079e-01 -9.70288715e-04 1.19123993e+02] [ 1.45068003e-03 -4.19560189e-05 9.99998947e-01 4.18840338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.68, Y:119.14, Z:0.42 [[ 7.24191508e-01 -6.89598060e-01 -1.08463790e-03 1.49678295e+02] [ 6.89597387e-01 7.24192318e-01 -9.64329554e-04 1.19139404e+02] [ 1.45048622e-03 -4.96041866e-05 9.99998947e-01 4.22737704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43361786499995 meters Centerline goodness : 0.993875 Centerline is valid? [True, True] Translation: X:149.70, Y:119.16, Z:0.42 [[ 7.21792688e-01 -6.92108488e-01 -1.07570804e-03 1.49697962e+02] [ 6.92107803e-01 7.21793488e-01 -9.74189965e-04 1.19159435e+02] [ 1.45068421e-03 -4.13427386e-05 9.99998947e-01 4.21294802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.72, Y:119.18, Z:0.42 [[ 7.21414609e-01 -6.92502564e-01 -1.07725519e-03 1.49721921e+02] [ 6.92501882e-01 7.21415412e-01 -9.72482434e-04 1.19179989e+02] [ 1.45059508e-03 -4.44382131e-05 9.99998947e-01 4.17939996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49361786499995 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:149.74, Y:119.20, Z:0.42 [[ 7.21207376e-01 -6.92718374e-01 -1.08406820e-03 1.49740317e+02] [ 6.92717704e-01 7.21208189e-01 -9.64966475e-04 1.19196299e+02] [ 1.45028887e-03 -5.50122952e-05 9.99998947e-01 4.22236356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52361786499995 meters Centerline goodness : 0.995791 Centerline is valid? [True, True] Translation: X:149.76, Y:119.21, Z:0.42 [[ 7.21450326e-01 -6.92465355e-01 -1.07628130e-03 1.49761519e+02] [ 6.92464672e-01 7.21451128e-01 -9.73546376e-04 1.19212329e+02] [ 1.45063150e-03 -4.29214282e-05 9.99998947e-01 4.21189219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55361786499995 meters Centerline goodness : 0.995025 Centerline is valid? [True, True] Translation: X:149.78, Y:119.23, Z:0.42 [[ 7.22976681e-01 -6.90871598e-01 -1.07428806e-03 1.49779806e+02] [ 6.90870910e-01 7.22977478e-01 -9.75741454e-04 1.19226175e+02] [ 1.45079813e-03 -3.67560506e-05 9.99998947e-01 4.21669936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58361786499995 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:149.80, Y:119.25, Z:0.42 [[ 7.22789405e-01 -6.91067541e-01 -1.06268754e-03 1.49803391e+02] [ 6.91066835e-01 7.22790186e-01 -9.88515741e-04 1.19247244e+02] [ 1.45123127e-03 -1.98994093e-05 9.99998947e-01 4.21968935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.83, Y:119.26, Z:0.42 [[ 7.24872980e-01 -6.88881711e-01 -1.07350525e-03 1.49826138e+02] [ 6.88881019e-01 7.24873774e-01 -9.76596896e-04 1.19263089e+02] [ 1.45091554e-03 -3.16086879e-05 9.99998947e-01 4.23550214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.85, Y:119.28, Z:0.42 [[ 7.25774837e-01 -6.87931487e-01 -1.07453490e-03 1.49847079e+02] [ 6.87930797e-01 7.25775632e-01 -9.75462663e-04 1.19281065e+02] [ 1.45092273e-03 -3.12393979e-05 9.99998947e-01 4.24670584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67361786499995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:149.87, Y:119.30, Z:0.43 [[ 7.27851895e-01 -6.85733523e-01 -1.07427037e-03 1.49869841e+02] [ 6.85732829e-01 7.27852688e-01 -9.75753902e-04 1.19298401e+02] [ 1.45101774e-03 -2.64581360e-05 9.99998947e-01 4.26207530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.89, Y:119.32, Z:0.42 [[ 7.28119221e-01 -6.85449668e-01 -1.07398737e-03 1.49890203e+02] [ 6.85448973e-01 7.28120012e-01 -9.76065293e-04 1.19317569e+02] [ 1.45103533e-03 -2.54716430e-05 9.99998947e-01 4.24198187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.91, Y:119.34, Z:0.42 [[ 7.29028563e-01 -6.84482434e-01 -1.07389975e-03 1.49911987e+02] [ 6.84481738e-01 7.29029353e-01 -9.76161691e-04 1.19335057e+02] [ 1.45106997e-03 -2.34150121e-05 9.99998947e-01 4.24576779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.94, Y:119.35, Z:0.42 [[ 7.30360086e-01 -6.83061485e-01 -1.07364034e-03 1.49936806e+02] [ 6.83060787e-01 7.30360875e-01 -9.76446919e-04 1.19354334e+02] [ 1.45111818e-03 -2.02037614e-05 9.99998947e-01 4.21951870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.96, Y:119.37, Z:0.42 [[ 7.31252521e-01 -6.82105995e-01 -1.07799102e-03 1.49958906e+02] [ 6.82105304e-01 7.31253315e-01 -9.71668302e-04 1.19372637e+02] [ 1.45106528e-03 -2.47684945e-05 9.99998947e-01 4.22475826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.98, Y:119.39, Z:0.42 [[ 7.30455109e-01 -6.82959860e-01 -1.07902384e-03 1.49976753e+02] [ 6.82959171e-01 7.30455905e-01 -9.70534214e-04 1.19390850e+02] [ 1.45101524e-03 -2.79975495e-05 9.99998947e-01 4.23819625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.00, Y:119.41, Z:0.42 [[ 7.33224397e-01 -6.79985906e-01 -1.07261220e-03 1.50003400e+02] [ 6.79985204e-01 7.33225182e-01 -9.77569216e-04 1.19407237e+02] [ 1.45119956e-03 -1.25828236e-05 9.99998947e-01 4.22786780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.03, Y:119.43, Z:0.42 [[ 7.33263245e-01 -6.79944004e-01 -1.07936398e-03 1.50026179e+02] [ 6.79943312e-01 7.33264039e-01 -9.70159801e-04 1.19425188e+02] [ 1.45111313e-03 -2.25237921e-05 9.99998947e-01 4.21946613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.05, Y:119.44, Z:0.43 [[ 7.33842917e-01 -6.79318336e-01 -1.08257198e-03 1.50045807e+02] [ 6.79317648e-01 7.33843715e-01 -9.66639090e-04 1.19439499e+02] [ 1.45109430e-03 -2.60490024e-05 9.99998947e-01 4.26412268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.07, Y:119.46, Z:0.42 [[ 7.32212776e-01 -6.81075107e-01 -1.07218100e-03 1.50069876e+02] [ 6.81074404e-01 7.32213561e-01 -9.78030364e-04 1.19460155e+02] [ 1.45117760e-03 -1.41087085e-05 9.99998947e-01 4.21072586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.09, Y:119.48, Z:0.42 [[ 7.32072143e-01 -6.81226257e-01 -1.07885595e-03 1.50091623e+02] [ 6.81225566e-01 7.32072938e-01 -9.70713558e-04 1.19477382e+02] [ 1.45107681e-03 -2.43118988e-05 9.99998947e-01 4.23443589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.11, Y:119.50, Z:0.42 [[ 7.30603337e-01 -6.82801290e-01 -1.07833035e-03 1.50113429e+02] [ 6.82800600e-01 7.30604132e-01 -9.71289169e-04 1.19495921e+02] [ 1.45103010e-03 -2.66574998e-05 9.99998947e-01 4.22485428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.13, Y:119.51, Z:0.42 [[ 7.28410916e-01 -6.85139673e-01 -1.07968202e-03 1.50133985e+02] [ 6.85138988e-01 7.28411715e-01 -9.69809638e-04 1.19511830e+02] [ 1.45090809e-03 -3.33123198e-05 9.99998947e-01 4.23920083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:150.16, Y:119.53, Z:0.42 [[ 7.27081249e-01 -6.86550581e-01 -1.07552194e-03 1.50155908e+02] [ 6.86549890e-01 7.27082044e-01 -9.74360524e-04 1.19530051e+02] [ 1.45094047e-03 -2.99602027e-05 9.99998947e-01 4.24416087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.18, Y:119.55, Z:0.43 [[ 7.26000140e-01 -6.87693711e-01 -1.07541173e-03 1.50176000e+02] [ 6.87693022e-01 7.26000936e-01 -9.74481014e-04 1.19546789e+02] [ 1.45089439e-03 -3.20797909e-05 9.99998947e-01 4.26795518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.20, Y:119.56, Z:0.43 [[ 7.23978620e-01 -6.89821580e-01 -1.07059675e-03 1.50198508e+02] [ 6.89820885e-01 7.23979411e-01 -9.79742504e-04 1.19563875e+02] [ 1.45093753e-03 -2.92073704e-05 9.99998947e-01 4.25253125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.22, Y:119.58, Z:0.42 [[ 7.24145431e-01 -6.89646467e-01 -1.07033467e-03 1.50220318e+02] [ 6.89645771e-01 7.24146221e-01 -9.80028736e-04 1.19580655e+02] [ 1.45095216e-03 -2.84684457e-05 9.99998947e-01 4.19522500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.25, Y:119.60, Z:0.42 [[ 7.22977918e-01 -6.90870314e-01 -1.06753889e-03 1.50245139e+02] [ 6.90869615e-01 7.22978706e-01 -9.83081388e-04 1.19601059e+02] [ 1.45098963e-03 -2.67840462e-05 9.99998947e-01 4.24982761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21361786499995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:150.27, Y:119.62, Z:0.43 [[ 7.21867165e-01 -6.92030807e-01 -1.07626237e-03 1.50266539e+02] [ 6.92030124e-01 7.21867966e-01 -9.73553618e-04 1.19617836e+02] [ 1.45064842e-03 -4.20295892e-05 9.99998947e-01 4.25991373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.29, Y:119.64, Z:0.42 [[ 7.22332023e-01 -6.91545586e-01 -1.07286701e-03 1.50287851e+02] [ 6.91544896e-01 7.22332819e-01 -9.77261345e-04 1.19635634e+02] [ 1.45078782e-03 -3.60285413e-05 9.99998947e-01 4.24485967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27361786499995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:150.31, Y:119.65, Z:0.43 [[ 7.21561800e-01 -6.92349207e-01 -1.07007417e-03 1.50307436e+02] [ 6.92348514e-01 7.21562592e-01 -9.80309918e-04 1.19653888e+02] [ 1.45084229e-03 -3.35100724e-05 9.99998947e-01 4.25886777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.33, Y:119.67, Z:0.42 [[ 7.22794493e-01 -6.91062208e-01 -1.06996206e-03 1.50333722e+02] [ 6.91061513e-01 7.22795285e-01 -9.80432268e-04 1.19672046e+02] [ 1.45090322e-03 -3.07585555e-05 9.99998947e-01 4.24460657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.36, Y:119.69, Z:0.43 [[ 7.23610017e-01 -6.90208220e-01 -1.07590587e-03 1.50355040e+02] [ 6.90207533e-01 7.23610815e-01 -9.73956163e-04 1.19692272e+02] [ 1.45076967e-03 -3.78339020e-05 9.99998947e-01 4.25306631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36361786499995 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:150.37, Y:119.70, Z:0.42 [[ 7.27035728e-01 -6.86598782e-01 -1.07809912e-03 1.50369167e+02] [ 6.86598096e-01 7.27036527e-01 -9.71558238e-04 1.19704863e+02] [ 1.45088815e-03 -3.38632541e-05 9.99998947e-01 4.23149678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.39, Y:119.73, Z:0.43 [[ 7.26689752e-01 -6.86964999e-01 -1.04665867e-03 1.50393537e+02] [ 6.86964262e-01 7.26690505e-01 -1.00569096e-03 1.19729016e+02] [ 1.45147141e-03 1.18082095e-05 9.99998947e-01 4.26176798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.42, Y:119.75, Z:0.43 [[ 7.27153649e-01 -6.86473911e-01 -1.06799511e-03 1.50416431e+02] [ 6.86473208e-01 7.27154433e-01 -9.82497821e-04 1.19749472e+02] [ 1.45105650e-03 -1.87231537e-05 9.99998947e-01 4.25150027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.44, Y:119.77, Z:0.43 [[ 7.27771321e-01 -6.85819038e-01 -1.07317752e-03 1.50436560e+02] [ 6.85818343e-01 7.27772111e-01 -9.76864369e-04 1.19767505e+02] [ 1.45098085e-03 -2.50709588e-05 9.99998947e-01 4.26137738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:150.46, Y:119.79, Z:0.43 [[ 7.26981769e-01 -6.86655925e-01 -1.07148760e-03 1.50457373e+02] [ 6.86655228e-01 7.26982559e-01 -9.78700746e-04 1.19787693e+02] [ 1.45098346e-03 -2.42449596e-05 9.99998947e-01 4.25910818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51361786499996 meters Centerline goodness : 0.995736 Centerline is valid? [True, True] Translation: X:150.48, Y:119.81, Z:0.43 [[ 7.28972467e-01 -6.84542176e-01 -1.07300263e-03 1.50478439e+02] [ 6.84541479e-01 7.28973256e-01 -9.77051929e-04 1.19806041e+02] [ 1.45102347e-03 -2.22708521e-05 9.99998947e-01 4.26644898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.50, Y:119.83, Z:0.43 [[ 7.28899761e-01 -6.84619598e-01 -1.06984543e-03 1.50497099e+02] [ 6.84618896e-01 7.28900546e-01 -9.80483729e-04 1.19827528e+02] [ 1.45106930e-03 -1.77620441e-05 9.99998947e-01 4.27074533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.52, Y:119.85, Z:0.43 [[ 7.29148843e-01 -6.84354310e-01 -1.06891493e-03 1.50516907e+02] [ 6.84353606e-01 7.29149627e-01 -9.81493872e-04 1.19846947e+02] [ 1.45108848e-03 -1.58606656e-05 9.99998947e-01 4.26756223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.54, Y:119.87, Z:0.43 [[ 7.30493904e-01 -6.82918379e-01 -1.06935930e-03 1.50537108e+02] [ 6.82917675e-01 7.30494687e-01 -9.81011573e-04 1.19865222e+02] [ 1.45111212e-03 -1.36613929e-05 9.99998947e-01 4.30333121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:150.56, Y:119.88, Z:0.43 [[ 7.30822724e-01 -6.82566485e-01 -1.06696077e-03 1.50557169e+02] [ 6.82565777e-01 7.30823503e-01 -9.83613347e-04 1.19883061e+02] [ 1.45114151e-03 -9.42391907e-06 9.99998947e-01 4.29581649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:150.58, Y:119.90, Z:0.43 [[ 7.30610453e-01 -6.82793694e-01 -1.06677285e-03 1.50577554e+02] [ 6.82792985e-01 7.30611232e-01 -9.83817111e-04 1.19901203e+02] [ 1.45114034e-03 -9.59795300e-06 9.99998947e-01 4.29270693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.60, Y:119.92, Z:0.43 [[ 7.30177918e-01 -6.83256226e-01 -1.06662965e-03 1.50598475e+02] [ 6.83255517e-01 7.30178697e-01 -9.83972339e-04 1.19919854e+02] [ 1.45113548e-03 -1.03057197e-05 9.99998947e-01 4.29965475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.62, Y:119.94, Z:0.43 [[ 7.29443476e-01 -6.84040261e-01 -1.06635989e-03 1.50618438e+02] [ 6.84039553e-01 7.29444255e-01 -9.84264599e-04 1.19937982e+02] [ 1.45112671e-03 -1.14669527e-05 9.99998947e-01 4.29205314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75361786499997 meters Centerline goodness : 0.996057 Centerline is valid? [True, True] Translation: X:150.64, Y:119.96, Z:0.42 [[ 7.27755373e-01 -6.85835972e-01 -1.06624311e-03 1.50639493e+02] [ 6.85835266e-01 7.27756154e-01 -9.84391086e-04 1.19957149e+02] [ 1.45109580e-03 -1.48712274e-05 9.99998947e-01 4.24370447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78361786499997 meters Centerline goodness : 0.995905 Centerline is valid? [True, True] Translation: X:150.66, Y:119.98, Z:0.43 [[ 7.26222008e-01 -6.87459423e-01 -1.06647673e-03 1.50660418e+02] [ 6.87458719e-01 7.26222791e-01 -9.84138132e-04 1.19977258e+02] [ 1.45105474e-03 -1.84559542e-05 9.99998947e-01 4.28180888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81361786499997 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:150.68, Y:120.00, Z:0.43 [[ 7.23463356e-01 -6.90361956e-01 -1.06861628e-03 1.50680632e+02] [ 6.90361259e-01 7.23464145e-01 -9.81821717e-04 1.19995025e+02] [ 1.45091792e-03 -2.74192436e-05 9.99998947e-01 4.28704233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84361786499997 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:150.70, Y:120.01, Z:0.43 [[ 7.23211037e-01 -6.90626277e-01 -1.06858576e-03 1.50701446e+02] [ 6.90625579e-01 7.23211826e-01 -9.81854736e-04 1.20014663e+02] [ 1.45090854e-03 -2.79044783e-05 9.99998947e-01 4.28745739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87361786499997 meters Centerline goodness : 0.995572 Centerline is valid? [True, True] Translation: X:150.72, Y:120.03, Z:0.43 [[ 7.21563626e-01 -6.92347307e-01 -1.06803963e-03 1.50722836e+02] [ 6.92346610e-01 7.21564416e-01 -9.82445122e-04 1.20033403e+02] [ 1.45085262e-03 -3.05569514e-05 9.99998947e-01 4.28752189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90361786499994 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:150.74, Y:120.05, Z:0.43 [[ 7.19790778e-01 -6.94190247e-01 -1.06628891e-03 1.50742713e+02] [ 6.94189550e-01 7.19791567e-01 -9.84336805e-04 1.20050959e+02] [ 1.45082277e-03 -3.16900612e-05 9.99998947e-01 4.29505877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93361786499995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:150.76, Y:120.07, Z:0.43 [[ 7.17914752e-01 -6.96130214e-01 -1.06480544e-03 1.50763874e+02] [ 6.96129516e-01 7.17915541e-01 -9.85938937e-04 1.20069487e+02] [ 1.45078225e-03 -3.34223859e-05 9.99998947e-01 4.29583352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96361786499995 meters Centerline goodness : 0.995371 Centerline is valid? [True, True] Translation: X:150.78, Y:120.09, Z:0.43 [[ 7.16761752e-01 -6.97317329e-01 -1.06454028e-03 1.50781771e+02] [ 6.97316633e-01 7.16762541e-01 -9.86225148e-04 1.20086720e+02] [ 1.45073448e-03 -3.54331798e-05 9.99998947e-01 4.29167129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.80, Y:120.11, Z:0.43 [[ 7.14304877e-01 -6.99833856e-01 -1.05687028e-03 1.50802855e+02] [ 6.99833150e-01 7.14305658e-01 -9.94494324e-04 1.20110390e+02] [ 1.45090921e-03 -2.92607090e-05 9.99998947e-01 4.29251457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:150.82, Y:120.13, Z:0.43 [[ 7.11690333e-01 -7.02492514e-01 -1.06648246e-03 1.50823651e+02] [ 7.02491827e-01 7.11691130e-01 -9.84139211e-04 1.20131162e+02] [ 1.45035654e-03 -4.87928503e-05 9.99998947e-01 4.25506665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05361786499995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:150.84, Y:120.15, Z:0.43 [[ 7.12432809e-01 -7.01739519e-01 -1.06774824e-03 1.50844020e+02] [ 7.01738833e-01 7.12433607e-01 -9.82777864e-04 1.20149529e+02] [ 1.45035379e-03 -4.91172063e-05 9.99998947e-01 4.26454318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.86, Y:120.17, Z:0.42 [[ 7.11603196e-01 -7.02580787e-01 -1.06234485e-03 1.50862495e+02] [ 7.02580093e-01 7.11603988e-01 -9.88584404e-04 1.20168533e+02] [ 1.45052924e-03 -4.29025250e-05 9.99998947e-01 4.24389127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.88, Y:120.19, Z:0.42 [[ 7.12249154e-01 -7.01925935e-01 -1.06066443e-03 1.50879756e+02] [ 7.01925237e-01 7.12249943e-01 -9.90389474e-04 1.20185620e+02] [ 1.45063824e-03 -3.91030662e-05 9.99998947e-01 4.23300308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.90, Y:120.21, Z:0.42 [[ 7.11948986e-01 -7.02230398e-01 -1.05303937e-03 1.50900986e+02] [ 7.02229689e-01 7.11949764e-01 -9.98584724e-04 1.20207204e+02] [ 1.45094768e-03 -2.85341295e-05 9.99998947e-01 4.23713475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.92, Y:120.23, Z:0.42 [[ 7.13688015e-01 -7.00462913e-01 -1.06050837e-03 1.50919986e+02] [ 7.00462213e-01 7.13688802e-01 -9.90556256e-04 1.20227860e+02] [ 1.45072087e-03 -3.58979108e-05 9.99998947e-01 4.24029101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:150.94, Y:120.25, Z:0.43 [[ 7.14046027e-01 -7.00097952e-01 -1.06239393e-03 1.50939745e+02] [ 7.00097255e-01 7.14046817e-01 -9.88529806e-04 1.20247731e+02] [ 1.45066669e-03 -3.79232911e-05 9.99998947e-01 4.25051946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23361786499996 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:150.96, Y:120.27, Z:0.43 [[ 7.15605351e-01 -6.98504011e-01 -1.06211054e-03 1.50959496e+02] [ 6.98503312e-01 7.15606138e-01 -9.88834192e-04 1.20265488e+02] [ 1.45075747e-03 -3.42726914e-05 9.99998947e-01 4.26161690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.98, Y:120.29, Z:0.42 [[ 7.14513933e-01 -6.99620415e-01 -1.05581063e-03 1.50979549e+02] [ 6.99619707e-01 7.14514713e-01 -9.95591893e-04 1.20287485e+02] [ 1.45092864e-03 -2.73016432e-05 9.99998947e-01 4.23608547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29361786499996 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:151.00, Y:120.31, Z:0.43 [[ 7.16466934e-01 -6.97620247e-01 -1.06019915e-03 1.51000552e+02] [ 6.97619544e-01 7.16467718e-01 -9.90884416e-04 1.20307620e+02] [ 1.45085949e-03 -2.96797244e-05 9.99998947e-01 4.28194525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.02, Y:120.33, Z:0.43 [[ 7.15829517e-01 -6.98274279e-01 -1.06472099e-03 1.51019911e+02] [ 6.98273584e-01 7.15830308e-01 -9.86031420e-04 1.20328424e+02] [ 1.45067994e-03 -3.76361486e-05 9.99998947e-01 4.28313527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.04, Y:120.35, Z:0.43 [[ 7.16389031e-01 -6.97700240e-01 -1.06329750e-03 1.51038980e+02] [ 6.97699542e-01 7.16389820e-01 -9.87556453e-04 1.20347827e+02] [ 1.45075388e-03 -3.43875676e-05 9.99998947e-01 4.28794584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.06, Y:120.37, Z:0.43 [[ 7.16463367e-01 -6.97623910e-01 -1.06058847e-03 1.51057454e+02] [ 6.97623207e-01 7.16464151e-01 -9.90457297e-04 1.20367989e+02] [ 1.45084031e-03 -3.02647626e-05 9.99998947e-01 4.28677228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.08, Y:120.39, Z:0.43 [[ 7.16628158e-01 -6.97454628e-01 -1.06044496e-03 1.51077092e+02] [ 6.97453926e-01 7.16628942e-01 -9.90610930e-04 1.20387161e+02] [ 1.45085173e-03 -2.97118114e-05 9.99998947e-01 4.28804803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44361786499996 meters Centerline goodness : 0.995859 Centerline is valid? [True, True] Translation: X:151.10, Y:120.41, Z:0.43 [[ 7.17707720e-01 -6.96343668e-01 -1.06030261e-03 1.51096373e+02] [ 6.96342964e-01 7.17708503e-01 -9.90763265e-04 1.20405420e+02] [ 1.45089993e-03 -2.72558198e-05 9.99998947e-01 4.30210113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.12, Y:120.43, Z:0.43 [[ 7.16038434e-01 -6.98060061e-01 -1.05485665e-03 1.51116389e+02] [ 6.98059350e-01 7.16039210e-01 -9.96586385e-04 1.20426330e+02] [ 1.45099587e-03 -2.27583931e-05 9.99998947e-01 4.27288941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50361786499997 meters Centerline goodness : 0.995721 Centerline is valid? [True, True] Translation: X:151.14, Y:120.44, Z:0.43 [[ 7.17921480e-01 -6.96123284e-01 -1.05975541e-03 1.51135975e+02] [ 6.96122578e-01 7.17922261e-01 -9.91349592e-04 1.20443985e+02] [ 1.45092354e-03 -2.60085050e-05 9.99998947e-01 4.29956064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.16, Y:120.47, Z:0.43 [[ 7.15542646e-01 -6.98568262e-01 -1.05116248e-03 1.51155466e+02] [ 6.98567546e-01 7.15543418e-01 -1.00052711e-03 1.20467695e+02] [ 1.45108888e-03 -1.83881797e-05 9.99998947e-01 4.27785092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:151.17, Y:120.49, Z:0.42 [[ 7.15089912e-01 -6.99031684e-01 -1.05934460e-03 1.51173693e+02] [ 6.99030981e-01 7.15090696e-01 -9.91787654e-04 1.20486427e+02] [ 1.45081846e-03 -3.12973488e-05 9.99998947e-01 4.24932816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59361786499997 meters Centerline goodness : 0.995812 Centerline is valid? [True, True] Translation: X:151.19, Y:120.51, Z:0.43 [[ 7.14624190e-01 -6.99507797e-01 -1.05313729e-03 1.51194911e+02] [ 6.99507085e-01 7.14624966e-01 -9.98398855e-04 1.20506339e+02] [ 1.45098598e-03 -2.31970203e-05 9.99998947e-01 4.29802051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.21, Y:120.53, Z:0.42 [[ 7.12256732e-01 -7.01918253e-01 -1.05553510e-03 1.51214760e+02] [ 7.01917548e-01 7.12257513e-01 -9.95843923e-04 1.20528118e+02] [ 1.45081383e-03 -3.16020729e-05 9.99998947e-01 4.24310206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.23, Y:120.54, Z:0.42 [[ 7.12442960e-01 -7.01729227e-01 -1.05804266e-03 1.51232199e+02] [ 7.01728525e-01 7.12443745e-01 -9.93172588e-04 1.20544695e+02] [ 1.45073410e-03 -3.48798934e-05 9.99998947e-01 4.23692113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.25, Y:120.57, Z:0.43 [[ 7.13695663e-01 -7.00455139e-01 -1.04821121e-03 1.51254565e+02] [ 7.00454421e-01 7.13696432e-01 -1.00362743e-03 1.20565440e+02] [ 1.45110059e-03 -1.79396333e-05 9.99998947e-01 4.25213990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71361786499995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:151.28, Y:120.59, Z:0.42 [[ 7.10439037e-01 -7.03757953e-01 -1.05736433e-03 1.51275248e+02] [ 7.03757252e-01 7.10439823e-01 -9.93889751e-04 1.20586353e+02] [ 1.45065154e-03 -3.80297379e-05 9.99998947e-01 4.23898899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.30, Y:120.61, Z:0.43 [[ 7.10527361e-01 -7.03668780e-01 -1.05713327e-03 1.51296378e+02] [ 7.03668079e-01 7.10528147e-01 -9.94135452e-04 1.20605272e+02] [ 1.45066502e-03 -3.75104978e-05 9.99998947e-01 4.25306973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.32, Y:120.62, Z:0.43 [[ 7.10968144e-01 -7.03223422e-01 -1.05684653e-03 1.51317243e+02] [ 7.03222720e-01 7.10968928e-01 -9.94440186e-04 1.20623410e+02] [ 1.45069868e-03 -3.61831997e-05 9.99998947e-01 4.26569333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80361786499995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:151.34, Y:120.64, Z:0.43 [[ 7.11278237e-01 -7.02909776e-01 -1.05655819e-03 1.51336015e+02] [ 7.02909073e-01 7.11279021e-01 -9.94746446e-04 1.20641331e+02] [ 1.45072468e-03 -3.51228381e-05 9.99998947e-01 4.27593559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.36, Y:120.66, Z:0.43 [[ 7.11878492e-01 -7.02301864e-01 -1.05084605e-03 1.51356657e+02] [ 7.02301151e-01 7.11879267e-01 -1.00080578e-03 1.20660587e+02] [ 1.45094328e-03 -2.55582792e-05 9.99998947e-01 4.26934160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.38, Y:120.68, Z:0.43 [[ 7.12709577e-01 -7.01458451e-01 -1.04901474e-03 1.51378051e+02] [ 7.01457735e-01 7.12710349e-01 -1.00274713e-03 1.20681123e+02] [ 1.45102911e-03 -2.11720174e-05 9.99998947e-01 4.25553437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.40, Y:120.70, Z:0.43 [[ 7.11066875e-01 -7.03123592e-01 -1.05570011e-03 1.51398113e+02] [ 7.03122888e-01 7.11067657e-01 -9.95658608e-04 1.20700087e+02] [ 1.45074526e-03 -3.43070568e-05 9.99998947e-01 4.26087275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.42, Y:120.72, Z:0.43 [[ 7.10795622e-01 -7.03397803e-01 -1.05543574e-03 1.51418413e+02] [ 7.03397099e-01 7.10796405e-01 -9.95938774e-04 1.20719432e+02] [ 1.45074107e-03 -3.44815164e-05 9.99998947e-01 4.25586217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.44, Y:120.74, Z:0.43 [[ 7.10633913e-01 -7.03561176e-01 -1.05516364e-03 1.51439124e+02] [ 7.03560471e-01 7.10634696e-01 -9.96226972e-04 1.20738976e+02] [ 1.45074251e-03 -3.44187551e-05 9.99998947e-01 4.25434100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.46, Y:120.76, Z:0.43 [[ 7.10104809e-01 -7.04095198e-01 -1.05489159e-03 1.51459028e+02] [ 7.04094494e-01 7.10105591e-01 -9.96514958e-04 1.20757052e+02] [ 1.45072581e-03 -3.51132959e-05 9.99998947e-01 4.25025650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.48, Y:120.78, Z:0.43 [[ 7.09552035e-01 -7.04652253e-01 -1.05477346e-03 1.51479847e+02] [ 7.04651549e-01 7.09552818e-01 -9.96639973e-04 1.20776037e+02] [ 1.45070209e-03 -3.60798354e-05 9.99998947e-01 4.25244463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.50, Y:120.79, Z:0.43 [[ 7.08466567e-01 -7.05743588e-01 -1.05450794e-03 1.51500777e+02] [ 7.05742885e-01 7.08467350e-01 -9.96920830e-04 1.20794589e+02] [ 1.45065493e-03 -3.79264011e-05 9.99998947e-01 4.25242364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.52, Y:120.81, Z:0.42 [[ 7.07019274e-01 -7.07193491e-01 -1.05423470e-03 1.51520375e+02] [ 7.07192789e-01 7.07020059e-01 -9.97209698e-04 1.20814805e+02] [ 1.45058529e-03 -4.05007031e-05 9.99998947e-01 4.24424556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.54, Y:120.83, Z:0.43 [[ 7.07316717e-01 -7.06895998e-01 -1.05395902e-03 1.51541082e+02] [ 7.06895295e-01 7.07317501e-01 -9.97500986e-04 1.20832434e+02] [ 1.45061311e-03 -3.94895491e-05 9.99998947e-01 4.25945906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13361786499996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:151.56, Y:120.85, Z:0.42 [[ 7.04738092e-01 -7.09466780e-01 -1.05384032e-03 1.51558339e+02] [ 7.09466080e-01 7.04738878e-01 -9.97626376e-04 1.20851914e+02] [ 1.45046501e-03 -4.45986493e-05 9.99998947e-01 4.21125857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.58, Y:120.87, Z:0.42 [[ 7.04964694e-01 -7.09241625e-01 -1.04761431e-03 1.51580873e+02] [ 7.09240915e-01 7.04965472e-01 -1.00419882e-03 1.20871693e+02] [ 1.45075152e-03 -3.50862175e-05 9.99998947e-01 4.23445267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:151.60, Y:120.89, Z:0.42 [[ 7.05126493e-01 -7.09080756e-01 -1.05350650e-03 1.51601777e+02] [ 7.09080056e-01 7.05127279e-01 -9.97978798e-04 1.20889548e+02] [ 1.45050373e-03 -4.33191561e-05 9.99998947e-01 4.24451121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.62, Y:120.90, Z:0.42 [[ 7.06820751e-01 -7.07391912e-01 -1.05339100e-03 1.51615694e+02] [ 7.07391209e-01 7.06821534e-01 -9.98100694e-04 1.20902952e+02] [ 1.45060780e-03 -3.96812500e-05 9.99998947e-01 4.20285698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.64, Y:120.93, Z:0.42 [[ 7.05152928e-01 -7.09054497e-01 -1.03407439e-03 1.51639610e+02] [ 7.09053765e-01 7.05153686e-01 -1.01848425e-03 1.20925094e+02] [ 1.45134221e-03 -1.50271903e-05 9.99998947e-01 4.21903605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.66, Y:120.95, Z:0.42 [[ 7.05732391e-01 -7.08477733e-01 -1.04552948e-03 1.51662943e+02] [ 7.08477019e-01 7.05733165e-01 -1.00639087e-03 1.20945981e+02] [ 1.45087035e-03 -3.04909726e-05 9.99998947e-01 4.22876669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.68, Y:120.97, Z:0.42 [[ 7.06834170e-01 -7.07378503e-01 -1.05369126e-03 1.51683267e+02] [ 7.07377800e-01 7.06834954e-01 -9.97771659e-04 1.20965526e+02] [ 1.45058804e-03 -4.00987035e-05 9.99998947e-01 4.21611068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34361786499997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.70, Y:120.98, Z:0.42 [[ 7.08027065e-01 -7.06184513e-01 -1.05341879e-03 1.51703829e+02] [ 7.06183809e-01 7.08027847e-01 -9.98059243e-04 1.20982860e+02] [ 1.45066382e-03 -3.72543371e-05 9.99998947e-01 4.24349056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37361786499997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:151.72, Y:121.00, Z:0.42 [[ 7.07342693e-01 -7.06870006e-01 -1.05330068e-03 1.51722724e+02] [ 7.06869303e-01 7.07343476e-01 -9.98183872e-04 1.21003110e+02] [ 1.45063161e-03 -3.84878510e-05 9.99998947e-01 4.21110534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.74, Y:121.02, Z:0.42 [[ 7.07846989e-01 -7.06365012e-01 -1.05302185e-03 1.51742410e+02] [ 7.06364308e-01 7.07847772e-01 -9.98477934e-04 1.21021909e+02] [ 1.45066905e-03 -3.70474516e-05 9.99998947e-01 4.20684709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.76, Y:121.04, Z:0.42 [[ 7.07387522e-01 -7.06825144e-01 -1.05290072e-03 1.51762727e+02] [ 7.06824440e-01 7.07388305e-01 -9.98605650e-04 1.21041342e+02] [ 1.45064924e-03 -3.78147866e-05 9.99998947e-01 4.20295498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.78, Y:121.06, Z:0.42 [[ 7.07639640e-01 -7.06572736e-01 -1.05260737e-03 1.51782449e+02] [ 7.06572031e-01 7.07640422e-01 -9.98914772e-04 1.21060386e+02] [ 1.45067347e-03 -3.68712360e-05 9.99998947e-01 4.20963243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.80, Y:121.08, Z:0.42 [[ 7.07407285e-01 -7.06805366e-01 -1.05248035e-03 1.51803022e+02] [ 7.06804661e-01 7.07408067e-01 -9.99048582e-04 1.21080110e+02] [ 1.45066599e-03 -3.71637722e-05 9.99998947e-01 4.20960576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.82, Y:121.10, Z:0.42 [[ 7.08466304e-01 -7.05743855e-01 -1.05219941e-03 1.51823924e+02] [ 7.05743149e-01 7.08467084e-01 -9.99344387e-04 1.21097266e+02] [ 1.45072981e-03 -3.45806972e-05 9.99998947e-01 4.24338760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.84, Y:121.12, Z:0.42 [[ 7.07267529e-01 -7.06945214e-01 -1.05207779e-03 1.51843435e+02] [ 7.06944508e-01 7.07268311e-01 -9.99472406e-04 1.21118029e+02] [ 1.45067351e-03 -3.68662345e-05 9.99998947e-01 4.22205198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.86, Y:121.14, Z:0.42 [[ 7.07604237e-01 -7.06608192e-01 -1.05179559e-03 1.51864302e+02] [ 7.06607486e-01 7.07605018e-01 -9.99769293e-04 1.21135886e+02] [ 1.45070101e-03 -3.57656463e-05 9.99998947e-01 4.24131634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.88, Y:121.16, Z:0.42 [[ 7.07144358e-01 -7.07068421e-01 -1.05160481e-03 1.51884358e+02] [ 7.07067714e-01 7.07145139e-01 -9.99969918e-04 1.21155001e+02] [ 1.45068438e-03 -3.64327251e-05 9.99998947e-01 4.23620639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.90, Y:121.18, Z:0.42 [[ 7.05668472e-01 -7.08541391e-01 -1.05133710e-03 1.51903389e+02] [ 7.08540686e-01 7.05669254e-01 -1.00025130e-03 1.21175602e+02] [ 1.45061572e-03 -3.90693088e-05 9.99998947e-01 4.21823322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.92, Y:121.19, Z:0.42 [[ 7.05723130e-01 -7.08486951e-01 -1.05105881e-03 1.51924586e+02] [ 7.08486245e-01 7.05723912e-01 -1.00054364e-03 1.21194653e+02] [ 1.45062945e-03 -3.85539198e-05 9.99998947e-01 4.23318296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.94, Y:121.21, Z:0.42 [[ 7.04207601e-01 -7.09993346e-01 -1.05076935e-03 1.51942533e+02] [ 7.09992642e-01 7.04208383e-01 -1.00084754e-03 1.21214558e+02] [ 1.45055568e-03 -4.12340674e-05 9.99998947e-01 4.20916706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.96, Y:121.23, Z:0.42 [[ 7.04008773e-01 -7.10190498e-01 -1.05057269e-03 1.51963190e+02] [ 7.10189794e-01 7.04009556e-01 -1.00105393e-03 1.21234308e+02] [ 1.45055220e-03 -4.13552505e-05 9.99998947e-01 4.20958081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.98, Y:121.25, Z:0.42 [[ 7.03328922e-01 -7.10863788e-01 -1.05029231e-03 1.51983155e+02] [ 7.10863084e-01 7.03329705e-01 -1.00134802e-03 1.21253497e+02] [ 1.45052382e-03 -4.23370091e-05 9.99998947e-01 4.20320383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.00, Y:121.27, Z:0.42 [[ 7.02626840e-01 -7.11557743e-01 -1.05001116e-03 1.52004096e+02] [ 7.11557039e-01 7.02627623e-01 -1.00164274e-03 1.21271526e+02] [ 1.45049349e-03 -4.33617639e-05 9.99998947e-01 4.21889418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.02, Y:121.29, Z:0.42 [[ 7.01475571e-01 -7.12692726e-01 -1.04973017e-03 1.52023189e+02] [ 7.12692023e-01 7.01476355e-01 -1.00193713e-03 1.21291049e+02] [ 1.45043420e-03 -4.52999005e-05 9.99998947e-01 4.20662153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.04, Y:121.31, Z:0.42 [[ 7.01750063e-01 -7.12422450e-01 -1.04960862e-03 1.52043601e+02] [ 7.12421747e-01 7.01750846e-01 -1.00206445e-03 1.21308366e+02] [ 1.45045695e-03 -4.45652219e-05 9.99998947e-01 4.21526998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:152.06, Y:121.33, Z:0.42 [[ 7.00442434e-01 -7.13708130e-01 -1.04948953e-03 1.52063098e+02] [ 7.13707428e-01 7.00443219e-01 -1.00218916e-03 1.21328021e+02] [ 1.45037838e-03 -4.70526630e-05 9.99998947e-01 4.21212390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.08, Y:121.35, Z:0.42 [[ 7.00175190e-01 -7.13970309e-01 -1.04921663e-03 1.52084319e+02] [ 7.13969607e-01 7.00175975e-01 -1.00247478e-03 1.21348286e+02] [ 1.45037351e-03 -4.72008185e-05 9.99998947e-01 4.21227508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.10, Y:121.37, Z:0.42 [[ 6.98805216e-01 -7.15311236e-01 -1.05163488e-03 1.52102385e+02] [ 7.15310539e-01 6.98806005e-01 -9.99944344e-04 1.21367619e+02] [ 1.45016019e-03 -5.34791897e-05 9.99998947e-01 4.22111730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.12, Y:121.39, Z:0.42 [[ 6.98564840e-01 -7.15545990e-01 -1.04891928e-03 1.52121795e+02] [ 7.15545289e-01 6.98565626e-01 -1.00278488e-03 1.21386187e+02] [ 1.45027765e-03 -5.00389862e-05 9.99998947e-01 4.22524063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.14, Y:121.41, Z:0.42 [[ 6.98762787e-01 -7.15352688e-01 -1.04873265e-03 1.52144217e+02] [ 7.15351986e-01 6.98763572e-01 -1.00298002e-03 1.21406352e+02] [ 1.45030063e-03 -4.93678684e-05 9.99998947e-01 4.23280157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:121.43, Z:0.42 [[ 6.97913697e-01 -7.16181097e-01 -1.05281662e-03 1.52161064e+02] [ 7.16180403e-01 6.97914489e-01 -9.98710687e-04 1.21425667e+02] [ 1.45003368e-03 -5.69927603e-05 9.99998947e-01 4.21938530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.18, Y:121.45, Z:0.42 [[ 6.97779027e-01 -7.16312313e-01 -1.04832115e-03 1.52180631e+02] [ 7.16311612e-01 6.97779813e-01 -1.00340737e-03 1.21445521e+02] [ 1.45025039e-03 -5.07679935e-05 9.99998947e-01 4.21537945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.20, Y:121.47, Z:0.42 [[ 6.97633704e-01 -7.16453848e-01 -1.04805404e-03 1.52200133e+02] [ 7.16453147e-01 6.97634489e-01 -1.00368629e-03 1.21465924e+02] [ 1.45025355e-03 -5.06762364e-05 9.99998947e-01 4.19942230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12361786499997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:152.22, Y:121.49, Z:0.42 [[ 6.97669331e-01 -7.16419158e-01 -1.04618135e-03 1.52219400e+02] [ 7.16418454e-01 6.97670114e-01 -1.00564063e-03 1.21487243e+02] [ 1.45034968e-03 -4.78990026e-05 9.99998947e-01 4.19703033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.24, Y:121.51, Z:0.42 [[ 6.97622958e-01 -7.16464312e-01 -1.04755475e-03 1.52239389e+02] [ 7.16463610e-01 6.97623743e-01 -1.00420796e-03 1.21507452e+02] [ 1.45027823e-03 -4.99763307e-05 9.99998947e-01 4.19632501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.26, Y:121.53, Z:0.42 [[ 6.98707804e-01 -7.15406394e-01 -1.04727842e-03 1.52262254e+02] [ 7.15405690e-01 6.98708587e-01 -1.00449605e-03 1.21528422e+02] [ 1.45036532e-03 -4.73797158e-05 9.99998947e-01 4.17257624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.28, Y:121.55, Z:0.42 [[ 6.97633316e-01 -7.16454219e-01 -1.05299839e-03 1.52280016e+02] [ 7.16453525e-01 6.97634109e-01 -9.98537349e-04 1.21548975e+02] [ 1.45001389e-03 -5.78114859e-05 9.99998947e-01 4.19447184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24361786499995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:152.30, Y:121.57, Z:0.42 [[ 6.97844002e-01 -7.16249016e-01 -1.04702323e-03 1.52300508e+02] [ 7.16248313e-01 6.97844786e-01 -1.00475724e-03 1.21569279e+02] [ 1.45031608e-03 -4.87648111e-05 9.99998947e-01 4.19940888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.32, Y:121.59, Z:0.42 [[ 6.98516977e-01 -7.15592716e-01 -1.04747449e-03 1.52321713e+02] [ 7.15592013e-01 6.98517761e-01 -1.00428763e-03 1.21590002e+02] [ 1.45034045e-03 -4.80524225e-05 9.99998947e-01 4.19815525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30361786499995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.34, Y:121.61, Z:0.42 [[ 6.97472437e-01 -7.16610841e-01 -1.05003858e-03 1.52339087e+02] [ 7.16610143e-01 6.97473225e-01 -1.00161997e-03 1.21609746e+02] [ 1.45014552e-03 -5.38659806e-05 9.99998947e-01 4.19076963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33361786499995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:152.36, Y:121.63, Z:0.42 [[ 6.98439307e-01 -7.15668527e-01 -1.04588539e-03 1.52362184e+02] [ 7.15667822e-01 6.98440088e-01 -1.00593809e-03 1.21629812e+02] [ 1.45040651e-03 -4.59198223e-05 9.99998947e-01 4.19436633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.38, Y:121.65, Z:0.42 [[ 6.97810918e-01 -7.16281243e-01 -1.05024786e-03 1.52381155e+02] [ 7.16280545e-01 6.97811707e-01 -1.00140323e-03 1.21649667e+02] [ 1.45016160e-03 -5.34820080e-05 9.99998947e-01 4.19358796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.40, Y:121.67, Z:0.42 [[ 6.97602133e-01 -7.16484589e-01 -1.04785028e-03 1.52399997e+02] [ 7.16483888e-01 6.97602918e-01 -1.00389425e-03 1.21670017e+02] [ 1.45025817e-03 -5.04490670e-05 9.99998947e-01 4.19824937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.42, Y:121.69, Z:0.42 [[ 6.97168836e-01 -7.16906213e-01 -1.04675903e-03 1.52420372e+02] [ 7.16905510e-01 6.97169620e-01 -1.00502753e-03 1.21690970e+02] [ 1.45027907e-03 -4.97534470e-05 9.99998947e-01 4.20036435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.44, Y:121.71, Z:0.42 [[ 6.98050966e-01 -7.16047313e-01 -1.04610377e-03 1.52444189e+02] [ 7.16046608e-01 6.98051748e-01 -1.00570767e-03 1.21711833e+02] [ 1.45036884e-03 -4.70238452e-05 9.99998947e-01 4.20705366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.46, Y:121.73, Z:0.42 [[ 6.95855035e-01 -7.18181498e-01 -1.05196590e-03 1.52460453e+02] [ 7.18180805e-01 6.95855827e-01 -9.99622880e-04 1.21731608e+02] [ 1.44992726e-03 -5.99091000e-05 9.99998947e-01 4.19744470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.48, Y:121.75, Z:0.42 [[ 6.96181640e-01 -7.17864913e-01 -1.04458532e-03 1.52484103e+02] [ 7.17864208e-01 6.96182422e-01 -1.00727682e-03 1.21751998e+02] [ 1.45031063e-03 -4.86227829e-05 9.99998947e-01 4.20119326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.50, Y:121.77, Z:0.42 [[ 6.93750530e-01 -7.20214621e-01 -1.04990599e-03 1.52500115e+02] [ 7.20213927e-01 6.93751321e-01 -1.00175887e-03 1.21772132e+02] [ 1.44985505e-03 -6.11861688e-05 9.99998947e-01 4.19805307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.52, Y:121.79, Z:0.42 [[ 6.93084792e-01 -7.20855311e-01 -1.04429637e-03 1.52519330e+02] [ 7.20854609e-01 6.93085577e-01 -1.00757294e-03 1.21792234e+02] [ 1.45010106e-03 -5.44523751e-05 9.99998947e-01 4.19789581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.54, Y:121.81, Z:0.42 [[ 6.92688418e-01 -7.21236206e-01 -1.04404568e-03 1.52539103e+02] [ 7.21235504e-01 6.92689203e-01 -1.00783263e-03 1.21812459e+02] [ 1.45008456e-03 -5.48888227e-05 9.99998947e-01 4.20310283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:121.83, Z:0.42 [[ 6.92230529e-01 -7.21675693e-01 -1.04377105e-03 1.52556848e+02] [ 7.21674991e-01 6.92231314e-01 -1.00811698e-03 1.21832844e+02] [ 1.45006453e-03 -5.54141157e-05 9.99998947e-01 4.20210758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66361786499996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.58, Y:121.85, Z:0.42 [[ 6.92070766e-01 -7.21828903e-01 -1.04365201e-03 1.52576487e+02] [ 7.21828201e-01 6.92071551e-01 -1.00824020e-03 1.21853341e+02] [ 1.45005878e-03 -5.55638912e-05 9.99998947e-01 4.20243966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.60, Y:121.87, Z:0.42 [[ 6.91996570e-01 -7.21900033e-01 -1.04338322e-03 1.52595284e+02] [ 7.21899331e-01 6.91997355e-01 -1.00851829e-03 1.21872837e+02] [ 1.45006781e-03 -5.53264519e-05 9.99998947e-01 4.20347214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.61, Y:121.89, Z:0.42 [[ 6.91725278e-01 -7.22159990e-01 -1.04326678e-03 1.52614953e+02] [ 7.22159288e-01 6.91726062e-01 -1.00863872e-03 1.21893121e+02] [ 1.45005335e-03 -5.57038908e-05 9.99998947e-01 4.20641483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.63, Y:121.91, Z:0.42 [[ 6.91649307e-01 -7.22232752e-01 -1.04298983e-03 1.52632948e+02] [ 7.22232050e-01 6.91650091e-01 -1.00892502e-03 1.21912941e+02] [ 1.45006271e-03 -5.54583905e-05 9.99998947e-01 4.20266964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.65, Y:121.93, Z:0.42 [[ 6.91730480e-01 -7.22155008e-01 -1.04286991e-03 1.52651552e+02] [ 7.22154305e-01 6.91731264e-01 -1.00904896e-03 1.21932431e+02] [ 1.45007548e-03 -5.51230767e-05 9.99998947e-01 4.20355917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.67, Y:121.95, Z:0.42 [[ 6.92194414e-01 -7.21710333e-01 -1.04268580e-03 1.52672208e+02] [ 7.21709630e-01 6.92195198e-01 -1.00923917e-03 1.21952888e+02] [ 1.45012044e-03 -5.39266624e-05 9.99998947e-01 4.21181707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.69, Y:121.98, Z:0.42 [[ 6.94425869e-01 -7.19563497e-01 -1.04244262e-03 1.52694400e+02] [ 7.19562791e-01 6.94426649e-01 -1.00949029e-03 1.21975380e+02] [ 1.45029230e-03 -4.90867509e-05 9.99998947e-01 4.18015973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.71, Y:122.00, Z:0.42 [[ 6.95229510e-01 -7.18787053e-01 -1.04920035e-03 1.52714485e+02] [ 7.18786356e-01 6.95230300e-01 -1.00251606e-03 1.21996432e+02] [ 1.45003143e-03 -5.71721453e-05 9.99998947e-01 4.18344915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.73, Y:122.02, Z:0.42 [[ 6.96100083e-01 -7.17943990e-01 -1.04979367e-03 1.52728510e+02] [ 7.17943293e-01 6.96100872e-01 -1.00190397e-03 1.22017134e+02] [ 1.45007323e-03 -5.62668857e-05 9.99998947e-01 4.19697116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.75, Y:122.04, Z:0.42 [[ 6.97477857e-01 -7.16605578e-01 -1.04152627e-03 1.52747483e+02] [ 7.16604867e-01 6.97478633e-01 -1.01042584e-03 1.22037106e+02] [ 1.45051911e-03 -4.16131430e-05 9.99998947e-01 4.19960317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.77, Y:122.06, Z:0.42 [[ 6.98568604e-01 -7.15542326e-01 -1.04140803e-03 1.52766452e+02] [ 7.15541614e-01 6.98569379e-01 -1.01054770e-03 1.22057215e+02] [ 1.45058541e-03 -3.92338860e-05 9.99998947e-01 4.20088758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.79, Y:122.08, Z:0.42 [[ 7.00739137e-01 -7.13416833e-01 -1.04113673e-03 1.52785792e+02] [ 7.13416118e-01 7.00739910e-01 -1.01082713e-03 1.22078172e+02] [ 1.45070715e-03 -3.44375985e-05 9.99998947e-01 4.20522398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.81, Y:122.10, Z:0.42 [[ 7.01419701e-01 -7.12747725e-01 -1.04086093e-03 1.52805495e+02] [ 7.12747008e-01 7.01420473e-01 -1.01111105e-03 1.22098215e+02] [ 1.45074826e-03 -3.26573035e-05 9.99998947e-01 4.20644467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.83, Y:122.12, Z:0.42 [[ 7.03148519e-01 -7.11042248e-01 -1.04058488e-03 1.52825505e+02] [ 7.11041529e-01 7.03149288e-01 -1.01139506e-03 1.22117811e+02] [ 1.45083114e-03 -2.87381280e-05 9.99998947e-01 4.20935360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08361786499995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.84, Y:122.14, Z:0.42 [[ 7.01763196e-01 -7.12409527e-01 -1.04049452e-03 1.52844483e+02] [ 7.12408810e-01 7.01763967e-01 -1.01148801e-03 1.22139212e+02] [ 1.45077526e-03 -3.14323995e-05 9.99998947e-01 4.20040843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.86, Y:122.16, Z:0.42 [[ 7.02025325e-01 -7.12151221e-01 -1.04024623e-03 1.52864978e+02] [ 7.12150503e-01 7.02026095e-01 -1.01174330e-03 1.22159001e+02] [ 1.45079422e-03 -3.05424569e-05 9.99998947e-01 4.21487275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.88, Y:122.18, Z:0.42 [[ 7.01957820e-01 -7.12217760e-01 -1.03996186e-03 1.52884645e+02] [ 7.12217042e-01 7.01958589e-01 -1.01203552e-03 1.22178299e+02] [ 1.45079983e-03 -3.02723103e-05 9.99998947e-01 4.21312666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.90, Y:122.20, Z:0.42 [[ 7.01498648e-01 -7.12670026e-01 -1.03982772e-03 1.52904065e+02] [ 7.12669308e-01 7.01499418e-01 -1.01217332e-03 1.22197334e+02] [ 1.45078413e-03 -3.10150805e-05 9.99998947e-01 4.21453635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.92, Y:122.22, Z:0.42 [[ 7.00107514e-01 -7.14036685e-01 -1.03971125e-03 1.52923559e+02] [ 7.14035968e-01 7.00108286e-01 -1.01229295e-03 1.22215946e+02] [ 1.45072476e-03 -3.36773287e-05 9.99998947e-01 4.21334451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.94, Y:122.24, Z:0.42 [[ 6.97353096e-01 -7.16726990e-01 -1.03956532e-03 1.52941490e+02] [ 7.16726276e-01 6.97353870e-01 -1.01244278e-03 1.22237069e+02] [ 1.45058997e-03 -3.90536696e-05 9.99998947e-01 4.18496102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.96, Y:122.26, Z:0.42 [[ 6.95559396e-01 -7.18467846e-01 -1.03928023e-03 1.52961680e+02] [ 7.18467134e-01 6.95560171e-01 -1.01273535e-03 1.22255894e+02] [ 1.45049972e-03 -4.22710964e-05 9.99998947e-01 4.19183403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.98, Y:122.27, Z:0.42 [[ 6.95468185e-01 -7.18556138e-01 -1.03899365e-03 1.52982257e+02] [ 7.18555425e-01 6.95468960e-01 -1.01302927e-03 1.22273562e+02] [ 1.45050623e-03 -4.20448959e-05 9.99998947e-01 4.19719966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.00, Y:122.29, Z:0.42 [[ 6.92207611e-01 -7.21697682e-01 -1.03886938e-03 1.53001519e+02] [ 7.21696973e-01 6.92208389e-01 -1.01315670e-03 1.22294365e+02] [ 1.45030694e-03 -4.84341068e-05 9.99998947e-01 4.18433130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.02, Y:122.31, Z:0.42 [[ 6.91858280e-01 -7.22032577e-01 -1.03858537e-03 1.53021915e+02] [ 7.22031867e-01 6.91859058e-01 -1.01344775e-03 1.22311745e+02] [ 1.45029699e-03 -4.87295153e-05 9.99998947e-01 4.19091195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.04, Y:122.33, Z:0.42 [[ 6.90897727e-01 -7.22951764e-01 -1.03846698e-03 1.53041530e+02] [ 7.22951055e-01 6.90898505e-01 -1.01356905e-03 1.22330559e+02] [ 1.45023681e-03 -5.04882500e-05 9.99998947e-01 4.19174368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:122.35, Z:0.42 [[ 6.89709155e-01 -7.24085771e-01 -1.03834750e-03 1.53061747e+02] [ 7.24085063e-01 6.89709934e-01 -1.01369143e-03 1.22350321e+02] [ 1.45015813e-03 -5.26996561e-05 9.99998947e-01 4.19342199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.08, Y:122.37, Z:0.42 [[ 6.88614418e-01 -7.25126959e-01 -1.03807517e-03 1.53080762e+02] [ 7.25126252e-01 6.88615198e-01 -1.01397024e-03 1.22368950e+02] [ 1.45009149e-03 -5.45010354e-05 9.99998947e-01 4.19631958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.10, Y:122.39, Z:0.42 [[ 6.87160673e-01 -7.26504736e-01 -1.03795712e-03 1.53099788e+02] [ 7.26504031e-01 6.87161455e-01 -1.01409107e-03 1.22387451e+02] [ 1.44998609e-03 -5.72365282e-05 9.99998947e-01 4.19982738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.12, Y:122.41, Z:0.42 [[ 6.86525097e-01 -7.27105366e-01 -1.03784024e-03 1.53120203e+02] [ 7.27104661e-01 6.86525879e-01 -1.01421067e-03 1.22407054e+02] [ 1.44994220e-03 -5.83373929e-05 9.99998947e-01 4.19982124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53361786499997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.14, Y:122.43, Z:0.42 [[ 6.86045080e-01 -7.27558295e-01 -1.03756183e-03 1.53139596e+02] [ 7.27557590e-01 6.86045862e-01 -1.01449541e-03 1.22426383e+02] [ 1.44991955e-03 -5.88963965e-05 9.99998947e-01 4.19606539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:122.45, Z:0.42 [[ 6.86012226e-01 -7.27589273e-01 -1.03744131e-03 1.53159205e+02] [ 7.27588567e-01 6.86013008e-01 -1.01461864e-03 1.22445862e+02] [ 1.44992387e-03 -5.87896418e-05 9.99998947e-01 4.19471980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.18, Y:122.47, Z:0.42 [[ 6.86272491e-01 -7.27343792e-01 -1.03716532e-03 1.53178830e+02] [ 7.27343086e-01 6.86273273e-01 -1.01490069e-03 1.22465445e+02] [ 1.44996055e-03 -5.78766023e-05 9.99998947e-01 4.19173240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:122.49, Z:0.42 [[ 6.85807605e-01 -7.27782147e-01 -1.03689075e-03 1.53202685e+02] [ 7.27781441e-01 6.85808387e-01 -1.01518113e-03 1.22490073e+02] [ 1.44993907e-03 -5.84109006e-05 9.99998947e-01 4.18384741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:122.51, Z:0.42 [[ 6.85453821e-01 -7.28115340e-01 -1.05422686e-03 1.53222996e+02] [ 7.28114661e-01 6.85454627e-01 -9.97441264e-04 1.22510253e+02] [ 1.44887697e-03 -8.38981108e-05 9.99998947e-01 4.18433770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:122.53, Z:0.42 [[ 6.87783995e-01 -7.25914643e-01 -1.05242204e-03 1.53238866e+02] [ 7.25913959e-01 6.87784796e-01 -9.99284305e-04 1.22525426e+02] [ 1.44923499e-03 -7.66760992e-05 9.99998947e-01 4.19437275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.26, Y:122.55, Z:0.42 [[ 6.88344569e-01 -7.25383127e-01 -1.03594143e-03 1.53258838e+02] [ 7.25382417e-01 6.88345347e-01 -1.01608695e-03 1.22545586e+02] [ 1.45013779e-03 -5.20357692e-05 9.99998947e-01 4.20086158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.28, Y:122.57, Z:0.42 [[ 6.89470828e-01 -7.24312712e-01 -1.03566789e-03 1.53278389e+02] [ 7.24312000e-01 6.89471604e-01 -1.01636569e-03 1.22566046e+02] [ 1.45023019e-03 -4.93921868e-05 9.99998947e-01 4.20054309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:122.59, Z:0.42 [[ 6.88461407e-01 -7.25272238e-01 -1.03539129e-03 1.53296156e+02] [ 7.25271527e-01 6.88462183e-01 -1.01664738e-03 1.22587566e+02] [ 1.45017387e-03 -5.10173367e-05 9.99998947e-01 4.16806546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:122.61, Z:0.42 [[ 6.90380430e-01 -7.23445776e-01 -1.03510655e-03 1.53317306e+02] [ 7.23445063e-01 6.90381204e-01 -1.01693722e-03 1.22605319e+02] [ 1.45031704e-03 -4.67691689e-05 9.99998947e-01 4.20227932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:122.63, Z:0.42 [[ 6.90972071e-01 -7.22880714e-01 -1.03491389e-03 1.53336182e+02] [ 7.22880000e-01 6.90972844e-01 -1.01713324e-03 1.22625111e+02] [ 1.45036340e-03 -4.53078933e-05 9.99998947e-01 4.20146075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:122.65, Z:0.42 [[ 6.90816795e-01 -7.23029104e-01 -1.03479511e-03 1.53355947e+02] [ 7.23028390e-01 6.90817568e-01 -1.01725407e-03 1.22645034e+02] [ 1.45035894e-03 -4.54500453e-05 9.99998947e-01 4.19653433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:122.66, Z:0.42 [[ 6.90478296e-01 -7.23352371e-01 -1.03451876e-03 1.53375020e+02] [ 7.23351657e-01 6.90479069e-01 -1.01753503e-03 1.22664129e+02] [ 1.45034993e-03 -4.57350072e-05 9.99998947e-01 4.20502676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.40, Y:122.68, Z:0.42 [[ 6.90555883e-01 -7.23278303e-01 -1.03433072e-03 1.53395575e+02] [ 7.23277588e-01 6.90556656e-01 -1.01772614e-03 1.22683914e+02] [ 1.45036320e-03 -4.53114507e-05 9.99998947e-01 4.21011752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.41, Y:122.70, Z:0.42 [[ 6.90114559e-01 -7.23699403e-01 -1.03407716e-03 1.53413856e+02] [ 7.23698689e-01 6.90115332e-01 -1.01798371e-03 1.22703347e+02] [ 1.45034670e-03 -4.58349075e-05 9.99998947e-01 4.19833557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.44, Y:122.72, Z:0.42 [[ 6.92665485e-01 -7.21258246e-01 -1.03395239e-03 1.53440062e+02] [ 7.21257528e-01 6.92666256e-01 -1.01811041e-03 1.22724099e+02] [ 1.45050446e-03 -4.05360039e-05 9.99998947e-01 4.21549243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.45, Y:122.74, Z:0.42 [[ 6.90739551e-01 -7.23102884e-01 -1.04464445e-03 1.53453979e+02] [ 7.23102185e-01 6.90740338e-01 -1.00724751e-03 1.22743647e+02] [ 1.44992164e-03 -5.96389902e-05 9.99998947e-01 4.19789898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:122.76, Z:0.42 [[ 6.92512810e-01 -7.21404838e-01 -1.03369181e-03 1.53478746e+02] [ 7.21404120e-01 6.92513580e-01 -1.01836499e-03 1.22763631e+02] [ 1.45049904e-03 -4.04787292e-05 9.99998947e-01 4.21414130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:122.78, Z:0.42 [[ 6.90607544e-01 -7.23228963e-01 -1.04267320e-03 1.53494117e+02] [ 7.23228261e-01 6.90608329e-01 -1.00924705e-03 1.22783144e+02] [ 1.44999549e-03 -5.70971015e-05 9.99998947e-01 4.20829948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.51, Y:122.80, Z:0.42 [[ 6.91742492e-01 -7.22143512e-01 -1.03585104e-03 1.53512674e+02] [ 7.22142798e-01 6.91743266e-01 -1.01616638e-03 1.22802469e+02] [ 1.45036094e-03 -4.51069036e-05 9.99998947e-01 4.19860793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.54, Y:122.82, Z:0.42 [[ 6.92923670e-01 -7.21010209e-01 -1.03304322e-03 1.53535935e+02] [ 7.21009489e-01 6.92924439e-01 -1.01901286e-03 1.22822599e+02] [ 1.45053957e-03 -3.87358323e-05 9.99998947e-01 4.19745663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.55, Y:122.84, Z:0.42 [[ 6.92161036e-01 -7.21742350e-01 -1.03927790e-03 1.53553353e+02] [ 7.21741642e-01 6.92161814e-01 -1.01269462e-03 1.22842451e+02] [ 1.45025307e-03 -4.91423779e-05 9.99998947e-01 4.19384563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:122.86, Z:0.42 [[ 6.92891724e-01 -7.21040910e-01 -1.03235747e-03 1.53573651e+02] [ 7.21040190e-01 6.92892492e-01 -1.01970095e-03 1.22862809e+02] [ 1.45055884e-03 -3.78288713e-05 9.99998947e-01 4.17096707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.59, Y:122.88, Z:0.42 [[ 6.93181937e-01 -7.20761911e-01 -1.03424042e-03 1.53592666e+02] [ 7.20761194e-01 6.93182707e-01 -1.01779493e-03 1.22882167e+02] [ 1.45050539e-03 -3.99232983e-05 9.99998947e-01 4.17877688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.61, Y:122.90, Z:0.42 [[ 6.93387250e-01 -7.20564401e-01 -1.03204943e-03 1.53613069e+02] [ 7.20563680e-01 6.93388017e-01 -1.02001178e-03 1.22901874e+02] [ 1.45059488e-03 -3.63941667e-05 9.99998947e-01 4.17037575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.63, Y:122.92, Z:0.42 [[ 6.95408813e-01 -7.18613608e-01 -1.03195852e-03 1.53632835e+02] [ 7.18612884e-01 6.95409578e-01 -1.02010375e-03 1.22920585e+02] [ 1.45069427e-03 -3.21895508e-05 9.99998947e-01 4.16760101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.65, Y:122.94, Z:0.41 [[ 6.94863830e-01 -7.19140593e-01 -1.03183815e-03 1.53652309e+02] [ 7.19139870e-01 6.94864596e-01 -1.02022549e-03 1.22941487e+02] [ 1.45067336e-03 -3.31181582e-05 9.99998947e-01 4.14443684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.67, Y:122.96, Z:0.41 [[ 6.95739196e-01 -7.18293747e-01 -1.03154095e-03 1.53671699e+02] [ 7.18293023e-01 6.95739960e-01 -1.02052590e-03 1.22960105e+02] [ 1.45072163e-03 -3.09287960e-05 9.99998947e-01 4.14640819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.69, Y:122.98, Z:0.42 [[ 6.97430720e-01 -7.16651468e-01 -1.03141285e-03 1.53692671e+02] [ 7.16650742e-01 6.97431482e-01 -1.02065534e-03 1.22978334e+02] [ 1.45079394e-03 -2.73263919e-05 9.99998947e-01 4.15600364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.71, Y:123.00, Z:0.41 [[ 6.97817739e-01 -7.16274626e-01 -1.03111329e-03 1.53712257e+02] [ 7.16273899e-01 6.97818500e-01 -1.02095789e-03 1.22997146e+02] [ 1.45081616e-03 -2.61170123e-05 9.99998947e-01 4.14971252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.73, Y:123.02, Z:0.42 [[ 6.98516651e-01 -7.15593059e-01 -1.03098354e-03 1.53734163e+02] [ 7.15592331e-01 6.98517411e-01 -1.02108889e-03 1.23015221e+02] [ 1.45084408e-03 -2.45163194e-05 9.99998947e-01 4.15190173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.75, Y:123.03, Z:0.41 [[ 6.97871258e-01 -7.16222483e-01 -1.03069024e-03 1.53753283e+02] [ 7.16221755e-01 6.97872018e-01 -1.02138486e-03 1.23034018e+02] [ 1.45082868e-03 -2.54076347e-05 9.99998947e-01 4.12896013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.77, Y:123.05, Z:0.42 [[ 7.00158485e-01 -7.13986719e-01 -1.03056290e-03 1.53774752e+02] [ 7.13985988e-01 7.00159243e-01 -1.02151333e-03 1.23050314e+02] [ 1.45090509e-03 -2.05862387e-05 9.99998947e-01 4.16510302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52361786499995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.79, Y:123.07, Z:0.42 [[ 6.98129471e-01 -7.15970796e-01 -1.03043692e-03 1.53794700e+02] [ 7.15970067e-01 6.98130231e-01 -1.02164040e-03 1.23069606e+02] [ 1.45084385e-03 -2.45247216e-05 9.99998947e-01 4.15951427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.82, Y:123.09, Z:0.41 [[ 6.98140640e-01 -7.15959905e-01 -1.03014203e-03 1.53819342e+02] [ 7.15959176e-01 6.98141399e-01 -1.02193765e-03 1.23087379e+02] [ 1.45085118e-03 -2.40834298e-05 9.99998947e-01 4.14249172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58361786499995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.84, Y:123.11, Z:0.41 [[ 6.97102051e-01 -7.16971169e-01 -1.03598106e-03 1.53840273e+02] [ 7.16970450e-01 6.97102820e-01 -1.01605218e-03 1.23106219e+02] [ 1.45066544e-03 -3.44757486e-05 9.99998947e-01 4.14475563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.86, Y:123.12, Z:0.41 [[ 6.95468236e-01 -7.18556095e-01 -1.03488617e-03 1.53863235e+02] [ 7.18555376e-01 6.95469005e-01 -1.01715511e-03 1.23124203e+02] [ 1.45061426e-03 -3.62239528e-05 9.99998947e-01 4.14924397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.88, Y:123.14, Z:0.41 [[ 6.95736289e-01 -7.18296557e-01 -1.03579938e-03 1.53875541e+02] [ 7.18295839e-01 6.95737059e-01 -1.01623561e-03 1.23137039e+02] [ 1.45060255e-03 -3.69783866e-05 9.99998947e-01 4.13914989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.90, Y:123.16, Z:0.41 [[ 6.93768817e-01 -7.20197066e-01 -1.00715636e-03 1.53902925e+02] [ 7.20196308e-01 6.93769548e-01 -1.04507707e-03 1.23162110e+02] [ 1.45139585e-03 -3.08411326e-07 9.99998947e-01 4.14070213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.92, Y:123.18, Z:0.42 [[ 6.92298124e-01 -7.21610863e-01 -1.03460094e-03 1.53922827e+02] [ 7.21610147e-01 6.92298896e-01 -1.01739617e-03 1.23178989e+02] [ 1.45041722e-03 -4.22370802e-05 9.99998947e-01 4.15348127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73361786499996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.95, Y:123.20, Z:0.41 [[ 6.91472216e-01 -7.22402321e-01 -1.03014511e-03 1.53945914e+02] [ 7.22401599e-01 6.91472982e-01 -1.02188801e-03 1.23198681e+02] [ 1.45053178e-03 -3.75713053e-05 9.99998947e-01 4.13733445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.97, Y:123.22, Z:0.41 [[ 6.90031421e-01 -7.23778674e-01 -1.03413104e-03 1.53966220e+02] [ 7.23777959e-01 6.90032194e-01 -1.01787034e-03 1.23217837e+02] [ 1.45029656e-03 -4.61187375e-05 9.99998947e-01 4.14350808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.99, Y:123.24, Z:0.42 [[ 6.90184493e-01 -7.23632708e-01 -1.03393918e-03 1.53986205e+02] [ 7.23631994e-01 6.90185266e-01 -1.01806368e-03 1.23236330e+02] [ 1.45031376e-03 -4.55397020e-05 9.99998947e-01 4.15000790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.01, Y:123.25, Z:0.42 [[ 6.89626658e-01 -7.24164355e-01 -1.02962419e-03 1.54006990e+02] [ 7.24163634e-01 6.89627425e-01 -1.02240912e-03 1.23253456e+02] [ 1.45044932e-03 -4.05358151e-05 9.99998947e-01 4.15850440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.03, Y:123.27, Z:0.42 [[ 6.89340050e-01 -7.24437186e-01 -1.02943634e-03 1.54027256e+02] [ 7.24436465e-01 6.89340817e-01 -1.02259822e-03 1.23272309e+02] [ 1.45044067e-03 -4.08433157e-05 9.99998947e-01 4.15924404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.05, Y:123.29, Z:0.41 [[ 6.90800385e-01 -7.23044790e-01 -1.02916544e-03 1.54052177e+02] [ 7.23044068e-01 6.90801151e-01 -1.02287079e-03 1.23291274e+02] [ 1.45053007e-03 -3.75324351e-05 9.99998947e-01 4.14517737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.07, Y:123.31, Z:0.41 [[ 6.91541805e-01 -7.22335698e-01 -1.03495974e-03 1.54072561e+02] [ 7.22334983e-01 6.91542578e-01 -1.01704123e-03 1.23309859e+02] [ 1.45036391e-03 -4.42610988e-05 9.99998947e-01 4.14125406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:154.09, Y:123.33, Z:0.41 [[ 6.92657701e-01 -7.21265719e-01 -1.03480890e-03 1.54094060e+02] [ 7.21265003e-01 6.92658473e-01 -1.01719294e-03 1.23329110e+02] [ 1.45043555e-03 -4.18049162e-05 9.99998947e-01 4.14218352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.11, Y:123.35, Z:0.41 [[ 6.94378311e-01 -7.19609399e-01 -1.03589062e-03 1.54114018e+02] [ 7.19608683e-01 6.94379083e-01 -1.01610543e-03 1.23347884e+02] [ 1.45049980e-03 -3.98743085e-05 9.99998947e-01 4.14006335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.13, Y:123.37, Z:0.42 [[ 6.95209949e-01 -7.18805995e-01 -1.03355528e-03 1.54132021e+02] [ 7.18805275e-01 6.95210716e-01 -1.01845179e-03 1.23366710e+02] [ 1.45060796e-03 -3.48871711e-05 9.99998947e-01 4.16002735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03361786499997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:154.15, Y:123.39, Z:0.42 [[ 6.96632300e-01 -7.17427614e-01 -1.02802205e-03 1.54152893e+02] [ 7.17426883e-01 6.96633059e-01 -1.02400672e-03 1.23385629e+02] [ 1.45080484e-03 -2.41744960e-05 9.99998947e-01 4.15247989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.17, Y:123.40, Z:0.42 [[ 6.98495081e-01 -7.15614118e-01 -1.02774594e-03 1.54173876e+02] [ 7.15613385e-01 6.98495837e-01 -1.02428376e-03 1.23404269e+02] [ 1.45086818e-03 -2.00115791e-05 9.99998947e-01 4.17505201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.20, Y:123.42, Z:0.42 [[ 6.99017673e-01 -7.15103655e-01 -1.02744120e-03 1.54195637e+02] [ 7.15102921e-01 6.99018428e-01 -1.02458935e-03 1.23424103e+02] [ 1.45088792e-03 -1.85201371e-05 9.99998947e-01 4.17386257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.22, Y:123.44, Z:0.42 [[ 6.99642917e-01 -7.14491937e-01 -1.03010741e-03 1.54216330e+02] [ 7.14491207e-01 6.99643675e-01 -1.02191589e-03 1.23443490e+02] [ 1.45085880e-03 -2.10264744e-05 9.99998947e-01 4.17856350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.24, Y:123.46, Z:0.42 [[ 7.00315454e-01 -7.13832756e-01 -1.03013191e-03 1.54236091e+02] [ 7.13832025e-01 7.00316211e-01 -1.02189134e-03 1.23462500e+02] [ 1.45087758e-03 -1.96948487e-05 9.99998947e-01 4.18346494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.26, Y:123.48, Z:0.42 [[ 7.01275479e-01 -7.12889647e-01 -1.02681354e-03 1.54256823e+02] [ 7.12888910e-01 7.01276230e-01 -1.02521487e-03 1.23480598e+02] [ 1.45094500e-03 -1.30459365e-05 9.99998947e-01 4.18635842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21361786499995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:154.28, Y:123.50, Z:0.42 [[ 7.01263597e-01 -7.12901335e-01 -1.02690138e-03 1.54277460e+02] [ 7.12900598e-01 7.01264349e-01 -1.02512691e-03 1.23499267e+02] [ 1.45094367e-03 -1.31944229e-05 9.99998947e-01 4.20806327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.30, Y:123.52, Z:0.42 [[ 7.00481584e-01 -7.13669740e-01 -1.02644612e-03 1.54299592e+02] [ 7.13669003e-01 7.00482336e-01 -1.02558256e-03 1.23520084e+02] [ 1.45093461e-03 -1.41410762e-05 9.99998947e-01 4.18882789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.32, Y:123.54, Z:0.42 [[ 7.00238372e-01 -7.13908370e-01 -1.03037188e-03 1.54320756e+02] [ 7.13907639e-01 7.00239130e-01 -1.02165507e-03 1.23538356e+02] [ 1.45087482e-03 -2.01882746e-05 9.99998947e-01 4.21099458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.34, Y:123.56, Z:0.42 [[ 6.99530771e-01 -7.14601738e-01 -1.02794248e-03 1.54340504e+02] [ 7.14601005e-01 6.99531526e-01 -1.02408416e-03 1.23556670e+02] [ 1.45089049e-03 -1.81903411e-05 9.99998947e-01 4.22448462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.36, Y:123.58, Z:0.42 [[ 6.98611890e-01 -7.15500088e-01 -1.02564318e-03 1.54362594e+02] [ 7.15499352e-01 6.98612642e-01 -1.02638181e-03 1.23576117e+02] [ 1.45090356e-03 -1.68044949e-05 9.99998947e-01 4.20541560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36361786499995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:154.38, Y:123.60, Z:0.42 [[ 6.99110405e-01 -7.15012996e-01 -1.02836884e-03 1.54381998e+02] [ 7.15012263e-01 6.99111161e-01 -1.02365885e-03 1.23596347e+02] [ 1.45087352e-03 -1.96457820e-05 9.99998947e-01 4.22985532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.40, Y:123.62, Z:0.42 [[ 6.98776716e-01 -7.15339110e-01 -1.02857286e-03 1.54399965e+02] [ 7.15338378e-01 6.98777473e-01 -1.02345501e-03 1.23616582e+02] [ 1.45086094e-03 -2.06111161e-05 9.99998947e-01 4.20558315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.42, Y:123.64, Z:0.42 [[ 6.98840027e-01 -7.15277261e-01 -1.02797625e-03 1.54418912e+02] [ 7.15276528e-01 6.98840783e-01 -1.02405076e-03 1.23637022e+02] [ 1.45087195e-03 -1.96396197e-05 9.99998947e-01 4.20084343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.44, Y:123.66, Z:0.42 [[ 7.00555968e-01 -7.13596722e-01 -1.02664101e-03 1.54438707e+02] [ 7.13595985e-01 7.00556720e-01 -1.02538358e-03 1.23658174e+02] [ 1.45093062e-03 -1.42683226e-05 9.99998947e-01 4.20885880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48361786499996 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:154.46, Y:123.68, Z:0.42 [[ 6.99323008e-01 -7.14805061e-01 -1.02745696e-03 1.54457496e+02] [ 7.14804327e-01 6.99323762e-01 -1.02456957e-03 1.23677291e+02] [ 1.45089258e-03 -1.79256088e-05 9.99998947e-01 4.19358080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.48, Y:123.70, Z:0.42 [[ 6.98342389e-01 -7.15763130e-01 -1.02454725e-03 1.54478611e+02] [ 7.15762393e-01 6.98343140e-01 -1.02747100e-03 1.23697087e+02] [ 1.45091140e-03 -1.58058438e-05 9.99998947e-01 4.16395118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.50, Y:123.72, Z:0.42 [[ 6.98180858e-01 -7.15920691e-01 -1.02604153e-03 1.54498022e+02] [ 7.15919956e-01 6.98181612e-01 -1.02598174e-03 1.23716662e+02] [ 1.45088488e-03 -1.82427917e-05 9.99998947e-01 4.16435850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.52, Y:123.74, Z:0.42 [[ 6.95991554e-01 -7.18049236e-01 -1.02583676e-03 1.54516854e+02] [ 7.18048503e-01 6.95992309e-01 -1.02618573e-03 1.23736061e+02] [ 1.45082638e-03 -2.23839528e-05 9.99998947e-01 4.20136896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.54, Y:123.76, Z:0.42 [[ 6.94447925e-01 -7.19542237e-01 -1.02384600e-03 1.54536747e+02] [ 7.19541503e-01 6.94448680e-01 -1.02816812e-03 1.23757125e+02] [ 1.45081890e-03 -2.26904733e-05 9.99998947e-01 4.21412990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.56, Y:123.78, Z:0.42 [[ 6.92762366e-01 -7.21165207e-01 -1.02358512e-03 1.54557651e+02] [ 7.21164474e-01 6.92763122e-01 -1.02842778e-03 1.23778060e+02] [ 1.45076835e-03 -2.57171637e-05 9.99998947e-01 4.15605122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.57, Y:123.80, Z:0.42 [[ 6.88801948e-01 -7.24948837e-01 -1.02976404e-03 1.54573531e+02] [ 7.24948117e-01 6.88802717e-01 -1.02227657e-03 1.23798991e+02] [ 1.45040248e-03 -4.23794104e-05 9.99998947e-01 4.19753098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.60, Y:123.82, Z:0.42 [[ 6.87454085e-01 -7.26227122e-01 -1.02338026e-03 1.54595161e+02] [ 7.26226395e-01 6.87454846e-01 -1.02862780e-03 1.23819848e+02] [ 1.45054512e-03 -3.60713736e-05 9.99998947e-01 4.17679370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.61, Y:123.84, Z:0.42 [[ 6.84807876e-01 -7.28722937e-01 -1.02735664e-03 1.54612459e+02] [ 7.28722218e-01 6.84808645e-01 -1.02467223e-03 1.23839226e+02] [ 1.45024486e-03 -4.69539950e-05 9.99998947e-01 4.20654300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.63, Y:123.86, Z:0.42 [[ 6.82778675e-01 -7.30624551e-01 -1.02298546e-03 1.54633040e+02] [ 7.30623828e-01 6.82779440e-01 -1.02901778e-03 1.23859161e+02] [ 1.45029909e-03 -4.48261574e-05 9.99998947e-01 4.21258078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.65, Y:123.88, Z:0.42 [[ 6.79220519e-01 -7.33933540e-01 -1.02273828e-03 1.54652353e+02] [ 7.33932820e-01 6.79221287e-01 -1.02926339e-03 1.23879430e+02] [ 1.45007653e-03 -5.15243709e-05 9.99998947e-01 4.20952681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.67, Y:123.90, Z:0.42 [[ 6.77991978e-01 -7.35068590e-01 -1.02265106e-03 1.54671523e+02] [ 7.35067871e-01 6.77992747e-01 -1.02935004e-03 1.23899858e+02] [ 1.44999289e-03 -5.38268641e-05 9.99998947e-01 4.21656405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84361786499997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.69, Y:123.92, Z:0.42 [[ 6.77235576e-01 -7.35765540e-01 -1.02236923e-03 1.54693987e+02] [ 7.35764822e-01 6.77236345e-01 -1.02962988e-03 1.23921760e+02] [ 1.44995179e-03 -5.49213315e-05 9.99998947e-01 4.17690041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.71, Y:123.94, Z:0.42 [[ 6.75540596e-01 -7.37322073e-01 -1.03088262e-03 1.54709053e+02] [ 7.37321370e-01 6.75541379e-01 -1.02118374e-03 1.23942935e+02] [ 1.44934518e-03 -7.02407141e-05 9.99998947e-01 4.19257745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90361786499994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.73, Y:123.96, Z:0.42 [[ 6.75722969e-01 -7.37154954e-01 -1.02144110e-03 1.54727391e+02] [ 7.37154235e-01 6.75723739e-01 -1.03054188e-03 1.23964399e+02] [ 1.44988105e-03 -5.65988173e-05 9.99998947e-01 4.18343340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.75, Y:123.98, Z:0.42 [[ 6.77772349e-01 -7.35271106e-01 -1.02170139e-03 1.54746000e+02] [ 7.35270386e-01 6.77773117e-01 -1.03028393e-03 1.23984781e+02] [ 1.45001974e-03 -5.29288190e-05 9.99998947e-01 4.21130337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.76, Y:124.01, Z:0.42 [[ 6.77086114e-01 -7.35903086e-01 -1.02109626e-03 1.54764574e+02] [ 7.35902366e-01 6.77086882e-01 -1.03088333e-03 1.24006831e+02] [ 1.45000110e-03 -5.34303651e-05 9.99998947e-01 4.20144854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99361786499995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.78, Y:124.03, Z:0.42 [[ 6.77987450e-01 -7.35072769e-01 -1.02084710e-03 1.54784128e+02] [ 7.35072048e-01 6.77988216e-01 -1.03112999e-03 1.24026802e+02] [ 1.45007789e-03 -5.13029749e-05 9.99998947e-01 4.22228180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.80, Y:124.05, Z:0.42 [[ 6.78659637e-01 -7.34452215e-01 -1.02055221e-03 1.54802430e+02] [ 7.34451492e-01 6.78660402e-01 -1.03142178e-03 1.24047853e+02] [ 1.45013838e-03 -4.95617642e-05 9.99998947e-01 4.20648374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05361786499995 meters Centerline goodness : 0.995671 Centerline is valid? [True, True] Translation: X:154.82, Y:124.07, Z:0.42 [[ 6.80917602e-01 -7.32359323e-01 -1.02046111e-03 1.54822043e+02] [ 7.32358598e-01 6.80918365e-01 -1.03151191e-03 1.24065925e+02] [ 1.45028807e-03 -4.49688514e-05 9.99998947e-01 4.23041502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.84, Y:124.09, Z:0.42 [[ 6.80689755e-01 -7.32571108e-01 -1.01435558e-03 1.54839354e+02] [ 7.32570374e-01 6.80690510e-01 -1.03754621e-03 1.24088812e+02] [ 1.45053860e-03 -3.68397684e-05 9.99998947e-01 4.21850481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.86, Y:124.11, Z:0.43 [[ 6.81620065e-01 -7.31705575e-01 -1.01879278e-03 1.54859972e+02] [ 7.31704847e-01 6.81620826e-01 -1.03315866e-03 1.24108992e+02] [ 1.45039833e-03 -4.12339467e-05 9.99998947e-01 4.25385083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.88, Y:124.13, Z:0.42 [[ 6.80686040e-01 -7.32574552e-01 -1.02001617e-03 1.54878216e+02] [ 7.32573827e-01 6.80686803e-01 -1.03194942e-03 1.24129853e+02] [ 1.45029143e-03 -4.48035825e-05 9.99998947e-01 4.21994572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17361786499995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.90, Y:124.15, Z:0.42 [[ 6.79784832e-01 -7.33410896e-01 -1.01973692e-03 1.54896353e+02] [ 7.33410171e-01 6.79785595e-01 -1.03222529e-03 1.24151063e+02] [ 1.45024774e-03 -4.61943303e-05 9.99998947e-01 4.21860803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.92, Y:124.17, Z:0.42 [[ 6.79479847e-01 -7.33693463e-01 -1.01944027e-03 1.54916299e+02] [ 7.33692738e-01 6.79480611e-01 -1.03251818e-03 1.24170776e+02] [ 1.45024174e-03 -4.63806321e-05 9.99998947e-01 4.22126268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23361786499996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:154.93, Y:124.19, Z:0.42 [[ 6.77378470e-01 -7.35633991e-01 -1.01914403e-03 1.54932206e+02] [ 7.35633268e-01 6.77379235e-01 -1.03281050e-03 1.24190685e+02] [ 1.45011752e-03 -5.01126526e-05 9.99998947e-01 4.18979980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.96, Y:124.21, Z:0.42 [[ 6.77432398e-01 -7.35584345e-01 -1.00854302e-03 1.54955817e+02] [ 7.35583606e-01 6.77433148e-01 -1.04326007e-03 1.24210791e+02] [ 1.45062625e-03 -3.51295400e-05 9.99998947e-01 4.24233365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.97, Y:124.23, Z:0.42 [[ 6.76144495e-01 -7.36768338e-01 -1.01880218e-03 1.54974037e+02] [ 7.36767616e-01 6.76145260e-01 -1.03314332e-03 1.24230198e+02] [ 1.45004555e-03 -5.20662810e-05 9.99998947e-01 4.24326877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.99, Y:124.25, Z:0.42 [[ 6.74794221e-01 -7.38005232e-01 -1.01861666e-03 1.54993427e+02] [ 7.38004510e-01 6.74794987e-01 -1.03332620e-03 1.24250579e+02] [ 1.44995756e-03 -5.44611430e-05 9.99998947e-01 4.24613556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.01, Y:124.27, Z:0.43 [[ 6.72502812e-01 -7.40093866e-01 -1.01833733e-03 1.55013463e+02] [ 7.40093146e-01 6.72503581e-01 -1.03360140e-03 1.24271458e+02] [ 1.44979756e-03 -5.85646320e-05 9.99998947e-01 4.25465628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.03, Y:124.29, Z:0.43 [[ 6.71272205e-01 -7.41210219e-01 -1.01867335e-03 1.55031940e+02] [ 7.41209502e-01 6.71272975e-01 -1.03327040e-03 1.24290880e+02] [ 1.44967848e-03 -6.14446664e-05 9.99998947e-01 4.25560340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.05, Y:124.31, Z:0.43 [[ 6.70260774e-01 -7.42124962e-01 -1.01794578e-03 1.55051173e+02] [ 7.42124244e-01 6.70261544e-01 -1.03398669e-03 1.24311052e+02] [ 1.44963724e-03 -6.24015289e-05 9.99998947e-01 4.26245643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44361786499996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.07, Y:124.33, Z:0.43 [[ 6.69348644e-01 -7.42947749e-01 -1.01766165e-03 1.55070355e+02] [ 7.42947032e-01 6.69349414e-01 -1.03426626e-03 1.24331670e+02] [ 1.44957702e-03 -6.37839776e-05 9.99998947e-01 4.25977823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47361786499997 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:155.09, Y:124.35, Z:0.42 [[ 6.69492815e-01 -7.42817835e-01 -1.01737848e-03 1.55089072e+02] [ 7.42817117e-01 6.69493585e-01 -1.03454473e-03 1.24351300e+02] [ 1.44960664e-03 -6.31058803e-05 9.99998947e-01 4.24755067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50361786499997 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:155.10, Y:124.37, Z:0.42 [[ 6.67036402e-01 -7.45024432e-01 -1.01725583e-03 1.55104672e+02] [ 7.45023716e-01 6.67037174e-01 -1.03466531e-03 1.24373249e+02] [ 1.44939839e-03 -6.77202928e-05 9.99998947e-01 4.19018332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53361786499997 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:155.12, Y:124.39, Z:0.42 [[ 6.68219227e-01 -7.43963737e-01 -1.01129640e-03 1.55124748e+02] [ 7.43963012e-01 6.68219990e-01 -1.04052419e-03 1.24394485e+02] [ 1.44988073e-03 -5.70688476e-05 9.99998947e-01 4.20173889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56361786499997 meters Centerline goodness : 0.990447 Centerline is valid? [True, True] Translation: X:155.14, Y:124.41, Z:0.42 [[ 6.69495545e-01 -7.42815381e-01 -1.01252189e-03 1.55143951e+02] [ 7.42814656e-01 6.69496308e-01 -1.03932203e-03 1.24413915e+02] [ 1.44990406e-03 -5.62946323e-05 9.99998947e-01 4.23700628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59361786499997 meters Centerline goodness : 0.997254 Centerline is valid? [True, True] Translation: X:155.15, Y:124.43, Z:0.43 [[ 6.67114060e-01 -7.44954902e-01 -1.01188815e-03 1.55147323e+02] [ 7.44954179e-01 6.67114825e-01 -1.03994318e-03 1.24426408e+02] [ 1.44975636e-03 -6.00495836e-05 9.99998947e-01 4.25680540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62361786499994 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:155.19, Y:124.45, Z:0.42 [[ 6.79404317e-01 -7.33763476e-01 -9.67166472e-04 1.55190906e+02] [ 7.33762675e-01 6.79405005e-01 -1.08462266e-03 1.24448553e+02] [ 1.45295424e-03 2.72266621e-05 9.99998944e-01 4.19849433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65361786499994 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:155.21, Y:124.47, Z:0.42 [[ 6.83585172e-01 -7.29870036e-01 -1.02143763e-03 1.55211651e+02] [ 7.29869310e-01 6.83585934e-01 -1.03018114e-03 1.24469777e+02] [ 1.45013874e-03 -4.12994273e-05 9.99998948e-01 4.23762684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68361786499995 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:155.23, Y:124.49, Z:0.42 [[ 6.82496246e-01 -7.30888376e-01 -1.02753175e-03 1.55229692e+02] [ 7.30887660e-01 6.82497018e-01 -1.02406641e-03 1.24492429e+02] [ 1.44976558e-03 -5.20887959e-05 9.99998948e-01 4.24234198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71361786499995 meters Centerline goodness : 0.997629 Centerline is valid? [True, True] Translation: X:155.24, Y:124.51, Z:0.42 [[ 6.80918501e-01 -7.32358476e-01 -1.02845455e-03 1.55243946e+02] [ 7.32357764e-01 6.80919275e-01 -1.02314077e-03 1.24512578e+02] [ 1.44960034e-03 -5.65212012e-05 9.99998948e-01 4.19520429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74361786499995 meters Centerline goodness : 0.997541 Centerline is valid? [True, True] Translation: X:155.26, Y:124.53, Z:0.42 [[ 6.81622591e-01 -7.31703222e-01 -1.01920895e-03 1.55264513e+02] [ 7.31702495e-01 6.81623351e-01 -1.03243904e-03 1.24532776e+02] [ 1.45015559e-03 -4.20239559e-05 9.99998948e-01 4.20426688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77361786499995 meters Centerline goodness : 0.995983 Centerline is valid? [True, True] Translation: X:155.27, Y:124.55, Z:0.43 [[ 6.75697555e-01 -7.37178250e-01 -1.02093793e-03 1.55271955e+02] [ 7.37177532e-01 6.75698324e-01 -1.03069864e-03 1.24552894e+02] [ 1.44965467e-03 -5.61719476e-05 9.99998948e-01 4.25461151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80361786499995 meters Centerline goodness : 0.997930 Centerline is valid? [True, True] Translation: X:155.30, Y:124.58, Z:0.43 [[ 6.76967669e-01 -7.36012083e-01 -9.94818982e-04 1.55300495e+02] [ 7.36011324e-01 6.76968399e-01 -1.05667944e-03 1.24578554e+02] [ 1.45118985e-03 -1.68602225e-05 9.99998947e-01 4.30032358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83361786499995 meters Centerline goodness : 0.995248 Centerline is valid? [True, True] Translation: X:155.31, Y:124.60, Z:0.42 [[ 6.74426786e-01 -7.38341018e-01 -1.02533479e-03 1.55313224e+02] [ 7.38340308e-01 6.74427562e-01 -1.02627141e-03 1.24597074e+02] [ 1.44925233e-03 -6.49010780e-05 9.99998948e-01 4.21606320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86361786499995 meters Centerline goodness : 0.996105 Centerline is valid? [True, True] Translation: X:155.34, Y:124.62, Z:0.43 [[ 6.73285810e-01 -7.39381635e-01 -1.00744564e-03 1.55336037e+02] [ 7.39380899e-01 6.73286563e-01 -1.04406757e-03 1.24621669e+02] [ 1.45026399e-03 -4.19301826e-05 9.99998947e-01 4.33648797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89361786499995 meters Centerline goodness : 0.990915 Centerline is valid? [True, True] Translation: X:155.33, Y:124.62, Z:0.42 [[ 6.70244043e-01 -7.42140064e-01 -1.02385980e-03 1.55334167e+02] [ 7.42139355e-01 6.70244822e-01 -1.02773040e-03 1.24621064e+02] [ 1.44895663e-03 -7.10164673e-05 9.99998948e-01 4.17834992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92361786499995 meters Centerline goodness : 0.990419 Centerline is valid? [True, True] Translation: X:155.35, Y:124.64, Z:0.42 [[ 6.65189210e-01 -7.46674237e-01 -9.48281760e-04 1.55353830e+02] [ 7.46673418e-01 6.65189885e-01 -1.10654266e-03 1.24644562e+02] [ 1.45701433e-03 2.80034556e-05 9.99998938e-01 4.19008769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95361786499996 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:155.41, Y:124.67, Z:0.42 [[ 6.83385414e-01 -7.30057186e-01 -9.39287069e-04 1.55408925e+02] [ 7.30056337e-01 6.83386055e-01 -1.11586287e-03 1.24668652e+02] [ 1.45653939e-03 7.68319320e-05 9.99998936e-01 4.23231612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98361786499996 meters Centerline goodness : 0.990404 Centerline is valid? [True, True] Translation: X:155.40, Y:124.68, Z:0.42 [[ 6.71608951e-01 -7.40905092e-01 -1.03020314e-03 1.55398834e+02] [ 7.40904393e-01 6.71609737e-01 -1.02104312e-03 1.24683838e+02] [ 1.44839051e-03 -7.75403295e-05 9.99998948e-01 4.18936707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01361786499996 meters Centerline goodness : 0.990625 Centerline is valid? [True, True] Translation: X:155.42, Y:124.71, Z:0.42 [[ 6.73851984e-01 -7.38865731e-01 -9.66752644e-04 1.55422757e+02] [ 7.38864932e-01 6.73852678e-01 -1.08704887e-03 1.24706120e+02] [ 1.45463201e-03 1.82104112e-05 9.99998942e-01 4.19835236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04361786499996 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:155.47, Y:124.73, Z:0.42 [[ 6.84021118e-01 -7.29461560e-01 -9.70576618e-04 1.55466976e+02] [ 7.29460757e-01 6.84021806e-01 -1.08307918e-03 1.24734889e+02] [ 1.45396020e-03 3.28514775e-05 9.99998942e-01 4.21209832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07361786499996 meters Centerline goodness : 0.996985 Centerline is valid? [True, True] Translation: X:155.49, Y:124.76, Z:0.43 [[ 6.84374661e-01 -7.29129780e-01 -1.04242659e-03 1.55487447e+02] [ 7.29129087e-01 6.84375452e-01 -1.00825083e-03 1.24757122e+02] [ 1.44855687e-03 -7.00422320e-05 9.99998948e-01 4.28865754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10361786499996 meters Centerline goodness : 0.996738 Centerline is valid? [True, True] Translation: X:155.51, Y:124.78, Z:0.43 [[ 6.83882167e-01 -7.29591724e-01 -1.04759880e-03 1.55505627e+02] [ 7.29591039e-01 6.83882965e-01 -1.00286493e-03 1.24778404e+02] [ 1.44811693e-03 -7.84772485e-05 9.99998948e-01 4.29284109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13361786499996 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:155.52, Y:124.80, Z:0.42 [[ 6.81897148e-01 -7.31447320e-01 -1.04720254e-03 1.55517305e+02] [ 7.31446637e-01 6.81897948e-01 -1.00327711e-03 1.24800107e+02] [ 1.44792962e-03 -8.18409757e-05 9.99998948e-01 4.22022365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16361786499996 meters Centerline goodness : 0.992092 Centerline is valid? [True, True] Translation: X:155.52, Y:124.82, Z:0.42 [[ 6.72549944e-01 -7.40051019e-01 -1.03072617e-03 1.55519016e+02] [ 7.40050319e-01 6.72550729e-01 -1.02050353e-03 1.24820564e+02] [ 1.44844031e-03 -7.64496459e-05 9.99998948e-01 4.22108911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19361786499996 meters Centerline goodness : 0.993502 Centerline is valid? [True, True] Translation: X:155.55, Y:124.84, Z:0.42 [[ 6.79241017e-01 -7.33914616e-01 -9.88895063e-04 1.55550243e+02] [ 7.33913844e-01 6.79241737e-01 -1.06400891e-03 1.24843357e+02] [ 1.45259049e-03 -3.04528253e-06 9.99998945e-01 4.22450360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22361786499997 meters Centerline goodness : 0.993208 Centerline is valid? [True, True] Translation: X:155.57, Y:124.87, Z:0.42 [[ 6.78276842e-01 -7.34805746e-01 -1.01992373e-03 1.55567611e+02] [ 7.34805024e-01 6.78277607e-01 -1.03168034e-03 1.24866098e+02] [ 1.44987607e-03 -4.96801950e-05 9.99998948e-01 4.22488332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25361786499997 meters Centerline goodness : 0.993167 Centerline is valid? [True, True] Translation: X:155.58, Y:124.89, Z:0.42 [[ 6.77929694e-01 -7.35126035e-01 -1.02116991e-03 1.55578662e+02] [ 7.35125315e-01 6.77930461e-01 -1.03038436e-03 1.24889701e+02] [ 1.44974456e-03 -5.21596970e-05 9.99998948e-01 4.22891956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28361786499997 meters Centerline goodness : 0.993223 Centerline is valid? [True, True] Translation: X:155.59, Y:124.91, Z:0.43 [[ 6.76828508e-01 -7.36140035e-01 -1.00994713e-03 1.55593454e+02] [ 7.36139299e-01 6.76829260e-01 -1.04206347e-03 1.24911095e+02] [ 1.45066641e-03 -3.81635083e-05 9.99998947e-01 4.25233856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31361786499997 meters Centerline goodness : 0.992414 Centerline is valid? [True, True] Translation: X:155.61, Y:124.94, Z:0.43 [[ 6.75857937e-01 -7.37031239e-01 -1.00064520e-03 1.55609206e+02] [ 7.37030490e-01 6.75858677e-01 -1.05171735e-03 1.24937402e+02] [ 1.45144329e-03 -2.66945048e-05 9.99998946e-01 4.27188257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34361786499997 meters Centerline goodness : 0.991361 Centerline is valid? [True, True] Translation: X:155.63, Y:124.96, Z:0.43 [[ 6.76449622e-01 -7.36488225e-01 -1.00153657e-03 1.55626511e+02] [ 7.36487476e-01 6.76450363e-01 -1.05079442e-03 1.24958792e+02] [ 1.45138749e-03 -2.68096536e-05 9.99998946e-01 4.28153990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37361786499994 meters Centerline goodness : 0.990539 Centerline is valid? [True, True] Translation: X:155.64, Y:124.98, Z:0.43 [[ 6.75149110e-01 -7.37680611e-01 -9.97697371e-04 1.55641249e+02] [ 7.37679858e-01 6.75149846e-01 -1.05476634e-03 1.24981116e+02] [ 1.45167590e-03 -2.38567016e-05 9.99998946e-01 4.27321980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40361786499994 meters Centerline goodness : 0.989341 Centerline is valid? [True, True] Translation: X:155.66, Y:125.00, Z:0.43 [[ 6.75984787e-01 -7.36914909e-01 -9.92139361e-04 1.55657040e+02] [ 7.36914146e-01 6.75985515e-01 -1.06051644e-03 1.25002690e+02] [ 1.45218221e-03 -1.42285515e-05 9.99998945e-01 4.27396385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43361786499995 meters Centerline goodness : 0.985577 Centerline is valid? [True, True] Translation: X:155.67, Y:125.03, Z:0.43 [[ 6.75063694e-01 -7.37758792e-01 -9.87028019e-04 1.55665833e+02] [ 7.37758022e-01 6.75064415e-01 -1.06580899e-03 1.25028042e+02] [ 1.45261745e-03 -8.69888517e-06 9.99998945e-01 4.27946635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46361786499995 meters Centerline goodness : 0.985577 Centerline is valid? [True, True] Translation: X:155.69, Y:125.05, Z:0.43 [[ 6.75740707e-01 -7.37138759e-01 -9.73733307e-04 1.55686691e+02] [ 7.37137968e-01 6.75741408e-01 -1.07959315e-03 1.25046852e+02] [ 1.45380187e-03 1.17492443e-05 9.99998943e-01 4.27983384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49361786499995 meters Centerline goodness : 0.983525 Centerline is valid? [True, True] Translation: X:155.70, Y:125.07, Z:0.43 [[ 6.76462690e-01 -7.36476258e-01 -9.74607364e-04 1.55698437e+02] [ 7.36475469e-01 6.76463392e-01 -1.07868360e-03 1.25066941e+02] [ 1.45371107e-03 1.19147959e-05 9.99998943e-01 4.26080399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52361786499995 meters Centerline goodness : 0.979452 Centerline is valid? [True, True] Translation: X:155.71, Y:125.09, Z:0.42 [[ 6.75147842e-01 -7.37681822e-01 -9.59805328e-04 1.55706603e+02] [ 7.37681011e-01 6.75148524e-01 -1.09419537e-03 1.25086437e+02] [ 1.45517918e-03 3.07134784e-05 9.99998941e-01 4.18052047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55361786499995 meters Centerline goodness : 0.975861 Centerline is valid? [True, True] Translation: X:155.78, Y:125.11, Z:0.42 [[ 6.94356789e-01 -7.19630305e-01 -9.34642126e-04 1.55779869e+02] [ 7.19629440e-01 6.94357410e-01 -1.12077621e-03 1.25106118e+02] [ 1.45552021e-03 1.05622578e-04 9.99998935e-01 4.18730828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58361786499995 meters Centerline goodness : 0.964175 Centerline is valid? [True, True] Translation: X:155.79, Y:125.13, Z:0.42 [[ 6.94092394e-01 -7.19885152e-01 -1.05637585e-03 1.55794714e+02] [ 7.19884474e-01 6.94093194e-01 -9.91013566e-04 1.25131732e+02] [ 1.44663924e-03 -7.26135980e-05 9.99998951e-01 4.17740226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61361786499995 meters Centerline goodness : 0.955122 Centerline is valid? [True, True] Translation: X:155.74, Y:125.16, Z:0.41 [[ 6.63813302e-01 -7.47897577e-01 -1.05612137e-03 1.55736227e+02] [ 7.47896931e-01 6.63814129e-01 -9.91284698e-04 1.25157081e+02] [ 1.44244771e-03 -1.31841961e-04 9.99998951e-01 4.07346237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 6049.85 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%| | 0/8484 [00:00